|ASCII - Command||ACTFAULT|
|Syntax Transmit||ACTFAULT [Data]|
|Syntax Receive||ACTFAULT <Data>||Available in|
|ASCII Format||Integer8||CANBus Object Number||3503 (hex)|
|DIM||-||PROFIBUS PNU||1603 (dec) IND = 1 (dec)|
|Range||0, 1||DPR||3 (dec)|
|Opmode||All||Data Type Bus/DPR||Integer8|
|Drive State||Disabled + Reset (Coldstart)||Weighting|
|Configuration||Yes||Last Change of this Object||1.4|
|Short Description||Active Fault Mode|
|The ACTFAULT command is used to specify the response of the drive if a fault occurs.
ACTFAULT=0: If a fault occurs, the output stage is immediately inhibited, the drive coasts down.
ACTFAULT=1: If a fault occurs, an Emergency Stop procedure is initiated, that consists of the following steps.
1. Switch over the controller mode to velocity control (OPMODE=0)
2. Change the braking ramp for the velocity control loop (DEC) to the emergency stop ramp (DECSTOP)
3. Set the internal velocity command to 0 (before the ramp generator).
4. Start a timer (with time-out = 5 seconds)
As soon as the internal velocity command (after the ramp generator) has reached 0, the output stage is inhibited and the original controller mode is re-activated. This will also happen if the time-out occurs before the velocity command has reached 0.