MC_ReadAxisError

The MC_ReadAxisError function block reports axis alarms and warnings. The ErrorClass output designates the source of the alarm or warning. The AxisErrorID output contains the error code.

Parameters

*	Parameter	Data Type	Description	Default
VAR_IN_OUT
B	Axis	AXIS_REF	Logical axis reference.
VAR_INPUT
B	Enable	BOOL	The function block will continue to execute every scan while Enable is TRUE and there are no errors.	FALSE
VAR_OUTPUT
B	Valid	BOOL	The Valid output indicates that the function block is operating normally and the outputs of the function block are valid.
E	Busy	BOOL	For function blocks with Execute input, the Busy output is set to TRUE upon the rising edge of the Execute, and set to FALSE when Done, CommandAborted or Error outputs becomes TRUE. In the case of a function block with an Enable input, Busy indicates that the function block is operating, but may not be ready to provide valid outputs.
B	Error	BOOL	The Error output is set to TRUE if an error has occurred during the operation of the function block. The output is cleared when the Execute or Enable input becomes FALSE.
E	ErrorID	UINT	The ErrorID output provides the identifier of the error when there is an active error in the function block execution. The output is cleared when the Execute or Enable input becomes FALSE.
B	AxisErrorID	UINT	The value of the axis error. Errors are generated by either the drive or the controller, based on the value of ErrorClass.
E	ErrorClass	UINT	See the Notes section below for a detailed description.

Notes

If ErrorClass has a value of 16#3302, 16#3303, 16#4302, or 16#4403, then the source of the problem is the amplifier. Sigma alarms are documented in the Sigma Series user manuals. Please refer to the corresponding manuals for details regarding servo amplifier errors to look up the alarm code shown at AxisErrorID output.
- Sigma-7S EtherCAT core manuals (100/200V and 400V): Sigma-7S EtherCAT product manuals, Section 15.2
- Sigma-7W EtherCAT core manuals (400 V): Sigma-7W EtherCAT product manual, Section 15.2
If ErrorClass is some value other than 16#3302, 16#3303, 16#4302, or 16#4403, the source of the problem is on the controller side. Refer to the Controller Alarm ID List.
For VFDs and servos with ProfiNet option cards:
- ErrorClass output is not supported. All reported faults are obtained from the drive. See documentation of the SI-EP3 card
For VFDs with Modbus RTU connection:
- Two error registers are read out: Minor Fault (16#007F) and General Fault (16#0080)
  ErrorClass UINT#1 refer toGeneral Fault
  ErrorClass UINT#2 refer toMinor Fault
  AxisErrorID: Regarding the meaning of the code number, pleaserefer to the inverter documentation.

GA800 manual

Further details of the communication management to Yaskawa Drives and Generic Devices are described here: Modbus RTU Communication Details for Drives and generic Modbus Devices

Error Description

See the Function Block ErrorID List

Example

MC_ReadAxisError reading the error on Axis 1. The outputs AxisErrorID and ErrorClass are in decimal form. Converted to hexadecimal, AxisErrorID and ErrorClass correspond to 16#0A11 and 16#3303, respectively. In this case, it appears that there is an issue with the EtherCAT state.

The Logic Analyzer trace for the above example is shown below: