Yaskawa MotionWorks IEC - Manual (Page 170)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 162
Notes
• When 'Execute' is high, the axis remains in the ‘Stopping’ state and may
not execute any other command. Other function blocks will generate the
error, 4370, MotionProhibited, if executed.
• While MC_Stop.Execute = TRUE, the axis will be in the stopping state
and new moves should be prohibited.
• For further information about the Done output, Profile Complete, and
Motion Complete, see the
Determining when motion is complete section.
Error Description
ErrorID Meaning
0 No Error
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
motion while MC_Stop has control of the axis will generate this
error. Also verify that the limit switches are not active by
checking the Global Variables for the axis. Also, a motion block
may be attempting to abort an MC_TorqueControl move.
4378 The function block is not applicable for the external axis
specified
4381 Motion aborted due to axis alarm.
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