APR Fault Attributes
This attribute table has all APR (Absolute Position Recovery) faults that relate to attributes associated with a Motion Device Axis. This includes standard APR faults and
Rockwell Automation
specific APR faults. APR Faults are conditions during device initialization when restoring the absolute position of an axis. Unlike Initialization Faults, APR faults are recoverable. Clear APR faults 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 faults. An APR fault generates 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 does not correlate to the position of the axis prior to the power cycle, reset, or reconnect. Feedback serial number mismatch and scaling configuration are examples of standard APR faults. APR faults are recoverable. Clear APR faults 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 |
The CIP APR Faults - RA attribute is a bit mapped value that represents the state of all
Rockwell Automation
specific APR (Absolute Position Recovery) faults. An APR fault generates when the system does not 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 does not correlate to the position of the axis before the power cycle, reset, or reconnect. These faults are specific to Rockwell Automation
APR implementation. APR faults are recoverable. Clear APR faults with a Fault Reset request.Standard APR Faults
This table defines a list of standard faults associated with the APR Faults attribute.
Standard APR Fault Descriptions
Bit | Exception Name | Description |
|---|---|---|
0 | -- Reserved -- | This bit is not used. No fault condition is present. |
1 | Memory Write Error | Error occurs when saving absolute position data to nonvolatile memory. |
2 | Memory Read Error | Error occurs when reading absolute position data from nonvolatile memory. |
3 | Feedback Serial Number Mismatch | Position Feedback Serial Number does not match the Feedback Serial Number. |
4 | Buffer Allocation Fault | Occurs when there is not enough RAM memory left to save the APR data. |
5 | Scaling Configuration Changed | Scaling attribute configuration for this axis changes and does not match the saved scaling configuration. |
6 | Feedback Mode Changed | Feedback Mode has changed and does not match the saved Feedback Mode configuration. |
7 | Feedback Integrity Loss | The Feedback Integrity bit of CIP Axis Status attribute has transitioned from 1 to 0 during device operation. |
8 | Feedback Position Range Changed | Absolute position feedback range has changed due to the extension of the position feedback data type from the drive from a 32-bit DINT to a 64-bit LINT as a result of a drive firmware update, and the absolute feedback range of the feedback device being greater than 2 32 feedback counts. |
9-15 | -- Reserved -- |
Rockwell Automation
Specific APR FaultsThis table defines a list of
Rockwell Automation
specific faults associated with the APR Faults-RA attribute.Bit | Exception Name | Description |
|---|---|---|
0 | -- Reserved -- | This bit cannot be used since the Fault Code is defined by the associated exception bit number and Fault Code of 0 means no fault condition is present. |
1 | Persistent Media Fault | (L6x) means that all 6 sectors reserved for APR in Persistent Memory (for example, NAND flash) are marked as bad. This fault condition is not recoverable. |
2 | Firmware Error | Traps firmware errors. |
3 | Feedback Battery Loss | Battery powered Absolute Feedback device has failed to maintain absolute position through a power cycle due to low battery level or disconnected battery power. |
4 | Mover Sequencing Without Reference | A controller detects the Mover Axis Assignment Sequence attribute is configured to sequence movers on the track without a Reference Mover. |
5 | Mover Assignment Sequence Changed | A controller detects a change to the Mover Axis Assignment sequence attribute. |
6-15 | -- Reserved -- |
The APR Fault exception names in the preceding tables have corresponding
Logix Designer
APR Fault tag names. The naming conventions for the tag names remove the spaces from the fault bit name and then append the APRFault suffix. For example Memory Write Error becomes MemoryWriteErrorAPRFault.Provide Feedback