[Cause]
Motion within the learning instruction changed because of teaching modifications or similar changes. M indicates the learning-data number, %s the program name, L the line number, and P the reason for the motion change. Refer to the table below for P.
+------------+---------------------------------------------+------------+--------------------------------------------+ | Value of P | Reason | Value of P | Reason | +------------+---------------------------------------------+------------+--------------------------------------------+ | 1 | action type | 65536 | Highest speed instruction | +------------+---------------------------------------------+------------+--------------------------------------------+ | 2 | start position | 131072 | Straight line distance designation command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 4 | Target location | 262144 | Corner distance specification command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 8 | Middle position (limited to arc motion) | 524288 | Remote TCP command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 16 | Teaching speed | 1048576 | Additional axis speed command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 32 | FINE type | 2097152 | Asynchronous additional axis speed command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 64 | CNT Ratio | 4194304 | moving time | +------------+---------------------------------------------+------------+--------------------------------------------+ | 128 | tool coordinate system | 8388608 | Movement time of additional axis | +------------+---------------------------------------------+------------+--------------------------------------------+ | 256 | User Coordinate System | 16777216 | Time constant | +------------+---------------------------------------------+------------+--------------------------------------------+ | 512 | Override | 33554432 | Acceleration/deceleration mode | +------------+---------------------------------------------+------------+--------------------------------------------+ | 1024 | Load Set Related | 67108864 | $MRR_GRP[g].$PRGOVERRIDE | +------------+---------------------------------------------+------------+--------------------------------------------+ | 2048 | ACC Command | 134217728 | Group Number | +------------+---------------------------------------------+------------+--------------------------------------------+ | 4096 | PATH Command | 268435456 | Interrupt Command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 8192 | Posture type (no-posture instruction, etc.) | 536870912 | Some normal motion instructions | +------------+---------------------------------------------+------------+--------------------------------------------+ | 16384 | Incremental Command | 1073741824 | Additional Axis Actions | +------------+---------------------------------------------+------------+--------------------------------------------+ | 32768 | Processing speed command | | | +------------+---------------------------------------------+------------+--------------------------------------------+
[Countermeasure]
1. Restore the factors that caused the motion change to their state before the motion changed.
2. Delete the learning data on the Data screen and repeat learning from the beginning.
STOP.G APC: The action has changed (M%d, %s,L%d,P%d)
[Cause]
Motion within the learning instruction changed because of teaching modifications or similar changes. M indicates the learning-data number, %s the program name, L the line number, and P the reason for the motion change. Refer to the table below for P.
+------------+---------------------------------------------+------------+--------------------------------------------+ | Value of P | Reason | Value of P | Reason | +------------+---------------------------------------------+------------+--------------------------------------------+ | 1 | action type | 65536 | Highest speed instruction | +------------+---------------------------------------------+------------+--------------------------------------------+ | 2 | start position | 131072 | Straight line distance designation command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 4 | Target location | 262144 | Corner distance specification command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 8 | Middle position (limited to arc motion) | 524288 | Remote TCP command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 16 | Teaching speed | 1048576 | Additional axis speed command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 32 | FINE type | 2097152 | Asynchronous additional axis speed command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 64 | CNT Ratio | 4194304 | moving time | +------------+---------------------------------------------+------------+--------------------------------------------+ | 128 | tool coordinate system | 8388608 | Movement time of additional axis | +------------+---------------------------------------------+------------+--------------------------------------------+ | 256 | User Coordinate System | 16777216 | Time constant | +------------+---------------------------------------------+------------+--------------------------------------------+ | 512 | Override | 33554432 | Acceleration/deceleration mode | +------------+---------------------------------------------+------------+--------------------------------------------+ | 1024 | Load Set Related | 67108864 | $MRR_GRP[g].$PRGOVERRIDE | +------------+---------------------------------------------+------------+--------------------------------------------+ | 2048 | ACC Command | 134217728 | Group Number | +------------+---------------------------------------------+------------+--------------------------------------------+ | 4096 | PATH Command | 268435456 | Interrupt Command | +------------+---------------------------------------------+------------+--------------------------------------------+ | 8192 | Posture type (no-posture instruction, etc.) | 536870912 | Some normal motion instructions | +------------+---------------------------------------------+------------+--------------------------------------------+ | 16384 | Incremental Command | 1073741824 | Additional Axis Actions | +------------+---------------------------------------------+------------+--------------------------------------------+ | 32768 | Processing speed command | | | +------------+---------------------------------------------+------------+--------------------------------------------+
[Countermeasure]
1. Restore the factors that caused the motion change to their state before the motion changed.
2. Delete the learning data on the Data screen and repeat learning from the beginning.