Error description – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 293
Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
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Error Description
ErrorID
Meaning
No error
The move could not be buffered because the axis motion queue is full. 16 moves is the
maximum which can be buffered.
The move could not be started because motion is prohibited. The drive may not be enabled.
MC_Power.Enable_Positive or MC_Power.Enable_Negative might be low. Check
MC_Power.Status output. MC_Stop.Execute might be held high, preventing motion.
The function block is not applicable for the external axis specified
MC_SetPosition can not be executed while the axis is moving.
Motion aborted due to axis alarm. It is also possible that a software limit has been
exceeded.
When the axis is in rotary mode, and the MC_SetPosition tries to set a position that is equal
to or greater than the MachineCycle, this error is generated, and the position is not set.
Position cannot be defined while the axis is the cam master of other axes.
More than 10 Y_CamIn, Y_CamOut, or MC_GearInPos function blocks for a given axis are
active at the same time. Most likely the application program is not coded correctly, and the
Execute input is being fired too frequently.
Window parameters are outside of the cams Machine Cycle. (0 to Prm1502, the last master
position in the active cam table.)
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.
The master slave relationship is defined. A slave cannot be a master to another axis.
Table size results in misaligned data. Refer to the help section “Internally Created Cam
Data.” A cam table will have a multiple of 16 bytes if created correctly.
Buffer mode does not correspond to a valid enumeration value.
Direction does not correspond to a valid enumeration value.
Start mode does not correspond to a valid enumeration value.
Mode does not correspond to a valid enumeration value.
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.
Jerk is less than or equal to zero.
Engage position is outside the cam table domain.
Engage window is less than zero.
CamTableID does not refer to a valid cam table.
The slave axis can not be the same as the master axis.