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6 Troubleshooting
6 - 12
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
645B0000 hex
Maximum
Interpolation
Acceleration
Error
The command
acceleration rate
exceeded the
maximum
interpolation
acceleration
specified for the
MaxAccelerationTC
P
input variable to
the
MC_SetKinTransfor
m instruction.
• The trajectory data for the
current instruction is
incorrect.
• The maximum interpolation
acceleration specified for the
MaxAccelerationTCP
input
variable to the
MC_SetKinTransform
instruction is incorrect or too
low.
√
645C0000 hex Maximum
Interpolation
Deceleration
Error
The command
deceleration rate
exceeded the
maximum
interpolation
deceleration
specified for the
MaxDecelerationTC
P
input variable to
the
MC_SetKinTransfor
m instruction.
• The trajectory data for the
current instruction is
incorrect.
• The maximum interpolation
deceleration specified for
the
MaxDecelerationTCP
input variable to the
MC_SetKinTransform
instruction is incorrect or too
low.
√
67000000 hex
Command
Position
Outside
Workspace
The command
position is outside
the workspace.
• The specified trajectory data
is incorrect.
√
67010000 hex
Current
Position
Outside
Workspace
The current position
was outside the
workspace when an
instruction was
executed.
• The current position was
outside the workspace when
one of the following
instructions was executed.
MC_MoveTimeAbsolute
MC_SyncLinearConveyor
MC_SyncOut
MC_RobotJog
√
67020000 hex
Workpiece
Synchroniza
tion
Excessive
Following
Error
The robot could not
catch up the
workpiece on the
conveyor.
• The conveyor position was
changed before the robot
reached the workpiece.
• The conveyor current
position is incorrect.
√
67030000 hex
Velocity
Error
Detection
The command
velocity exceeded
MaxVelocity
specified for the
TrajData
input
variable to a motion
control instruction.
• The combination of
parameters specified for the
TrajData
input variable
caused a too high command
velocity.
• The parameters specified for
the
TrajData
input variable
are incorrect.
•
MaxVelocity
is too low.
√
Event code Event name
Meaning
Assumed cause
Level
Reference
Maj
Prt
Min Obs Info
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......