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3.3.3 Fault management
A fault, as indicated by bit 12 or 13 of the statusword, could be caused by any of the following:
• Servo error (bit 13)
• I
2
T limit is reached (bit 12)
• Driver overtemperature (bit 12)
• STO (bit 12 and 15)
In-depth discussions on each of the above items can be found in VLC-25-07 manual.
Servo error and I
2
T fault will only be triggered if the acyclic object parameters “maximum
following error”, “I2T nominal value”, “I2T trip value” are set to their non-default values,
which would be less than their maximum possible values. Whereas driver overtemperature
is rather rare since it will only occur when high current is involved to the point of raising the
temperature of the MOSFETs in the VLC-2-EIP. Any of these faults can be cleared instantly
by setting controlword bit 5 to ‘1’, but what is more important, is to identify whether the
fault is indicating issues to be concerned of or simply a result of incorrect parameters being
assigned.
As for the STO fault, the user has to make sure that the wiring of the STO inputs on the VLC-
2-EIP is done properly, before clearing the fault by setting controlword bit 5 to ‘1’, otherwise
the STO fault persists.
After the fault is cleared the PLC program execution could be resumed, or depending on the
situation, the actuator may need to be moved to a safer position first prior to continuing the
program execution.
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