Omron NJ501-4300, Manual

Page: 238 / 336

6 Troubleshooting
6 - 34 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Event name Instruction Execution Error with Undefined Home Event code 54660000 hex
Meaning
High-speed homing, an interpolation instruction, or a robot instruction was executed when home was unde-
fined.
Source
Motion Control Function Module
Source details
Axis/axes group Detection
timing At instruction
execution
Error
attributes
Level
Minor fault
Recovery
Error reset
Log category
System
Effects User program
Continues.
Operation
If "axis" is given for the source details, operation is
not possible for relevant axis. Relevant axis deceler-
ates to a stop if it is in motion.
If "axes group" is given for the source details, opera-
tion is not possible for relevant axes group.
Relevant axes group decelerates to a stop if it is in
motion.
If the axes group is in motion for a robot instruction, it
stops immediately.
System-
defined
variables
Variable Data type Name
_MC_AX[*].MFaultLvl.Active BOOL Axis Minor Fault Occurrence
_MC_GRP[*].MFaultLvl.Active BOOL Axes Group Minor Fault Occur-
rence
Cause and
correction
Assumed cause Correction Prevention
High-speed homing was exe-
cuted when home was undefined. Execute the high-speed homing
operation only after home is
defined by homing. Execute the high-speed homing
instruction only after home is
defined by homing.
An interpolation instruction was
executed for an axes group that
includes an axis with no defined
home. Perform homing to define home
for all axes in the axes group
before you execute the interpola-
tion instruction. Perform homing to define home for
all axes in the axes group before
you execute an interpolation
instruction.
One of the following robot instruc-
tions was executed for an axes
group that includes a logical axis
with no defined home.
• MC_SetKinTransform (Set
Kinematics Transformation)
instruction
• MC_MoveTimeAbsolute
(Time-specified Absolute Posi-
tioning) instruction
• MC_SyncLinearConveyor (Start
Conveyor Synchronization)
instruction
• MC_SyncOut (End Synchroni-
zation) instruction
• MC_GroupMon (Group Moni-
tor) instruction
• MC_RobotJog (Axes Group
Jog) instruction
Attached
information
Attached Information 1: Depends on the source details.
Axis: 0
Axes group: Logical axis number
Precautions/
Remarks
If you execute the Set Position instruction for axes which are in a ready state or for which homing is already
performed, home will again be undefined. In this case, you must perform homing again to define home or
make the axes ready for operation.