Handling Axis Errors

Coordinated motion error handling is configurable on a per axis group basis.

  • When a PLCopenaxis error occurs, the Default Error Handling 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.
  • The position loop on the drives in the group are opened and the drives are disabled.

The Optional Error Handling 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 is disabled.

  • The application is 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 having one axis stop.

Optional Behavior

  • To configure the optional behavior, use the function block MC_GrpWriteBoolPar and set the parameter IGNORE_AXIS_ESTOP (1000) to TRUE.
  • To check if the optional behavior has been set, call MC_GrpReadBoolPar and read 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:

  • Drive errors.
  • Drive communication errors.
  • User causes E-stop using MC_EStop on an axis in a group.