Omron NJ501-4300, Руководство пользователя

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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
543E0000 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
Motion Control Function Module
Source details
Axis/axes group
Detection
timing
At instruction
execution or at
multi-execution
of instructions
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
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 None
Precautions/
Remarks None