Clearing Faults

You can clear drive faults in several ways:

  1. using the WorkBench toolbar
  2. using the WorkBench terminal screen
  3. using the CANopen interface
  4. using an external digital signal

In the first three methods, clearing the fault automatically disables the drive (by issuing the DRV.DIS command). After the fault is cleared, you must then enable the drive again (by issuing the DRV.EN command). In the fourth method, clearing the fault does not automatically disable the drive. Once the fault is cleared, the drive will immediately become enabled again when no fault conditions exist.

The external digital signal method is useful when the application does not require a field bus, therefore the controller cannot issue fieldbus commands (for example, DRV.EN). The fault clearing function is simpler in this case. The controller can clear a fault condition with a single output and no fieldbus command is required. The hardware enable input is still utilized for safety. Many machines are set to disable when a fault occurs, therefore, the enable circuit is connected only after the fault clear circuit is toggled.

  1. Using the WorkBench toolbar. Click the Clear Fault button to clear the fault, then click the Enable button to enable the drive again.
  1. Using an ASCII command. In WorkBench terminal screen, enter DRV.CLRFAULTS, then enter DRV.EN to enable the drive.
  2. Using the CANopen interface (Object 6040h: Controlword DS402). The ASCII control commands are built up from the logical combination of the bits in the control word and external signals (enable output stage). You can configure the Reset Fault bits in the control word to clear the fault. See 1   Object 6040h: Control word (DS402) in the CANopen manual for details on clearing faults using this method. After the fault is cleared, you must enable the drive.
  3. Using an external digital signal. First, provide a disable command to the drive, since this command is not automatically issued when the fault is cleared using an external digital signal. You must provide this disable command after the drive has disabled itself and before the clear fault command is issued in order for the clear fault command to be accepted.

Digital input mode 1 clears a fault condition. In the WorkBench terminal screen, enter DINx.MODE 1, with x set to the corresponding digital input number. See the AKD Installation Manual (Digital Inputs (X7/X8)) for digital input numbers and corresponding pin connections.

Example:

DIN2.MODE 1 sets digital input 2 (pin 9 on connector X7) to perform the clear fault function. Any free digital input shown in Table x can be set to mode 1 (Reset faults).