Kuka KSS 8.3 System Software

This message indicates that a specific axis has stopped unexpectedly. This is a regular monitoring function that can be triggered if an axis is prevented from moving or maintaining its commanded position. In torque mode, this monitoring may be automatically deactivated if `SET_TORQUE_LIMITS()` is used with `monitor #off`.

Positioning monitoring has been triggered for a specific axis. This fault indicates that the axis is not accurately reaching its target position within the expected tolerances or time. This is a regular monitoring function that may be deactivated in torque mode to accommodate larger position deviations inherent to that operational state.

This message indicates that a variable has an invalid value during program execution. For example, if a program line like `myPos = $POS_INT` is executed, it may trigger this message if the variable `$POS_INT` holds an invalid state. The error can be suppressed by `ON_ERROR_PROCEED` in the preceding line, allowing custom error handling via `$ERR.NUMBER`.

The motor for the specified drive is blocked, meaning it is unable to move or has encountered significant resistance preventing its commanded motion. This is a regular monitoring function that protects the motor from damage due to excessive force. In torque mode, this monitoring can be automatically deactivated by `SET_TORQUE_LIMITS()` with `monitor #off`.

The maximum permissible following error for the specified drive has been exceeded. This indicates a significant deviation between the commanded position and the actual position of the axis. While undesirable in normal operation, this monitoring function may be deactivated using `SET_TORQUE_LIMITS(..., monitor #off)` when operating in torque mode to prevent spurious errors.

This fault occurs within the CELL.SRC program when the robot controller receives an invalid program number from a higher-level controller. The `P00` function call with `#PGNO_FAULT` signifies that the program number transmitted (e.g., via `#EXT_PGNO`) does not match any of the defined `CASE` branches in the `SWITCH PGNO` statement, preventing the selection and execution of a user-defined program.