Omron NJ501-4300, Manual

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6 Troubleshooting
6 - 58 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Event name Maximum Interpolation Velocity Error Event code 645A0000 hex
Meaning
The command velocity exceeded the maximum interpolation velocity specified for the MaxVelocityTCP 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 trajectory data so that
the command velocity is lowered. Set the parameters so that the
command velocity for trajectory
does not exceed the maximum
interpolation velocity specified for
the MC_SetKinTransform (Set
Kinematics Transformation)
instruction.
The maximum interpolation veloc-
ity specified for the
MaxVeloci-
tyTCP input variable to the
MC_SetKinTransform (Set Kine-
matics Transformation) instruc-
tion is incorrect or too low.
Change the value of the MaxVe-
locityTCP input variable to an
appropriate value.
Set the maximum interpolation
velocity correctly.
Attached
information None
Precautions/
Remarks None