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
Impossible Axis Operation Specified when the Servo
is OFF
Event code
54015441 hex
Meaning A motion instruction was executed for an axis for which the Servo is OFF.
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 for which the Servo is
OFF. Correct the program so that the
instruction is executed after the
Servo is turned ON. Execute an axis motion instruction
only after the Servo is turned ON.
A zero position preset was per-
formed with the MC_Home
(Home) instruction or MC_Home-
WithParameter (Home with
Parameters) instruction for an axis
for which EtherCAT process data
communications are not estab-
lished. If the _ EC_PDSlavTbl (Process
Data Communicating Slave Table)
system-defined variable for the
EtherCAT master of the master
axis is FALSE, remove its cause
and execute the MC_Home or
MC_HomeWithParameter instruc-
tion to preset home after
_EC_PD-
SlavTbl changes to TRUE.
Write the program to make sure
that the
_EC_PDSlavTbl (Process
Data Communicating Slave Table)
system-defined variable for the
EtherCAT master is TRUE if you
execute the MC_Home or
MC_HomeWithParameter instruc-
tion to preset home immediately
after you turn ON the power supply
to the Controller, download data,
reset a slave communications
error, disconnect the slave, recon-
nect the slave, enable the slave, or
disable the slave.
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.