Y_GP_GroupStatus
This function block monitors all alarms from various areas of the system which could affect group operation. It is used within the
Y_GP_GroupControl
function block.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| V | ControllerAlarm | BOOL | Indicates a controller side axis alarm. | |
| V | ControllerAlarmID | UDINT | Indicates the controller Alarm ID number, such as 3302 0018. (shown in hex.) Refer to the Controller Alarm ID List for troubleshooting. | |
| V | GroupError | BOOL | Indicates a group alarm. | |
| V | GroupErrorClass | UINT | The error class indicates the source of the error. For more information, refer to the Controller Alarm ID List. | |
| V | GroupErrorID | UINT | Indicates the group alarm ID number. | |
| V | GroupErrorSubCode | UDINT | If using a remote hosted Robot Controller via MotomanSync, this output reports additional error details. | |
| V | AxisAlarm | BOOL | Indicates an axis alarm. | |
| V | AxisErrorClass | UINT | The error class indicates the source of the error. For more information, refer to the Controller Alarm ID List . | |
| V | AxisErrorID | UINT | Indicates the axis alarm ID number. | |
| V | AxisWarnings | BOOL | Indicates an axis warning. | |
| V | AxisWarningID | UINT | Indicates the axis warning ID number. See notes for more information. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Notes
- If AxisErrorClass has a value of 16#3302 or 16#3303 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 AxisErrorClass is some value other than 16#3302 or 16#3303 the source of the problem is on the controller side. Refer to the Controller Alarm ID List.
- AxisWarnings are related to the amplifier, please refer to the corresponding manuals for details of the warnings.
- There is no distinction between Alarms and Errors; they have the same meaning.
Error Description
See the Function Block ErrorID List.
Example
Example showing the errors in the group after a move is attempted with velocities and accelerations exceeding the servo limits.
