Motion Error Codes, faults, and attributes
596 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
OutputOffset REAL GSV/SSV G9/Configuration
The fixed value used to offset the drift caused by the cumulative drive offsets of
the servo module DAC output and the servo drive input. This value added is to the
Servo Output.
PositionCommand REAL GSV G11/Status
Within the Servo Loop, this attribute is used to control the position of the axis.
PositionDataScaling INT GSV G10/Configuration
This advanced scaling attribute maps directly to the SERCOS IDNs. It is
automatically configured to the appropriate default. It is read-only
PositionDataScalingExp INT GSV G10/Configuration
This advanced scaling attribute maps directly to the SERCOS IDNs. It is
automatically configured to the appropriate default. It is read-only.
PositionDataScalingFactor DINT GSV G10/Configuration
This advanced scaling attribute maps directly to the SERCOS IDNs. It is
automatically configured to the appropriate default. It is read-only.
PositionError REAL GSV G11/Status
The difference between the actual and command position of a servo axis.
You can use this in conjunction with other error terms, to drive the motor to
where the actual position equals the command position in an active servo loop.
PositionErrorFaultAction SINT GSV/SSV G11/Configuration
Sets the type of operation performed when a position error fault occurs.
Value: Meaning:
0 = shutdown – most severe action to a fault and is reserved for faults that could
endanger machinery or personnel.
1 = disabled drive – when the fault occurs the drive is immediately disabled, the
servo output zeroed, and drive enable is output is deactivated
2 = stop command – when fault occurs the axis immediately begins decelerating
the axis command position to a stop at the configured Maximum Deceleration
Rate without disabling servo action or the servo module’s Drive Enable Output.
This is the gentlest stopping action for a fault.
3 = status only – when set to status only, motion faults must be handled by the
application program
PositionErrorTolerance REAL GSV/SSV G11/Configuration
Specifies the amount of position error that the servo/drive tolerates before issuing
a position error fault. It is interpreted as a ± quantity. A value of 0.75 position
units means that an error is generated when the position error is greater than
0.75 or less than -0.75.
PositionFeedback REAL GSV G11/Status
Represents the current position of the axis within the servo loop.
PositionIntegralGain REAL GSV/SSV G11/Configuration
Improves the steady-state performance of the system. It achieves accurate axis
positioning despite disturbances such as static friction and gravity. Increasing the
integral gain increases the ultimate positioning accuracy of the system. Increase it
too much though and you get system instability.
PositionIntegratorError REAL GSV G11/Status
The running sum of the Position Error for the specified axis.
You can use this in conjunction with other error terms, to drive the motor to
where the actual position equals the command position in an active servo loop.
PositionLockTolerance REAL GSV/SSV G11/Configuration
Specifies how much position error that the servo/SERCOS module tolerates when
giving a true position locked status indication. Used in conjunction with the
PositionLockedStatus bit, it is useful in controlling position accuracy. It is
interpreted as a ± quantity. A value of 0.01 inches means that an error is
generated when the position error is greater than 0.01 or less than -0.01
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