E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-21
The procedure of clearing errors
There are drive errors and EtherCAT related communication errors. The procedure of clearing errors are
described as follows.
If there is a drive error,
(1) Eliminate the cause of the drive error.
(2) Execute “Fault reset” command to clear the drive’s error status.
If there is a EtherCAT related communication error,
(1) Eliminate the cause of the communication error.
(2) Set bit 4 of AL control register to 1 to clear the error state in ESC.
(3) Master commands the drive to change ESM state to Op.
(4) Master change bit 7 of 6040h (controlword) from 0 to 1 in Fault state to reset fault.
(5) After the error is cleared, the PDS state changes from Fault to Switch on disabled.
Figure 3.2.1.2
Note: Be sure to eliminate all errors detected before clearing error status.
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