C743 External Axes

C743A0 Velocity limit for the external axis at index {unsigned} was exceeded

The velocity that the axis needs to complete its trajectory at the same time as the robot exceeds its maximum limit.

Lower the required axis velocity by reducing the Polyscope speed scale slider or adjust the program to reduce the robot velocity.

C743A1 The servo drive for the external axis at index {unsigned} has entered a fault state

An external axis has had a problem where the servo drive has entered a fault state

Check the external axis's servo drive fault indicators for vendor-specific diagnostics

C743A2 Freedrive is incompatible with external axis motion

External axes cannot be moving while the controller is in Freedrive.

Verify that external axes are completely stopped before entering Freedrive and ensure no axis motion is commanded when already in Freedrive mode.

C743A3 The servo drive for the external axis at index {unsigned} has become disabled

The servo drive of an enabled external axis is reporting itself as disabled

Try the following actions to see which resolves the issue: (A) Reset drive emergency stop, (B) Check whether drive has been configured properly

C743A4 External axis homing is incompatible with other motion

Other external axis or Robot motion was detected during an external axis servo drive homing operation

Adjust the robot program to not perform other external axis or robot motions until the external axis servo drive homing operation has finished

C743A5 Only one external axis servo drive homing operation at a time

Two or more external axis servo drive homing operations were detected at the same time

Adjust the robot program to only perform one external axis servo drive homing operation at a time

C743A6 Motion detected within multiple external axis groups

Only one external axis group may be moving at any given time.

Ensure all axes within an axis group are stopped before attempting to move axes within another group.

C743A7 The position of external axis at index {unsigned} is close to joint limit

The position that the axis needs to complete its trajectory at the same time is close to its joint limit.

C743A8 The position of external axis at index {unsigned} is close to upper joint limit

The position that the axis needs to complete its trajectory at the same time is close to its upper joint limit.

Change the direction of target velocity of the axis so that it is going to move back into the safe zone in next step.

C743A9 The position of external axis at index {unsigned} is close to lower joint limit

The position that the axis needs to complete its trajectory at the same time is close to its lower joint limit.

Change the direction of target velocity of the axis so that it is going to move back into the safe zone in next step.

C743A10 The position of external axis at index {unsigned} was commanded to move without the axis enabled.

An axis must be enabled before it can be moved.

Enable the axis and try again.