General

Fatal errors are error types requiring reinitialization of the connected AX5000 feedback systems. For this the communication status of the EtherCAT Slave State Machine must be changed from Operational (Op) to Safe-Operational (Safe-Op), which takes place automatically on the occurrence of a fatal error in the case of standard parameterization. In such a case the drive is in ErrSafe-Op, since an error is additionally signaled. Since two-channel devices possess only one communication unit and no axis operation is possible in the SafeOp state, both channels are stopped by default. In this particular case, the change from Op to ErrSafe-Op results in the working counter of the SyncUnit becoming invalid, since the AX5000 can no longer supply valid actual values, resulting in all servo drives in this SyncUnit being disabled.