Motion Axis not detecting STO Error

[MaciejGroszyk]

Hello

We have Indradrive CS and configured it with Motion 1.20.8 and CtrlX Core 1.20.12

We have problem with clearing Emergency-stop error, while axis is in ModeAB. We also don't see error on CtrlX.

  We tried clearing with commands:

ImcCtrl.Admin.ClearError   := TRUE;

arAxisCtrl_gb[AxisX1.AxisNo].Admin.ClearError := TRUE;

It doesn't work with ModeAB. We need to switch axis to ModeAH, then error occured on CtrlX and we can clean error on drive with above commands and axis goes to ModeAB. 

Is there any possibility to clear drives error in ModeAB? 

[CodeShepherd · Accepted solution]

Please check topic "No error feedback of drive failure F8022" as base is similar. In short drive errors are not recognized by the ctrlX MOTION when motion object (axis) is in Ab. This will change in version 2.6.

So currently the MotionInterface does ignore the clear error bit, as using reset error function on a drive without having an error (being in state error) is a violation of its state machine. Also there is an extension from 2.4 on that in Disabled and Standstill the function can always be executed.