Yaskawa MotionWorks IEC - Manual (Page 316)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 308
motionKernel 3202 0038 The move specified would exceed the software torque
limits in the negative direction and was rejected before
being started. The group may be moved again
immediately if desired.
motionKernel 3202 0039 The predictive soft limit encountered a segment that
doesn't support the predicted stopping point.
motionKernel 3202 0041 Cam and Contour tables must have a header indicating
the number of rows and columns and a feed forward
velocity flag. Comma separated data values following the
header.
motionKernel 3202 0042 In CamTables, the first (master) column must be either
increasing or decreasing.
motionKernel 3202 0043 In ContourTables, the first (time) column must start at
zero and be increasing.
motionKernel 3202 0044 The master position was outside the range of the
CamTable, which automatically stopped the cam motion.
motionKernel 3202 0045 One or more slave axes could not attain the target
position and velocity within the user specified time limit
for the Cam or Gear motion.
motionKernel 3202 0046 One or more slave axes could not attain the target
position and velocity within the user specified distance
limit for the Cam or Gear motion.
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 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 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.