Slaves Error Management

Technosoft Motion Controller implements a new slave error handling mechanism based on drives/motors ability to report automatically their status to the motion controller. The slaves send error status messages when a bit change is occurs in slave’s MER register.

The conditions that trigger messages transmission can be specified individually for each slave axis through MER_MASK parameter. The MER masks can be changed anytime during TML application execution.

When the motion controller receives an error status message it saves the error code together with the slaves ID in a circular buffer located in RAM memory. A buffer record has 16-MSB with slave ID and 16-LSB with slave’s MER. The errors buffer can store up to 8 errors, if more errors are received then the oldest one is overwritten.

The error codes can be retrieved from memory with GETERROR command and saved in non-volatile memory with SAVEERROR command.

The reception of error messages can trigger also a TML interrupt on motion controller, Int12 – Error occurred on slaves. With this mechanism the user is free to define the actions executed by the motion controller when an error occurs on the slaves.