Description of the command refused faults

At a Glance

A command refused fault is generated each time that a command cannot be executed. This command is not compatible with the status of the axis or the current mode or at least one of the parameters is not valid.

These faults are signaled by the indicator Command Refused in the debug screens. The DIAG key at the channel level tells you the source of the command refused. This information can also be accessed by program via the CMD_NOK bit (%Ir.m.c.6) and the CMD_FLT word (%MWr.m.c.7).

Command refused

The following table shows the cause, the signal and the remedy to be applied in the case of a Command refused fault.

Cause	Unauthorized movement command Transfer of incorrect configuration or parameters
Parameters	None
Consequence	Immediate stop of the movement in progress Reset to 0 of the memory buffer receiving the movement commands in automatic mode
Signal	CMD_NOK bit (%Ir.m.c.6): movement command refused CMD_FLT word (%MWr.m.c.7): type of fault detected Least significant byte: executable commands, Most significant byte: adjustment configuration and parameters.
Remedy	Acknowledgement is implicit upon receipt of a new accepted command Acknowledgement is equally possible via the command ACK_FLT (%Qr.m.c.9)

NOTE: In the case of movement sequencing in automatic mode, we advise you to condition the execution of each movement with the end of the execution of the preceding movement and with the AX_FLT bit (%Ir.m.c.2). This means that the following command is not sequenced, when the current command has experienced a command refusal.