Description
Robot arg is in a semi-coordinated state with unit arg from another task, whose path has been cleared.
This may occur after modpos , SyncMoveOff , SyncMoveSuspend , ActUnit , DeactUnit , ClearPath or if the unit does not get a move instruction with an explicit position before starting a semi-coordinated move.
Unable to read the location of unit arg from another task.
Consequences
Program execution or restart will be interrupted.
Recommended actions
- If the programmed position of the unit is moved by the modpos instruction while the robot is semi-coordinated with the unit, step the unit to the new position to define the path and move PP in the robot program so that the program can be restarted.
- Make sure that the unit has a move instruction from a rest point to a well-defined position and that all programs have a WaitSyncTask instruction before and after the semi-coordinated move.
- Make sure the unit does not move during the semi-coordinated move. Please note that WaitSyncTask also needs to be executed during the period after semi-coordination and before SyncMoveOn and SyncMoveResume.