First, is it the implicit expectation that no sensible person would
ClearFaults() without having checked the state first? (The example does something like this.)
Are there other things I should check to know if I would want to
ClearFaults() besides the state? Are there states/faults that could exist (in the mapped axes, e.g.) that would not be reflected in the multi axis states?
Supposing an axis in the multi axis was enabled and idle. Would you expect anything at all to happen?
I have observed that under some conditions when the axis (which is a member of the multi axis) is enabled and idle, that clearing faults has the effect that the bits in the status word will indicate that the axis is in the “not ready to switch on” state (
0b x0xx 0000 ) for a few (~8) milliseconds.
I am clearing faults in preparation for streaming motion, so it’s just a part of the get-ready-for-motion code. I haven’t been checking states anything. I was using the function as if to say, “clear any faults, if there are any.”
Is this the proper expectation? If not, what should I expect?