ACL 4/52 Software Interface Guide
Document 6211225-03
Version 3.0
2-14
Error Recovery Procedures
Error Recovery Procedures
Internal Error Recovery
If a failure occurs during a movement command, the software
attempts to recover. The following are types of retries and recovery
efforts:
•
If an actuator is not in a valid starting position at the start of any
movement command, the software attempts to home the actuator
before starting the command. If the home is successful, the
command is continued. (SK=B ASC=81 ASCQ=10, SK=B ASC=83
ASCQ=10, SK=B ASC=84 ASCQ=10, SK=B ASC=86 ASCQ=10)
•
If an actuator movement fails because of a current feedback,
actuator timeout or mechanical position error, the actuator move is
retried. If the retry is successful, the command is continued. (SK=B
ASC=81 ASCQ=00-05, SK=B ASC=83 ASCQ=01-03, SK=B ASC=84
ASCQ=01, SK=B ASC=84 ASCQ=03, SK=B ASC=86 ASCQ=01,
SK=B ASC=86 ASCQ=03, SK=B ASC=86 ASCQ=07)
•
If a drive does not eject a DLT™ far enough for it to be fully
gripped, the software will make several attempts to pull the DLT™
out of the drive. It closes the gripper on the DLT™, pulls it out
slightly and then attempts again to pull it out of the drive. (SK=B
ASC=81 ASCQ=51)
•
If the pick portion of a move command fails and the DLT™
appears to be in the gripper, the command is continued and the
place completed if possible. If the place fails as well, only the
original pick error code is returned.
•
If a place into a drive fails because of an extension axis current
feedback error, the extension axis is retracted and the “place” is
attempted one additional time before the error is reported. (SK=B
ASC=83 ASCQ=02)
Operator Recovery
Refer to Document 6211222, ACL 4/52 Operator’s Guide, for suggested
operator recovery procedures.