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
Motion Control Instruction Multi-execution Disabled
(Trajectory Type)
Event code
57370000 hex
Meaning An input variable that cannot be changed was changed during multi-execution of instructions.
Source
Motion Control Function Module
Source details
Axes group
Detection
timing
At multi-execu-
tion of instruc-
tions
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
MoveTrajType or SyncTrajType for
the current instruction do not
match
MoveTrajType or SyncTraj-
Type for the next instruction exe-
cuted with Buffered or Blending .
You cannot change these input
variables when you execute the
next instruction for multi-execution
of instructions. Correct the pro-
gram. Set MoveTrajType and SyncTraj-
Type that are the same as that for
the current instruction.
Attached
information None
Precautions/
Remarks None
Event name Unsupported Transition Mode Event code 57390000 hex
Meaning
The next instruction was executed with TransitionMode which does not support the combination of the cur-
rent and next instructions.
Source
Motion Control Function Module
Source details
Axes group
Detection
timing
At multi-execu-
tion of instruc-
tions
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 transition mode specified for
the
TransitionMode input variable
to a motion control instruction
does not support the combination
of the current instruction and buff-
ered instruction.
Change the TransitionMode input
variable to a correct transition
mode.
Set the TransitionMode input vari-
able correctly.
Attached
information None
Precautions/
Remarks None