SM-Applications Modules & Motion Processors User Guide 115
Issue Number: 4
Safety
Information
Introduction Installation
Getting
Started
Parameters
DPL
Programming
Communications
Freeze and
Marker
CTSync
Inter-option
Synchronization
Diagnostics
Migration
Guide
Quick
Reference
Index
11.4 Handling Run-Time Errors with the ERROR task
Certain run-time errors will cause the DPL ERROR task to be invoked if it exists. This
provides a convenient way to safely handle the error condition and take whatever action
is necessary, such as a controlled stop of the system or signalling of an alarm.
When an ERROR task runs, all other DPL tasks will have been stopped. Therefore the
ERROR task has exclusive execution rights. Once the ERROR task has completed, the
DPL program ends and no other DPL tasks operate (though it is possible to reset and
restart the program - more details on this below).
Within the ERROR task all standard DPL commands may be used as well as most
function blocks. All Unidrive SP and Second Processor parameters can be accessed.
The run-error code can be determined using this parameter:
This parameter has two purposes - when read it will return the run-time error code the
same as Pr
81.50 (note - it will not return drive trip codes). The parameter is cleared to
zero on reset and when the user program execution is started.
74 Over-temperature Yes Yes Yes
75
Hardware unavailable. The user program attempted to
access unavailable hardware. e.g. if access is made to
digital I/O, RS485 port or CTNet on SM-Applications Lite
module.
Yes Yes Yes
76
Module type cannot be resolved. Module is not
recognised.
Yes No Not Run
77 Inter-Option module comms error with module in slot 1. Yes Yes Yes
78 Inter-Option module comms error with module in slot 2. Yes Yes Yes
79 Inter-Option module comms error with module in slot 3. Yes Yes Yes
80
Inter-Option module comms error with module unknown
slot.
Yes Yes Yes
81
• Slot selected as the reference or feedback does not
contain a position option module
• Attempt to change the Reference source or the
Feedback source in more than one task.
APC internal error. See Pr
81.38. This may be caused by
one of the following:
• CAM table too small
• A change of too many CAM segments has occurred
at the CAM table input
• CAM is selected but size is zero
• CAM absolute mode selected and Reset Index or
Reset Position in segment is out of range
May Yes Yes
82 Communcations to drive faulty. May Yes Yes
Table 11-2 SM-Applications Modules & Motion Processors Error Codes
Error
Code
Reason
Trip
Drive?
ERROR
task?
Prog
Halted?
Drive trips do not cause the ERROR task to run. Only certain DPL program errors do.
Pr 88.01 Error Status / Reset
Access
RW Range 0 to 9999
Default N/A Update Rate On error
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