External Motion Interface 中不允许移动

使用ABB外部引导运动（EGM）时，出现以下错误：

附上RAPID程序：

PROC EGM_actpose()
        EGMReset egmID1;
        EGMGetId egmID1;
        egmSt1:=EGMGetState(egmID1);
        TPWrite "EGM state:"\Num:=egmSt1;
        IF egmSt1<=EGM_STATE_CONNECTED THEN
            EGMSetupUC ROB_1,egmID1,"default","UCdevice"\Pose\CommTimeout:=10;
        ENDIF
        EGMActPose egmID1\Tool:=tool0,pose0,EGM_FRAME_WORLD,pose0,EGM_FRAME_WORLD\X:=egm_minmax_lim\Y:=egm_minmax_lim\Z:=egm_minmax_lim\LpFilter:=20\MaxSpeedDeviation:=40;
        EGMRunPose egmID1, EGM_STOP_HOLD\X\Y\Z\CondTime:=0.1\RampInTime:=0.05;
        MoveJ pHome, v150, z50, tool0; # 出错位置
        WaitTime 0.5;
        TPWrite "EGM state:"\Num:=egmSt1;
        MoveJ pHome10, v150, z50, tool0; # 出错位置
        EGMReset egmID1;
ENDPROC

将代码中出错位置的z50改成fine即可解决问题。