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Coordinated Motion Error handling is configurable on a per axis group basis. When a PLCopenA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML axis error occurs the Default Behavior is for all axes in the group stop. This means motion interpolation stops, active and next queues are cleared, and the group state "GroupErrorStop" is enabled. Additionally, the position loop on the drives in the group are opened and the drives are disabled.
The Optional Behavior when a PLCopen axis error occurs is for only the PLCopen axis that caused the error to have its position loop opened and that drive will be disabled. The application is then expected to control the motion for the remaining axes in the group. The optional feature may be used when stopping all axes is worse than just having one axis stop.
To configure the optional behavior, use the function block MC_GrpWriteBoolPar, setting the parameter 'IGNORE_AXIS_ESTOP' (1000) to TRUE. To check if the optional behavior has been set, call the function block MC_GrpReadBoolPar, reading the state of parameter 'IGNORE_AXIS_ESTOP' (1000). If the result is true, the optional behavior is enabled.
The types of PLCopen Axis Errors that affect coordinated motion include:
Coordinated Motion Error Handling Default Behavior
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