Yaskawa MotionWorks IEC - Manual (Page 119)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 111
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
• To stop motion, use MC_Stop
• The output 'InVelocity' will be reset when the block is aborted by another
block or at the falling edge of 'Execute'.
• In combination with MC_MoveSuperimposed , the output 'InVelocity'
stays TRUE once the velocity setpoint of the axis has reached the
commanded velocity.
Related Function Blocks
Jog : Make the axis jog at different speeds without having to re-fire the
execute input bit. Available in the
PLCopen Toolbox library
MC_Stop : Stops an axis in motion by bringing the axis to a standstill state.
Error Description
ErrorID Meaning
0 No Error
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.
MC_Stop.Execute might be held high, preventing motion. If
MC_Stop has control of the axis, no other function block can
override the "Stopping" state. Other blocks that try to cause