Error Codes

At a Glance

Word %MWr.m.c (where i is between 21 and 24 for groups of channels) contains the codes for errors that occur following a TRF_RECIPE instruction.

Bit %MWr.m.c:X3 sends back the status of the current command on channel i.

The interpolation algorithm of the TSX CSY 85 module manages error codes greater than 9500.

Errors are diagnosed as follows:

Check that the command has been completed: %MWr.m.c:X3 = 0,
Check floating point %MFr.m.c.8 (return_trf_3) to identify the point affected by the error.
Check the error code in word %MWr.m.c.3,
Use the table below to identify the type of error.
Modify your program or module configuration to delete this error the next time the TRF_RECIPE instruction is executed.

Error Codes

The table below describes the possible error codes:

Code	Description
9501	For a type 1, 2 or 10 interpolation, one of the parameters ParF1 or ParF2 equals zero.
9502	The maximum number of points for a trajectory has been reached. The TSX CSY 85 module permits a maximum of 10,000 points.
9503	More axes have been defined than are permitted.
9504	Two consecutive identical points have been found in the table for interpolation types other than 12.
9505	The number of points defined for at least one cam is insufficient in relation to the number of points on the trajectory.
9506	Use of circular type interpolation although more than two axes have been defined (types 10, 11 and 12).
9507	A cam corresponding to one of the axes has not been configured.
9508	Circular link with angle of 180° (type 10)
9509	Circular link with angle of 0° (type 10)
9510	A trajectory has been defined with a number of points greater than the maximum number permitted: For firmware version 1.1 or earlier: The maximum number of reference points allowed is 60. For firmware version 1.2 or later: The maximum number of reference points allowed is 200.
9511	The radius is less than half the distance between points Pn-1 and Pn.
9512	Circle impossible. If the type is 11, the start point is the same as the end point. If the type is 12, the start point is the same as the end point and the same as the center of the circle.
9513	Radius equals 0 (type 11)
9514	Link too long: Next segment = 0 (types 1, 2 or 10)
9515	The number of points in the linear segment is set to 0 (types 0, 1 or 10).
9516	The number of points in the third-degree polynomial interpolation segment is set to 0 (type 1).
9517	The number of points in the circular interpolation segment is set to 0 (type 10).
9518	The number of points in the circular interpolation segment is set to 0 (type 11 or 12).
9519	The center position set in the table differs from the position calculated by the module by more than 50% of the radius of the circle (type 12).
9520	Group not configured
9521	At least one of the axes in the group has not been configured.
9522	The number of points in the fifth-degree polynomial interpolation segment is set to 0 (type 2).
9523	The number of points in the interpolation table equals zero (first word in the table).
9524	Not enough memory to calculate interpolation.
9525	As the length of the next segment is zero, the link cannot be made.
9526	The master table is empty, so the interpolation calculation has not been made.
9527	The number of words per point is incorrect in the interpolation table.
9528	The type of interpolation requested does not exist (parameter type other than 0, 1, 2, 10, 11 or 12).

9002	Error code already exists but may occur if the SERCOS ring has not been configured correctly.