Reinitialization, troubleshooting and reset

  1. Analyze and rectify the fatal error.
  2. Carry out an error reset via IDN S-0-0099. To this end the blocks "FB_SoEReset" or "FB_SoEReset_ByDriveRef" are available in the PLC.
  3. Automatic change of communication state from "ErrSafe-Op" to "Op".
  4. NC axis reset. To this end the block "NC_Reset" is available in the PLC.

Re 3:

Reinitialization, troubleshooting and reset 1:

In order for the communication state to automatically switch back to "Op", flag "Wait for WcState is OK" must be activated on the corresponding AX5000. This is automatically the case for new configurations. In existing configurations it may have to be set accordingly.
Start the TwinCAT System Manager and left-click on the associated servo drive (1). Select the "EtherCAT" tab (2) and left-click on "Advanced Settings...." (3). (3). The "Advanced Settings" submenu appears. Select the flag "Wait for WcState is OK" with the left mouse button (4).