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mannesmann
Rexroth
275990
DIAX 04
SSE-01VRS
HDS
DANGE
High V oltage.
Danger of electrical shock.
for
5 minutes after switching power
Read and follow "Safety
Instructions for Electrical Drives" manual,
DOK-GENERL-DRIVE******-SVS...
HDDD
DIAX04
Drive With Servo Function
Trouble Shooting Guide: SSE 01VRS
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
Indramat
DIAX04 Drive With Servo Funktion
Title
DIAX04 Drive With Servo Function
Type of Documentation
Functional description
Documentation Type
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
Internal Filing Notation
•
Mappe 61-01V-EN / Register 8
•
209-0077-4314-01
What is the purpose of this documentation?
The following documentation describes the functions of the firmware
FWA-DIAX04-SSE-01VRS.
This documentation serves trained maintenance personnel:
• as a working guide for installation of the digital AC servo drive via a
SERCOS-compatible control system
• for parameterization of the drive controller
• for data security of the drive parameter
• for error diagnosis and error removal
Course of modifications
Document identification of previous and present output
Release
Date
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P 05.97
Remarks
First edition
Copyright
INDRAMAT GmbH, 1997
Transmission as well as reproduction of this documentation, commercial use or communication of its contents will not be permitted without expressed written permission. Violation of these stipulations will require compensation. All rights reserved for the issuance of the patent or registered design. (DIN 34-1)
Publisher
INDRAMAT GmbH
•
Bgm.-Dr.-Nebel-Str. 2
•
D-97816 Lohr a. Main
Telephone 09352/40-0
•
Tx 689421
•
Fax 09352/40-4885
Abt. END (HP/WR)
Liability
The content of the documentation and availability of the products are subject to change without notice.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Funktion
Contents
1 Diagnostic Message Descriptions
1-1
2 Description of Diagnostic Letters F... and E...
2-1
F360 Power supply unit over voltage .......................................................................................... 2-12
F369 +24V /
±
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Contents
I
DIAX04 Drive With Servo Funktion
II
Contents DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Funktion
E829 Positive Position Limit Value Exceeded............................................................................. 2-29
E830 Negative Position Limit Value Exceeded ........................................................................... 2-29
E843 Positive Travel Zone Limit Switch Activated ...................................................................... 2-29
E844 Negative Travel Zone Limit Switch Activated..................................................................... 2-29
3 Description of Diagnostic Letters C... and A...
3-1
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Contents
III
DIAX04 Drive With Servo Funktion
3.3 Diagnostic Messages for Basic Initialization and After Fatal System Errors...................................... 3-21
Diagnostic Message Display: -0 .................................................................................................. 3-21
Diagnostic Message Display: -1 .................................................................................................. 3-21
Diagnostic Message Display: -2 .................................................................................................. 3-21
Diagnostic Message Display: -3 .................................................................................................. 3-21
Diagnostic Message Display: -5 .................................................................................................. 3-21
Diagnostic Message Display: -6 .................................................................................................. 3-22
Diagnostic Message Display: Watchdog ............................................................................... 3-22
4 Exchanging Drive Components
Customer Service Locations
4-1
IV
Contents DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
1 Diagnostic Message Descriptions
1.1 Overview of the diagnostic message descriptions
Diagnostic Message Types
Each operational state of the drive will be characterized with a diagnostic message.
Differentiations will be made between:
•
Error diagnostic messages
•
Warning diagnostic messages
•
Command diagnostic messages
•
Drive Mode diagnostic messages
•
Operation status
Construction of a diagnostic message
A diagnostic message consists of:
•
A diagnostic number and a
•
diagnostic text
F228 Excessive Control Deviation
Diagnostic message
Diagnostic message number
Fig. 1-1: Diagnostic message with a diagnostic number and text.
For the example in the graphic, "F2" and "28" are shown alternately on the H1-Display.
The control system can read out the diagnostic number in hexadecimal form with the S-0-0390, Diagnostic Number parameter.
In addition, the drive allocates to the control system the diagnostic number and diagnostic text as a string F228, Excessive Deviation with the S-0-0095, Diagnostic Message parameter.
Display
The H1 display is the visual representation the diagnosis of the drive controller. H2 serves two-axis units (HDD) as an addition display.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
H1-Display
H2-Display
High V
DANGE oltage.
Danger of electrical shock. electrical f o r not touch connec tions
5 minutes after switching power
Read and follow "Safety manual, Instructions for Electrical Drives"
DOK-GENERL-DRIVE******-SVS...
FA5012d1.drw
HDD
HDS
Fig. 1-2: H1 and H2 displays on the HDS and HDD controllers
Diagnostic Message Descriptions
1-1
DIAX04 Drive With Servo Function
Diagnostic Message
Output Priority
The diagnostic number appears on this two-positional seven-segment display. The image can be seen on the "Diagnostic Message Priority
Display".
This display quickly shows the current operation status without the use of a communications interface.
The operating mode cannot be seen from the H1 or H2 display. If the drive follows the operating mode and no command was activated, then the symbol "AF" appears on the display.
If more than one diagnostic message is waiting, then the message with the highest priority will be displayed.
The following graphic classifies operation status in order of importance.
Error
I
T
O
R
Y
P
R
I
Drive lock active
Ready to operate
Drive ready
Drive
Halt
Drive enable yes
Ready to operate?
no
Warning
Command error
Command active
Communication phase
Fig. 1-3: Diagnostic message priority diagram
Clear Coded Diagnostic Message
The clear coded diagnostic message contains the diagnostic number followed by the diagnostic text, as shown in the example, "Excessive
Output Error" (Fig. 1-1). It can be read out with the S-0-0095, Diagnostic
Message parameter and directly displays the operation status on an operator surface.
The clear coded diagnostic message will be switched to the current language.
1-2
Supplement B: Diagnostic Message Description
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
2 Description of Diagnostic Letters F... and E...
2.1 Error Diagnostic Messages F...
Many areas are monitored in connection with operating modes and parameter settings. An error message is generated if a condition is discovered which no longer allows proper operation.
Error Classes
The errors are separated into four different error classes. The error class is evident from the diagnostic message. They are determined with the drive's error response..
Error class :
Fatal
Travel range
Interface
Diagnostic
Message:
F8xx
F6xx
F4xx
Non-fatal F2xx
Table 2-1: Error Classes and Drive Reaction
Drive Reaction:
Torque free switching
Velocity command value-zero switch
In accordance with best possible deceleration
In accordance with best possible deceleration
Drive's Error Reaction
Reset the Error
If an error state is detected in the drive then an automatic operation of the drive's error response will be started as long the drive is in control.
The H1 display blinks a Fx / xx.
The drive's reaction can be parameterized by P-0-0119, Deceleration as
best as possible, with interface and non-fatal errors. At the end of each error reaction the drive is switched off.
Errors will not be automatically deleted but must be:
•
Reset from the control through the initialization of the command
S-0-0099, Reset Class 1 Diagnostics, or
• reset by pressing the "S1" button.
If the error state is still present then the error will be immediately detected again.
A positive edge bit on the control enable signal is necessary in order to turn on the drive again.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-1
DIAX04 Drive With Servo Function
F207 Switching to uninitialized operating mode
Cause:
At least one of the 4 operating mode parameters S-0-0032..35 is set to
"0". When the drive controller is activated, this operating mode can be selected via bits 8 and 9 in the master control word.
Remedy:
Enter the desired operating mode in the activated operating mode parameter.
Permissible operating modes:
Meaning:
Torque control
Velocity control
Position control with actual feedback value 1
Position control with actual position value 2
Drive-controlled interpolation with actual feedback value 1
Drive-controlled interpolation with actual feedback value 2
Fig. 2-2: Operating modes
Bit list of the operating mode parameters:
0000 0000 0000 0001
0000 0000 0000 0010
0000 0000 0000 x011
0000 0000 0000 x100
0000 0000 0001 x011
0000 0000 0001 x100
Parameters:
Main operating mode
Secondary operation mode 1
Secondary operation mode 2
Secondary operation mode 3
S-0-0032
S-0-0033
S-0-0034
S-0-0035
Check these parameters for input of permissible interpolation type.
F208 Motor Type Has Changed
See also the functional description: "Automatic execution of the load default feature."
F219 Motor Overtemperature Shutdown
If the motor temperature exceeds the value in S-0-0204, Motor
shutdown temperature, the drive will generate this error message. The value in S-0-0204 is fixed at 150°C for MHD-,MKD- and MKE motors.
The appropriate value must be entered from the motor's technical specifications for all other types of motors.
For motors of series: 2AD, 1MB, LAF, LAR, and MBW, the current motor temperature can be called up with parameter S-0-0383, Motor
temperature.
Cause:
1.
2.
3.
The motor became overloaded. The effective torque demand on the motor was above its permissible continuous torque level for too long.
Short circuit or ground in the connection to motor temperature monitoring.
Instability in the velocity control loop.
2-2
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
Remedy:
For 1.
Check the layout of the motor. For motors which have been in operation for longer periods of time, check to see if the operating conditions have changed (in regards to cleanliness, friction, moved components, etc.).
For 2.
Check the wiring to the motor temperature monitor X6/1 and
X6/2 for grounds and short circuits.
For 3.
Check the velocity control loop parameters (see the functional description).
F221 Error Motor Temperature Control
Cause:
Short-circuit in the wiring to the motor temperature monitoring.
Remedy:
Check the wiring to the motor temperature monitoring X6/1 and X6/2 for short-circuits.
F222 Error Drive Overtemperature Watch Defekt
Temperature monitoring checks to see if the measured drive controller temperature is within reasonable bounds.
If it determines that it is lower than -10
°
C, then it is assumed the measuring unit is defective.
The error message is generated after the accompanying E219 warning has been given for 30 seconds.
Cause:
1.
Sensor not connected to the DRP3 circuit board.
2.
Broken cable in the drive controller, or defective sensor.
Remedy:
Exchange or repair the drive controller.
F226 Undervoltage Error
The DC bus voltage is monitored in the power supply module. The drive controller is told via the control voltage bus whether the DC bus voltage is above the minimum permissible value of +200 V for HDS and +250 V for
HDD. Going below this threshold stops the drive according to the error response which has been selected.
Requirement: The NCB bridge is not installed on the supply module.
Cause:
1.
2.
The power source has been interrupted without switching off the drive with the controller enable signal (RF).
Activation of the drive via the control enable (RF) without prior activation of the power supply.
3.
Supply module malfunction.
Remedy:
1.
Check the logic for activating the drive controller within the contacted control system.
See the explanation in the supply module user manual.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-3
DIAX04 Drive With Servo Function
F228 Excessive Deviation
If the position loop is closed, the drive will monitor whether the command value that was set can be followed. In doing this, the drive will calculate a model feedback value and compare it to the actual feedback value. This error is generated if the difference between the theoretical and actual feedback values exceeds the value in parameter S-0-0159, Monitoring
window on a continuous basis.
Cause:
1.
The acceleration capacity of the drive was
exceeded.
2.
3.
4.
The axis was blocked.
Parameter error in the drive parameters.
Parameters set incorrectly for S-0-0159, Monitoring window
5.
The power supply was turned off with control enable present. Possible cause: an error in an
AC servo drive at the common supply module.
Remedy:
For 1.
Check parameter S-0-0092, Bipolar torque limit and set it equal to the maximum permissible value for the operation.
Reduce the acceleration setting of the control system (see control system handbook).
For 2.
Check the mechanical system and eliminate any jamming of the motor axis.
For 3.
Check the drive controller parameters.
For 4.
Set parameters for S-0-0159, Monitoring window.
For 5.
Check the AC servo drive for an error message other than "28".
F229 Motor Encoder Failure: Quadrant Error
A hardware error was discovered in the motor encoder interface being used.
Cause:
1.
Defective encoder cable.
2.
3.
4.
Disruptive electro-magnetic interference on the encoder cable.
Defective motor encoder interface.
Defective drive controller.
Remedy:
For 1.
Exchange the encoder cable.
For 2.
Keep the encoder cable well away from the power cables.
For 3.
Exchange the motor encoder interface.
For 4.
Exchange the drive controller.
2-4
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
F233 External Power Supply Error
Cause:
Various optional connector modules have metallically separated input and output. To use these inputs and outputs properly, you must install an external power supply. If this supply lies outside the permissible range, the error message explained here will be generated.
The following functions require an external power supply:
1.
Homing switch for module DSS2, activated by parameter
S-0-0147, Homing parameter, bit 5.
2.
Travel range limit switch for module DSS, activated by
3.
4.
5.
6.
bit 1.
Sensor inputs activated by S-0-0170, Command sensor cycle
Emergency stop input for module DSS2, activated by parameter
P-0-0008, Activation E-Stop function, bit 0.
Use of a DEA module.
Evaluating a measurement system with a DAG module.
Remedy:
Check external power supply.
Description: Unit:
External operating voltage
+
U
L
External current consumption
I
L
V mA
Fig. 2-3: External power supply voltage
min.:
18
typ.:
24
max.:
32
100
F234 Emergency Stop
Cause:
The emergency stop function (E-Stop) was activated by turning off the
+24V current at the X12/6 input. The drive was brought to a standstill by the error response which had previously been set.
Remedy:
1.
Eliminate the condition which caused the +24V current at the
X12/6 input to be turned off.
2. Activate the "Reset class 1 diagnostic" command with the control system (see control system handbook).
F236 Excessive Position Feedback Difference
Cause:
Actual feedback value 1 and actual feedback value 2 are both set to the same value in the command for the transition check for communications phase 4, and cyclical evaluation of both encoders is started. In cyclical operation (phase 4), the actual feedback value difference of both encoders is then compared with S-0-0391, External encoder
monitoring window. If the difference is greater than the monitoring window, error F236 "Excessive position feedback difference" is generated, and the error response previously set by parameter is executed.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-5
DIAX04 Drive With Servo Function
4.
5.
6.
7.
1.
2.
3.
Incorrect parameter for the external encoder.
(S-0-0115, Position feedback 2 type parameter,
S-0-0117, Resolution of rotational feedback 2).
Incorrect parameters have been set for the mechanical system between the motor axis and the external encoder.
(S-0-0121, Input revolutions of load gear
S-0-0122, Output revolutions of load gear.
S-0-0123, Feed constant).
The mechanical system between the motor shaft and the external encoder is not rigid (for example there is play in the transmission).
Defective encoder cable.
The module (DLF or DEF) for evaluating the external measuring system is defective.
The maximum input frequency of the encoder interface has been exceeded.
External encoder not attached to the axis which is being controlled.
Remedy:
For 1.
Check S-0-0115, Position feedback 2 type parameter and
S-0-0117, Resolution of rotational feedback 2.
For 2.
Check S-0-0121, S-0-0122, Load gear input and
.
output revolutions and S-0-0123, Feed constant
For 3.
Enlarge S-0-0391, External encoder monitoring window.
For 4.
Exchange the encoder cable.
For Exchange the module for evaluating the external measurement system.
For 6.
Reduce velocity.
For 7.
Set S-0-0391, External encoder monitoring window to 0
(turn off monitoring).
F237 Excessive Position Command Value Difference
Cause:
When the drive is operating in position control, position command values which come via the SERCOS interface are monitored. If the velocity required of the drive by two successive position command values is greater than or equal to the value in S-0-0091, Bipolar velocity limit, position command value monitoring is initiated. The Excessive position
command value is stored in parameter P-0-0010. The last valid
position command value is stored in parameter P-0-0011.
If position data are to be processed in modulo format, then the interpreation of the command values is also dependent on the value set in S-0-0393, command value in modulo format. The parameter should be set for the "shortest path" (0).
Remedy:
Compare S-0-0091, Bipolar velocity limit value with the velocity in the program and adjust to match it, if necessary.
2-6
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
F242 External Encoder Failure: Signals Too Small
Cause:
The analog signals of an external measurement system are used for high resolution analysis of that measurement system. These are monitored according to two criteria:
1. The pointer length, which is calculated from the sine and cosine signals, must be at least 1 V.
2. The maximum pointer length resulting from the sine and cosine signals must not exceed 11.8 V.
pointer length = sin ´ +cos ´
Fig. 2-1 Pointer length
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
Fig. 2-2: Correct signal amplitude
Example:
Ucos = -6.5V
Usin = 6.5V
pointer length =
( )
≈
9.2V
Remedy:
1.
Check the measurement system cable.
2.
Check the measurement system.
Description of Diagnostic Letters F... and E...
2-7
DIAX04 Drive With Servo Function
F245 External Encoder Failure: Quadrant Error
A hardware error was discovered in the high resolution position interface for "DLF" sine signals of the external measurement system.
Cause:
1.
Defective encoder cable.
2.
3.
Disruptive electro-magnetic interference on the encoder cable.
Defective DLF module.
Remedy:
For 1.
Exchange the encoder cable.
For 2.
Keep the encoder cable well away from the power cables.
For 3.
Exchange the DLF module.
F248 Low Battery Voltage
Cause:
For motors of series MKD and MKE, the absolute position information is stored by a battery-powered buffer in the motor feedback. The battery is designed for a 10-year life span. If the battery voltage falls below 2.8 V, this message appears. The absolute encoder function will still be preserved for about 2 weeks.
CAUTION
Source of danger: Malfunction in the control of motors and moving elements
Possible damages:
Precautionary measures:
Mechanical injuries
Replace the battery as soon as possible
Instructions for Exchanging Batteries
Have the following tools and accessories ready:
•
Torx screwdriver size 10
•
Needle-nose pliers, torque wrench
•
New packaged battery (Part No.: 257101)
CAUTION
Source of danger: A malfunction in the control of motors and moving elements
Mechanical injuries Possible damages:
Precautionary measures: Turn off the power supply.
Make sure it will not be turned back on.
Exchange the battery while the control voltage is turned on.
If the control voltage is turned off while the battery is taken out, the absolute reference point will be lost.
The reference point must then be reestablished.
2-8
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
Removing the Battery
•
Unscrew torx screw with a size 10 screwdriver.
•
Pull out the resolver feedback (RSF) lid by hand.
•
Pull off the battery connection.
•
Loosen battery clamp and remove the battery.
•
Place the factory-made battery (Part No.: 257101) in the housing and screw on the clamp. WARNING! Do not kink the battery cable.
•
Attach connection to the battery.
Close the resolver feedback lid, screw in 4 torx screws and tighten to 1.8
Nm with the torque wrench.
F267 Incorrect Internal Hardware Synchronization
Cause:
The drive control of all drives in a SERCOS ring is synchronized by a phase control loop. Proper functioning of the synchronization is monitored. This error is generated if the average deviation is greater than
5 usec.
Remedy:
•
Exchange DSS module.
•
Exchange the drive controller.
F268 Brake Error
The drive controller takes control of the brake for motors with an integrated holding brake. The braking current is monitored.
If the braking current is outside of the permissible range between:
0.4 -1.6 * P-0-0511, Break current this error message will be generated.
Cause:
1.
2.
The power supply for the brake is not connected properly or is outside of the
(24 V +/- 10%) tolerance.
The motor cable is incorrectly connected
(wiring error).
3.
Defective brake.
4. Defective drive controller.
Note: A metallic connector between the 0V brake supply and the 0V of the drive controller is required.
Remedy:
For 1.
Check the power supply.
For 2.
Check the motor cable.
For 3.
Exchange the motor.
For 4.
Exchange the drive controller.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-9
DIAX04 Drive With Servo Function
F276 Absolute Encoder Error, Deviation > P-0-0097
When a drive controller with an absolute encoder motor (multiturn) is switched off, the actual feedback position is saved. When it is turned back on, the position determined by the absolute encoder evaluation is compared with this stored position. This error is given if the deviation is greater than the value set by parameter in P-0-0097, Absolute encoder
control window.
Cause:
1.
2.
Turning on for the first time (invalid stored position).
The axis was moved further in switched-off state than allowed by parameter P-0-0097, Absolute encoder control window.
3.
Incorrect position initialization.
Remedy:
For 1.
Clear the error and set the reference point.
For 2.
The axis was moved while turned off and is located outside of its permissible position.
Check to see if a new travel command would cause damage.
Then clear errors.
For 3.
Danger of Accident through Unwanted Axis Motion
Check reference point. If the reference point is incorrect, there is a problem with the feedback. The feedback should be exchanged (with MHD-, MKD- or MKE absolute motor encoders, exchange the whole motor).
F280 Earth connection
Cause:
Ground short in the DC bus or in the motor.
This error is reported only in compact devices.
Remedy:
- Isolation test of the motor and motor power supply cable.
- Disconnect the power supply cable from the motor to the drive and turn on the drive and the power. If the error recurs, the drive should be exchanged.
F281 Mains Fault
Cause:
The power supply voltage was not present during operation for at least 3 power periods. As a result, the drive controller was brought to a standstill according to the set error response.
Remedy:
Check the power supply connection according to the project planning specifications.
F282 Phase Fault
The power supply voltage is checked each time the control voltage is switched on and each time the controller enable is switched off. A phase error was found during this check.
2-10
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
Cause:
A power supply phase has failed or is outside of the permissible tolerance.
Remedy:
Check the power supply connection according to the project planning specifications of the drive controller being used.
F283 Net Overvoltage
Cause:
The power supply voltage is above the permissible value > 460V+15%
Remedy:
Make sure the power supply is connected properly according to the project planning specifications of the drive controller being used.
F284 Main Contactor nc - Low Voltage
Cause:
When the main contactor was turned off, the DC bus voltage went below
400 V while controller enable was set.
Remedy:
Switch off the controller enable before switching off the main contactor.
F316 Power supply module softstart error
The DC bus cannot be loaded.
Cause:
1. Short-circuit in power supply or drive controller.
2.
3.
Too many additional capacitors have been connected.
Interrupt in DC bus choke (only applies to HVE)
Recovery:
1:
2:
3:
Release connection to drive controllers and turn pwoer back on. If unit is defective, replace it.
Number of additional capacitor must be reduced or a separate loading device must be used.
DC bus choke and lines must be checked, possibly replaced.
F318 Power supply module heatsink overtemperature
Power switched off due to excessive heatsink temperature.
Cause:
The unit is overloaded over ambient temperature is too high.
Recovery:
Check load and ambient temperature. Temperature pre-warning contact of the unit must be checked.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-11
DIAX04 Drive With Servo Function
F320 Bleeder overload
Power off due to high bleeder load.
Cause:
1.
2.
3.
In the HVR, too much regenerated drive energy even with power off.
In the HVE, continuous regenerated power or rotary drive energy is too high.
Unit is defective.
Recovery:
On 1: Reduce drive speed. Delay power off in the case of OFF or and emergency stop.
OnOn 3: Replace unit.
F324 Power supply unit additional component error
Cause:
An error has been detected in an additional component, e.g., additional bleeder, control voltage power supply unit or a separate loading device.
Recovery
Check the additional components.
F360 Power supply unit over voltage
With HVR only!
Cause:
Short-circuit in power supply unit, drive controller, motor or a cable.
Recovery:
Disconnect power supply lines on the drive controller one at a time.
Replace a unit if it is defective.
F369 +24V /
±
15V / +5V Power supply unit error
Control voltage interference.
Cause:
1.
2.
Maximum permissible load has been exceeded
Short-circuit in wiring if control voltage is used outside of drive system.
3.
Unit is defective.
Recovery
On 1: Release bus connections to drive controller one after the other.
On 2: Release control voltage taps and check for short-circuits.
On 3: Replace unit.
F380 Power supply unit ground short
Cause:
Ground short: in power supply unit in drive controller in motor or motor cable
Recovery:
Release connections to motor and power supply unit one at a time.
Replace defective drive components.
2-12
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
F381 Power failure
With HVR only !
Cause:
At least one phase of the power supply is missing.
Recovery:
Check mains fuses and replace, if necessary.
F382 Phase error
With HVE only !
Cause:
At least one phase of the power supply is missing
Recovery:
Check mains fuses and replace, if necessary.
F383 Mains voltage error
With HVR only !
Cause:
Mains voltage exceeds permissible tolerance (3x 380 ... 480V,
±
10 %).
Recovery:
Check mains voltage, use matching transformer, if necessary.
F384 Power supply unit connection error
With HVR only !
Cause:
Power and control voltage connects are not phase coincident.
Recovery:
Check connection voltage. Terminals X5/U and X8/1, X5/V and X8/2,
X5/W and X8/3 may not conduct voltage to each other.
F385 Mains frequency error
With HVR only !
Cause:
Mains frequency exceeds permissible tolerance (
±
2Hz).
F394 Checksum error - power supply unit
With HVR only !
Cause:
Unit failure.
Recovery:
Replace unit.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-13
DIAX04 Drive With Servo Function
F401 Double MST Error Shutdown
The master sync telegram was not received in the drive controller in two successive SERCOS cycles.
Cause:
1.
Disruption in the LWL transmission line.
2.
3.
Too much attenuation in the light signal.
Malfunction in the SERCOS interface (general).
Remedy:
For 1.
Check all LWL connections in the SERCOS ring.
For 2.
Measure the attenuation in the LWL cable.
The maximum attenuation between TX and RX must not fall below 12.5 dB.
For 3.
Exchange the SERCOS interface module in the drive controller.
F402 Double MDT Error Shutdown
The master data telegram (MDT) was not received in the drive controller in two successive SERCOS cycles.
Cause:
1.
Disruption in the LWL transmission line.
2.
3.
Too much attenuation in the light signal.
Malfunction in the SERCOS interface (general).
Remedy:
For 1.
Check all LWL connections in the SERCOS ring.
For 2.
Measure the attenuation in the LWL cable.
The maximum attenuation between TX and RX must not fall below 12.5 dB.
For 3.
Exchange the SERCOS interface module in the drive controller.
F403 Invalid Communications Phase Shutdown
An invalid communications phase was given by the SERCOS master module (phase > 4).
Cause:
Error in the SERCOS master module of the control system.
Remedy:
Consult the control system manufacturer.
F404 Error During Phase Progression
The prescribed order was not maintained during phase progression.
Cause:
Error in the SERCOS master module of the control system.
Remedy:
Consult the control system manufacturer.
2-14
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
F405 Error During Phase Regression
Phase 0 was not switched to while switching back from a communications phase.
Cause :
Error in the SERCOS master module of the control system.
Remedy:
Consult the control system manufacturer.
F406 Phase Switching Without Ready Signal
The SERCOS master attempted a phase switch without waiting for the drive controller's ready signal.
Cause:
Error in the SERCOS master module of the control system.
Remedy:
Consult the control system manufacturer.
F629 Positive Travel Limit Value Is Exceeded
The drive received a command value which resulted in an axis position outside the positive travel range. The axis was brought to a standstill with the "Set velocity command value to zero" error response. Bit 2 of paramater P-0-0090, Travel range limit switch is set for "Exceeding travel range as an error," or exceeding the position limit began a drive control command (such as the drive-controlled homing procedure).
Cause:
S-0-0049, Positive position limit value exceeded.
Remedy:
1.
2.
3.
Check S-0-0049, Positive position limit value.
Check the software limits of the control system.
Activate the axis after the error response.
Procedure:
•
Clear the error.
•
If the power supply was turned off, turn it back on.
•
Move the axis into the permissible working range.
Note:
Only command values which lead to the permissible working area will be accepted. All other command values will result in bringing the drive controller to a standstill again.
F630 Negative Travel Limit Value Is Exceeded
The drive received a command value which resulted in an axis position outside the negative travel range. The axis was brought to a standstill with the "Set velocity command value to zero" error response. Bit 2 of paramater P-0-0090, Travel range limit switch is set for "Exceeding travel range as an error," or exceeding the position limit began a drive control command (such as the drive-controlled homing procedure).
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-15
DIAX04 Drive With Servo Function
Cause:
S-0-0050, Negative travel limit value exceeded.
Remedy:
1.
2.
3.
Check S-0-0050, Negative travel limit value.
Check the software limits of the control system.
Activate the axis after the error response.
Procedure:
•
Clear the error.
•
If the power supply was turned off, turn it back on.
•
Move the axis into the permissible working range.
Note: Only command values which lead to the permissible working area will be accepted. All other command values will result in bringing the drive controller to a standstill again.
F643 Positive Travel Limit Switch Detected
1.
2.
3.
The positive travel limit switch was encountered. The axis was brought to a standstill with the "Set velocity command value to zero" error response.
Bit 2 of parameter P-0-0090, Travel range limit switch is set for
"Exceeding travel range as error," or exceeding the position limit began a drive control command (such as the drive-controlled homing procedure).
Cause:
The positive range limit switch is detected.
Remedy:
Reset the error.
Turn the power supply on again.
Move the axis into the permissible travel region.
Note: The drive will not accept command values which lead out of the permissible travel range. Entering these command values in the drive controller will result in this error.
F644 Negative Travel Limit Switch Detected
The negative travel limit switch was encountered. The axis was brought to a standstill with the "Set velocity command value to zero" error response. Bit 2 of parameter P-0-0090, Travel range limit switch is set for "Exceeding travel range as error," or exceeding the position limit began a drive control command (such as the drive-controlled homing procedure).
Cause:
The negative travel limit switch was detected.
Remedy:
1.
2.
3.
Reset the error.
Turn the power supply on again.
Move the axis into the permissible travel region.
Note: The drive will not accept command values which lead out of the permissible travel range. Entering these command values in the drive controller will result in this error.
2-16
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
F818 Drive Overtemperature Shutdown
A temperature level which was too high was reached in the power stage of the drive controller. In response, the drive controller has issued the warning: "E250 Drive overtemperature warning" for 30 seconds. The drive controller is then brought to a standstill according to the error response which has been selected and gives this error message.
Cause:
1.
Failure of the drive's internal blower
2.
3.
Failure of the control cabinet's climate control
Incorrect control cabinet dimensioning in regards to heat dissipation.
Remedy:
For 1.
If the blower has failed, exchange the drive controller.
For 2.
Install climatization feature in the cabinet.
For 3.
Check the dimensions of the control cabinet.
F819 Drive Overtemperature Watch Defect
Cause:
An NTC resistor is used to measure the drive temperature. If the resistor is defective or is not connected, the previously mentioned error message is generated.
Remedy:
Exchange or connect the NTC resistor.
F820 Bleeder Overload
Cause:
The energy of a braking motor cannot be converted quickly enough by the bleeder resistors.
The energy converted by the internal bleeder is analyzed. When the maximum energy capacity of the bleeder is exceeded, it is shut off. The bleeder overload error is generated.
Remedy:
The braking slope should have a flatter parameter, or the bleeder capacity can be increased by adding an additional bleeder.
The drive can be used again after the bleeder has cooled down.
F822 Motor Encoder Failure: Signals Too Small
The analog signals of an external measurement system are used for high resolution analysis of that measurement system. These are monitored according to two criteria:
1. The pointer length, which is calculated from the sine and cosine signals, must equal at least.> 1 V.
2. The maximum pointer length resulting from the sine and cosine ignals must not exceed 11.8 V.
pointer length = sin ´ +cos ´
Fig. 2-3: Pointer length
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-17
DIAX04 Drive With Servo Function
Fig. 2-4: Correct signal amplitude
Example:
Ucos = -6,5V
Usin = 6,5V pointer length =
( )
≈
9,2V
Note:
The error cannot be cleared in communications phase 4. Before clearing the error, switch to communications phase 2.
Remedy:
•
Check the measurement system cable.
•
Lay the feedback cable well away from the motor power cable. The cover must be placed over the drive controller (see drive controller project specifications.)
•
Check the measurement system and exchange, if necessary.
F827 Drive Interlock While Drive Activated
Cause:
The drive interlock was activated while controller enable was set. The drive controller switches to torque-free state immediately.
Remedy:
The drive interlock should not be activated when controller enable is set.
Check the control system of the drive interlock input.
2-18
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
F860 Overcurrent: Short in Powerstage
The current in the power transistor bridge has exceeded the value of the peak current of the drive by a factor of two. As a result, the drive will be switched immeediately to torque-free operation. An optional holding brake is activated immediately.
Cause:
1. Short-circuit in the motor cable.
2. Defective power section in the drive controller.
Remedy:
For 1.
Check the motor cable for a short-circuit.
For 2.
Exchange the drive controller.
F861 Overcurrent: Short to Ground
The sum of the phase currents is monitored. During normal operation, the sum = 0. If the sum of the current is greater than 0.5 x
I
N
, the shortcircuit to ground fuse is activated.
Cause:
1. Defective motor cable.
2. Short-circuit to ground in the motor.
Remedy:
Check the motor cable and motor for a short-circuit to ground and exchange if necessary.
F869 +/- 15 Volt Error
The drive controller found a malfunction in the ± 15 V power supply.
Cause:
1.
Defective control voltage bus cable.
2.
Defective supply module.
Remedy:
For 1.
Check the control voltage bus cable or plug connection and exchange if necessary.
For 2.
Check supply module (see supply moduleinstructions for use).
F870 + 24 Volt Error
The drive controller found a malfunction in the + 24 V power supply.
Cause:
1.
Defective control voltage bus cable.
2.
3.
The 24 V power supply is overloaded.
Defective supply module.
4.
Short-circuit in the emergency circuit.
Remedy:
For 1.
Check the control bus cable or plug connection and exchange if necessary.
For 2.
Check the wiring and/or replace the power supply module.
For 3.
Check supply module (see supply module instructions for use).
For 4.
Check the emergency circuit for shorts.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-19
DIAX04 Drive With Servo Function
F871 + 10 Volt Error
The power supply voltage for the current sensors has been disrupted.
Cause:
A defect in the drive controller.
Remedy:
Exchange the drive controller.
F878 Velocity Control Loop Error
If the difference between velocity command value and feedback value is greater than 10% of the maximum motor velocity while the velocity control loop is active, then the feedback velocity value must move in the direction of the command value. This error is generated if the feedback value does not come closer to the command value within 20 ms and the effective torque/force command value is at the limit (=P-0-4046, Aktiv
peak current).
Cause:
1.
Motor cable is connected incorrectly.
2.
3.
4.
Defective power section of the drive.
Defective feedback.
Parameters set incorrectly for velocity controller.
5.
6.
Parameters for acceleration or brake slope are too steep.
Effective peak current is too low.
Remedy:
For 1.
Check motor cable connection.
For 2.
Exchange the drive controller.
For 3.
Exchange the motor.
For 4.
Check the velocity controller according to the user instructions
(see the velocity controller chapter).
For 5. Decrease the maximum acceleration in the control system or
decrease P-0-1201, Acceleration slope 1.
F879 Crossing Velocity Limit (S-0-0091) Value
The feedback velocity is monitored in torque control mode. This error is generated if the programmed velocity in parameter S-0-0091, Bipolar
velocity limit value is exceeded by 1.125 times or min. 100 rpms (rotary motors) or 100 mm/min (linear motors).
Cause:
The load torque was less than the torque command value. This leads to an increase in the feedback velocity up to the maximum possible motor velocity.
Remedy:
Assign the proper torque command value for the desired task. Reduce parameter S-0-0092, Bipolar torque limit.
F889 Regenerating Overcurrent
Cause:
The feedback current of the drive is greater than 1.2 times the type current (with HDD only).
Remedy:
Replace the drive.
2-20
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
F890 Regenerating Electronic Watchdog
Cause:
The RSK processor on the plug-in storage card is not working.
Remedy:
Exchange drive controller or the plug-in storage card.
F891 Power Supply Fault
The DC bus voltage is not established after the main contactor has been switched on.
Cause:
If there is a short-circuit in the DC bus, voltage cannot build up after the drive has been switched on. This error is generated if the voltage remains under 100 V for approx. 200ms.
Remedy:
Exchange the drive controller.
F892 Wrong Code of the Current Measuring Unit
A faulty current measuring unit was discovered after the control voltage was turned on.
Cause:
The current measuring unit has an incorrect code. The coding does not work with the RSK circuit board.
Remedy:
Exchange the current measuring unit.
F893 No Regenerating Current to Net
This error message is generated if the feedback current command value is at its maximum and no current is flowing for approx. 50ms.
Cause:
1.
2.
Power supply not properly connected.
Defective feedback.
Remedy:
For 1.
Check the power supply connection according to the project planning specifications.
For 2.
Exchange the drive controller.
F894 Checksum Error
Cause:
The checksum is stored in the EPROM during the initial programming.
Each time the drive is turned on, the processor checks to see if the checksum which was created from the processor corresponds to the one which has been stored. This error is generated if this is not the case.
Remedy:
Exchange the RSK circuit board EPROM.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-21
DIAX04 Drive With Servo Function
2.2 Warning Diagnostic Messages
E201 No Mains
Cause:
After the control voltage has been switched on, the drive checks to see if the mains connection of the power supply has also been switched on.
This warning is given if this has not happened correctly.
Remedy:
Check power connections (external relay, fuse, etc.).
E202 Not Ready for Power On
Cause:
As usually happens, the main contactor K1 was turned off when the controller enable was not set. Because of the drive controller capacities, the DC bus voltage must not decrease suddenly after the main contactor is turned off. This message is generated as long as the DC bus voltage >
250V and prevents the main contactor from being turned on.
This serves to protect discharging resistors.
Remedy:
The warning is automatically recalled by the drive controller when the DC bus voltage falls below 250V.
E219 Warning Drive Temperature Watch Defekt
Temperature monitoring checks to see if the measured drive controller temperature is within reasonable bounds. If it determines that it is lower than -10
°
C, then it is assumed the measuring unit is defective. Warning
E219 "Warning Drive temperature watch defekt" will appear for 30 seconds. Afterwards the drive will be brought to a standstill according to the selected error response and message F220 "Error: drive temperature control error" will be generated.
Cause:
1.
2.
Remedy:
Sensor not connected to the DRP3 circuit board.
Broken cable in the drive controller, or defective sensor.
Exchange or repair the drive controller.
E221 Warning Motor Temperature Control
Temperature monitoring checks to see if the measured motor temperature is within reasonable bounds. If it determines that it is lower than -10
°
C, then it is assumed the measuring unit is defective. Warning
E221 "Warning motor temperature control" will appear for 30 seconds.
Afterwards the drive controller will be brought to a standstill according to the selected error response and message F221 "Motor temperature control error" will be generated.
Cause:
1.
Motor temperature sensor not connected.
2.
3.
4.
Broken cable.
Defective sensor.
Broken cable in drive controller.
2-22
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
Remedy:
For 1.
Connect the sensor to the drive controller and to the motor
(see project planning specifications for the motor).
For 2.
Exchange the wiring between the drive controller and the motor.
For 3.
Exchange the motor.
For 4.
Exchange the drive controller.
E249 Positioning Velocity (S-0259) Greater S-0-0091
Cause:
In "Drive-controlled interpolation" operating mode, a velocity is given in parameter S-0-0259, Positioning velocity at which the given target position is to be approached.
Message E249 is generated if this is greater than the permissible maximum value S-0-0091, Bipolar velocity limit value. Message bit 4 is set in S-0-0013, Class 3 diagnostic simultaneously.
Remedy:
Reduce S-0-0259, Positioning velocity.
E250 Drive Overtemperature Warning
The temperature of the heatsink in the drive controller has reached the maximum permissible temperature. The drive controller follows the command value input for a period of 30 seconds. This makes it possible to bring the axis to a standstill with the control system while keeping true to the process (for example, close the operation, leave the collision area, etc.).
After 30 seconds, the response set in parameter P-0-0119, Deceleration
as best as possible will be performed by the drive controller.
Cause:
1.
2.
Failure of the drive's internal blower.
Failure of the control cabinet's climate control.
3.
Incorrect control cabinet dimensioning in regards to heat dissipation.
Remedy:
For 1.
If the blower fails, exchange the drive controller.
For 2.
Install climatization feature in the cabinet.
For 3.
Check the dimensions of the control cabinet.
E251 Motor Overtemperature Warning
The motor is too hot. The motor temperature, which is displayed in parameter S-0-0383, Motor temperature, has exceeded the value in
S-0-0201, Motor warning temperature. Warning E251 is generated.
If the temperature increases above the value in S-0-0204, Motor
shutdown temperature, error F219, Motor overtemperature
shutdown will be generated.
The values for parameters S-0-0201, Motor warning temperature and
S-0-0204, Motor shutdown temperature are set at 140°C and 150°C for MKD and MDD motors respectively.
Set MHD, MKD and MKE motors to 145°C or 155°C.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-23
DIAX04 Drive With Servo Function
Cause:
The motor became overloaded. The effective torque required of the motor was above the permissible continuous standstill torque for too long.
Remedy:
Check the layout of the motor. For systems which have been in use for a long time, check to see if the drive controller conditions have changed (in regards to pollution, friction, components which have been moved, etc.).
E253 Target Position Out of Range
Cause:
In "Drive-controlled interpolation" operating mode, a check is performed to see whether the specified S-0-0258, Target position, is within the possible travel region of the drive.
This is defined by parameters S-0-0049, Positive position limit value and S-0-0050, Negative position limit value.
Message E253 is generated if the target position lies outside of the travel range. Additionally, warning bit 13 is set in S-0-0012, Class 2
diagnostic.
Remedy:
Check the specified S-0-0258, Target position and correct it, if necessary.
E255 Feedrate Override (S-0-0108) = 0
The travel velocity used in drive-controlled travel commands can be changed with parameter S-0-00108, Feedrate override.
This warning is given if the value of this parameter is 0, since the drive cannot then follow command values.
Cause:
1. The control system's feed potentiometer is set to zero or is being evaluated incorrectly.
2.
The parameter was set to an incorrect value.
Remedy:
For 1.
Check the feed potentiometer.
For 2.
Set the parameter to the correct value for the application.
E257 Continuous Current Limiting Active
The thermal controller load is monitored. If a rated current profile is demanded of the drive controller which would require too high a power transistor load over time (too much warming of the power output stage), the drive controller will react by dynamically reducing the effective peak current. This warning will be given at the same time. Parameter P-0-
4046, Aktiv peak current is reduced. Before the peak current is actually limited, the advance warning message E261 Continuous current
limitation prewarning should have been generated.
2-24
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
Cause:
The drive controller was overloaded.
Remedy:
1. Check the drive layout.
2.
Reduce acceleration.
With systems which have been used for longer periods of time, check to see if drive controller conditions have changed in regards to:
- Friction
- Components which have been moved.
E259 Command Velocity Limitation Active
In the position control and velocity control operating modes, the effective velocity command value is limited to the value in parameter S-0-0091,
Bipolar velocity limit value. The warning is given if the resulting velocity command value reaches this limit.
Cause:
Parameter S-0-0091, Bipolar velocity limit value was set too low.
Remedy:
In normal operating conditions, set parameter S-0-0091, Bipolar
velocity limit value to a value 10% greater than the NC effective velocity.
E261 Continuous Current Limiting Prewarning
Digital drives are monitored by a continually operating temperature model. If the thermal load reaches 100%, the continuous current limit will be activated shortly thereafter.
Before the torque is reduced, a continuous current limit early warning is given via a switching threshold, which is determined by parameter P-0-
0127, Overload warning.
To deactivate the warning, enter P-0-0127 = 100% into the parameter.
Cause:
The drive controller was overloaded.
Remedy:
1.
Check the drive layout.
2.
Reduce acceleration.
3. Increase the switching threshold in parameter
P-0-0127, Overload warning
4.
With systems which have been used for longer periods of time, check to see if drive controller conditions have changed in regards to:
- Friction
- Components which have been moved
- Feed during processing.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-25
DIAX04 Drive With Servo Function
E263 Velocity Command Value S-0-0036 Greater Than Bipolar Limit
Cause:
The value given to the drive for S-0-0036, Velocity command value was greater than permissible.
Remedy:
It is limited to S-0-001, Bipolar velocity limit value.
E325 Power supply unit regeneration overload
Cause:
The regenerated load of the drives is excessive.
Recovery
Reduce permitted delays. Use a drive controller with smaller peak currents.
E326 Power supply module feed overload
Error will be stored for no more than 500 ms!
Cause:
The input power required by the drives is excessive.
Recovery:
Reduce the permissible acceleration. Use drive controller with smaller peak current.
E350 Power supply unit warning - heatsink overtemperature
The permissible heatsink temperature has been reached. Temperature prewarning contact open. Power off after 30 seconds.
Cause:
Load too high, ambient temperature too high.
Cooling air is blocked, blower in unit is defective.
Recovery:
Reduce load, reduce control cabinet temperture, check cooling air ducts, replace unit.
E352 Power supply module bleeder overload warning
Cause:
75% of the permissible bleeder ON time has been reached due to excessive regenerated power.
Recovery:
• permissible acceleration (delay) must be reduced
• reduce drive speed
• reduce peak current of the drive
2-26
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
E353 Power supply unit diagnosis faulty
The power supply unit HVE or HVR cyclically sends status and error messages via a serial connection to the connected controller. If the controllers do not receive several sequential messages, then this warning is generated.
Cause:
1.
serial interface of power supply unit is defective
2.
3.
break in serial connection lines serial interface of controller is defective
Recovery:
On 1.
replace power supply unit.
On 2.
check and replace bus cable, if necessary
On 3.
replace controller, if necessary
E387Power supply unit control voltage failure
With HVE only !
Cause:
The power voltage supply in the HVE exceeds permissible tolerance (3x
380 ... 480V,
±
10 % ).
Recovery:
Check mains fuse in control cabinet and replace, if necessary.
E410 Slave Not Scanned or Address 0
While the SERCOS ring is being initialized in communications phase 1, each slave which is to participate in the additional phase uptake must be addressed by the SERCOS master. Slaves which are not addressed or which have been set to drive address "0" indicate this by generating warning E410. Communication with these slaves in higher communications phases is not possible. They work only in the repeater mode.
Cause:
The slave was not scanned in phase 1, or "0" address is set.
Remedy:
•
Set the correct slave address.
•
Check the SERCOS master configuration.
E825 Overvoltage Error
The DC bus voltage has reached impermissibly high values. (Ud > 475
V). The drive controller was switched to torque-free operation so as not to endanger the drive's power amplifier.
Cause:
The energy regenerated by a braking drive controller (a main-spindle drive, for example) cannot be converted by the bleeder resistors quickly enough.
Remedy:
The braking slope should have a flatter parameter, or the bleeder capacity can be increased by adding an additional bleeder.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters F... and E...
2-27
DIAX04 Drive With Servo Function
E829 Positive Position Limit Value Exceeded
The drive received a command value which resulted in an axis position outside the positive travel range. The axis was brought to a standstill by setting the velocity command value to zero. A class 1 diagnostic error is not generated. The drive will automatically follow command values which lead into the allowable range after they are entered. "Handle travel range exceeded as warning" is set in bit 2 of parameter S-0-0090, Travel limit
parameter.
Cause:
S-0-0049, Positive position limit value exceeded.
Remedy:
Enter command values which lead back into the allowable range.
E830 Negative Position Limit Value Exceeded
The drive received a command value which resulted in an axis position outside the negative travel range. The axis was brought to a standstill by setting the velocity command value to zero. A class 1 diagnostic error is not generated. The drive will automatically follow command values which lead into the allowable range after they are entered. "Handle travel range exceeded as warning" is set in bit 2 of parameter P-0-0090, Travel limit
parameter.
Cause:
S-0-0050, Negative travel limit value exceeded.
Remedy:
Enter command values which lead back into the allowable range.
E843 Positive Travel Zone Limit Switch Activated
The drive received a command value which resulted in an axis position outside the positive travel range. The axis was brought to a standstill by setting the velocity command value to zero. A class 1 diagnostic error is not generated. The drive will automatically follow command values which lead to the allowable range after they are entered. "Handle travel range
limit exceeded as warning" is set in bit 2 of parameter S-0-0090,
Travel limit parameter.
Cause:
Positive travel range limit switch detected.
Remedy:
Enter command values which lead back into the allowable range.
E844 Negative Travel Zone Limit Switch Activated
The drive received a command value which resulted in an axis position outside the negative travel range. The axis was brought to a standstill by setting the velocity command value to zero. A class 1 diagnostic error is not generated. The drive will automatically follow command values which lead to the allowable range after they are entered. "Handle travel range
limit exceeded as warning" is set in bit 2 of parameter S-0-0090,
Travel limit parameter.
Cause:
Negative travel range limit switch detected.
Remedy:
Enter command values which lead back into the allowable range.
2-28
Description of Diagnostic Letters F... and E... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
3 Description of Diagnostic Letters C... and A...
3.1 Command Diagnostic Messages C...
Command Types
The commands are used for control of complex features in the drive.
For example, the features "drive controlled homing procedure" or
"Communication Phase 4 Transition Check" are defined as commands.
Commands can start, interrupt or erase a primary control.
A parameter belongs to each command whereby the command can be controlled by the parameter.
During the command operation, the diagnostic message "Cx" appears in the H1 display where the x stands for the number of the command.
It can distinguish between 3 types of commands.
•
Drive Commands
- Lead to an eventual automatic drive movement
- Can be started only through an inputted control enable
- Deactivates the active operating mode during its operation
•
Monitor Commands
Activation or deactivation of monitors or features
•
Management Commands
- Lead management tasks that are not interruptable
C100 Communications Phase 3 Transition Check
Cause:
Command S-0-0127, C1 Communications phase 3 transition check, is activated.
C101 Invalid Communications Parameter (S-0-0021)
Cause:
Communications parameters which are needed to operate the drive in communication phase 3 are invalid.
Remedy:
A list of the invalid parameters can be seen in parameter S-0-0021, List
of invalid op. data for comm. ph. 2.
The invalid parameters must be rewritten so they are correct.
C104 Config. IDN for MDT not configurable
Cause:
Telegram type 7 was set in parameter S-0-0015, Telegram type
parameter. Parameters which are missing in S-0-0188, List of
configurable data in MDT are kept in S-0-0024, Configuration list for
the master data telegram.
Remedy:
You must either set a priority telegram (Telegram type = 0..6) or else provide S-0-0024, Configuration list for MDT with parameters. These parameters are also contained in S-0-0188, List of configurable data.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-1
DIAX04 Drive With Servo Function
C105 Configured Length > Max. Length for MDT
Cause:
Telegram type 7 was set in parameter S-0-0015, Telegram type
parameter. The length of the configured record in MDT, which is determined by S-0-0024, Configurations list of the master data
telegram, exceeds the maximum permissible length S-0-0186, Length
of the configurable record in MDT.
Remedy:
You must either set a priority telegram in S-0-0015, Telegram type
parameter (telegram type = 0..6 ) or else reduce the number of configurable parameters in MDT.
C106 Config. IDN for AT Not Configurable
Cause:
Telegram type 7 was set in parameter S-0-0015, Telegram type
parameter. Parameters which are not contained in S-0-0187, List of
configurable data in AT can be seen in S-0-0016, List of configurable
data for the AT .
Remedy:
You must either set a priority telegram in parameter S-0-0015, Telegram
type parameter (telegram type = 0..6) or you must provide S-0-0016,
List of configurable data for the AT with parameters that are contained in S-0-0187, List of configurable parameters
C107 Configured Length > Max. Length for AT
Cause:
Telegram type 7 was set in S-0-0015, Telegram type parameter. The length of the configurable record in AT, which is determined by S-0-0016,
Configuration drive telegram exceeds the maximum permissible length
S-0-0187, Length of the configurable record in AT.
Remedy:
Either set a priority telegram with S-0-0015, Telegram type parameter
(telegram type = 0..6), or reduce the number of configurable parameters in the AT (S-0-0016).
C108 Time Slot Parameter > Sercos Cycle Time
Cause:
One of the time slot parameters:
•
S-0-0006, AT transmission starting time (T1)
•
S-0-0089, MDT transmission starting time (T2)
•
S-0-0007, Feedback acquisition starting time (T4)
•
S-0-0008, Command valid time (T3)
exceeds S-0-0002, SERCOS cycle time.
Remedy:
Correct the appropriate parameter(s). These times are determined by the manufacturer of the control system and are specified by the SERCOS interface.
3-2
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
C109 Position of Data Record in MDT (S-0-0009) Even
Cause:
Parameter S-0-0009, Starting address in MDT contains an even value.
This is not permitted.
Remedy:
Parameter S-0-0009, Starting address in MDT must be set to an odd value. These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.
C110 Length of MDT (S-0-0010) Odd
Cause:
Parameter S-0-0010, Length of master data telegram contains an odd value. This is not permitted.
Remedy:
Parameter S-0-0010, Length of master data telegram must be set to an even value. These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.
C111 ID9 + Record Length - 1 > Length of MDT (S-0-0010)
Cause:
Parameter(s) are set incorrectly for S-0-0009, Beginning address in
master data telegram and S-0-0010, Length of master data telegram.
The length of the record in MDT for the drive plus the starting address in
MDT is greater than the total length of the MDT.
Remedy:
The parameters for S-0-0009, Beginning address in master data
telegram and S-0-0010, Length of master data telegram must be corrected. Those parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface.
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) Error
Cause:
Only 500 us or even multiples of 1ms are permitted as valid values for S-
0-0001, NC cycle time and S-0-0002, SERCOS cycle time. Here, this is not the case.
Remedy:
S-0-0001, NC cycle time and S-0-0002, SERCOS cycle time must be corrected. These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.
C113 Relation of TNcyc (S-0-0001) to TScyc (S-0-0002) incorrect
Cause:
The value of S-0-0001, NC cycle time can only be equal to or be a multiple of S-0-0002, SERCOS cycle time. Here this is not the case.
Remedy:
S-0-0001, NC cycle time and S-0-0002, SERCOS cycle time must be corrected. These parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-3
DIAX04 Drive With Servo Function
C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)
Cause:
The maximum permissible value for S-0-0007, Measurement time
feedback value T4 is:
S-0-0002, SERCOS cycle time - S-0-0005, minimum time
feedback value determination T4min.
The value for S-0-0007, Feedback values acquisition starting time T4 is incorrect.
Remedy:
Correct S-0-0007, Feedback acquisition starting time T4. These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.
C115 T2 Too Small
Cause:
The value set for S-0-0089, MDT transmit starting time T2 is incorrect.
The drive cannot work with this value.
Remedy:
**Correct S-0-0089, MDT transmit starting time T2.
These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.
C200 Communications Phase 4 Transition Check
Meaning:
Command S-0-0128, C2 Communications phase 4 transition check is activated.
C201 Invalid Parameter (-> S-0-0022)
Cause:
Parameters which will be necessary to operate the drive in communications phase 4 are invalid. The invalid parameters can be seen in S-0-0022, IDN list of invalid op. data for comm. ph. 3.
Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph.
3 must be rewritten so they are correct.
C202 Limit Error Parameter (-> S-0-0022)
Cause:
Parameters which are necessary to operate the drive in communications phase 4 are either outside of their minimum or maximum input values or the entered value can't be processed (for BIT bars). The incorrect parameters are listed in S-0-0022, IDN list of invalid op. data for
comm. ph. 3.
Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph.
3 must be rewritten so they are correct.
3-4
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
C203 Parameter Calculation Error (-> S-0-0022)
Cause:
Parameters which are necessary to operate in phase 4 cannot be processed. The incorrect parameters are listed in S-0-0022, IDN list of
invalid op. data for comm. ph. 3. For example, in parameter P-0-0075,
External feedback interface, the value for the DLF module has been entered, but it is actually not available.
Remedy:
Correct values must be written to the parameters in S-0-0022, IDN list of
invalid op. data for comm. ph 3.
C204 Motor Type (P-0-4014) Incorrect
An MHD-, MKD or MKE motor (value 1 or 5) is entered into parameter
P-0-4014, Motor type. The appropriate abbreviation "MHD", "MKD", or
MKE however, was not found in parameter S-0-0141, Motor type in the motor feedback data memory.
Cause:
1.
2.
Incorrect parameter set for type of motor.
The motor feedback memory cannot be read.
Remedy:
For 1.
Enter the type of motor used in parameter P-0-4014, Type of
motor
For 2.
Check feedback connection.
If feedback is defective, exchange motor.
C210 External Feedback Required (-> S-0-0022)
Cause:
Values are entered in parameters S-0-0147, Homing parameter or S-0-
0032..35 Operating type parameters which require the use of an external encoder. However, only "0" (i.e., no setting) is entered in parameter P-0-0075, External encoder interface.
Remedy:
S-0-0147, Homing parameter or Operating mode parameters
S-0-0032..35 need to be changed for use with the motor encoder instead of external encoder.
Activate an external measurement system by entering a non-zero value for P-0-0075, External feedback interface.
C211 Invalid feedback data (-> S-0-0022)
If you are using an MHD, MKD or MKE motor, a data storage area is available in the motor feedback. An attempt has been made to read parameters stored there. An error occurred during this process.
Causes:
1.
Defective motor feedback cable.
2.
Defective motor feedback.
3. Defective drive controller.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-5
DIAX04 Drive With Servo Function
Remedy:
For 1.
Check the motor feedback cable.
For 2.
Exchange the motor.
For 3.
Exchange the amplifier.
C212 Invalid Amplifier Data (-> S-0-0022)
During drive initialization, the operating software retrieves data from an
EEPROM in the drive controller. If this access was unsuccessful, an error message will be generated.
Cause:
Defective hardware in the drive controller.
Remedy:
Exchange the drive controller.
C213 Position Data Scaling Error
Cause:
The display format of the position data can be set with the position data scaling parameter. The internal drive controller format of the position data is dependent on the motor encoder being used and the resolution of the controller. The factor for converting the position data from the internal drive format into display format or vice-versa is outside of the workable area because either:
•
The motor is linear and positional scaling of the motor is rotary or
• the motor is rotary and positional scaling (in reference to motor) is linear or
•
Linear motor and module scaling is set or
•
The calculated factor for converting the position data from display format to internal format (or vice-versa) cannot be represented.
Remedy:
Check and set the relevant parameters correctly as follows:
•
S-0-0076, Position data scaling type
•
S-0-0077, Position data scaling factor
•
S-0-0078, Position data scaling exponent
•
S-0-0079, Rotary position resolution
•
S-0-0116, Resolution of motor encoder
•
S-0-0121, Input revolutions of load gear
•
S-0-0122, Output revolutions of load gear
•
S-0-0123, Feed constant
•
P-0-0074, Motor encoder interface
•
S-0-0277, Position feedback 1 type parameter
3-6
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
C214 Velocity Data Scaling Error
Cause:
The display format of the velocity data can be set using scaling parameters. The drive-controlled format of the velocity data depends on what motor encoder and encoder resolution are used. The factor for converting the velocity data from drive-controlled format to display format
(or vice-versa) is outside the workable range.
Remedy:
Check and set the relevant parameters correctly as follows:
•
S-0-0044, Velocity data scaling type
•
S-0-0045, Velocity data scaling factor
•
S-0-0046, Velocity data scaling exponent
•
S-0-0116, Rotational encoder resolution 1
•
S-0-0121, Input revolutions of load gear
•
S-0-0122, Output revolutions of load gear
•
S-0-0123, Feed constant
•
P-0-0074, Motor encoder interface
•
S-0-0277, Position feedback 1 type parameter
C215 Acceleration Data Scaling Error
Cause:
The display format of the acceleration data can be set for the acceleration data using scaling parameters. The drive-controlled format of the acceleration data is dependent on what motor encoder and encoder resolution are used. The factor for converting acceleration data from internal drive format to display format (or vice-versa) is outside the workable range.
Remedy:
Check and set the relevant parameters correctly as follows:
•
S-0-0160, Acceleration data scaling type
•
S-0-0161, Acceleration data scaling factor
•
S-0-0162, Acceleration data scaling exponent
•
S-0-0116, Rotational encoder resolution 1
•
S-0-0121, Input revolutions of load gear
•
S-0-0122, Output revolutions of load gear
•
S-0-0123, Feed constant
•
P-0-0074, Motor encoder interface
•
S-0-0277, Position feedback 1 type parameter
C216 Torque/Force Data Scaling Error
Cause:
The display format of the torque/force data can be set for the torque/force data using scaling parameters. The factor for converting torque data from drive-controlled format to display format (or vice-versa) is outside the workable area.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-7
DIAX04 Drive With Servo Function
Remedy:
Check and set the relevant parameters correctly as follows:
•
S-0-0086, Torque/force data scaling type
•
S-0-0093, Torque/force data scaling factor
•
S-0-0094, Torque/force data scaling exponent
•
S-0-0110, Amplifier peak current
•
S-0-0111, Motor current at standstill
C217 Motor Feedback Data Reading Error
If you have entered these values into P-0-0074, Motor feedback
interface:
•
"1" for standard interface,
•
"4" for DFF module, or
•
"8" for DAG module (Endat) then the attached encoder must have a feedback data memory. The values for the encoder resolution and the feedback type are taken from there. An error was discovered while reading these values.
Cause:
1. Defective motor feedback cable.
2. Defective motor feedback.
Remedy:
For 1.
Check the motor feedback cable.
For 2.
Exchange the motor.
C218 External Feedback Data Reading Error
If P-0-0075, External encoder interface is set at
•
"1" for standard interface,
•
"4" for DFF module, or
•
"8" for DAG module (Endat) then the attached encoder must have a feedback data memory. The values for the encoder resolution and the feedback type are taken from there. An error was discovered while reading these values.
Cause:
1. Defective measurement system cable.
2. Defective measurement system.
Remedy:
For 1.
Check the measurement system cable.
For 2.
Exchange the measurement system
3-8
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
C220 Mot. Feedback Initialization Error
A number of tests are performed when the motor encoder is initialized.
An error was detected during this process. This error may be:
•
Error while reading the angle rectification data
•
Error while copying the angle rectification data
•
Interruption of communication with the encoder
•
Assembly error with the position of an initialization track
•
Error while reading the analog signal of an initialization track
•
Error in the pointer length of the analog signal of an initialization track
•
Invalid offset between the high and low resolution track
•
Error in the measuring system micro-controller
Cause:
1.
2.
Defective motor feedback cable.
Defective motor feedback.
3.
Defective measurement system interface.
Remedy:
For 1.
Check the motor feedback cable.
For 2.
Exchange the motor.
For 3.
Exchange the measuring system interface (module).
C221 Ext. Feedback Initialization Error
Several checks are performed during the initialization of an external encoder. An error was detected during this process. This error may be:
•
Error while reading the angle rectification data
•
Error while copying the angle rectification data
•
Interruption of communication with the encoder
•
Assembly error with the position of an initialization track
•
Error while reading the analog signal of an initialization track
•
Error in the pointer length of the analog signal of an initialization track
•
Invalid offset between the high and low resolution track
•
Error in the measuring system micro-controller
•
External 24V set for SSI interface with DAG 1.2
Cause:
1.
External encoder cable defect.
2.
3.
Defective feedback.
Defective measurement system interface.
Remedy:
For 1.
Check the external feedback cable.
For 2.
Exchange feedback.
For 3.
Exchange the measuring system interface (module).
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-9
DIAX04 Drive With Servo Function
C225 Coprocessor Not Ready For Initialization
The drive controller has a coprocessor. This coprocessor is initialized during the transfer command. The coprocessor signals that it is ready for initialization. If it is not ready, this error is generated.
Cause:
Coprocessor failed.
Remedy:
Exchange the drive controller.
C226 Coprocessor Acknowledge Failed
The drive controller has a coprocessor. This coprocessor is initialized during the transfer command. If the coprocessor does not confirm the initialization by the master processor, this error will be generated.
Cause:
The coprocessor failed.
Remedy:
Exchange the drive controller.
C227 Module Range Error
See the feature description: "Modulo processing limiting conditions."
C228 Controller Type (S-0-0140) Incorrect
Several internal software settings are made based on parameter S-0-
0140, Control device type . If the content of this parameter cannot be used, then this error will be generated.
Cause:
1.
2.
The controller type cannot be processed by this software.
Amplifier EEProm defective.
Remedy:
For 1.
Contact Indramat.
For 2.
Exchange/repair the control device.
C300 Set Absolute Measuring
Command "P-0-0012, 'set absolute measurement' was activated by the control system in use.
C302 Absolute Measuring System Not Installed
Command P-0-0012, 'Set absolute measurement' was started without an absolute measuring system being present.
The command cannot be processed because no absolute measuring system is available.
3-10
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
Cause:
1.
The command should not have been activated.
2.
The contacted motor or the external measurement system was not executed as an absolute encoder.
Remedy:
For 1.
Stop execution of the command.
For 2.
Equip the motor or external measurement system with an absolute encoder function.
C500 Reset Class 1 Diagnostic (Error Reset)
The command for clearing errors, "S-0-0099, Reset class 1 diagnostic" was activated by the control system in use.
C501 Error Delet Only in Parameter Mode
Cause:
An attempt was made to delete error F8/22, Motor encoder error, signals too small, in communications phase 4. This is only possible in communications phases < 4.
Remedy:
1.
2.
Set communications phase back.
Retry command.
C600 Drive-Controlled Homing Procedure Command
Command S-0-0148, Drive-controlled homing procedure was activated by the control system in use.
C601 Homing Not Possible if Drive is Not Enabled
Cause:
The command was started without control enable being turned on. This is not permissible.
Remedy:
1.
2.
Turn the controller enable on.
Start the command again.
C602 Distance Homing Switch - Reference Mark Erroneous
Cause:
Evaluation of the zero-switch is turned on. The distance between the positive off switch transition and the reference mark to be evaluated is outside the permissible range.
Remedy:
Transfer the value in parameter S-0-0298, Shift reference cam by... to parameter S-0-0299, Home switch offset.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-11
DIAX04 Drive With Servo Function
C604 Homing of Absolute Encoder Not Possible
Command S-0-0148, Drive-controlled homing was activated. An absolute measuring system was selected using the encoder selection in
S-0-0147, Homing parameter. This command can only run if command
P-0-0012, 'Set absolute measurement' has been previously activated.
Remedy:
First activate command P-0-0012, 'Set absolute measurement', and then start command S-0-0148, Drive-controlled homing procedure.
This procedure will define the absolute reference point.
C700 Basic load
For motors of series MHD, MKD or MKE the machine mechanics are adjusted to the digital drive by activating the velocity controller parameters stored in the motor feedback. The drive controller signals with message C700 that command C700, Basic load, was activated by command S-0-0262, Command basic load.
Cause:
Command C700, Basic load, was activated.
C701 Basic Load Not Possible If Drive Is Enabled
Cause:
Command S-0-0262, Command basic load cannot be run if the controller enable is set.
Remedy:
1.
2.
Disable controller enable.
Start the command again.
C702 Default Parameters Not Available
For motors of series MHD, MKD or MKE, the machine mechanics are adjusted to the digital drive by activating the velocity controller parameters stored in the motor feedback. The drive controller signals with message C702 that command S-0-0262, Command basic load, was activated, but no data memory is available in the contacted motor.
Remedy:
Order the parameter information sheet from Indramat customer service and enter the parameters.
C703 Default Parameters Invalid
Cause:
The default parameters are read from the motor feedback data memory.
At least one of these parameters is invalid.
Remedy:
Check the connection to the motor feedback. Exchange motor if necessary.
3-12
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
C704 Parameters Not Copyable
Cause:
The default parameters in use are not compatible with this software version.
Remedy:
Contact Indramat.
D400 Positive Stop drive procedure command
When the positive stop drive procedure command is activated, all controller monitoring which would result in an error message for class 1 diagnostic while blocking the drive with a positive stop is turned off.
Cause:
Command D400 Positive stop drive procedure command was activated.
D401 ZKL1 Error at Command Start
Cause:
A class 1 diagnostic error was discovered while starting the command
"Positive stop drive procedure." As a result, the command could not be executed.
Remedy:
Eliminate the cause of the error, clear the error, and start the command again.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-13
DIAX04 Drive With Servo Function
3.2 Status Diagnostic Messages
A000 Communication Phase 0
The communication process is divided into four communications phases:
Phases 0 and 1 are used to recognize the participants. Phase 2 is used to provide the time and data protocols for communications phases
3 and 4.
Initialization is performed in ascending order of the sequence. The defaults of the communications phase are set by the control system.
When the switch to communications phase 4 takes place, initialization is completed and input power is enabled.
If the delayed phase switch is interrupted, the status display in the communications phase which has already been reached freezes.
If diagnostic message A000 Communication phase 0 is active, the drive is in phase 0 and is waiting for a phase transfer to 1 by the control system.
A001 Communications Phase 1
The communication process is divided into four communications phases:
Phases 0 and 1 are used to recognize the participants. Phase 2 is used to provide the time and data protocols for communications phases 3 and
4.
Initialization is performed in ascending order of the sequence. The defaults of the communications phase are set by the control system.
When the switch to communications phase 4 takes place, initialization is completed and input power is enabled.
If the delayed phase switch is interrupted, the status display in the communications phase which has already been reached freezes.
If diagnostic message A001 Communication phase 1 is active, the drive is in phase 1, and transfer from phase 1 to 2 has not yet been initiated by the control system.
A002 Communication Phase 2
The communication process is divided into four communications phases:
Phases 0 and 1 are used to recognize the participants. Phase 2 is used to provide the time and data protocols for communications phases 3 and 4.
Initialization is performed in ascending order of the sequence. The defaults of the communications phase are set by the control system.
When the switch to communications phase 4 takes place, initialization is completed and input power is enabled.
If the delayed phase switch is interrupted, the status display in the communications phase which has already been reached freezes. If diagnostic message A002 Communication phase 2 is active, the drive is in phase 2.Before the control system transfers to communications phase 3, command S-0-0127, C1 Communications phase 3 transition
check must be started. If the command is acknowledged negatively, transfer to communications phase 3 is not possible. The problems that were diagnosed by the drive must be solved first.
Note: The parameters are not checked to see if they are correct.
3-14
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
A003 Communications Phase 3
The communication connection is divided into four communication phases: Phases 0 and 1 are used to recognize the participants. Phase 2 is used to provide the time and data protocols for communications phases 3 and 4.
Initialization is performed in ascending order of the sequence. The defaults of the communications phase are set by the control system.
When the switch to communications phase 4 takes place, initialization is completed and input power is enabled.
If the delayed phase switch is interrupted, the status display in the communications phase which has already been reached freezes. If diagnostic message A002 Communication phase 3 is active, the drive is in phase 3.
Before the control system transfers to communications phase 4
(operating mode), command S-0-0128, C2 communication phase 4
transition check must be started. If the command is acknowledged negatively, transfer to communications phase 4 is not possible. The problems that were diagnosed by the drive must be solved first.
Note: The parameters are not checked to see if they are correct.
A010 Halt Drive
The feature "Halt drive" was activated. The halt drive feature serves to stop the motor at a defined deceleration and a defined jerk.
This feature can either be activated by deleting the drive halt bits (BIT 13) in the master control word or by interrupting a drive control command
(i.e., in drive-controlled homing).
A011 Drive Interlock Open
Digital drive controllers are equipped with a drive interlock. It prevents undesired starting of a servo axis. When drive interlock is activated, the control electronics of the power output stage are disconnected from the power output stage by a relay contact.
To terminals AS+; AS- of connector plug X3: +24V of power has been applied.
A012 Control and Power Sections Ready for Operation
The drive is supplied with control voltage and the power is switched on.
The drive is ready for power delivery.
A013 Ready for Power ON
The drive is supplied with a control voltage; there are no errors in the drive controller. The drive is ready to be turned on.
A100 Drive in Torque Mode
The drive is in the torque control operating mode. It follows the torque command value sequence which was set by the control system.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-15
DIAX04 Drive With Servo Function
A101 Drive in Velocity Mode
The drive is in the velocity control operating mode. It follows the velocity command value sequence set by the control system. The RPM control loop is closed in the drive.
A102 Position Mode Encoder 1
The drive is in position control mode. The position loop is closed in the drive by a position encoder. The control system only sets the position command value sequence; the drive follows the command value with following (lag) error.
Encoder 1 indicates that the position encoder is installed on the motor shaft (indirect measurement of the axis position).
A103 Position Mode Encoder 2
The drive is in position control mode. The position loop is closed in the drive by a position encoder. The control system only sets the position command value sequence; the drive follows the command value with following (lag) error.
Encoder 2 indicates that the position encoder is installed on the machine axis (direct axis position measurement).
A104 Position Mode Encoder 1/Lagless Positioning
The drive is in position control mode. The position loop is closed in the drive by a position encoder. The control system only sets the position command value sequence; the drive follows the command value without
following (lag) error.
Encoder 1 indicates that the position encoder is installed on the motor shaft (indirect measurement of axis position).
A105 Position Mode Encoder 2/Lagless Positioning
The drive is in position control mode. The position loop is closed in the drive by a position encoder. The control system only sets the position command value sequence; the drive follows the command value without
following (lag) error.
Encoder 2 indicates that the position encoder is installed on the machine axis (direct axis position measurement).
A106 Drive-Controlled Interpolation, Encoder 1
The drive receives a position command value from the control system which is identical to the target position of the travel path. Then the drive generates (interpolates) an internal position command value sequence, which uses the control system to maintain maximum values for jerk, velocity and acceleration sequences.
The drive moves with following (lag) error to the target position of the travel path.
Encoder 1 indicates that the position encoder is installed on the motor shaft (indirect measurement of the axis position).
3-16
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
A107 Drive-Controlled Interpolation, Encoder 2
The drive receives a position command value from the control system which is identical to the target position of the travel path. Then the drive generates (interpolates) an internal position command value sequence, which uses the control system to maintain maximum values for jerk, velocity and acceleration sequences.
The drive moves with following (lag) error to the target position of the travel path.
Encoder 2 indicates that the position encoder is installed on the machine axis (direct axis position measurement).
A108 Drive-Controlled Interpolation/Encoder 1 Lagless Positioning
The drive receives a position command value from the control system which is identical to the target position of the travel path. Then the drive generates (interpolates) an internal position command value sequence, which uses the control system to maintain maximum values for jerk, velocity and acceleration sequences.
The drive moves without following error to the target position of the travel path.
Encoder 1 indicates that the position encoder is installed on the motor shaft (indirect measurement of the axis position).
A109 Drive-Controlled Interpolation/Encoder 2 Lagless Positioning
The drive receives a position command value from the control system which is identical to the target position of the travel path. Then the drive generates (interpolates) an internal position command value sequence, which uses the control system to maintain maximum values for jerk, velocity and acceleration sequences.
The drive moves without following error to the target position of the travel path.
Encoder 2 indicates that the position encoder is installed on the machine axis (direct axis position measurement).
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-17
DIAX04 Drive With Servo Function
3.3 Diagnostic Messages for Basic Initialization and After
Fatal System Errors
Diagnostic Message Display: -0
Cause:
The data storage for the controller is tested for its functional capability.
If an error is detected, this display will remain.
Remedy:
The drive controller is defective (DRP3) and must be exchanged.
Diagnostic Message Display: -1
Cause:
The data storage for the DSS 2.1 Module is tested for its functional capability.
If an error is detected, this display will remain.
Remedy:
The DSS Module or the connection to the main device is defective.
•
If DSS module is defective > exchange
•
If drive controller is defective > exchange
Diagnostic Message Display: -2
Cause:
Makeup of the parameter structure.
If the EPROMS are exchanged for another version of the firmware, the parameter memory on the programming module is erased (duration appx. 5 sec.).
Diagnostic Message Display: -3
Cause:
The motor type and the type of the motor feedback are determined by reading their parameter storage areas.
Diagnostic Message Display: -5
During basic initialization, an error was reported by the coprocessor.
Cause:
1.
Control voltage error (+24 V or +/-15 V).
2.
+/-10 V - error.
Remedy:
For 1.
Check the control voltage supply.
For 2.
Replace the drive.
Diagnostic Message Display: -6
Cause:
A fatal processor or program error was encountered.
Remedy:
The error in question is a system error. Please contact the appropriate software development company.
3-18
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
Diagnostic Message Display: Watchdog
Cause:
A fatal processor or program error (Watchdog) was encountered.
Remedy:
Replace the drive.
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Description of Diagnostic Letters C... and A...
3-19
DIAX04 Drive With Servo Function
Notes
3-20
Description of Diagnostic Letters C... and A... DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
4 Exchanging Drive Components
−
in preparation
−
DIAX04 Drive With Servo Function
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Exchanging Drive Components
4-1
DIAX04 Drive With Servo Function
Notes
4-2
Exchanging Drive Components DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Exchanging Drive Components
4-3
DIAX04 Drive With Servo Function
4-4
Exchanging Drive Components DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
DIAX04 Drive With Servo Function
Customer Service Locations
Germany
Sales area Center
INDRAMAT GmbH
D-97816 Lohr am Main
Bgm.-Dr.-Nebel-Str. 2
Telefon: 09352/40-4817
Telefax: 09352/40-4989
Sales area East
INDRAMAT GmbH
D-09120 Chemnitz
Beckerstraße 31
Telefon: 0371/3555-0
Telefax: 0371/3555-230
Sales area South Sales area South-West
INDRAMAT GmbH
D-80339 München
Ridlerstraße 75
Telefon: 089/540138-30
Telefax: 089/540138-10
INDRAMAT GmbH
D-71229 Leonberg
Böblinger Straße 25
Telefon: 07152/972-6
Telefax: 07152/972-727
Customer service locations in Germany
Europe
Austria
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
Hägelingasse 3
A-1140 Wien
Telefon: +43 1/985 25 40-400
Telefax:+43 1/985 25 40-93
England
Mannesmann Rexroth Ltd.
INDRAMAT Division
Broadway Lane, South Cerney
Cirencester, Glos GL7 5UH
Telefon: +44 1285/86 30 00
Telefax: +44 1285/86 30 03
Austria
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
Randlstraße 14
A-4061 Pasching
Telefon: +43 7229/644 01-36
Telefax: +43 7229/644 01-80
Finnland
Rexroth Mecman OY
Riihimiehentie 3
SF-01720 Vantaa
Telefon: +358 9/84 91 11
Telefax: +358 9/84 63 87
France
Rexroth - Sigma S.A.
Division INDRAMAT
270, Avenue de lardenne
F-31100 Toulouse
Telefon: +33 5/61 49 95 19
Telefax: +33 5/61 31 00 41
Spain
Rexroth S.A.
Centro Industrial Santiago
Obradors s/n
E-08130 Santa Perpetua de
Mogoda (Barcelona)
Telefon: +34 3/7 47 94 00
Telefax: +34 3/7 47 94 01
Italy
Rexroth S.p.A.
Divisione INDRAMAT
Via G. Di Vittoria, 1
I-20063 Cernusco S/N.MI
Telefon: +39 2/923 65-270
Telex: 331695
Telefax: +39 2/92 36 55 12
Spain
Goimendi S.A.
División Indramat
Jolastokieta (Herrera)
Apartado 11 37
San Sebastion, 20017
Telefon: +34 43/40 01 63
Telex: 361 72
Telefax: +34 43/39 93 95
Switzerland
Rexroth AG
Geschäftsbereich INDRAMAT
Gewerbestraße 3
CH-8500 Frauenfeld
Telefon: +41 52/720 21 00
Telefax: +41 52/720 21 11
Russia
Tschudnenko E.B.
Arsenia 22
153000 Ivanovo
Rußland
Telefon: +7 93/22 39 633
European Customer service locations without Germany
Sales area West
INDRAMAT GmbH
D-40880 Ratingen
Harkortstraße 25
Telefon: 02102/4318-0
Telefax: 02102/41315
Sales area North
INDRAMAT GmbH
D-22525 Hamburg
Kieler Str.212
Telefon: 040/853157-0
Telefax: 040/853157-15
INDRAMAT Service-Hotline
INDRAMAT GmbH
Telefon: D-0172/660 040 6
-oder-
Telefon: D-0171/333 882 6
Belgium
Mannesmann Rexroth N.V.-S.A.
Geschäftsbereich INDRAMAT
Industrielaan 8
B-1740 Ternat
Telefon: +32 2/582 31 80
Telefax: +32 2/582 43 10
France
Rexroth - Sigma S.A.
Division INDRAMAT
Parc des Barbanniers 4,
Place du Village
F-92632 Gennevilliers Cedex
Telefon: +33 1/41 47 54 30
Telefax: +33 1/47 94 69 41
Italy
Rexroth S.p.A. Divisione
INDRAMAT
Via Borgomanero, 11
I-10145 Torino
Telefon: +39 11/771 22 30
Telefax: +39 11/771 01 90
Sweden
AB Rexroth Mecman
INDRAMAT Division
Varuvägen 7
S-125 81 Stockholm
Telefon: +46 8/727 92 00
Telefax: +46 8/64 73 277
Denmark
BEC AS
Zinkvej 6
DK-8900 Randers
Telefon: +45 87/11 90 60
Telefax: +45 87/11 90 61
France
Rexroth - Sigma S.A.
Division INDRAMAT
17, Loree du Golf
F-69380 Dommartin
Telefon: +33 4/78 43 56 58
Telefax: +33 4/78 43 59 05
Netherlands
Hydraudyne Hydrauliek B.V.
Kruisbroeksestraat 1a
P.O. Box 32
NL-5280 AA Boxtel
Telefon: +31 41 16/519 51
Telefax: +31 41 16/514 83
Switzerland
Rexroth SA
Département INDRAMAT
Chemin de l`Ecole 6
CH-1036 Sullens
Telefon:+41 21/731 43 77
Telefax: +41 21/731 46 78
DOK-DIAX04-SSE-01VRS**-WAR1-EN-P Directory of Customer Service Centers
I
DIAX04 Drive With Servo Function
Outside Europe
Argentina
Mannesmann Rexroth S.A.I.C.
Division INDRAMAT
Acassusso 48 41/7
1605 Munro (Buenos Aires)
Argentina
Telefon: +54 1/756 01 40
+54 1/756 02 40
Telex: 262 66 rexro ar
Telefax: +54 1/756 01 36
Argentina
Nakase
Asesoramiento Tecnico
Diaz Velez 2929
1636 Olivos
(Provincia de Buenos Aires)
Argentina
Argentina
Telefon +54 1/790 52 30
Australia
Australian Industrial Machinery
Services Pty. Ltd.
Unit ¾5 Horne ST
Campbellfield VIC 2061
Australia
Telefon: +61 3/93 59 0228
Telefax: +61 3/93 59 02886
Canada
Basic Technologies Corporation
Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Telefon: +1 905/335-55 11
Telefax: +1 905/335-41 84
China
Rexroth (China) Ltd.
A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023
P.R. China
Telefon: +86 411/46 78 930
Telefax: +86 411/46 78 932
Korea
Rexroth-Seki Co Ltd.
1500-12 Da-Dae-Dong
Saha-Gu, Pusan, 604-050
Telefon: +82 51/264 90 01
Telefax: +82 51/264 90 10
USA
Rexroth Corporation
INDRAMAT Division
5150 Prairie Stone Parkway
Hoffman Estates, Illinois 60192
Telefon: +1 847/645-36 00
Telefax: +1 847/645-62 01
China
Rexroth (China) Ltd.
Shanghai Office
Room 206
Shanghai Intern. Trade Centre
2200 Yanan Xi Lu
Shanghai 200335
P.R. China
Telefon: +86 21/627 55 333
Telefax: +86 21/627 55 666
Hongkong
Rexroth (China) Ltd.
19 Cheung Shun Street
1st Floor, Cheung Sha Wan,
Kowloon, Honkong
Telefon: +852 2741 13 51/-54 und
+852 741 14 30
Telex: 3346 17 GL REX HX
Telefax: +852 786 40 19
+852 786 07 33
Korea
Seo Chang Corporation Ltd.
Room 903, Jeail Building
44-35 Yoido-Dong
Youngdeungpo-Ku
Seoul, Korea
Telefon: +82 2/780-82 07 ~9
Telefax: +82 2/784-54 08
USA
Rexroth Corporation
INDRAMAT Division
2110 Austin Avenue
Rochester Hills, Michigan 48309
Telefon: +1 810/853-82 90
Telefax: +1 810/853-82 90
China
Rexroth (China) Ltd.
Shanghai Parts & Service Centre
199 Wu Cao Road, Hua Cao
Minhang District
Shanghai 201 103
P.R. China
Telefon: +86 21/622 00 058
Telefax: +86 21/622 00 068
India
Mannesmann Rexroth (India) Ltd.
INDRAMAT Division
Plot. 96, Phase III
Peenya Industrial Area
Bangalore - 560058
Telefon: +91 80/839 21 01
+91 80/839 73 74
Telex: 845 5028 RexB
Telefax: +91 80/839 43 45
Mexico
Motorización y
Diseño de Controles, S.A. de C.V.
Av. Dr. Gustavo Baz No. 288
Col. Parque Industrial la Ioma
Apartado Postal No. 318
54060 Tlalnepantla
Estado de Mexico
Telefon: +52 /397 86 44
Telefax: +52 /398 98 88
USA
Rexroth Corporation
INDRAMAT Division
Northeastern Sales Office
7 Columbia Blvd.
Peabody, MA 019660
Telefon: +1 508/531-25 74
Telefax: +1 508/531-2574
Customer service locations outside Europe
Brazil
Mannesmann Rexroth Automação
Ltda.
Divisão INDRAMAT
Rua Georg Rexroth, 609
Vila Padre Anchieta
BR-09.951-250 Diadema-SP
Caixa Postal 377
BR-09.901-970 Diadema-SP
Telefon: +55 11/745 90 65
+55 11/745 90 70
Telefax: +55 11/745 90 50
China
Rexroth (China) Ltd.
1430 China World Trade Centre
1, Jianguomenwai Avenue
Beijing 100004
P.R. China
Telefon: +86 10/50 50 380
Telefax: +86 10/50 50 379
Japan
Rexroth Co., Ltd.
INDRAMAT Division
I.R. Building
Nakamachidai 4-26-44
Tsuzuki-ku, Yokohama 226
Japan
Telefon: +81 45/942-72 10
Telefax: +81 45/942-03 41
USA
Rexroth Corporation
INDRAMAT Division
Southeastern Sales Office
3625 Swiftwater Park Drive
Suwanee, GA 30174
Telefon: +1 770/932 3200
Telefax: +1 770/932-1903
II
Directory of Customer Service Centers DOK-DIAX04-SSE-01VRS**-WAR1-EN-P
.
Indramat
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