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;

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• This code is only applicable to Pipe Network applications.
  It does 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 described in Application Software Structure - Implementation.

See Restarting Motion with Pipe Network for more information on restarting the motion.