Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual - Manual (Page 376)

Publication 1784-UM003A-EN-P – June 2003
368 Motion Object Attributes
Attribute Error Code When an Axis Configuration Fault occurs, one or more axis parameters
associated with a SERCOS module or drive has not been successfully updated
to match the value of the corresponding parameter of the local controller. The
fact that the configuration of the drive axis no longer matches the
configuration of the local controller is a serious fault and results in the
shutdown of the faulted axis. The Attribute Error Code is reset to zero by
reconfiguration of the motion module.
Axis Configuration Fault information is passed from the SERCOS module or
device to the controller via a 16-bit ASA status word contained in the Set
Attribute List service response received by the controller. A Set Attribute List
service to the motion module can be initiated by a software Set Attribute List
service to the controller, or by an SSV instruction within the controller’s
program, referencing a servo attribute. Various routines that process responses
to motion services are responsible for updating these attributes.
The Set and Get service responses provide a status response with each
attribute that was processed. That status value is defined by ASA as follows:
UINT16, Values 0-255 (0x00-0xFF) are reserved to mirror common service
status codes. Values 256 – 65535 are available for object/class attribute specific
errors.
Attribute Error ID The Attribute Error ID is used to retain the ID of the servo attribute that
returned a non-zero attribute error code resulting in an Axis Configuration
Fault. The Attribute Error ID defaults to zero and, after a fault has occurred
may be reset to zero by reconfiguration of the motion module.
SERCOS Error Code The SERCOS Error Code value can be used to identify the source of the drive
parameter update failure that resulted in the Axis Configuration Fault. The
error codes for this attribute are derived from the IEC-1394 SERCOS
Interface standard. .
GSV/SSV Access Attribute Name Data Type Values
GSV Attribute Error Code INT ASA Error code returned by erred set
attribute list service to the module.
GSV/SSV Access Attribute Name Data Type Values
GSV Attribute Error ID INT Attribute ID associated with non-zero
Attribute Error Code.
GSV/SSV Access Attribute Name Data Type Values
GSV SERCOS Error Code INT Error code returned by SERCOS
module indicating source of drive
parameter update failure.