Output DescriptionΒΆ
Function Block CMC_MOTION_KERNEL_REAL
Error
Data type: BOOL
Signals that an error has occurred within the Function Block.
ERRORID
Data type: WORD
Error identification PLCopen.
The error codes ERRORID also sets the output-bit ERROR=TRUE and sets the axis in state ERROR_STOP. To allow a new movement the error-codes ERRORID require that either the axis is disabled/enabled by MC_Power or the error reset is disabled/enabled by MC_Reset.
The error codes ErrorID_WARNING will not set ERROR=TRUE, and will not set the axis to ERROR_STOP. The error codes ErrorID_WARNING do not require the MC_Reset or MC_Power. It is possible the axis is stopped and ongoing motion is aborted by a WARNING.
The value will be shown until:
- An other error or warning occurs
- MC_Reset or MC_Power is used
| ErrorCode | Value | Meaning |
|---|---|---|
| ErrorID_POSITION_FOLLOW | 1 | The position lag was to large (parameter POS_LAG_PERCENTAGE) or the velocity had a wrong value by 50% for a certain time (parameter V_CHECK_TIME). |
| ErrorID_POSSW | 2 | The actual position did exceed the positive Software limit switch position.This supervision has to be activated with MC_WriteParameter. |
| ErrorID_NEGSW | 3 | The actual position did exceed the negative Software limit switch position. This supervision has to be activated with MC_WriteParameter. |
| ErrorID_VELOCITY_FAULT | 4 | The measured velocity and commanded velocity are >50% (related to maximum velocity) apart. |
| ErrorID_INTERPOLATION_FAULT | 5 | Position following error occurred, but reason most likely a interpolation problem, not drive problem (e.g. CAM Table, position step). |
| ErrorID_WARNING_POSITIONOVERRUN | 13 | A linear axis has a 32bit position overrun (configure modulo instead). |
| ErrorID_WARNING_VELOCITYLIMIT | 10 | Velocity or acceleration/deceleration are in limitation, set by parameter EnableLimitVelocity. |
| ErrorID_WARNING_POSITIONLIMITPOS | 11 | Velocity or acceleration/deceleration are in limitation, set by parameter EnableLimitVelocity (MaxVelocityAppl, MaxDecelerationAppl) Position is in limitation towards position limit (SWLimit2DecPos) . |
| ErrorID_WARNING_POSITIONLIMITNEG | 12 | Position is in limitation towards position limit (SWLimit2DecNeg). |
| ErrorID_WARNING_ABORT | 14 | Axis has been aborted due to too large position gap in velocity limit. |
DRIVE_RESET_FAULT
Data type: BOOL
Binary signal to be used for resetting the drive error, if applicable.
DRIVE_RELEASE
Data type: BOOL
Activate the drive.
DRIVE_SET_REF
Data type: BOOL
Activate homing.
DRIVE_SET_POSITION
Data type: DINT
Position to be used at homing.
SPEED_REFERENCE
Data type: DINT
Reference value for the drive.
POSITION_REFERENCE
Data type: DINT
Position reference value for the drive in increments.