13 | Diagnostics STOBER
222
02/2019 | ID 442728.05
13.3.39 Event 87: Reference lostReference loss
The drive controller is interrupted if:
§ A29 = 0: Inactive for STOBER device controller
or
§ A540 = 0: disable drive, motor is free to rotate for CiA device controller
Response:
§ The power unit is disabled and axis movement is no longer controlled by the drive controller
§ The brakes are no longer controlled by the drive controller and engage in the event of an
inactive release override (F06)
The drive controller is interrupted with a quick stop if:
§ A29 = 1: Active for STOBER device controller
or
§ A540 = 2: slow down on quick stop ramp for CiA device controller
Response:
§ The axis is stopped by a quick stop; meanwhile, the brakes are controlled by the drive
controller and remain released
§ At the end of the quick stop, the power unit is disabled and axis movement is no longer
controlled by the drive controller; the brakes are no longer controlled by the drive controller
and engage in the event of an inactive release override (F06)
Cause Check and action
Power unit switched off on
moving axis
Reference the drive again and, if necessary, only shut off the power unit
when stationary (I199)
Actual position (motor)
changes when power unit is
shut off
Do not change the actual position (motor) when the power unit is shut off
and, if applicable, switch to a motor with a holding brake (F00)
Tab. 222: Event 87 – Causes and actions
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