TITAN-SVX Software Manual
page 35
Rev 4.01
A.14.6. Motor Fault
To check the motor state, use
MST
command. Bit 4 indicates whether the motor
is in fault or not. If the motor is in a fault state,
FLT
command can be used to
determine what type of fault caused the fault state to be triggered.
To read the fault status of the motor, use the command
FLT
. The reply to this
command will be a hex number that represents the fault state of the motor.
When a fault occurs, the motor is disabled immediately. The fault must be
cleared before servo can be turned on or before any motion can be performed.
Fault state of the motor can be cleared using the
ECLEARX
command.
To Read Motor State
Command:
@01:MST
Reply:
#01:MST=0x8
To Read Motor Fault State
Command:
@01:FLT
Reply:
#01:FLT=0x3
Bit Name
Description
0
Negative Limit Error
Error applies to both soft limit and hard limit
triggering. Soft limit monitoring and hard limit
monitoring can be enabled and disabled using
SLIMON
and
LHPOL
commands.
1
Positive Limit Error
Error applies to both soft limit and hard limit
triggering. Soft limit monitoring and hard limit
monitoring can be enabled and disabled using
SLIMON
and
LHPOL
commands.
2
Position Error
When the motor is enabled and target and actual
position is greater than position error value for a
set duration of time, this fault is triggered. Use
ENAFC
command to enable and disable Position
Error Check. Use
PEMS
and
PEVAL
commands
to set the duration and value of the position error
checking.
3
Current Error
When the motor is enabled and current supplied to
the motor is greater than the set current error
value for a set duration of time, this fault is
triggered. Use
ENAFC
command to enable and
disable Current Error Check. Use
CEMS
and
CEVAL
commands to set the duration and value
of the current error checking.
4
Hall Sensor Error
Hall Sensor Error detection is done only for the
motor that has been configured to use the Hall
Sensor. When Hall Sensor is used, minimum of
