27D4		4

	Cannot take J2 semaphore
	(1) A task, that had gotten no arm group containing J2, attempted to execute the J2 motion related command. (2) A task attempted to get an arm group containing J2, but any other task had already gotten it.
	(1) Get an arm group containing J2 with the TAKEARM statement, and then execute J2 motion related command. (2) Correct the program so that more than one program will not attempt to get an arm group containing J2 at the same time.