Yaskawa MP2000 - Manual (Page 85)

TECHNICAL NOTE
<MOVEABS> Block error condition:
The following table outlines several situations that may cause an error, and will turn on
the blocks “Error” output bit. The block “Error” output will cleared if the EXECUTE bit
goes low.
Internal error bit Cause Attention
inRng
AB000005 Direction input set
out of range The internal register is reverse logic, it
must be ON to indicate the direction input
is within valid range. Sets RDA Error ID
(MW3**81) bit 3 on if error state exists.
errStop
AB000143 Servo Error while
in motion If the error occurs in the servo while the
function is operating, this relay becomes
on. Bit B of RDA Error ID(MW3**81) is
turned on.
axisInErr
AB00014A The axis number
entered on the
input is not an
acceptable value The function blocks can only control 1 to
16 axis. Any value greater or smaller then
this will cause an error. This does not set
the RDA Error ID.
commanderr Another block took
control of the axis. If the block looses control of the axis while
running an error will occur. This does not
set the RDA Error ID.
AB00000E
direrror
AB00000F The direction
commanded to
travel is disabled
from the SVON. The SVON block must be used and have
the direction commanded enabled. Sets
RDA Error ID (MW3**81) bit 4 on if error
state exists.
<MOVEABS> Working Register
This table outlines the data in the eighteen registers used by the function block. There
is not usually any need for the user to access any of these bits directly.
Register No TYPE Name Content
AW00000
Bit 0 IN execute Enable input (XB000000)
Bit 1 IN shortest Shortest direction mode is selected
Bit 2 Working posDir Positive direction mode is selected
Bit 3 Working movback If shortest path is selected and reverse direction is shortest
Bit 4 Working movfor If shortest path is selected and positive direction is shortest
Bit 5 Working inRng The input of DIRECTIO and POSITION is outside ranges.
Bit 6 Working negDir Negative direction mode is selected
Bit 7 OUT running Directly controls YB000000 (Running Output)
Bit 8 OUT complete Directly controls YB000001 (Done Output)
Bit 9 OUT error Directly controls YB000002 (Error Output)
Bit A Working oneshotA Reserved.
Bit B Working firstPass One shot coil for initiating axis
Bit C Working correntDir Current direction mode is selected
Bit D Working movingneg
If in current direction mode and axis is currently going in
negative direction.
Bit E Working commanderr Rising Edge indicates another block took control.
Bit F Working direrror Indicates direction commanded is not enabled.
File: MP2000_IndividualFunctionDocument_RevC 85/168
Doc Number: eng.MCD.05.101
11/17/2005