27D3		4

	Cannot take J1 semaphore
	(1) A task, that had gotten no arm group containing J1, attempted to execute the J1 motion related command. (2) A task attempted to get an arm group containing J1, but any other task had already gotten it.
	(1) Get an arm group containing J1 with the TAKEARM statement, and then execute J1 motion related command. (2) Correct the program so that more than one program will not attempt to get an arm group containing J1 at the same time.