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A drive/motor enters in the FAULT status, when an error occurs. In the FAULT status:
| • | The drive/motor is in AXISOFF with the control loops and the power stage deactivated |
| • | The TML program execution is stopped |
| • | The error register MER shows the type of errors detected and the status register SRH.15 signals the fault condition |
| • | Ready and error outputs (if present) are set to the not ready level, respectively to the error active level. When available, ready green led is turned off and error red led is turned on |
Remark: The following conditions signaled in MER do not set the drive/motor in fault status:
| • | Drive /motor disabled due to the enable input set on the disable level |
| • | Negative limit switch input on activate level |
| • | Positive limit switch input on activate level |
| • | Serial and CAN bus communication errors |
You can modify this default behavior by changing the TML interrupt service routines
The drive/motor can be got out from the FAULT status, with the TML command FAULTR – fault reset. This command clears most of the error bits from MER, sets the ready output (if available) to the ready level, and sets the error output (if available) to the no error level.
Remarks:
| • | The FAULTR command does not change the status of MER.15 (enable input on disabled level), MER.7 (negative limit switch input active), MER.6 (positive limit switch input active) and MER.2 (invalid setup table) |
| • | The drive/motor will return to FAULT status if there are errors when the FAULTR command is executed |
See also:
TML Description
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