Accelnet & Stepnet Plus Panels User Guide
16-01339 Rev 07
D
RIVE
R
ESPONSE TO A
L
ATCHED
F
OLLOWING
E
RROR
F
AULT
When a latched following error fault occurs, the drive disables the output PWM stage without first attempting
to apply a deceleration rate. If a motor brake is in use, the brake output will turn off immediately, engaging the
motor brake.
R
ESUMING
O
PERATIONS
A
FTER A
L
ATCHED
F
OLLOWING
E
RROR
F
AULT
A latched following error fault can be cleared using the steps used to clear other latched faults:
•
Power-cycle the drive. If Aux HV is used, then both Aux HV and +HV must be
turned off/on. If either one is >= 14 Vdc, the drive will not reset.
•
Cycle (disable and then enable) an enable input that is configured as
Enable with Clear Faults
or
Enable with Reset
•
Open the CME Control Panel and press
Clear Faults
or
Reset
buttons
•
Clear the fault over the CANopen or EtherCAT network, or serial bus
T
RACKING
W
INDOW
D
ETAILS
P
ROPER
T
RACKING
O
VER
T
IME
As described earlier, position error is the difference between the limited position output of the trajectory
generator and the actual position. Velocity error is the difference between commanded and actual velocity.
When the position or velocity error exceeds the programmed tracking window value, a status word bit is set.
The bit is not reset until the error remains within the tracking window for the programmed tracking time.
V
ELOCITY
T
RACKING
I
LLUSTRATION
The following diagram illustrates the use of tracking window and time settings in velocity mode.
± Tracking Window
Tracking
Time
Limited Velocity
Actual Velocity
Tracking Window
Output
