Omron NY532-5400 Troubleshooting Manual page 280

3 Error Descriptions and Corrections
Instruction Cannot Be Executed during Multi-axes
Event name
Coordinated Control
• An operation instruction was executed for an axis or an axes group that was in a coordinated multi-axes
motion.
Meaning
• A robot instruction that you cannot use for an axes group in a GroupEnable state was executed.
PLC Function Module
Source
Error attri-
Level
butes
Effects User program
Variable
System-
_MC_AX[*].MFaultLvl.Active
defined
_MC_GRP[*].MFaultLvl.Active
variables
Assumed cause
An operation instruction was exe-
cuted for an axis or an axes
group that was in a coordinated
multi-axes motion.
Cause and
correction
The MC_SetKinTransform (Set
Kinematics Transformation)
instruction was executed for an
axes group in a GroupEnable
state.
Attached Information 1: Error Location
Attached Information 2: Error Location Details (Rung Number). For a program section, the rung number
from the start of the section is given. For ST, the line number is given.
Attached
Attached Information 3: Names of the Instruction and Instruction Instance Where the Error Occurred. If
information
there is more than one possible instruction, information is given on all of them. Nothing is given if the
instruction cannot be identified.
Attached Information 4: Expansion Error Code (ErrorIDEx)
Precautions/ If a program is changed after an error occurs, the attached information that is displayed may not be cor-
Remarks rect.
3-204
Source details
Observation
Recovery
Continues.
Operation
Data type
BOOL
BOOL
Correction
Correct the program so that axis
operation instructions are exe-
cuted only for axes or axes
groups that are not in coordinated
multi-axes motion.
Correct the program so that the
instruction is executed only when
the axes group is in a GroupDis-
able state.
5401 543E hex
Event code
Instruction
Detection
timing
---
Log category
The relevant instruction will end according to speci-
fications.
Name
Axis Minor Fault Occurrence
Axes Group Minor Fault Occur-
rence
Prevention
Execute axis operation instruc-
tions only for axes or axes groups
that are not in coordinated multi-
axes motion.
Execute the instruction only when
the axes group is in a GroupDis-
able state.
NY-series Troubleshooting Manual (W564)
At multi-execu-
tion of instruc-
tions
System