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Optional Behavior

This is configurable on a per group basis.

In the optional motion error handling case, the group status GroupErrorStop will not be set when an axis is in error. The application is responsible for monitoring and handling error conditions. The remaining axes in the group will continue moving.

Errors can be deteced using the following group function block:

MC_GrpReadBoolPar — Read the result of parameter ID 'AXIS_ESTOP_ACTIVE' (1001). If the result is TRUE, an axis error exists. Note that the group function blocks used for the default case of detecting errors (MC_GrpReadStatus and MC_GrpReadError) will not return an error.

To determine which PLCopenA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML axis has generated the error, call MC_ReadAxisErr for each axis in a group. The output ErrorID will be set to 12. In addition, MC_ReadStatus for each axis in the group can be called where the output ErrorStop will be TRUE if in a E-stop condition.

Once an error has been detected, the error must first be resolved. MC_ResetError can then be called on each axis in error. This function only sends a request to the drive to clear any error. The error will not yet be reset when this function returns. MC_ReadStatus will still have to be called to verify that the drive error has been resolved.

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