Error 83501024: Failed to take arm semaphore

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Problem

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

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

Solution

1. Take the arm semaphore with the TAKEARM statement, and then execute robot motion commands.
2. Revise the program so that multiple programs do not take arm semaphore simultaneously.
   1. Arm semaphores can be released via the GIVEARM command or by an End Sub statement.
   2. Arm semaphore transferring can be accomplished by using a combination of GIVEARM and TAKEARM commands.  
   3. When using Extended-Joints, Arm Groups come into play, and allow multiple programs to have TAKEARMS simultaneously without conflicts (as long as the same axis isn't duplicated)

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/

- GiveArm Command: https://www.fa-manuals.denso-wave.com/en/usermanuals/000144/

- Extended-Joints: https://www.fa-manuals.denso-wave.com/en/usermanuals/004900/