Yaskawa MotionWorks IEC Toolboxes - Manual (Page 451)

PLCopen Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 438
action is completed, the Done output will not be set. This
output is reset when execute goes low.
B CommandAborted BOOL
Set high if motion is aborted by another motion command
or MC_Stop. This output is cleared with the same behavior
as the Done output.
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.
Error Description
ErrorID Meaning
0 No error
1 Time limit exceeded
2 Distance limit exceeded
3 Torque limit exceeded
4369
The move could not be buffered because the axis motion queue is full. 16 moves is the
maximum which can be buffered.
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.
4378 The function block is not applicable for the external axis specified
4379 A homing sequence is already in progress.
4380 MC_SetPosition can not be executed while the axis is moving.
4381 Motion aborted due to axis alarm. It is also possible that a software limit has been exceeded.
4382
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.
4383 Axis must be commanded at standstill when homing is attempted.
4390 Position cannot be defined while the axis is the cam master of other axes.
4396 Axis latch function already in use.
4397 Over travel limit still ON after attempting to move away from it.
4625
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.
4641 Buffer mode does not correspond to a valid enumeration value.
4642 Direction does not correspond to a valid enumeration value.
4646 Mode does not correspond to a valid enumeration value.
4658 Velocity parameter is less than or equal to zero.
4659 Acceleration is less than or equal to zero.
4660 Deceleration is less than or equal to zero.