MotionWorks IEC Configuration Manual

MotionWorks IEC Configuration Manual
MotionWorks IEC Configuration Rev. H: 4/11/2011
™
Document Number: YEA-SIA-IEC-4H, 4/11/2011
Table Of Contents
1. MotionWorks IEC Configuration ______________________________________________ 1
1.1 MotionWorks IEC Configuration Overview............................................................................. 1
1.2 Accessing the Configuration .................................................................................................. 1
1.3 Closing the Configuration....................................................................................................... 1
1.4 Online vs. Offline .................................................................................................................... 1
1.9.0 Connecting to the Controller ............................................................................................... 2
1.6 Saving Configuration Data ..................................................................................................... 3
1.7 Saving While Online............................................................................................................... 3
1.8 MECHATROLINK Configuration ............................................................................................ 3
1.8.1 Adding a Servo Axis......................................................................................................... 3
1.8.2 Servopack I/O Addressing ............................................................................................... 4
1.8.3 Limits.............................................................................................................................. 11
1.8.4 Servo Tuning.................................................................................................................. 11
1.8.5 Performing a Test Move................................................................................................. 12
1.8.6 Servopack Alarms .......................................................................................................... 13
1.8.7 Remote I/O Devices....................................................................................................... 13
1.8.8 Setting User Units .......................................................................................................... 13
1.9 Ethernet Connections........................................................................................................... 14
1.9.0 Connecting to the Controller .......................................................................................... 14
1.9.1 Ethernet Connections Overview .................................................................................... 15
1.9.2. Using an HMI (Master) to Communicate to the Controller Via Modbus/TCP ............... 15
1.9.3 Adding a Modbus Server/Slave Device ......................................................................... 17
1.9.4 Using an EtherNet/IP Scanner to Communicate to the MP2000iec Controller as an
Adapter.................................................................................................................................... 23
1.9.5 Adding an Ethernet/IP Adapter ...................................................................................... 24
1.9.6 OPC Server.................................................................................................................... 26
1.10 External Encoders.............................................................................................................. 28
1.11 Option Slots........................................................................................................................ 29
1.12 Task Priority Planning ........................................................................................................ 30
1.13 Additional Tools.................................................................................................................. 32
1.13.1 Cam File Download...................................................................................................... 32
2. Web Server_______________________________________________________________ 35
2.1 Web Server Overview .......................................................................................................... 35
2.2 Web Server Requirements................................................................................................... 35
2.3 Web Server Homepage........................................................................................................ 35
2.4 Firmware Upgrade ............................................................................................................... 36
2.5 Project Archive ..................................................................................................................... 42
3. Controller AlarmID List _____________________________________________________ 43
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1. MotionWorks IEC Configuration
1.1 MotionWorks IEC Configuration Overview
MotionWorks IEC Configuration provides a means of setting hardware and communication
information with which the application program operates. This information consists of items such
as: MECHATROLINK Axis and Remote I/O configuration, parameters for devices on the Ethernet
network, and Option Slot configuration. For each of these elements, the Configuration software
automatically enters variable groups and default names in the Global Data Definition for use with
the application program.
MotionWorks IEC Configuration also provides a graphical motor tuning interface, which allows the
user to change parameters in the ServoPacks in real time and view motor response.
1.2 Accessing the Configuration
Open a project before launching the Configuration, otherwise the Open Project dialog box will
appear so a project can be selected.
Click the Icon on the toolbar
to launch the Configuration.
1.3 Closing the Configuration
The Configuration will automatically close when the programming environment is closed, or if
another project is opened. It is not necessary to close the Configuration while in the MotionWorks
IEC programming environment.
1.4 Online vs. Offline
When the Configuration is offline, all data displayed, modified and saved is written to XML files in
the project directory.
Upon connection with a controller, a search for configuration data previously stored by
MotionWorks IEC Configuration is performed.
If no configuration is found in controller (factory default):
The auto discovered hardware is compared to the offline hardware configuration. If the hardware
matches, the parameters for each component are compared. If the parameters match, the
controller’s configuration is displayed. If the configurations are different at either the hardware or
parameter level, a side-by-side comparison will be displayed. The user must select one of the two
configurations. When the Save function is executed, the user configuration is stored in the
controller.
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If a previously stored configuration is found:
The previously stored hardware configuration is compared to the offline hardware. If the
hardware matches, the parameters for each component are compared. If the parameters match,
the controller’s configuration is displayed. If the configurations are different at either the hardware
or parameter level, a side-by-side comparison will be displayed. The user must select one of the
two configurations. A backup copy of the ServoPack parameters is stored in the controller.
1.9.0 Connecting to the Controller
The project IP address is located under the TCP/IP Settings in the Configuration Tree. The IP
Address is cross-linked with the IP Address in the Hardware Tab of the Project. All programming
tools can communicate simultaneously with the controller (MotionWorks IEC, Configuration, and
web server.) A color-coded indicator in the upper right corner of the window indicates the
connection status with a red or green background and displaying the text “Online” or “Offline.”
MotionWorksIEC uses the following Ethernet ports to communicate with the controller
hardware. Certain firewall implementations may block these ports, and prohibit
communication. An easy way to test for this is a network Ping, or if communication is possible via
the web server, but not MotionWorks IEC.
Communication Method
Port Number
MotionWorks IEC
20547
Hardware Configuration
4040
Web Server
80
Ethernet/IP
2222
Modbus/TCP
502
OPC Server
20547
Application Note on www.yaskawa.com
Setup Information for Remote Connections Via Router
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1.6 Saving Configuration Data
Configuration files are stored in a sub directory of the application’s project directory when
the SAVE operation is invoked. When online with the controller, the save function also
downloads parameters to the controller and all Mechatrolink ServoPack devices.
A red status message on certain parameters will alert the user when power cycle is
necessary for updated values to become effective.
The Save operation will universally save data for all configuration components.
1.7 Saving While Online
When the save operation is performed, XML data files are written to the project directory on the
computer and controller. Servopack Parameters are written to FLASH memory. Notice the red
text indicators will inform the user when a parameter requires power cycle to become effective.
The Save operation will universally save data for all configuration components.
1.8 MECHATROLINK Configuration
1.8.1 Adding a Servo Axis
There are a couple ways to add axes to the configuration.
Offline:
1) Right click on the Mechatrolink-II item in the configuration tree.
2) Select Add Device
3) Select a ServoPack model.
4) Enter a hardware node number. This must match the rotary switch of the MechatrolinkII address on the device. Each device must have a unique hardware and logical address.
Online:
If Self Configuration is selected, the configuration will be automatically loaded into the
configuration tree if the auto discovered is selected.
ServoPack configuration is divided into the following areas:
Limits
Test Move
Hardware
Configuration
Function
Alarm
I/O
Absolute
Brake
Tuning
Encoder
Dual Encoder
Note: Do not delete automatically created variables or groups. If you must delete a group, be
sure to delete the group header (an all of its variables) and the group name as listed under
IO_Configuration in the Hardware tab. These two items must remain in sync for project to
compile properly.
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1.8.2 Servopack I/O Addressing
Global variable groups are automatically added to the global variable list when the Hardware
Configuration is saved. The following groups and their associated hardware addresses (for all
16 axes) are provided for reference.
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1.8.3 Limits
Set the Position (Software limits), Torque, and Speed limits for the application.
1.8.4 Servo Tuning
Please refer to these documents related to tuning on www.yaskawa.com:
What should the inertia ratio parameter, Pn103, be set to in the Sigma II amplifier when the
inertia ratio is not known?
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1.8.5 Performing a Test Move
The tuning tab provides access to the ServoPack's tuning parameters with changes taking effect
in real time. All basic and advanced tuning parameters are listed. Warning: Be sure to
safeguard the machine during the Test Move operation! Use a hardwired E-Stop function in case
of unexpected operation.
Direction
Select from forward only, reverse only, and forward & reverse motion.
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Distance
User Units
Accel/Decel
User Units/s2
Delay Time
ms
Speed
User Units/s
Cycles
Quantity
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1.8.6 Servopack Alarms
A tab is provided to show alarm history. The alarms displayed here are the same alarms
available from the MC_ReadAxisAlarm function block. For more information regarding Servopack
alarms, refer to the following manuals:
Sigma II with NS115: SIEP C710800 01, see section 9.3
Sigma III: YEA-SIA-S800-11, see section 10.1.4
Sigma-5 with rotary motor: SIEPS8000043, see Section 6.1
Sigma-5 with linear motor: SIEPS8000044, see Section 6.1
1.8.7 Remote I/O Devices
Phoenix I/O Bus Coupler information:
Please use this link to open the Phoenix Contact Bus Coupler Manual from
www.phoenixcontact.com
1.8.8 Setting User Units
When one of the servo axes is selected on the configuration tree, click on the Configuration tab to
set the user unit parameters. Changes to user units will only take effect after a power cycle.
Warning: If user unit parameters are changed after MC_SetPosition has been executed to store
an absolute encoder position offset, the position value will be incorrect after power cycle. Use
MC_SetPosition again to calibrate the axis after changing the User Unit parameters.
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1.9 Ethernet Connections
1.9.0 Connecting to the Controller
The project IP address is located under the TCP/IP Settings in the Configuration Tree. The IP
Address is cross-linked with the IP Address in the Hardware Tab of the Project. All programming
tools can communicate simultaneously with the controller (MotionWorks IEC, Configuration, and
web server.) A color-coded indicator in the upper right corner of the window indicates the
connection status with a red or green background and displaying the text “Online” or “Offline.”
MotionWorksIEC uses the following Ethernet ports to communicate with the controller
hardware. Certain firewall implementations may block these ports, and prohibit
communication. An easy way to test for this is a network Ping, or if communication is possible via
the web server, but not MotionWorks IEC.
Communication Method
Port Number
MotionWorks IEC
20547
Hardware Configuration
4040
Web Server
80
Ethernet/IP
2222
Modbus/TCP
502
OPC Server
20547
Application Note on www.yaskawa.com
Setup Information for Remote Connections Via Router
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1.9.1 Ethernet Connections Overview
The controller can operate as an EtherNet/IP scanner and adapter, a Modbus/TCP master and
slave, and deliver OPC data simultaneously. The “New Project” template will automatically create
communication drivers and allocate global memory for external devices to read & write
information in the controller. These memory areas are generic: no variables are automatically
created, the user can decide on the arrangement and type of data to populate within the
communications memory region.
Global Variable Groups created when slave communication capabilities are enabled in the
Hardware Configuration.
1.9.2. Using an HMI (Master) to Communicate to the Controller Via
Modbus/TCP
The New Project template includes global I/O groups and drivers to allow the controller to
respond to incoming Modbus messages. Figure 2 shows the Modbus memory map, and how it
relates to the Global Variables in MotionWorks IEC. Note that function codes 01 and 03 return
data that was sent to the controller from the master and do not reflect data from the Global
Variables in the application program.
If the master has a Device ID setting, the MP2300Siec requires the value of "1".
Other Modbus Driver features:
• The Modbus data memory is copied to the Global Variables at the task update rate.
•
Modbus coil 0 equates to the Global Variable at %IX24560. 128 coils are available.
•
Modbus register 40000 equates to the Global Variable at %IW28672. 1024 registers are
available.
•
Modbus input 10000 equates to the Global Variable at %QX24560. 128 inputs are
available.
•
Modbus register 30000 equates to the Global Variable at %QW28672. 1024 registers
are available.
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As shown in Figure 2 below, the input and output memory is in a different location even though
they have the same numerical addressing.
Figure 2: Memory map for Modbus data when the controller is a server / slave.
Application Notes:
Red Lion HMI: Configuring a RedLion HMI to communicate to an MP2000iec Controller via
MODBUS/TCP
Maple Systems HMI: Configuring a Maple Systems HMI to communicate with an MP2000iec
controller
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1.9.3 Adding a Modbus Server/Slave Device
The MP2000iec controller can communicate with up to 10 unique IP addresses simultaneously
using Modbus TCP. A maximum of 20 blocks of memory or various function codes can be
configured for each device if necessary.
Supported Modbus Function Codes:
Function Code
Description
1
Read Coils
2
Read Inputs
3
Read Holding Registers
4
Read Input Registers
5
Write Single Coil
6
Write Single Register
16
Write Multiple Registers
Modbus Server devices must be added to the configuration offline, then sent to the
controller. Before the new configuration will become effective, power on the controller must be
cycled.
Step 1: Launch the Configuration
Step 2: Right click on the Configuration tree on the Modbus/TCP item
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Step 3: Click Finish on the Add Device Dialog Box.
Step 4: The Add Modbus Device window is shown below in Figure 3. Select a name for the
device to be added. This name will be displayed in the Global Variables list. The Status Variable
will be automatically entered in the Global Variables section of the Development
Environment. The Status Variable data type is WORD. This variable will indicate the status of
the connection. See Figure 7 for details regarding the status variable. The minimum update time
is 20 mSec.
Figure 3: Add Modbus Device
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Figure 4: Configuration as shown with one Modbus server / slave configured.
Step 5: Click on the new Modbus Device in the Configuration tree at the left of the
screen. Locate the hyperlink at the lower right of the screen to Add Data Blocks to this
device. Select a name to be associated with the function code. For example, if the device is
remote I/O, name the I/O Group “Output” for example. There is a seven-character limitation on
the I/O Group name. The Starting Address is dependant on the remote device. Consult the
documentation for the remote device to understand the register offset required to access its
functions.
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Step 6: When finished entering data blocks, Save the Configuration. This will create the global
memory I/O Group in the Development Environment.
Figure 5: View of the Global Variables list. Click the Hardware tab in the Project Tree or use the
'View' menu to access. Note the status variable has been created under an input section for this
Modbus device even though no input-type function codes were configured.
Step 7: Open the Global Variables list. Right click on the I/O group header to “Insert
Variable.” This variable can either be a BOOL, WORD, or any other data type that fits the usage
within the program. For example, 16 outputs can be defined as one WORD, and in the program,
the bits can be accessed as follows: MYWORD.X3. Another example would be 16 individual
BOOL variables with unique names.
Figure 6: Inserting a variable into the Modbus group.
The memory area for this Modbus device is shown in the Group Heading. In Figure 5, bytes %B1
and %QB2 are allocated for the Modbus output register. Enter the proper memory address for
the Modbus memory. If bits are required, enter %IX1.0 for example, or if creating a WORD, enter
%IW1.
Any IEC data type can be transmitted or requested from the remote device, provided the data is
interpreted as the same type on the other side.
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To determine the memory area allocated for the Modbus connection, look in the MotionWorks
IEC’s IO_Configuration window in the hardware section.
Modbus TCP Status Variable
This variable reflects the connection status. It can be used in the application program to
determine if the connection to the remote device is active and the data is valid. The status
WORD can be compared to 16#1000, which means that the connection is good. If bits 0 or 1 are
on, the connection is not active, and the controller is attempting to reconnect to the remote
device.
The status variable is only available when the MP2000iec controller is the client or master of
remote devices.
NOTE: If the status variable has a value of zero as observed in the Global Variables list, the
controller may not be running the application program.
Figure 7: Modbus status WORD
Modbus errors in the lower byte of the status variable ONLY if the Application Error bit is TRUE.
Modbus Exception Codes
Code
(In lower
byte of
the
status
variable)
01
Name
Illegal Function
Meaning
The function code received in the query is not an allowable
action for the server (or slave). This may be because the
function code is only applicable to newer devices, and was
not implemented in the unit selected. It could also indicate
that the server (or slave) is in the wrong state to process a
request of this type, for example because it is not configured
and is being asked to return register values.
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02
Illegal Data
Address
03
Illegal Data Value
04
Slave Device
Failure
05
Acknowledge
06
Slave Device Busy
08
Memory Parity
Error
0A
Gateway Path
Unavailable
0B
Gateway Target
Device Failed to
Respond
The data address received in the query is not an allowable
address for the server (or slave). More specifically, the
combination of reference number and transfer length is
invalid. For a controller with 100 registers, the PDU addresses
the first register as 0, and the last one as 99. If a request is
submitted with a starting register address of 96 and a quantity
of registers of 4, then this request will successfully operate
(address-wise at least) on registers 96, 97, 98, and 99. If a
request is submitted with a starting register address of 96 and
a quantity of registers of 5, then this request will fail with
Exception Code 0x02 “Illegal Data Address” since it attempts
to operate on registers 96, 97, 98, 99 and 100, and there is no
register with address 100.
A value contained in the query data field is not an allowable
value for server (or slave). This indicates a fault in the
structure of the remainder of a complex request, such as that
the implied length is incorrect. It specifically does NOT mean
that a data item submitted for storage in a register has a value
outside the expectation of the application program, since the
MODBUS protocol is unaware of the significance of any
particular value of any particular register.
An unrecoverable error occurred while the server (or slave)
was attempting to perform the requested action.
Specialized use in conjunction with programming
commands. The server (or slave) has accepted the request
and is processing it, but a long duration of time will be
required to do so. This response is returned to prevent a
timeout error from occurring in the client (or master). The
client or master) can next issue a Poll Program Complete
message to determine if processing is completed.
Specialized use in conjunction with programming
commands. The server (or slave) is engaged in processing a
long–duration program command. The client (or master)
should retransmit the message later when the server (or
slave) is free.
Specialized use in conjunction with function codes 20 and 21
and reference type 6, to indicate that the extended file area
failed to pass a consistency check. The server (or slave)
attempted to read record file, but detected a parity error in the
memory. The client (or master) can retry the request, but
service may be required on the server (or slave) device.
Specialized use in conjunction with gateways. It indicates
that the gateway was unable to allocate an internal
communication path from the input port to the output port for
processing the request. Usually means that the gateway is
misconfigured or overloaded.
Specialized use in conjunction with gateways. It indicates that
no response was obtained from the target device. Usually
means that the device is not present on the network.
Note: Do not delete automatically created variables or groups. If you must delete a group, be
sure to delete the group header (an all of its variables) and the group name as listed under
IO_Configuration in the Hardware tab. These two items must remain in sync for project to
compile properly
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1.9.4 Using an EtherNet/IP Scanner to Communicate to the MP2000iec
Controller as an Adapter
As previously mentioned, the controller will be configured to accept select EtherNet/IP instances
when the New Project template is selected. Six pre-configured Instances are defined in the
controller for input and output. The following diagram shows these instances and their Global
Variable mapping.
Note: when communicating to the MP2000iec controller to the available instances, the exact byte
size of the instance must be configured on the Scanner side. (The entire 128-byte or 256-byte
block must be transferred even if less data is required.)
The controller will automatically respond to incoming EtherNet/IP messages from Scanners
requesting to read or write data into the pre-defined instances. No other instance numbers can
be used.
Note: The scanner must configure both an input and output assembly. If the scanner is not
required to receive any data from the MP2000iec controller, use assembly 128 with a size of zero
and make sure the "Use Run/Idle" checkbox is not checked.
Global Variable Groups created when slave communication capabilities are enabled in the
Hardware Configuration.
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Application Notes on www.yaskawa.com
MP2300Siec & AB MicroLogix 1100 - Configuration for EtherNet/IP Communication
MP2300Siec & AB ControlLogix 5555 - Configuration for EtherNet/IP Communication
1.9.5 Adding an Ethernet/IP Adapter
1.9.5.1 Adapter Settings for Selected Products
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1.9.6 OPC Server
By default, all global variables are transmitted as OPC data. To disable this feature, click the
hardware tab, right-click the resource folder, and select Settings. (See Figure 10)
Figure 10: OPC Configuration
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Any data in the application program can be set as OPC data by simply clicking the checkbox in
the variable definition screen in the IEC development environment.
Figure 11: Variable Definition Window
Figure 12: OPC Server Configurator
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1.10 External Encoders
Option cards LIO-01, LIO-02, CNTR-01, and LIO-06 have an encoder input available for use with
the PLCopen function blocks. When any of these cards are configured, external encoder
functionality is enabled.
To use the encoder, look in the configuration to identify the logical axis number. Changes to the
user unit parameters will not take effect until power is cycled. Encoder operation can be verified
by checking the Feedback tab.
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1.11 Option Slots
Each slot in the controller can optionally contain a module, or remain empty.
The following option cards are supported:
Global variables for the following remote I/O devices with a fixed number of I/O will automatically
be entered in the Global Variables window of the IEC Programming Environment when the user
presses 'Save' in the configuration:
LIO-01
LIO-02
LIO-04
LIO-05
LIO-06
CNTR
AO-01
AI-01
Note: Do not delete automatically created variables or groups. If you must delete a group, be
sure to delete the group header (an all of its variables) and the group name as listed under
IO_Configuration in the Hardware tab. These two items must remain in sync for project to
compile properly
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1.12 Task Priority Planning
The following table should be used as a guide to architect the execution priority of the various
parts of the application program. This table is only applicable to programs that utilize
MotionWorks IEC Professional. MotionWorks IEC Express only supports 1 task.
Controller Task
Overall
Priority
Note
0
System Tasks with higher priority
than IEC Tasks
0
0
0
8
9
System Tasks with higher priority
than IEC Tasks
10
System Tasks
10
11
13
20
System Tasks with higher priority
than IEC Tasks
21
Highest Priority IEC Application
Task - Priority 0
42
IEC Application Task - Priority 1
43
IEC Application Task - Priority 2
44
IEC Application Task - Priority 3
45
IEC Application Task - Priority 4
46
IEC Application Task - Priority 5
47
IEC Application Task - Priority 6
48
PLC Tasks, round robin with
MECHATROLINK Work Task
MECHATROLINK Work Task
48
MECHATROLINK alarm polling Task,
reads all alarms
from drives
Alarm Task
48
Executes lower priority alarm
handlers
IEC Application Task - Priority 7
49
PLC Tasks interrupted by
MECHATROLINK work q
IEC Application Task - Priority 8
50
PLC Tasks interrupted by
MECHATROLINK work q;
round robin with inbound net activity
50
All inbound traffic comes in at this
Priority.
Outbound is handled by the driver
Tasks
Network Communication Task
30
These PLC Tasks are not interrupted
by network activity
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IEC Application Task - Priority 9
51
IEC Application Task - Priority 10
52
These PLC Tasks interrupted by
network, use for
custom network driver
IEC Application Task - Priority 11
53
This PLC Task is interrupted by
network,
round robin with EIP Communication
Task
E/IP Communication Task
53
EthernetIP communication driver
IEC Application Task - Priority 12
54
IEC Application Task - Priority 13
55
These PLC Tasks interrupted by
network and EIP
IEC Application Task - Priority 14
56
This PLC Task is interrupted by
network and EIP;
Round robin with Modbus TCP Task
Modbus TCP Communication
Task
56
Modbus communication driver
IEC Application Task - Priority 15
57
This PLC Task is interrupted by
Modbus and EIP;
but not interrupted by OPC or RMI
Lowest Priority IEC Application
Task - Priority 16
58
Interrupted by Modbus and EIP; not
OPC or RMI
IEC Application Idle Task
60
MotionWorks IEC "Default" Task.
ProConOS Communication Task
70
ProConOS Communication Task
70
ProConOS Communication Task
70
ProConOS Communication Task
70
ProConOS Task for Application
"Download Changes"
73
ProConOS Task for MotionWorks
IEC communication
74
ProConOS debugging Task
76
ProConOS Task for managing
code
77
ProConOS Task for Run/Stop
mode
78
PLC communication: OPC and
MotionWorks IEC debug
80
System Tasks with lower priority
than IEC Tasks
81
82
83
85
System Tasks with lower priority
than IEC Tasks
Applet / Hardware Configuration /
Web Server communication
85
85
85
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Color Codes:
Hardware Operating System Tasks
Hardware Operating System Tasks
IEC Operating System Tasks
IEC Application Tasks
Network Communication Driver (Incoming Traffic)
Tasks for Hardware Configuration
Network Communication Tasks
1.13 Additional Tools
1.13.1 Cam File Download
To add a CSV file to any MP2000iec controller, follow these steps:
1) Open the Hardware Configuration
2) Click the “Online” menu
3) Click the “Controller Configuration Utilities” menu
4) Select the radio button called “Send Cam Data to Controller”
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5) Select a CSV file.
6) Press Execute.
7) The file will be visible from the web server Project Archive list, and it is possible to select the
CSV file using Y_CamFileSelect. Use the directory path in the filename input as shown below:
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2. Web Server
2.1 Web Server Overview
The Web Server is built into the controller firmware and allows the user to locally or remotely
perform various activities. There are two access levels to the controller via the web server; the
second level requires a password to access features such as firmware upgrade utilities.
2.2 Web Server Requirements
Internet Explorer with Sun Microsystems Java Virtual Machine 1.4.1 or later is required.
2.3 Web Server Homepage
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2.4 Firmware Upgrade
The firmware should not be upgraded unless recommended by an authorized Yaskawa
representative.
This document describes the two methods to upgrade the controller firmware on the MP2□□□iec
controller.
NOTE: DO NOT EXTRACT THE FILES FROM THE ZIP. THE CONTROLLER WILL EXTRACT
THE FILE ITSELF.
Updating the Firmware (By enabling the supervisor mode via web server):
1. To locate stored firmware versions on the local computer where MotionWorks IEC v1.0.6 or
greater is installed, locate the following path:
In this example, we are locating version 1.0.4:
MotionWorks IEC InstallPath/MotionWorks IEC
Configuration/ConfigTool/ControllerFirmware/MP23iec-v_1_0_4
Firmware revisions are also available on www.yaskawa.com. Search for FAQ
MTN-7LPUQC, which will show a table of all firmware releases.
2. Open the web interface in a web browser and connect to the controller by entering the
controller IP Address in the Address field.
3. Select Login from the left menu bar.
36
2. Web Server
4. Login using the following Login name and password:
Controller
Login
Password
MP2300Siec
Admin
MP2300S
MP2310iec
Admin
MP2300S
MP2600iec
Admin
MP2600
Note that the factory default Login and passwords may be changed by the user according to
the information supplied in product note AN.MCD.09.069.
5. Select Update Firmware from the left menu:
37
MotionWorks IEC Configuration - Rev. H: 4/11/2011
6. The firmware update screen will appear:
7. Click on the ‘enabled via software’ hyperlink in the text message area.
8. Reboot the controller by clicking on the ‘Reboot Controller’ button on the update page:
38
2. Web Server
9. After the controller has finished rebooting, the following page will be displayed:
10. At this point, click on the ‘Update Firmware’ link in the left menu.
11. Select the firmware.zip file that you wish to upgrade the firmware: NOTE: DO NOT
EXTRACT THE FILES FROM THE ZIP. THE CONTROLLER WILL EXTRACT THE FILE
ITSELF.
39
MotionWorks IEC Configuration - Rev. H: 4/11/2011
12. Click ‘Browse’ to locate the file.
13. Click ‘Upload’ to upload the firmware file to the controller.
14. After the versions have been verified, a message box will inform you what is currently loaded
on the controller, and what version you are attempting to upgrade.
15. Click on the ‘Update’ button to update the controller firmware.
16. Do not power cycle the controller or attempt to click on any of the menu bar links while
the upgrade is taking place!
40
2. Web Server
17. Verify correct version loaded on the controller by clicking ‘Welcome’ (to refresh) in the left
menu bar.
Updating Firmware (By using the SUP DIP Switch):
1. Flip on the SUP switch on the MP2300Siec controller.
2. Reboot the controller. Controller will boot up in supervisor mode.
3. Login to the controller.
4. Point web browser at the controller. Go to the firmware update page.
5. Select the appropriate firmware.zip file. The file checksums will be automatically verified.
6. Click on the “Update” button to confirm update. Wait until firmware update finishes.
7. Flip off the SUP switch.
8. Reboot the controller. Wait until controller restarts correctly.
9. Verify correct version loaded on the controller by clicking ‘Welcome’ in the left menu bar.
41
MotionWorks IEC Configuration - Rev. H: 4/11/2011
2.5 Project Archive
It’s possible to download or upload the complete application image to / from an MP2000iec
controller without using MotionWorks IEC or the Hardware Configuration. A single file called
“Archive.Zip” contains all the Hardware Configuration Data and the Application Program,
including any data files that may be used by the application that were downloaded to flash using
the “Download File” button from the MotionWorks IEC Resource Dialog or via HTTP file transfer
to the controller.
To Install and Application archive on the controller, follow these steps.
1) Connect to the controller using Internet Explorer.
2) Enter the Login and Password.
3) Under the Maintenance section on the left hand of the screen, click Project Archive
4) Click Browse to locate a previously stored archive.zip file.
5) Click the Upload button to send the file to the controller. It will extract and replace all
files shown in the file listing.
6) Reboot is necessary for the configuration and application program to become operable.
NOTE: If the application has absolute encoders, the absolute encoder offset stored when
MC_SetPosition is executed is not part of the Archive.zip. The absolute encoder offsets will
remain after uploading an Archive.zip file.
WARNING: If the Archive.zip file is loaded into another controller, and the application uses
absolute encoders, axis calibration must be performed to be sure that the application will operate
properly on the new controller.
42
3. Controller AlarmID List
The following is a list of alarm codes that are reported in the Configurations Controller Alarms tab
or via the Y_ReadAlarm function block.
Hex Code
ErrorClass
AxisErrorID
AlarmID
Description
ErrorClass+AxisErrorID output from MC_ReadAxisError
AlarmID output from Y_ReadAlarm
motionKernel
1201
0103
An alarm task queue was full when a new alarm was posted.
This indicates that the task is being starved of execution time or
that the system is generating many alarms simultaneously.
app
1401
0005
The script environment ran out of memory. This is a serious
condition because it may prevent further errors from being
handled correctly.
app
1401
0006
An error occurred while running the standard error handler for a
general script error. This is a serious condition because it
indicates the standard error handler is malfunctioning.
app
1401
0007
This error should never occur and is included only for
completeness. It indicates that an unknown and potentially fatal
problem has occurred within the script engine.
app
1401
000A
The script task failed to stop cleanly, which may result in
unreleased system resources. Error recovery requires the
controller be reset.
app
1401
000B
The command line task failed to stop cleanly, which may result
in unreleased system resources. Error recovery requires the
controller be reset.
app
1403
0002
The task responsible for publishing events to a remote client
failed to stop cleanly, which may result in unreleased system
resources. Error recovery requires the controller be reset.
app
1403
0003
The task responsible for replying to remote clients failed to stop
cleanly, which may result in unreleased system resources. Error
recovery requires the controller be reset.
43
MotionWorks IEC Configuration - Rev. H: 4/11/2011
app
1403
0004
The task responsible starting and stopping connections to
remote clients failed to stop cleanly, which may result in
unreleased system resources. Error recovery requires the
controller be reset.
app
1407
0001
The file system on which the configuration file directory resides
could not be read and may be unmounted or corrupted. The
system has booted in a minimal configuration mode, and most
functionality is limited. If possible, the file system should be
recovered or reformatted and new config files uploaded if
applicable.
app
1407
0103
The watchdog timer expired.
app
1407
0108
A CPU exception occurred.
app
1407
0109
The firmware files on the controller do not match the expected
checksums.
app
1407
010A
The manufacturing procedure failed. The controller probably
could not fetch the current time from the network.
app
140A
0009
Network reset detected multiple Axes connected to the same
servo network node.
app
140A
000A
Network reset detected multiple I/O connected to the same
network node.
app
140A
0015
Controller memory was corrupted during network reset resulting
in a lost logical Axis data structure.
app
140A
0016
Controller memory was corrupted during network reset resulting
in a lost logical I/O data structure.
app
140A
0018
An Abort input specified in the configuration could not be found.
The abort condition is considered permanently asserted. No
motion is possible until the I/O configuration can be matched to
the abort inputs (restart required).
app
140A
0021
Too many events were posted from the system ISR. The motion
scan and servo net loop have been shut down.
app
140C
1035
The manufacturing data on the controller is invalid. The
controller needs to be returned to Yaskawa for reprogramming.
Mechatrolink
2301
0001
The drive returned an invalid watch dog code indicating a
possible dropped communication packet.
Mechatrolink
2301
0002
The drive failed to return confirmation of last aux command
within the default timeout period.
Mechatrolink
2301
0003
An unrecoverable error occurred during auto configuration. As a
result, one or more drives are excluded from the servo network.
Mechatrolink
2301
0004
Overriding the auto configured axes parameters failed. As a
result, one or more drives are excluded from the servo network.
Mechatrolink
2301
0005
Two or more nodes have the same ID. As a result, all servo
network communication has been suspended.
Mechatrolink
2301
0006
The controller must be the root node on the servo network. All
servo network communication has been suspended
44
3. Controller AlarmID List
Mechatrolink
2301
0007
The servo network communication device failed to initialize.
Servo network communication is not possible.
Mechatrolink
2301
0008
An error occurred sending command to a node during
initialization. The node may not support the configured
communications rate. Communication with this node has been
prohibited, but communication with other nodes may be
possible.
Mechatrolink
2301
000E
The drive does not return response packet.
Mechatrolink
2301
000F
Bus reset generation that controller is not demanding.
Mechatrolink
2301
0010
It receives response with the same channel at the same Iso
cycle.
Mechatrolink
2301
0011
The ID in the response packet is not same to ID of AxisNode.
Mechatrolink
2301
0012
The data length in the response packet is not same to value of
CSR register(SEND_DSP_DATA_LENGTH) of drive.
Mechatrolink
2301
0013
The packet type in the response packet is not same S-DSP.
Mechatrolink
2301
0014
Invalid cycle time has passed with configuration file
'servonet.xml'. As a result, all servo network communication has
been suspended.
Mechatrolink
2301
0015
Node is not found on 1394 network.
Mechatrolink
2301
0016
Invalid node.
Mechatrolink
2301
0017
Error matching node IDs.
motionKernel
3103
0101
The file system failed the integral consistency check. Remedy:
Power up the controller in supervisory mode using the SUP
switch. Clear the alarm. Turn off the SUP switch. Power cycle
the controller.
motionKernel
3201
0001
The motion kernel didn't request to enable axis. But, the axis is
enabled.
motionKernel
3201
0002
The motion kernel didn't request to disable axis. But, the axis is
disabled.
motionKernel
3201
0004
The encoder position stored in SRAM could not be validated.
The value has been reset.
motionKernel
3201
0005
Main bus power was disconnected while the axis was enabled.
Main power must be restored and this alarm cleared before
motion can continue.
motionKernel
3201
0101
Configuration error: multiple alarm tasks with duplicate priority.
motionKernel
3201
0102
Configuration error: Alarm task not configured. Using default
priority and name.
45
MotionWorks IEC Configuration - Rev. H: 4/11/2011
motionKernel
3202
0001
Axis Coordinate System: The command position was outside the
allowable range for the axis in the positive direction (positive
overtravel). The axis may not be moved again until the alarm
condition is cleared. After the alarm is cleared, it is permissible
to execute a move which brings the axis back toward the
allowed region, even though the axis is probably still outside the
allowed region. Any move which pulls the axis further away from
the allowed region will re-trigger the alarm.
motionKernel
3202
0002
Axis Coordinate System: The command position was outside the
allowable range for the axis in the negative direction (negative
overtravel). The axis may not be moved again until the alarm
condition is cleared. After the alarm is cleared, it is permissible
to execute a move which brings the axis back toward the
allowed region, even though the axis is probably still outside the
allowed region. Any move which pulls the axis further away from
the allowed region will re-trigger the alarm.
motionKernel
3202
0003
Axis Coordinate System: The command speed was greater than
the allowable range for the axis in the positive direction
(overspeed). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0004
Axis Coordinate System: The command speed was greater than
the allowable range for the axis in the negative direction
(overspeed). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0005
Axis Coordinate System: The command acceleration was
greater than the allowable range for the axis in the positive
direction. The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0006
Axis Coordinate System: The command acceleration was
greater than the allowable range for the axis in the negative
direction. The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0007
Axis Coordinate System: The command torque was greater than
the allowable range for the axis in the positive direction
(overtorque). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0008
Axis Coordinate System: The command torque was greater than
the allowable range for the axis in the negative direction
(overtorque). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0011
Joint Coordinate System: The command position was outside
the allowable range for the axis in the positive direction (positive
overtravel). The axis may not be moved again until the alarm
condition is cleared. After the alarm is cleared, it is permissible
to execute a move which brings the axis back toward the
allowed region, even though the axis is probably still outside the
allowed region. Any move which pulls the axis further away from
the allowed region will re-trigger the alarm.
motionKernel
3202
0012
Joint Coordinate System: The command position was outside
the allowable range for the axis in the negative direction
(negative overtravel). The axis may not be moved again until the
alarm condition is cleared. After the alarm is cleared, it is
permissible to execute a move which brings the axis back
toward the allowed region, even though the axis is probably still
outside the allowed region. Any move which pulls the axis
further away from the allowed region will re-trigger the alarm.
46
3. Controller AlarmID List
motionKernel
3202
0013
Joint Coordinate System: The command speed was greater than
the allowable range for the axis in the positive direction
(overspeed). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0014
Joint Coordinate System: The command speed was greater than
the allowable range for the axis in the negative direction
(overspeed). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0015
Joint Coordinate System: The command acceleration was
greater than the allowable range for the axis in the positive
direction. The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0016
Joint Coordinate System: The command acceleration was
greater than the allowable range for the axis in the negative
direction. The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0017
Joint Coordinate System: The command torque was greater
than the allowable range for the axis in the positive direction
(overtorque). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0018
Joint Coordinate System: The command torque was greater
than the allowable range for the axis in the negative direction
(overtorque). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0021
World Coordinate System: The command position was outside
the allowable range for the axis in the positive direction (positive
overtravel). The axis may not be moved again until the alarm
condition is cleared. After the alarm is cleared, it is permissible
to execute a move which brings the axis back toward the
allowed region, even though the axis is probably still outside the
allowed region. Any move which pulls the axis further away from
the allowed region will re-trigger the alarm.
motionKernel
3202
0022
World Coordinate System: The command position was outside
the allowable range for the axis in the negative direction
(negative overtravel). The axis may not be moved again until the
alarm condition is cleared. After the alarm is cleared, it is
permissible to execute a move which brings the axis back
toward the allowed region, even though the axis is probably still
outside the allowed region. Any move which pulls the axis
further away from the allowed region will re-trigger the alarm.
motionKernel
3202
0023
World Coordinate System: The command speed was greater
than the allowable range for the axis in the positive direction
(overspeed). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0024
World Coordinate System: The command speed was greater
than the allowable range for the axis in the negative direction
(overspeed). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0025
World Coordinate System: The command acceleration was
greater than the allowable range for the axis in the positive
direction. The axis may not be moved again until the alarm
condition is cleared.
47
MotionWorks IEC Configuration - Rev. H: 4/11/2011
motionKernel
3202
0026
World Coordinate System: The command acceleration was
greater than the allowable range for the axis in the negative
direction. The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0027
World Coordinate System: The command torque was greater
than the allowable range for the axis in the positive direction
(overtorque). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0028
World Coordinate System: The command torque was greater
than the allowable range for the axis in the negative direction
(overtorque). The axis may not be moved again until the alarm
condition is cleared.
motionKernel
3202
0031
The move specified would exceed the software position limits in
the positive direction and was rejected before being started. The
group may be moved again immediately if desired.
motionKernel
3202
0032
The move specified would exceed the software position limits in
the negative direction and was rejected before being started.
The group may be moved again immediately if desired.
motionKernel
3202
0033
The move specified would exceed the software speed limits in
the positive direction and was rejected before being started. The
group may be moved again immediately if desired.
motionKernel
3202
0034
The move specified would exceed the software speed limits in
the negative direction and was rejected before being started.
The group may be moved again immediately if desired.
motionKernel
3202
0035
The move specified would exceed the software acceleration
limits in the positive direction and was rejected before being
started. The group may be moved again immediately if desired.
motionKernel
3202
0036
The move specified would exceed the software acceleration
limits in the negative direction and was rejected before being
started. The group may be moved again immediately if desired.
motionKernel
3202
0037
The move specified would exceed the software torque limits in
the positive direction and was rejected before being started. The
group may be moved again immediately if desired.
motionKernel
3202
0038
The move specified would exceed the software torque limits in
the negative direction and was rejected before being started.
The group may be moved again immediately if desired.
motionKernel
3202
0039
The predictive soft limit encountered a segment that doesn't
support the predicted stopping point.
motionKernel
3202
0041
Cam and Contour tables must have a header indicating the
number of rows and colums and a feed forward velocity flag.
Comma separated data values following the header.
motionKernel
3202
0042
In CamTables, the first (master) column must be either
increasing or decreasing.
motionKernel
3202
0043
In ContourTables, the first (time) column must start at zero and
be increasing.
motionKernel
3202
0044
The master position was outside the range of the CamTable,
which automatically stopped the cam motion.
48
3. Controller AlarmID List
motionKernel
3202
0045
One or more slave axes could not attain the target position and
velocity within the user specified time limit for the Cam or Gear
motion.
motionKernel
3202
0046
One or more slave axes could not attain the target position and
velocity within the user specified distance limit for the Cam or
Gear motion.
motionKernel
3202
0051
Axis enable failed. This problem is usually a result of
communication problems with the servo drive.
motionKernel
3202
0052
Runtime computation detected an invalid motion parameter.
motionKernel
3202
0061
The axis Positive Overtravel (P-OT) limit has been exceeded.
Motion is prevented in the positive direction. The axis may not
be moved again until the alarm condition is cleared.
motionKernel
3202
0062
The axis Negative Overtravel (N-OT) limit has been exceeded.
Motion is prevented in the negative direction. The axis may not
be moved again until the alarm condition is cleared.
motionKernel
3202
0100
The inverse kinematics computation detected a world position
that can not be reached.
motionKernel
3202
0101
The inverse kinematics computation detected that the elbow
'handedness' (orientation) does not match the configuration. The
'handedness' must be fixed by commanding the individual axes
or manually moving the robot.
motionKernel
3202
0102
The robot XY position intruded into the configured dead zone
area near the origin.
Mechatrolink
3301
0009
Some motor properties, such as encoder resolution, maximum
speed, and maximum torque, could not be determined for the
attached motor. The serial encoder may be malfunctioning,
incorrectly programmed, or unplugged.
Mechatrolink
3301
000B
Setting of Pn002, digits 3 and 4, disables torque limit and/or
velocity limit in velocity and/or torque control modes. Set Pn002
= xx11 to initialize.
Mechatrolink
3301
000D
The servo network does not support this motion control mode.
Mechatrolink
3301
0018
The command position specified an instantaneous jump too
large relative to the current position. Sigma-5 amplifiers give an
A.94b warning and ignore subsequent position commands for
any absolute position reference greater than 2,097,152 encoder
pulses (2 revolutions of a 20-bit encoder). The controller
watches for deviation between command position and actual
motor position greater than 1,966,080 encoder pulses and
issues an alarm. This is at 1.875 revolutions of a 20-bit motor
little bit of margin. Sigma-II/III drives have a lower maximum
following error limit of 1,048,576 encoder pulses. The position
error limit on the Servopack (Pn520) should not be set greater
than 1.875 rev = 1,966,080.
Mechatrolink
3301
0019
Setting of Pn002 digit 4 specifies torque feed-forward, but the
SERVOPACK model does not support torque FF in position
mode.
Mechatrolink
3302
00E4
The setting of the MECHATROLINK-II transmission cycle is out
of the allowable range.
49
MotionWorks IEC Configuration - Rev. H: 4/11/2011
Mechatrolink
3304
0000
The base code for io alarms. The io's alarm value is bitwise
OR'd in with this base value.
Mechatrolink
3312
0000
The base code for inverter alarms. The inverter's alarm value is
bitwise OR'd in with this base value.
Mechatrolink
3312
0000
The base code for inverter alarms. The inverter's alarm value is
bitwise OR'd in with this base value.
Mechatrolink
3312
0001
reserved
Mechatrolink
3312
0002
reserved
Mechatrolink
3312
0003
reserved
Mechatrolink
3312
0004
reserved
Mechatrolink
3312
0005
reserved
Mechatrolink
3312
0006
reserved
Mechatrolink
3312
0007
reserved
Mechatrolink
3312
0008
reserved
Mechatrolink
3312
0009
reserved
Mechatrolink
3312
000A
reserved
Mechatrolink
3312
000B
reserved
Mechatrolink
3312
000C
reserved
Mechatrolink
3312
000D
reserved
Mechatrolink
3312
000E
reserved
Mechatrolink
3312
000F
reserved
Mechatrolink
3312
0010
reserved
Mechatrolink
3312
0011
reserved
Mechatrolink
3312
0012
reserved
Mechatrolink
3312
0013
reserved
Mechatrolink
3312
0014
reserved
Mechatrolink
3312
0015
reserved
Mechatrolink
3312
0016
reserved
Mechatrolink
3312
0018
reserved
Mechatrolink
3312
0019
reserved
Mechatrolink
3312
001A
reserved
50
3. Controller AlarmID List
Mechatrolink
3312
001B
reserved
Mechatrolink
3312
001C
reserved
Mechatrolink
3312
001D
reserved
Mechatrolink
3312
001E
reserved
Mechatrolink
3312
001F
reserved
Mechatrolink
3312
0020
reserved
Mechatrolink
3312
0021
reserved
Mechatrolink
3312
0025
reserved
Mechatrolink
3312
0026
reserved
Mechatrolink
3312
0027
reserved
Mechatrolink
3312
0028
reserved
Mechatrolink
3312
0029
reserved
Mechatrolink
3312
002A
reserved
Mechatrolink
3312
002B
reserved
Mechatrolink
3312
002C
reserved
Mechatrolink
3312
002D
reserved
Mechatrolink
3312
002E
reserved
Mechatrolink
3312
002F
reserved
Mechatrolink
3312
0031
reserved
Mechatrolink
3312
0083
reserved
Mechatrolink
3312
0084
reserved
Mechatrolink
3312
0085
reserved
Mechatrolink
3312
0086
reserved
Mechatrolink
3312
0087
reserved
Mechatrolink
3312
0088
reserved
Mechatrolink
3312
0089
reserved
Mechatrolink
3312
008A
reserved
Mechatrolink
3312
008B
reserved
Mechatrolink
3312
0091
reserved
51
MotionWorks IEC Configuration - Rev. H: 4/11/2011
Mechatrolink
3312
0092
reserved
Mechatrolink
3312
0093
reserved
Mechatrolink
3312
0094
reserved
Mechatrolink
3312
00E6
reserved
Mechatrolink
3312
00EC
Power reset required.
Mechatrolink
3312
00ED
(Access not possible 10 consecutive times). Power reset
required.
Mechatrolink
3312
00EE
(1s elapsed). Power reset required.
app
3401
0001
The user script encountered an alarm, suspending its operation.
app
3401
0002
Script syntax errors are detected before the script is actually
executed, during the pre-compile phase. The syntax must be
corrected before the script can be run successfully.
app
3401
0003
Script runtime errors can be caused by a variety of incorrect
script routines. The most common error is an attempt to use a
'nil' object where it should not be used.
app
3401
0004
The system could not find the file specified.
app
3401
0011
A data value argument provided to the API function was out of
the expected range.
app
3401
0012
An argument provided to the API function was not the expected
type.
app
3401
0013
An object argument provided to the API function was not the
expected object type.
app
3401
0014
A scalar value was provided where a vector was expected, or a
vector value was provided where a scalar was expected.
app
3401
0015
The script attempted to write to a read-only variable.
app
3401
0016
Use of that API function is not permitted with the current
conditions and/or arguments.
app
3401
0017
The number of data values provided did not match the expected
number of axes.
app
3401
0018
CamTable must have a header indicating the number of rows
and columns and a feed forward velocity flag. Comma separated
data values follows the header. The first (master) column must
be either increasing or decreasing.
app
3401
0019
ContourTables must have a header indicating the number of
rows and columns and a feed forward velocity flag. Comma
separated data values follow the header. In ContourTables, the
first (time) column must start at zero and be increasing.
app
3401
001A
It is prohibited to start a torque (or velocity) move when any
moves other than torque moves (or velocity moves) are currently
in progress or queued.
52
3. Controller AlarmID List
app
3401
00ED
'LastMove' events should be detected when a move completes
normally or is aborted. However, the controller detected a
situation in which the move finished but the event did not occur.
Please submit an SCR.
app
3406
0001
A web server login user was assigned to a group which did not
exist. The system is unaffected, but that user will have limited
(default) access.
app
3406
0002
The default login group for the web server was assigned to a
group which did not exist. Access control has been disabled,
because a minimal amount of access is required in order to log
in. The configuration file should be fixed before continuing.
app
3406
0003
The web server configuration specified access control should be
enabled, but did not specify at least one path to control access
to. Access control has been disabled. The configuration file
should be fixed before continuing.
app
3407
0002
The base directory for configuration files was missing and has
been created automatically. The system has booted in a minimal
configuration mode, and most functionality is limited. Please
upload a new complete configuration file set.
app
3407
0003
A required default configuration file was missing. A minimal
configuration for the corresponding component has been loaded,
and some functionality may be limited.
app
3407
0004
A required default configuration file was incorrectly formatted. A
minimal configuration for the corresponding component has
been loaded, and some functionality may be disabled.
app
3407
0005
A configuration file specified by the user configuration file set
was incorrectly formatted. The corresponding default
configuration file is being used instead.
app
3407
0006
The file describing which configuration set to use was corrupted.
The default configuration set is being used.
app
3407
0007
An error occurred while writing a config file. The file system may
be full or damaged.
app
3407
0101
The configured RAM disk on the controller was unable to be
created.
app
3407
0102
Detected an unsupported card.
app
3407
0104
Data in the controller SRAM did not match the expected value. It
should be treated as corrupted until it is re-initialized.
app
3407
0106
The SRAM battery backup power failed. SRAM data should be
treated as corrupted until it is re-initialized.
app
3407
0107
The controller's time-of-day clock detected a voltage decrease in
the backup battery. The current time and date is likely to be
incorrect. This alarm can be cleared, but will recur when the
controller is powered ON until the time and day is reset and the
battery is replaced.
app
3409
0001
The servo network axis node for the axis specified in the
configuration file was not found.
53
MotionWorks IEC Configuration - Rev. H: 4/11/2011
app
3409
0002
Axis enable failed. This problem is usually a result of
communication problems with the servo drive.
app
3409
0003
Axis group motion activation failed. Some axes in the group are
currently under control of another group, or motion has been
blocked by the user.
app
3409
0004
The motion segment could not be added to the motion queue
because it is already queued.
app
3409
0005
Moves are prohibited when any of the group's axes are disabled,
have an alarm, or are in violation of their soft limits.
app
340A
0001
The source for the logical input was not found, so the configured
input will not be available.
app
340A
0002
The source for the logical output was not found, the the
configured output will not be available.
app
340A
0003
Two or more axis in the configuration file had the same axis ID.
app
340A
0004
The servo network axis node for the axis specified in the
configuration file was not found.
app
340A
0005
The axis group specified in the configuration file could not be
created because either one or more of its axes are invalid or the
group name is already being used.
app
340A
0006
The type of AtTargetAgent specified in the configuration file is
unknown. This is because AtTargetAgent could not be created.
app
340A
0007
The number of constraints for axis group soft limit must be the
same as the number of axes in the axis group.
app
340A
0008
The axis group doesn't have the configured frame.
app
340A
000B
A continuous-wrap range for an axis causes its position to
automatically wrap around between two user-specified numbers.
Generally these numbers evaluate to full revolutions of the
encoder but other ranges are permitted. However, all ranges
specified in user units must map exactly to an integral number of
encoder pulses. This alarm indicates that the mapping from user
units to encoder ticks was inexact. Use more precise numbers to
describe the range or choose a different range that evaluates to
an integral number of encoder pulses. When this alarm occurs at
startup or servo-net reset, it indicates that the axis has not been
connected to an axis node and cannot be servoed on.
Otherwise, this alarm indicates that the specified continuouswrap range was not put into effect.
app
340A
000D
Two or more logical outputs specified in the I/O configuration file
use the same physical bit. This can cause writes to not correctly
generate value-change events on logical outputs for the shared
bits. The configuration file should be fixed.
app
340A
000E
One or more of the data parameters in the axis configuration file
were out-of-range or otherwise incorrectly specified for the axis.
The axis was not created and is not available.
app
340A
0010
After servo network reset, the Axis failed to reconnect to the
servo network. The drive might have been removed from the
network, the node ID of the drive might have changed or there
might be a communication problem.
54
3. Controller AlarmID List
app
340A
0012
After servo network reset, the network I/O failed to reconnect to
the servo network. The network I/O module might have been
removed from the network, the node ID of the network I/O
module might have changed or there might be a network
communication problem.
app
340A
0013
After servo network reset, a new axis node was discovered. This
axis node is not associated with any existing axes and will not
be available. To make this node available, update the
configuration and power cycle the controller.
app
340A
0014
After servo network reset, a new I/O node was discovered. This
I/O node is not associated with any existing I/O and will not be
available. To make this node available, update the configuration
and power cycle the controller.
app
340A
0017
One or more of the axis data or configuration parameters were
inconsistent or incompatible with the axis node specified. The
axis was created but was not connected to the servo node.
app
340A
001B
Two or more LogicalInput have the same ID. The configuration
file should be fixed.
app
340A
001C
Two or more LogicalOutput have the same ID. The configuration
file should be fixed.
app
340A
001D
Two or more AnalogInput have the same ID. The configuration
file should be fixed.
app
340A
001E
Two or more AnalogOutput have the same ID. The configuration
file should be fixed.
app
340A
001F
Analog I/O configuration is missing the 'hardwareConfig'
element, and configuration could not be resolved by the physical
hardware. The configuration file should be fixed by adding this
element to the analog I/O element.
app
340A
0020
One or more axes failed to respond to a servo-off command
during a system I/O initiated abort. This is normally the result of
communication problems with the drive, which also causes an
automatic servo-off.
app
340A
0022
Reset of a servo node failed.
app
340A
0023
The axis position may not be valid because the persistent axis
data was corrupted. SRAM should be reinitialized and the axis
should be homed.
app
340C
0000
All PLCopen error codes are in the range from 0x0000 to 0x0fff.
app
340C
0001
Time limit exceeded.
app
340C
0002
Distance limit exceeded.
app
340C
0003
Torque limit exceeded.
app
340C
0100
Reserved
app
340C
0101
MBTCP Client I/O driver, MBTCP Connection config is missing
input member
55
MotionWorks IEC Configuration - Rev. H: 4/11/2011
app
340C
0102
I/O memory area is not aligned to the correct byte to
accommodate reading and writing.
app
340C
0103
Reserved
app
340C
0104
Reserved
app
340C
0106
Reserved
app
340C
0107
Reserved
app
340C
0108
Reserved
app
340C
0109
Reserved
app
340C
010A
Not enough memory on PLC for POU during insertion. Project
size must be reduced.
app
340C
010B
Internal PLC Error in memory management. This error can
occur if an older project was loaded on the controller which was
compiled to use lees of the controllers total memory space. By
using the "Resource" Dialog box, perform "Delete On target," for
the bootproject, and then download the application code again.
app
340C
010C
Internal PLC Error: POU invalid
app
340C
010D
Internal PLC Error: Unknown POU type
app
340C
010E
Cannot insert a POU because there is no project.
app
340C
010F
Internal PLC Error: Cannot insert a POU because it does not
belong to the project.
app
340C
0110
Internal PLC Error: Cannot insert a POU.
app
340C
0111
Internal PLC Error: Invalid POU type
app
340C
0112
Internal PLC Error: Memory reorganization not possible; PLC
stopped.
app
340C
0113
Internal PLC Error: SPG defined more than once.
app
340C
0114
Internal PLC Error: Memory error for initialized data of POU.
app
340C
0115
Internal PLC Error: Retain CRC failed. Possible reasons: (1)
actual project does not have any retain data, (2) actual project is
'old style' without retain CRC (3) PLC isn't in STOP mode
app
340C
0116
Internal PLC Error: FB defined more than once.
app
340C
0117
Internal PLC Error: Not all POU sent.
app
340C
0118
Internal PLC Error: No program memory defined.
app
340C
0119
Internal PLC Error: Invalid FB number.
app
340C
011A
Internal PLC Error: Invalid PG number.
app
340C
011B
Internal PLC Error: Invalid SPG number.
56
3. Controller AlarmID List
app
340C
011C
POU uses more than 80 percent of POU memory.
app
340C
011D
Project uses more than 80 percent of program memory.
app
340C
011E
Internal PLC Error: Invalid function or function block.
app
340C
011F
Internal PLC Error: Invalid firmware function or function block.
app
340C
0120
Internal PLC Error: Invalid program.
app
340C
0121
Internal PLC Error: Invalid change of mode.
app
340C
0122
Internal PLC Error: Unknown system mode! PLC stopped!
app
340C
0123
Stack overflow. Increase stack size.
app
340C
0124
System error in module. Check debugging output via controller's
web interface.
app
340C
0125
System error in module. Check debugging output via controller's
web interface.
app
340C
0126
Internal PLC Error: Error during indirect variable access.
app
340C
0127
PLC CPU overload.
app
340C
0128
Internal PLC Error: Breakpoint unexpected.
app
340C
0129
Internal PLC Error: Error in data configuration.
app
340C
012A
Internal PLC Error: Error in retain data configuration.
app
340C
012B
Internal PLC Error: Floating point error.
app
340C
012C
Internal PLC Error: Fatal error.
app
340C
012D
Output string is too short.
app
340C
012E
Input string is too short.
app
340C
012F
Invalid input parameter 'p' or 'l' (position or length).
app
340C
0130
String is identical to the output string.
app
340C
0131
Invalid string comparison.
app
340C
0132
Invalid data type for string conversion.
app
340C
0133
Error in format string.
app
340C
0134
Error during string conversion.
app
340C
0135
Error in I/O configuration.
app
340C
0136
Initializing I/O driver failed.
app
340C
0137
Board not instantiated.
57
MotionWorks IEC Configuration - Rev. H: 4/11/2011
app
340C
0138
Board number not allowed.
app
340C
0139
Input Group doesn't fit.
app
340C
013A
Output Group doesn't fit.
app
340C
013B
Board not found.
app
340C
013C
Error reading inputs.
app
340C
013D
Error writing outputs.
app
340C
013E
Error creating I/O semaphore.
app
340C
013F
Invalid memory size.
app
340C
0140
Invalid I/O memory address.
app
340C
0141
Internal PLC Error: PG defined more than once.
app
340C
0142
POU exceeds 64K module size during insertion. POU size must
be reduced.
app
340C
0143
Internal PLC Error: Error in task configuration.
app
340C
0143
Unknown I/O Driver.
app
340C
0200
Common causes of invalid configuration include duplicate
t2o/o2t assembly instances or invalid client connection
parameters.
app
340C
0202
Unable to connect to the EtherNet/IP remote server. Common
causes include: invalid remote server address, invalid gateway,
invalid subnet mask, or the Ethernet network is not correctly
configured.
app
340C
0203
There is no route to the EtherNet/IP server. Common causes
include: invalid remote server address, invalid gateway, invalid
subnet mask, or the Ethernet network is not correctly configured.
app
340C
0204
Unable to reach the network for the EtherNet/IP server.
Common causes include: invalid remote server address, invalid
gateway, invalid subnet mask, or the Ethernet network is not
correctly configured.
app
340C
0205
Remote server rejected connection attempt. The remote server
may not be listening for connections or there may be a firewall
preventing the connection.
app
340C
0206
The Ethernet/IP client ran out of connection slot resources.
Reduce the number of concurrent client connections.
app
340C
0302
Unable to connect to the Modbus TCP slave. Common causes
include: invalid Modbus TCP slave address, invalid gateway,
invalid subnet mask, or the Ethernet network is not correctly
configured.
app
340C
0303
There is no route to the Modbus TCP slave. Common causes
include: invalid Modbus TCP slave address, invalid gateway,
invalid subnet mask, or the Ethernet network is not correctly
configured.
58
3. Controller AlarmID List
app
340C
0304
Unable to reach the network for the Modbus TCP slave.
Common causes include: invalid Modbus TCP slave address,
invalid gateway, invalid subnet mask, or the Ethernet network is
not correctly configured.
app
340C
0305
Modbus TCP slave rejected connection attempt. The Modbus
TCP slave may not be listening for connections or there may be
a firewall preventing the connection.
app
340C
0306
The Modbus TCP master ran out of connection slot resources.
Reduce the number of concurrent slave connections.
app
340C
1020
The controller battery voltage has dropped, indicating it has
failed or is about to fail. While the controller is powered on, the
battery should be replaced as soon as possible or a prolonged
power-down state will cause various static data to be lost.
app
340C
1028
The driver parameter specified in the axis configuration caused
an exception
app
340C
1029
The driver parameter did not match the axis configuration
app
340C
1030
The configured axis count exceeded the allowable limit.
app
340C
1031
The axis count exceeded the allowable limit due to an autodetected axis.
app
340C
1033
Using an incompatible version of the PLCopenPlus firmware
function block library may result in controller instability.
Consequently, the PLC application will not be allowed to run.
Please change either the controller's firmware or the firmware
function block library.
app
340C
1110
All motion error codes are in the range from 0x1111 to 0x111f.
app
340C
1111
The move could not be buffered because the motion queue for
that axis is full.
app
340C
1112
The move could not be started because motion is prohibited.
app
340C
1113
The servo drive failed to enable or disable.
app
340C
1114
Drive parameter read/write did not complete.
app
340C
1115
Drive parameter read/write failed
app
340C
1116
Torque move prohibited while non-torque moves queued or in
progress.
app
340C
1117
CamOut called while not camming.
app
340C
1118
The master slave relationship can not be modified because the
master axis has not been set yet.
app
340C
1119
CamFileSelect can not open a second cam table while the first
cam table is still being opened.
app
340C
111A
The function block can not command an external axis.
app
340C
111B
The homing sequence is already in progress.
59
MotionWorks IEC Configuration - Rev. H: 4/11/2011
app
340C
111C
MC_SetPosition can not be called while the axis is moving.
app
340C
111D
Motion aborted due to axis alarm.
app
340C
111E
MC_SetPosition can not set the position to be outside the
configured wrap range.
app
340C
111F
Can not transition to homing state; must be in StandStill state
first.
app
340C
1120
Clear alarms is already in progress.
app
340C
1121
Axis reset is already in progress.
app
340C
1122
Mechatrolink reset is already in progress.
app
340C
1123
CamStructSelect cannot tansfer a second cam structure while
the first cam structure is being transferred.
app
340C
1124
CamTableRead cannot be read a second cam structure while
the first cam structure is being read.
app
340C
1125
CamTableWrite cannot write a second cam structure while the
first cam structure is being written.
app
340C
1126
MC_SetPosition cannot be called while either the master or
slave axis is caming.
app
340C
1127
The function block can not be used with a virtual axis.
app
340C
1128
The function block can not be used with an inverter axis.
app
340C
1129
Y_VerifyParmeters and Y_WriteParameters can not be called a
second time while the first one is in progress.
app
340C
1210
All error codes for structures are in the range from 0x1211 to
0x121f.
app
340C
1211
Axis ID does not correspond to an axis.
app
340C
1212
The master slave relationship is not defined.
app
340C
1213
The input reference does not correspond to a real input
app
340C
1214
The output reference does not correspond to a real output.
app
340C
1215
The input/output number does not correspond to a real input or
output bit.
app
340C
1216
Trigger reference is not valid.
app
340C
1217
The cam switch structure is not valid.
app
340C
1218
The track structure is not valid.
app
340C
1219
Table size results in misaligned data.
app
340C
121A
Buffer size results in misaligned data.
60
3. Controller AlarmID List
app
340C
121B
Table type is not supported.
app
340C
121C
Invalid start index.
app
340C
121D
Invalid end index.
app
340C
1220
All error codes for invalid enumeration values are in the range
from 0x1221 to 0x122f.
app
340C
1221
'BufferMode' does not correspond to a valid enumeration value.
app
340C
1222
'Direction' does not correspond to a valid enumeration value.
app
340C
1223
'StartMode' does not correspond to a valid enumeration value.
app
340C
1224
'ShiftMode' does not correspond to a valid enumeration value.
app
340C
1225
'OffsetMode' does not correspond to a valid enumeration value.
app
340C
1226
'Mode' does not correspond to a valid enumeration value.
app
340C
1227
'SynchMode' does not correspond to a valid enumeration value.
app
340C
1228
'Parameter' does not correspond to a valid enumeration value.
app
340C
1229
'AdjustMode' does not correspond to a valid enumeration value.
app
340C
122A
'RampIn' does not correspond to a valid enumeration value.
app
340C
122B
'ControlMode' does not correspond to a valid enumeration value.
app
340C
1230
All error codes for range errors are from 0x1221 to 0x122f.
app
340C
1231
Distance parameter is less than zero.
app
340C
1232
Velocity parameter is less than or equal to zero.
app
340C
1233
Acceleration is less than or equal to zero.
app
340C
1234
Deceleration is less than or equal to zero.
app
340C
1235
Torque is less than or equal to zero.
app
340C
1236
Time is less than or equal to zero
app
340C
1237
Specified time was less than zero.
app
340C
1238
Specified scale was less than or equal to zero.
app
340C
1239
Velocity is negative.
app
340C
123A
Denominator is zero.
app
340C
123B
Jerk is less than or equal to zero.
app
340C
123C
TorqueRamp is less than or equal to zero.
app
340C
123D
Engage position is outside the table domain.
61
MotionWorks IEC Configuration - Rev. H: 4/11/2011
app
340C
123E
Negative engage width.
app
340C
123F
Disengage position is outside the table domain.
app
340C
1240
Negative disengage width.
app
340C
1241
StartPosition is outside of master's range.
app
340C
1242
EndPosition is outside of master's range.
app
340C
1310
All error codes for invalid input data range from 0x1211 to
0x121f.
app
340C
1311
The specified Pn does not exist.
app
340C
1312
The mask does not correspond to valid tracks.
app
340C
1313
The profile must start with relative time equal to zero, and the
time must be increasing.
app
340C
1314
The specified cam file does not exist.
app
340C
1315
Invalid header for the cam file. Cam tables must have a header
indicating the number of rows, number of columns and a feed
forward velocity flag
app
340C
1316
The first (master) column must be either increasing or
decreasing.
app
340C
1317
Cam table reference does not refer to a valid cam table.
app
340C
1318
The engage phase exceeded the time limit. Slave axis could not
attain the target position and velocity within the user specified
time limit.
app
340C
1319
The engage phase exceeded the distance limit. Slave axis could
not attain the target position and velocity within the user
specified master distance.
app
340C
131A
Invalid width input. Width is an enumeration type with the
following allowable values 'WIDTH_8'=0, 'WIDTH_16'=1, and
'WIDTH_32'=2.
app
340C
131B
The slave axis can not be the same as the master axis.
app
340C
131C
Default drive parameter info is not available for this parameter.
app
340C
131D
Invalid external axis.
app
340C
131E
Invalid virtual axis.
app
340C
131F
File extension is not recognized or missing.
app
340C
1320
Cound not find the axis parameter file.
app
340C
2110
All log error codes are in the range from 0x2111 to 0x211f.
app
340C
2111
Adding log items or setting up log is not possible because the
data log is already set up.
62
3. Controller AlarmID List
app
340C
2112
Starting or stopping logging is not possible because the data log
is not set up.
app
340C
2113
Invalid handle for user log item.
app
340C
2114
Data log can not be created because too many data logs are in
use.
app
340C
2115
Invalid handle for data log.
app
340C
2116
A user log item can only support eight inputs for each type.
app
340C
2117
Saving the log failed.
app
340C
B114
Failed to send clear alarms command.
app
340C
B115
Failed to reset Mechatrolink.
app
340C
B116
Mechatrolink reset is prohibited while axes are moving.
app
340C
B117
Failed to initialize abs encoder.
app
340C
E110
All error codes for ProConOS errors range from 0xE111 to
0xE11f.
app
340C
E111
Instance object is NULL.
app
340C
E112
The instance data is NULL.
app
340C
E113
The structure pointer check sum is invalid.
app
340C
E114
The structure size does not match.
app
340C
EDED
This function block was implemented in a later firmware version.
If you would like to use this function block, then the controller
must be udpated.
app
340C
F110
All error codes for kernel errors range from 0xF111 to 0xF11f.
app
340C
F111
An internal assertion in the motion kernel failed indicating the
controller is not in a stable state. This error should be reported to
Yaskawa Electric America.
user
3501
0000
A user script task posted an alarm directly.
motionKernel
4202
0001
The command position will soon reach the allowable range for
the axis in the positive direction (positive overtravel). The axis
may not be moved again until the alarm condition is cleared.
After the alarm is cleared, it is permissible to execute a move
which brings the axis back toward the allowed region, even
though the axis is probably still outside the allowed region. Any
move which pulls the axis further away from the allowed region
will re-trigger the alarm.
63
MotionWorks IEC Configuration - Rev. H: 4/11/2011
motionKernel
4202
0002
The command position will soon reach the allowable range for
the axis in the negative direction (negative overtravel). The axis
may not be moved again until the alarm condition is cleared.
After the alarm is cleared, it is permissible to execute a move
which brings the axis back toward the allowed region, even
though the axis is probably still outside the allowed region. Any
move which pulls the axis further away from the allowed region
will re-trigger the alarm.
motionKernel
4202
0003
The command speed will soon reach the allowable range for the
axis in the positive direction (overspeed). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0004
The command speed will soon reach the allowable range for the
axis in the negative direction (overspeed). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0005
The command acceleration will soon reach the allowable range
for the axis in the positive direction. The axis may not be moved
again until the alarm condition is cleared.
motionKernel
4202
0006
The command acceleration will soon reach the allowable range
for the axis in the negative direction. The axis may not be moved
again until the alarm condition is cleared.
motionKernel
4202
0007
The command torque will soon reach the allowable range for the
axis in the positive direction (overtorque). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0008
The command torque will soon reach the allowable range for the
axis in the negative direction (overtorque). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0011
The command position will soon reach the allowable range for
the axis in the positive direction (positive overtravel). The axis
may not be moved again until the alarm condition is cleared.
After the alarm is cleared, it is permissible to execute a move
which brings the axis back toward the allowed region, even
though the axis is probably still outside the allowed region. Any
move which pulls the axis further away from the allowed region
will re-trigger the alarm.
motionKernel
4202
0012
The command position will soon reach the allowable range for
the axis in the negative direction (negative overtravel). The axis
may not be moved again until the alarm condition is cleared.
After the alarm is cleared, it is permissible to execute a move
which brings the axis back toward the allowed region, even
though the axis is probably still outside the allowed region. Any
move which pulls the axis further away from the allowed region
will re-trigger the alarm.
motionKernel
4202
0013
The command speed will soon reach the allowable range for the
axis in the positive direction (overspeed). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0014
The command speed will soon reach the allowable range for the
axis in the negative direction (overspeed). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0015
The command acceleration will soon reach the allowable range
for the axis in the positive direction. The axis may not be moved
again until the alarm condition is cleared.
64
3. Controller AlarmID List
motionKernel
4202
0016
The command acceleration will soon reach the allowable range
for the axis in the negative direction. The axis may not be moved
again until the alarm condition is cleared.
motionKernel
4202
0017
The command torque will soon reach the allowable range for the
axis in the positive direction (overtorque). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0018
The command torque will soon reach the allowable range for the
axis in the negative direction (overtorque). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0021
The command position will soon reach the allowable range for
the axis in the positive direction (positive overtravel). The axis
may not be moved again until the alarm condition is cleared.
After the alarm is cleared, it is permissible to execute a move
which brings the axis back toward the allowed region, even
though the axis is probably still outside the allowed region. Any
move which pulls the axis further away from the allowed region
will re-trigger the alarm.
motionKernel
4202
0022
The command position will soon reach the allowable range for
the axis in the negative direction (negative overtravel). The axis
may not be moved again until the alarm condition is cleared.
After the alarm is cleared, it is permissible to execute a move
which brings the axis back toward the allowed region, even
though the axis is probably still outside the allowed region. Any
move which pulls the axis further away from the allowed region
will re-trigger the alarm.
motionKernel
4202
0023
The command speed will soon reach the allowable range for the
axis in the positive direction (overspeed). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0024
The command speed will soon reach the allowable range for the
axis in the negative direction (overspeed). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0025
The command acceleration will soon reach the allowable range
for the axis in the positive direction. The axis may not be moved
again until the alarm condition is cleared.
motionKernel
4202
0026
The command acceleration will soon reach the allowable range
for the axis in the negative direction. The axis may not be moved
again until the alarm condition is cleared.
motionKernel
4202
0027
The command torque will soon reach the allowable range for the
axis in the positive direction (overtorque). The axis may not be
moved again until the alarm condition is cleared.
motionKernel
4202
0028
The command torque will soon reach the allowable range for the
axis in the negative direction (overtorque). The axis may not be
moved again until the alarm condition is cleared.
Mechatrolink
4301
000A
The SERVOPACK model type was unable to be determined.
This can indicate that some parameters may be incorrect.
Mechatrolink
4301
000C
The controller was unable to send the drive command because
servo network resources were allocated to motion. Brake on,
brake off, absolute encoder initialization and alarm clear can
only be sent when not moving.
65
MotionWorks IEC Configuration - Rev. H: 4/11/2011
Mechatrolink
4301
001C
The Mechatrolink.xml file specified duplicate configuration
structures for a node. The first match was used, subsequent
matches were ignored.
Mechatrolink
4301
001D
The Mechatrolink.xml file specified duplicate default
configuration structures for a node type. The first default
structure was used, subsequent structures were ignored.
Mechatrolink
4301
001E
A node was detected on the mechatrolink network, but it is not
supported by the software.
Mechatrolink
4301
001F
The Mechatrolink comm board inverter control reference/run
control is not enabled. Change the settings in parameters b1-01
and b1-02 to '3' to select PCB reference/run source.
Mechatrolink
4301
0020
The drive returned an invalid watch dog code indicating a
possible dropped communication packet.
Mechatrolink
4302
0000
The base code for Sigma-II drive warnings. The drive's warning
value is bitwise OR'd in with this base value.
Mechatrolink
4302
0091
This warning occurs before the overload alarms (A.710 or
A.720) occur. If the warning is ignored and operation continues,
an overload alarm may occur.
Mechatrolink
4302
0092
This warning occurs before the regenerative overload alarm
(A.32) occurs. If the warning is ignored and operation continues,
a regenerative overload alarm may occur.
Mechatrolink
4302
0093
This warning occurs when the absolute encoder battery voltage
is lowered. Continuing the operation in this status may cause an
alarm.
Mechatrolink
4302
0094
A value outside the setting range was set using
MECHATROLINK-II communications.
Mechatrolink
4302
0095
A command not supported in the product specifications was
sent, OR the command reception conditions were not met.
Mechatrolink
4302
0096
A communications error occurred (once).
Mechatrolink
4303
0000
The base code for Sigma-III drive warnings. The drive's warning
value is bitwise OR'd in with this base value.
Mechatrolink
4303
0900
Position error pulse exceeded the parameter settings (Pn520 x
Pn51E/100).
Mechatrolink
4303
0901
When the servo turned ON, the position error pulses exceeded
the parameter setting (Pn526 x Pn528/100).
Mechatrolink
4303
0910
This warning occurs before the overload alarms (A.710 or
A.720) occur. If the warning is ignored and operation continues,
an overload alarm may occur.
Mechatrolink
4303
0911
Abnormal vibration at the motor speed was detected. The
detection level is the same as A.520. Set whether to output an
alarm or warning by "Vibration Detection Switch" of Pn310.
Mechatrolink
4303
0920
This warning occurs before the regenerative overload alarm
(A.320) occurs. If the warning is ignored and operation
continues, a regenerative overload alarm may occur.
66
3. Controller AlarmID List
Mechatrolink
4303
0930
This warning occurs when the absolute encoder battery voltage
is lowered. Continuing the operation in this status may cause an
alarm.
Mechatrolink
4303
0941
The change of the parameters can be validated only after
turning the power ON from OFF.
Mechatrolink
4303
094A
Incorrect command parameter number was set.
Mechatrolink
4303
094B
Command input data is out of range.
Mechatrolink
4303
094C
Calculation error was detected.
Mechatrolink
4303
094D
Data size does not match.
Mechatrolink
4303
095A
Command was sent though command sending condition was not
satisfied.
Mechatrolink
4303
095B
Unsupported command was sent.
Mechatrolink
4303
095C
Command condition is not satisfied for parameter settings.
Mechatrolink
4303
095D
Command, especially latch command, interferes.
Mechatrolink
4303
095E
Subcommand and main command interfere.
Mechatrolink
4303
0960
Communications error occurred during MECHATROLINK
communications.
Mechatrolink
4304
0000
The base code for io warnings. The io's warning value is bitwise
OR'd in with this base value.
Mechatrolink
4312
0000
The base code for inverter warnings. The inverter's warning
value is bitwise OR'd in with this base value.
Mechatrolink
4312
0001
Reserved
Mechatrolink
4312
0002
Reserved
Mechatrolink
4312
0003
Reserved
Mechatrolink
4312
0004
Reserved
Mechatrolink
4312
0005
Reserved
Mechatrolink
4312
0006
Reserved
Mechatrolink
4312
0007
Reserved
Mechatrolink
4312
0008
Reserved
Mechatrolink
4312
0009
Reserved
Mechatrolink
4312
000A
Reserved
Mechatrolink
4312
000B
Reserved
Mechatrolink
4312
000C
Reserved
67
MotionWorks IEC Configuration - Rev. H: 4/11/2011
Mechatrolink
4312
000D
Reserved
Mechatrolink
4312
000E
Reserved
Mechatrolink
4312
0010
Reserved
Mechatrolink
4312
0011
Reserved
Mechatrolink
4312
0012
Reserved
Mechatrolink
4312
0013
Reserved
Mechatrolink
4312
0014
Reserved
Mechatrolink
4312
0017
Reserved
Mechatrolink
4312
0018
Reserved
Mechatrolink
4312
001A
Reserved
Mechatrolink
4312
001B
Reserved
Mechatrolink
4312
001C
Reserved
Mechatrolink
4312
001D
Reserved
Mechatrolink
4312
001E
Reserved
Mechatrolink
4312
001F
Reserved
Mechatrolink
4312
0022
Reserved
Mechatrolink
4312
0023
Reserved
Mechatrolink
4312
0024
Reserved
Mechatrolink
4312
0025
Reserved
Mechatrolink
4312
0026
Reserved
Mechatrolink
4312
0094
Reserved
Mechatrolink
4312
0095
Reserved
Mechatrolink
4312
0096
Reserved
Mechatrolink
4312
00E5
Reserved
app
4401
0008
Each call to groupAxes() must be matched by a corresponding
call to ungroupAxes(). If a script exits without such a matching
call (thus leaving an 'orphaned' group behind), this warning is
issued. Clearing the warning also ungroups the orphaned group.
app
4401
0009
The debug stack trace was longer than expected. It may be
clipped.
68
3. Controller AlarmID List
app
4403
0001
The event queue for the remote client was full, and an event was
dropped. This is generally caused either by exceeding the
network bandwidth or exceeding the general system processing
power (starving the connection). When an event is dropped in
this manner, the connection is terminated.
app
4403
0005
An RMI connection was attempted by an external client and
rejected due to the concurrent connection limit.
app
4407
0001
The configuration file directory is read-only or resides on a readonly file system. Attempts to update the configuration or create
directories will fail.
app
4407
0002
An attempt was made to write to a read-only configuration file.
The write failed.
app
4407
0105
There was an indication that the SRAM battery backup power
may have failed temporarily. SRAM data may have been
compromised.
app
4408
0001
The alarm history was configured to use NVRAM storage, but
either the available NVRAM was not sufficient to contain the
configured buffer size, or the configured buffer size was not
large enough to contain the configured number of records. The
alarm history will contain fewer records than configured.
app
4408
0002
The alarm history was configured to use NVRAM storage and
the data was found to be corrupted. The alarm history has been
lost. NOTE: this alarm also occurs if the configured size of the
alarm history has been changed.
app
440A
000C
The position and torque scales specified in the configuration file
have different signs. As a result, a positive acceleration results
in a negative torque, and position limits are opposite in sign as
the torque limits.
app
440A
000F
The axis was temporarily disconnected from the servo network
during reset. During this time, the feedback data is not valid and
the axis cannot be moved.
app
440A
0011
The network I/O was temporarily disconnected from the servo
network during reset. During this time, any network I/O state
change will be unobservable to the controller.
app
440A
0019
The system was rebooted by the user.
app
440A
001A
The system failed to shut down gracefully during a reboot,
although the reboot did occur. This does not necessarily indicate
that the software is damaged.
app
440B
0001
The controller is running out of memory. Memory should be
freed as soon as possible. Try closing connections to the
controller or stopping scripts.
app
440B
0003
The largest free memory block is approaching the critical level.
Memory should be freed as soon as possible. Try closing
connections to the controller or stopping scripts.
app
440C
0105
Reserved
app
440C
1032
The configuration file version is not compatible with the fimware
version. Please use the configuration tool to update the
configuration files to match the the firmware version.
69
MotionWorks IEC Configuration - Rev. H: 4/11/2011
app
440C
1034
Some function blocks are not supported by the controller
firmware. If these function blocks are used in the PLC
application, then their ErrorID will always equal 60909. If these
function blocks are needed, then please upgrade the controller's
firmware.
app
4501
0000
A user script task posted a warning directly.
70
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