Yaskawa MotionWorks IEC - Manual (Page 317)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 309
motionKernel 3202 0101 The inverse kinematics computation detected that the
elbow 'handedness' (orientation) does not match the
configuration. The 'handedness' must be fixed by
commanding the individual axes or manually moving the
robot.
motionKernel 3202 0102 The robot XY position intruded into the configured dead
zone area near the origin.
Mechatrolink 3301 0009 Some motor properties, such as encoder resolution,
maximum speed, and maximum torque, could not be
determined for the attached motor. The serial encoder
may be malfunctioning, incorrectly programmed, or
unplugged.
Mechatrolink 3301 000B Setting of Pn002, digits 3 and 4, disables torque limit
and/or velocity limit in velocity and/or torque control
modes. Set Pn002 = xx11 to initialize. Saving in the
Hardware Configuration will automatically set Pn002.
Mechatrolink 3301 000D The servo network does not support this motion control
mode.
Mechatrolink 3301 0018 The command position specified an instantaneous jump
too large relative to the current position. Sigma-5
amplifiers give an A.94b warning and ignore subsequent
position commands for any absolute position reference
greater than 2,097,152 encoder pulses (2 revolutions of a
20-bit encoder). The controller watches for deviation
between command position and actual motor position
greater than 1,966,080 encoder pulses and issues an
alarm. This is at 1.875 revolutions of a 20-bit motor little
bit of margin. Sigma-II/III drives have a lower maximum
following error limit of 1,048,576 encoder pulses. The
position error limit on the Servopack (Pn520) should not
be set greater than 1.875 rev = 1,966,080.
Mechatrolink 3301 0019 Setting of Pn002 digit 4 specifies torque feed-forward, but
the SERVOPACK model does not support torque FF in
position mode.
Mechatrolink 3302 00E4 The setting of the MECHATROLINK-II transmission cycle is
out of the allowable range.
Mechatrolink 3304 0000 The base code for io alarms. The io's alarm value is
bitwise OR'd in with this base value.
DPRAM 3309 0009 An error occurred sending command to a servo
DPRAM 3309 000A The drive has an alarm
DPRAM 3309 000B The data buffer for reading drive parameters via the
messaging interface was too small