Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide Getting Started
Version 1.4
Aerotech, Inc.
2-13
Table 2-5. Axis Faults
Bit Hex Value Fault Name Description
0 0x1 Position Error Limit Difference between instantaneous commanded position and actual
position exceeds the amount specified in the POSERRLIMIT
parameter.
1 0x2 RMS Current Limit Average current exceeds the amount specified in the IAVGLIMIT
parameter averaged over IAVGTIME parameter.
2 0x4 CW Hard Limit The system encountered the CW (clockwise) limit switch. (see
IOLEVEL parameter)
3 0x8 CCW Hard Limit The system encountered a CCW (counter clockwise) limit switch. (see
IOLEVEL parameter)
4 0x10 CW Soft Limit The user commanded an axis to move beyond the position specified in
the CWEOT (clockwise end-of-travel) axis parameter.
5 0x20 CCW Soft Limit The user commanded the axis to move beyond the position specified
in the CCWEOT (counter-clockwise end-of-travel) axis parameter.
6 0x40 Drive Fault Drive fault input. (see IOLEVEL parameter) However, after clearing
the drive fault input, this bit continues to reflect the fact that the fault
occurred.
7 0x80 Feedback Fault Feedback failure input from the feedback associated with the axis.
This typically occurs when the feedback device is not functioning
properly, or the feedback cable is disconnected.
8 0x100 Programming Fault Axis processor received an invalid command from the PC host. These
only occur when processing programming commands from programs
running on the PC (U600MMI, AerDebug). Refer to the UNIDEX 600
Series Library Reference, P /N EDU156 under “Programming errors”.
9 0x200 Master Feedback Fault Feedback failure input from the feedback channel associated with the
axis configured as a master. This usually occurs when the feedback
device on the master axis is defective, or the cabling is bad.
10 0x400 Home Fault System encountered a homing fault. This typically occurs for either of
two reasons: while executing a home cycle the home limit switch input
was not detected; or when the system encounters an end-of-travel limit
switch before the first resolver null or marker pulse.
11 0x800 User Fault Application has requested a fault be generated with the
AerProgSetUserFault( ) function. It provides a way for a programmer
to generate an axis fault from within a C/C++ or VB application
program.
12 0x1000 Velocity Trap Actual velocity exceeded the value specified in the VELTRAP axis
parameter.
13 0x2000 Velocity Command
Trap Instantaneous commanded velocity exceeded the value specified in the
VELCMDTRAP axis parameter.
14 0x4000 Home Tolerance Fault Distance traveled from when the system detected the marker pulse (or
the Resolver null), until the system encountered the home limit switch
is less than the value specified in the HOMESWITCHTOL parameter.
This occurs during a homing sequence.