Error description – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 323
Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
310
B
Acceleration
LREAL
Acceleration of the tool tip
0.0
B
Deceleration
BOOL
Deceleration of the tool tip
0.0
VAR_OUTPUT
B
Done
BOOL
Set high when the commanded action has been completed
successfully. If another block takes control before the
action is completed, the Done output will not be set. This
output is reset when execute goes low.
B
Busy
BOOL
Set high upon the rising edge of the 'Execute' or 'Enable'
input, and reset if Done, CommandAborted, or Error is
true.
B
CommandAborted
BOOL
Set high if motion is aborted by another motion command
or MC_Stop. This output is cleared with the same behavior
as the Done output.
B
Error
BOOL
Set high if error has occurred during the execution of the
function block. This output is cleared when 'Execute' or
'Enable' goes low.
B
ErrorID
UINT
If Error is true, this output provides the Error ID. This
output is reset when 'Execute' or 'Enable' goes low.
Error Description
ErrorID
Meaning
No error
The move could not be buffered because the axis motion queue is full. 16 moves is the
maximum which can be buffered.
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.
The function block is not applicable for the external axis specified
Motion aborted due to axis alarm. It is also possible that a software limit has been
exceeded.
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.
Buffer mode does not correspond to a valid enumeration value.
Direction does not correspond to a valid enumeration value.
Velocity parameter is less than or equal to zero.
Acceleration is less than or equal to zero.
Deceleration is less than or equal to zero.
Jerk is less than or equal to zero.
The specified external axis may not be used. A physical axis is required.
Interpolation calculation error.