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6 Troubleshooting
6 - 60
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Event name
Maximum Interpolation Deceleration Error
Event code
645C0000 hex
Meaning
The command deceleration rate exceeded the maximum interpolation deceleration specified for the
MaxDe-
celerationTCP
input variable to the MC_SetKinTransform (Set Kinematics Transformation) instruction.
Source
Motion Control Function Module
Source details
Axes group
Detection
timing
During instruc-
tion 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 trajectory data for the current
instruction is incorrect.
Change the parameters so that
the command deceleration rate is
lowered.
Set the parameters so that the
command deceleration rate for tra-
jectory does not exceed the maxi-
mum interpolation deceleration
specified for the MC_SetKinTrans-
form (Set Kinematics Transforma-
tion) instruction.
The maximum interpolation decel-
eration specified for the
MaxDe-
celerationTCP
input variable to
the MC_SetKinTransform (Set
Kinematics Transformation)
instruction is incorrect or too low.
Change the value of the
MaxDe-
celerationTCP
input variable to an
appropriate value.
Set the maximum interpolation
deceleration correctly.
Attached
information
None
Precautions/
Remarks
None
Event name
Command Position Outside Workspace
Event code
67000000 hex
Meaning
The command position is outside the workspace.
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 specified trajectory data is
incorrect.
Correct the trajectory data so that
the operation is performed inside
the workspace.
Set the trajectory data so that the
command position for trajectory
does not exceed the range of the
workspace.
Attached
information
None
Precautions/
Remarks
None
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: ......