Rockwell Automation GMLC Reference Manual - Manual (Page 786)

Publication GMLC-5.2 - November 1999
Using Block Transfers 749
See Getting Data from the Motion Controller in this chapter for more
information on the format of returned values.
Fault and Status Codes
When getting the fault code for an axis, always specify 1001 hex (for 16-
bit integer numeric format, 0 decimal digits, and 1 item) in word 2 of the
BTW data file for the transfer.
For the status code, specify 1001 hex (for 16-bit integer numeric format, 0
decimal digits, and 1 item) in word 2 of the BTW data file only if the
AxisLink option is not being used. To get all 17 bits of the status code, a
numeric format (f) of something other than 1 or 5 must be entered in the
upper nibble of word 2 (fxxx) In addition, for the status code as well as the
fault code, the returned value is binary coded and is not the same as the
Axis_fault or Axis_status system variable in GML Commander.
Unlike the prioritized scheme used in GML Commander for reporting
faults and status (in which the value is equal to the highest priority active
condition), a linear bit select scheme is used with RIO block transfers.
Thus, each bit position represents a specific fault or status condition and
multiple conditions can be reported to the PLC in one BTR. In all cases, if
the specific fault or status is true, the bit is
ON (1), and OFF (0) if not.
The fault indicated by each bit in the fault code returned value is identical
to the GML Commander fault variable shown in the following table.