Programming interpolation
Fault management
Introduction Fault monitoring is essential for axis command tasks, due to the inherent risks posed by active moving parts.
The moving part carries out checks internally and automatically.
Fault monitoring for interpolated axes
TSX CAY 33 channel 3 does not have a specific fault.
Fault information indicated by this channel is the logic OR of faults on axes configured in the interpolated movement (channel 0 and 1 faults in the case of 2 axis interpolation; channel 0, 1 and 2 faults in the case of 3 axis interpolation).
Fault information Fault information is as follows:
Fault information
Emergency stop
Speed drive fault
Encoder break
Analog output short circuit
Auxiliary output short-circuit
Encoder supply
24 V supply
Absolute encoder frame
Software Lo limit
Software Hi Limit
Overspeed
Blocking following error
Non-blocking following error
Recalibration on the fly deviation
TW Debugging window
TSTOP Stopping speed
Bit
%MWxy.3.3:X5
%MWxy.3.3:X2
%MWxy.3.3:X4
%MWxy.3.3:X0
%MWxy.3.3:X1
%MWxy.3.3:X3
%MWxy.3.3:X6
%MWxy.3.3:X7
%MWxy.3.3:X9
%MWxy.3.3:X8
%MWxy.3.3:X10
%MWxy.3.3:X11
%MWxy.3.3:X15
%MWxy.3.3:X12
%MWxy.3.3:X13
%MWxy.3.3:X14
Note: Channel fault feedback for channel 3 is the same as that for an independent axis.
Fault information is only refreshed during the execution of a READ_STS instruction
(%Chxy.3).
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Programming interpolation
Levels of severity
Fault programming
Fault indicating
Faults are classed in 2 levels of severity: l Critical or blocking faults which cause the moving part to stop. The following processes then occur: l l the fault is indicated, the moving part slows down until analog output is zero, l deactivation of the speed drive enable relay, l clearing of all memorized commands, l wait for acknowledgement.
The fault must have disappeared and been acknowledged before the application can be re-started.
l Non-critical faults which give rise to fault indication without stopping the moving part. The PL7 must be programmed with what action to take in the event of this type of fault.
The fault indication disappears when the fault itself has disappeared and been acknowledged.
Faults can be viewed, corrected, and acknowledged from the debugging screen.
However it can be useful to be able to guide the moving part and correct faults from a console during operation. For this purpose, all the information and commands necessary are available within the application.
l l
The module supports a wide range of information in the form of bits and status words, all accessible through the PL7 program. These bits are used to process faults in hierarchical order : to act on the main program, to simply indicate the fault.
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Level of indicating
Programming interpolation
2 indicating levels are provided:
First level: general information
Bit
%Ixy.3.ERR
AX_OK (%Ixy.3.3)
AX_FLT (%Ixy.3.2)
HD_ERR (%Ixy.3.4)
AX_ERR (%Ixy.3.5)
CMD_NOK (%Ixy.3.6)
Error
Channel fault
No blocking error (with moving part stop) is detected
Fault (assembles all faults)
External hardware error
Application fault
Command refused
Second level: detailed information
Channel fault status word (%MWxy.3.3)
Note: With a blocking fault, it is advised to stop the changing sequential processing which is associated with the axes, and correct the fault. Correcting the fault must be followed by a fault acknowledgement.
Fault acknowledgeme nt
When a fault appears on one of the interpolated axes: l The axis fault bits: AX_FLT (%Ixy.i.2), HD_ERR (%Ixy.i.4), AX_ERR (%Ixy.i.5) and STATUS (%MWxy.i.3:Xj), as well as the faults bits associated with interpolating: AX_FLT (%Ixy.3.2), HD_ERR (%Ixy.3.4), AX_ERR (%Ixy.3.5) and
STATUS (%MWxy.3.3:Xj) are set to 1.
l If the fault is a blocking fault, the AX_OK bit is set to 0.
When the fault disappears, all fault bits retain their status. Faults are stored until they have been acknowledged through setting to 1 of the ACK_DEF bit (%Qxy.i.8, where i = channel number which has the fault) or the ACK_DEF interpolation channel bit
(%Qxy.3.8). Setting to 1 of the channel 3 ACK_DEF bit generates acknowledgement for all interpolated axes. Fault acknowledgement must be carried out after the fault has disappeared (except for soft stop faults).
If several faults are detected, the acknowledgement order will only act upon faults which have effectively disappeared. Persisting faults must by acknowledged again after their disappearance.
Note: Channel 3 (interpolator) does not store faults.
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