Problem

  1. The program has not taken arm semaphore, but it tried to execute robot motion command.
  2. The program tried to take arm semaphore, but another program has already taken the semaphore

Related Error codes:   83501024 (RC8 / RC8A / COBOTTA)


Solution

  1. Take arm semaphore with TAKEARM statement, and then execute robot motion commands.
  2. Revise the program so that multiple programs do not take arm semaphore simultaneously.

Related Links (Owner's Manual)
- TakeArm Command: https://www.fa-manuals.denso-wave.com/en/usermanuals/000151/
- GiveArm Command: https://www.fa-manuals.denso-wave.com/en/usermanuals/000144/
- TakeArmState Command: https://www.fa-manuals.denso-wave.com/en/usermanuals/000385/