Notes, Error description – Yaskawa MotionWorks IEC Toolboxes User Manual
Page 469
PLCopen Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13
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is completed, the Done output will not be set. This output is
reset when execute goes low.
B
Busy
BOOL
Set high upon the rising edge of the 'Execute' or 'Enable'
input, and reset if Done, CommandAborted, or Error is true.
B
Active
BOOL
For buffered modes, this output is set high at the moment
the block takes control of the axis. For non buffered modes,
the outputs Busy and Active have the same value.
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.
Notes
•
Because this function creates a 1/3, 1/3, 1/3 trapezoidal move, it may not be appropriate for very long
moves, because the calculated commanded speed may be too high.
•
See the
on Yaskawa's YouTube channel.
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
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.
Buffer mode does not correspond to a valid enumeration value.
Direction does not correspond to a valid enumeration value.
Acceleration is less than or equal to zero.
Deceleration is less than or equal to zero.