Acknowledging errors

There are two categories of errors that have to be acknowledged in different ways:

• Module error
• Channel-related errors

In order to find out which category the currently pending error belongs to, refer to the chapter Diagnosis bits. The diagnostic bits are subdivided there into the above-mentioned categories.

Acknowledging module errors

You can acknowledge module errors in two ways:

• by software: both motor channels have a "Reset" variable. Apply a positive edge to each "Reset" variable.
  
• by hardware (only in ZPA mode): apply a positive edge to the reset inputs of both channels. See CoE parameters 8040:12 and 8050:12.

It is not sufficient to acknowledge the error on only one motor channel. The module error and the disablement of both motor channels are only canceled when the error has been acknowledged on both motor channels.

Even if a motor channel is not being used, the error must be acknowledged on this channel.

Acknowledge channel-related errors

You can acknowledge channel-related errors in two ways:

• by software: apply a positive edge to the "Reset" variable of the motor channel affected. The "Reset" variable is located in the process data object "STM Control Channel n" (n = 1...2).
• by hardware (only in ZPA mode): apply a positive edge to the reset input of the affected channel. See CoE parameters 8040:12 and 8050:12.

Troubleshooting

• If an error message persists after acknowledgement, the error has probably not yet been eliminated.
• To successfully acknowledge the error "Open Load", you must first set "Enable" to 0.