Notes, Error description – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 142
Cam Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
129
Notes
After CamSlave_Recover is done, in most cases, the slave will be at a position different from the home position
or dwell position. Care should be taken before re-engaging the slave to the master axis. Engage Position and
Engage Data inputs on the Y_CamIn block should be verified to make sure that they are set correctly. Incorrect
engage position and or engage method can cause abrupt motion on the slave axis.
Reccomended steps to recover from a cam cycle interruption
1) Clear all alarms after an E-Stop.
2) Enable the slave.
3) Verify the MasterPosition input is the position of the master axis to where the slave must to move to re-
synchronize the cam operation.
3) Execute CamSlave_Recover with valid inputs.
4) Once CamSlave_Recover.Done is TRUE, the slave is in position to continue the cam motion immediately.
5) Change the Y_CamIn.EngagePosition to the current master position. Set
Y_CamIn.EngageData.SlaveAbsolute:= TRUE.
6) Execute Y_Camin. The cam will engage and when the master axis starts motion, the slave will move in
synchronization with the master.
See the
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Error Description
ErrorID
Meaning
No error
The function block is not applicable for the external axis specified
Motion aborted due to axis alarm. It is also possible that a software limit has been
exceeded.
Axis ID does not correspond to an axis configured on the system. Verify the value of
AxisNum matches a logical axis number in the configuration. Tip: Make sure AXIS_REF is
properly declared as a VAR or VAR_GLOBAL in all relevant POUs.
Velocity parameter is less than or equal to zero.
Acceleration is less than or equal to zero.
Deceleration is less than or equal to zero.
Buffer mode does not correspond to a valid enumeration value.
Direction does not correspond to a valid enumeration value.
The specified external axis may not be used. A physical axis is required.
10113
ERROR: Variable (ErrorID_10113_Description) is undefined.