Servosila-SC-25-Programming-Guide

Fault Acknowledgment
Whenever an internal fault is detected by a Servosila SC25 Brushless Motor Controller (e.g. an
encoder error), the controller automatically powers off the motor as a safety measure, raises one
or more "Fault Bits" flags in telemetry, and starts waiting for a "Reset" command to come from a
parent control system. Until a "Reset" command comes, the controller ignores all other
commands received from the parent control system. All configuration management functions
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keep working as usual.
The parent control system is expected to continuously monitor the "Fault Bits" parameter
delivered to it via a telemetry message. If the "Fault Bits" parameter is 0 (all bits are clear), then
nothing needs to be done in response to such a telemetry message.
However, if one or more bits of the "Fault Bits" parameter indicate a fault, the parent control
system is expected to send a "Reset" command back to the controller since the controller does
not know on its own how to react to such a failure. The "Reset" command needs to be sent once
the issue is rectified, or the control system decides that the fault can be safely ignored, and the
electric drive is ready to re-start operation, may be in a different mode of operation.
Until the controller receives such a “Reset” command, it will keep the electric motor de-
energized as a safety measure.
The fault acknowledgment flow described in this section is applicable to both CAN and USB
interfaces.
Reading a Telemetry or a Configuration Parameter
The control computer has a way to read out
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an arbitrary telemetry or configuration parameter
stored in the device. To do this, the control computer sends a message with a request to a device.
Upon receiving such a request, the device immediately replies back with a message that carries
the most up-to-date value of the requested parameter.
4 CANopen SDO functions
5 CANopen SDO protocol
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