MOTION_GROUP Structure
There is one MOTION_GROUP structure per controller. This structure contains status information about the group. Every motion instruction references the same MOTION_GROUP structure.
Mnemonic | Data Type | Description | |||
.GroupStatus | DINT | The status bits for the group. | |||
Bit | Number | Data Type | Description | ||
.InhibStatus | 00 | DINT | inhibit status | ||
.GroupSynced | 01 | DINT | synchronization status | ||
.AxisInhibitStatus | 02 | DINT | |||
-no-tag | 02 | DINT | Timer Event started | ||
Reserved | 03-31 | ||||
.MotionFault | DINT | The motion fault bits for the group. | |||
Bit | Number | Data Type | Description | ||
.ACAsyncConnFault | 00 | DINT | asynchronous connection fault | ||
.ACSyncConnFault | 01 | DINT | synchronous connection fault (controller declared) | ||
Reserved | 02-31 | ||||
.ServoFault | DINT | The servo-module fault bits for the group. | |||
Bit | Number | Data Type | Description | ||
.POtrvlFault | 00 | DINT | positive overtravel fault | ||
.NOtrvlFault | 01 | DINT | negative overtravel fault | ||
.PosErrorFault | 02 | DINT | position error fault | ||
.EncCHALossFault | 03 | DINT | encoder channel A loss fault | ||
.EncCHBLossFault | 04 | DINT | encoder channel B loss fault | ||
.EncCHZLossFault | 05 | DINT | encoder channel Z loss fault | ||
.EncNsFault | 06 | DINT | encoder noise fault | ||
.DriveFault | 07 | DINT | drive fault | ||
.SynConnFault | 00 | DINT | synchronous connection fault
(servo declared) | ||
.HardFault | 01 | DINT | servo hardware fault | ||
Reserved | 02-31 | ||||
.GroupFault | DINT | The fault bits for the group. | |||
Bit | Number | Data Type | Description | ||
.GroupOverlapFault | 00 | DINT | group overlap fault | ||
.CSTLossFault | 01 | DINT | the controller has lost synchronization with the CST master | ||
.GroupTaskLoadingFault | 02 | DINT | the group coarse update period is too low; user application tasks are not getting enough time to execute | ||
Reserved | 03-31 | ||||
AxisFault | DINT | The faults bit for the axis. | |||
Bit | Number | Data Type | Description | ||
.PhysicalAxisFault | 00 | BOOL | A Servo or Drive fault has occurred. | ||
.ModuleFault | 01 | BOOL | A serious fault has occurred with the motion module associated with the selected axis. Usually affects all axes associated with the motion module. | ||
.ConfigFault | 02 | BOOL | One or more axis attributes associated with a motion module or drive has not been successfully updated to match the value of the corresponding attribute of the local controller. | ||
Reserved | 03-31 | ||||
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