Faults Accessible via the GetMotionWarning Command

Description

MotionWarnings are generated by the motion controller when a motion command is issued to a MotionSet via the MotionControl registers, and that command is not allowed at the current time. The MotionWarning data type information records these warnings.

The warnings are recorded by setting a bit in the MotionWarning register, one unique bit per type of warning. Multiple warnings of different kinds set their corresponding bits in the MotionWarning word. Multiple warnings of the same type set the same bit so the MotionWarning word does not indicate how many warnings of the same kind have occurred. Issuing a ClearFault function to the axis resets the MotionWarning word to zero. Use the GetMotionWarning function to read the MotionWarnings.

Motion Warnings

The following table lists the motion warnings contained in the MotionWarning data type:

Name	Bit	Description
MW_SURV_WARNING	0	If the 2 axes have a movement differing by more than the alarm threshold, the module triggers a warning on the 2 faulty axes.
MW_SURV_WARNING_PROP	1	If the 2 axes have a movement differing by more than the alarm threshold, the module triggers a fault on the 2 faulty axes, stops all of the list axes and triggers a warning (MW_SURV_WARNING_PROP) on the non-faulty axes.
MW_STOP_BY_SET	2	Fault on axis linked. (The axes that were stopped following propagation of faults will be reported as a warning).
MW_MERGE_UNLINK	7	Motion aborted following deactivation of the sequence.
MW_AXIS_NOT_HOMED	6	Not used.
MW_AXIS_TRAVEL_LIMIT	13	The axis has reached a limit switch or the target position is outside the travel range. Copy of the IDN 12 from the Lexium drive 15. To re-validate a movement, it must first be acknowledge.
MW_AXIS_IS_LINKED	17	The motion control command was not performed because the motion axis is a member of a CoordinatedGroup or SlaveGroup.
MW_AXIS_POS_LIMIT	21	The axis has exceeded its positive position limit.
MW_AXIS_NEG_LIMIT	22	The axis has exceeded its negative positions limit.
MW_SIMULTANEOUS_MANUAL_CMDS	24	Simultaneous manual commands
MW_AXIS_MANUAL_MODE	25	Not used.
MW_STOP_TO_MANUAL_MODE	26	The manual mode has been activated during the axis movement.
MW_NOTALLOWED_AT_THIS_TIME	31	Command doManualCmd not available: Axis not ready for manual command.

For a Coordinated Group

The following table lists the motion warnings contained in the MotionWarning data type for a CoordinatedGroup:

Name	Bit	Description
MW_AXIS_IS_MOVING	3	The motion control command was not performed because the motion axis was moving.
MW_MEMBER_WARNING	4	Warning on a member. (Enabled on non-enabled groups that have a warning axis will be reported as a warning).
MW_MEMBER_FAULT	5	Fault on group member. (Enabled on non-enabled groups that have a faulty axis will be reported as a warning).
MW_CANNOT_ ENABLE	10	The drive will refuse confirmation.
MW_LINK_TARGET_MISSED	11	Groups only: Function DynamicLink (576). Deviation position error between SETPOINT and position actually reached by master and slaves axes.
MW_ACQUIRE_ DISALLOWED	18	The CoordinatedGroup or SlaveGroup could not acquire control of its members because one or more of the motion axis members is already a member of a CoordinatedGroup or SlaveGroup.