User manual

218 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 10 Faults and Alarms
Leave the servo loop on and stop
the axis at its Maximum
Deceleration rate.
Stop Planner Use this fault action for less severe faults. It is the gentlest way to
stop. Once the axis stops, you must clear the fault before you can
move the axis. The exception is Hardware Overtravel and Software
Overtravel faults, where you can jog or move the axis off the limit.
A fault happens when the following occurs:
• Axis slows to a stop at the Maximum Deceleration Rate
without disabling servo action or the servo module Drive
Enable output
• Control of the drive’s servo loop is maintained
• Axis slows to a stop at the Maximum Deceleration rate without
disabling the drive
Write your own application code
to handle the fault.
Fault Status
Only
Use this fault action only when the standard fault actions are not
appropriate. With this fault action, you must write code to handle
the motion faults. For Stop Motion or Status Only, the drive must
stay enabled for the controller to continue to control the axis.
Selecting Status Only lets motion continue only if the drive itself
is still enabled and tracking the command reference.
Ignore Ignore instructs the device to completely ignore the exception
condition. For some exceptions that are fundamental to the
operation of the axis, it may not be possible to Ignore the
condition.
Alarm Alarm action instructs the device to set the associated bit in the
Axis Alarm word, but to otherwise not affect axis behavior. For
some exceptions that are fundamental to the operation of the
device, it may not be possible to select this action or any other
action that leaves device operation unaffected.
Table 29 - Action Tasks and Related Faults
Task Choose Description