Omron NJ501-4300, Руководство пользователя

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6 Troubleshooting
6 - 62 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Event name Workpiece Synchronization Excessive Following Error Event code 67020000 hex
Meaning The robot could not catch up the workpiece on the conveyor.
Source
Motion Control Function Module
Source details
Axes group Detection
timing During instruc-
tion execution
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 conveyor position was
changed before the robot reached
the workpiece. Operate the conveyor at a con-
stant velocity.
Or, do not change the velocity
suddenly. Operate the conveyor at a con-
stant velocity.
The current position of the con-
veyor is incorrect. (Out of range,
encoder overflow, etc.) Correct the current position of the
conveyor. Make the setting so that the cur-
rent position of the conveyor is
updated correctly.
Attached
information None
Precautions/
Remarks None
Event name Velocity Error Detection Event code 67030000 hex
Meaning
The command velocity exceeded MaxVelocity specified for the TrajData input variable to a motion control
instruction.
Source
Motion Control Function Module
Source details
Axes group
Detection
timing
At or during
instruction exe-
cution
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 combination of parameters
specified for the
TrajData input
variable caused a too high com-
mand velocity.
Correct the parameters so that the
command velocity is lower than
MaxVelocity .
Set the parameter so that the com-
mand velocity for trajectory is
lower than the velocity error detec-
tion value.
The parameters specified for the
TrajData input variable are incorrect.
Correct the parameters. Set the TrajData input variable cor-
rectly.
MaxVelocity is too low. Change the value of the MaxVe-
locity of the TrajData input variable
to an appropriate value.
Set the velocity error detection
value correctly.
Attached
information None
Precautions/
Remarks None