Yaskawa MotionWorks IEC - Manual (Page 165)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 157
takes control of the axis. For non buffered modes, the outputs Busy
and Active have the same value.
E CommandAborted BOOL Set high if motion is aborted by another motion command or MC_Stop.
This output is cleared with the same behavior as the Done output.
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.
E ErrorID UINT If error is true, this output provides the Error ID. This output is reset
when 'Execute' or 'Enable' goes low.
Notes
• It is recommended to use velocity equivalent to 60 RPM or less to find
the C channel.
• For further information about the Done output, Profile Complete, and
Motion Complete, see the Determining when motion is complete section.
Error Description
ErrorID Meaning
0 No error
1 Time limit exceeded
2 Distance limit exceeded
3 Torque limit exceeded
4370 The move could not be started because motion is prohibited.
MC_Stop.Execute might be held high, preventing motion. If
MC_Stop has control of the axis, no other function block can
override the "Stopping" state. Other blocks that try to cause
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.