ErrorID
Cause of error
ACCESS
Access not allowed: Writing to specific parameters in phase 4 or incorrect phase, no
enable signal, etc.
OTHER
Error output is TRUE, but error number not set
SYSTEM
System error, e.g., operating system: memory administration. Firmware error, e.g.,
specific block instantiated several times or too many real-time variables used
Tab. 4-7:
Standard function block error codes and causes
"ErrorIdent"
The "ErrorIdent" output facilitates detailed error diagnostics. The values of
the output are ERROR_STRUCT type, which consists of the following ele‐
ments:
●
"Error.Table": Enumerator, 15 bits with reservations per system and
user range; characterizes the "error table" from which error numbers are
entered in "ErrorAdditional"
●
"Error.Additional1": DWORD, with different assignment according to "Er‐
rorTable", e.g., sercos errors
●
"Error.Additional2": DWORD, possibly as additional error information ac‐
cording to "ErrorTable"
Element
Element data type
Description
Table
ERROR_TABLE
The value of the element "Table" contains the information with which error table
(IndraDrive, sercos or MLD-S) the error code of the element "Additional1" has
to be interpreted
Additional1
DWORD
The element "Additional1" contains the error code for precisely specifying the
error that has occurred
Additional2
DWORD
"Additional2" contains additional information (if available)
Tab. 4-8:
Output structure "ErrorIdent" of ERROR_STRUCT type
The structure and its elements have been defined in the "Com‐
monTypes" library and have the default value of "0".
Notes on application and programming
Resetting errors in MLD
Errors can be reset in MLD as follows:
●
Via the function block "MC_Reset" at all axes, individually for each axis.
●
Via the function block "MB_ClearAllError" at all axes and I/O modules
- or -
●
Via PLC reset (cf. P-0-1350); all axis errors are reset, either only the
error flag or by C05 command.
This behavior is compatible with IndraMotion MLC.
Displaying errors
If errors are detected when slaves are commanded with motion function
blocks, they are displayed by device in the commanding device, i.e., the
MLD-M master. If an error occurs in the slave, it is primarily displayed in the
slave.
Suppressing PLC error messages
during boot-up
Proceed as follows to prevent a PLC boot project from starting automatically
in order to avoid unwanted PLC error messages:
●
Before "Boot 2.9" appears on the control panel, press and hold the
<ESC> and <ENTER> keys at the control panel at the same time.
Bosch Rexroth AG
DOK-INDRV*-MLD3-**VRS*-AP02-EN-P
74/267
Rexroth IndraDrive Rexroth IndraMotion MLD (2G) as of MPx-18
Basic functions of Rexroth IndraMotion MLD
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01