Installation guide

Advanced Error Handling
MN1270 02.2002 19
5.1 Changing the Default Action of Motion Errors
There are 10 asynchronous axis motion errors. These are indicated by a bit pattern which can be read
using the
AXISERROR keyword. Each type of motion error is represented as follows:
Bit Meaning
0 Motion aborted
1 Forward hardware limit reached
2 Reverse hardware limit reached
3 Forward software limit reached
4 Reverse software limit reached
5 Fatal following error limit exceeded
6 Reserved
7 External error input active
8 Reserved
9 Reserved
10 ADC limit exceeded
11 Master/Slave synchronization error
12 Reserved
13 Reserved
14 Reserved
15 Reserved
16 Reserved
17 Velocity limit exceeded
All of the above error conditions
3
have associated ‘modes’ which specify the action to be taken by the
controller in the event of such a condition. These are set-up using the following keywords:
Mint Keyword Meaning
ABORTMODE Controls the action taken in the event of an abort.
LIMITMODE Controls the action taken in the event of a hardware limit being
reached.
SOFTLIMITMODE Controls the action taken in the event of a software limit being
reached.
FOLERRORMODE Controls the action taken in the event of the maximum follow error
being exceeded.
ERRORINPUTMODE Controls the action taken in the event of the external error input
becoming active.
ADCERRORMODE Controls the action taken in the event of an analog input exceeding its
specified limit.
VELFATALMODE Controls the action taken in the event of a fatal velocity error
occurring.
The possible modes are as follows:
Mode Action
0 Ignore the error condition.
1 Crash stop the axis and drop the enable line. When the axis is idle
4
the error handler
will be called.
2 Crash stop the axis, leave the axis enabled. When the axis is idle the error handler will
be called.
3
With the exception of a master/slave synchronisation error.
4
An axis is deemed to be idle if it is disabled or if it has a following error.