FB_AxisModule - General Information
|
Type: |
Function block |
|
Available as of: |
V1.0.2.0 |
|
Inherits from: |
- |
|
Implements: |
- |
|
Versions: |
current version |
The function block is used to move an axis. Various operating modes and motion functions are supported.
Via the module, the most important module functionalities of the PD_PacDriveLib can be used in template projects.
The function block is addressed by the Standard Module Interface and AxisModule 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_stStandardModuleItf |
See Standard Module Interface > ST_StandardModuleInterface. |
|
|
iq_stExceptionList |
See Standard Module Interface > ST_StandardModuleInterface. |
|
|
iq_stLogDataList |
See Standard Module Interface > ST_StandardModuleInterface. |
|
|
iq_stAxisModuleItf |
Parameter structure of the AxisModule |
|
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
Reactions |
|---|---|---|---|---|
|
OK |
148 |
The operating mode Additional is quit. |
- |
|
|
OK |
147 |
The operating mode Additional is being initialized. |
- |
|
|
OK |
139 |
The external POU is being executed. |
- |
|
|
OK |
138 |
The external POU is waiting for a start signal. |
- |
|
|
OK |
100 |
An asynchronous stop is being executed. |
- |
|
|
OK |
135 |
The brake is closed. |
- |
|
|
OK |
136 |
The brake is released. |
- |
|
|
OK |
137 |
The operating mode BrakeRelease is quit. |
- |
|
|
OK |
134 |
The BrakeRelease operating mode is being initialized. |
- |
|
|
OK |
104 |
The POU is disabled. |
- |
|
|
OK |
125 |
The operating mode Endless is quit. |
- |
|
|
OK |
129 |
The operating mode Endlesslls is quit. |
- |
|
|
OK |
126 |
The operating mode Endlesslls is initialized. |
- |
|
|
OK |
128 |
The operating mode Endlesslls is being executed. |
- |
|
|
OK |
127 |
The operating mode Endlesslls is waiting for a start command. |
- |
|
|
OK |
122 |
The operating mode Endless is initialized. |
- |
|
|
OK |
124 |
The operating mode Endless is being executed. |
- |
|
|
OK |
123 |
The operating mode Endless is waiting for a start command. |
- |
|
|
OK |
111 |
Homing has been completed. |
- |
|
|
OK |
110 |
Homing is being executed. |
- |
|
|
OK |
112 |
The operating mode Homing is quit. |
- |
|
|
OK |
108 |
The operating mode Homing is being initialized. |
- |
|
|
OK |
109 |
The operating mode Homing is waiting for a start command. |
- |
|
|
OK |
105 |
The POU is being initialized. |
- |
|
|
OK |
115 |
The operating mode Manual is quit. |
- |
|
|
OK |
113 |
The operating mode Manual is being initialized. |
- |
|
|
OK |
114 |
The operating mode Manual is being executed. |
- |
|
|
OK |
121 |
The operating mode MultiCam is quit. |
- |
|
|
OK |
116 |
The operating mode MultiCam is being initialized. |
- |
|
|
OK |
120 |
The operating mode MultiCam is being executed. |
- |
|
|
OK |
117 |
The operating mode MultiCam is waiting for a start command. |
- |
|
|
OK |
118 |
The operating mode MultiCam is waiting for a WsStart command. |
- |
|
|
OK |
119 |
The operating 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 |
133 |
The operating mode Positioning is quit. |
- |
|
|
OK |
130 |
The operating mode Positioning is being initialized. |
- |
|
|
OK |
132 |
The operating mode Positioning is being executed. |
- |
|
|
OK |
131 |
The operating mode Positioning is waiting for a start command. |
- |
|
|
OK |
103 |
A stop is executed at the end of the cycle. |
- |
|
|
OK |
102 |
A synchronous stop is performed. Subsequently, the axis remains in position control. |
- |
|
|
OK |
101 |
A synchronous stop is performed. Subsequently, the axis does not remain in position control. |
- |
|
|
DiagActive |
67 |
The external POU reports an exception. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
57 |
The drive reports an exception. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
56 |
The drive reports a fatal exception. |
TPL.ET_Reaction.AsyncStop |
|
|
DriveConditionInvalid |
78 |
The drive is moving. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
79 |
The drive is not disabled. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
80 |
The drive is not ready for motion commands. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
58 |
The drive reports a warning. |
TPL.ET_Reaction.StopEndOfCycle |
|
|
DriveConditionInvalid |
51 |
The InverterEnable signal is not present. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
87 |
The EEPROM of the drive cannot be accessed. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
89 |
Writing is being performed on the encoder. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
90 |
An error occurred while writing on the encoder EEPROM. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
91 |
Restoring was interrupted. |
TPL.ET_Reaction.SyncStopEL |
|
|
DriveConditionInvalid |
52 |
The TorqueEnable signal is not present. |
TPL.ET_Reaction.SyncStopEL |
|
|
ExecutionAborted |
3 |
The command cannot be overwritten. |
TPL.ET_Reaction.AsyncStop |
|
|
ExecutionAborted |
5 |
The command cannot be executed due to a pending reaction. |
- |
|
|
ExecutionAborted |
4 |
The command cannot be executed in the current state. |
TPL.ET_Reaction.AsyncStop |
|
|
ExecutionAborted |
2 |
Unknown command. |
TPL.ET_Reaction.AsyncStop |
|
|
ExecutionAborted |
167 |
There is not enough dynamic memory reserved. |
TPL.ET_Reaction.SyncStopEL |
|
|
ExecutionAborted |
143 |
HwLimitNeg is still active. |
TPL.ET_Reaction.SyncStopEL |
|
|
ExecutionAborted |
144 |
HwLimitPos is still active. |
TPL.ET_Reaction.SyncStopEL |
|
|
HomingFailed |
159 |
MaxForce has not been reached. |
TPL.ET_Reaction.SyncStopEL |
|
|
HomingFailed |
84 |
MaxTorque has not been reached. |
TPL.ET_Reaction.SyncStopEL |
|
|
HomingFailed |
92 |
No sensor signal was found. |
TPL.ET_Reaction.SyncStopEL |
|
|
HomingFailed |
96 |
No Touchprobe was found. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
73 |
AbsEncOffset is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
14 |
Acc is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
34 |
The boundary conditions are invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
74 |
The checksum is invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
75 |
The non-volatile memory (NVRam) does not contain any more valid data. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
15 |
Dec is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
76 |
The drive encoder is invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
10 |
The connected drive is invalid. |
TPL.ET_Reaction.AsyncStop |
|
|
InputParameterInvalid |
18 |
Hysteresis is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
71 |
The Ils data are invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
66 |
The Ils slave specification is inconsistent. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
38 |
IlsSlaveNumber is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
16 |
Jerk is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
36 |
K is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
77 |
The connected logical encoder is invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
83 |
LowVel is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
6 |
The connected master is invalid. |
TPL.ET_Reaction.AsyncStop |
|
|
InputParameterInvalid |
19 |
MasterMaxAbsAcc is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
20 |
MasterMaxAbsJerk is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
21 |
MasterPeriodInit is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
42 |
MaxDistance is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
160 |
MaxForce is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
85 |
MaxTorque is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
86 |
MaxTravel is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
50 |
MotionActiveVelLimit is outside the valid range. |
TPL.ET_Reaction.SyncStopEH |
|
|
InputParameterInvalid |
37 |
M is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
22 |
NegAcc is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
23 |
NegVel is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
35 |
NumberOfCamPoints is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
24 |
MNumberOfMasterPeriods is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
25 |
NumberOfSlaves is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
26 |
Period is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
88 |
The RestorePosRetain pointer is invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
27 |
PosAcc is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
28 |
PositionGridSize is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
29 |
PosVel is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
53 |
The connected power supply is invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
54 |
The connected power supply was not found. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
30 |
The ProfileId is invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
1 |
ReactionOffset is outside the valid range. |
- |
|
|
InputParameterInvalid |
165 |
ReducedVelocityFactor is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
164 |
ReducedVelocity is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
49 |
RestorePosRetain is invalid. |
TPL.ET_Reaction.SyncStopEH |
|
|
InputParameterInvalid |
142 |
The use of StartPositionSelect is not permitted. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
31 |
StopPosition is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
32 |
TimeGridSize is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
94 |
The connected Touchprobe is invalid. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
95 |
The Touchprobe is not active. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
97 |
The connected Touchprobe is virtual. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
39 |
The cam type is unknown. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
43 |
CsModeMaster is unknown. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
44 |
CsModeSlave is unknown. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
99 |
The Mode is unknown. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
45 |
The WSMode is unknown. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
98 |
UserPeriod is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
72 |
VelLimit is outside the valid range. |
- |
|
|
InputParameterInvalid |
17 |
Vel is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
40 |
XFactor is too small. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
46 |
YEqualCheck has failed. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
33 |
YFactor is outside the valid range. |
TPL.ET_Reaction.SyncStopEL |
|
|
InputParameterInvalid |
41 |
YFactor is too small. |
TPL.ET_Reaction.SyncStopEL |
|
|
LimitReached |
8 |
Negative limit switch has been reached. |
TPL.ET_Reaction.SyncStopEH |
|
|
LimitReached |
60 |
Negative limit switch has been reached. |
- |
|
|
LimitReached |
7 |
Positive limit switch has been reached. |
TPL.ET_Reaction.SyncStopEH |
|
|
LimitReached |
59 |
Positive limit switch has been reached. |
- |
|
|
LimitReached |
9 |
The reduced velocity has been reached. |
TPL.ET_Reaction.AsyncStop |
|
|
PowerSupplyConditionInvalid |
55 |
The connected power supply is not ready. |
TPL.ET_Reaction.SyncStopEL |
|
|
SercosConditionInvalid |
93 |
The Sercos bus is not in phase 4. |
TPL.ET_Reaction.SyncStopEL |
|
|
UnexpectedProgramBehavior |
11 |
The controller is not supported. |
TPL.ET_Reaction.AsyncStop |
|
|
UnexpectedProgramBehavior |
64 |
The G_ifSercos interface is invalid. |
TPL.ET_Reaction.AsyncStop |
|
|
UnexpectedProgramBehavior |
82 |
A POU returns an unexpected value. |
- |
|
|
UnexpectedProgramBehavior |
70 |
Unknown case. |
TPL.ET_Reaction.AsyncStop |
|
|
UnexpectedProgramBehavior |
12 |
Unknown feedback of the POU. |
TPL.ET_Reaction.AsyncStop |
|
|
WarmStartConditionInvalid |
47 |
The position of the drive is outside of WsWindow. |
TPL.ET_Reaction.SyncStopEL |
|
|
WarmStartConditionInvalid |
48 |
The master has moved. |
TPL.ET_Reaction.SyncStopEL |
|
|
WarmStartConditionInvalid |
169 |
A user-defined Cam profile has been deleted. |
- |
|
Enumeration name: |
AbsEncOffsetRange |
|
Enumeration value: |
73 |
|
Description: |
AbsEncOffset is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
Has one of the following modes been selected for Homing in the ST_Home structure? oPDL.ET_HomeMode.RestorePosFromAxisEncoder oPDL.ET_HomeMode.RestorePosFromRetain |
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 operating 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 operating 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 operating 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 |
|
- |
The operating mode Manual was selected and the i_lrAcc parameter of the ST_Manual structure was allocated with an invalid value. |
The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive |
|
- |
The operating mode MultiCam was selected and the i_lrWsAcc parameter of the ST_MultiCam structure was allocated with an invalid value. |
The following must apply: 0 < i_lrWsAcc < MaxAcc parameter of the drive |
|
- |
The operating mode MultiCam was selected and the iq_stExt.xStopPositionSelect parameter of the ST_MultiCam structure was allocated with TRUE, and the iq_stExt.lrStopAcceleration parameter was allocated with an invalid value. |
The following must apply: 0 < iq_stExt.lrStopAcceleration < MaxAcc parameter of the drive |
|
- |
The operating 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_lrAcc parameter of the PDL.ST_HomeTp structure in the ST_Home structure was allocated with an invalid value. |
The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive |
|
- |
The operating 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_lrAcc parameter of the PDL.ST_HomeIn structure in the ST_Home structure was allocated with an invalid value. |
The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive |
|
- |
The operating 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_lrAcc parameter of the PDL.ST_HomeLimitSwitch structure in the ST_Home structure was allocated with an invalid value. |
The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive |
|
- |
The operating 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_lrAcc parameter of the PDL.ST_HomeTorque structure in the ST_Home structure was allocated with an invalid value. |
The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive |
|
- |
The operating 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_lrAcc parameter of the PDL.ST_HomeMoveOnPos structure in the ST_Home structure was allocated with an invalid value. |
The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive |
|
Enumeration name: |
AdditionalExit |
|
Enumeration value: |
148 |
|
Description: |
The operating mode Additional is quit. |
The operating mode AdditionalMode is quit.
|
Enumeration name: |
AdditionalInit |
|
Enumeration value: |
147 |
|
Description: |
The operating mode Additional is being initialized. |
The operating mode AdditionalMode is being initialized.
|
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 report an error. |
|
Enumeration name: |
AdditionalRunning |
|
Enumeration value: |
139 |
|
Description: |
The external POU is being executed. |
The operating 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 operating 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. |
Check 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. |
Check 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. |
The operating mode BrakeRelease is selected and the brake of the axis is closed.
|
Enumeration name: |
BrakeReleased |
|
Enumeration value: |
136 |
|
Description: |
The brake is released. |
The operating mode BrakeRelease is selected and the brake of the axis is released.
|
Enumeration name: |
BrakeReleaseExit |
|
Enumeration value: |
137 |
|
Description: |
The operating mode BrakeRelease is quit. |
The operating mode BrakeRelease is quit.
|
Enumeration name: |
BrakeReleaseInit |
|
Enumeration value: |
134 |
|
Description: |
The BrakeRelease operating mode is being initialized. |
The BrakeRelease operating 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 operating 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.StopEndOfCycle is active in the module while it receives a command . |
Ensure 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 is active in the module while it receives a command. . |
Ensure that no commands for changing to a different operating 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. |
|
- |
A reaction is active in the module while it receives a 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. |
|
Enumeration name: |
CmdImpossibleState |
|
Enumeration value: |
4 |
|
Description: |
The command cannot be executed in the current state. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The module is in the state when it is sent a command is send to it. The module is not in the state ET_State.MultiCamWaitForWsStart, or in the operating mode when it is sent a command is send to it. 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 is sent a command is send to it. The module is in the operating mode when it is sent a command ET_Cmd.Start or is send to it. The module is not in the operating mode when it is sent a command is send to it. The module is not in the operating mode when it is sent a command is send to it. |
Before you send a command, ensure that the module can execute the command in the current state. |
|
Enumeration name: |
CmdUnknown |
|
Enumeration value: |
2 |
|
Description: |
Unknown 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: |
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. |
Check the NVRam, check 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values 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 module is disabled and does not execute any actions.
|
Enumeration name: |
DriveEncoderInvalid |
|
Enumeration value: |
76 |
|
Description: |
The drive encoder is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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 operating 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. Check the axis state and mechanical forces applied to the axis. |
|
Enumeration name: |
DriveNotDisabled |
|
Enumeration value: |
79 |
|
Description: |
The drive is not disabled. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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. Check 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 operating 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 a warning. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The connected drive reports a warning. |
Analyze the warning of the drive. |
|
Enumeration name: |
DynamicMemorySizeTooSmall |
|
Enumeration value: |
167 |
|
Description: |
There is not enough dynamic memory reserved. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
There was not enough free space in the dynamic memory storage |
Expand the dynamic memory storage. The needed space of the function block is given in the message of the exception. The size of the dynamic memory storage can be seen and changed in the Applicaiton build options view (View -> Properties... -> Application build options). This is NOT the dynamic data storage which is managed via the DynIECData... properties of the controller. |
|
Enumeration name: |
EndlessExit |
|
Enumeration value: |
125 |
|
Description: |
The operating mode Endless is quit. |
The operating mode Endless is quit.
|
Enumeration name: |
EndlessIlsExit |
|
Enumeration value: |
129 |
|
Description: |
The operating mode Endlesslls is quit. |
The operating mode Endlesslls is quit.
|
Enumeration name: |
EndlessIlsInit |
|
Enumeration value: |
126 |
|
Description: |
The operating mode Endlesslls is initialized. |
The operating mode Endlesslls is initialized.
|
Enumeration name: |
EndlessIlsRunning |
|
Enumeration value: |
128 |
|
Description: |
The operating mode Endlesslls is being executed. |
The operating mode Endlesslls is being executed.
|
Enumeration name: |
EndlessIlsWaitForStart |
|
Enumeration value: |
127 |
|
Description: |
The operating mode Endlesslls is waiting for a start command. |
The operating mode EndlessIls is selected and is expecting the ET_Cmd.Start command.
|
Enumeration name: |
EndlessInit |
|
Enumeration value: |
122 |
|
Description: |
The operating mode Endless is initialized. |
The operating mode Endless is initialized.
|
Enumeration name: |
EndlessRunning |
|
Enumeration value: |
124 |
|
Description: |
The operating mode Endless is being executed. |
The operating mode Endless is being executed.
|
Enumeration name: |
EndlessWaitForStart |
|
Enumeration value: |
123 |
|
Description: |
The operating mode Endless is waiting for a start command. |
The operating 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 operating mode Homing is quit. |
The operating mode Homing is quit.
|
Enumeration name: |
HomingInit |
|
Enumeration value: |
108 |
|
Description: |
The operating mode Homing is being initialized. |
The operating mode Homing is being initialized.
|
Enumeration name: |
HomingWaitForStart |
|
Enumeration value: |
109 |
|
Description: |
The operating mode Homing is waiting for a start command. |
The operating 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 operating 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. |
Check 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 operating 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. |
Check the signal at the ST_Main.i_xHwLimitNeg input. Check 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 operating 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. |
Check the signal at the ST_Main.i_xHwLimitNeg input. Check 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 operating 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 operating 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. |
Check 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 operating 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. |
Check the signal at the ST_Main.i_xHwLimitPos input. Check 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 operating 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. |
Check the signal at the ST_Main.i_xHwLimitPos input. Check 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 operating mode ET_OpMode.Homing, ET_OpMode.Manual or ET_OpMode.BrakeRelease has been selected and the positive hardware limit switch ST_Main.i_xHwLimitNeg has been found. |
Ensure that the axis does not move onto the positive hardware limit switch. Ensure that the sensor of the positive limit switch is not dirty. |
|
Enumeration name: |
HysteresisRange |
|
Enumeration value: |
18 |
|
Description: |
Hysteresis is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_EndlessFeed.pstIlsData.i_stConfig.lrHysteresis input. |
A value greater than or equal to 0.001 and smaller than or equal to 50.0 must be transferred to the ST_EndlessFeed.pstIlsData.i_stConfig.lrHysteresis input. |
|
Enumeration name: |
IlsDataInvalid |
|
Enumeration value: |
71 |
|
Description: |
The Ils data are invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating mode ET_OpMode.EndlessIls has been selected, but the ST_EndlessFeed.pstIlsData pointer is not specified (0). |
Ensure that the ST_EndlessFeed.pstIlsData pointer with the address of the Ils data is initialized. |
|
Enumeration name: |
IlsSlaveConditionInconsistent |
|
Enumeration value: |
66 |
|
Description: |
The Ils slave specification is inconsistent. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating mode ET_OpMode.MultiCam has been selected, however, the specifications whether its is an IIs slave are contradictory. |
Ensure that in ST_MultiCam.i_udiSlaveNumber the slave number of the IIs slave is entered. If it is not an IIs slave, a 0 must be entered. Ensure that the ST_MultiCam.pstIlsData pointer is assigned with the address of the Ils data. 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 operating 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. |
Check the wiring of the InverterEnable signal. |
|
Enumeration name: |
JerkRange |
|
Enumeration value: |
16 |
|
Description: |
Jerk is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating mode Endless has been selected and the i_lrJerk parameter of the ST_EndlessFeed structure was allocated with an invalid value. |
At the ST_EndlessFeed.i_lrJerk input a value greater than 0 and smaller than or equal to PDL.Gc_lrMaxJerk must be transferred. |
|
- |
The operating 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 operating mode EndlessIIs has been selected and the i_lrJerk parameter of the ST_EndlessFeed structure was allocated with an invalid value. |
The following must apply: i_lrJerk > 1 |
|
- |
The operating 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values 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. |
Check 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 operating 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 operating 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 operating mode Manual is quit. |
The operating mode Manual is quit.
|
Enumeration name: |
ManualInit |
|
Enumeration value: |
113 |
|
Description: |
The operating mode Manual is being initialized. |
The operating mode Manual is being initialized.
|
Enumeration name: |
ManualRunning |
|
Enumeration value: |
114 |
|
Description: |
The operating mode Manual is being executed. |
The operating 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: |
MasterMaxAbsAccRange |
|
Enumeration value: |
19 |
|
Description: |
MasterMaxAbsAcc is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was transferred at the ST_EndlessFeed.stIlsData.i_stRunTime.lrMasterMaxAbsAcc input. |
A value greater than or equal to 1.0 must be transferred to the ST_EndlessFeed.stIlsData.i_stRunTime.lrMasterMaxAbsAcc input. |
|
Enumeration name: |
MasterMaxAbsJerkRange |
|
Enumeration value: |
20 |
|
Description: |
MasterMaxAbsJerk is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was transferred at the ST_EndlessFeed.stIlsData.i_stRunTime.lrMasterMaxAbsJerk input. |
A value greater than or equal to 1.0 must be transferred to the ST_EndlessFeed.stIlsData.i_stRunTime.lrMasterMaxAbsJerk input. |
|
Enumeration name: |
MasterMovedMasterMoved |
|
Enumeration value: |
48 |
|
Description: |
The master has moved. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating mode ET_ObMode.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: |
MasterPeriodInitRange |
|
Enumeration value: |
21 |
|
Description: |
MasterPeriodInit is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_EndlessFeed.stIlsData.i_astCamData[ ].diMasterPeriodInit input. |
A value greater than 0 must be transferred to the ST_EndlessFeed.stIlsData.i_astCamData[ ].diMasterPeriodInit input. |
|
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: |
MaxForceNotFound |
|
Enumeration value: |
159 |
|
Description: |
MaxForce has not been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating mode ET_OpMode.Homing was selected with the mode
ST_Home.i_etMode = PDL.ET_HomeMode.PosDirectionMaxForce or ST_Home.i_etMode = PDL.ET_HomeMode.NegDirectionMaxForce.
The stop was not found. |
Check the state of the limit stop. Check the ST_Home.stForce.i_lrMaxForce input. Check the ST_Home.stForce.i_lrMaxTravel input. Check the axis state. |
|
Enumeration name: |
MaxForceRange |
|
Enumeration value: |
160 |
|
Description: |
MaxForce is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating mode ET_OpMode.Homing was selected with the mode
ST_Home.i_etMode = PDL.ET_HomeMode.PosDirectionMaxForce or ST_Home.i_etMode = PDL.ET_HomeMode.NegDirectionMaxForce.
An invalid value was transferred to the ST_Home.stForce.i_lrMaxForce parameter. |
The following must apply: 0.0 < (ST_Home.stForce.i_lrMaxForce / lrForceConstant * 10000000.0 / lrMaxDrivePeakCurrent / lrLimCurrent) < 100.0
with lrLimCurrent := lrUserDrivePeakCurrent * 100.0 / lrMaxDrivePeakCurrent, whereat lrForceConstant, lrMaxDrivePeakCurrent and lrUserDrivePeakCurrent are parameters of the axis. |
|
Enumeration name: |
MaxTorqueNotFound |
|
Enumeration value: |
84 |
|
Description: |
MaxTorque has not been reached. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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. |
Check the state of the limit stop. Check the input ST_Home.stTorque.i_lrMaxTorque. Check the ST_Home.stTorque.i_lrMaxTravel input. Check the axis state. |
|
Enumeration name: |
MaxTorqueRange |
|
Enumeration value: |
85 |
|
Description: |
MaxTorque is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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. |
|
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. |
Check the values for ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrM |
|
Enumeration name: |
MultiCamExit |
|
Enumeration value: |
121 |
|
Description: |
The operating mode MultiCam is quit. |
The operating mode MultiCam is quit.
|
Enumeration name: |
MultiCamInit |
|
Enumeration value: |
116 |
|
Description: |
The operating mode MultiCam is being initialized. |
The operating mode MultiCam is being initialized.
|
Enumeration name: |
MultiCamRunning |
|
Enumeration value: |
120 |
|
Description: |
The operating mode MultiCam is being executed. |
The operating mode MultiCam is being executed.
|
Enumeration name: |
MultiCamWaitForStart |
|
Enumeration value: |
117 |
|
Description: |
The operating mode MultiCam is waiting for a start command. |
The operating mode MultiCam is selected and is expecting the ET_Cmd.Start command.
|
Enumeration name: |
MultiCamWaitForWsStart |
|
Enumeration value: |
118 |
|
Description: |
The operating mode MultiCam is waiting for a WsStart command. |
The operating mode Homing is selected and is expecting the ET_Cmd.WsStart command.
|
Enumeration name: |
MultiCamWsExecuting |
|
Enumeration value: |
119 |
|
Description: |
The operating mode MultiCam executes a warm state motion. |
The operating mode Homing is selected and is executing a warm start motion.
|
Enumeration name: |
NegAccRange |
|
Enumeration value: |
22 |
|
Description: |
NegAcc is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_EndlessFeed.stIlsData.i_stRunTime.astSlaveLimits[ ].lrNegAcc input. |
A value smaller than or equal to -1.0 must be transferred to the ST_EndlessFeed.stIlsData.i_stRunTime.astSlaveLimits[ ].lrNegAcc input. |
|
Enumeration name: |
NegVelRange |
|
Enumeration value: |
23 |
|
Description: |
NegVel is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_EndlessFeed.stIlsData.i_stRunTime.astSlaveLimits[ ].lrNegVel input. |
A value smaller than -1.0 must be transferred to the ST_EndlessFeed.stIlsData.i_stRunTime.astSlaveLimits[ ].lrNegVel input. |
|
Enumeration name: |
NoAccessToEEPROM |
|
Enumeration value: |
87 |
|
Description: |
The EEPROM of the drive cannot be accessed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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. |
Check the axis encoder. Check the axis state. |
|
Enumeration name: |
NoOpDriveDisabled |
|
Enumeration value: |
107 |
|
Description: |
No operating mode choosen. The axis is switched off. |
No operating 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 operating mode choosen. The axis is ready to accept movement orders.
|
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: |
NumberOfMasterPeriodsRange |
|
Enumeration value: |
24 |
|
Description: |
MNumberOfMasterPeriods is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the EndlessFeed.stIlsData.i_astCamData[ ].diNumberOfMasterPeriods input. |
A value greater than or equal to 1 must be transferred to the EndlessFeed.stIlsData.i_astCamData[ ].diNumberOfMasterPeriods input. |
|
Enumeration name: |
NumberOfSlavesRange |
|
Enumeration value: |
25 |
|
Description: |
NumberOfSlaves is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_EndlessFeed.stIlsData.i_stConfig.diNumberOfSlaves input. |
A value greater than or equal to 0 and smaller than or equal to PDL.Gc_diMaxNumberOfSlaves must be transferred to the ST_EndlessFeed.stIlsData.i_stConfig.diNumberOfSlaves input. |
|
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 operating 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 check 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 operating 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: |
PosAccRange |
|
Enumeration value: |
27 |
|
Description: |
PosAcc is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_EndlessFeed.stIlsData.i_stRunTime.astSlaveLimits[ ].lrPosAcc input. |
A value smaller than or equal -1.0 must be transferred to the ST_EndlessFeed.stIlsData.i_stRunTime.astSlaveLimits[ ].lrPosAcc input. |
|
Enumeration name: |
PositionGridSizeRange |
|
Enumeration value: |
28 |
|
Description: |
PositionGridSize is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_EndlessFeed.stIlsData.i_stConfig.diPositionGridSize input. |
A value greater than or equal to 1 and smaller than or equal to Gc_diMaxGridSize must be transferred to the ST_EndlessFeed.stIlsData.i_stConfig.diPositionGridSize input. |
|
Enumeration name: |
PositioningExit |
|
Enumeration value: |
133 |
|
Description: |
The operating mode Positioning is quit. |
The operating mode Positioning is quit.
|
Enumeration name: |
PositioningInit |
|
Enumeration value: |
130 |
|
Description: |
The operating mode Positioning is being initialized. |
The operating mode Positioning is being initialized.
|
Enumeration name: |
PositioningRunning |
|
Enumeration value: |
132 |
|
Description: |
The operating mode Positioning is being executed. |
The operating mode Positioning is being executed.
|
Enumeration name: |
PositioningWaitForStart |
|
Enumeration value: |
131 |
|
Description: |
The operating mode Positioning is waiting for a start command. |
The operating mode Positioning is selected and is expecting the command ET_Cmd.Start, ET_Cmd.StartTrig or ET_Cmd.StartTrigWaitInPos.
|
Enumeration name: |
PosVelRange |
|
Enumeration value: |
29 |
|
Description: |
PosVel is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value has been applied at the ST_EndlessFeed.stIlsData.i_stRunTime.astSlaveLimits[ ].lrPosVel input. |
A value greater than or equal to 1 must be transferred to the ST_EndlessFeed.stIlsData.i_stRunTime.astSlaveLimits[ ].lrPosVel input. |
|
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. |
Check the state of the power supply for errors. |
|
Enumeration name: |
ProfileIdInvalid |
|
Enumeration value: |
30 |
|
Description: |
The ProfileId is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating mode ET_OpMode.EndlessIls is selected, but the profile does not exist. |
Check the values at the inputs ST_EndlessFeed.stMultiCamData.astCamPoint[ ].diProfileId. |
|
Enumeration name: |
ProgrammingInProgress |
|
Enumeration value: |
89 |
|
Description: |
Writing is being performed on the encoder. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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 occurred while writing on the encoder EEPROM. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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: |
ReactionOffsetRange |
|
Enumeration value: |
1 |
|
Description: |
ReactionOffset is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was transferred at the ST_StandardModuleInterface.iq_stExt.udiReactionOffset input. |
Ensure that the value at the ST_StandardModuleInterface.iq_stExt.udiReactionOffset input is smaller than or equal to TPL.Gc_udiMaxNumberOfReactions - TPL.ET_Reaction.MainsContactorOff. |
|
Enumeration name: |
ReducedVelocityFactorRange |
|
Enumeration value: |
165 |
|
Description: |
ReducedVelocityFactor is outside the valid range. |
|
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 |
Check 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: |
ReducedVelocityRange |
|
Enumeration value: |
164 |
|
Description: |
ReducedVelocity is outside the valid range. |
|
Enumeration name: |
RestoreInterrupted |
|
Enumeration value: |
91 |
|
Description: |
Restoring was interrupted. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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 operating 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. |
Check the power supply of the sensor. Ensure that the sensor is not dirty. Ensure that the sensor can be triggered by the mechanical system. Check 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. Check the Sercos bus for errors. |
|
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 operating mode Positioning to move the axis to a position before you change to the operating 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. |
Check 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. |
Check 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. |
Check 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: |
TimeGridSizeRange |
|
Enumeration value: |
32 |
|
Description: |
TimeGridSize is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was transferred at the ST_EndlessFeed.stIlsData.i_stConfig.diTimeGridSize input. |
A value between greater than 0 and smaller than 100 must be applied at the ST_EndlessFeed.stIlsData.i_stConfig.diTimeGridSize input. |
|
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. |
Check the hardware/software wiring of the TorqueEnable signal. |
|
Enumeration name: |
TouchProbeInvalid |
|
Enumeration value: |
94 |
|
Description: |
The connected Touchprobe is invalid. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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 operating 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 operating 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. |
Check 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. Check 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 operating 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 real. |
Ensure that the Touchprobe does not belong to a virtual device. (e.g. virtual Lexium62) |
|
Enumeration name: |
UnexpectedFeedback |
|
Enumeration value: |
82 |
|
Description: |
A POU returns an unexpected 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: |
UnknownCamType |
|
Enumeration value: |
39 |
|
Description: |
The cam type is unknown. |
|
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: |
Unknown 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 unknown. |
|
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 unknown. |
|
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: |
Unknown feedback of the POU. |
|
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 unknown. |
|
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: |
UnknownWsMode |
|
Enumeration value: |
45 |
|
Description: |
The WSMode is unknown. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
An invalid value was applied at the ST_MultiCam.i_etWSMode input. |
The ST_MultiCam.i_etWSMode input must be allocated with elements of the PDL.ET_MultiCamWsMode enumeration. |
|
Enumeration name: |
UserCamHasBeenDeleted |
|
Enumeration value: |
169 |
|
Description: |
A user-defined Cam profile has been deleted. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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 |
|
- |
The value of the parameter ST_Home.stSetPos.i_lrUserPeriod does not fit into the encoder period. |
Allocate the parameter ST_Home.stSetPos.i_lrUserPeriod with 0 to not consider any offset. The parameter ST_Home.stSetPos.i_lrUserPeriod must be selected such that the following formula is fulfilled: ABS(lrEncoderPeriode / i_lrUserPeriod - TRUNC_INT(lrEncoderPeriode / i_lrUserPeriod)) = 0 with lrEncoderPeriode := EncoderRange * FeedConstant * DINT_TO_LREAL(GearIn) / DINT_TO_LREAL(GearOut) EncoderRange, FeedConstant, GearIn and GearOut are parameters of the axis. |
|
Enumeration name: |
UserPeriodRange |
|
Enumeration value: |
98 |
|
Description: |
UserPeriod is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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 |
|
- |
The value of the parameter ST_Home.stSetPos.i_lrUserPeriod does not fit into the encoder period. |
Allocate the parameter ST_Home.stSetPos.i_lrUserPeriod with 0 to not consider any offset. The parameter ST_Home.stSetPos.i_lrUserPeriod must be selected such that the following formula is fulfilled: ABS(lrEncoderPeriode / i_lrUserPeriod - TRUNC_INT(lrEncoderPeriode / i_lrUserPeriod)) = 0 with lrEncoderPeriode := EncoderRange * FeedConstant * DINT_TO_LREAL(GearIn) / DINT_TO_LREAL(GearOut) EncoderRange, FeedConstant, GearIn and GearOut are parameters of the axis. |
|
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 operating 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 operating mode Endless 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating 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 operating mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values 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. |
Check the definition of the cam and, if necessary, remove cam profiles that are too short. |
|
Enumeration name: |
YEqualCheckFailed |
|
Enumeration value: |
46 |
|
Description: |
YEqualCheck has failed. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
If ST_MultiCam.iq_stExt.xYEqualCheck = TRUE: The check whether the new cam directly follows the old cam has failed. |
Configure the new cam such that its start deviates by less than 0.0001 units from the end of the old cam. Deactivate the check by setting ST_MultiCam.iq_stExt.xYEqualCheck = FALSE. |
|
Enumeration name: |
YFactorRange |
|
Enumeration value: |
33 |
|
Description: |
YFactor is outside the valid range. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
A number < 1 has been transferred at the input ST_EndlessFeed.iq_stIlsData.i_astCamData[ ].lrYFactor. |
The YFactor must be at least 1. |
|
Enumeration name: |
YFactorTooLow |
|
Enumeration value: |
41 |
|
Description: |
YFactor is too small. |
|
Issue |
Cause |
Solution |
|---|---|---|
|
- |
The operating 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 |
|---|---|
|
Registering the internal logger point in the Application Logger |
