NA

Sercos errors for all drives are cleared in phase 2 during the phase run up to phase 4.

Once the system has gotten to phase 4 and errors need to be cleared, it is most likely to get the line back up to full operation as quickly as possible, not for troubleshooting. For this reason a request for Error Clear will cause a new phase run up to clear errors in all drives and resolve any other potential state machine issues.

Some Manufacturers have an external power enable circuit to their SERCOS drives to enable power. This prevents the Cyclical Interrupt from being installed, which traps the SERCOS state machine in a place where it does not do its normal processing.

In this state, I have added checking to allow drive settings to be modified and drive errors to be cleared. The drive status is also modified to indicate the drive is not ready and is waiting for Cyclical Data to be enabled.