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 Acceleration Error Detection Event code 67040000 hex
Meaning
The command acceleration rate exceeded the MaxAcceleration 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 acceleration rate.
Correct the parameters so that the
command acceleration rate is
lower than
MaxAcceleration .
Set the parameters so that the
command velocity for trajectory is
lower than the acceleration error
detection value.
The parameters specified for the
TrajData input variable are incorrect.
Correct the parameters. Set the TrajData input variable cor-
rectly.
MaxAcceleration is too low. Change the value of the MaxAc-
celeration of the TrajData input
variable to an appropriate value.
Set the acceleration error detec-
tion value correctly.
Attached
information None
Precautions/
Remarks None
Event name Command Current Velocity Limit Exceeded Event code 67050000 hex
Meaning The command current velocity exceeded the axis maximum velocity.
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 axis maximum velocity was
exceeded. Reduce the velocity for robot
operation. Set the input parameters so that
they do not exceed the axes maxi-
mum velocity.
Attached
information
Attached Information 1: Depends on the source details.
Axis: 0
Axes group: Number of the logical axis where the error occurred
Precautions/
Remarks None