Faults and Error Reporting

Introduction

The motion controller accommodates several methods for debugging. The simplest method reports faults and warnings via the data structure MMFBlock.

Error Registers

The table shows how the data structure MMFBlock could be used to report faults and warnings.

MMFBlock Element	Address	Value	Format
FaultAxis	%MW1105	1	Dec
FaultCode	%MW1106	4002	Dec
WarnAxis	%MW1107	1	Dec
WarnCode	%MW1108	42	Dec

In the case above, the axis reporting the fault is axis number 1 (FaultAxis = 1) and the actual fault is a motor overtemperature condition (FaultCode=4002). (See Table Faults and Warnings for a complete list.)

The axis reporting the warning is axis number 1 (WarnAxis=1) and the actual warning is that the driver is not enabled (WarnCode=42). These codes are also reported in the ERROR output of the MMF_* and CFG_* function blocks. (See Table Motion Error Codes for a complete list.)

If several errors or warnings occur, the error code associated with the first error is reported.

To clear the error register, issue a faultClear( ) function to the SERCOS ring.

Faults and Warnings

Table of faults and warnings reported by FaultCode:

Name	FaultCode	Description
FAULT_OVERLOAD	4000	RMS current fault
FAULT_AMP_OVERTEMP	4001	Drive overtemperature condition
FAULT_MOTOR_OVERTEMP	4002	Drive overtemperature condition
FAULT_FEEDBACK	4005	Resolver or encoder feedback fault
FAULT_COMMUTATION	4006	General drive fault (phase error)
FAULT_OVERCURRENT	4007	Drive short circuit fault
FAULT_UNDERVOLTAGE	4009	Drive voltage fault
FAULT_POS_DEVIATION	4011	Following error fault
FAULT_DRIVE_COMM	4012	Drive has detected communications fault
FAULT_TRAVEL_LIMIT	4013	Hardware end-of-travel fault
FAULT_GENERAL	4015	Homing, digital output or control conflict fault (enable from 2 sources)
FAULT_MASTER_COMM	4016	SERCOS master has detected communication fault
FAULT_WATCHDOG	5001	The watchdog expired and all axes disabled
WARN_BAD_SUBROUTINE	7001	MMFStart does not recognize this subroutine number
WARN_BAD_AXIS_ID	7002	The Axis ID is not valid for this subroutine
WARN_BAD_DATA	7003	Parameter data is out of range
WARN_SUBROUTINE_ABORT	7004	SubNum/SubNumEcho handshake error
WARN_SUBROUTINE_TIMEOUT	7005	Subroutine does not complete in time
WARN_BAD_USER_SUBROUTINE	7010	MMFStart does not recognize this subroutine number
WARN_SAMPLE_USER_SUBROUTINE	7777	A call was made to the SAMPLE_USER_SUBROUTINE
WARN_BAD_DATA	7003	Parameter data is out of range
MMF_ABORT_USUB	9004	User Subroutine abort error code
MMF_USUB_TIMEOUT	9005	User Subroutine Timeout error code

Motion Error Codes

Table of faults and warnings reported by WarnCode and ERROR output:

Error Code	Name	Description
1	RANGE_ERROR	Attempt to assign value out of range
2	UNITS_MISMATCH	Attempt to assign incompatible units
3	UNSUPPORTED_UNIT	Unit not supported or unknown
4	DOWNLOAD_ERROR	Bug or drive fault during download
5	UPLOAD_ERROR	Bug or drive fault during upload
6	NULL_OBJECT	Unexpected null pointer to object
7	SET_UNITS_ERROR	Failed to set units in drive
8	UNITS_NOT_SET	Units not set in SASSDriveInterface
9	STRING_TOO_BIG	String too big to fit into MotionString
10	INVALID_INDEX	Invalid index into a collection
11	INVALID_VALUE	Invalid value in command
12	INVALID_ENUM_VALUE	Invalid value for an enum
13	INVALID_TOKEN	Invalid token in input
14	INVALID_FEEDBACK_CHANNEL	Invalid feedback channel for command
15	INVALID_FEEDBACK_DEVICE	Invalid feedback device for command
16	INVALID_FEEDBACK_CLOCKING_RATE	Invalid feedback clocking rate
17	INVALID_FEEDBACK_POWER_SRC	Invalid feedback power source
18	INVALID_FEEDBACK_RES	Invalid feedback resolution
19	INVALID_HOLDING_REG_ADDR	Invalid holding register address
20	HOLDING_REGISTERS_NOT_CONFIGURED	Holding register database not configured
21	NO_HOLDING_REGS	Holding register database empty
22	REG_BLOCK_TOO_BIG	Holding register block too big
23	REG_BLOCK_NOT_FIT	Holding register block doesn't fit into database
24	CANNOT_GRANT_ACCESS	Cannot grant access to holding register block
25	CANNOT_RELEASE_ACCESS	Cannot release access to holding register block
26	FILE_OPEN_ERROR	File open failed
27	FILE_WRITE_ERROR	File write failed
28	FILE_READ_ERROR	File read failed
29	FILE_CLOSE_ERROR	File close failed
30	FILE_SEEK_ERROR	File seek failed
31	SYNTAX_ERROR	Malformed input
32	CLEAR_FAULT_ERROR	Clear fault function failed to clear faults
33	MISSING_TAG	Missing tag in tags.cfg
34	NO_AXIS_AVAILABLE	No axis object available
35	TOO_MANY_AXES	Too many axes in rc-/rv-axis
36	DUPLICATE_AXES	Duplicate axes in rc-/rv-axis
37	INVALID_AXIS	Missing or invalid axis
38	NO_SUCH_AXIS	Axis object or config file not found
39	WRONG_NUMBER_OF_COORDS	Value has different number of coordinates from axis
40	DEVICE_NOT_IN_CONTROL	Motion axis not active
41	MOVE_FAULT_ERROR	A move fault has occurred front end)
42	AXIS_NOT_ENABLED	Drive is not enabled.
43	COMMAND_TIMED_OUT	Command timed out
44	INVALID_SERCOS_RING	SERCOS ring not A or B
45	RENAME_ERROR	Axis renamed failed
46	CANNOT_PERFORM_WITH_THIS_CONFIG	Cannot perform command as currently configured
47	TYPE_MISMATCH	Object is wrong type
48	DRIVE_MUST_BE_DISABLED	Drive must be disabled to perform command
49	DRIVE_MUST_BE_ENABLED	Drive must be enabled to perform command
50	CMD_NOT_ALLOWED	Command not allowed at this time
51	DRIVE_FAULT_ERROR	Command cannot be completed due to drive fault
1000	TARGET_NOT_RESP	Target not responding
1001	COMM_GARBLED	Garbled communications
1002	SERCOS_EXCEPTION	SERCOS error
1003	SASS_NO_OPCODE_ECHO	No opcode echo from drive
1004	SERCOS_NOT_READY	SERCOS loop not ready
1005	SERCOS_DRIVER_ERROR	SERCOS error
1006	SERCOS_CYCLIC_READ_ERROR	SERCOS read failed (cyclic channel)
2000	UNKNOWN_ERROR	Unclassified error
2001	BOOCH148_ERROR	Error in Booch Components v1.4.8
2002	BOOCH23_ERROR	Error in Booch Components v2.3
2003	SYSTEM_DEBUG_ERROR	System fault used in debugging
2004	SASS_CMD_NOT_ALLOWED_ERROR	Drive got command not allowed fault
2005	SASS_ILLEGAL_CMD_ERROR	Drive got illegal command fault
2006	SASS_PROGRAMMING_ERROR	Drive got programming error fault
2007	UNSUPPORTED_COMMAND	Invalid command ID
2008	SET_LINK_ERROR	Failed to link object to drive interface
2009	SEMAPHORE_CREATE_ERROR	Semaphore create failed
2010	SEMAPHORE_DELETE_ERROR	Semaphore delete failed
2011	SEMAPHORE_LOCK_ERROR	Semaphore lock failed
2012	SEMAPHORE_UNLOCK_ERROR	Semaphore unlock failed
2013	SEMAPHORE_INQ_ERROR	Semaphore inquiry failed
2014	PROXY_NOT_CONNECTED	Proxy not connected
2015	NOT_IMPLEMENTED	Command not implemented yet
2016	SCX_UNIQUE_ERROR	scx_unique failed
2017	QUEUE_CREATE_ERROR	Queue create failed
2018	QUEUE_FULL	Queue is full
2019	INVALID_QUEUE_ID	Invalid queue id
2020	UNKNOWN_QUEUE_STATUS	Unknown queue status
2021	QUEUE_INQ_ERROR	Queue inquiry failed
2022	EVENT_GRP_CREATE_ERROR	Event group create failed
2023	EVENT_GRP_PEND_ERROR	Event group pend error
2024	EVENT_GRP_CLEAR_ERROR	Event group clear error
2025	EVENT_FLAGS_CREATE_ERROR	Event flags create failed
2026	OBJECT_NOT_FOUND	Object lookup failed
2027	OBJECT_MANAGER_MISSING	Object manager not found
2028	INVALID_PLANNER_STATE	Invalid motion planner state
2029	OUT_OF_MEMORY	Memory allocation field
2030	GET_TASK_ID_FAILED	Error occurred upon attempting to get task Id from the operating system
2031	TOO_MANY_ERROR_HANDLERS	Attempt to install too many error handlers
2032	THREAD_CREATE_ERROR	Thread create failed
2033	THREAD_DELETE_ERROR	Thread destructor failed
2034	THREAD_CONFIG_ERROR	Problem with configuring a thread has occurred
2035	TASK_SUSPEND_ERROR	Error occurred while attempting to suspend a thread
2036	TASK_RESUME_ERROR	Error occurred while attempting to resume a thread
2037	OBJECT_CREATE_ERROR	Error occurred while creating object