Yaskawa MP930 User Manual
Page 327
D.1 Motion Program Error
D -3
Alarm
Code
Action
Description
Alarm Name
19h
Radius exceeds
LONG_MAX.
The radius specified in the circular/helical
interpolation instruction exceeds the set
range.
Check the radius specification in the circular
/helical interpolation instruction.
1Ah
Center point specification
error
The center point specification in the circular
/helical interpolation instruction is incorrect.
Specify correctly the center point in the
circular/helical interpolation instruction.
1Bh
Executing emergency stop
reference
The axis move command was stopped by a
request to stop the program.
Turn OFF the request of the motion program
control signal to stop the program, and reset
the MP930 alarm.
1Ch
Linear interpolation travel
distance exceeds
LONG_MAX.
The travel distance specified in the linear in-
terpolation instruction exceeds the set range.
Check the travel distance specified in the lin-
ear interpolation instruction.
1Dh
FMX not defined
The FMX instruction is not executed in the
motion program with an interpolation
instruction.
Execute the FMX instruction necessary for a
motion program with interpolation
instruction.
1Eh
Address T out of range
In the IAC/IDC/FMX instruction, a
specification exceeds its set range.
Check the settings in the IAC/IDC/FMX
instruction.
1Fh
Address P out of range
In the IFP instruction, a specification
exceeds its set range.
Check the settings in the IFP instruction.
80h
Logic axis use prohibited
Axis selection in the fixed parameter is set to
“Not used”.
Set the selection of axis to use in the fixed
parameter to “Used”.
81h
Value exceeding POSMAX
specified at infinite length
axis specification
The specified travel distance exceeded the
POSMAX set at infinite-length axis
specification.
Change the setting of the maximum value of
the infinite-length counter (POSMAX) in the
fixed parameter. Check the motion program.
82h
The axis move distance
exceeded LONG_MAX.
The specified axis travel distance exceeded
the set range.
Check the motion program.
84h
Motion commands duplicated Multiple instructions were executed for one
axis.
Check the ladder program.
85h
Motion command responses
duplicated
Inappropriate response for a motion
command was returned.
Check the ladder program.
87h
Out of the VEL set data range In the VEL instruction, a specified
instruction exceeded the set range.
Check the VEL instruction.
88h
Out of the INP set data range In the INP instruction, a specified instruction
exceeded the set range.
Check the INP instruction.
89h
Out of the ACC/SCC/DCC
set data range
In the ACC/SCC/DCC instruction, a speci-
fied instruction exceeded the set range.
Check the ACC/SCC/DCC instruction.
8Ah
No time specification in
MVT instruction
In the MVT instruction, time (T) specifica-
tion is 0.
Check the MVT instruction.
D