Rockwell Automation GMLC Reference Manual - Manual (Page 552)

Publication GMLC-5.2 - November 1999
515
When configured to use the drive fault input, each physical axis of the
motion controller can be further configured to respond to a drive fault in
different ways. If drive fault action is set to STOP MOTION, then when
the drive fault input is activated, the axis immediately decelerates to a
stop without disabling feedback or the drive enable output. If DISABLE
DRIVE
is selected, when the drive fault input is activated, axis feedback
is immediately disabled, the servo amplifier output is zeroed, and the
appropriate drive enable output is deactivated.
If drive fault action is set to STATUS ONLY, drive faults must be handled
within the GML Commander diagram. In general, this setting should only
be used in applications where neither the standard STOP MOTION nor
KILL DRIVE actions are appropriate. See the Setup section of the
Installation and Setup manual for your motion controller for more
information on configuring the drive fault action.
You can directly clear a drive fault on an axis by assigning a value of 0 to
the appropriate Drive_fault variable using an Equation block. However,
this does not automatically re-enable feedback or the drive, and if the
drive fault input is still activated after executing the Equation block, the
fault occurs again immediately.
A drive fault is also cleared when a Feedback On or Home Axis block is
executed, or when the setup menus in the motion controller are run.
However, this does not automatically re-enable feedback or the drive. See
Setup in the Installation and Setup manual for your motion controller for
more information on the setup menus.
Position Error Fault
Position_error_fault is a logical (Boolean) variable which has values of:
• 1 (true) if the position error tolerance for the specified axis has been
exceeded
• 0 (false) if not
In the Tag Explorer, select both Axis System Variables and the desired
physical axis, then select Position_error_fault in the Tag Window.