Yaskawa MotionWorks IEC - Manual (Page 212)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 204
connected.
61713 An internal motion kernel command failed. This error could be
caused by inserting multiple MC_Power function blocks in the
program for the same axis. Only one MC_Power function per
axis is required. (Do not include more than one.) On
Y_CamIn, check the associated cam table for duplicated or
decreasing master positions.
Example 1
Example 1 shown below illustrates cam engage with 'AtPosition' start
mode.