Omron TJ2-MC64 - PROGRAMMING Programming Manual page 310

Examples and tips
IF MOTION_ERROR<>0 THEN HALT
GOTO loop
This programming code causes all the programs and tracing to stop when fig. 45
an error happens on any axis. The data is already captured in the Table
memory, and we can start using the oscilloscope to see the status of the
desired parameters at the moment the error occurred.
The measured position of the master axis, given in red, does not seem to be
the cause, because there is no discontinuity on it. We discard a mechanical
problem as well, because the torque, given in green, has low values. An the
moment of the problem the speed of the slave axis, given in yellow, was
smooth and low, therefore this is no problem either.
The next step is to analyze the CAM table, to see which values were used
for demanding the position of the slave axis. To do that, we change the data
trace to show a block of values from Table(0) to Table(999) in red, because
these entries are where the CAM table is created (see the part of the
program that creates the CAM table above). The changed configuration is
shown in the figure.
PROGRAMMING MANUAL 304