Omron NJ501-4300, Manual

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6 Troubleshooting
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
6-1
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5401571A hex Invalid
Conveyor
Axis
Specified The axis specified
for the
ConveyorAxis in-out
variable to a motion
control instruction is
not correct.
• The specified axis is
registered in the axes group
which is specified for
AxesGroup .
• The specified axis is an
unused axis.
• The unit of the conveyor axis
is incorrect.
√ P. 6-90
5401571B hex Target
Position
Outside
Workspace The target position
specified for the
Position input
variable to a motion
control instruction is
outside the
workspace.
• Position is outside the
workspace.
√
P. 6-91
5401571C hex Cannot
Cancel
Synchroniza
tion
The MC_SyncOut
instruction cannot
be executed. • The
MC_SyncLinearConveyor
instruction was not
executed.
• The
MC_SyncLinearConveyor
instruction execution is in
progress, but
synchronization is not
currently performed.
√ P. 6-92
5401571E hex Too Many
Kinematics The number of
kinematics
exceeded the limit. • The number kinematics set
by the MC_SetKinTransform
instruction exceeded the
limit.
√
P. 6-93
5401571F hex Kinematics
Initialization
Error Kinematics
initialization failed. • One of the robot axes (A0 to
A3) is stopped at the
position for which direct
kinematics calculation
cannot be performed.
√ P. 6-94
54015732 hex Invalid Tool
Number The tool ID specified
for the
ToolID input
variable to a motion
control instruction is
out of range or not
defined.
• ToolID is outside the setting
range.
• The specified tool ID is not
defined by the
MC_DefineToolTransform
instruction.
√
P. 6-95
54015733 hex Tool
Parameter
Out of
Range The transform
parameter specified
for the
ToolTransform input
variable to a motion
control instruction is
out of range.
• The transform parameter is
outside the setting range.
√ P. 6-95
54015736 hex Offset Not
Allowed During the
MC_SyncLinearCon
veyor instruction
execution, the offset
function can be
used only in
Phase6. • The EnableOffset input
variable changed to TRUE
before the
MC_SyncLinearConveyor
instruction operation entered
Phase6.
√
P. 6-96
Event code Event name Meaning Assumed cause
Level
Reference
Maj Prt Min Obs Info