Motion Error Codes, faults, and attributes
598 Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018
ProgrammedStopMode SINT GSV/SSV G8/Configuration
Determines how a specific axis is to stop when the ControlLogix processor has a
critical processor mode change or when an explicit MGS instruction is executed
with its stop mode set to programmed.
Value: Meaning:
0 = Fast Stop (default) – the axis decelerates to a stop using the configured
value for Maximum Deceleration. Servo action is maintained after the axis motion
has stopped.
1 = Fast Disable – the axis decelerates to a stop using the configured value for
Maximum Deceleration. Servo action is maintained after the axis motion has
stopped at which time the axis is disabled, that is, DriveEnable disabled and Servo
Action disabled.
2 = Hard Disable – the axis is immediately disabled, that is, Drive Enable
disabled, Servo Action disabled, but the OK contact is left closed. Unless the drive
is configured to provide some form of dynamic braking, the axis coasts to a stop.
3 = Fast Shutdown – the axis decelerates to a stop using the configured value
for Maximum Deceleration. Once the axis motion is stopped the axis is placed in a
shutdown state, such as, Drive Enable disabled, servo action disabled, and the OK
contact open. To recover from the shutdown state you must execute either an
MASR or MGSR instruction.
4 = Hard Shutdown – The axis is immediately placed in a shutdown state such
as, Drive Enable disabled, servo action disabled, and the OK contact open. Unless
the drive is configured to provide some form of dynamic braking, the axis coasts
to a stop. To recover from the shutdown state you must execute either an MASR or
MGSR instruction.
Registration1Position REAL GSV G1/Status
The absolute position of a physical or virtual axis at the occurrence of the most
recent registration event for that axis.
You can use the following equation to determine the maximum registration
position error based on your axis speed:
MaximumSpeed(PositionUnits/Seconds) = (Accuracy(PositionUnits))/Delay
Registration1Time DINT GSV G1/Status
Contains the lower 32 bits of CST time at which the registration event occurred.
Registration2Position REAL GSV G1/Status
The absolute position of a physical or virtual axis at the occurrence of the most
recent registration event for that axis.
You can use the following equation to determine the maximum registration
position error based on your axis speed:
MaximumSpeed(PositionUnits/Seconds) = (Accuracy(PositionUnits))/Delay
Registration2Time DINT GSV G1/Status
Contains the lower 32 bits of CST time at which the registration event occurred.
RotaryAxis SINT GSV/SSV G1/Configuration
Sets when the axis is Linear or Rotary. When set to true (1), it enables the rotary
unwind capability of the axis providing limitless position range. When set to false
(0), it indicates linear operation with a maximum total linear position range is 1
billion feedback counts before it rolls over to zero.
Value: Meaning:
0 Linear
1 Rotary
RotationalPosResolution 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.
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