Code TCPP-018: Begin Error Mode at line:%d^5

Cause: The program positions beginning with this line have caused an error condition which makes further speed prediction invalid. The speed prediction task has therefore entered an error handling mode within which it discontinues speed prediction but provides the actual robot speed as an output reference with an affective equipment delay time of 0. (That is, with $TCPPIR.$TCDELAY = 0.) Remedy: Check the error log to find speed limit errors which may be causing this TCPP error to occur. Check the program beginning with this line to determine if the robot can not function as programmed. Modify the program to avoid all such speed limit errors. In cases which list speed limit errors for the wrist axes, the error can often be eliminated by changing the motion command from using mm/sec speed commands to using deg/sec speed commands which better control motion with large wrist orientation changes. 4.ERROR CODES B-83124EN-6/02