Omron NJ501-4300, Manual

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6 Troubleshooting
6 - 94 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Event name Kinematics Initialization Error Event code 5401571F hex
Meaning Kinematics initialization failed.
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
One of the robot axes (A0 to A3) is
stopped at the position for which
direct kinematics calculation can-
not be performed. Turn OFF the Servo for the robot
axes. Ensure safety and move the
axis inside the robot moving
range.
If this error is detected, the set-
tings of the kinematics, work-
space, user coordinate systems
and tool coordinate system for the
relevant axes group are cleared.
To operate the robot, you need to
make these settings again. Review the program and make
sure that the robot moves within its
moving range.
Kinematics parameters set are
incorrect. Review and set kinematics param-
eters correctly according the exist-
ing robot.
If this error is detected, the set-
tings of the kinematics, work-
space, user coordinate systems
and tool coordinate system for the
relevant axes group are cleared.
To operate the robot, you need to
make these settings again. Review kinematics parameters of
your robot.
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.