VGR Command Error Codes

For more information on how to resolve error codes, see Troubleshooting VGR Error Codes.

Error Code Description Note Command
HEB HE HEE ACB AC TA XA XAS TT TTR XT XTS CP LF TP TPR GP GCP XI GS
-1001 Unknown command Returned when receiving an unknown command string.                                        
-1002 Index out of range Returned if any argument is out of range. For example, the CameraID of HEB is less than 0. X X X X X X X X X X X X   X X X X X    
-1003 Too few arguments Returned if the number of arguments is too low. X X X X X X X X X X X X   X X X X X X  
-1005 Invalid argument Returned if the type of the argument is incorrect. X X X X X X X X X X X X   X X X X X X  
-1007 Combination not allowed

Returned by TA/XA/XAS command if MovingCam parameter in VGRHandEyeCalibration function is true.

Returned by GP command if:

  • AlignMode argument is 2 while Shuttling Part parameter in VGRDefinePartAdvanced function is true.

  • AlignMode argument is 1 while MovingCam parameter in VGRHandEyeCalibration function is true.

  • MovingCam parameter in VGRHandEyeCalibration function is true and steps in VGRDefinePartAdvanced function have different CalibIDs.

  • MovingCam parameter in VGRHandEyeCalibration function is true and Shuttling Part parameter in VGRDefinePartAdvanced function is true.

           X X X                 X      
-1010 Not supported

Returned if :

  • HE, HEE: The CamID of the received HE or HEE is different from HEB, or the PartID of the received HE is different from the previous HE.
  • AC: The PartID of the received AC is different from ACB, or the PartID of the received AC is different from the previous AC.
  • GP: The AlignMode in GP command is not 2.
  • GCP: The coordinate mode is Cam2D in a moving camera configuration.
  X X   X                       X X    
-1012 Invalid camera ID

Returned if:

  • The CamID of HEB, HE, HEE is greater than 1.
  • The CamID of ACB, AC is 0 or greater than 1.
 X X X X X                              
-1014 Invalid Result Mode The specified ResultMode is unknown.             X X     X X         X      
-2001 Not calibrated The CalibID set for the specified PartID is not calibrated.           X X X X X X X     X X X X    
-2002 Calibration failed

Returned if:

  • Calibration calculation HEE command fails.

  • Next pose or calibration calculation AC command fails.

     X   X                              
-2004 Given calibration pose not reached Returned if the motion system pose on the received AC command is farther from the instructed pose by the previous ACB or AC command response over 0.1 unit. This means the motion system does not reach the given pose provided by the previous AC or AC command response.         X                              
-2005 No calibration begin command

Returned if:

  • The HE or HEE command is received while the HEB command is not issued yet.
  • The AC command is received while the ACB command is not issued yet.
   X X   X                              
-3002 Feature not found Returned if the feature is not found, that is, the target valid value is false.   X   X X X X X X   X X   X X   X X    
-3004 Part pose not trained The part pose is not registered by the TT command yet.             X X     X X         X      
-3005 Robot pose not trained The robot pose is not registered by the TTR command yet.                     X X         X      
-4001 Undefined PartID Returned if the PartID of the received command is not defined by any VGRDefine* cells.   X   X X X X X X X X X     X X X      
-4005 Undefined StepID Returned if the StepID of the received command is not defined by any VGRDefine* cells.                           X       X    
-5001 Not Online

Returned when a supported command is received while the vision system is Offline.

Even in Offline mode, if an unsupported command is received, error code -1001(Unknown command) is returned instead of -5001.

 X X X X X X X X X X X X X X X X X X X X
-5002 Job has no valid VGRHandEyeCalibration

Returned when a supported command is executed in OnlineMode, but the job has no valid VGRHandEyeCalibration.

If the executed command is an unsupported command, error code-1001(Unknown command) is returned instead of -5002.

 X X X X X X X X X X X X X X X X X X X X