Omron NJ501-4300, Manual

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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
Instruction Cannot Be Executed during Multi-axes
Coordinated Control
Event code
5401543E hex
Meaning
• A motion instruction was executed for an axis or an axes group that was in a coordinated multi-axes
motion.
• A robot instruction that you cannot use for an axes group in a GroupEnable state was executed.
Source
PLC Function Module
Source details
Instruction Detection
timing At instruction
execution
Error
attributes
Level
Observation
Recovery
---
Log category
System
Effects User program
Continues
Operation
The relevant instruction will end according to specifi-
cations.
System-
defined
variables Variable Data type Name
None --- ---
Cause and
correction
Assumed cause Correction Prevention
A motion instruction was executed
for an axis or an axes group that
was in a coordinated multi-axes
motion. Correct the program so that axis
operation instructions are exe-
cuted only for axes or axes groups
that are not in coordinated
multi-axes motion. Execute axis operation instruc-
tions only for axes or axes groups
that are not in coordinated
multi-axes motion.
The MC_SetKinTransform (Set
Kinematics Transformation)
instruction was executed for an
axes group in a
GroupEnable
state.
Correct the program so that the
instruction is executed only when
the axes group is in a
GroupDis-
able state.
Execute the instruction only when
the axes group is in a
GroupDis-
able state.
Attached
information
Attached Information 1: Error Location
Attached Information 2: Error Location Details (Rung Number). For a program section, the rung number from
the start of the section is given. For ST, the line number is given.
Attached Information 3: Names of the Instruction and Instruction Instance Where the Error Occurred. If there
is more than one possible instruction, information is given on all of them. Nothing is given if the instruction
cannot be identified.
Attached Information 4: Expansion Error Code (
ErrorIDEx )
Precautions/
Remarks If a program is changed after an error occurs, the attached information that is displayed may not be correct.