Four kinds of detected errors can be encountered by the BMX MSP 0200 module and reported in the status objects (%MWr.m.c.2 to %MWr.m.c.5): Standard errors, Command errors, Adjustment parameter errors, Axis errors.

These are reported through %MWr.m.c.2 object (Standard Channel Error) and induce a channel error, reported in %Ir.m.c.ERR.

Detected errors described by bits 4 to 7 (internal, configuration, communication and application errors) have the same meaning as for all other Modicon X80 modules.

External Power Supply Fault (%MWr.m.c.2.0) reports a supply error if this report is enabled by configuration (i.e. if Power Supply Fault - %KWr.m.c.1.8 – is set to General I/O Fault).

These occur when a command is rejected by the module or when sending the command is unsuccessful.

Detected errors are reported into %MWr.m.c.1.1 CMD_ERR object.

No other commands are accepted before the axis is stopped and the detected axis error is reset (through Reset_Axis_Error – %Qr.m.c.3 – object).

These occur when adjustment parameters are rejected or when sending the parameters is unsuccessful.

Detected errors are reported into %MWr.m.c.1.2 ADJUST_ERR object.

A detected adjustment parameter error does not put the axis in ErrorStop state, and does not have an impact on the channel behavior.

The channel will continue running with previous parameters as though no parameters had been sent.

There are 4 different kinds of detected axis errors.

Drive_KO or Emergency

If monitoring is enabled (Implicit object %QWr.m.c.1.0 (Disable Axis Faults / Drive_Ready&Emergency) is set to 0), and if Drive_Enable physical output has been active for more than 100ms, this error will be detected as soon as the Drive_Ready&Emergency physical input falls to low state.

There is no deceleration phase using emergency deceleration rate here. Such a condition is a mechanical axis or an external emergency, both of which require an immediate stop of the mechanical axis.

When the condition is corrected (or monitoring is disabled), reset the detected axis error (through Reset_Axis_Error – %Qr.m.c.3 – object) in order to send a new command.

Limit crossing

If monitoring is enabled (Implicit object %QWr.m.c.1.1 (DISABLE_LIMIT_FLT) is set to 0), this error is detected when Proximity&LimitSwitch physical input rises

The detected axis error needs to be reset (through %Qr.m.c.3 object) before being able to send other new commands.

Important: As both PTO channel and drive have a limit switch input, it is not recommended to use the same cabling for both of them. Otherwise, an out-of-limit condition on the drive would induce a DRIVE_KO detected error on the PTO channel simultaneously with the Limit Fault. It would not be possible then to have the same behaviour as described previously for Limit Crossing (velocity/homing commands would be rejected).

SW limit reached

If monitoring enabled (Implicit object %QWr.m.c.1.2 (DISABLE_SW_LIMIT_FLT) is set to 0) this internally managed detected error occurs when the current position as seen by the channel (%IDr.m.c.8) reaches one of the two SW limit values.

In this state, the following commands are accepted: Frequency Generator or Move Velocity in the opposite direction of the previous command (in order for the axis to return to the valid area) are accepted.

As soon as the axis is back and stopped in the valid range of position values the SW limit error disappears, but the axis error remains (STOPPING and AXIS_FLT bits of AXIS_STS object and SW_HIGH/LOW_LIMIT_FLT bit of AXIS_ERROR object stay high).

The detected axis error needs to be reset (through %Qr.m.c.3 object) before being able to send other new commands.

Overflow of the position value

This detected error is a specific case of SW limit error and happens when the position value goes beyond the minimum or maximum possible pulse number (-2,147,483,648 or 2,147,483,647).

This will cause a change of sign of the position, whose value is no more significant.

The axis error needs to be reseted (through %Qr.m.c.3 object) before being able to send other new commands but the axis remains unreferenced

Homing faults

These occur during the execution of a homing command.

The detected axis error needs to be reset (through %Qr.m.c.3 object) before being able to send other new commands.