Error Management

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

For each axis:

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);

For the machine:

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;

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• This code is only applicable to PipeNetwork applications. It will not work in a PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML application.

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

For information on restarting the motion, refer to Restarting Motion with PipeNetwork