This table lists the values for the PTO_ERROR enumeration:
|
Enumerator |
Value |
Description |
|---|---|---|
|
NoError |
0 |
No error detected. |
|
Axis Control Alerts |
||
|
InternalError |
1000 |
Motion controller internal error detected. |
|
DisabledAxis |
1001 |
The move could not be started or has been aborted because the axis is not ready. |
|
HwPositionLimitP |
1002 |
Hardware positive position limit limP exceeded. |
|
HwPositionLimitN |
1003 |
Hardware negative position limit limN exceeded. |
|
SwPositionLimitP |
1004 |
Software positive position limit exceeded. |
|
SwPositionLimitN |
1005 |
Software negative position limit exceeded. |
|
ApplicationStopped |
1006 |
Application execution has been stoppped (power cycle, controller in STOPPED or HALT state). |
|
OutputProtection |
1007 |
Short-circuit output protection is active on the PTO channels. |
|
Axis Control Advisories |
||
|
WarningVelocityValue |
1100 |
Commanded Velocity parameter is out of range. |
|
WarningAccelerationValue |
1101 |
Commanded Acceleration parameter is out of range. |
|
WarningDecelerationValue |
1102 |
Commanded Deceleration parameter is out of range. |
|
WarningDelayedMove |
1103 |
Not enough time to stop the active move, so the requested move is delayed. |
|
WarningJerkRatioValue |
1104 |
Commanded jerk ratio parameter is limited by the configured maximum acceleration or deceleration. In this case, the jerk ratio is recalculated to respect these maximums. |
|
Motion State Advisories |
||
|
ErrorStopActive |
2000 |
The move could not be started or has been aborted because motion is prohibited by an ErrorStop condition. |
|
StoppingActive |
2001 |
The move could not be started because motion is prohibited by MC_Stop_PTO having control of the axis (either the axis is stopping, or MC_Stop_PTO.Execute input is held high). |
|
InvalidTransition |
2002 |
Transition not allowed, refer to the Motion State Diagram. |
|
InvalidSetPosition |
2003 |
MC_SetPosition_PTO cannot be executed while the axis is moving. |
|
HomingError |
2004 |
Homing sequence cannot start on reference cam in this mode. |
|
InvalidProbeConf |
2005 |
The Probe input must be configured. |
|
InvalidHomingConf |
2006 |
The home inputs (Ref, Index) must be configured for this homing mode. |
|
InvalidAbsolute |
2007 |
An absolute move cannot be executed while the axis is not successfully homed to an origin position. A homing sequence must be executed first (MC_Home_PTO). |
|
MotionQueueFull |
2008 |
The move could not be buffered because the motion queue is full. |
|
Range Advisories |
||
|
InvalidAxis |
3000 |
The function block is not applicable for the specified axis. |
|
InvalidPositionValue |
3001 |
Position parameter is out of limits, or distance parameter gives an out of limits position. |
|
InvalidVelocityValue |
3002 |
Velocity parameter is out of range. The value must be greater than the start velocity and less than the maximum velocity. |
|
InvalidAccelerationValue |
3003 |
Acceleration parameter is out of range. |
|
InvalidDecelerationValue |
3004 |
Deceleration parameter is out of range. |
|
InvalidBufferModeValue |
3005 |
Buffer mode does not correspond to a valid value. |
|
InvalidDirectionValue |
3006 |
Direction does not correspond to a valid value, or direction is invalid due to software position limit exceeded. |
|
InvalidHomeMode |
3007 |
Home mode is not applicable. |
|
InvalidParameter |
3008 |
The parameter number does not exist for the specified axis. |
|
InvalidParameterValue |
3009 |
Parameter value is out of range. |
|
ReadOnlyParameter |
3010 |
Parameter is read-only. |
An Axis Control Alert switches the axis in ErrorStop state (MC_Reset_PTO is mandatory to get out of ErrorStop state). The resulting axis status is reflected by MC_ReadStatus_PTO and MC_ReadAxisError_PTO.
A Motion State Advisory or a Range Advisory does not affect the axis state, nor any ongoing move, nor the move queue. In this case, the error is only local to the applicable function block: the Error output is set, and the ErrorId pin is set to the appropriate PTO_ERROR value.
