ElmoMC SimplIQ Software Manual - Manual (Page 205)

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis
MAN-SIMSW (Ver. 1.4)
13-10
13.9 Diagnosis
13.9.1 Monitoring Motion Faults
Motion faults can be monitored by:
ƒ
Continuously polling the drive status
ƒ Observing “AOK” digital outputs
ƒ Trapping CAN emergency objects
13.9.1.1 Polling the Drive Status
The drive can be polled using the SR command, which reports a bit-field that fully
describes the drive activity. One of the SR bits reports the existence of motion fault, while
another SR bit reports the existence of a user program fault.
When a motor fault is detected, the MF command reports the exact reason for the fault;
when a run-time program fault is detected, the PS command reports -1. The reason for
the fault is reported by the Elmo Studio and by analyzing the DB_ES command.
For full explanations, refer to the relevant command section in the SimplIQ Command
Reference Manual and to Chapter 4 of the Composer for SimplIQ Servo Drive User Manual.
13.9.1.2 Observing AOK
One of the digital outputs may be programmed to indicate that the drive is ready and
that therefore, no physical reason — such as over-temperature, over-voltage or under-
voltage — is preventing the drive from working. The AOK output reports the physical
operating conditions, but it does not indicate all motor faults. In order to program an
output for motor fault indications, the AUTO_ER routine should be used (see
section
12.4.3 .
13.9.2 Inconsistent Setup Data
The setup data is checked when loading the setup from the parameter non-volatile flash
storage, and before starting the motor. When the setup parameters are retrieved from
flash storage (at power-on or by an LD command), they are thoroughly checked for
legality and consistency. If the parameters are found to be illegal or inconsistent, the
drive resets to its factory defaults. The source of the problem can be found using the CD
command (described in this section) and the contents of the flash storage can be corrected
using the application editor.
Loading the setup parameters form the flash memory rarely fails, because the parameters
are checked before allowing non-voltage storage. The only reason for failure is generally
a major firmware revision upgrade.