Description of Command Refused Faults
(Original Document)
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At a Glance
A command refused fault is generated each time a command cannot be executed. This occurs when a command is not compatible with the axis state, with the mode in progress or where at least one of the parameters is not valid.
These faults are indicated by the Refus Cde LED on the debugging screens. At channel level, the DIAG key can be used to identify the source of the command refused fault. This information can also be accessed by the program with the CMD_NOK (%Ir.m.c.6) bit and CMD_FLT (%MWr.m.c.7) word.
Command Refused
The following table shows the cause, indication and the remedy in the event of a Command Refused fault.
Cause
Unauthorized movement command
Transfer of faulty configurations or parameters
Parameter
None
Result
Immediate stop of movement in progress
Buffer memory, which receives movement commands in automatic mode, is reset to 0.
Indication
CMD_NOK bit (%Ir.m.c.6): Movement command refused
CMD_FLT mot (%MWr.m.c.7): type of fault detected
  • Least significant byte : movement commands,
  • Most significant byte : configuration and parameter adjust.
Remedy
When a new command is received and accepted, acknowledgement is implicit.
Acknowledgment is also possible via the ACK_DEF (%Qr.m.c.8) command
NOTE: For movement sequences in automatic mode, it is advisable to make the execution of each movement conditional upon the end of the previous movement, and the AX_FLT (%Ir.m.c.2) bit. This will prevent the program moving on to the following command should the present command be refused..