A program required for calibration has not been loaded from disk. This error occurs if a robot-specific calibration file cannot be found on the disk (i.e. in the same location as the file for the main calibration program) or if a required calibration program is not present in memory when it is expected. The latter situation can occur if the CALIBRATION command or instruction is executed with an input mode that does not cause the calibration programs to be loaded from disk and the programs are not already present in memory.
User action: Reissue the CALIBRATE command or instruction with the proper mode. The default mode of zero causes CALIBRATE to automatically load the required programs from disk perform the calibration and then delete the programs. Alternatively issue a CALIBRATE command or instruction with mode "1" (which causes the calibration programs to be loaded into memory) and then reissue the CALIBRATE command or instruction that was originally attempted.