TPM EasyPAC, User Manual, Page: 134 / 223

TPM
EasyPAC User Manual
134
6.6.2. Error Handling
All access to the drive/motion control is via Function Blocks. Internally these Function Blocks provide basic
error checking on the input data.
Figure 6-70: function blocks with error handling
6.6.3. Function Block Interface
General rules
The following table provides general rules about the interface of the Motion Control function blocks.
Output exclusivity
When 'Execute' is true, the outputs ‘Busy’, ‘Done’, ‘Error’ and ‘CommandAborted’ are mutually exclusive.
Output status
The 'Done', InVelocity, 'Error', 'ErrorID' and 'CommandAborted' outputs are reset with the falling edge of
'Execute'. However, the falling edge of 'Execute' does not stop or even influence the execution of the actual FB.
The corresponding outputs are set for at least one cycle if the situation occurs, even if execute was reset before
the FB completed. If an instance of a FB receives a new 'Execute' before it finishes (as a series of commands