Acknowledging errors

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

• Device-specific errors
• Channel-specific errors

To determine which category the current error belongs to, refer to the chapter Diagnosis bits. There, the diagnostic bits are divided into the two categories mentioned above.

Acknowledge device-specific errors

You can acknowledge device-specific 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 device-specific 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.