Yaskawa MP2000 - Manual (Page 110)

TECHNICAL NOTE
Block Fault Conditions:
The following table outlines several situations that may cause an error. The block error
can be cleared by the ENABLE bit going low.
Internal error bit Cause Attention
rdaError
AB000004 The RDA is not
properly set up. If Motor Rated Speed (MW3**73) or
Encoder resolution (ML3**74) is not
appropriately set up in the RDA, an error
will occur. Sets bit A of RDA Error ID
(MW3**81) if error state exists.
axisinerr
AB000028
The axis number
entered on the
input is not an
acceptable value The function blocks can only control 1 to
16 axis. Any value greater or smaller then
this will cause an error. This does not set
the RDA Error ID.
RDA_Error
AB000026 The module or axis
number in the RDA
is not acceptable RDA module number MW3**83 refers to
the address of Module on the rack, and
can be from 1 to 16. The axis number
MW3**84 refers to the axis location on the
module and can be from 1-16. This
typically would occur if an RDAINIT
function block is not used for that axis.
Servo_Alarm/POWER_OFF
IB**2C0/IB**2C4 Servo Alarm Servo amplifier fault occurred or main
power lost. Sets RDA Error ID (MW3**81)
bit 6 on if no motor power, and bit 7 if
there is a servo alarm.
Working Register
This table outlines the data in the forty-five registers used by the function block. There
is not usually any need for the user to access any of these bits directly.
Register No TYPE Name Content
AW00000
Bit 0 IN｡ Enable ENABLE input (XB000000)
Bit 1 IN｡ posEnable POSENABL input (XB000001)
Bit 2 IN｡ negEnable NEGENABL input (XB000002)
Bit 3 IN｡ Normal
Servo has main power (IB**2C4), no servo alarm (IB**2C0), and
motion controller is ready (IB**000)
Bit 4 IN｡ rdaError Goes high if the RDA registers are not set properly
Bit 5 Moving High when motion is commanded
Bit 6 OUT｡ rotary Goes high if RDA calls for Rotary mode
Bit 7 OUT｡ State
Directly controls YB000000 (STATUS Output). Must be normal
(AB000003), Servo on must be true (IB**002), and filter set
must be on (AB00002C).
Bit 9 OUT｡ Mistake Directly controls YB000001 (ERROR Output)
Bit A Working osEnable Reserved
Bit B Working firstPass
One shot coil for initializing Axis and block on for the rising edge
of enable input
Bit C Working osDisable Reserved
AW00001 Working Filter Rreserved.
AW00002
File: MP2000_IndividualFunctionDocument_RevC 110/168
Doc Number: eng.MCD.05.101
11/17/2005