Installation guide

Mint™ v4 Advanced Programming Guide
22 MN1270 02.2002
12 meOUTPUT_POWER0 Output driver not powered or missing for bank 0
13 meOUTPUT_POWER1 Output driver not powered or missing for bank 1
14 meOUTPUT_POWER2 Output driver not powered or missing for bank 2
Reading miscellaneous errors returns the bit pattern shown above. Miscellaneous errors are latched and
will remain set until cleared by the user. They can be cleared by writing to
MISCERROR with a value of
zero.
Errors cannot be cleared individually.
They are also cleared on a call to the
CANCEL or RESET functions.
If a 12V fault occurs (bit 0), all axes are disabled since the DACs and ADCs will not operate correctly
if the 12V rail is not at the correct voltage.
If an output fault occurs (bits 1, 2 or 3), all outputs in the bank that has the fault will be inactive.
Default action in this case will be to clear any drive enable flags on axes that use those outputs.
If a servo loop overrun is detected all motion is canceled and the
LOOPTIME and PROFILETIME of the
controller are reset to default values.
None of the other errors have any default action and these error conditions can be ignored. A
miscellaneous error will cause the S2 LED to flash green on NextMove PCI. An asynchronous axis
error will flash S2 red. If both occur at the same time, then the LED will alternate between the two.
Miscellaneous error will generate calls to the user installed error handler. This can be disabled using the
keyword
MISCERRORDISABLE.
In the error handler in MINT,
ERR will be set to 501.
5.3 Axis Warnings
Axis warnings provide a method of asynchronous detection of abnormal states without any automatic
corrective action. Detectable warnings currently include:
• Following error warning limit has been reached
• Servo loop integrator has reached warning limit
• Axis speed has reached maximum speed limit
• Invalid encoder transition
The keyword
AXISWARNING is used to read the current axis warnings. This returns a bit pattern as
follows:
Bit Meaning
0 The axis following error has reached of exceeded the warning limit set by
FOLERRORWARNING.
1 The axis integrator term reached the value set by KINTLIMIT.
2 The speed of an axis has reached the value set by MAXSPEED.
3 An invalid encoder edge transition has occurred
These warnings are latched until cleared by writing zero to
AXISWARNING or by calling CANCEL or
RESET.
In the event of an
AXISWARNING, the user defined error handler will be called for warnings that are
enabled with
AXISWARNINGDISABLE.
In the error handler in MINT,
ERR will be set to 502.
All axis warnings are disabled by default.