Rockwell-automation 1784-PM16SE SoftLogix Motion Card Setup and Config Uživatelský manuál stáhnout pdf (Strana 20)

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101

Publication 1784-UM003A-EN-P – June 2003

12 The SoftLogix Motion Control System

Handling Motion Faults

Two types of motion faults exist.

Errors

Executing a motion instruction within an application program can generate

errors. The MOTION_INSTRUCTION tag has a field that contains the error

code. For more information on error codes for individual instructions, refer to

the motion instruction chapters in the Logix5550 Controller Instruction Set

Reference Manual.

Minor/Major Faults

Several faults can occur that are not caused by motion instructions. For

example, a loss of encoder feedback or actual position exceeding an overtravel

limit cause faults. The motion faults are considered Type 11 faults with error

codes from 1 to 32. For more information about motion error codes, refer to

Handling Controller Faults in the Logix Controller User Manual.

For more information about handling faults, see Handling Controller Faults in the

Logix 5000 Controller User Manual.

Type Description Example

Motion

Instruction

Errors

• Do not impact controller

operation

• Should be corrected to

optimize execution time and

ensure program accuracy

A Motion Axis Move (MAM)

instruction with a parameter out

of range

Minor/Maj

or Faults

• Caused by a problem with

the servo loop

• Can shutdown the controller

if you do not correct the fault

condition

The application exceeded the

PositionErrorTolerance value

TIP

You can configure a fault as either minor (non major) or

major by using the Axis Wizard-Group window.

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