User guide

Xenus XTL User Guide Operational Theory
Copley Controls Corp. 29
2.11.5: Following Error Fault Details
Position Error Reaches Fault Level
As described earlier, position error is the difference between the limited position output of the
trajectory generator and the actual position. When position error reaches the programmed
Following Error Fault level, the amplifier faults (unless the following error fault is disabled.) As with
a warning, a status bit is set. In addition, the fault is recorded in the error log.
Additional responses and considerations depend on whether the fault is non-latched or latched, as
described below.
Amplifier Response to Non-Latched Following Error Fault
When a non-latched following error fault occurs, the amplifier drops into velocity mode and applies
the Fast Stop Ramp deceleration rate to bring the motor to a halt. The amplifier PWM output stage
remains enabled, and the amplifier holds the velocity at zero, using the velocity loop.
Resuming Operations After a Non-Latched Following Error Fault
The clearing of a non-latched following error depends on the amplifier’s mode of operation.
Issuing a new trajectory command over the CAN bus, the ASCII interface, or DeviceNet will clear
the fault and return the amplifier to normal operating condition.
If the amplifier is receiving position commands from the digital or differential inputs, then the
amplifier must be disabled and then re-enabled using the amplifier’s enable input or though
software commands. After re-enabling, the amplifier will operate normally.
Amplifier Response to a Latched Following Error Fault
When a latched following error fault occurs, the amplifier disables the output PWM stage without
first attempting to apply a deceleration rate.
Resuming Operations After a Latched Following Error Fault
A latched following error fault can be cleared using the steps used to clear other latched faults:
• power-cycle the +24 Vdc to the amplifier
• cycle (disable and then enable) an enable input that is configured as
Enables with Clear Faults or Enables with Reset
•
access the CME 2 Control Panel and press Clear Faults or Reset
• clear the fault over the CANopen network or serial bus