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Event name
Acceleration Error Detection
The command acceleration rate exceeded the MaxAcceleration specified for the TrajData input variable to a
Meaning
motion control instruction.
Motion Control Function Module
Source
Error
Level
attributes
Effects
User program
Variable
System-
defined
_MC_GRP[*].MFaultLvl.Active
variables
Assumed cause
The combination of parameters
specified for the TrajData input
variable caused a too high com-
mand acceleration rate.
Cause and
correction
The parameters specified for the
TrajData input variable are incorrect.
MaxAcceleration is too low.
Attached
None
information
Precautions/
None
Remarks
Event name
Command Current Velocity Limit Exceeded
Meaning
The command current velocity exceeded the axis maximum velocity.
Motion Control Function Module
Source
Error
Level
attributes
Effects
User program
Variable
System-
defined
_MC_GRP[*].MFaultLvl.Active
variables
Assumed cause
Cause and
The axis maximum velocity was
correction
exceeded.
Attached Information 1: Depends on the source details.
Attached
information
Precautions/
None
Remarks
NJ-series NJ Robotics CPU Unit User's Manual (W539)
Source details
Minor fault
Recovery
Continues.
Operation
Data type
BOOL
Correction
Correct the parameters so that the
command acceleration rate is
lower than MaxAcceleration.
Correct the parameters.
Change the value of the MaxAc-
celeration of the TrajData input
variable to an appropriate value.
Source details
Minor fault
Recovery
Continues.
Operation
Data type
BOOL
Correction
Reduce the velocity for robot
operation.
Axis: 0
Axes group: Number of the logical axis where the error occurred
6 Troubleshooting
Event code
67040000 hex
Axes group
Detection
timing
Error reset
Log category
Operation is not possible for relevant axes group.
Relevant axes group stops immediately if it is in
motion.
Name
Axes Group Minor Fault Occur-
rence
Prevention
Set the parameters so that the
command velocity for trajectory is
lower than the acceleration error
detection value.
Set the TrajData input variable cor-
rectly.
Set the acceleration error detec-
tion value correctly.
Event code
67050000 hex
Axes group
Detection
timing
Error reset
Log category
Operation is not possible for relevant axes group.
Relevant axes group stops immediately if it is in
motion.
Name
Axes Group Minor Fault Occur-
rence
Prevention
Set the input parameters so that
they do not exceed the axes maxi-
mum velocity.
At or during
instruction exe-
cution
System
6
During instruc-
tion execution
System
6 - 63
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