Etel DSC Series User Manual

Operation & Software Manual
98
Direct Drives & Systems
Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
12.5.2 Reset errors: RST and RSD
RST command (ReSeT) resets most of the errors that can happen in the position controller.
RSD command (ReSet Drive) resets the hardware board.
Remark: RSD command consists in switching off and on the controller, so if an autorun sequence exists
(label n°79), it will start again after executing RSD command.
In a sequence, these commands are generally placed in the labels n°80 which is the label in which
the program execution goes on in case of error.
Command RST, used with a single axis, starts automatically the instruction CPE described
underneath.
Example:
If during a movement, the position error x
e
becomes too big. The controller switches then to error mode. The
power is cut off, the LED lights red and the LCD display shows TRACKING ERROR error (M64=23). This error
can be reset with one or other of the RST or RSD commands:
RST.1 The error is reset, the LED lights green and the LCD screen displays for example DSC2P
READY, as long as the cause which has produced the error is not there any more. The motor
position is kept and the instruction PWR.1=1 is sufficient to reset the motor under control.
RSD.1=255 The board is reset and the motor position is erased. A new initialization has to be redone in
order to find again the absolute motor position.
12.5.3 Clear errors: CPE
CPE command (Clear Pending Error) resets to 0 the ’pending’ error bit when required.
When an error happens, the execution of a sequence goes on automatically on label n°80 (if it exists) and an
internal bit of the controller called ’pending’ error, is set to 1 (bit# 0 of SD2 ’Status Drive’, alias of monitoring
M61). As long as the ’pending’ error bit is set to 1, it is forbidden for the controller to jump to label 80, so that it
can execute the line following the label 80, and tries to correct the error. Without this ’pending’ bit and as long
as the error is there, the sequence would jump endlessly on label 80 and gets stuck there without going on with
the execution of the rest of the sequence.
In the code contained in label 80, the error is generally handled with monitoring M64 and the RST command.
This command, apart from resetting the error, resets the ’pending’ error bit to 0. This way, when the following
error takes place, it enables again the controller to jump to label 80.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Command format Comment
RST.<axis> Resets the error flags of the controller (bit# 10 of SD1)
RSD.<axis> = 255 Hardware resets of the controllers.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Command format Comment
CPE.<axis> Pending error bit set to 1 in case of error

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English