280 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
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 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. These faults are specific to Rockwell
Automation APR implementation. APR faults are recoverable and can be cleared
with a Fault Reset request.
Standard APR Faults
The following 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 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 Memory Write Error Error in saving absolute position data to NV memory.
2 Memory Read Error Error in reading absolute position data from NV memory.
3
Feedback Serial Number
Mismatch
Position Feedback Serial Number does not match saved Feedback Serial
Number.
4 Buffer Allocation Fault Caused when there is not enough RAM memory left to save APR data.
5
Scaling Configuration
Changed
Scaling attribute configuration for this axis has changed 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...15 -- Reserved --
Rockwell Automation Specific APR Faults
The following 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 is not a recoverable fault
condition.
2 Firmware Error Used to trap firmware errors that should never happen.
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