User guide
CME 2 User Guide Faults
Copley Controls 91
9.3.5: 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. See Error Log (p. 172).
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 or the ASCII interface 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 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