Axis errors from the motion controller

The motion controller uses the axis-specific interfaces of the HLI to provide messages about an axis for the PLC. The information is exchanged via a data structure of the type HLI_ERROR_SATZ.

TYPE HLI_ERROR_SATZ :
  STRUCT
    error_id : UDINT; (*error identification*)
    fb_zeitangabe : HLI_FB_ZEITANGABE; (*system time an error occured*)
    bf_type : WORD; (*BF-type*)
    behebungs_klasse : WORD; (*error trouble shooting classification*)
    reaktions_klasse : WORD; (*error reaction classification*)
reserved : WORD;
  END_STRUCT;
END_TYPE

Instances of the FB MCV_Axis check this axis-specific area in every PLC cycle because these are instanced in the MCV_P1_PLATFORM program and must be integrated first in the PLC task in conformity with the explanations in Section Function block MCV_P1_PLATFORM of this program description. The MCV_Axis extracts every newly occurring message and transfers it to the AXIS_REF structure of the assigned axis, which contains one field for six data structures of the type HLI_ERROR_SATZ.

If a message has been classified as an error, the MCV_Axis instance sets the current state of the axis state diagram (AXSD) to ERROR_STOP.

Axis errors from the motion controller 1:

All messages with value of variable behebungs_klasse > 0 are error messages.If the value of variable behebungs_klasse = 0, the message is a warning.

The ERROR_STOP state is detected by the other PLCopen FB instances to which the same axis is assigned. Consequently, these set their "Error’ output variable to TRUE and the value 1 (FB_ERR_MC_AXIS, s. [3]) is indicated at the ‘ErrorID’ output variable.