The robot has not been initialized.

Cause:

The initialization function block is not called in the PLC program.

Troubleshooting:

Check whether the MC_Step_GroupInitParam function block is called in PLC_PRG in the codesys project.

Solution:

Add a call to the robot initialization function block in the PLC program;
Ask after-sales support for the standard codesys project;

Case sharing:

The branch code for InitDone = 3 in PLC_PRG in codesys is as follows:

3: ***(*Robot initialization; call the STEPSRH initialization function*)
  IF (ParamInit = 2) THEN
   MC_Step_GroupInitParam_0(Name := robot^.name, Enable := TRUE);
   IF(MC_Step_GroupInitParam_0.Done) THEN
    MC_Step_GroupReset_0(AxesGroup := robot, Execute := TRUE);
    ParamInit := 3;
    InitDone := 5;
   END_IF
  END_IF