In the Lokomat Treadmill model: Software_Treadmill/Monitoring_treadmill you can find the construction on the treadmill error word. From this, we derived the meaning of each of the error word bits.
See this converter to translate decimal (whats shown on the scope) to bits.
| Bit | Error |
|---|---|
| 0 | SpeedMonitoring - This comes from the state machine found at: Software_treadmill/Monitoring_treadmill/SpeedMonitoring/StateFlow. Here if speed difference too large for at least 1 second then treadmill_error=1, causing the bit to flip |
| 1 | mits_connection_error - Found in: Software_treadmill/Inverter/communication_monitoring_block: A signal is sent to the inverter. From then on, a counter counts the time elapsed until a valid answer has been detected, or a new signal has been sent to the inverter If a correct answer during is not received during the expected answer delay, the signal send_again is set to 1, in order to send the last signal again. Because a new signal is sent to the HW, the elapsed time counter is resetted. If again the elapset time counter is bigger than the expected answer delay, the send signal is again set to 1. Until a correct answer is detected, the amount of send_again signals is counted. If more than mits_max_connection_errors consecutive messages have a bigger delay of the expected, the mits_connection_error signal is set to 1. |
| 2 | BrakeRuntimeError - |
| 3 | BrakeAlwaysBreakingError - Triggers when the BrakeActive boolean is not zeroed during operation after the treadmill is started for **X** seconds. |
| 4 | BrakeReleasedError - |