SyncGroupFaultActionSet()

void SyncGroupFaultActionSet

(

RSIAction

action

)

Description:

The controller asserts this action on the Axis every sample while the EtherCAT sync group that contains this Axis's network node reports DEGRADED or ABSENT (see the RSINetworkSyncGroupState state machine below). An axis in a faulted group must not keep trusting its process data: while the group's WKC mismatches, the axis's inputs (position feedback, status word) are frozen at their last-good values. The fault is latched by the motion supervisor until ClearFaults; calling ClearFaults while the group is still down re-latches it, so an axis cannot be re-enabled against a dead group. The RECOVERING and UNUSED (OPERATIONAL) states do not assert. Axes on the default group (group 0) are EXCLUDED: group 0 failures are network-wide failures owned by the long-standing wrong-Working-Counter escalation, which stops the network (and with it every axis) within a few cycles when the problem persists. The exclusion keeps behavior on networks without sync groups identical to releases before sync groups existed: a transient single-cycle Working Counter mismatch is log-only and never aborts axes. The default action is ::RSIActionABORT.

The fault is attributed to RSISourceSYNC_GROUP_FAULT (SourceGet), and applications can wait on the corresponding RSIEventTypeSYNC_GROUP_FAULT interrupt (InterruptWait) instead of polling group status. See Sync Groups for the full concept.

Sample Code:

axis->SyncGroupFaultActionSet(RSIActionABORT);   // default
// ... the group degrades -> axis aborts; SourceGet() reports RSISourceSYNC_GROUP_FAULT
controller->NetworkSyncGroupRecover(groupId);    // group back to OPERATIONAL
axis->ClearFaults();                             // clearing while still down re-latches

Parameters

action

Use ::RSIAction. ::RSIActionABORT is the default.

See also

SyncGroupFaultActionGet, SourceGet, MotionController::NetworkSyncGroupRecover, NodeFailureActionSet