Yaskawa MotionWorks IEC Hardware - Manual (Page 133)

MotionWorks IEC Hardware Configuration – 2013-03-26 130
Hex Code Description
ErrorClass AxisErrorID ErrorClass+AxisErrorID output from
MC_ReadAxisError
AlarmID AlarmID output from Y_ReadAlarm
greater than the allowable range for the axis in the
negative direction (overspeed). The axis may not be
moved again until the alarm condition is cleared.
motionKernel 3202 0015 Joint Coordinate System: The command acceleration
was greater than the allowable range for the axis in the
positive direction. The axis may not be moved again
until the alarm condition is cleared.
motionKernel 3202 0016 Joint Coordinate System: The command acceleration
was greater than the allowable range for the axis in the
negative direction. The axis may not be moved again
until the alarm condition is cleared.
motionKernel 3202 0017 Joint Coordinate System: The command torque was
greater than the allowable range for the axis in the
positive direction (overtorque). The axis may not be
moved again until the alarm condition is cleared.
motionKernel 3202 0018 Joint Coordinate System: The command torque was
greater than the allowable range for the axis in the
negative direction (overtorque). The axis may not be
moved again until the alarm condition is cleared.
motionKernel 3202 0021 World Coordinate System: The command position was
outside the allowable range for the axis in the positive
direction (positive overtravel). The axis may not be
moved again until the alarm condition is cleared. After
the alarm is cleared, it is permissible to execute a
move which brings the axis back toward the allowed
region, even though the axis is probably still outside
the allowed region. Any move which pulls the axis
further away from the allowed region will re-trigger the
alarm.
motionKernel 3202 0022 World Coordinate System: The command position was
outside the allowable range for the axis in the negative
direction (negative overtravel). The axis may not be
moved again until the alarm condition is cleared. After
the alarm is cleared, it is permissible to execute a
move which brings the axis back toward the allowed
region, even though the axis is probably still outside
the allowed region. Any move which pulls the axis
further away from the allowed region will re-trigger the
alarm.