Omron NJ501-4300, Manual

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6 Troubleshooting
6 - 36 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Event name Kinematics Unsupported Instruction Event code 57050000 hex
Meaning
An attempt was made to execute an instruction that cannot be used for an axes group for which the kinemat-
ics transform was set.
Source
Motion Control Function Module
Source details
Axes group Detection
timing At instruction
execution
Error
attributes
Level
Minor fault
Recovery
Error reset
Log category
System
Effects User program
Continues.
Operation
Operation is not possible for relevant axes group.
Relevant axes group stops immediately if it is in
motion.
System-
defined
variables Variable Data type Name
_MC_GRP[*].MFaultLvl.Active BOOL Axes Group Minor Fault Occur-
rence
Cause and
correction
Assumed cause Correction Prevention
One of the following instructions
was executed for an axes group
for which the kinematics transform
was set.
• MC_MoveLinear (Linear Inter-
polation) instruction
• MC_MoveLinearAbsolute
(Absolute Linear Interpolation)
instruction
• MC_MoveLinearRelative (Rela-
tive Linear Interpolation) instruc-
tion
• MC_MoveCircular2D (Circular
2D Interpolation) instruction
• MC_ChangeAxesInGroup
(Change Axes in Group) instruc-
tion
Check and correct the program so
that the instruction that caused the
error is not executed for an group
for which the kinematics transform
is set. Do not execute these instructions
for an axes group for which the
kinematics transform is set.
Attached
information None
Precautions/
Remarks None