MOTN-151: External path rotation exceeds tolerance
The rotation between interpolation data points in an External Path Modification move exceeded the allowed limit.
What it means
The rotation between interpolation data points in an External Path Modification move exceeded the allowed limit. FANUC flags this when the rotation between successive WPR position data points crosses the threshold set in the system variable $PM_GRP[g].$ROT_ERR_LIM.
Common causes
Ranked by what technicians most often find, most likely first.
- WPR position data in the IBGN file has a rotation between interpolation points that is over the limit set by $PM_GRP[g].$ROT_ERR_LIM.
- Path data generated by the External Path Modification function and output to MC or PC contains an out-of-tolerance rotation between adjacent points.
How to fix it
- Check the WPR position data in the IBGN file output to the MC or PC by the External Path Modification function.
- Compare the rotation between interpolation data against the limit in system variable $PM_GRP[g].$ROT_ERR_LIM for the affected group.
Quick facts
- Category
- Motion
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- MOTN