FaultMaskDecel Parameter

Default Value: 285609022

Minimum Value: None

Maximum Value: None

Units: None

Type: int

Parameter Settings and Values

This table shows the value of the configuration for the parameter setting.

Table: Parameter Settings, Configurations, and Values

Setting	Configurations
Axis Fault	Position Error Fault
	Over Current Fault
	CW/Positive End-of-Travel Limit Fault
	CCW/Negative End-of-Travel Limit Fault
	CW/High Software Limit Fault
	CCW/Low Software Limit Fault
	Amplifier Fault
	Feedback Input 0 Fault
	Feedback Input 1 Fault
	Hall Sensor Fault
	Maximum Velocity Command Fault
	Emergency Stop Fault
	Velocity Error Fault
	External Fault
	Motor Temperature Fault
	Amplifier Temperature Fault
	Encoder Fault
	Feedback Scaling Fault
	Marker Search Fault
	Safe Zone Fault
	In Position Timeout Fault
	Voltage Clamp Fault
	Motor Supply Fault
	Internal Fault

IMPORTANT: The controller generates an axis fault only if you set the corresponding bit in the FaultMask Parameter. When an axis fault is generated, you can configure what the axis does by changing the state of the corresponding bit in the FaultMaskDecel Parameter, the FaultMaskDisable Parameter, and the FaultMaskDisableDelay Parameter.

Before you use the FaultMaskDecel parameter, make sure that you know the information that follows:

The FaultMaskDecel setting takes precedence over the FaultMaskDisable setting. If a specific fault bit is set in the two parameters, the axis decelerates first. Then after the deceleration completes, the axis disables.

The FaultMaskDecel parameter specifies the fault conditions that cause the axis to decelerate to a stop. This parameter is a bit mask where each bit corresponds to a specific axis fault. Deceleration usually occurs at the rate specified by the AbortDecelRate Parameter. But for an End-of-Travel limit fault, the rate at which deceleration occurs is determined by the settings of the LimitDecelDistance Parameter.

You can configure what the axis does for each fault condition by using the settings in the table that follows.

Table: Axis Fault Behavior

Fault Behavior	Parameter Settings
Not monitored	In FaultMask, clear the corresponding fault bit. FaultMaskDecel is not applicable. FaultMaskDisable is not applicable.
Decelerate to a controlled stop	In FaultMask, select the corresponding fault bit. In FaultMaskDecel, select the corresponding fault bit. In FaultMaskDisable, clear the corresponding fault bit.
Disable immediately	In FaultMask, select the corresponding fault bit. In FaultMaskDecel, clear the corresponding fault bit. In FaultMaskDisable, select the corresponding fault bit.
Decelerate to a controlled stop, then disable	In FaultMask, select the corresponding fault bit. In FaultMaskDecel, select the corresponding fault bit. In FaultMaskDisable, select the corresponding fault bit.

If an axis is in a fault condition, the axis completes the action that you specify in the FaultMask, FaultMaskDecel, and FaultMaskDisable parameters. Before normal operations can continue, you must recover from the axis fault by doing the steps that follow:

Correct the condition that caused the controller to generate an axis fault.
Acknowledge the fault condition by doing one of the steps that follow in the Configure tab of Automation1Studio:

Click the Acknowledge All button or issue an AcknowledgeAll() function to clear all the axis faults on the controller.
Issue the FaultAcknowledge() function to acknowledge the axis faults on the axis that you specify.

Examining Axis Faults

For more information about an axis fault that the controller generates, do one of the options that follow:

Look at the axis fault in the Axis Dashboard or the Studio notification bar. The faults show in red text.
In your AeroScript program, use StatusGetAxisItem($axis, AxisStatusItem.AxisFault) to read the values of the Axis Fault.
For advanced diagnostics information about the axis fault, use the Fault tab in the Status Utility.

For more information about axis faults, refer to Fault and Error Functions.

Fault Mask Bit Descriptions

Table: Axis Fault Bit Descriptions

Bit	Value	AeroScript Constant	Name	Description
0	0x00000001	AxisFault.PositionErrorFault	Position Error Fault	The absolute value of the difference between the position command and the position feedback exceeded the threshold specified by the PositionErrorThreshold Parameter.
1	0x00000002	AxisFault.OverCurrentFault	Over Current Fault	The average motor current exceeded the threshold specified by the AverageCurrentThreshold Parameter and AverageCurrentTime Parameter.
2	0x00000004	AxisFault.CwEndOfTravelLimitFault	CW/Positive End-of-Travel Limit Fault	The axis encountered the clockwise (positive) end-of-travel limit switch.
3	0x00000008	AxisFault.CcwEndOfTravelLimitFault	CCW/Negative End-of-Travel Limit Fault	The axis encountered the counter-clockwise (negative) end-of-travel limit switch.
4	0x00000010	AxisFault.CwSoftwareLimitFault	CW/High Software Limit Fault	The axis was commanded to move beyond the position specified by the SoftwareLimitHigh Parameter parameter.
5	0x00000020	AxisFault.CcwSoftwareLimitFault	CCW/Low Software Limit Fault	The axis was commanded to move beyond the position specified by the SoftwareLimitLow Parameter.
6	0x00000040	AxisFault.AmplifierFault	Amplifier Fault	The amplifier for this axis exceeded its maximum current rating, the bus voltage exceeded the BusOvervoltageThreshold Parameter on a PWM drive, the BusOvervoltage hardware signal was triggered, or the amplifier had an internal error.
7	0x00000080	AxisFault.FeedbackInput0Fault	FeedbackInput0 Fault	The drive detected a problem with the feedback device specified by the PrimaryFeedbackType Parameter and FeedbackInput0 Parameter . Or, the drive detected an invalid position feedback configuration.
8	0x00000100	AxisFault.FeedbackInput1Fault	FeedbackInput1 Fault	The drive detected a problem with the feedback device specified by the AuxiliaryFeedbackType Parameter and FeedbackInput1 Parameter. Or, the drive detected an invalid velocity feedback configuration.
9	0x00000200	AxisFault.HallSensorFault	Hall Sensor Fault	The drive detected an invalid state (all high or all low) for the Hall-effect sensor inputs on this axis.
10	0x00000400	AxisFault.MaxVelocityCommandFault	Maximum Velocity Command Fault	The commanded velocity is more than the velocity command threshold. Before the axis is homed, this threshold is specified by the VelocityCommandThresholdBeforeHome Parameter. After the axis is homed, this threshold is specified by the VelocityCommandThreshold Parameter.
11	0x00000800	AxisFault.EmergencyStopFault	Emergency Stop Fault	The emergency stop sense input, specified by the EmergencyStopFaultInput Parameter or SoftwareEmergencyStopInput Parameter, was triggered, or the controller detected a fault condition in the Safe Torque Off (STO) hardware.
12	0x00001000	AxisFault.VelocityErrorFault	Velocity Error Fault	The absolute value of the difference between the velocity command and the velocity feedback exceeded the threshold specified by the VelocityErrorThreshold parameter.
15	0x00008000	AxisFault.ExternalFault	External Fault	The external fault input, specified by the ExternalFaultAnalogInput Parameter, ExternalFaultDigitalInput Parameter, or SoftwareExternalFaultInput Parameter, was triggered.
17	0x00020000	AxisFault.MotorTemperatureFault	Motor Temperature Fault	The motor thermistor input was triggered, which indicates that the motor exceeded its maximum recommended operating temperature.
18	0x00040000	AxisFault.AmplifierTemperatureFault	Amplifier Temperature Fault	The amplifier temperature is not within the operating range. For most HyperWire drives, this fault occurs at temperatures greater than 75 °C. On the iXA4 and XA4, this fault occurs at temperatures greater than 100° C. If the temperature sensor reading is invalid or below 0° C, the drive reports a temperature of 1000° C. This reading usually identifies a defective sensor that must be repaired at the factory. On the iXC6e and XC6e, this fault also indicates when the calculated shunt resistor temperature based on the ShuntNormalizedTemperatureFactor Parameter and the ShuntThermalTimeConstant Parameter is more than 200 °C.
19	0x00080000	AxisFault.EncoderFault	Encoder Fault	The encoder fault input on the motor feedback connector was triggered.
22	0x00400000	AxisFault.GantryMisalignmentFault	Gantry Misalignment Fault	The absolute value of the position command or the absolute value of the position feedback on the Theta axis of the gantry under Decoupling Control exceeded the value specified by the GantryMisalignmentThreshold Parameter.
23	0x00800000	AxisFault.FeedbackScalingFault	Feedback Scaling Fault	The difference between the position feedback and the scaled (adjusted by ServoLoopGainKv Parameter) velocity feedback exceeds the threshold specified by the PositionErrorThreshold Parameterparameter.
24	0x01000000	AxisFault.MarkerSearchFault	Marker Search Fault	The distance that the axis moved while searching for the marker exceeded the threshold specified by the MarkerSearchThreshold Parameter parameter.
25	0x02000000	AxisFault.SafeZoneFault	Safe Zone Fault	The axis decelerated to a stop because the motion violated a safe zone.
26	0x04000000	AxisFault.InPositionTimeoutFault	In Position Timeout Fault	The axis did not achieve in position status in the period specified by the InPositionTimeoutThreshold Parameter.
27	0x08000000	AxisFault.VoltageClampFault	Voltage Clamp Fault	The commanded voltage output exceeded the value of the PiezoVoltageClampLow Parameter or PiezoVoltageClampHigh Parameter.
28	0x10000000	AxisFault.MotorSupplyFault	Motor Supply Fault	The motor supply output has exceeded the allowable power or temperature threshold.
30	0x40000000	AxisFault.InternalFault	Internal Fault	The drive encountered an internal error that caused it to disable. The Internal Fault cannot be acknowledged. You must reset the controller to clear this fault. For information, use the Global Technical Support Portal to contact Aerotech Global Technical Support.