Fanuc ATGP Alarm Codes

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Fanuc ATGP Alarm Codes

ATGP-001 WARN No global variables
Cause: Attach group global variables are not loaded.
Remedy: Perform a Controlled start and initialize motion softparts.
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ATGP-002 STOP Joint motion not allow
Cause: No joint motion allowed with an attach group option.
Remedy: Change motype to Linear or Circular before attempting the operation again.
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ATGP-003 STOP Wrist Joint motion not allow
Cause: No wrist joint motion allowed with the attach group option.
Remedy: Remove the wrist joint instruction before attempting the operation again.
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ATGP-004 STOP UFRAME must be zero
Cause: Uframe number is not set to zero.
Remedy: Set the current uframe number to zero.