Robot power had been turned off by request. One of the following occurred:\

1. The GPL property Controller.PowerEnabled has been set to FALSE.
2. The parameter database item "Power enable" (DataID 241) has been set to FALSE.

When the system was restarted, the "Software Reset" switch on the MCIM Selector Switch was set to the ON state. This forced the system to read in the default configuration files (*.PAC) instead of the standard files. This feature should be used if a configuration files becomes corrupted or a setting inadvertently make the system unusable.

A front panel E-Stop loop ("ESTOP_L 1" or "ESTOP_L 2") has been broken and the status signal "External ESTOP_L" is asserted, indicating that external equipment is the source of the E-Stop.

The hardware watchdog timer on the CPU board has expired and robot power is disabled. This error may indicate a hardware failure or software bug and should not normally be seen. If this error persists, please contact customer service to report this problem.

The robot power-on light interfaced via the front panel connector has burned out. Robot power is turned off and may not be turned back on. Please contact customer service.

Robot power is off or was turned off, but no request was made to turn it off. This error may indicate a hardware failure or software bug and should not normally be seen.

When the controller is restarted, a diagnostic program has detected an E-Stop circuit that is stuck in the off state. Robot power cannot be turned on until the stuck E-Stop circuit is repaired and the controller is restarted.

The periodic trajectory generation system task was unable to complete its executing during its allotted period. The parameter "Trajectory Generator update period in sec" (DataID 600) is set too small for the type of robot you are using.

When the controller is restarted, a diagnostic program has detected that the hardware E-Stop timer is not triggering as expected. Robot power cannot be turned on and you must restart the controller. If this error persists, please contact customer service to report this problem.

In GPL 3.0 H1 and later, this error is reported in addition to -1617 CPU overheating, -3144 Amplifier overheating or -3145 Motor overheating. These other errors provide detailed information on the specific component that is generating the overheating error condition.

Prior to GPL 3.0 H1, this is the only error message that is generated when the CPU or one of the power amplifiers has exceeded its permitted operating temperature. For the CPU, the limit is 90 degrees Celsius. For the amplifiers of the G3xxx and G1xxxA/B controllers (except for the G3x3xA 30A version), the limit is 80C. For the amplifiers of the G3x3xA 30A version, the limit is 100C. For the G2xxx controllers, the amplifier chips are equipped with internal temperature monitoring to protect the power modules, but they do not have temperature sensors that can be read. If the CPU is overheating, it will switch off in 5 minutes and then you will need to reboot the controller.

For all versions of software, robot power is automatically turned off and cannot be turned on until the overheated device cools. In a servo network, the overheated device may reside in the master controller or one of the slaves. This error is issued each time a command to enable robot power is received until all temperatures return to acceptable levels.

DataIDs 126, 12605 and 12110 contain the "CPU temperature" and "Amp temperature", and "Motor temperatures" respectively, and can be displayed to determine which device is overheating.

A attempt has been made to enable robot power, using one of the standard means, when the Auto/Manual switch is set to Manual. The robot power has not been enabled. The standard means of enabling power are by using:  the PowerEnabled property of the Controller class in GPL,  the "Enable Power" parameter (DataID 241), the "Automatic power on" parameter (DataID 240), the power enable digital input (defined by DataID 242), or CANopen.

An attempt to turn on power has failed because an internal diagnostic test indicates that the motor power supply relay is stuck in the "on" position and may be unsafe. Reboot your controller. If this error persists, contact customer service.

Power has been disabled because the motor power supply has detected that it is shorted. Check the wiring and the amplifiers to make sure no short is present.

Power has been disabled because the motor power supply has detected an overload condition. Verify that you are not attempting to draw more than the rated current from the power supply. Verify that the parameter "Delay after turning on power in sec" (DataID 263) is set long enough to allow power to stabilize before the amplifiers are enabled.

A power supply has been configured to use 3-phase power, but the 3rd phase is not connected or has failed. It is still possible to run the power supply in this mode at low power, but attempting to draw high power may overheat the power supply.

The CPU exceeded its operating temperature for too long a period of time and the controller automatically turned off. When the CPU first exceeds its maximum permitted limit of 90 degrees Celsius, a "Controller overheating" error (-1610) is generated and motor power is disabled. If the temperature does not decline within 5 minutes, error code -1616 is logged to the flash in a special system file ("/flash/system/errlog.txt")and the controller is shutdown. The next time the controller is restarted, the -1616 error code will be displayed in the error log. This error code will be displayed every time the controller is restarted until the error log is cleared.

Either the master or a slave CPU board temperature has exceeded its maximum temperature of 90 degrees Celsius. See CPU temperature (DataID 126) for the current temperature of all CPUs. If the temperature does not fall below 90 degrees, the controller will switch off in 5 minutes and the controller must be restarted. Normally this error is followed by the generic error -1610 "Controller overheating". Ensure there is good air circulation around the controller and check that the fans are not blocked. The Installation section of the controller hardware manuals provide guidelines for ventilating and cooling controllers.

Some PreciseFlex™ power supplies communicate with the PreciseFlex™ controller for identification, error detection, and safety interlocks. This communications has failed. Be sure that all cables between the controller and power supply are installed properly. Verify that DataID 128 "Power supply type" is set properly for the type of power supply you are using.

This errors occurs in two possible cases:

1. If the error message indicates node 8 and the robot has a "safety board" (e.g. a PreciseFlex™ 3400), this error indicates that the safety board has stopped responding for 32 trajectory periods (approximately 0.128 seconds). This error disables the robot motor power and this error cannot be disabled.
2. Otherwise, the error is related to the GIO board indicated by the node number in the error message. The GIO has stopped responding for 32 trajectory periods and the "GIO mode" (DataID 574) has bit mask 2 set, so that robot motor is disabled. If bit mask 2 is clear, GIO board timeouts do not disable robot motor power.

This error might be due to: a wiring problem; improperly installed RS485 bus termination jumpers on the main CPU, Safety, GIO or GSB boards; or excessive noise in another cable, motor, or amplifier that is close to the RS485 cable. Issuing a "GSB Show" command from the System Web Console may provide additional information about the source of the error.

In enhanced CAT3 mode, the safety diagnostic checks have failed. Robot power cannot be enabled. Previous error messages may indicate the cause of the failure. Use the "Show Safety" web console command for more details. Once the problem has been resolved, try to enable power again.

The safety configuration bits in DataID 2031 "Enhanced safety mode" do not match the settings of DataID 117 "Safety mode" or require hardware not present in your controller. For example, you set bit &H001 of DataID 2031 but DataID 117 is not set to 4 or 5 or you set bit &H200 in DataID 2031 but do not have a 3-phase power supply. Verify that DataID 117 is correct. For hardware-related errors, contact Brooks support. If a numeric value is displayed with this error, the value indicates what aspect of the safety configuration did not match. See DataID 2031 "Enhanced safety mode" for a description of the bits that form this value.

You have attempted to perform some operation that is not allowed in your current safety mode. For example, you have attempted to enable power from a user program while DataID 117 "Safety mode" is set to 5 (Enhanced CAT-3 full).

The safety diagnostics in enhanced CAT3 mode have determined that ESTOP channel 1 is asserted. Probably your channel 1 ESTOP loop is open. Close the loop and retry the operation.

The safety diagnostics in enhanced CAT3 mode have determined that ESTOP channel 2 is asserted. Probably your channel 2 ESTOP loop is open. Close the loop and retry the operation.

The safety diagnostics in enhanced CAT3 mode have determined that ESTOP channel 1 cannot be asserted by the internal force-ESTOP circuit. Your channel 1 ESTOP may be wired incorrectly.

The safety diagnostics in enhanced CAT3 mode have determined that ESTOP channel 2 cannot be asserted by the internal force-ESTOP circuit. Your channel 2 ESTOP may be wired incorrectly.

The safety diagnostics in enhanced CAT3 mode have determined the DC voltage indicated by DataID 12684 ("Nominal DC bus voltage, volt") is too high when the motor power has been turned off. This may indicate a failed internal safety circuit or an unplugged cable.

The safety diagnostics in enhanced CAT3 mode have determined the DC voltage indicated by DataID 12684 ("Nominal DC bus voltage, volt") is too low when the motor power has been turned on. This may indicate a failed internal safety circuit or an unplugged cable.

In a controller that includes a FFC safety board, the safety diagnostics in enhanced CAT3 mode have determined the DC voltage indicated by DataID 12684 ("Nominal DC bus voltage, volt") is too high when the motor power has been turned off. Probably the FFC_ENA_PWR' signal on the FFC board is stuck on or this signal from the controller is shorted high. When the safety board is present, the output from the motor power supply should be off when the controller commands that motor power should be disabled. If the output of motor power supply is on, there is a problem with the motor power disable signal and its associated circuits.

In a controller that includes a FFC safety board, the safety diagnostics in enhanced CAT3 mode have determined the DC voltage indicated by DataID 12684 ("Nominal DC bus voltage, volt") is too low when the motor power has been turned on. Probably the FFC_ENA_PWR' signal on the FFC board is stuck off or this signal from the controller is shorted low.

The safety diagnostics in enhanced CAT3 mode have determined the DC voltage indicated by DataID 12684 ("Nominal DC bus voltage, volt") is not falling quickly enough when power is turned off. This indicates that the power dump circuit has failed or is missing. Verify that you are using the correct robot *.pac files with this robot.

The safety diagnostics in enhanced CAT3 mode have determined that there are no motors enabled for the robot. At least one motor must be present to perform the safety tests. Check the values for DataID 2105 ("Simulate servo interface") and DataID 2026 ("Motor disable mask") to make sure at least one motor is enabled. If you really want all motors disabled, you must also disable safety mode using DataID 117.

The safety diagnostics in enhanced CAT3 mode have determined the DC voltage indicated by DataID 12684 ("Nominal DC bus voltage, volt") is too high after the hardware watchdog timer has expired. There may be a hardware problem with the watchdog timer, or you have attempted to enable safety mode on an older controller that does not contain a hardware watchdog timer.

The safety diagnostics in enhanced CAT3 mode have determined the DC voltage indicated by DataID 12684 ("Nominal DC bus voltage, volt") is too high after the watchdog timer in the FPGA has expired. There may be a hardware problem with the watchdog timer.

The FPGA indicates that the watchdog timer is triggered even though it is being polled normally. There may be a hardware problem with the watchdog timer or the FPGA.