Faults Accessible via the GetMotionFault Command

Description

The MotionFault data indicates the type of error that caused AXIS_SUMMARY_FLT status in the MotionStatus word of an axis. This type of error is recorded by setting a bit in the MotionFault word, one unique bit per type of error. Multiple different errors set their corresponding bits in the MotionFault word. Multiple errors of the same type set the same bit so the MotionFault word does not indicate how many errors of the same kind have occurred. Issuing a ClearFault function to a motion axis clears the MotionFault word.

Motion Faults

The following table lists the motion faults contained in the MotionFault data type:

Name	Bit	Description
MF_MOVE_BUT_NOT_ ENABLED	0	A move command has reached the motion interpolator but the drive is disabled. This should only occur if the drive becomes disabled as a move command is starting.
MF_SERCOS_RATE_TOO_FAST	3	Too many channels are configured relative to chosen cycle time.
MF_CONTROL_ CONFLICT	10	Control conflict with drive configuration tool.
MF_DRIVE_FAULT	13	A drive fault has occurred. Use the GetIDN_S_ and GetIDN_P function with the SERCOS® Standard IDN S-0-0011 parameter to determine the cause.
MF_REQUESTED_FAULT	15	The MotionControl ALLOW_NOT_FAULT bit is not set. The axis remains faulty until the ALLOW_NOT_FAULT bit is set and a ClearFault function is issued.
MF_COMM_FAULT	16	The SERCOS® communication fiber-optic loop has lost communication to the drive.
MF_AXIS_LIMIT_FAULT	21	The axis has reached a positive or negative software position limit.
MF_PHASE3_CONFIG_ PROBLEM	23	Configuration problem phase 3
MF_PHASE0_SERCOS_ ERROR	24	Phase 0 error.
MF_PHASE0_SERCOS_ ERROR	25	Phase 1 error.
MF_PHASE0_SERCOS_ ERROR	26	Phase 2 error.
MF_PHASE0_SERCOS_ ERROR	27	Phase 3 error.
MF_PHASE0_SERCOS_ ERROR	28	Phase 4 error.
MF_MOVE_WHILE_ HALT	29	A move command has reached the interpolator but the MotionControl ALLOW_MOVE bit is not set to 1. This should only happen if the drive is stopped at the exact moment when a move command starts.

Drive Fault

Drive fault data (MF_DRIVE_FAULT) is not to be taken into account if there is also a SERCOS® communication error (MF_COMM_FAULT). In fact, changing to phase 3 triggers a communication error, even though communication is still possible.