MOTN-110: Previous Motion Must Finish With FINE Termination
The motion instruction can't run until the previous move completes.
What it means
The motion instruction can't run until the previous move completes. The prior segment needs a FINE termination type so the robot settles before this instruction executes.
Common causes
Ranked by what technicians most often find, most likely first.
- The previous motion instruction did not use a FINE termination type.
- A robot with 5 axes or fewer switched tool numbers during line tracking while ignoring the WPR of taught positions.
- The taught WPR is not reachable during the tracking operation.
How to fix it
- Change the last motion instruction to use a FINE termination type.
- If this occurs during line tracking on a robot with 5 axes or fewer, change the taught position to a reachable WPR.
- Alternatively, switch tools after the tracking operation is complete rather than during it.
Quick facts
- Category
- Motion
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- MOTN