Yaskawa MotionWorks IEC Toolboxes - Manual (Page 491)

PLCopen Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 478
• The software velocity limits are managed by the MP2000iec controller. The parameters are called
LimitVelocityPositive and LimitVelocityNegative, with values of UINT#1211 and UINT#1210 respectively. Use
the MC_WriteParameter function block for these and all controller side parameters. Velocity limit parameters
are in user units / sec.
• When a velocity limit is exceeded, a controller alarm will be generated, obtainable via the MC_ReadAxisError
function block, or the web server.
• The controller alarm will be 16#3202 0003 if the positive velocity limit is exceeded and 16#3202 0004 if the
negative velocity limit is exceeded.
• To disable the velocity limits, set LimitVelocityEnable, parameter 1212 to zero.
• LimitVelocityPositive must be zero or greater.
• LimitVelocityNegative must be zero or lower.
Error Description
ErrorID Meaning
0 No error
10028 Positive Velocity Limit must be LREAL#0.0 or greater.
10029 Negative Velocity Limit must be LREAL#0.0 or lower.