FB_CrankModule - General Information
|
Type: |
Function block |
|
Available as of: |
V1.0.2.0 |
|
Inherits from: |
- |
|
Implements: |
|
|
Versions: |
current version |
The function block realizes a crank drive.
The crank module realizes a crank drive on module level. The module uses the PDL.FB_Crank technology function block internal and encapsulates it completely.
The crank module can be operated as a pure crank drive, where its motion profile is converted or transformed to the rotary side (axis) to realize the motion there - based on a linearly moved slide. It can also be operated as a pure axis. In this operation mode it provides the linear motion as position calculation values at the outputs of ST_Main. Thereby a virtual axis is always assigned to the linear side and to the rotary side - depending on the application - either a physical or a virtual axis.
The operation mode as crank drive is valid for the operating modes Manual, Homing, MultiCam, Endless, Positioning and Additional.
The operation mode as axis is valid for all operating modes, including the BrakeRelease. The operation mode EndlessIls, for which the crank module would serve as master in an ILS network, is not supported.
Via the module, the most important module functionalities of the PD_PacDriveLib can be used in EDESIGN projects.
The function block is controlled via the StandardModule interface and the CrankModule interface.
Further details on how to operate the module can be found in the section Behavior in the operating modes.
|
Input/Output |
Data type |
Description |
|---|---|---|
|
iq_stStandardItf |
See Standard Module Interface > ECO.ST_StandardItf |
|
|
iq_CrankItf |
Parameter structure of the crank module |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
Reactions |
|---|---|---|---|---|
|
OK |
139 |
The external POU is being executed. |
|
|
|
OK |
138 |
The external POU is waiting for a start signal. |
|
|
|
OK |
135 |
The brake is closed. |
|
|
|
OK |
136 |
The brake is released. |
|
|
|
OK |
137 |
The operation mode BrakeRelease is quit. |
|
|
|
OK |
134 |
The BrakeRelease operation mode is being initialized. |
|
|
|
OK |
104 |
The POU is disabled. |
|
|
|
OK |
125 |
The operation mode Endless is quit. |
|
|
|
OK |
122 |
The operation mode Endless is initialized. |
|
|
|
OK |
124 |
The operation mode Endless is being executed. |
|
|
|
OK |
123 |
The operation mode Endless is waiting for a start command. |
|
|
|
OK |
111 |
Homing has been completed. |
|
|
|
OK |
110 |
Homing is being executed. |
|
|
|
OK |
112 |
The operation mode Homing is quit. |
|
|
|
OK |
108 |
The operation mode Homing is being initialized. |
|
|
|
OK |
109 |
The operation mode Homing is waiting for a start command. |
|
|
|
OK |
105 |
The POU is being initialized. |
|
|
|
OK |
115 |
The operation mode Manual is quit. |
|
|
|
OK |
113 |
The operation mode Manual is being initialized. |
|
|
|
OK |
114 |
The operation mode Manual is being executed. |
|
|
|
OK |
121 |
The operation mode MultiCam is quit. |
|
|
|
OK |
116 |
The operation mode MultiCam is being initialized. |
|
|
|
OK |
120 |
The operation mode MultiCam is being executed. |
|
|
|
OK |
117 |
The operation mode MultiCam is waiting for a start command. |
|
|
|
OK |
118 |
The operation mode MultiCam is waiting for a WsStart command. |
|
|
|
OK |
119 |
The operation mode MultiCam executes a warm state motion. |
|
|
|
OK |
107 |
No operating mode choosen. The axis is switched off. |
|
|
|
OK |
106 |
No operating mode choosen. The axis is ready to accept movement orders. |
|
|
|
OK |
0 |
Ok |
|
|
|
OK |
133 |
The operation mode Positioning is quit. |
|
|
|
OK |
130 |
The operation mode Positioning is being initialized. |
|
|
|
OK |
132 |
The operation mode Positioning is being executed. |
|
|
|
OK |
131 |
The operation mode Positioning is waiting for a start command. |
|
|
|
OK |
169 |
The POU is currently being deinitialized. |
|
|
|
ConfigurationFailed |
167 |
Homing for the slide was unsuccessful. |
ECO.ET_StandardReaction.SyncStopEH |
|
|
DiagActive |
67 |
The external POU reports an exception. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DiagActive |
104 |
The POU is disabled. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
76 |
The drive encoder is invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
57 |
The drive reports an exception. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
56 |
The drive reports a fatal exception. |
ECO.ET_StandardReaction.AsyncStop |
|
|
DriveConditionInvalid |
10 |
The connected drive is invalid. |
ECO.ET_StandardReaction.AsyncStop |
|
|
DriveConditionInvalid |
78 |
The drive is moving. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
79 |
The drive is not disabled. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
80 |
The drive is not ready for motion commands. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
58 |
The drive reports an advisory. |
ECO.ET_StandardReaction.StopEndOfCycle |
|
|
DriveConditionInvalid |
51 |
The InverterEnable signal is not present. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
87 |
The EEPROM of the drive cannot be accessed. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
89 |
Writing is being performed on the encoder. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
90 |
An error has been detected while writing on the encoder EEPROM. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
91 |
|
ECO.ET_StandardReaction.SyncStopEL |
|
|
DriveConditionInvalid |
52 |
The TorqueEnable signal is not present. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
ExecutionAborted |
100 |
An asynchronous stop is being executed. |
|
|
|
ExecutionAborted |
3 |
The command cannot be overwritten. |
ECO.ET_StandardReaction.AsyncStop |
|
|
ExecutionAborted |
5 |
The command cannot be executed due to a pending reaction. |
ECO.ET_StandardReaction.AsyncStop, ECO.ET_StandardReaction.SyncStopEL, ECO.ET_StandardReaction.SyncStopEH, ECO.ET_StandardReaction.StopEndOfCycle |
|
|
ExecutionAborted |
4 |
The command cannot be executed in the state. |
ECO.ET_StandardReaction.AsyncStop |
|
|
ExecutionAborted |
2 |
Indeterminable command. |
ECO.ET_StandardReaction.AsyncStop |
|
|
ExecutionAborted |
168 |
The execution of the operating modes Endless, Positioning or MultiCam was cancelled, as the module is not homed. |
ECO.ET_StandardReaction.SyncStopEH |
|
|
ExecutionAborted |
143 |
HwLimitNeg is still active. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
ExecutionAborted |
144 |
HwLimitPos is still active. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
ExecutionAborted |
103 |
A stop is executed at the end of the cycle. |
|
|
|
ExecutionAborted |
102 |
A synchronous stop is performed. Subsequently, the axis remains in position control. |
|
|
|
ExecutionAborted |
101 |
A synchronous stop is performed. Subsequently, the axis does not remain in position control. |
|
|
|
HomingFailed |
149 |
The position of DriveCrank is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
HomingFailed |
84 |
MaxTorque has not been reached. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
HomingFailed |
167 |
Homing for the slide was unsuccessful. |
ECO.ET_StandardReaction.SyncStopEH |
|
|
HomingFailed |
92 |
No sensor signal was found. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
HomingFailed |
150 |
The position of DriveSlide is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
HomingFailed |
96 |
No Touchprobe was found. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
73 |
AbsEncOffset is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
14 |
Acc is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
34 |
The boundary conditions are invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
74 |
The checksum is invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
151 |
The DriveCrank motion range is too small. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
75 |
The non-volatile memory (NVRam) does not contain any more valid data. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
15 |
Dec is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
10 |
The connected drive is invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
66 |
The Ils slave specification is inconsistent. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
38 |
IlsSlaveNumber is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
16 |
Jerk is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
36 |
K is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
77 |
The connected logical encoder is invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
83 |
LowVel is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
6 |
The connected master is invalid. |
ECO.ET_StandardReaction.AsyncStop |
|
|
InputParameterInvalid |
42 |
MaxDistance is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
85 |
MaxTorque is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
86 |
MaxTravel is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
152 |
The mechanical data are invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
50 |
MotionActiveVelLimit is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEH |
|
|
InputParameterInvalid |
37 |
M is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
35 |
NumberOfCamPoints is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
153 |
P5Pole1IntervalHigh is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
154 |
P5Pole1IntervalLow is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
155 |
P5Pole2IntervalHigh is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
156 |
P5Pole2IntervalLow is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
157 |
P5PoleDistance is too large. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
158 |
P5RangeHigh is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
159 |
P5RangeLow is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
160 |
The sum of P5Range is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
26 |
Period is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
88 |
The RestorePosRetain pointer is invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
53 |
The connected power supply is invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
54 |
The connected power supply was not found. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
164 |
The profile is already in use. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
161 |
PushRod is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
162 |
Radius is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
49 |
RestorePosRetain is invalid. |
ECO.ET_StandardReaction.SyncStopEH |
|
|
InputParameterInvalid |
142 |
The use of StartPositionSelect is not permitted. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
31 |
StopPosition is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
94 |
The connected Touchprobe is invalid. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
95 |
The Touchprobe is not active. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
97 |
The connected Touchprobe is virtual. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
165 |
No motion profiles could be created. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
166 |
The cam could not be started. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
39 |
The cam type is indeterminable. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
43 |
CsModeMaster is indeterminable. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
44 |
CsModeSlave is indeterminable. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
99 |
The Mode is indeterminable. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
163 |
The StartMode is indeterminable. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
45 |
The WSMode is indeterminable. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
98 |
UserPeriod is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
72 |
VelLimit is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEH |
|
|
InputParameterInvalid |
17 |
Vel is outside the valid range. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
40 |
XFactor is too small. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
46 |
YEqualCheck was unsuccessful. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
InputParameterInvalid |
41 |
YFactor is too small. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
LimitReached |
8 |
Negative limit switch has been reached. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
LimitReached |
60 |
Negative limit switch has been reached. |
ECO.ET_StandardReaction.SyncStopEH |
|
|
LimitReached |
7 |
Positive limit switch has been reached. |
ECO.ET_StandardReaction.SyncStopEL, ECO.ET_StandardReaction.SyncStopEH |
|
|
LimitReached |
59 |
Positive limit switch has been reached. |
ECO.ET_StandardReaction.SyncStopEH |
|
|
LimitReached |
9 |
The reduced velocity has been reached. |
ECO.ET_StandardReaction.AsyncStop |
|
|
PowerSupplyConditionInvalid |
55 |
The connected power supply is not ready. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
SercosConditionInvalid |
93 |
The Sercos bus is not in phase 4. |
ECO.ET_StandardReaction.AsyncStop |
|
|
UnexpectedProgramBehavior |
11 |
The controller is not supported. |
ECO.ET_StandardReaction.AsyncStop |
|
|
UnexpectedProgramBehavior |
64 |
The G_ifSercos interface is invalid. |
ECO.ET_StandardReaction.AsyncStop |
|
|
UnexpectedProgramBehavior |
82 |
An unintended detected error occurred during execution. |
ECO.ET_StandardReaction.AsyncStop |
|
|
UnexpectedProgramBehavior |
70 |
Indeterminable case. |
ECO.ET_StandardReaction.AsyncStop |
|
|
UnexpectedProgramBehavior |
12 |
A POU returns an unintended value. |
ECO.ET_StandardReaction.AsyncStop |
|
|
WarmStartConditionInvalid |
47 |
The position of the drive is outside of WsWindow. |
ECO.ET_StandardReaction.SyncStopEL |
|
|
WarmStartConditionInvalid |
48 |
The master has moved. |
ECO.ET_StandardReaction.SyncStopEL, ECO.ET_StandardReaction.SyncStopEH |
|
Enumeration name: |
AbsEncOffsetRange |
|
Enumeration value: |
73 |
|
Description: |
AbsEncOffset is outside the valid range. |
Has one of the following modes been selected for Homing in the ST_Home structure?
oPDL.ET_HomeMode.RestorePosFromAxisEncoder
oPDL.ET_HomeMode.RestorePosFromRetain
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
A number <= 0 or greater than the encoder period has been transferred to the i_lrAbsEncOffset parameter of the ST_HomeSetPos structure. |
The following must apply for i_lrAbsEncOffset: 0 < i_lrAbsEncOffset < maximum possible value of Drive.EncoderPosition. |
If none of the modes mentioned above has been selected, please inform the support team about this detected error.
|
Enumeration name: |
AccRange |
|
Enumeration value: |
14 |
|
Description: |
Acc is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode Endless was selected and the i_lrAcc parameter of the ST_EndlessFeed structure was allocated with an invalid value. |
The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive |
|
- |
The operation mode Positioning was selected and the i_lrAcc parameter of the ST_Positioning structure was allocated with an invalid value. |
The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive |
|
- |
The operation mode EndlessIIs was selected and the i_lrAcc parameter of the ST_EndlessFeed structure was allocated with an invalid value. |
The following must apply: i_lrAcc > 1 |
|
Enumeration name: |
AdditionalModeException |
|
Enumeration value: |
67 |
|
Description: |
The external POU reports an exception. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The activated external POU reports an exception via the i_etDiag diagnostic input of the ST_AdditionalMode structure by transferring a value unequal to GD.ET_Diag.Ok. |
Find out why the external POU reports an exception. The information of the diagnostic inputs i_udiDiagExt, i_sDiagExt and i_sMsg at the time of the exception is contained in the diagnostic message of the module. Ensure that the value GD.ET_Diag.Ok is applied at the i_etDiag diagnostic input of the ST_AdditionalMode structure when the external POU does not detect an error. |
|
Enumeration name: |
AdditionalRunning |
|
Enumeration value: |
139 |
|
Description: |
The external POU is being executed. |
The operation mode AdditionalMode is selected and the activated external POU is being executed.
|
Enumeration name: |
AdditionalWaitForStart |
|
Enumeration value: |
138 |
|
Description: |
The external POU is waiting for a start signal. |
The operation mode AdditionalMode is selected and the activated external POU is expecting a start signal, which is sent with the Start command from the list of the ET_Cmd commands.
|
Enumeration name: |
AsyncStop |
|
Enumeration value: |
100 |
|
Description: |
An asynchronous stop is being executed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The module executes a reaction TPL.ET_Reaction.AsyncStop. |
Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction. Acknowledge the exceptions to discard the reactions. |
|
Enumeration name: |
BoundaryConditionInvalid |
|
Enumeration value: |
34 |
|
Description: |
The boundary conditions are invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
When defining the motion profile in iq_stMultiCamData in the ST_MultiCam structure, the set boundary conditions of the segments cannot be complied with. |
Verify the definition of the motion profile and particularly the boundary conditions of the sub-segments. As an alternative, select different profiles for the sub-segments to be able to comply with all desired boundary conditions. |
|
Enumeration name: |
BrakeClosed |
|
Enumeration value: |
135 |
|
Description: |
The brake is closed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
When defining the motion profile in iq_stMultiCamData in the ST_MultiCam structure, the set boundary conditions of the segments cannot be complied with. |
Verify the definition of the motion profile and particularly the boundary conditions of the sub-segments. As an alternative, select different profiles for the sub-segments to be able to comply with all desired boundary conditions. |
|
Enumeration name: |
BrakeReleased |
|
Enumeration value: |
136 |
|
Description: |
The brake is released. |
The operation mode BrakeRelease is selected and the brake of the axis is released.
|
Enumeration name: |
BrakeReleaseExit |
|
Enumeration value: |
137 |
|
Description: |
The operation mode BrakeRelease is quit. |
The operation mode BrakeRelease is quit.
|
Enumeration name: |
BrakeReleaseInit |
|
Enumeration value: |
134 |
|
Description: |
The BrakeRelease operation mode is being initialized. |
The BrakeRelease operation mode is being initialized.
|
Enumeration name: |
CheckSumInvalid |
|
Enumeration value: |
74 |
|
Description: |
The checksum is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The .PDL.ET_HomeMode.RestorePosFromRetain mode has been selected at the i_etMode parameter of the ST_Home structure. The data saved in iq_pstRestorePosRetain of the ST_HomeSetPos structure are not consistent. The position cannot be restored. |
Homing of the drive is again required. |
|
Enumeration name: |
CmdImpossibleOverwrite |
|
Enumeration value: |
3 |
|
Description: |
The command cannot be overwritten. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
A command was being processed by the module while a new command has been sent that was not ET_Cmd.Stop or ET_Cmd.BrakeRelease. The module is in the operation mode Positioning and is currently executing an ET_Cmd.Start command while it receives a command that is not ET_Cmd.Hold. |
Use the command tables of the template to send commands to the module. Make certain that the module is not processing any commands (ST_StandardModuleInterface.q_xCmdActive = FALSE) when you send a new command to the module. |
|
Enumeration name: |
CmdImpossibleReaction |
|
Enumeration value: |
5 |
|
Description: |
The command cannot be executed due to a pending reaction. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
A reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL, TPL.ET_Reaction.SyncStopEH or TPL.ET_Reaction.StopEndOfCycle is active in the module while it receives a ET_Cmd.Start, ET_Cmd.WsStart, ET_Cmd.StartTrig or ET_Cmd.StartTrigWaitInPos command. |
Make certain that no start commands are sent to the module when a reaction is active in the machine part of the module. Acknowledge the exception of the module before you send a start command to it. |
|
- |
A reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH is active in the module while it receives a ET_Cmd.Homing, ET_Cmd.Manual, ET_Cmd.CamCs, ET_Cmd.CamWs, ET_Cmd.Endless, ET_Cmd.EndlessIls, ET_Cmd.Positioning, ET_Cmd.AdditionalCs or ET_Cmd.AdditionalWs command. |
Ensure that no commands for changing to a different operation mode are sent to the module when a reaction is active in the machine part of the module. Acknowledge the exceptions of the module before you send a command to it. |
|
- |
A reaction TPL.ET_Reaction.AsyncStop or TPL.ET_Reaction.SyncStopEL is active in the module while it receives a ET_Cmd.DriveEnableOn command. |
Ensure that no command for enabling the axis is sent to the module when a reaction is active in the machine part of the module. Acknowledge the exceptions of the module before you send a command to it. |
|
Enumeration name: |
CmdImpossibleState |
|
Enumeration value: |
4 |
|
Description: |
The command cannot be executed in the state. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The module is in the state ET_State.NoOpAxisDisabled or ET_State.NoOpAxisEnabled when it receives a ET_Cmd.Start, ET_Cmd.WsStart, ET_Cmd.StartTrig or ET_Cmd.StartTrigWaitInPos command. The module is not in the state ET_State.MultiCamWaitForWsStart, ET_State.MultiCamRunning or in the operation mode ET_OpMode.Additional when it receives a ET_Cmd.WsStart command. The module is in the state ET_State.MultiCamWaitForWsStart and a warm start mode PDL.ET_MultiCamWsMode.StoredCamShowCamPosition or PDL.ET_MultiCamWsMode.NewCamShowCamPosition has been selected when it receives a ET_Cmd.WsStart command. The module is in the operation mode ET_OpMode.Manual when it receives a ET_Cmd.Start or ET_Cmd.Hold, command. The module is not in the operation mode ET_OpMode.Positioning when it receives a ET_Cmd.StartTrigWaitInPos command. The module is not in the operation mode ET_OpMode.Positioning, ET_OpMode.Endless, ET_OpMode.EndlessIls or ET_OpMode.MultiCam when it receives a ET_Cmd.StartTrig command. |
Before you send a command, ensure that the module can execute the command in the state. |
|
Enumeration name: |
CmdUnknown |
|
Enumeration value: |
2 |
|
Description: |
Indeterminable command. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The command sent to the module does not belong to the list of commands for the ET_Cmd AxisModule. |
Ensure that only commands from the ET_Cmd list are sent to the module. |
|
Enumeration name: |
ControllerInvalid |
|
Enumeration value: |
11 |
|
Description: |
The controller is not supported. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The controller does not provide the required conditions. |
For more details, see q_sMsg of the diagnostic message. |
|
Enumeration name: |
CrankNotHomed |
|
Enumeration value: |
168 |
|
Description: |
The execution of the operating modes Endless, Positioning or MultiCam was cancelled, as the module is not homed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The crank module is not homed or not moved to the home position. |
Ensure that the crank module has been homed before executing the operating modes Endless, Positioning or MultiCam. |
|
Enumeration name: |
CrankPositionRange |
|
Enumeration value: |
149 |
|
Description: |
The position of DriveCrank is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
for i_diMode = 0 or i_diMode = 3 (initiator on the crank), in the case of iq_stCrankDate.xEndlessCrank = FALSE (the crank axis cannot execute a complete rotation due to marginal mechanical parameters), the RefPosition of the crank axis is outside the valid range |
for the RefPosition of i_ifDriveCrank, the following must apply: iq_stCrankData.lrPhiLogMin <= i_ifDriveCrank RefPosition <= iq_stCrankData.lrPhiLogMax. |
|
Enumeration name: |
CrankTravelRangeTooSmall |
|
Enumeration value: |
151 |
|
Description: |
The DriveCrank motion range is too small. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The crank axis range of possible motions is too small. |
The following must apply: iq_stCrankData.lrPhiLogMax - iq_stCrankData.lrPhiLogMin >= 1 Verify iq_stCrankData.lrRadius, iq_stCrankData.lrPushRod and iq_stCrankData.lrOffset. |
|
Enumeration name: |
DataNVRamInvalid |
|
Enumeration value: |
75 |
|
Description: |
The non-volatile memory (NVRam) does not contain any more valid data. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The data stored in the NVRam are invalid. Thus, the position cannot be restored from ST_HomeSetPos.iq_pstRestorePosRetain. |
Verify the NVRam, verify the buffer battery and replace if necessary. New homing of the drive required. |
|
Enumeration name: |
DecRange |
|
Enumeration value: |
15 |
|
Description: |
Dec is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode Endless has been selected and the i_lrDec parameter of the ST_EndlessFeed structure was allocated with an invalid value. |
The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive |
|
- |
The operation mode Positioning has been selected and the i_lrDec parameter of the ST_Positioning structure was allocated with an invalid value. |
The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive |
|
- |
The operation mode EndlessIIs has been selected and the i_lrDec parameter of the ST_EndlessFeed structure was allocated with an invalid value. |
The following must apply: i_lrDec > 1 |
|
- |
The operation mode Manual has been selected and the i_lrDec parameter of the ST_Manual structure was allocated with an invalid value. |
The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive |
|
- |
The operation mode MultiCam has been selected and the iq_stExt.xStopPositionSelect parameter of the ST_MultiCam structure was allocated with TRUE, and the iq_stExt.lrStopDeceleration parameter was allocated with an invalid value. |
The following must apply: 0 < iq_stExt.lrStopDeceleration < MaxAcc parameter of the drive |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionNegEdgeTp PDL.ET_HomeMode.PosDirectionNegEdgeTp and the i_lrDec parameter of the PDL.ST_HomeTp structure in the ST_Home structure was allocated with an invalid value. |
The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionNegEdgeSensor PDL.ET_HomeMode.PosDirectionNegEdgeSensor and the i_lrDec parameter of the PDL.ST_HomeIn structure in the ST_Home structure was allocated with an invalid value. |
The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos and the i_lrDec parameter of the PDL.ST_HomeLimitSwitch structure in the ST_Home structure was allocated with an invalid value. |
The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionMaxTorque PDL.ET_HomeMode.NegDirectionMaxTorque and the i_lrDec parameter of the PDL.ST_HomeTorque structure in the ST_Home structure has been allocated with an invalid value. |
The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.MoveOnPosAbs and the i_lrDec parameter of the PDL.ST_HomeMoveOnPos structure in the ST_Home structure has been allocated with an invalid value. |
The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive |
|
Enumeration name: |
Disabled |
|
Enumeration value: |
104 |
|
Description: |
The POU is disabled. |
The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE
|
Enumeration name: |
DriveEncoderInvalid |
|
Enumeration value: |
76 |
|
Description: |
The drive encoder is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.RestorePosFromAxisEncoder or PDL.ET_HomeMode.RestorePosFromRetain. However, the axis encoder is not supported. |
The EncoderRange parameter of the axis must be greater than 0. If necessary, use an axis with a different encoder type. |
|
Enumeration name: |
DriveException |
|
Enumeration value: |
57 |
|
Description: |
The drive reports an exception. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The connected drive reports an exception. |
Analyze the exception of the drive. |
|
Enumeration name: |
DriveExceptionFatal |
|
Enumeration value: |
56 |
|
Description: |
The drive reports a fatal exception. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The connected drive reports a fatal exception. |
Analyze the exception of the drive. |
|
Enumeration name: |
DriveInvalid |
|
Enumeration value: |
10 |
|
Description: |
The connected drive is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
No valid drive was applied at the ST_Main.i_ifDrive input. |
A valid drive must be transferred to the ST_Main.i_ifDrive input. |
|
- |
The connected drive does not support all required functionalities. |
The q_sMsg output of the exception shows which functionalities are not supported by the drive. Use a drive that supports all required functionalities. |
|
Enumeration name: |
DriveIsMoving |
|
Enumeration value: |
78 |
|
Description: |
The drive is moving. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.WriteAxisEncoder. The axis moved while the encoder was writing. |
To write the encoder of the axis, the axis must be at standstill. Verify the axis state and the mechanical forces applied to the axis. |
|
Enumeration name: |
DriveNotDisabled |
|
Enumeration value: |
79 |
|
Description: |
The drive is not disabled. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.WriteAxisEncoder. The axis is not in AxisState 1. |
To write the encoder of the axis, the axis must be in AxisState 1. Verify the axis state. |
|
Enumeration name: |
DriveNotReady |
|
Enumeration value: |
80 |
|
Description: |
The drive is not ready for motion commands. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The connected axis is not in position control. |
Ensure that the position control of the axis is activated. |
|
Enumeration name: |
DrivePositionOutOfWsWindow |
|
Enumeration value: |
47 |
|
Description: |
The position of the drive is outside of WsWindow. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.MultiCam is selected to execute a warm start. The axis has been moved beyond ST_MultiCam.i_WsWindow while disabled. |
Move the axis back into the warm start window. Extend the limits of the warm start window. Perform a cold start. |
|
Enumeration name: |
DriveWarning |
|
Enumeration value: |
58 |
|
Description: |
The drive reports an advisory. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The connected drive reports an advisory. |
Analyze the advisory of the drive. |
|
Enumeration name: |
EndlessExit |
|
Enumeration value: |
125 |
|
Description: |
The operation mode Endless is quit. |
The operation mode Endless is quit.
|
Enumeration name: |
EndlessInit |
|
Enumeration value: |
122 |
|
Description: |
The operation mode Endless is initialized. |
The operation mode Endless is initialized.
|
Enumeration name: |
EndlessRunning |
|
Enumeration value: |
124 |
|
Description: |
The operation mode Endless is being executed. |
The operation mode Endless is being executed.
|
Enumeration name: |
EndlessWaitForStart |
|
Enumeration value: |
123 |
|
Description: |
The operation mode Endless is waiting for a start command. |
The operation mode Endless is selected and is expecting the ET_Cmd.Start command.
|
Enumeration name: |
GlobalSercosInterfaceInvalid |
|
Enumeration value: |
64 |
|
Description: |
The G_ifSercos interface is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The global Sercos interface G_ifSercos is invalid. |
Ensure that the Sercos interface G_ifSercos outside the function block is not accidentally overwritten with 0. |
|
Enumeration name: |
HomingDone |
|
Enumeration value: |
111 |
|
Description: |
Homing has been completed. |
Homing has been completed.
|
Enumeration name: |
HomingExecuting |
|
Enumeration value: |
110 |
|
Description: |
Homing is being executed. |
Homing is being executed.
|
Enumeration name: |
HomingExit |
|
Enumeration value: |
112 |
|
Description: |
The operation mode Homing is quit. |
The operation mode Homing is quit.
|
Enumeration name: |
HomingInit |
|
Enumeration value: |
108 |
|
Description: |
The operation mode Homing is being initialized. |
The operation mode Homing is being initialized.
|
Enumeration name: |
HomingWaitForStart |
|
Enumeration value: |
109 |
|
Description: |
The operation mode Homing is waiting for a start command. |
The operation mode Homing is selected and is expecting the ET_Cmd.Start command.
|
Enumeration name: |
HwLimitNegReached |
|
Enumeration value: |
8 |
|
Description: |
Negative limit switch has been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp, PDL.ET_HomeMode.PosDirectionNegEdgeTp, PDL.ET_HomeMode.PosDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionNegEdgeSensor, PDL.ET_HomeMode.PosDirectionNegEdgeSensor, PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos, PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg, PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos. The negative hardware limit switch has been found when searching for the reference signal. |
Verify the signal at the ST_Main.i_xHwLimitNeg input. Ensure that the sensor of the negative limit switch is not dirty. |
|
Enumeration name: |
HwLimitNegStillActive |
|
Enumeration value: |
143 |
|
Description: |
HwLimitNeg is still active. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp or PDL.ET_HomeMode.PosDirectionNegEdgeTp. The negative limit switch (ST_Main.i_xHwLimitNeg = TRUE) is still active. However, a Touchprobe signal has been detected or the maximum travel distance (ST_Home.stTouchProbe.i_lrMaxTravel) has been reached. |
Verify the signal at the ST_Main.i_xHwLimitNeg input. Verify the value for the maximum travel distance ST_Home.stTouchProbe.i_lrMaxTravel. Ensure that the sensor of the negative limit switch is not dirty. |
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionNegEdgeSensor or PDL.ET_HomeMode.PosDirectionNegEdgeSensor. The negative limit switch (ST_Main.i_xHwLimitNeg = TRUE) is still active. However, a sensor signal has been detected or the maximum travel distance (ST_Home.stSensor.i_lrMaxTravel) has been reached. |
Verify the signal at the ST_Main.i_xHwLimitNeg input. Verify the value for the maximum travel distance at the ST_Home.stTouchProbe.i_lrMaxTravel input. Ensure that the sensor of the negative limit switch is not dirty. |
|
Enumeration name: |
HwLimitNegWarning |
|
Enumeration value: |
60 |
|
Description: |
Negative limit switch has been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing, ET_OpMode.Manual or ET_OpMode.BrakeRelease was selected and the negative hardware limit switch ST_Main.i_xHwLimitNeg was found. |
Ensure that the axis does not move onto the negative hardware limit switch. Ensure that the sensor of the negative limit switch is not dirty. |
|
Enumeration name: |
HwLimitPosReached |
|
Enumeration value: |
7 |
|
Description: |
Positive limit switch has been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp, PDL.ET_HomeMode.PosDirectionNegEdgeTp, PDL.ET_HomeMode.PosDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionNegEdgeSensor, PDL.ET_HomeMode.PosDirectionNegEdgeSensor, PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos, PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg, PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos. The positive hardware limit switch has been found when searching for the reference signal. |
Verify the signal at the ST_Main.i_xHwLimitPos input. Ensure that the sensor of the negative limit switch is not dirty. |
|
Enumeration name: |
HwLimitPosStillActive |
|
Enumeration value: |
144 |
|
Description: |
HwLimitPos is still active. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp or PDL.ET_HomeMode.PosDirectionNegEdgeTp. The positive limit switch (ST_Main.i_xHwLimitPos = TRUE) is still active. However, a Touchprobe signal has been detected or the maximum travel distance (ST_Home.stTouchProbe.i_lrMaxTravel) has been reached. |
Verify the signal at the ST_Main.i_xHwLimitPos input. Verify the value for the maximum travel distance ST_Home.stTouchProbe.i_lrMaxTravel. Ensure that the sensor of the positive limit switch is not dirty. |
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionNegEdgeSensor or PDL.ET_HomeMode.PosDirectionNegEdgeSensor. The positive limit switch (ST_Main.i_xHwLimitPos = TRUE) is still active. However, a sensor signal has been detected or the maximum travel distance (ST_Home.stSensor.i_lrMaxTravel) has been reached. |
Verify the signal at the ST_Main.i_xHwLimitPos input. Verify the value for the maximum travel distance at the ST_Home.stTouchProbe.i_lrMaxTravel input. Ensure that the sensor of the positive limit switch is not dirty. |
|
Enumeration name: |
HwLimitPosWarning |
|
Enumeration value: |
59 |
|
Description: |
Positive limit switch has been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing, ET_OpMode.Manual or ET_OpMode.BrakeRelease was selected and the negative hardware limit switch ST_Main.i_xHwLimitNeg was found. |
Ensure that the axis does not move onto the negative hardware limit switch. Ensure that the sensor of the negative limit switch is not dirty. |
|
Enumeration name: |
IlsSlaveConditionInconsistent |
|
Enumeration value: |
66 |
|
Description: |
The Ils slave specification is inconsistent. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.MultiCam has been selected, however, the specifications whether its is an IIs slave are contradictory. |
Ensure that the slave number of the IIs slave is entered in ST_MultiCam.i_udiSlaveNumber. If it is not an IIs slave, a 0 must be entered. Both the conditions mentioned earlier must be met simultaneously. |
|
Enumeration name: |
IlsSlaveNumberRange |
|
Enumeration value: |
38 |
|
Description: |
IlsSlaveNumber is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.MultiCam has been selected. The specification of the ST_MultiCam.i_udiSlaveNumber is outside the valid range. |
Ensure that the following applies: ST_MultiCam.i_udiSlaveNumber <= ST_MultiCam.pstIlsData^.i_stConfig.diNumberOfSlaves |
|
Enumeration name: |
Initializing |
|
Enumeration value: |
105 |
|
Description: |
The POU is being initialized. |
The module is being initialized.
|
Enumeration name: |
InverterEnableOff |
|
Enumeration value: |
51 |
|
Description: |
The InverterEnable signal is not present. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The InverterEnable signal of the axis is not enabled. |
Verify the wiring of the InverterEnable signal. |
|
Enumeration name: |
JerkRange |
|
Enumeration value: |
16 |
|
Description: |
Jerk is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode Endless has been selected and the i_lrJerk parameter of the ET_OpMode structure was allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ET_OpMode.i_lrJerk input. |
|
- |
The operation mode Positioning has been selected and the i_lrJerk parameter of the ST_Positioning structure was allocated with an invalid value. |
At the ST_Positioning.i_lrJerk input a value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred. |
|
- |
The operation mode EndlessIIs has been selected and the i_lrJerk parameter of the ET_OpMode structure was allocated with an invalid value. |
The following must apply: i_lrJerk > 1 |
|
- |
The operation mode Manual has been selected and the i_lrJerk parameter of the ST_Manual structure was allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Manual.i_lrJerk input |
|
- |
The operation mode MultiCam has been selected and the i_lrJerk parameter of the ST_MultiCam structure has been allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_MultiCam.i_lrJerk input. |
|
- |
The operation mode MultiCam has been selected and the iq_stExt.xStopPositionSelect parameter of the ST_MultiCam structure has been allocated with TRUE, and the iq_stExt.lrStopJerk parameter has been allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_MultiCam.iq_stExt.lrStopJerk input. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionNegEdgeTp PDL.ET_HomeMode.PosDirectionNegEdgeTp and the i_lrJerk parameter of the PDL.ST_HomeTp structure in the ST_Home structure was allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.iq_TouchProbe.i_IrJerk input. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionNegEdgeSensor PDL.ET_HomeMode.PosDirectionNegEdgeSensor and the i_lrJerk parameter of the PDL.ST_HomeIn structure in the ST_Home structure was allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.iq_Sensor.i_IrJerk input. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values: PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos and the i_lrJerk parameter of the PDL.ST_HomeLimitSwitch structure in the ST_Home structure was allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.stLimitSwitch.i_lrJerk input. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionMaxTorque PDL.ET_HomeMode.NegDirectionMaxTorque and the i_lrJerk parameter of the PDL.ST_HomeTorque structure in the ST_Home structure was allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.stTorque.i_lrJerk input. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.MoveOnPosAbs and the i_lrJerk parameter of the PDL.ST_HomeMoveOnPos structure in the ST_Home structure was allocated with an invalid value. |
A value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.stMoveOnPos.i_lrJerk input. |
|
Enumeration name: |
KRange |
|
Enumeration value: |
36 |
|
Description: |
K is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been applied at the ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrK. |
Verify the values for ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrK |
|
Enumeration name: |
LencInvalid |
|
Enumeration value: |
77 |
|
Description: |
The connected logical encoder is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.SetPosLogEncoderPosition or PDL.ET_HomeMode.SetPosAxisAndLogEncoderPosition. No logical encoder was transferred to the ST_Main.iq_lencEncoder parameter. |
An own logical encoder of the PLC Configuration must be transferred to the ST_Main.iq_lencEncoder parameter. |
|
Enumeration name: |
LowVelRange |
|
Enumeration value: |
83 |
|
Description: |
LowVel is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos , PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg, PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos. An invalid value was transferred to the ST_Home.stLimitSwitch.i_lrLowVel parameter. |
A value greater than 0 and smaller than or equal to the MaxVel parameter of the drive must be transferred to the ST_Home.stLimitSwitch.i_lrLowVel parameter. |
|
Enumeration name: |
ManualExit |
|
Enumeration value: |
115 |
|
Description: |
The operation mode Manual is quit. |
The operation mode Manual is quit.
|
Enumeration name: |
ManualInit |
|
Enumeration value: |
113 |
|
Description: |
The operation mode Manual is being initialized. |
The operation mode Manual is being initialized.
|
Enumeration name: |
ManualRunning |
|
Enumeration value: |
114 |
|
Description: |
The operation mode Manual is being executed. |
The operation mode Manual is being executed.
|
Enumeration name: |
MasterInvalid |
|
Enumeration value: |
6 |
|
Description: |
The connected master is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The master applied at ST_Main.i_ifMaster does not support all required functionalities. |
Ensure that the master applied at ST_Main.i_ifMaster implements the SystemConfigurationItf.IF_MasterVelocity interface. Ensure that the master applied at ST_Main.i_ifMaster implements the SystemConfigurationItf.IF_RefActualValues interface. |
|
Enumeration name: |
MasterMovedMasterMoved |
|
Enumeration value: |
48 |
|
Description: |
The master has moved. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.MultiCam has been selected and a warm start is to be executed. The master has moved during the warm start. |
Ensure that the master does not move during the warm start motion. |
|
Enumeration name: |
MaxDistanceRange |
|
Enumeration value: |
42 |
|
Description: |
MaxDistance is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_Manual.i_lrMaxDistance input. |
A value greater than or equal to 0 must be transferred to the ST_Manual.i_lrMaxDistance input. |
|
Enumeration name: |
MaxTorqueNotFound |
|
Enumeration value: |
84 |
|
Description: |
MaxTorque has not been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionMaxTorque or PDL.ET_HomeMode.NegDirectionMaxTorque. The stop was not found. |
Verify the state of the limit stop. Verify the input ST_Home.stTorque.i_lrMaxTorque. Verify the ST_Home.stTorque.i_lrMaxTravel input. Verify the axis state. |
|
Enumeration name: |
MaxTorqueRange |
|
Enumeration value: |
85 |
|
Description: |
MaxTorque is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionMaxTorque or PDL.ET_HomeMode.NegDirectionMaxTorque. An invalid value was transferred to the ST_Home.stTorque.i_lrMaxTorque parameter. |
The following must apply: 0.0 < (ST_Home.stTorque.i_lrMaxTorque / lrTorqueConstant * 10000000.0 / lrMaxDrivePeakCurrent / lrLimCurrent) < 100.0 with lrLimCurrent := lrUserDrivePeakCurrent * 100.0 / lrMaxDrivePeakCurrent where lrTorqueConstant, lrMaxDrivePeakCurrent and lrUserDrivePeakCurrent are parameters of the axis. |
|
Enumeration name: |
MaxTravelRange |
|
Enumeration value: |
86 |
|
Description: |
MaxTravel is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp or PDL.ET_HomeMode.PosDirectionNegEdgeTp. An invalid value was transferred to the ST_Home.stTorque.i_lrMaxTravel parameter. |
The following must apply: 0 < ST_Home.stTorque.i_lrMaxTravel. |
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionNegEdgeSensor or PDL.ET_HomeMode.PosDirectionNegEdgeSensor. An invalid value was transferred to the ST_Home.stTorque.i_lrMaxTravel parameter. |
The following must apply: 0 < ST_Home.stTorque.i_lrMaxTravel. |
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos, PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg, PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos. An invalid value was transferred to the ST_Home.stTorque.i_lrMaxTravel parameter. |
The following must apply: 0 < ST_Home.stTorque.i_lrMaxTravel. |
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionMaxTorqueNegDirectionNegEdgeHWLimitNeg or PDL.ET_HomeMode.NegDirectionMaxTorque. An invalid value was transferred to the ST_Home.stTorque.i_lrMaxTravel parameter. |
The following must apply: 0 < ST_Home.stTorque.i_lrMaxTravel. |
|
Enumeration name: |
MechanicalDataIncompatible |
|
Enumeration value: |
152 |
|
Description: |
The mechanical data are invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The relation of the mechanical data is invalid. |
The mechanical data must be chosen such that the following formula is fulfilled: (iq_stCrankData.lrOffset - iq_stCrankData.lrPushRod) / iq_stCrankData.lrRadius < 1.0 The mechanical data must be chosen such that the following formula is fulfilled: (iq_stCrankData.lrOffset + iq_stCrankData.lrPushRod) / iq_stCrankData.lrRadius > -1.0 |
|
Enumeration name: |
MotionActiveVelLimitRange |
|
Enumeration value: |
50 |
|
Description: |
MotionActiveVelLimit is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was transferred at the ST_Main.i_lrMotionActiveVelLimit input. |
Ensure that a value greater than 0 is transferred at the ST_Main.i_lrMotionActiveVelLimit input. |
|
Enumeration name: |
MRange |
|
Enumeration value: |
37 |
|
Description: |
M is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrM input. |
Verify the values for ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrM |
|
Enumeration name: |
MultiCamExit |
|
Enumeration value: |
121 |
|
Description: |
The operation mode MultiCam is quit. |
The operation mode MultiCam is quit.
|
Enumeration name: |
MultiCamInit |
|
Enumeration value: |
116 |
|
Description: |
The operation mode MultiCam is being initialized. |
The operation mode MultiCam is being initialized.
|
Enumeration name: |
MultiCamRunning |
|
Enumeration value: |
120 |
|
Description: |
The operation mode MultiCam is being executed. |
The operation mode MultiCam is being executed.
|
Enumeration name: |
MultiCamWaitForStart |
|
Enumeration value: |
117 |
|
Description: |
The operation mode MultiCam is waiting for a start command. |
The operation mode MultiCam is selected and is expecting the ET_Cmd.Start command.
|
Enumeration name: |
MultiCamWaitForWsStart |
|
Enumeration value: |
118 |
|
Description: |
The operation mode MultiCam is waiting for a WsStart command. |
The operation mode Homing is selected and is expecting the ET_Cmd.WsStart command.
|
Enumeration name: |
MultiCamWsExecuting |
|
Enumeration value: |
119 |
|
Description: |
The operation mode MultiCam executes a warm state motion. |
The operation mode Homing is selected and is executing a warm start motion.
|
Enumeration name: |
NoAccessToEEPROM |
|
Enumeration value: |
87 |
|
Description: |
The EEPROM of the drive cannot be accessed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.WriteAxisEncoder. The access to the encoder has been denied. |
Verify the axis encoder. Verify the axis state. |
|
Enumeration name: |
NoOpDriveDisabled |
|
Enumeration value: |
107 |
|
Description: |
No operating mode choosen. The axis is switched off. |
No operation mode choosen. The axis is switched off.
|
Enumeration name: |
NoOpDriveEnabled |
|
Enumeration value: |
106 |
|
Description: |
No operating mode choosen. The axis is ready to accept movement orders. |
No operation mode is selected. The axis is ready to accept movement orders.
|
Enumeration name: |
NotSupported |
|
Enumeration value: |
167 |
|
Description: |
Homing for the slide was unsuccessful. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
Homing failed as the Homing modes RestorePosFromAxisEncoder, RestorePosFromRetain and WriteAxisEncoder are not supported for a virtual axis due to technical reasons. |
Select a different Homing mode. |
|
Enumeration name: |
NumberOfCamPointsRange |
|
Enumeration value: |
35 |
|
Description: |
NumberOfCamPoints is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was transferred at the input ST_MultiCam.iq_stMultiCamData.diNumberOfCamPoints. |
A value greater than 0 and smaller than or equal to SystemInterface.MAX_NO_OF_SEG + 1 must be transferred to the ST_MultiCam.iq_stMultiCamData.diNumberOfCamPoints input. |
|
Enumeration name: |
Ok |
|
Enumeration value: |
0 |
|
Description: |
Ok |
The command was successfully executed.
|
Enumeration name: |
P5Pole1IntervalHighRange |
|
Enumeration value: |
153 |
|
Description: |
P5Pole1IntervalHigh is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the input iq_stCrankData.lrP5Pole1IntervalHigh, an invalid value has been applied. |
At the input iq_stCrankData.lrP5Pole1IntervalHigh, a value greater than 0 must be transferred. |
|
Enumeration name: |
P5Pole1IntervalLowRange |
|
Enumeration value: |
154 |
|
Description: |
P5Pole1IntervalLow is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the input iq_stCrankData.lrP5Pole1IntervalLow, an invalid value has been applied. |
At the input iq_stCrankData.lrP5Pole1IntervalLow, a value greater than 0 must be transferred. |
|
Enumeration name: |
P5Pole2IntervalHighRange |
|
Enumeration value: |
155 |
|
Description: |
P5Pole2IntervalHigh is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the input iq_stCrankData.lrP5Pole2IntervalHigh, an invalid value has been applied. |
At the input iq_stCrankData.lrP5Pole2IntervalHigh, a value greater than 0 must be transferred. |
|
Enumeration name: |
P5Pole2IntervalLowRange |
|
Enumeration value: |
156 |
|
Description: |
P5Pole2IntervalLow is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the input iq_stCrankData.lrP5Pole2IntervalLow, an invalid value has been applied. |
At the input iq_stCrankData.lrP5Pole2IntervalLow, a value greater than 0 must be transferred. |
|
Enumeration name: |
P5PoleDistanceTooBig |
|
Enumeration value: |
157 |
|
Description: |
P5PoleDistance is too large. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The polynomial intervals overlap in all cases. |
The inputs iq_stCrankData.lrP5Pole1IntervalLow, iq_stCrankData.lrP5Pole1IntervalHigh, iq_stCrankData.lrP5Pole2IntervalLow and iq_stCrankData.lrP5Pole2IntervalHigh must be selected such, so that the range for the polynomial intervals from SlideLogPos min to SlideLogPos max. only overlap once. |
|
Enumeration name: |
P5RangeHighRange |
|
Enumeration value: |
158 |
|
Description: |
P5RangeHigh is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The overlapping of the polynomial intervals was selected such, so that the X part of a polynomial becomes 0. |
The inputs iq_stCrankData.lrP5Pole1IntervalLow, iq_stCrankData.lrP5Pole1IntervalHigh, iq_stCrankData.lrP5Pole2IntervalLow and iq_stCrankData.lrP5Pole2IntervalHigh must be selected such, so that not the entire interval range for iq_stCrankData.lrP5Pole1IntervalHigh and iq_stCrankData.lrP5Pole2IntervalHigh is forced into a straight line due to overlapping. |
|
Enumeration name: |
P5RangeLowRange |
|
Enumeration value: |
159 |
|
Description: |
P5RangeLow is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The overlapping of the polynomial intervals was selected such, so that the X part of a polynomial becomes 0. |
The inputs iq_stCrankData.lrP5Pole1IntervalLow, iq_stCrankData.lrP5Pole1IntervalHigh, iq_stCrankData.lrP5Pole2IntervalLow and iq_stCrankData.lrP5Pole2IntervalHigh must be selected such, so that not the entire interval range for iq_stCrankData.lrP5Pole1IntervalLow and iq_stCrankData.lrP5Pole2IntervalLow is forced into a straight line due to overlapping. |
|
Enumeration name: |
P5RangeSumRange |
|
Enumeration value: |
160 |
|
Description: |
The sum of P5Range is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The overlapping of the polynomial intervals was selected such, so that the X part of a polynomial becomes 0. |
The inputs iq_stCrankData.lrP5Pole1IntervalLow, iq_stCrankData.lrP5Pole1IntervalHigh, iq_stCrankData.lrP5Pole2IntervalLow and iq_stCrankData.lrP5Pole2IntervalHigh must be selected such, so that the overlapping of two polynomial ranges is not higher than the distance from SlideLogPos min to SlideLogPos switch or from SlideLogPos max to SlideLogPos switch, which means, that the overlapping reaches over the next pole of the crank. |
|
Enumeration name: |
PeriodRange |
|
Enumeration value: |
26 |
|
Description: |
Period is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been applied at the ST_EndlessFeed.i_lrPeriod input. |
A value greater than or equal to 1.0 must be transferred to the ST_EndlessFeed.i_lrPeriod input. |
|
- |
A negative value has been applied at the ST_Manual.i_lrPeriod input. |
A value greater than 0 must be transferred to the ST_Manual.i_lrPeriod input. |
|
- |
The operation mode ET_OpMode.MultiCam has been selected and the Period parameter of the logical encoder at the ST_Main.iq_lencEncoder input has been set to a value unequal to 0. |
Ensure that the Period parameter of the logical encoder at the ST_Main.iq_lencEncoder input is set to 0. Disable the verification of the period of the logical encoder by setting the ST_MultiCam.i_xCheckEncoderPeriod parameter to FALSE. |
PointerRestorePosRetainInvalid
|
Enumeration name: |
PointerRestorePosRetainInvalid |
|
Enumeration value: |
88 |
|
Description: |
The RestorePosRetain pointer is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.RestorePosFromRetain. An invalid pointer has been transferred to the ST_Home.stSetPos.iq_pstRestorePosRetain parameter. |
The memory address that contains the structure in which the axis positions are saved must be transferred to the ST_Home.stSetPos.iq_pstRestorePosRetain parameter. |
|
Enumeration name: |
PositioningExit |
|
Enumeration value: |
133 |
|
Description: |
The operation mode Positioning is quit. |
The operation mode Positioning is quit.
|
Enumeration name: |
PositioningInit |
|
Enumeration value: |
130 |
|
Description: |
The operation mode Positioning is being initialized. |
The operation mode Positioning is being initialized.
|
Enumeration name: |
PositioningRunning |
|
Enumeration value: |
132 |
|
Description: |
The operation mode Positioning is being executed. |
The operation mode Positioning is being executed.
|
Enumeration name: |
PositioningWaitForStart |
|
Enumeration value: |
131 |
|
Description: |
The operation mode Positioning is waiting for a start command. |
The operation mode Positioning is selected and is expecting the command ET_Cmd.Start, ET_Cmd.StartTrig or ET_Cmd.StartTrigWaitInPos.
|
Enumeration name: |
PowerSupplyInvalid |
|
Enumeration value: |
53 |
|
Description: |
The connected power supply is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The connected power supply is not supported. |
Please contact the support team. |
|
Enumeration name: |
PowerSupplyNotFound |
|
Enumeration value: |
54 |
|
Description: |
The connected power supply was not found. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
No power supply has been applied. |
Add a power supply to the PLC Configuration. |
|
- |
No power supply has been connected. |
Connect the power supply to the axis. |
|
Enumeration name: |
PowerSupplyNotReady |
|
Enumeration value: |
55 |
|
Description: |
The connected power supply is not ready. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The connected power supply is not ready. |
Verify the state of the power supply for errors. |
|
Enumeration name: |
ProfileAlreadyInUse |
|
Enumeration value: |
164 |
|
Description: |
The profile is already in use. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The motion profile is already in use. |
Verify the motion data. |
|
Enumeration name: |
ProgrammingInProgress |
|
Enumeration value: |
89 |
|
Description: |
Writing is being performed on the encoder. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.WriteAxisEncoder. You cannot write on the encoder because a writing process is already active. |
Wait until the active writing process is completed and try again. If this diagnostic message occurs even after retrying it several times, please inform the support team about this detected error. |
|
Enumeration name: |
ProgrammingInvalidEEPROM |
|
Enumeration value: |
90 |
|
Description: |
An error has been detected while writing on the encoder EEPROM. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.WriteAxisEncoder. Writing is already being performed on the encoder. |
Please retry later. |
|
Enumeration name: |
PushRodRange |
|
Enumeration value: |
161 |
|
Description: |
PushRod is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the input iq_stCrankData.lrPushRod, a negative value has been applied. |
At the input iq_stCrankData.lrPushRod, a value greater than 0 must be transferred. |
|
Enumeration name: |
RadiusRange |
|
Enumeration value: |
162 |
|
Description: |
Radius is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the input iq_stCrankData.lrRadius, a negative value has been applied. |
At the input iq_stCrankData.lrRadius, a value greater than 0 must be transferred. |
|
Enumeration name: |
ReducedVelocityLimit |
|
Enumeration value: |
9 |
|
Description: |
The reduced velocity has been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The parameter ST_Main.stReducedVelocity.i_xEnableReducedVelocity is TRUE. The MechVelocity of the axis is greater than ST_Main.stReducedVelocity.i_lrMaxReducedVelocity * ST_Main.stReducedVelocity.i_lrReducedVelocityCheckFactor |
Verify the motion parameters of the selected mode and/or change the values ST_Main.stReducedVelocity.i_lrMaxReducedVelocity or ST_Main.stReducedVelocity.i_lrReducedVelocityCheckFactor. |
|
Enumeration name: |
RestoreInterrupted |
|
Enumeration value: |
91 |
|
Description: |
|
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.RestorePosFromRetain. Reading the encoder has been interrupted repeatedly by the SERCOS. |
Ensure that the execution of the module is not interrupted for too long by other tasks, so that the function can be interrupted by the SERCOS task only once. |
|
Enumeration name: |
RestorePosRetainInvalid |
|
Enumeration value: |
49 |
|
Description: |
RestorePosRetain is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid pointer was transferred to the ST_Home.stSetPos.iq_pstRestorePosRetain parameter (0). |
The memory address that contains the structure in which the axis positions are saved must be transferred to the ST_Home.stSetPos.iq_pstRestorePosRetain parameter. |
|
Enumeration name: |
SensorNotFound |
|
Enumeration value: |
92 |
|
Description: |
No sensor signal was found. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionNegEdgeSensor, PDL.ET_HomeMode.PosDirectionNegEdgeSensor, PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos, PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg, PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos. The sensor signal is not transmitted to the module. |
Ensure that the signal has been applied at the ST_Home.stSensor.i_xSensor variable. |
|
- |
The sensor does not transmit a signal. |
Verify the power supply of the sensor. Ensure that the sensor is not dirty. Ensure that the sensor can be triggered by the mechanical system. Verify the electrical connection of the sensor and of the digital input. |
|
Enumeration name: |
SercosNotInPhaseFour |
|
Enumeration value: |
93 |
|
Description: |
The Sercos bus is not in phase 4. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The parameter State of the Sercos bus is not 4. |
Set the Sercos bus parameter PhaseSet to 4. Verify the Sercos bus for errors. |
|
Enumeration name: |
SlidePositionRange |
|
Enumeration value: |
150 |
|
Description: |
The position of DriveSlide is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
i_diStartMode is set to 1, iq_stCrankData.xEndlessCrank is set to FALSE and the position of the axis i_ifDriveSlide is outside the interval [iq_stCrankData.lrXLogMin, iq_stCrankData.lrXLogMax] |
Ensure that the position of i_ifDriveSlide continues to be smaller than or equal to iq_stCrankData.lrXLogMax and greater than or equal to iq_stCrankData.lrXLogMin. Verify the limits of the push rod iq_stCrankData.lrXLogMin and iq_stCrankData.lrXLogMax Select a different operation mode for iq_stCrankData.xEndlessCrank or i_diStartMode. |
|
- |
i_diStartMode is set to 3, the position of the axis i_ifDriveSlide is outside the interval [iq_stCrankData.lrXLogMin, iq_stCrankData.lrXLogMax] |
Ensure that the position of i_ifDriveSlide continues to be smaller than or equal to iq_stCrankData.lrXLogMax and greater than or equal to iq_stCrankData.lrXLogMin. Verify the limits of the push rod iq_stCrankData.lrXLogMin and iq_stCrankData.lrXLogMax Select a different operation mode for i_diStartMode. |
|
Enumeration name: |
StartPositionSelectInvalid |
|
Enumeration value: |
142 |
|
Description: |
The use of StartPositionSelect is not permitted. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The ST_MultiCam.iq_stExt.xStartPositionSelect parameter is set to TRUE. |
The module does not support the function. Set the parameter ST_MultiCam.iq_stExt.xStartPositionSelect to FALSE. Use the operation mode Positioning to move the axis to a position before you change to the operation mode MultiCam. |
|
Enumeration name: |
StopEndOfCycle |
|
Enumeration value: |
103 |
|
Description: |
A stop is executed at the end of the cycle. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The module executes a reaction TPL.ET_Reaction.StopEndOfCycle. |
Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction. Acknowledge the exceptions to discard the reactions. |
|
Enumeration name: |
StopPositionRange |
|
Enumeration value: |
31 |
|
Description: |
StopPosition is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
A negative value was transferred at the ST_EndlessFeed.i_lrStopPosition input. |
A value greater than or equal to 0 must be transferred at the ST_EndlessFeed.i_lrStopPosition input. |
|
Enumeration name: |
SyncStopEH |
|
Enumeration value: |
102 |
|
Description: |
A synchronous stop is performed. Subsequently, the axis remains in position control. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The module executes a reaction TPL.ET_Reaction.SyncStopEH. |
Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction. Acknowledge the exceptions to discard the reactions. |
|
Enumeration name: |
SyncStopEL |
|
Enumeration value: |
101 |
|
Description: |
A synchronous stop is performed. Subsequently, the axis does not remain in position control. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The module executes a reaction TPL.ET_Reaction.SyncStopEL. |
Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction. Acknowledge the exceptions to discard the reactions. |
|
Enumeration name: |
TorqueEnableOff |
|
Enumeration value: |
52 |
|
Description: |
The TorqueEnable signal is not present. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The TorqueEnable signal of the axis is not enabled. |
Verify the hardware/software wiring of the TorqueEnable signal. |
|
Enumeration name: |
TouchProbeInvalid |
|
Enumeration value: |
94 |
|
Description: |
The connected Touchprobe is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp, PDL.ET_HomeMode.PosDirectionNegEdgeTp. The ST_Home.stTouchProbe.i_ifTouchProbe parameter is not linked to a valid Touchprobe. |
Ensure that a Touchprobe object was transferred to the ST_Home.stTouchProbe.i_ifTouchProbe parameter. |
|
Enumeration name: |
TouchProbeNotActive |
|
Enumeration value: |
95 |
|
Description: |
The Touchprobe is not active. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp, PDL.ET_HomeMode.PosDirectionNegEdgeTp. The Touchprobe transferred to the ST_Home.stTouchProbe.i_ifTouchProbe parameter is not active. For instance, this is an input at a Lexium62. |
Ensure that the parameter IOx_Mode of the input group (LXM62IO_InOutTP) has been set to Touchprobe / 1. |
|
Enumeration name: |
TouchProbeNotFound |
|
Enumeration value: |
96 |
|
Description: |
No Touchprobe was found. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp, PDL.ET_HomeMode.PosDirectionNegEdgeTp. The Touchprobe sensor does not transmit a signal. |
Verify the power supply of the Touchprobe sensor. Ensure that the Touchprobe sensor is not dirty. Ensure that the Touchprobe can be triggered by the mechanical system. Verify the electrical connection of the Touchprobe sensor and of the Touchprobe input. |
|
Enumeration name: |
TouchProbeVirtual |
|
Enumeration value: |
97 |
|
Description: |
The connected Touchprobe is virtual. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp, PDL.ET_HomeMode.PosDirectionNegEdgeTp. The used Touchprobe is not physical. |
Ensure that the Touchprobe does not belong to a virtual device. (e.g. virtual Lexium62) |
|
Enumeration name: |
UnableToCreateMotionProfiles |
|
Enumeration value: |
165 |
|
Description: |
No motion profiles could be created. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
No motion profiles for the axis could be loaded. |
Ensure that not too many profiles have been loaded and that profiles which are no longer in use are deleted. |
|
Enumeration name: |
UnableToStartCam |
|
Enumeration value: |
166 |
|
Description: |
The cam could not be started. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
It was not possible to initiate the motion command of the axis. |
Verify the motion parameters iq_stCrankData.lrXLogMin, iq_stCrankData.lrPhiLogMin, iq_stCrankData.lrXLogMin and iq_stCrankData.lrXLogMax. Ensure that the SERCOS is in phase 4. |
|
Enumeration name: |
UnexpectedFeedback |
|
Enumeration value: |
82 |
|
Description: |
An unintended detected error occurred during execution. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An internal execution error has been detected. |
Please inform the support team about this detected error. |
|
Enumeration name: |
Uninitializing |
|
Enumeration value: |
169 |
|
Description: |
The POU is currently being deinitialized. |
|
Enumeration name: |
UnknownCamType |
|
Enumeration value: |
39 |
|
Description: |
The cam type is indeterminable. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The cam type of a point ST_MultiCam.iq_stMultiCamData.astCamPoint is assigned with an invalid cam profile. |
The etCamType cam types of all used cam points at the input ST_MultiCam.iq_stMultiCamData.astCamPoint must be allocated with an element of the PDL.ET_CamType enumeration. |
|
Enumeration name: |
UnknownCase |
|
Enumeration value: |
70 |
|
Description: |
Indeterminable case. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An error has been detected and occurred in the internal execution. |
Please inform the support team about this detected error. |
|
Enumeration name: |
UnknownCsModeMaster |
|
Enumeration value: |
43 |
|
Description: |
CsModeMaster is indeterminable. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was transferred at the ST_MultiCam.i_etCsModeMaster input. |
An element of the PDL.ET_MultiCamCsModeMaster enumeration must be transferred at the ST_MultiCam.i_etCsModeMaster input. |
|
Enumeration name: |
UnknownCsModeSlave |
|
Enumeration value: |
44 |
|
Description: |
CsModeSlave is indeterminable. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was transferred at the ST_MultiCam.i_etCsModeSlave input. |
An element of the PDL.ET_MultiCamCsModeSlave enumeration must be transferred at the ST_MultiCam.i_etCsModeSlave input. |
|
Enumeration name: |
UnknownFeedback |
|
Enumeration value: |
12 |
|
Description: |
A POU returns an unintended value. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An error has been detected and occurred in the internal execution. |
Please inform the support team about this detected error. |
|
Enumeration name: |
UnknownMode |
|
Enumeration value: |
99 |
|
Description: |
The Mode is indeterminable. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_Home.i_etMode input. |
The ST_Home.i_etMode input must be allocated with an element of the PDL.ET_HomeMode enumeration. |
|
Enumeration name: |
UnknownStartMode |
|
Enumeration value: |
163 |
|
Description: |
The StartMode is indeterminable. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
At the input i_diStartMode, an invalid value has been applied. |
At the input i_diStartMode, values between 0 and 3 must be applied. |
|
Enumeration name: |
UnknownWsMode |
|
Enumeration value: |
45 |
|
Description: |
The WSMode is indeterminable. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_Home.i_etMode input. |
The ST_Home.i_etMode input must be allocated with an element of the PDL.ET_HomeMode enumeration. |
|
Enumeration name: |
UserPeriodRange |
|
Enumeration value: |
98 |
|
Description: |
UserPeriod is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.RestorePosFromRetain, PDL.ET_HomeMode.RestorePosFromRetain or PDL.ET_HomeMode.WriteAxisEncoder. An invalid value was transferred to the ST_Home.stSetPos.i_lrUserPeriod parameter. |
The following must apply: 0 <= i_lrUserPeriod |
|
Enumeration name: |
VelLimitRange |
|
Enumeration value: |
72 |
|
Description: |
VelLimit is outside the valid range. |
|
Enumeration name: |
VelRange |
|
Enumeration value: |
17 |
|
Description: |
Vel is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode Positioning has been selected and the i_lrVel parameter of the ST_Positioning structure has been allocated with an invalid value. |
For i_lrVel, a value greater than 0 and smaller than the axis parameter MaxVel must be specified. |
|
- |
The operation mode EndlessIIs has been selected and the i_lrVel parameter of the ST_EndlessFeed structure has been allocated with an invalid value. |
For i_lrVel, a value greater than 0 and smaller than the axis parameter MaxVel must be specified. |
|
- |
The operation mode MultiCam has been selected and the i_lrWsVel parameter of the ST_MultiCam structure has been allocated with an invalid value. |
Apply a value to i_lrWsVel which is smaller than the axis parameter MaxVel. |
|
- |
The operation mode MultiCam has been selected and the iq_stExt.xStopPositionSelect parameter of the ST_MultiCam structure has been allocated with an invalid value. |
Allocate ST_MultiCam.iq_stExt.lrStopVelocity with a value which is smaller than the MaxVel parameter of the axis. Set ST_MultiCam.iq_stExt.xStopPositionSelect to FALSE so that no stop motion is executed. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionNegEdgeTp PDL.ET_HomeMode.PosDirectionNegEdgeTp and the i_lrVel parameter of the PDL.ST_HomeTp structure in the ST_Home structure has been allocated with an invalid value. |
The following must apply: 0 < i_lrVel < MaxVel parameter of the drive. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionNegEdgeSensor PDL.ET_HomeMode.PosDirectionNegEdgeSensor and the i_lrVel parameter of the PDL.ST_HomeIn structure in the ST_Home structure has been allocated with an invalid value. |
The following must apply: 0 < i_lrVel < MaxVel parameter of the drive. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos and the i_lrVel parameter of the PDL.ST_HomeLimitSwitch structure in the ST_Home structure has been allocated with an invalid value. |
The following must apply: 0 < i_lrVel < MaxVel parameter of the drive. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionMaxTorque PDL.ET_HomeMode.NegDirectionMaxTorque and the i_lrVel parameter of the PDL.ST_HomeTorque structure in the ST_Home structure has been allocated with an invalid value. |
The following must apply: 0 < i_lrVel < MaxVel parameter of the drive. |
|
- |
The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.MoveOnPosAbs and the i_lrVel parameter of the PDL.ST_HomeMoveOnPos structure in the ST_Home structure has been allocated with an invalid value. |
The following must apply: 0 < i_lrVel < MaxVel parameter of the drive. |
|
Enumeration name: |
XFactorTooLow |
|
Enumeration value: |
40 |
|
Description: |
XFactor is too small. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
Two successive cam points ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrX have a distance of less than 0.1 units. |
Verify the definition of the cam and, if necessary, remove cam profiles that are too short. |
|
Enumeration name: |
YEqualCheckFailed |
|
Enumeration value: |
46 |
|
Description: |
YEqualCheck was unsuccessful. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
If ST_MultiCam.iq_stExt.xYEqualCheck = TRUE: The verification whether the new cam directly follows the old cam was unsuccessful. |
Configure the new cam such that its start deviates by less than 0.0001 units from the end of the old cam. Deactivate the verification by setting ST_MultiCam.iq_stExt.xYEqualCheck = FALSE. |
|
Enumeration name: |
YFactorTooLow |
|
Enumeration value: |
41 |
|
Description: |
YFactor is too small. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operation mode ET_OpMode.MultiCam is selected and works as a slave of an Ils network. A cam profile requiring a motion of the slave axis is to be used with identical start and end points. |
A cam profile of type PDL.ModiSinCom has been applied at the input ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].etCamType. The value of the difference between its start point ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].lrY and its end point ST_MultiCam.iq_stMultiCamData.astCamPoint[i].lrY is smaller than PDL.Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. A cam profile of type PDL.ModAccTrCom has been applied at the input ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].etCamType. The value of the difference between its start point ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].lrY and its end point ST_MultiCam.iq_stMultiCamData.astCamPoint[i].lrY is smaller than PDL.Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. A cam profile of type PDL.HarmoComb has been applied at the input ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].etCamType. The value of the difference between its start point ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].lrY and its end point ST_MultiCam.iq_stMultiCamData.astCamPoint[i].lrY is smaller than PDL.Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. A cam profile of type PDL.SinStraightComb has been applied at the input ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].etCamType. The value of the difference between its start point ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].lrY and its end point ST_MultiCam.iq_stMultiCamData.astCamPoint[i].lrY is smaller than PDL.Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. |
|
Name |
Description |
|---|---|
|
Rewritable (protected) method of command processing Not approved for use by the user |
|
|
Converts the active reactions of a module to their plain text equivalent. Implementation of the ECO.IF_EDesignModule interface |
|
|
Rewritable (protected) method of input processing Not approved for use by the user |
|
|
Rewritable (protected) method of output processing Not approved for use by the user |
