Yaskawa MotionWorks IEC - Manual (Page 248)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 240
trigger the execute input.
VAR_OUTPUT
B Done BOOL Set high when the commanded action has been completed
successfully. If another block takes control before the action is
completed, the Done output will not be set. This output is reset
when execute goes low.
E Busy BOOL Set high upon the rising edge of the 'Execute' or 'Enable' input,
and reset if Done, CommandAborted, or Error is true.
E Active BOOL For buffered modes, this output is set high at the moment the
block takes control of the axis. For non buffered modes, the
outputs Busy and Active have the same value.
E CommandAborted BOOL Set high if motion is aborted by another motion command or
MC_Stop. This output is cleared with the same behavior as the
Done output.
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.
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.