Yaskawa MotionWorks IEC Hardware - Manual (Page 136)

MotionWorks IEC Hardware Configuration – 2013-03-26 133
Hex Code Description
ErrorClass AxisErrorID ErrorClass+AxisErrorID output from
MC_ReadAxisError
AlarmID AlarmID output from Y_ReadAlarm
motionKernel 3202 0051 Axis enable failed. This problem is usually a result of
communication problems with the servo drive.
motionKernel 3202 0052 Runtime computation detected an invalid motion
parameter. This alarm ID can occur if a discrete move
has to be completed but the commanded deceleration
for that move is not sufficient. For example if a
MC_MoveAbsolute aborts another move and the axis
has to stop at a position that will come up in a couple
of scans, but the deceleration input on the
MC_MoveAbsolute is not high enough to make the
desired profile, this alarm will occur.
motionKernel 3202 0061 The axis Positive Overtravel (P-OT) limit has been
exceeded. Motion is prevented in the positive direction.
The axis may not be moved again until the alarm
condition is cleared.
motionKernel 3202 0062 The axis Negative Overtravel (N-OT) limit has been
exceeded. Motion is prevented in the negative
direction. The axis may not be moved again until the
alarm condition is cleared.
motionKernel 3202 0100 The inverse kinematics computation detected a world
position that can not be reached.
motionKernel 3202 0101 The inverse kinematics computation detected that the
elbow 'handedness' (orientation) does not match the
configuration. The 'handedness' must be fixed by
commanding the individual axes or manually moving
the robot.
motionKernel 3202 0102 The robot XY position intruded into the configured dead
zone area near the origin.
Mechatrolink 3301 0009 Some motor properties, such as encoder resolution,
maximum speed, and maximum torque, could not be
determined for the attached motor. The serial encoder
may be malfunctioning, incorrectly programmed, or
unplugged.
Mechatrolink 3301 000B Setting of Pn002, digits 3 and 4, disables torque limit
and/or velocity limit in velocity and/or torque control
modes. Set Pn002 = xx11 to initialize. Saving in the
Hardware Configuration will automatically set Pn002.
Mechatrolink 3301 000D The servo network does not support this motion control