• Reaction 4: shut down
Bit SwitchOn in active controlword (st14) is set to zero. The state machine
changes into state Shut Down Active.
The selected reaction in 0x605B shut down option code or co32 state machine
properties is executed.
If the fault is no longer present, the SwitchOn Bit in active controlword (st14) is set
again according to the controlword internal (co31). An error reset is not necessary.
• Reaction 5: dec ramp to fault, auto retry
The reaction corresponds to value 1 with the following difference: If the fault be-
comes inactive during the Fault Reaction Active state, the error resets itself. An
error reset is not necessary.
The drive changes after the fault reaction time into the state defined by the setting
of st14 active controlword.
• Reaction 6: warning
Warnings have no reaction to the drive.
The actual warnings can be read out in object ru02 warning bits. If a bit is set in
ru02 also bit 7 warning in the statusword st00 (CiA 0x6041) statusword is set, can
be preset via object pn28 warning mask .
Only if the corresponding bit is set in the warning mask the warning is also dis-
played in the status word.
The highest-priority status message is displayed in parameter ru03 warning state.
In addition to the warning messages, an ERROR state can also be displayed in this
object if "6: warning" is programmed as reaction for the corresponding error.
• Reaction 7: ignore
The error is ignored. There is no reaction of the drive. Neither a warning bit is set
nor a warning state is displayed.
• Reaction 8: quickstop, auto retry
The reaction corresponds to value 2 with the following difference: If the malfunc-
tion/error signal becomes inactive, the error resets itself.
Bit 2 in the active controlword (st14) is set again and the state Quickstop Reac-
tion Active is left automatically.
• Reaction 9: fault, auto retry
The reaction corresponds to value 0 with the following difference: If the malfunc-
tion/error signal becomes inactive, the error resets itself.
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General
