EtherCAT Servo Error Read with XPM_SVERD and Reset with XPM_SRST

The XPM_SVERD function block is used to read servo error information from an axis. The XPM_SRST is used to reset an error on a servo axis.

  • The following examples can be found in OnlineHelp_ECAT_Example.

  • XPM_ECON needs to be executed first so EtherCAT servo drives are connected to receive commands.

  • The XPM_SVERD and XPM_SRST function blocks only work with EtherCAT servo drives.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Set 0 to the Base number.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
Axis Input Axis to read error information from.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.
SV_ERR Output Servo error information.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Set 0 to the Base number.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
Axis Input Axis to command with function block. XBF-PN04B=1-4, XBF-PN08B=1-8.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

Note: If the cause for the drive error is not corrected, then the error may not be cleared.

XPM_SVERD Example Results

XG-PM System View after executing XPM_SRST

Note: Power cycling an EtherCAT servo drive will disconnect the EtherCAT network. XPM_ECON will need to be used to reconnect it.

Alarm Error Description XPM_SRST Can
Reset		 Software Reset or Power
Cycle Needed
AL-10 IPM Overcurrent (H/W) ✓  
AL-14 Overcurrent (S/W) ✓  
AL-16 Current limit exceeded ✓  
AL-11 IPM temperature Overheat ✓  
AL-15 Current offset abnormality ✓  
AL-21 Continuous Overload ✓  
AL-22 Drive Temperature 1 ✓  
AL-23 Regeneration overload ✓  
AL-24 Motor cable disconnected ✓  
AL-25 Drive Temperature 2 ✓  
AL-26 Encoder Temperature ✓  
AL-28 DC cooling fan abnormality ✓  
AL-29 Regeneration brake fault ✓  
AL-30 Encoder communication error   ✓
AL-31 Encoder cable open   ✓
AL-32 Encoder data error   ✓
AL-33 Motor ID setting error   ✓
AL-34 Encoder Z-phase loss   ✓
AL-35 low voltage encoder battery   ✓
AL-36 Encoder Sine wave amplitude error   ✓
AL-37 Encoder Sine wave frequency error   ✓
AL-38 Encoder setting error   ✓
AL-3B Encoder position error   ✓
AL-40 Under voltage ✓  
AL-41 Over voltage ✓  
AL-42 Main power fail ✓  
AL-43 Control power fail ✓  
AL-50 Over speed limit ✓  
AL-51 Excessive Position error ✓  
AL-53 Excessive SPD deviation ✓  
AL-56 Excessive Position Control ✓  
AL-57 Excessive pulse output speed ✓  
AL-63 Parameter checksum   ✓
AL-71 Factory setting abnormality   ✓

 

 

 

 

 

 

LP608