The Dedicated I/O page says this:
Similar to User I/O, many Dedicated I/O signals have external connections, whereas some, such as the Amp Fault signal, are connected internally within a drive.
Does this mean that the Amp Fault signal will only ever mean that the drive is reporting a fault or that it can mean that it can reflect a drive fault (but could also represent an RMP fault, like out of frames, or RMP’s limit error, etc.)?
I’m looking for the cheapest way to discern whether the drive is reporting a fault (and not RMP).
- The drive reports a Fault in its StatusWord. (By far the most common.)
- We create an AmpFault on an axis after 1000 samples if you have failed to reach Enable.
- We create an AmpFault on each axis when you shutdown the Network.
- For the Beckhoff EL2521 Stepper, we create an Amp Fault if Input_T is active.
- You use MotorFaultMaskSet(RSIMotorDedicatedInAMP_FAULT)
- You incorrectly configure the AmpFaultTriggerStateSet to the inverse of the intended state.
- Error propagation via MultiAxis objects.
The best way to determine if a drive is responsible for an Amp fault is…
Axis::StatusWordGet() -or- NetworkNode::StatusWordGet(axis_number) and seeing if bit 3 (The Fault bit) is active.