7-90
Error Messages
Rexroth IndraDrive
DOK-INDRV*-GEN-**VRS**-WA01-EN-P
F2036 Excessive position feedback difference
Supported by Firmware Variant:
FWA-INDRV*-
MPH02
VRS-MS
FWA-INDRV*-
MPB02
VRS-MS
FWA-INDRV*-
MPD02
VRS-MS
In cyclic operation the difference between actual position value 1 and
position value 2 (see also
P-0-0391, Actual position value difference
encoder1 - encoder2
) is compared to
S-0-0391, Monitoring window
feedback 2
. If the absolute value of the difference is greater than the
monitoring window and both encoders have been homed, the error F2036
is generated.
The drive carries out the error reaction parameterized in
P-0-0119, Best
possible deceleration
and the reference bits of both encoders are
cleared (
S-0-0403, Position feedback value status
).
Note:
The monitoring function is inactive if the value "0" was entered
in the
S-0-0391, Monitoring window feedback 2
parameter.
Cause
Remedy
Parameters for encoder 2 incorrect
Check
S-0-0115, Position feedback 2 type
and
S-0-0117, Feedback 2 Resolution
Mechanical system between motor shaft and
encoder 2 incorrectly parameterized
Check
S-0-0121, Input revolutions of load gear
,
S-0-0122, Output revolutions of load gear
, and
S-0-0123, Feed constant
Mechanical system between motor shaft and
encoder 2 is not rigid (e.g. gear play, slip) and
monitoring window is too small
Increase
S-0-0391, Monitoring window feedback 2
,
switch off in the case of gear with slip
Encoder cable defective
Replace encoder cable
Maximum input frequency of encoder interface
exceeded
Reduce velocity
Encoder 2 was not mounted to driven axis
Set
S-0-0391, Monitoring window feedback 2
to "0"
(switch monitoring function off)
Incorrect encoder gear settings
Check relevant encoder parameters and correct them, if
necessary:
P-0-0121, Gear 1 motor-side (motor encoder) /
P-0-0122, Gear 1 encoder-side (motor encoder)
P-0-0124, Gear 2 load-side (optional encoder) /
P-0-0125, Gear 2 encoder-side (optional encoder)
S-0-0121, Input revolutions of load gear / S-0-0122,
Output revolutions of load gear
Position data reference of an absolute encoder
incorrect
Execute
P-0-0012, C0300 Command Set absolute
measuring
See also Functional Description "Velocity Control with Cyclic Command
Value Input"
F2036 - Attributes
Display:
F2036
Mess. no.:
F2036 (hex)
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01
