Error Management

When a non-fatal error occurs and motion must be stopped quickly these procedure can be taken:

Axis Procedures

Step	Example Application Code
Send Stop Command for each axis.	MLAxisStop (PipeNetwork.AXI_A1_Axis, TRUE, DEF_A1_StopDec);
Stop the Axis Motion Generator.	MLAxisMoveVel (PipeNetwork.AXI_A1_Axis, 0.0);
Wait for Axis to be stopped.	AxisStatus := MLAxisStatus (PipeNetwork.AXI_A1_Axis); IF AxisStatus.11 THEN MLAxisStop (PipeNetwork.AXI_A1_Axis,FALSE,DEF_A1_StopDec);
Turn power off(disable) all the axes.	MLAxisPower (PipeNetwork.AXI_A1_Axis,FALSE);
Disconnect Pipe Network from the axis.	MLCNVDisconnect (PipeNetwork.CNV_A1);

Machine Procedures

Step	Example Application Code
Stop Command at the master block level.	MLMstRun (PipeNetwork.MASTER, 0.0);
Wait for Master command to be stopped.	IF A1_AckState = DEF_StateErrorStop AND A2_Ackstate = DEF_StateErrorStop AND MLBlkIsReady(PipeNetwork.MASTER) THEN PrintF('* ErrorStop M1=%i *', M1_StatusWord,0,0,0); M1_AckState := DEF_StateErrorStop;

Step

Example Application Code

Stop Command at the master block level.

MLMstRun

(PipeNetwork.MASTER, 0.0);

Wait for Master command to be stopped.

IF A1_AckState = DEF_StateErrorStop 
   AND A2_Ackstate = DEF_StateErrorStop
   AND MLBlkIsReady(PipeNetwork.MASTER)
THEN
PrintF('*** ErrorStop M1=%i ***', M1_StatusWord,0,0,0);
   M1_AckState := DEF_StateErrorStop;

This code is only applicable to Pipe Network applications.
It does not work in a PLCopen application.

This procedure for error management is based on the Project Structure Guidelines described in Application Software Structure - Implementation.

See Restarting Motion with Pipe Network about restarting the motion.