Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 20)

Publication 1784-UM003A-EN-P – June 2003
12 The SoftLogix Motion Control System
Handling Motion Faults Two types of motion faults exist.
Errors
Executing a motion instruction within an application program can generate
errors. The MOTION_INSTRUCTION tag has a field that contains the error
code. For more information on error codes for individual instructions, refer to
the motion instruction chapters in the Logix5550 Controller Instruction Set
Reference Manual.
Minor/Major Faults
Several faults can occur that are not caused by motion instructions. For
example, a loss of encoder feedback or actual position exceeding an overtravel
limit cause faults. The motion faults are considered Type 11 faults with error
codes from 1 to 32. For more information about motion error codes, refer to
Handling Controller Faults in the Logix Controller User Manual.
For more information about handling faults, see Handling Controller Faults in the
Logix 5000 Controller User Manual.
Type Description Example
Motion
Instruction
Errors
• Do not impact controller
operation
• Should be corrected to
optimize execution time and
ensure program accuracy
A Motion Axis Move (MAM)
instruction with a parameter out
of range
Minor/Maj
or Faults
• Caused by a problem with
the servo loop
• Can shutdown the controller
if you do not correct the fault
condition
The application exceeded the
PositionErrorTolerance value
TIP
You can configure a fault as either minor (non major) or
major by using the Axis Wizard-Group window.