Omron NJ501-4300, Manual

Page: 245 / 336

6 - 41
6 Troubleshooting
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
6-2
Er
ro
r Descript
ion
6
6-
2-2 Err
or D
escriptions
Event name Cannot Calculate Kinematics Event code 570F0000 hex
Meaning The inverse kinematics or direct kinematics cannot be calculated.
Source
Motion Control Function Module
Source details
Axes group
Detection
timing
At or during
instruction exe-
cution
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
The kinematics parameter is out-
side the setting range. Correct the kinematics parameter. Set the kinematics parameter cor-
rectly.
One of the robot axes (A0 to A2) is
stopped at the position for which
direct kinematics calculation can-
not be performed. Turn OFF the Servo for the robot
axes. Ensure safety and move the
axis inside the robot moving
range. Review the program and make
sure that the robot moves within its
moving range.
Inverse kinematics calculation
cannot be performed for the target
position specified in the machine
coordinate system. Correct the target position so that
it is inside the robot moving range. Set the target position inside the
robot moving range.
Attached
information None
Precautions/
Remarks None
Event name Kinematics Transform Not Set Event code 57100000 hex
Meaning The kinematics transform is not set for the specified axes group.
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
The kinematics transform is not
set for the axes group. Use the MC_SetKinTransform
(Set Kinematics Transformation)
instruction to set the kinematics
transform for the axes group. Execute the instruction after you
set the kinematics transform for
the axes group.
Attached
information None
Precautions/
Remarks None