Yaskawa MotionWorks IEC - Manual (Page 120)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 112
motion while MC_Stop has control of the axis will generate
this error. Also verify that the limit switches are not active by
checking the Global Variables for the axis. Also, a motion
block may be attempting to abort an MC_TorqueControl
move.
4378 The function block is not applicable for the external axis
specified
4381 Motion aborted due to axis alarm.
4625 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.
4641 Buffer mode does not correspond to a valid enumeration
value.
4642 Direction does not correspond to a valid enumeration value.
4659 Acceleration is less than or equal to zero.
4660 Deceleration is less than or equal to zero.
4665 Velocity parameter is negative.
4667 Jerk is less than or equal to zero
57620 The structure size does not match.