5201

Alarm cause: 1. Executing a run instruction/manual command/one-point alignment command/homing command/coordinate system selection/single-turn value setting when the system is not idle. 2. Executing a continue command/servo Pn parameter setting when the system is not paused. 3. Executing a tracking command when the system is not running. 4. Executing tracking parameter/conveyor parameter setting commands/collision detection parameter settings/vibration suppression parameter settings while the system is running

Corrective measures: Switch the system to an appropriate state before executing the command