FB_MultiBeltModule - General Information

Overview

Type:	Function block
Available as of:	V1.0.4.0
Versions:	Current version

Task

Equipment module for the MultiBelt functionalities in the template.

The equipment module has the following tasks:

Encapsulation of basic functions
Implementation of operating modes
It establishes conformity to the standard interface of the template
Visualization

Description

The function block is used to manage various operation modes and to operate position control of the axes.

The function block is activated by the Standard Module Interface and MultiBeltModule Interface.

NOTE: Only Controller OnBoard I/O touchprobes and drive touchprobes are supported by the functionalities of this function block. TM5 module touchprobes are not supported.

Interface

Input/Output	Data type	Description
iq_stStandardModuleItf	TPL.ST_StandardModuleInterface	The StandardModuleInterface of the node in which the function block is integrated.
iq_stExceptionList	TPL.ST_ExceptionList	The exception list of the node in which the function block is integrated.
iq_stLogDataList	TPL.ST_LogDataList	The exception list of the node in which the function block is integrated.
iq_stMultiBeltModuleItf	ST_ModuleInterface	The MultiBeltModuleInterface of the node in which the function block is integrated.

Operating Modes - Commands

Commands (ET_Cmd)	Used function blocks	Description and conditions
`Homing`	`MTB.FB_HomeOnTp, MTB.FB_HomePosToStation, PDL.FB_HomeSetPos, PDL.FB_HomeAbs`	HomingWaitForStart
`Manual`	`PDL.FB_Jogging`	ManualRunning
`Automatic`	`MTB.FB_MultiBelt`	AutomaticWaitForStart
`BrakeRelease`	`PDL.FB_Brake`	BrakeWaitForRelease
`Service`	`PDL.FB_HomeSetPos, PDL.FB_HomeAbs, PDL.FB_Jogging, PDL.FB_Brake`	ServiceRunning
`Start`	-	HomingWaitForStart -> HomingExecuting -> HomingDone AutomaticWaitForStart -> AutomaticRunning BrakeRelease -> BrakeReleased
`WarmStart`	-	AutomaticWaitForStart -> AutomaticRunning
`Stop`	-	AutomaticRunning -> NoOp active (Drive enabled)
`Hold`	-	AutomaticRunning -> AutomaticWaitForStart
`DriveEnableOn`	`PDL.FB_DriveEnable`	NoOp active (Drive disabled) -> NoOp active (Drive enabled)
`DriveEnableOff`	`PDL.FB_DriveEnable`	All operation modes -> NoOp active (Drive disabled)

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description	Reactions
OK	Disabled	29	The POU is disabled.	-
DriveConditionInvalid	DriveEnableException	17	The drive could not be activated.	TPL.ET_Reaction.AsyncStop
DriveConditionInvalid	DriveEncoderInvalid	45	The drive encoder is invalid.	TPL.ET_Reaction.AsyncStop
DriveConditionInvalid	DriveException	10	The drive reports an exception.	TPL.ET_Reaction.SyncStopEL
DriveConditionInvalid	DriveInterfaceInvalid	16	The interface of the drive is invalid.	TPL.ET_Reaction.AsyncStop
DriveConditionInvalid	DriveIsMoving	46	The drive is moving.	TPL.ET_Reaction.SyncStopEL
DriveConditionInvalid	DriveNotReady	42	The drive is not ready for motion commands.	TPL.ET_Reaction.SyncStopEL
DriveConditionInvalid	DriveWarning	11	The drive reports an advisory.	TPL.ET_Reaction.StopEndOfCycle
DriveConditionInvalid	ProgrammingInvalidEEPROM	44	An error has been detected while writing on the encoder non-volatile memory.	TPL.ET_Reaction.SyncStopEL
ExecutionAborted	AsyncStop	22	An asynchronous stop is being executed.	-
ExecutionAborted	StopEndOfCycle	25	A stop is executed at the end of the cycle.	-
ExecutionAborted	SyncStopEH	24	A synchronous stop is performed. Subsequently, the axis remains in position control.	-
ExecutionAborted	SyncStopEL	23	A synchronous stop is performed. Subsequently, the axis does not remain in position control.	-
HomingFailed	NotHomedException	2	A homing has not been executed.	TPL.ET_Reaction.SyncStopEH
HomingFailed	NotHomedWarning	1	A homing has not been executed.	-
HomingFailed	TrainsNotInPeriode	15	The trains are not in the period.	TPL.ET_Reaction.SyncStopEH
InputParameterInvalid	AbsEncOffsetRange	43	AbsEncOffset is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	AccRange	36	Acc is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	AdditionalStepRange	91	AdditionalStep is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	BeltLengthInvalid	57	The belt length is invalid.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	BeltLengthRange	64	BeltLength is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	CmdImpossibleReaction	9	The command cannot be executed due to a pending reaction.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	CmdImpossibleState	8	The command cannot be executed in the state.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	CmdOverrideImpossible	7	The command cannot be overwritten.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	CmdUnknown	6	Indeterminable command.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	Crash	52	A collision of the trains is detected.	-
InputParameterInvalid	CrashDistanceRange	63	CrashDistance is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DataNVRamInvalid	49	The non-volatile memory does not contain any more valid data.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DecRange	37	Dec is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DepartureAccelerationRange	71	DepartureAcceleration is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DepartureDecelerationRange	72	DepartureDeceleration is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DepartureDelayRange	79	DepartureDelay is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DepartureJerkRange	73	DepartureJerk is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DepartureVelocityRange	70	DepartureVelocity is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	DriveInvalid	41	The connected drive is invalid.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	GearFactorRange	104	GearFactor is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	HomeAccelerationRange	111	HomeAcceleration is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	HomeDecelerationRange	112	HomeDeceleration is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	HomeJerkRange	113	HomeJerk is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	HomeOffsetInvalid	107	The homing offset is invalid.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	HomeTpNotSet	106	The Touchprobe for homing is not defined.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	HomeTPOffsetRange	109	HomeTPOffset is outside the valid range.	-
InputParameterInvalid	HomeVelocityRange	110	HomeVelocity is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	JerkRange	38	Jerk is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	LencHelpNotSet	78	The logical encoder was not defined.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	LockOutTimeRange	80	LockOutTime is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	MasterPeriodeRange	97	MasterPeriode is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	MaxDistanceRange	39	MaxDistance is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	MaxTPSignalDistanceRange	115	MaxTPSignalDistance is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	MinProductLengthRange	98	MinProductLength is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	MinProductTimeRange	81	MinProductTime is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	MotionActiveVelRange	58	MotionActiveVel is outside the valid range.	TPL.ET_Reaction.SyncStopEH
InputParameterInvalid	NumOfBeltsRange	61	NumOfBelts is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	NumOfStationsRange	60	NumOfStations is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	NumOfStepsRange	87	NumOfSteps is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	OutOfWarmStartWindow	55	The mechanics are outside the warm start window.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	PeriodRange	40	Period is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	PhaseRange	99	Phase is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	ProductIgnored	14	The product was ignored.	TPL.ET_Reaction.StopEndOfCycle
InputParameterInvalid	ProductsPerStepRange	88	ProductsPerStep is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	ReactionOffsetInvalid	5	ReactionOffset is outside the valid range.	TPL.ET_Reaction.AsyncStop
InputParameterInvalid	ReadyForStepOffsetRange	83	ReadyForStepOffset is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	RestoreInterrupted	50	Restoring was interrupted.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StartAcceptOffsetRange	95	StartAcceptOffset is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StartDelayDistanceRange	103	StartDelayDistance is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StartDelayTimeRange	82	StartDelayTime is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StationLockOffsetRange	96	StationLockOffset is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StationPosRange	86	StationPos is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StepAccelerationRange	75	StepAcceleration is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StepDecelerationRange	76	StepDeceleration is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StepJerkRange	77	StepJerk is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StepsRange	89	Steps is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StepVelocityRange	74	StepVelocity is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	StopDistanceRange	92	StopDistance is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	SumOfStepsRange	90	SumOfSteps is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	SynchronEndRange	100	SynchronEnd is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	SynchronStartPlusSychronEndEndRange	102	SynchronStartPlusSychronEndEnd is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	SynchronStartRange	101	SynchronStart is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TPSignalsPerTrainRange	114	TPSignalsPerTrain is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TrainLengthRange	65	TrainLength is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TrainMovesBackward	59	A train is moving backwards.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TrainOrderInvalid	108	The sequence of the trains is changed.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TrainsDistanceFactorRange	84	TrainsDistanceFactor is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TrainsDistanceRange	85	TrainsDistance is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TrainsPerBeltRange	62	TrainsPerBelt is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	TrainTimeOutRange	94	TrainTimeOut is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	UnknownMode	48	The Mode is indeterminable.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	UserCamIdNotSet	105	The UserCamId is not defined.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	WarmStartAccelerationRange	68	WarmStartAcceleration is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	WarmStartDecelerationRange	69	WarmStartDeceleration is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	WarmStartJerkRange	67	WarmStartJerk is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	WarmStartVelocityRange	66	WarmStartVelocity is outside the valid range.	TPL.ET_Reaction.SyncStopEL
InputParameterInvalid	WarningDistanceRange	93	WarningDistance is outside the valid range.	TPL.ET_Reaction.SyncStopEL
LimitReached	TpMissing	116	A Touchprobe signal was not found.	TPL.ET_Reaction.SyncStopEL
SercosConditionInvalid	SercosNotInPhaseFour	47	The Sercos bus is not in Phase 4.	TPL.ET_Reaction.SyncStopEL
SystemParameterInvalid	CycleTimeDiag	56	The cycle time of the task is invalid.	TPL.ET_Reaction.SyncStopEL
UnexpectedProgramBehavior	CheckSumInvalid	51	The checksum is invalid.	TPL.ET_Reaction.SyncStopEL
UnexpectedProgramBehavior	PointerToRetainInvalid	3	The pointer on the retain memory is invalid.	TPL.ET_Reaction.AsyncStop
UnexpectedProgramBehavior	ReferenceInvalid	28	The reference is invalid.	TPL.ET_Reaction.AsyncStop
UnexpectedProgramBehavior	SmgDiag	53	The SoMachineGenerator function block is in an error state.	TPL.ET_Reaction.SyncStopEL
UnexpectedProgramBehavior	UnexpectedFeedback	35	A POU returns an unintended value.	TPL.ET_Reaction.SyncStopEL
WarmStartConditionInvalid	WarmStartNotPossible	54	A warm start is not possible.	TPL.ET_Reaction.SyncStopEL

AbsEncOffsetRange

Enumeration name:	AbsEncOffsetRange
Enumeration value:	43
Description:	AbsEncOffset is outside the valid range.

Issue	Cause	Solution
Has one of the following modes for i_etMode been selected for homing in the ST_HomeParameter structure? ET_HomeMode.RestorePosFromAxisEncoder	A number <= 0 or greater than the encoder period has been transferred to an i_lrAbsEncOffset parameter of the ST_ModuleInterface.stHome.astSetPosParameter[x] structure.	The following must apply for all used i_lrAbsEncOffset parameters: 0 < i_lrAbsEncOffset < maximum possible value of Drive.EncoderPosition.

Issue

Cause

Solution

Has one of the following modes for i_etMode been selected for homing in the ST_HomeParameter structure?

ET_HomeMode.RestorePosFromAxisEncoder

A number <= 0 or greater than the encoder period has been transferred to an i_lrAbsEncOffset parameter of the ST_ModuleInterface.stHome.astSetPosParameter[x] structure.

The following must apply for all used i_lrAbsEncOffset parameters: 0 < i_lrAbsEncOffset < maximum possible value of Drive.EncoderPosition.

AccRange

Enumeration name:	AccRange
Enumeration value:	36
Description:	Acc is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.stManual.i_stMove.lrAcc has been allocated with an invalid value.	The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive

AdditionalStepRange

Enumeration name:	AdditionalStepRange
Enumeration value:	91
Description:	AdditionalStep is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.lrAdditionalStep has been allocated with an invalid value.	Ensure that a value greater than or equal to 0 is transferred at the input iST_ModuleInterface.astStation[x].i_rstParameter.lrAdditionalStep.

AsyncStop

Enumeration name:	AsyncStop
Enumeration value:	22
Description:	An asynchronous stop is being executed.

Issue/Cause	Solution
The module executes a reaction TPL.ET_Reaction.AsyncStop.	Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction. Acknowledge the exceptions to discard the reactions.

Issue/Cause

Solution

The module executes a reaction TPL.ET_Reaction.AsyncStop.

Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction.

Acknowledge the exceptions to discard the reactions.

BeltLengthInvalid

Enumeration name:	BeltLengthInvalid
Enumeration value:	57
Description:	The belt length is invalid.

Issue/Cause	Solution
At least one train position is greater than +/- ST_ModuleInterface.stMain.i_rstParameter.lrBeltLengthstGeneral.lrBeltLength	The trains must be homed. Adapt parameter ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength.

BeltLengthRange

Enumeration name:	BeltLengthRange
Enumeration value:	64
Description:	BeltLength is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength is outside its value range.	The parameter ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength must be > 0.

CheckSumInvalid

Enumeration name:	CheckSumInvalid
Enumeration value:	51
Description:	The checksum is invalid.

Issue/Cause	Solution
The data saved in ST_ModuleInterface.stHome.astSetPosParameter[x].iq_pstRestorePosRetain of the structure are not consistent. The position cannot be restored.	The train must be homed again.

CmdImpossibleReaction

Enumeration name:	CmdImpossibleReaction
Enumeration value:	9
Description:	The command cannot be executed due to a pending reaction.

Issue/Cause	Solution
A reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL, TPL.ET_Reaction.SyncStopEH or TPL.ET_Reaction.StopEndOfCycle active and the module is not in the state ET_State.BrakeWaitForRelease while it is sent a command ET_Cmd.Start, ET_Cmd.WsStart, command.	Make certain that no start commands are sent to the module when a reaction is active in the machine part of the module. Acknowledge the exception of the module before you send a start command to it.
A reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH active and the module is the state ET_State.BrakeReleased while it is sent a command ET_Cmd.Homing, ET_Cmd.Manual, ET_Cmd.Automatic, ET_Cmd.Service, ET_Cmd.Start, ET_Cmd.WarmStart, ET_Cmd.Hold or ET_Cmd.DriveEnableOn command.	Make certain that no start commands are sent to the module when a reaction is active in the machine part of the module. Acknowledge the exceptions of the module before you send a command to it.

Issue/Cause

Solution

A reaction

TPL.ET_Reaction.AsyncStop,

TPL.ET_Reaction.SyncStopEL,

TPL.ET_Reaction.SyncStopEH or

TPL.ET_Reaction.StopEndOfCycle

active and the module is not in the state ET_State.BrakeWaitForRelease while it is sent a command

ET_Cmd.Start,

ET_Cmd.WsStart,

command.

Make certain that no start commands are sent to the module when a reaction is active in the machine part of the module.

Acknowledge the exception of the module before you send a start command to it.

A reaction

TPL.ET_Reaction.AsyncStop,

TPL.ET_Reaction.SyncStopEL or

TPL.ET_Reaction.SyncStopEH

active and the module is the state ET_State.BrakeReleased while it is sent a command

ET_Cmd.Homing,

ET_Cmd.Manual,

ET_Cmd.Automatic,

ET_Cmd.Service,

ET_Cmd.Start,

ET_Cmd.WarmStart,

ET_Cmd.Hold or

ET_Cmd.DriveEnableOn

command.

Make certain that no start commands are sent to the module when a reaction is active in the machine part of the module.

Acknowledge the exceptions of the module before you send a command to it.

CmdImpossibleState

Enumeration name:	CmdImpossibleState
Enumeration value:	8
Description:	The command cannot be executed in the state.

Issue/Cause	Solution
The module is in the state ET_State.NoOp, or when it receives a ET_Cmd.Start, ET_Cmd.WarmStart, command. The module is in the state ET_State.ManualRunning, when it receives a ET_Cmd.Start, ET_Cmd.WarmStart, command. The module is in the state ET_State.ServiceRunning, when it receives a ET_Cmd.Start, ET_Cmd.WarmStart, command. The module is in the state ET_State.Disabled, when it is sent a random command.	Before you send a command, ensure that the module can execute the command in the state.

Issue/Cause

Solution

The module is in the state

ET_State.NoOp, or

when it receives a

ET_Cmd.Start,

ET_Cmd.WarmStart,

command.

The module is in the state

ET_State.ManualRunning,

when it receives a

ET_Cmd.Start,

ET_Cmd.WarmStart,

command.

The module is in the state

ET_State.ServiceRunning,

when it receives a

ET_Cmd.Start,

ET_Cmd.WarmStart,

command.

The module is in the state

ET_State.Disabled,

when it is sent a random command.

Before you send a command, ensure that the module can execute the command in the state.

CmdOverrideImpossible

Enumeration name:	CmdOverrideImpossible
Enumeration value:	7
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.	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.

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.

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.

CmdUnknown

Enumeration name:	CmdUnknown
Enumeration value:	6
Description:	Indeterminable command.

Issue/Cause	Solution
The command sent to the module does not belong to the list of commands for the ET_Cmd MultiBelt module.	Ensure that only commands from the ET_Cmd list are sent to the module.

Crash

Enumeration name:	Crash
Enumeration value:	52
Description:	A collision of the trains is detected.

Issue/Cause	Solution
The operation mode ET_OpMode.Automatic is active and the collision monitoring has detected critical distances between the trains and stopped.	Verify parameterization of the stations and trains. Verify parameter ST_ModuleInterface.stMain.i_rstParameter.lrCrashDistance.
The operation mode ET_OpMode.Manual is active and the collision monitoring has detected critical distances between the trains and stopped.	Verify parameterization of the stations and trains. Verify parameter ST_ModuleInterface.stMain.i_rstParameter.lrCrashDistance. Observe the minimum distance when moving the trains.

Issue/Cause

Solution

The operation mode ET_OpMode.Automatic is active and

the collision monitoring has detected critical distances between the trains and stopped.

Verify parameterization of the stations and trains. Verify parameter ST_ModuleInterface.stMain.i_rstParameter.lrCrashDistance.

The operation mode ET_OpMode.Manual is active and

the collision monitoring has detected critical distances between the trains and stopped.

Verify parameterization of the stations and trains. Verify parameter ST_ModuleInterface.stMain.i_rstParameter.lrCrashDistance.

Observe the minimum distance when moving the trains.

CrashDistanceRange

Enumeration name:	CrashDistanceRange
Enumeration value:	63
Description:	CrashDistance is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.stMain.i_rstParameter.lrCrashDistance is outside its value range.	The parameter ST_ModuleInterface.stMain.i_rstParameter.lrCrashDistance must be > - ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength.

CycleTimeDiag

Enumeration name:	CycleTimeDiag
Enumeration value:	56
Description:	The cycle time of the task is invalid.

Issue/Cause	Solution
The Sercos cycle time must be less than the cycle time of the task.	Decrease the Sercos cycle time. Increase the task cycle time.

Issue/Cause

Solution

The Sercos cycle time must be less than the cycle time of the task.

Decrease the Sercos cycle time.

Increase the task cycle time.

DataNVRamInvalid

Enumeration name:	DataNVRamInvalid
Enumeration value:	49
Description:	The non-volatile memory does not contain any more valid data.

Issue/Cause	Solution
The data stored in the non-volatile memory is invalid. Thus, the position cannot be restored from ST_ModuleInterface.stHome.astSetPosParameter[x].iq_pstRestorePosRetain.	Verify the non-volatile memory, verify the buffer battery and replace if necessary. New homing of the drive required.

Issue/Cause

Solution

The data stored in the non-volatile memory is invalid. Thus, the position cannot be restored from ST_ModuleInterface.stHome.astSetPosParameter[x].iq_pstRestorePosRetain.

Verify the non-volatile memory, verify the buffer battery and replace if necessary.

New homing of the drive required.

DecRange

Enumeration name:	DecRange
Enumeration value:	37
Description:	Dec is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.stManual.i_stMove.lrDec was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive

DepartureAccelerationRange

Enumeration name:	DepartureAccelerationRange
Enumeration value:	71
Description:	DepartureAcceleration is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stDepartureMove.lrAcc is outside its value range.	The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stDepartureMove.lrAcc must be in the range between MTB.Gc_lrMinAcceleration and the smallest MaxAcc of all trains.

DepartureDecelerationRange

Enumeration name:	DepartureDecelerationRange
Enumeration value:	72
Description:	DepartureDeceleration is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stDepartureMove.lrDec is outside its value range.	The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stDepartureMove.lrDec must be in the range between MTB.Gc_lrMinAcceleration and the smallest MaxAcc of all trains.

DepartureDelayRange

Enumeration name:	DepartureDelayRange
Enumeration value:	79
Description:	DepartureDelay is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrDepartureDelay is outside its value range.	The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrDepartureDelay must be in the range between 0 and ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrStartDelayTime.

DepartureJerkRange

Enumeration name:	DepartureJerkRange
Enumeration value:	73
Description:	DepartureJerk is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stDepartureMove.lrJerk is outside its value range.	The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stDepartureMove.lrJerk must be > MTB.Gc_lrMinJerk.

DepartureVelocityRange

Enumeration name:	DepartureVelocityRange
Enumeration value:	70
Description:	DepartureVelocity is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stDepartureMove.lrVel is outside its value range.	The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stDepartureMove.lrVel must be in the range between MTB.Gc_lrMinVelocity and the smallest MaxVel of all trains.

Disabled

Enumeration name:	Disabled
Enumeration value:	29
Description:	The POU is disabled.

The module is disabled and does not execute any action.

DriveEnableException

Enumeration name:	DriveEnableException
Enumeration value:	17
Description:	The drive could not be activated.

Issue/Cause	Solution
An error has been detected in the drive.	Verify the message (sMsg of exception), which error was send. Refer to PDL.FB_DriveEnable for further information.

DriveEncoderInvalid

Enumeration name:	DriveEncoderInvalid
Enumeration value:	45
Description:	The drive encoder is invalid.

Issue/Cause

Solution

The operation mode ET_OpMode.Homing has been selected with the mode ST_ModuleInterface.stHome.i_etMode equal to ET_HomeMode.RestorePosFromAxisEncoder or 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.

DriveException

Enumeration name:	DriveException
Enumeration value:	10
Description:	The drive reports an exception.

Issue/Cause	Solution
One of the connected drives reports an exception.	Analyze the exception of the drive.

DriveInterfaceInvalid

Enumeration name:	DriveInterfaceInvalid
Enumeration value:	16
Description:	The interface of the drive is invalid.

Issue/Cause

Solution

One of the connected drives does not support the required interfaces:

SystemInterface.IF_SetLimits

SystemInterface.IF_RefActualValues

SystemInterface.IF_DiagMandatory

SystemInterface.IF_SercosDeviceIdentification

Axes must be used that support the required functionalities.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	41
Description:	The connected drive is invalid.

Issue/Cause

Solution

No valid drive has been applied at an ST_ModuleInterface.astTrain[x].i_rstParameteri_ifDrive input, however, it is used as train.

A valid drive must be transferred to the ST_ModuleInterface.astTrain[x].i_rstParameteri_ifDrive input.

The connected drive does not support the required functionalities.

The q_sMsg output of the exception shows which functionalities are not supported by the drive.

Use a drive that supports the required functionalities.

DriveIsMoving

Enumeration name:	DriveIsMoving
Enumeration value:	46
Description:	The drive is moving.

Issue/Cause	Solution
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.WriteAxisEncoder. The axis moved while the encoder was writing.	To write the encoder of the axis the axis must be at standstill. Verify the axis state and mechanical forces applied to the axis.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	42
Description:	The drive is not ready for motion commands.

Issue/Cause	Solution
One of the connected axes is not in position control.	Ensure that the position control of the axis is activated.

DriveWarning

Enumeration name:	DriveWarning
Enumeration value:	11
Description:	The drive reports an advisory.

Issue/Cause	Solution
One of the connected drives reports an advisory.	Analyze the advisory of the drive.

GearFactorRange

Enumeration name:	GearFactorRange
Enumeration value:	104
Description:	GearFactor is outside the valid range.

Issue/Cause	Solution
One of the parameters ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrGearFactor is outside its value range.	The parameters ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrGearFactor must be > 0 (default = 1).

HomeAccelerationRange

Enumeration name:	HomeAccelerationRange
Enumeration value:	111
Description:	HomeAcceleration is outside the valid range.

Issue/Cause	Solution
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.HomeOnTp. The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.stMove.lrAcc is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.stMove.lrAcc must be > MTB.Gc_lrMinAcceleration.
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.PosToStation. The parameter ST_ModuleInterface.stHome.i_stPosToStationParameter.stMove.lrAcc is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stPosToStationParameter.stMove.lrAcc must be > MTB.Gc_lrMinAcceleration.

HomeDecelerationRange

Enumeration name:	HomeDecelerationRange
Enumeration value:	112
Description:	HomeDeceleration is outside the valid range.

Issue/Cause	Solution
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.HomeOnTp. The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.stMove.lrDec is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.stMove.lrDec must be > MTB.Gc_lrMinAcceleration.
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.PosToStation. The parameter ST_ModuleInterface.stHome.i_stPosToStationParameter.stMove.lrDec is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stPosToStationParameter.stMove.lrDec must be > MTB.Gc_lrMinAcceleration.

HomeJerkRange

Enumeration name:	HomeJerkRange
Enumeration value:	113
Description:	HomeJerk is outside the valid range.

Issue/Cause	Solution
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.HomeOnTp. The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.stMove.lrJerk is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.stMove.lrJerk must be > MTB.Gc_lrMinJerk.
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.PosToStation. The parameter ST_ModuleInterface.stHome.i_stPosToStationParameter.stMove.lrJerk is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stPosToStationParameter.stMove.lrJerk must be > MTB.Gc_lrMinJerk.

HomeOffsetInvalid

Enumeration name:	HomeOffsetInvalid
Enumeration value:	107
Description:	The homing offset is invalid.

Issue/Cause	Solution
The distance between two trains is smaller than the train length	The trains must be homed. The train positions have been lost (retain variables) and must be set again.

HomeTpNotSet

Enumeration name:	HomeTpNotSet
Enumeration value:	106
Description:	The Touchprobe for homing is not defined.

Issue/Cause	Solution
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.HomeOnTp. The parameter ST_ModuleInterface.astTrain[x].i_rstParameter.ifTpHome is not allocated.	The parameter ST_ModuleInterface.astTrain[x].i_rstParameter.ifTpHome must be allocated with the Touchprobe sensor for the train.

HomeTPOffsetRange

Enumeration name:	HomeTPOffsetRange
Enumeration value:	109
Description:	HomeTPOffset is outside the valid range.

Issue/Cause	Solution
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.HomeOnTp. The parameter ST_ModuleInterface.astTrain[x].i_rstParameter.lrHomeTPOffset is outside its value range.	The parameter ST_ModuleInterface.astTrain[x].i_rstParameter.lrHomeTPOffset must be allocated with a value greater than minus ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength and smaller than plus ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength.

HomeVelocityRange

Enumeration name:	HomeVelocityRange
Enumeration value:	110
Description:	HomeVelocity is outside the valid range.

Issue/Cause	Solution
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.HomeOnTp. The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.stMove.lrVel is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.stMove.lrVel must be > MTB.Gc_lrMinVelocity.
The operation mode ET_OpMode.Homing has been selected with the mode ST_HomeParameter.i_etMode equal to ET_HomeMode.PosToStation. The parameter ST_ModuleInterface.stHome.i_stPosToStationParameter.stMove.lrVel is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stPosToStationParameter.stMove.lrVel must be > MTB.Gc_lrMinVelocity.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	38
Description:	Jerk is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.stManual.i_stMove.lrAcc has been allocated with an invalid value.	The following must apply: 0 < ST_ModuleInterface.stManual.i_stMove.lrAcc * 10 <=PDL.Gc_lrMaxJerk

LencHelpNotSet

Enumeration name:	LencHelpNotSet
Enumeration value:	78
Description:	The logical encoder was not defined.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lencHelp is not set.	The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lencHelp must be allocated with a logical encoder from the controller configuration.

LockOutTimeRange

Enumeration name:	LockOutTimeRange
Enumeration value:	80
Description:	LockOutTime is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrLockOutTime is outside its value range.	The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrLockOutTime must be >= 0.

MasterPeriodeRange

Enumeration name:	MasterPeriodeRange
Enumeration value:	97
Description:	MasterPeriode is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrMasterPeriod is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrMasterPeriod parameter must be greater than 0.

MaxDistanceRange

Enumeration name:	MaxDistanceRange
Enumeration value:	39
Description:	MaxDistance is outside the valid range.

Issue/Cause	Solution
An invalid value was applied at the ST_ModuleInterface.stManual.i_lrMaxDistance input.	A value greater than or equal to 0 must be transferred to the ST_ModuleInterface.stManual.i_lrMaxDistance input.

MaxTPSignalDistanceRange

Enumeration name:	MaxTPSignalDistanceRange
Enumeration value:	115
Description:	MaxTPSignalDistance is outside the valid range.

Issue/Cause	Solution
The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.lrMaxTPSignalDistance is outside its value range.	The parameter ST_ModuleInterface.stHome.i_stOnTpParameter.lrMaxTPSignalDistance must be > 0.

MinProductLengthRange

Enumeration name:	MinProductLengthRange
Enumeration value:	98
Description:	MinProductLength is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrMinProductLength parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrMinProductLength parameter must be greater than 0.

MinProductTimeRange

Enumeration name:	MinProductTimeRange
Enumeration value:	81
Description:	MinProductTime is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrMinProductTime parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrMinProductTime parameter must be >= 0.

MotionActiveVelRange

Enumeration name:	MotionActiveVelRange
Enumeration value:	58
Description:	MotionActiveVel is outside the valid range.

Issue/Cause	Solution
An invalid value was transferred at the ST_ModuleInterface.stMain.i_lrMotionActiveVelLimit input.	Ensure that a value greater than 0 is transferred at the ST_ModuleInterface.stMain.i_lrMotionActiveVelLimit input.

NotHomedException

Enumeration name:	NotHomedException
Enumeration value:	2
Description:	A homing has not been executed.

Issue/Cause	Solution
A homing was started with ST_ModuleInterface.stHome.i_etMode = ET_HomeMode.PosToStation although previously not all axes had been homed.	To move the trains with ET_HomeMode.PosToStation to their start positions, it is required to previously establish the axes' reference to the machine via another homing mode.
A homing on physical axes was started via ST_ModuleInterface.stHome.i_etMode = ET_HomeMode.SetPos. The distance of one train to the other determined in ST_ModuleInterface.stHome.astSetPosParameter[x] is too small after homing.	The SetPos positions of the trains in ST_ModuleInterface.stHome.astSetPosParameter[x] must be chosen in a way that the distance between the trains after homing is greater than ST_ModuleInterface.stMain.i_rstParameter.lrCrashDistance.
While initializing the module, an error has been detected during homing.	The module must be homed again.

NotHomedWarning

Enumeration name:	NotHomedWarning
Enumeration value:	1
Description:	A homing has not been executed.

Issue/Cause

Solution

The module outputs an advisory.

ET_OpMode.Manual operation mode has been enabled while the axes have not been homed.

The collision control cannot operate until the axes have been homed. For this, you must ensure that a collision between the trains does not occur.

NumOfBeltsRange

Enumeration name:	NumOfBeltsRange
Enumeration value:	61
Description:	NumOfBelts is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stMain.i_rstParameter.uiNumOfBelts is outside its value range.	The ST_ModuleInterface.stMain.i_rstParameter.uiNumOfBelts parameter must be in the range from 2 to MTB.Gc_uiMaxNumberOfBelts.

NumOfStationsRange

Enumeration name:	NumOfStationsRange
Enumeration value:	60
Description:	NumOfStations is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stMain.i_rstParameter.uiNumOfStations parameter is outside its value range.	The ST_ModuleInterface.stMain.i_rstParameter.uiNumOfStations parameter must be in the range from 1 to MTB.Gc_uiMaxNumberOfStations.

NumOfStepsRange

Enumeration name:	NumOfStepsRange
Enumeration value:	87
Description:	NumOfSteps is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.uiNumOfSteps is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.uiNumOfSteps parameter must be >= 1.

OutOfWarmStartWindow

Enumeration name:	OutOfWarmStartWindow
Enumeration value:	55
Description:	The mechanics are outside the warm start window.

Issue/Cause

Solution

During warm start, at least one train is outside the warm start window.

Enlarge the ST_ModuleInterface.stMain.i_rstParameter.lrWarmStartWindow parameter.

Execute a cold start.

PeriodRange

Enumeration name:	PeriodRange
Enumeration value:	40
Description:	Period is outside the valid range.

Issue/Cause	Solution
The parameter lrBeltLength has to be an integer factor of the maximum EncoderRange.	If this is not the case, then you have to use another homing mode.

PhaseRange

Enumeration name:	PhaseRange
Enumeration value:	99
Description:	Phase is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrPhase is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrPhase parameter must be > 0 and < ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrMasterPeriod.

PointerToRetainInvalid

Enumeration name:	PointerToRetainInvalid
Enumeration value:	3
Description:	The pointer on the retain memory is invalid.

Issue/Cause	Solution
An invalid pointer was transferred to the ST_ModuleInterface.stHome.astSetPosParameter[x].iq_pstRestorePosRetain parameter.	The memory address that contains the structure in which the axis positions is saved must be transferred to the ST_ModuleInterface.stHome.astSetPosParameter[x].iq_pstRestorePosRetain parameter.

ProductIgnored

Enumeration name:	ProductIgnored
Enumeration value:	14
Description:	The product was ignored.

Issue/Cause

Solution

Advisory that no step has been carried out although a start signal has been detected.

There was no train in the station when the start signal was given.

Ensure that there is a train in the station when the start signal is given.

Advisory that no step has been carried out although a start signal has been detected.

The MultiBelt was stopped while a train was located between a sensor and a train.

The product behind the sensor must be manually removed.

ProductsPerStepRange

Enumeration name:	ProductsPerStepRange
Enumeration value:	88
Description:	ProductsPerStep is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.auiProductsPerStep[y] parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.auiProductsPerStep[y] parameter must be >= 1.

ProgrammingInvalidEEPROM

Enumeration name:	ProgrammingInvalidEEPROM
Enumeration value:	44
Description:	An error has been detected while writing on the encoder non-volatile memory.

Issue/Cause

Solution

The ET_OpMode.Homing operation mode has been selected with ST_ModuleInterface.stHome.i_etMode mode equal to

ET_HomeMode.WriteToAxisEncoder.

Writing is already being performed on the encoder.

Ensure that the access to non-volatile memory is exclusive.

ReactionOffsetInvalid

Enumeration name:	ReactionOffsetInvalid
Enumeration value:	5
Description:	ReactionOffset is outside the valid range.

Issue/Cause	Solution
An invalid value was transferred at the TPL.ST_StandardModuleInterface.iq_stExt.udiReactionOffset input.	Ensure that the value at the TPL.ST_StandardModuleInterface.iq_stExt.udiReactionOffset input is smaller than or equal to TPL.Gc_udiMaxNumberOfReactions - TPL.ET_Reaction.MainsContactorOff.

ReadyForStepOffsetRange

Enumeration name:	ReadyForStepOffsetRange
Enumeration value:	83
Description:	ReadyForStepOffset is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrReadyForStepOffset parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrReadyForStepOffset parameter must be <= 0.

ReferenceInvalid

Enumeration name:	ReferenceInvalid
Enumeration value:	28
Description:	The reference is invalid.

Issue/Cause	Solution
The references of the module interface have not been initialized.	Before calling up the module for the first time, its InitModuleInterface method must have been called up successfully.

RestoreInterrupted

Enumeration name:	RestoreInterrupted
Enumeration value:	50
Description:	Restoring was interrupted.

Issue/Cause

Solution

The ET_OpMode.Homing operation mode has been selected with ST_ModuleInterface.stHome.i_etMode mode equal to

ET_HomeMode.RestorePosFromRetain.

Reading the encoder has been interrupted repeatedly by the Sercos.

Ensure that the execution of the module is not interrupted by other tasks.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	47
Description:	The Sercos bus is not in Phase 4.

Issue/Cause

Solution

The parameter State of the Sercos bus is not 4.

Set the Sercos bus parameter PhaseSet to 4.

Verify the Sercos bus for errors.

SmgDiag

Enumeration name:	SmgDiag
Enumeration value:	53
Description:	The SoMachineGenerator function block is in an error state.

Issue/Cause

Solution

An error has been detected and occurred in the internal execution.

Contact your Schneider Electric service representative about this detected error.

For further details, refer to sMsg.

StartAcceptOffsetRange

Enumeration name:	StartAcceptOffsetRange
Enumeration value:	95
Description:	StartAcceptOffset is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.lrTrainTimeOut parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.lrTrainTimeOut parameter must be >= 0.

StartDelayDistanceRange

Enumeration name:	StartDelayDistanceRange
Enumeration value:	103
Description:	StartDelayDistance is outside the valid range.

Issue/Cause

Solution

The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrStartDelayDistance parameter is outside its value range.

The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrStartDelayDistance parameter must be >= 0.

If MTB.ET_EventTrigger = StartOnSignal, ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrStartDelayDistance must be >= (ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronStart *2 + ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrMinProductLength).

If MTB.ET_EventTrigger = MasterSelectPos, ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrStartDelayDistance must be >= ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrMasterPeriod.

StartDelayTimeRange

Enumeration name:	StartDelayTimeRange
Enumeration value:	82
Description:	StartDelayTime is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrStartDelayTime is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrStartDelayTime parameter must be >= 0.

StationLockOffsetRange

Enumeration name:	StationLockOffsetRange
Enumeration value:	96
Description:	StationLockOffset is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.lrStationLockOffset parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.lrStationLockOffset parameter must be <= 0.

StationPosRange

Enumeration name:	StationPosRange
Enumeration value:	86
Description:	StationPos is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.lrStationPos parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.lrStationPos parameter must be <= ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength, and must be sorted in ascending order (Stationpos2 > Stationpos1).

StepAccelerationRange

Enumeration name:	StepAccelerationRange
Enumeration value:	75
Description:	StepAcceleration is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stStepMove.lrAcc parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stStepMove.lrAcc parameter must be in the range MTB.Gc_lrMinAcceleration up to the smallest MaxAcc of the axes.

StepDecelerationRange

Enumeration name:	StepDecelerationRange
Enumeration value:	76
Description:	StepDeceleration is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stStepMove.lrDec parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stStepMove.lrDec parameter must be in the range MTB.Gc_lrMinAcceleration up to the smallest MaxAcc of the axes.

StepJerkRange

Enumeration name:	StepJerkRange
Enumeration value:	77
Description:	StepJerk is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stStepMove.lrJerk parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stStepMove.lrJerk parameter must be > MTB.Gc_lrMinJerk.

StepsRange

Enumeration name:	StepsRange
Enumeration value:	89
Description:	Steps is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.alrSteps[y] parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.alrSteps[y] parameter must be > 0.

StepVelocityRange

Enumeration name:	StepVelocityRange
Enumeration value:	74
Description:	StepVelocity is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stStepMove.lrVel is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.stStepMove.lrVel parameter must be in the range MTB.Gc_lrMinVelocity up to the smallest MaxVel of the axes.

StopDistanceRange

Enumeration name:	StopDistanceRange
Enumeration value:	92
Description:	StopDistance is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter. lrStopDistance parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter. lrStopDistance parameter must be >= 0.

StopEndOfCycle

Enumeration name:	StopEndOfCycle
Enumeration value:	25
Description:	A stop is executed at the end of the cycle.

Issue/Cause

Solution

The module executes a reaction TPL.ET_Reaction.StopEndOfCycle.

Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction.

Acknowledge the exceptions to discard the reactions.

SumOfStepsRange

Enumeration name:	SumOfStepsRange
Enumeration value:	90
Description:	SumOfSteps is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.alrSteps[y] parameter is outside its value range.	The sum of all steps must be <= ST_ModuleInterface.stMain.i_rstParameter.lrTrainLength.

SynchronEndRange

Enumeration name:	SynchronEndRange
Enumeration value:	100
Description:	SynchronEnd is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronEnd parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronEnd parameter must be > 0.

SynchronStartPlusSychronEndEndRange

Enumeration name:	SynchronStartPlusSychronEndEndRange
Enumeration value:	102
Description:	SynchronStartPlusSychronEndEnd is outside the valid range.

Issue/Cause	Solution
The sum of the parameters (ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronStart + ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronEnd) is outside its value range.	The sum of the parameters (ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronStart + ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronEnd) must be < ST_ModuleInterface.astStation[x].i_rstParameter.alrSteps[0].

SynchronStartRange

Enumeration name:	SynchronStartRange
Enumeration value:	101
Description:	SynchronStart is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronEnd parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.lrSynchronEnd parameter must be > 0.

SyncStopEH

Enumeration name:	SyncStopEH
Enumeration value:	24
Description:	A synchronous stop is performed. Subsequently, the axis remains in position control.

Issue/Cause

Solution

The module executes a reaction TPL.ET_Reaction.SyncStopEH.

Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction.

Acknowledge the exceptions to discard the reactions.

SyncStopEL

Enumeration name:	SyncStopEL
Enumeration value:	23
Description:	A synchronous stop is performed. Subsequently, the axis does not remain in position control.

Issue/Cause

Solution

The module executes a reaction TPL.ET_Reaction.SyncStopEL.

Verify the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction.

Acknowledge the exceptions to discard the reactions.

TpMissing

Enumeration name:	TpMissing
Enumeration value:	116
Description:	A Touchprobe signal was not found.

Issue/Cause

Solution

The ET_OpMode.Homing operation mode has been selected with ST_ModuleInterface.stHome.i_etMode mode equal to

ET_HomeMode.HomeOnTp.

Touchprobe signal was not detected.

A Touchprobe signal is expected with the route ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength.

TPSignalsPerTrainRange

Enumeration name:	TPSignalsPerTrainRange
Enumeration value:	114
Description:	TPSignalsPerTrain is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stHome.i_stOnTpParameter.uiTPSignalsPerTrain parameter is outside its value range.	The ST_ModuleInterface.stHome.i_stOnTpParameter.uiTPSignalsPerTrain parameter must be >= 1.

TrainLengthRange

Enumeration name:	TrainLengthRange
Enumeration value:	65
Description:	TrainLength is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stMain.i_rstParameter.lrTrainLength parameter is outside its value range.	The ST_ModuleInterface.stMain.i_rstParameter.lrTrainLength parameter must be in the range > 0 to ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength.

TrainMovesBackward

Enumeration name:	TrainMovesBackward
Enumeration value:	59
Description:	A train is moving backwards.

Issue/Cause	Solution
The collision monitoring detected a reversing train.	Verify the motion parameters of the trains and of the collision monitoring.

TrainOrderInvalid

Enumeration name:	TrainOrderInvalid
Enumeration value:	108
Description:	The sequence of the trains is changed.

Issue/Cause	Solution
The sequence of trains is incorrect.	The trains must be positioned one after the other. The trains must be homed.

TrainsDistanceFactorRange

Enumeration name:	TrainsDistanceFactorRange
Enumeration value:	84
Description:	TrainsDistanceFactor is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrTrainsDistanceFactor parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.stIndexed.lrTrainsDistanceFactor parameter must be >= 0.

TrainsDistanceRange

Enumeration name:	TrainsDistanceRange
Enumeration value:	85
Description:	TrainsDistance is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.lrTrainsDistance parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.lrTrainsDistance parameter must be >= 0.

TrainsNotInPeriode

Enumeration name:	TrainsNotInPeriode
Enumeration value:	15
Description:	The trains are not in the period.

Issue/Cause	Solution
The trains were moved outside of their period. The difference of the position of two trains is greater than ST_ModuleInterface.stMain.i_rstParameter.lrBeltLength.	The trains must be homed again.

TrainsPerBeltRange

Enumeration name:	TrainsPerBeltRange
Enumeration value:	62
Description:	TrainsPerBelt is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stMain.i_rstParameter.uiTrainsPerBelt is outside its value range.	The ST_ModuleInterface.stMain.i_rstParameter.uiTrainsPerBelt parameter must be >= 1.

TrainTimeOutRange

Enumeration name:	TrainTimeOutRange
Enumeration value:	94
Description:	TrainTimeOut is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.lrTrainTimeOut parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.lrTrainTimeOut parameter must be >= 0.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	35
Description:	A POU returns an unintended value.

Issue/Cause	Solution
An error has been detected and occurred in the internal execution.	Contact your Schneider Electric service representative about this detected error.

UnknownMode

Enumeration name:	UnknownMode
Enumeration value:	48
Description:	The Mode is indeterminable.

Issue/Cause	Solution
An invalid value was applied at the ST_ModuleInterface.stHome.i_etMode input.	The ST_ModuleInterface.stHome.i_etMode input must be allocated with an element of the ET_HomeMode enumeration.

UserCamIdNotSet

Enumeration name:	UserCamIdNotSet
Enumeration value:	105
Description:	The UserCamId is not defined.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.diUserCamId parameter is not set.	If ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron = MTB.SystemCam, ST_ModuleInterface.astStation[x].i_rstParameter.stSynchron.diUserCamId must be set with a valid CamId.

WarmStartAccelerationRange

Enumeration name:	WarmStartAccelerationRange
Enumeration value:	68
Description:	WarmStartAcceleration is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stMain.i_rstParameter.stWarmStartMove.lrAcc parameter is outside its value range.	The ST_ModuleInterface.stMain.i_rstParameter.stWarmStartMove.lrAcc parameter must be in the range MTB.Gc_lrMinAcceleration up to the smallest MaxAcc of all axes.

WarmStartDecelerationRange

Enumeration name:	WarmStartDecelerationRange
Enumeration value:	69
Description:	WarmStartDeceleration is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stMain.i_rstParameter.stWarmStartMove.lrDec parameter is outside its value range.	The ST_ModuleInterface.stMain.i_rstParameter.stWarmStartMove.lrDec must be in the range MTB.Gc_lrMinAcceleration up to the smallest MaxAcc of all axes.

WarmStartJerkRange

Enumeration name:	WarmStartJerkRange
Enumeration value:	67
Description:	WarmStartJerk is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stMain.i_rstParameter.stWarmStartMove.lrJerk parameter is outside its value range.	The ST_ModuleInterface.stMain.i_rstParameter.stWarmStartMove.lrJerk parameter must be > MTB.Gc_lrMinJerk.

WarmStartNotPossible

Enumeration name:	WarmStartNotPossible
Enumeration value:	54
Description:	A warm start is not possible.

Issue/Cause

Solution

A WarmStart is not possible after a serious error detection.

A WarmStart is not possible until a ColdStart has been executed beforehand.

A ColdStart must be executed.

WarmStartVelocityRange

Enumeration name:	WarmStartVelocityRange
Enumeration value:	66
Description:	WarmStartVelocity is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.stMain.i_rstParameter.stWarmStartMove.lrVel parameter is outside its value range.	The ST_ModuleInterface.stMain.i_rstParameter.stWarmStartMove.lrVel parameter must be in the range MTB.Gc_lrMinVelocity up to the smallest MaxVel of all axes.

WarningDistanceRange

Enumeration name:	WarningDistanceRange
Enumeration value:	93
Description:	WarningDistance is outside the valid range.

Issue/Cause	Solution
The ST_ModuleInterface.astStation[x].i_rstParameter.lrWarningDistance parameter is outside its value range.	The ST_ModuleInterface.astStation[x].i_rstParameter.lrWarningDistance parameter must be >= 0.

Methods

Name	Description
InitModuleInterface	The method links the references of the MultiBeltModule interface.