Yaskawa MotionWorks IEC Toolboxes - Manual (Page 432)

PLCopen Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 419
V AlarmClear BOOL Clears axis related alarms using MC_Reset FALSE
VAR_OUTPUT
B Status BOOL
TRUE if the drive is enabled. This output is derived from the
Status output of MC_Power.
V AxisAlarm BOOL
Indicates if there is an axis specific alarm on either the
controller or drive.
V DriveWarning BOOL
Indicates a warning on the drive, such as any A.9x display
on the drive.
V DriveWarningID UINT
Indicates the drive warning number, such as 95 (overload
warning). Refer to the drive manual for troubleshooting.
V DriveAlarmID UINT
Indicates the drive alarm number, such as C9 (encoder
disconnected). Refer to the drive manual for troubleshooting.
V ControllerAlarmID UDINT
Indicates the controller alarm ID number, such as 3302
0018. (shown in hex.) Refer to the Controller AlarmID list in
the PLCopenPlus manual for troubleshooting.
B Error BOOL
Set high if error has occurred during the execution of the
function block. This output is cleared when 'Execute' or
'Enable' goes low.
E ErrorID UINT
If Error is true, this output provides the Error ID. This output
is reset when 'Execute' or 'Enable' goes low.
Notes
When attempting to clear an alarm, the enable input must be FALSE or the alarm reset function will be blocked
from executing.
We recommend viewing the alarm and warning output ID’s in Hex, because all Yaskawa ServoPack
documentation lists the amplifier alarm codes in Hex. This simplifies alarm identification. Note that
MotionWorks IEC may show the value at the output in decimal. For example, a DriveAlarmID 0f 2064 converted
to hex is 810, which is the Servopack alarm for the absolute encoder. "A81" will be displayed on the front of the
Servopack.
Remember that this function only reports axis specific alarms and warnings. For general system alarms, use the
Y_ReadAlarms function block from the PLCopenPlus firmware library.
Error Description
ErrorID Meaning
0 No error
4370
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.
4371 The servo drive failed to enable or disable. Check the amplifier wiring for L1 / L2 / L3