Yaskawa MotionWorks IEC - Manual (Page 314)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 306
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.
motionKernel 3202 0023 World Coordinate System: The command speed was
greater than the allowable range for the axis in the
positive direction (overspeed). The axis may not be
moved again until the alarm condition is cleared.
motionKernel 3202 0024 World Coordinate System: The command speed was
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 0025 World Coordinate System: The command acceleration was