Mainly 4 type of errors can be encountered when running a PTO. They are reported in ErrID pin of the PTOGetDiag function block.
oPTO_CMD_ERROR
oPTO_INVALID_PARAMETER
oAXIS_ERROR
oPTO_LIMIT_FLT
This error occurs in the following situations:
oCommand Buffer Full
oBuffer Speed Error
oAxis is not referenced
oHoming Origin or PROX is Disabled
oFastPTO reconfig
oFastPTO overrange
The detail of the error is identified by calling the PTOGetDiag function block.
When this error occurs, the following behavior is also induced:
oThe axis is put in ErrorStop state (PTOError = 1; ErrID = PTO_CMD_ERROR).
oAny command in progress or in buffer will be aborted.
oIf any command is being executed, the axis stops using the adjusted Dec. Emergency stop rate.
No other command is accepted before the axis is stopped and the axis error is reset through the Reset_error pin of the PTOSimple function block.
This error occurs in the following situations:
oFastPTO no Trigger Pin
oInvalid Frequency
oInvalid Acceleration
oInvalid Deceleration
oInvalid Distance
oInvalid Position
oInvalid Homing Mode
oInvalid Direction
oReverse Direction
oProfile Error
The detail of the error is identified by calling the PTOGetDiag function block.
When this error occurs, the following behavior is also induced:
oThe axis is put in ErrorStop state (PTOError = 1; ErrID = PTO_INVALID_PARAMETER).
oAny command in progress or in buffer will be aborted.
oIf any command is being executed, the axis stops using the adjusted Dec. Emergency stop rate.
No other command is accepted before the axis is stopped and the axis error is reset through the Reset_error pin of the PTOSimple function block.
This error occurs in the following situations:
oInternal error detected
oDrive not ready
oCommand Rejected
oHoming error detected
oFastPTO stop exception
The detail of the error is identified by calling the PTOGetDiag function block.
When this error occurs, the following behavior is also induced:
oThe axis is put in ErrorStop state (PTOError = 1; ErrID = AXIS_ERROR).
oAny command in progress or in buffer will be aborted.
oIf any command is being executed, the axis stops using the adjusted Dec. Emergency stop rate.
No other command is accepted before the axis is stopped and the axis error is reset through the Reset_error pin of the PTOSimple function block.
This error occurs in the following situations:
oHigh limit error detected
oLow limit error detected
oProx limit error detected
The detail of the error is identified by calling the PTOGetDiag function block.
When this error occurs, the following behavior is also induced:
oThe axis is put in ErrorStop state (PTOError = 1; ErrID = PTO_LIMIT_FLT).
oAny command in progress or in buffer will be aborted.
oIf any command is being executed, the axis stops using the adjusted Dec. Emergency stop rate.
Prox limit error This error is detected with the PROX auxiliary input.
The PROX input has two functions:
oProximity when homing method is running.
oHardware LimitSwitch when Move Velocity, Move Relative or Move Absolute is running.
If the SW_EN_Limits input of the PTOSimple function block is enabled, an error will be detected as soon as the physical input rises or input is high.
The following commands are possible:
oMove Velocity commands in the opposite direction of the previous command in order for the axis to return to the valid area. Once the PROX = 0, the ErrorStop state remains and must be reset through the Reset_error pin of the PTOSimple function block.
oHoming commands which profiles authorize a start for the cam (for example: Short Cam with Positive Limit, Short Cam with Negative Limit and Short Cam with Marker). In this case, no Prox limit fault error is reported, the ProxLimitFault output of the PTOSimple function block and the axis error (PTOError = 1; ErrID = PTO_LIMIT_FLT) are cleared immediately.
NOTE: If any other command is executed, the ProxLimitFault pin resumes normal behavior.
Do not to use the same cabling for the PTO channel limit switch input and the drive limit switch input. A Prox limit fault on the drive would induce a DRIVE_KO error on the PTO channel simultaneously with the Prox limit fault. Velocity or homing commands will then be rejected.
Software limit reached If the SW_EN_Limits input of the PTOSimple function block is enabled, an error is detected when the current position reaches one of the two Software limit values configured.
As long as the error persists, no command is accepted.
Once the error disappears (or SW_EN_Limits is disabled), the ErrorStop state remains and must be reset through the Reset_error pin of the PTOSimple function block.
Overflow of the position value If the position value reaches the maximum (or the minimum) possible pulse number (-2,147,483,648 or 2,147,483,647) and goes beyond it, the sign of the position will change making the current value not significant.
If the SW_EN_Limits input of the PTOSimple function block is enabled, an error is detected.
The Referenced output of the PTOSimple is set 0 and the error must be reset through the Reset_error pin of the PTOSimple function block.
NOTE: If the axis is referenced and the SW_EN_Limits input of the PTOSimple function block is disabled, no specific processing occurs even if the position reaches the maximum (or the minimum) value. The position value changes sign and continues evolving.
