Printed in the Federal Republic of Germany TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 125 of 153
By a loss of the connection to the fieldbus master. The reaction is selected by its
option code 0x6007:
1 -> A loss of conn. triggers a non-fatal fault, that reacts according to the option
code 0x605E.
2 -> A loss of conn. immediately turns off the drive.
3 -> A loss of conn. triggers a quick stop, that reacts according to the option code
0x605A.
If this option code is 5 or higher, which means staying in quick stop, this state can
be left without turning off the motor by toggling the control word bit 0x80 "Clear
Fault" once or twice.
0 or any other value -> A loss of conn. is ignored.
By a following error. It may happen in any operation mode except the torque
modes. The size of the "Following Error" 0x60F4 equals the "Required Position"
0x6062 minus the "Actual Position" 0x6064.
It occurs, if its absolute size exceeds the size of the "Following Error Window" for
longer than the "Following Error Timeout".
It always restarts the last ramp, that was triggered by a changed target value, a
command, a limit or homing switch, or an option code.
Otherwise if the drive is blocked temporarily and then released, it would shoot
away ignoring all velocity and acceleration limits!
If the "Following Error Window" of DS402 is turned on by a value below
0xFFFFFFFF, size and timeout are set according to the objects 0x6065 and
0x6066, and a following error triggers the related emergency 0x8611.
In the "Profile Position Mode" or "Profile Velocity Mode" it also sets the bit 2
13
in the
"Status word" 0x6041. This bit remains set until the current ramp is finished.
Otherwise size and timeout are switched to the manufacturer objects 0x2F0E:02
and 0x2F0E:03, and the following error becomes silent. It only restarts ramps, but
doesn't send emergencies or sets its bit in the status word.
The default settings for these manufacturer objects are 1/8 revolution and 20 ms.
If the following error is not silent, the reaction is selected by the manufacturer
object called "Following Error Option Code" 0x2F0E:01:
1 -> A foll.err. triggers a non-fatal fault, that reacts according to the option code
0x605E.
2 -> A foll.err. immediately turns off the drive.
3 -> A foll.err. triggers a quicks top, that reacts according to the option code
0x605A.
If this option code is 5 or higher, which means staying in quick stop, this state can
be left without turning off the motor by toggling the control word bit 0x80 "Clear
Fault" once or twice.
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