Yaskawa MP2000 - Manual (Page 76)

TECHNICAL NOTE
Block error condition:
The following table outlines several situations that may cause an error, and will turn on
the blocks “Error” output bit. The block “Error” output will cleared if the EXECUTE bit
goes low.
Internal error bit Cause Attention
errStop
AB000005 Motion
commanded and
servo is disabled. If block is running and the servo is
disabled the error bit will be set. Sets RDA
Error ID (MW3**81) bit B on if error state
exists.
commanderr
AB00000E Another block took
control of the axis. If the block looses control of the axis while
running an error will occur. This does not
set the RDA Error ID.
direrror
AB00000F The direction
commanded to
travel is disabled
from the SVON
block. The SVON block must be used and have
the direction commanded enabled. Sets
RDA Error ID (MW3**81) bit 4 on if error
state exists.
axisInErr
AB000083 The axis number
entered on the
input is not an
acceptable value The SVB multiaxis blocks can only control
1 to 16 axes. Any value greater or smaller
then this will cause an error. This does not
set the RDA Error ID..
Working Registers
This table outlines the data in the twelve 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 execute EXECUTE input (XB000000)
Bit 3 Working latched
Goes high for one scan, if a latch occurs inside the latch
activation window (one-shot)
Bit 4 Working oneshot Reserved.
Bit 5 Working errStop Goes high if servo faults out while running.
Bit 6 OUT Latched Directly controls YB000002 (LATCHED Output)
Bit 7 OUT running Directly controls YB000000 (RUNNING Output)
Bit 8 OUT complete Directly controls YB000001 (DONE Output)
Bit 9 OUT error Directly controls YB000003 (ERROR Output)
Bit A Working oneshotA Reserved
Bit B Working firstPass One shot coil for initiating axis and block.
Bit C Working oneshotC Reserved.
Bit E Working commanderr Rising Edge indicates another block took control.
Bit F Working direrror Indicates direction commanded is not enabled.
AL00002 Working startpos Value of axis position at start of move.
AL00004 Working distGone Directly controls YL000001 (DISTGONE Output)
AW00009 Working rdaMult Value for address offset to locate proper RDA
AW00010 Working Revision Revision Level of the function block.
File: MP2000_IndividualFunctionDocument_RevC 76/168
Doc Number: eng.MCD.05.101
11/17/2005