27D6		4

	Cannot take J4 semaphore
	(1) A task, that had gotten no arm group containing J4, attempted to execute the J4 motion related command. (2) A task attempted to get an arm group containing J4, but any other task had already gotten it.
	(1) Get an arm group containing J4 with the TAKEARM statement, and then execute J4 motion related command. (2) Correct the program so that more than one program will not attempt to get an arm group containing J4 at the same time.