4. Motion Control Instructions 4.4.9. MC_Reset MC_Reset is applied to clear the axis error state in 10MC and the axis alarm information. When virtual axis or axis configured in 10MC enters the state of ErrorStop which could be found via MC_ReadStatus, MC_Reset just can be executed. Otherwise, the error will be alarmed by executing the instruction. Explanation of the Instruction: When axis alarms, offline or state machine switching problem happen, axis enters the state of ErrorStop and the motion instructions being executed will stop being executed. When axis alarms, executing the instruction could clear the alarm information of axis.
After the execution of the instruction is finished, the axis status enters the state of Disable. For axis status explanation, see section 4.2. When D6532=1, the alarm axis enters the state of ErrorStop in 10MC after axis alarms (excluding the alarm for meeting the limit in process of homing). After the instruction is executed, the axis alarm can be eliminated if “Done” is on; If “Error” bit is on, the axis alarm can not be eliminated and check if the factor causing the alarm still exists. When D6532=0, the alarm axis will not enter the state of ErrorStop in 10MC after axis alarms and the axis alarm information can not be cleared via the instruction.
After axis is enabled, the axis which is offline will enter the state of ErrorStop in 10MC. And 10MC will try to make connection with the offline axis again. After the connection is made between 10MC and the offline axis again, the instruction is executed successfully and then10MC could control the offline axis again. When axis has not been enabled, there is no state change for the axis which is offline in 10MC. After the connection is made between 10MC and the offline axis again, the motion instruction can be used for controlling the axis without execution of the instruction. Explanation of input and output parameter of the instruction:
4-40 DVP-MC operating manual API Reset instruction Controller 09 MC Reset _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Execute This instruction is executed when “Execute” turns Off –> On. BOOL M,I,Q, Constant Status “Status” turns on after axis state in the controller is reset to StandStill state; “Execute” turns on -> off, “Status” is reset. BOOL M,Q Error If any error is detected, "Error" turns on; when "Execute" turns on -> off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT D