Error codes
This page lists the error codes that the Connection and Communication procedures can return (see Photoneo robotic API).
The error codes are divided into these categories:
No error This code means that the procedure call finished successfully. The Connection and Communication procedures can return it.
General errors from Connection and Communication procedures These errors show the result of a network operation: connecting to the Action Request Server, sending an action request or receiving a response. All network-related API calls can return them: Connection procedures, synchronous and asynchronous action requests, and response-receiving procedures. Note: The Robot module implements the TCP communication differently for each robot brand. Because of this, the Connection and Communication procedures can behave differently when a network issue occurs. For more information, see the integration guide for your robot brand.
Errors from action requests These errors show the result of an action request executed by the vision controller. Synchronous action requests and response-receiving procedures can return them. Note: Scan and Trajectory requests are asynchronous. They only send the action request, so they can only return General errors from Connection and Communication procedures. The response-receiving procedures for these asynchronous action requests return the result of the request executed by the vision controller.
General errors from action requests
Errors from Bin picking action requests
Errors from Locator action requests
Errors from Solution action requests
Errors from Calibration action requests
It is strongly recommended to handle errors after each Connection and Communication procedure.
No error (0)
Description / Cause |
Troubleshooting |
|---|---|
The procedure call finished successfully. No error occurred during execution. |
Use this error code to check that the procedure call was successful.
Some action requests return other data in addition to the error code (stored in global variables/registers). For these requests, the No error code also confirms that the data is valid. If you receive any other code, the data is not valid and must not be used!
|
General errors from Connection and Communication procedures
Communication error (3)
Description / Cause |
Troubleshooting |
|---|---|
Could not establish a valid connection to the Action Request Server. |
Make sure the vision controller is booted up. Check the network settings and the connection between the vision controller and the robot. |
Description / Cause |
Troubleshooting |
|---|---|
A communication error occurred during the TCP send/receive operation. |
Check the connection between the vision controller and the robot. If the vision controller was switched off because of a power failure, it boots up automatically when the power is restored. Then use a connection procedure to open a new connection. |
Bad data (4)
Description / Cause |
Troubleshooting |
|---|---|
The data received from the vision controller in the response to an action request is not valid. |
Check the connection between the vision controller and the robot. If the issue persists, contact support@photoneo.com. |
Timeout (5)
Description / Cause |
Troubleshooting |
|---|---|
The timeout was reached while connecting to the Action Request Server. |
Make sure the vision controller is booted up. Check the network settings and the connection between the vision controller and the robot. |
Description / Cause |
Troubleshooting |
|---|---|
The timeout was reached while sending an action request or receiving a response. |
Check the connection between the vision controller and the robot. Check the value of the timeout (if applicable). |
Unknown request (2)
Description / Cause |
Troubleshooting |
|---|---|
The vision controller did not recognize the request. The request ID is unknown, or the request contains the wrong amount of data. The vision controller closes the connection. |
Make sure the Robot module is not modified and its version is supported by the Studio. Reconnect to the Action Request Server. |
General errors from action requests
Service error (1)
Description / Cause |
Troubleshooting |
|---|---|
The process that handles the called action request is not available. |
To call a bin picking action request, a BPS solution must be deployed (an LS solution for Locator action requests). To call a calibration request, the calibration must be running. Solution requests can normally be called at any time. |
Brand does not match (7)
Description / Cause |
Troubleshooting |
|---|---|
The brand of the connected robot that sent the action request does not match the robot brand selected in the solution. The solution is deployed or has calibration running. |
Select the correct robot model in the solution and restart the process (deployment/calibration). |
Bin picking in simulation mode (8)
Description / Cause |
Troubleshooting |
|---|---|
A solution is deployed in the Simulation mode. No action request sent from the robot is executed. |
Deploy the solution in the Production mode. |
Errors from Bin picking action requests
Unknown error (200)
Description / Cause |
Troubleshooting |
|---|---|
Unhandled state of the bin picking application. |
Contact support@photoneo.com. |
Path planning failed (201)
Description / Cause |
Troubleshooting |
|---|---|
No localized object had a successfully computed trajectory before the trajectory timeout was reached. |
Check the bin picking statuses of the localized objects. Open the Inspector to find the cause of the path planning failure. Follow the instructions in Performance troubleshooting to solve path planning failures. |
No object found (202)
Description / Cause |
Troubleshooting |
|---|---|
No object was localized after the last scan request. |
If there are objects in the scene, adjust the localization profile parameters to improve the localization. You can also tune the scanner settings to get a better scan quality. |
Vision system not initialized (203)
Description / Cause |
Troubleshooting |
|---|---|
The vision system for which the scan request was received is not initialized. |
An initialization request must succeed before you send a scan request. |
Empty scene (218)
Description / Cause |
Troubleshooting |
|---|---|
The scene was evaluated as empty because the number of points in the point cloud is less than the defined threshold. Note: The Empty scene feature must be enabled. |
If there are still objects in the scene (the scene is not really empty), adjust the Empty scene threshold or the bounding box (if used). |
Unable to read vision system pose (219)
Description / Cause |
Troubleshooting |
|---|---|
The point cloud of the hand-eye vision system could not be transformed into robot space because the robot pose during the scan was unknown. |
A valid connection to the Robot State Server is required for bin picking with hand-eye vision systems. Make sure the Robot State Server is running and the network configuration is correct. |
Scene state not found (220)
Note: The Robot module receives this error as Wrong bin picking configuration (255). The cause is shown in the Deployment console.
Description / Cause |
Troubleshooting |
|---|---|
The requested scene state is not defined in the deployed solution. |
Make sure the scene state ID in the robot program matches the ID of the scene state in the solution. |
Scene state already active (221)
Description / Cause |
Troubleshooting |
|---|---|
The scene state with the ID provided in the action request is already active. |
Invalid bounding box (222)
Description / Cause |
Troubleshooting |
|---|---|
The bounding box with the ID provided in the request is not defined for the vision system. |
Make sure the bounding box ID in the robot program matches a bounding box defined for the vision system in the solution. |
Wrong bin picking configuration (255)
This is a cumulative error code. It has several causes, and different action requests can return it. To keep older Robot modules working, the Bin picking action requests report several specific errors as 255. For example: a wrong brand (7), the Simulation mode (8), joint limit or collision errors of the Start/End pose (209-213), or an unknown scene state (220). The Deployment console of the Studio always shows the exact cause.
Description / Cause |
Troubleshooting |
|---|---|
The requested vision system is not defined in the deployed solution. |
Make sure the vision system ID in the robot program matches the ID of the vision system in the solution. |
The Start/End pose has the wrong number of joint values. |
Fix the Start/End pose data sent in the initialization request. |
The Start/End pose is outside the defined joint limits. |
Adjust the joint limits or the Start/End pose so that the pose is within the joint limits. The Deployment console shows which joint is outside the joint limits. |
The Start/End pose is in collision. |
Adjust the position of the collision objects (if it is wrong) or the Start/End pose, so that there is no collision. The Deployment console shows the pair of elements (a part of the kinematic chain and a collision object) that are in collision. |
The brand of the connected robot that sent the action request does not match the robot brand selected in the solution. The solution is deployed or has calibration running. |
Select the correct robot model in the solution and restart the deployment. |
A solution is deployed in the Simulation mode. No action request sent from the robot is executed. |
Deploy the solution in the Production mode. |
Description / Cause |
Troubleshooting |
|---|---|
The requested vision system is not defined in the deployed solution. |
Make sure the vision system ID in the robot program matches the ID of the vision system in the solution. |
A solution is deployed in the Simulation mode. No action request sent from the robot is executed. |
Deploy the solution in the Production mode. |
Description / Cause |
Troubleshooting |
|---|---|
The requested vision system is not defined in the deployed solution. |
Make sure the vision system ID in the robot program matches the ID of the vision system in the solution. |
The vision system in the trajectory request did not capture the last successful scan. |
Make sure you send the trajectory request for the same vision system that captured the last scan, and that the scan was successful. |
A solution is deployed in the Simulation mode. No action request sent from the robot is executed. |
Deploy the solution in the Production mode. |
Description / Cause |
Troubleshooting |
|---|---|
The requested vision system is not defined in the deployed solution. |
Make sure the vision system ID in the robot program matches the ID of the vision system in the solution. |
A solution is deployed in the Simulation mode. No action request sent from the robot is executed. |
Deploy the solution in the Production mode. |
Errors from Locator action requests
Vision system not found (500)
Description / Cause |
Troubleshooting |
|---|---|
The requested vision system is not defined in the deployed solution. |
Make sure the vision system ID in the robot program matches the ID of the vision system in the solution. |
Empty scene (501)
Description / Cause |
Troubleshooting |
|---|---|
The scene was evaluated as empty because the number of points in the point cloud is less than the defined threshold. Note: The Empty scene feature must be enabled. |
If there are still objects in the scene (the scene is not really empty), adjust the Empty scene threshold or the bounding box (if used). |
No object found, Detection running (502)
Description / Cause |
Troubleshooting |
|---|---|
No object has been localized yet after the last scan request, but the localization is still running. |
Call the action request again later. The localization has not found any object yet. |
No object found, Detection stopped (503)
Description / Cause |
Troubleshooting |
|---|---|
No object was localized after the last scan request, and the localization has stopped. |
If there are objects in the scene, adjust the localization profile parameters to improve the localization. You can also tune the scanner settings to get a better scan quality. |
All objects rejected, Detection running (504)
Description / Cause |
Troubleshooting |
|---|---|
All objects localized so far were rejected, but the localization is still running. |
Call the action request again later. The localization may still find valid objects. |
All objects rejected, Detection stopped (505)
Description / Cause |
Troubleshooting |
|---|---|
All localized objects were rejected, and the localization has stopped. |
Check the configuration of the Angle constraint, which caused the rejection of the object(s). |
Robot-mounted scanner requires scan pose (506)
Description / Cause |
Troubleshooting |
|---|---|
The vision system is hand-eye (robot-mounted) but the request was sent without the TCP. |
Send the TCP with the request (hand-eye variant of the scan procedure). |
Cell-mounted scanner forbids scan pose (507)
Description / Cause |
Troubleshooting |
|---|---|
The vision system is extrinsic (cell-mounted) but the request was sent with the TCP. |
Send the request without the TCP. |
Invalid scanner mount parameter (508)
Description / Cause |
Troubleshooting |
|---|---|
The mounting of the scanner (robot-mounted / cell-mounted) is not configured correctly in the solution. |
Check the vision system configuration in the solution. |
Request forbidden (509)
Description / Cause |
Troubleshooting |
|---|---|
The request is not allowed in the current configuration. For example: a Trigger scan request for a vision system without Hand-eye MultiView, a Trigger scan request without the TCP for a robot-mounted scanner, or a Localize on the last scan request when there is no scan to reuse. |
Check the vision system configuration in the solution. For Localize on the last scan, make sure that a scan was acquired first. |
Unknown error (510)
Description / Cause |
Troubleshooting |
|---|---|
Unhandled error while triggering the scan. |
Check the Deployment console. If the issue persists, contact support@photoneo.com. |
Bounding box not found (511)
Description / Cause |
Troubleshooting |
|---|---|
The bounding box with the ID provided in the request is not defined for the vision system. |
Make sure the bounding box ID in the robot program matches a bounding box defined in the solution. |
Errors from Solution action requests
Wrong bin picking configuration (255)
Note: This is a cumulative error code with several causes. For backward compatibility with previous versions, all Bin picking action requests and the Change solution request can return it. Other Solution requests return specific error codes.
Description / Cause |
Troubleshooting |
|---|---|
One of the following errors occurred: 405, 406, 450, 452, 453, 454, 455, 457, 458, 459. |
See the troubleshooting for the listed errors. |
Invalid solution ID (450)
Description / Cause |
Troubleshooting |
|---|---|
A solution with the ID provided in the action request does not exist. |
Make sure the Start solution request was sent with the correct ID. |
Another solution running (451)
Description / Cause |
Troubleshooting |
|---|---|
The solution cannot start because another solution is already running. |
Stop the running solution before you start another one. You can also use the Change solution request. |
Deployment not started (452)
Description / Cause |
Troubleshooting |
|---|---|
The solution deployment failed. |
One of these problems may have occurred:
|
Deployment is not running (453)
Description / Cause |
Troubleshooting |
|---|---|
No solution is currently running. |
Send the action request while a solution is running in deployment. Otherwise, the response is not valid. |
Deployment did not stop (454)
Description / Cause |
Troubleshooting |
|---|---|
The deployment was not stopped successfully. |
Contact support@photoneo.com. |
Solution is not complete (455)
Description / Cause |
Troubleshooting |
|---|---|
The solution with the ID provided in the action request is not ready for deployment. |
Finish the configuration of the requested solution so that you can deploy it. |
Invalid robot brand (457)
Description / Cause |
Troubleshooting |
|---|---|
The solution with the ID provided in the action request uses a robot of a different brand. |
Make sure you request the correct solution. If it is correct, select a robot model of the same brand as the connected robot in the solution. |
Solution already running (458)
Description / Cause |
Troubleshooting |
|---|---|
The solution with the ID provided in the action request is already running. |
To restart the running solution, stop it first and then start it again. |
Solution access unauthorized (459)
Description / Cause |
Troubleshooting |
|---|---|
The solution with the ID provided in the request is owned by the admin user and is not set as Factory default. The robot cannot deploy such a solution. |
Make sure you request the correct solution. If it is correct, contact support@photoneo.com. |
No valid license (471)
Description / Cause |
Troubleshooting |
|---|---|
There is no valid license for the requested solution. |
Check the license of the vision controller. If needed, contact support@photoneo.com. |
Errors from Calibration action requests
Calibration point errors (100-134)
The error code comes unchanged from the calibration process. The most common codes are:
Code |
Description / Cause |
|---|---|
101-105 |
The added point was rejected (wrong point ID, dataset would become invalid, point failed translation / rotation / other validation). |
106-111 |
The calibration tool (pattern or sphere) could not be detected, or the result could not be computed. |
112-123 |
The scanner could not connect or did not deliver a valid frame. |
124 |
Timeout while reading the robot pose from the Robot State Server. |
127-134 |
Internal error, invalid input, invalid pose in automated calibration, scan alignment errors. |
Description / Cause |
Troubleshooting |
|---|---|
An error occurred while adding a new calibration point. |
Prepare the calibration program (robot calibration poses) so that no error occurs when any of the required calibration points is added. If the request returns an error, you can try to repeat it several times. If the issue persists, stop the program. For a detailed description of the error, see the Calibration page of the Studio. |
Automatic calibration errors (460-469)
Code |
Description / Cause |
Troubleshooting |
|---|---|---|
460 |
Invalid vision system - the vision system with the provided ID does not exist in the solution. |
Check the vision system ID in the robot program. |
461 |
Calibration is already running. |
Stop the running calibration before starting a new one. |
462 |
Calibration is not running. |
Start the automatic calibration before you add points, save it or stop it. |
463 |
The calibration could not be stopped. |
Check the Calibration page of the Studio. If the issue persists, contact support@photoneo.com. |
464 |
The calibration could not be started. |
Make sure no other process (deployment, localization) is blocking the calibration. Check the Calibration page of the Studio. |
465 |
Automatic calibration is disabled for the vision system. |
Enable automatic calibration for the vision system in the solution. |
466 |
Not enough calibration points were added to compute the result. |
Add more calibration points before saving the result. |
467 |
The calibration accuracy is above the allowed threshold - the calibration result is not accurate enough to be saved. |
Check the calibration target and the calibration poses (use a larger variation of position and rotation), then repeat the calibration. The accuracy of the last attempt is shown on the Calibration page of the Studio. |
468 |
The scanner of the vision system is not available. |
Check the connection of the scanner. |
469 |
The calibration is not allowed for this solution or vision system. |
Check the solution configuration and the permissions of the user. |