PTO_ERROR

PTO Error Enumeration

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.