Yaskawa MotionWorks IEC Toolboxes - Manual (Page 119)

Cam Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 106
1) It will report an ErrorID 10021 if the user enters a non zero value for the MissedLatchLimit and a consecutive
number of latches are not counted. (To detect a hardware failure or other problem with system such as a
sensor blockage.)
2) If latches are detected, but are outside of the SensorMinimum and SensorMaximum range, it is not
considered a missed latch in terms of counting up to the MissedLatchLimit. In this condition, the function block
will pulse the MissedLatch output to indicate that no correction will be made because the latch is not in the
specified area. The user can track the MissedLatch output pulses to make adjustments to the machine, or open
the window for first time synchronization of the master and slave.
In Cam Toolbox v204, this function block was modified to report the RecordedPosition as a new output so that
applications can use this information to re position or re home the axis after a manual operation without adding
a separate MC_TouchProbe function block in the application. The function was also modified to prohibit its
internal Y_SlaveOffset from executing if no cam is engaged.
Error Description
ErrorID Meaning
0 No error
4370
The move could not be started because motion is prohibited. The drive may not be enabled.
MC_Power.Enable_Positive or MC_Power.Enable_Negative might be low. Check
MC_Power.Status output. MC_Stop.Execute might be held high, preventing motion.
4374 Torque move prohibited while non-torque moves queued or in progress.
4378 The function block is not applicable for the external axis specified
4381
Motion aborted due to axis alarm. It is also possible that a software limit has been
exceeded.
4625
Axis ID does not correspond to an axis configured on the system. Verify the value of
AxisNum matches a logical axis number in the configuration. Tip: Make sure AXIS_REF is
properly declared as a VAR or VAR_GLOBAL in all relevant POUs.
4626 The master slave relationship is defined. A slave cannot be a master to another axis.
4633
Table size results in misaligned data. Refer to the help section “Internally Created Cam
Data.” A cam table will have a multiple of 16 bytes if created correctly.
4649 Invalid adjust mode
4657 Distance parameter is less than or equal to zero.
4663 Specified time was less than zero.
4673 StartPosition is outside of master's range.
4674 EndPosition is outside of master's range.
10020 ProductSize cannot be less than or equal to zero
10021 Maximum allowed consecutive missed registration marks reached
10025 Might be crossed or the same non-zero value
10053 DataPoint Error
10086 MaxPosCorrection must be zero or positive, MaxNegCorrection must be or zero or negative.
57620 The DataType connected to a function block parameter specified as ANY type does not