Notes – Yaskawa MotionWorks IEC User Manual
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PLCopenPlus Function Blocks for Motion Control 2013-04-13
143
E
Busy
BOOL
Set high upon the rising edge of the 'Execute' or 'Enable' input, and
reset if Done, CommandAborted, or Error is true.
B
Error
BOOL
Set high if error has occurred during the execution of the function
block. This output is cleared when 'Execute' or 'Enable' goes low.
B
ErrorID
UINT
If error is true, this output provides the Error ID. This output is
reset when 'Execute' or 'Enable' goes low.
Notes
, this function block makes the
transition from the ErrorStop to StandStill state by resetting axis-related
errors.
Axis specific alarms are those whose ErrorClass starts with 16#3302,
16#3303, 16#4302, or 16#4403. Use
whether the alarm is axis specific, or a controller alarm in general.
Some Sigma alarms cannot be cleared without power cycle. MC_Reset
does not verify that alarms are cleared before setting the Done output. It
returns Done when the attempt to clear is complete. Use
to check if the axis still has an alarm/error after
MC_Reset is done. There may be more than one alarm active for the axis.
For those alarms or situations when a servopack power must be cycled,
the
function block will cause a soft restart of the
amplifier, eliminating the need to physically cycle power.
Please refer to the following manuals for details regarding servo amplifier
errors:
• Sigma II with NS115
ee section 9.3