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too long to compute and write out the data; or (3) the trajectory
interval is equal to or less than the servo interval.
User action: Perform one or more of the following: (1) if the trajectory cycle time
is less than 16msec, change it to the next longer time; (2) move servo
tasks off CPU #1 to allow more time for trajectory generation; (3)
upgrade the system processor to increase the throughput; (4) reduce
the number of robots or axes that you are operating; or (5) if the tra-
jectory cycle time is set to 2msec, make sure the servo interval is
1msec.
*Undefined program or variable name* (–406)
Explanation: The program or variable, referenced in a command or program step,
does not exist—possibly because the name was mistyped.
User action: If the correct name was entered, create the program or variable
using one of the V
+
editors or the appropriate V
+
monitor com-
mands, or by loading from a disk file.
*Undefined value* (–401)
Explanation: (1) A variable has been referenced that has not been assigned a
value.
(2) Using the SEE editor, an attempt has been made to use a macro,
return to a memorized cursor position, or perform a repeat string
search or change without first performing the appropriate initializa-
tion sequence.
User action: (1) Assign the variable a value or correct its name.
(2) Define the macro, record a cursor position, or enter the desired
search/replacement string(s).
*Undefined value in this context* (–420)
Explanation: An automatic variable or subroutine argument value appears in a
monitor command, but the specified program is not on the execu-
tion stack for the specified program task. Automatic variables and
subroutine arguments have values only when the program that
defines them is on a stack.
User action: Change the monitor command to not reference the variables. Check
that the program is on the expected execution stack. You can place a
PAUSE instruction or breakpoint in the program to stop it while it is
on the execution stack.
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