Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 279
The following attribute tables contain fault and alarm related attributes associated
with a Motion Control Axis Object instance.
The following attribute table contains all APR (Absolute Position Recovery) fault
related attributes associated with a Motion Device Axis, including standard APR
faults and Rockwell Automation specific APR faults. APR Faults are conditions
that can occur during the device initialization process when trying to restore the
absolute position of an axis. Unlike Initialization Faults, these faults are
recoverable and may be cleared with a Fault Reset request.
CIP APR Faults
Usage Access T
Data
Type
Default Min Max Semantics of Values
Optional - E Get/GSV T WORD - - - Bit map:
0 = Reserved
1 = Memory Write Error
2 = Memory Read Error
3 = Feedback Serial Number
Mismatch
4 = Buffer Allocation Fault
5 = Scaling Configuration Changed
6 = Feedback Mode Changed
7 = Feedback Integrity Loss
8...15 = Reserved
The CIP APR Faults attribute is a bit mapped value that represents the state of all
standard APR (Absolute Position Recovery) faults. An APR fault is generated
when the system fails to recover the absolute position of the axis after power cycle,
reset, or reconnection. APR faults are detected during the initial configuration or
initialization of the drive axis.
When an APR fault occurs, the actual position of the axis is no longer correlated
to the position of the axis prior to the power cycle, reset, or reconnect. Examples of
standard APR faults are feedback serial number mismatch, and scaling
configuration change. APR faults are recoverable and can be cleared with a Fault
Reset request.
CIP APR Faults - RA
Usage Access T
Data
Type
Default Min Max Semantics of Values
Optional - E Get/GSV T WORD - - - Bit map:
0 = Reserved
1 = Persistent Media Fault
2 = Firmware Error
3 = Feedback Battery Loss
4...15 = Reserved
Attributes
To Next Page
Loading...
Need help?
General
