Difference between revisions of "Drive status & fault bits explained"
From Granite Devices Knowledge Wiki
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Latest revision as of 14:26, 16 June 2017
This page lists the behavior and function of status and fault bits registers that are readable from all Granite Devices drives.
 | These tables reflect only to lastest firmware version and only to devices that are currently active in production |
Status bits register[edit | edit source]
| Name | Description | Troubleshooting |
|---|---|---|
| Initialized | True when drive has completed initialization procedure (such as phasing) | If never goes on, check parameters, drive input voltage, safe torque off and enable inputs and possible faults. |
| Error recovering | True when drive performs position return to the setpoint position after clear faults command is given | |
| Tracking error warn | Indicates that tracking error has increased beyond certain point. On most drives this controls a digital output pin that may be used in conjunction with controller to mitigate a tracking error problem before a tracking error fault is triggered. Operation depends on operating mode:
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| Target reached | True when drive's internal motion profiler (velocity & acceleration limited motion) has reached the user setpoint value and other conditions are met.
Full list of conditions of this status being true are:
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| Enabled | True when drive has enabled state on. This allows drive to control motor if no faults are active. | |
| Run (drive active) | True when drive is initializing or controlling motor. Goes false if enabled is false or faults are active | |
| Homing active | True when drive is performing homing sequence. Goes false after homing is complete or not enabled | |
| Braking | True when motor is being braked electrically and/or mechanically | |
| Permanent stop | True when drive requires restart before continuing motor control. Goes true when changing certain parameters or if initialization fails | Restart drive to see if the state clears. If not, check parameterization and usage errors. |
| Voltages good | True when HV DC bus voltage is withing configured range (from Under voltage fault thresholdFUV to Over voltage fault thresholdFOV) | |
| Fault stopped | True when drive is disabled true to active fault state | Perform clear drive faults function (from Connect tab). If problem repeats, check motor & tuning parameters and operating conditions. See fault register and fault location for hints. |
| Ready for use a.k.a servo ready | True when drive has performed all initializations, possible homing and is enabled and running. When true, drive is ready to follow user setpoint commands. The full logic of this bit is:
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| STO active | True when safe torque off is active. In Argon this monitors only STO2. |
Fault bits register[edit | edit source]
| Name | Description | Troubleshooting | Filter time before activation1 |
|---|---|---|---|
| Tracking error | Drive stopped due to position or velocity tracking error getting larger than configured limit (Position tracking error thresholdFPT or Velocity tracking error thresholdFVT) | Check settings, operating conditions and fault limits to resolve. | Goal faults filter timeFFT |
| Over velocity | Motor has exceeded the speed limit defined at Over speed faultFEV | Goal faults filter timeFFT | |
| Hardware | Drive internal error has occurred | Possibly external interference (check wiring and EMI suppression) and stability of logic supply voltage. If problem stays, contact Granite Devices support. | None |
| Over temperature | Drive temperature has exceeded its maximum value | None | |
| Feedback | Failure in feedback device has been detected | None | |
| Over current | Measured current was exceeding the limit value (current spike) | Check wiring or try different Over current toleranceFOC value | Affected by Over current toleranceFOC |
| Internal comm error | Drive internal error has occurred | Possibly external interference (check wiring and EMI suppression) and stability of logic supply voltage. If problem stays, contact Granite Devices support. | None |
| Power stage forced off | True when some of the fault states is forcing power stage off to protect drive. Motor is freely spinning unless braked mechanically. | None | |
| Under voltage | HV DC bus voltage below Under voltage fault thresholdFUV value | Check voltage, parameters and safe torque off | None |
| Over voltage | HV DC bus voltage above Over voltage fault thresholdFOV value | Check voltage and Over voltage fault thresholdFOV. If happens during motor deceleration, then a braking resistor is needed. | None |
| Motion range | Motor has been commanded outside the allowed travel boundary. I.e. driven to limit switch when Limit switch functionLFS is set to fault stop | None | |
| Firmware error | Drive internal error has occurred | Possibly external interference (check wiring and EMI suppression) and stability of logic supply voltage. If problem stays, contact Granite Devices support. | None |
| Init | Initialization failed. Possible reasons: drive disabled or faulted during initialization or initialization time-outed | Check enable signal, parameters, wiring and faults | None |
| Motion | Motor stall or loss of feedback signal detected | Adjust Motion fault thresholdFMO to larger value or disable | Goal faults filter timeFFT |
| SimpleMotion | SimpleMotion V2 Communication error detected, possibly connection lost, invalid parameter value is sent or transfer error caused by EMI or bad wiring | None | |
| Configuration | Fault caused by invalid or unstable configuration parameters | Refer to Fault location number for pin-pointing the fault source | None |
| Fault location ID | See Fault location |
1) The time duration that drive will allow fault condition be true before fault status is latched. Some faults have user adjustable time delay to reduce error sensitivity in dynamic conditions, such as rapid acceleration.
