APR Fault Conditions

Absolute Position Recovery (APR) faults are generated during these events and when one of the defined conditions occurs.
In order for an APR Fault to occur, the axis must be in the homed state. The Axis Homed Status Bit must be set.
Attribute Changes
A Motion Resolution or an Axis Feedback Polarity attribute has been changed and downloaded to the controller. This situation can also happen during the execution of an SSV.
Axis Feedback Changes
The feedback device has been replaced. This replacement creates a mismatch with the Axis Feedback Serial Number.
Axis Feedback Mode has changed, for example, axis with feedback changed to axis without feedback or vice versa and downloaded to the controller.
  • A user program is downloaded.
  • A user program and tags are restored from a CompactFlash card.
    • Manual Restore
    • Power up restore, when configured
  • Firmware is updated using
    ControlFLASH
    .
  • An SSV to change:
    • Feedback Polarity
    • One of the attributes, which results in a change to the Motion Resolution attribute.
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