ID 40002

Axes group specific MC error.

Description

Due to an error in the Motion Controller, the axis group is in the state GroupErrorStop, according to the state diagram defined in the PLCopen specification for axis groups [MCP-P4//Chapter: PLCopen axis group state model].

The FB whose job resulted in the error in the Motion Controller and applied this axis group as a reference to its “AxesGroup” input displays this error code at its “ErrorID” output pin and sets the “Error” output to TRUE.

Response

Class

-

The reaction of the motion controller depends on the concrete occurred error.

Solution

Class

-

To diagnose which specific axis group error has occurred in the Motion Controller, the output "GroupErrorID" of an FB of type MC_GrpReadError must be evaluated, which has this axis group assigned at the input "AxesGroup" as axis group reference.

The error can be reset by executing an instance of the MC_GrpReset for this group of axes.

Error type

-