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Bosch REXROTH IndraDrive, Troubleshooting Manual

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6-14

 Status Diagnostic Messages

Rexroth IndraDrive

DOK-INDRV*-GEN-**VRS**-WA01-EN-P

A0104 Position mode lagless, encoder 1

Supported by Firmware Variant:

FWA-INDRV*-

MPH02

VRS-MS

FWA-INDRV*-

MPB02

VRS-MS

FWA-INDRV*-

MPD02

VRS-MS

The drive is in position control. The position control loop is closed by
means of a position encoder in the drive. The master only specifies the
position command value characteristic, the drive follows the command
value laglessly (prerequisite: 

P-0-0040, Velocity feedforward

evaluation

=100%).

"Encoder 1" means that the encoder assigned by means of 

P-0-0077,

Assignment motor encoder->optional slot

 is used as a control

encoder.

See also Functional Description "Position Control with Cyclic Command
Value Input"

A0104 - Attributes

Display:

AF

Mess. no.:

A0104 (hex)

A0105 Position control lagless, encoder 2

Supported by Firmware Variant:

FWA-INDRV*-

MPH02

VRS-MS

FWA-INDRV*-

MPB02

VRS-MS

FWA-INDRV*-

MPD02

VRS-MS

The drive is in position control. The position control loop is closed by
means of a position encoder in the drive. The master only specifies the
position command value characteristic, the drive follows the command
value laglessly (prerequisite: 

P-0-0040, Velocity feedforward

evaluation

=100%).

"Encoder 2" means that the encoder assigned by means of 

P-0-0078,

Assignment optional encoder->optional slot

 is used as a control

encoder.

See also Functional Description "Position Control with Cyclic Command
Value Input"

A0105 - Attributes

Display:

AF

Mess. no.:

A0105 (hex)

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

Summary of Contents for REXROTH IndraDrive

Page 1: ... Rexroth Indramat Bosch y Aventics LSA Control S L Bosch Rexroth Sales Partner Ronda Narciso Monturiol y Estarriol 7 9 Edificio TecnoParQ Planta 1ª Derecha Oficina 14 Parque Tecnológico de Paterna 46980 Paterna Valencia Telf 34 960 62 43 01 comercial lsa control com www lsa control com www boschrexroth es ...

Page 2: ...e Troubleshooting Guide Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 3: ...s are liable for the payment of damages All rights are reserved in the event of the grant of a patent or the registration of a utility model or design DIN 34 1 The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract All rights are reserved with respect to the content of this documentation and the availability of ...

Page 4: ...te use 2 2 3 Safety Instructions for Electric Drives and Controls 3 1 3 1 Introduction 3 1 3 2 Explanations 3 1 3 3 Hazards by Improper Use 3 2 3 4 General Information 3 3 3 5 Protection Against Contact with Electrical Parts 3 5 3 6 Protection Against Electric Shock by Protective Low Voltage PELV 3 6 3 7 Protection Against Dangerous Movements 3 7 3 8 Protection Against Magnetic and Electromagnetic...

Page 5: ... bb 5 1 charg 5 2 LB 5 2 P0 5 2 P 1 5 2 P1 5 2 P2 5 2 P3 5 2 PL 5 2 RL 5 2 SBB 5 2 SBH 5 2 SH 5 2 ZKS 5 3 6 Status Diagnostic Messages 6 1 A0000 Communication phase 0 6 1 A0001 Communication phase 1 6 2 A0002 Communication phase 2 6 3 A0003 Communication phase 3 6 4 A0009 Automatic baud rate detection for SERCOS interface 6 5 A0010 Drive HALT 6 5 A0011 Starting lockout active 6 6 A0012 Control and...

Page 6: ...axis 6 20 A0118 Phase synchr lagless encoder 1 real master axis 6 21 A0119 Phase synchr lagless encoder 2 real master axis 6 21 A0128 Cam shaft encoder 1 virtual master axis 6 22 A0129 Cam shaft encoder 2 virtual master axis 6 22 A0130 Cam shaft encoder 1 real master axis 6 23 A0131 Cam shaft encoder 2 real master axis 6 23 A0132 Cam shaft lagless encoder 1 virt master axis 6 24 A0133 Cam shaft la...

Page 7: ...motion range 7 8 F8013 Automatic commutation current too low 7 9 F8014 Automatic commutation overcurrent 7 10 F8015 Automatic commutation timeout 7 11 F8016 Automatic commutation iteration without result 7 12 F8022 Enc 1 enc signals incorr can be cleared in ph 2 7 13 F8023 Error mechanical link of encoder or motor connection 7 14 F8027 Starting lockout while drive enabled 7 14 F8057 Device overloa...

Page 8: ... of output stage interlock 7 39 F7050 Time for stopping process exceeded 7 40 7 4 Travel Range Errors F6xxx 7 41 Behavior in the Case of Travel Range Error 7 41 F6024 Maximum braking time exceeded 7 42 F6029 Positive travel limit exceeded 7 43 F6030 Negative travel limit exceeded 7 44 F6034 Emergency Stop activated 7 45 F6042 Both travel range limit switches activated 7 46 F6043 Positive travel ra...

Page 9: ... invalid 7 75 F2006 MMC was removed 7 76 F2007 Switching to non initialized operating mode 7 77 F2008 RL The motor type has changed 7 78 F2009 PL Load parameter default values 7 79 F2010 Error when initializing digital inputs outputs 7 80 F2011 PLC Error nr 1 7 80 F2012 PLC Error nr 2 7 81 F2013 PLC Error nr 3 7 81 F2014 PLC Error nr 4 7 82 F2018 Device overtemperature shutdown 7 83 F2019 Motor ov...

Page 10: ...f optional encoder reference 7 116 F2176 Loss of measuring encoder reference 7 117 F2177 Modulo limitation error of motor encoder 7 118 F2178 Modulo limitation error of optional encoder 7 118 F2179 Modulo limitation error of measuring encoder 7 119 F2802 PLL is not synchronized 7 119 F2814 Undervoltage in mains 7 120 F2815 Overvoltage in mains 7 120 F2816 Softstart fault power supply unit 7 121 F2...

Page 11: ... Plausibility error of safety related operating mode 8 17 E3106 System error channel 2 8 17 E3107 Error when unlocking the safety door 8 18 E3110 Time interval of forced dynamization exceeded 8 18 8 3 Non Fatal Warning Diagnostic Messages E2xxx 8 19 E2011 PLC Warning no 1 8 19 E2012 PLC Warning no 2 8 19 E2013 PLC Warning no 3 8 19 E2014 PLC Warning no 4 8 20 E2026 Undervoltage in power section 8 ...

Page 12: ...oc com load def pr for safety techn 9 5 C07_1 Load defaults procedure com load basic parameters 9 6 C0800 Load basic parameters command 9 6 C0900 Position spindle command 9 6 C1200 Commutation offset setting command 9 7 C1300 Positive stop drive procedure command 9 7 C1400 Command Get marker position 9 8 C1700 Command measuring wheel mode 9 8 C1800 Command automatic control loop setting 9 9 C2000 ...

Page 13: ...motor encoder 9 27 C0121 Incorrect parameterization of motor encoder hardware 9 27 C0122 Incorr parameteriz of motor enc mechanical system 9 28 C0123 Modulo value for motor encoder cannot be displayed 9 28 C0124 Motor encoder unknown 9 29 C0125 Error when reading encoder data optional encoder 9 30 C0126 Incorrect parameterization of optional enc hardware 9 31 C0127 Incorr parameteriz of opt enc me...

Page 14: ...ion of a parameter S 0 0022 9 58 C0243 Brake check function not possible 9 59 C0244 Act modulo value cycle greater than max travel range 9 59 C0245 Operating mode configuration S 0 0022 not allowed 9 60 C0246 Trav range lim switch not ass to dig input 9 61 C0247 Dig output already assigned to other axis 9 61 C0248 Dig input assigned differently to axes 9 62 C0249 Dig I Os bit number too large 9 62...

Page 15: ...possible in Ab 9 87 C1218 Automatic commutation current too low 9 88 C1219 Automatic commutation overcurrent 9 89 C1220 Automatic commutation timeout 9 89 C1221 Automatic commutation iteration without result 9 90 C1222 Error when writing offset parameters 9 91 C1301 Class 1 diagnostics error at command start 9 91 C1701 Measuring wheel operation not possible 9 92 C1801 Start requires drive enable 9...

Page 16: ...ower 9 115 C3207 Type plate list incomplete 9 115 C3208 Error when writing parameters 9 116 C3501 Acquisition velocity not allowed 9 116 C3502 Motor encoder not available 9 117 C3503 Optional encoder not available 9 117 C3504 Measuring encoder not available 9 118 C3505 No encoder selected 9 118 C3506 Correction value table cannot be stored 9 119 C3701 Error when manually unlocking the safety door ...

Page 17: ...rators 11 1 11 1 General Information 11 1 11 2 Diagnosing Failures and Removing Errors 11 1 11 3 Contacting the Service Department 11 2 12 Notes for Installation Programmers 12 1 12 1 How to Handle Command Errors 12 1 12 2 How to Handle Errors 12 3 12 3 How to Handle Warnings 12 5 13 Index 13 1 14 Service Support 14 1 14 1 Helpdesk 14 1 14 2 Service Hotline 14 1 14 3 Internet 14 1 14 4 Vor der Kon...

Page 18: ... 0 0009 Error number P 0 0478 Logbook event P 0 0479 Logbook time stamp Drive Internal Generation of Diagnostic Messages Operating states activities and reactions of the drive controller are detected by drive internal generation of diagnostic messages and appear in coded form on the display of the control panel In addition these diagnostic messages can be transmitted to the master control unit or ...

Page 19: ...list the number of the diagnostic message that last occurred is displayed as parameter element 1 The following priorities apply for displaying the current diagnostic message 1 F4002 number of the drive in the bus system of the master communication error message 8 digit display 1 E2025 1 C0901 1 C09 1 AF warning command error command operating status increasing priority Fig 1 1 Priorities of displa...

Page 20: ...b AF are displayed in right aligned form warnings command errors and other error messages are flashing Kind of diagnostic message Diagnostic message number Display error F2xxx F2xxx command C0200 C02 command error C02xx C02xx warning E2xxx E2xxx communication phase e g communication phase 1 A0001 P1 drive ready for operation A0012 Ab operating mode e g velocity control A0101 AF Fig 1 3 Overview of...

Page 21: ...ne or switch the language of diagnostic message texts Status Classes Status Displays Control Parameters In the drive there are many parameters with important status information bit lists Some of the bits contained in these lists can be used for configuring real time status bits and additionally can be assigned to digital outputs or to the configurable signal status word See Digital Inputs Outputs ...

Page 22: ... to SERCOS Manufacturer specific warnings cause bit 15 to be set in S 0 0012 In case a drive warning occurs bit 12 change bit class 2 diagnostics is simultaneously set in the status word of the field bus S 0 0135 in the case of SERCOS when the content of S 0 0012 changes i e at least one bit toggles The bits in parameter S 0 0012 are automatically cleared when the warning disappears The change bit...

Page 23: ...whether a change occurred in S 0 0012 or S 0 0013 A read access to one of the two parameters clears the respective change bit again By means of the parameters S 0 0097 Mask class 2 diagnostics and S 0 0098 Mask class 3 diagnostics it is possible to mask out certain bits in terms of their effect on the change bit of the status word bit 12 or bit 11 The figure below illustrates the principle of mask...

Page 24: ...Diagn message no yes reading S 0 0013 Class 3 diagnostics no drive error S 0 0135 bit 13 1 change bit class 3 diagnostics S 0 0135 bit 11 1 drive message interpreting class diagnostics information and starting error clearing command if necessary manufacturer specif error S 0 0011 bit 15 1 Fig 1 5 Handling the change bits and status class parameters Fixed Status Displays Function Related Status Par...

Page 25: ...f the travel range limit switch inputs see also Travel Range Limit Switches P 0 0223 E Stop input This parameter displays the status of the E Stop input see also E Stop Function P 0 0445 Status word torque current limit This parameter contains status bits to display the activation of torque current limitation see also Torque Current Limit P 0 0539 Holding brake status word This parameter contains ...

Page 26: ...trol parameter of analog output P 0 0522 Commutation setting control word P 0 0556 Control word of axis controller P 0 0612 Control word for setting absolute measuring P 0 4028 Device control word 1 2 Control Panel of the IndraDrive Controllers Brief Description The standard design of IndraDrive controllers includes a control panel with an 8 digit display and four buttons located underneath it The...

Page 27: ...the master communication operating status activated commands and command diagnoses warnings and error diagnoses The displays have priorities because it is impossible to have various displays at the same time 1 P 1 number of the drive in the bus system of the master communication phase 1 8 digit display 1 P0 1 P1 1 P2 1 P3 phase 0 phase 1 phase 2 phase 3 Fig 1 7 Displays during phase progression of...

Page 28: ...isplays 1 C0101 number of the drive in the bus system of the master communication display of the currently active command display of the command error number 8 digit display Fig 1 9 Explanation of command error displays 1 F4002 number of the drive in the bus system of the master communication display of the error or warning class display of the error or warning number 8 digit display 1 E2051 Fig 1...

Page 29: ... 1 11 Priority of displays with examples By simultaneously pressing the Enter and Esc buttons for 8 s you can call up extended displays subsequently pressing the Up button activates the command input 1 Er Anz 1 F2002 standard display press Enter and Esc buttons for 8 seconds extended display 2 Comand Up button commands settings e g Fig 1 12 Activating the extended display and the command input Pri...

Page 30: ...ter button Esc button 1 2 S 0 0375 0 A0002 Enter button Esc button 1 3 P 0 0190 XXXXX XX Down button Up button Enter button Esc button 1 4 P 0 0191 XXXXX XX Enter button Esc button error memory diagnostic message memory operating hours counter control section operating hours counter power section Y Y XXXXXXXX explanation browse list lines with Up Down buttons browse list lines with Up Down buttons...

Page 31: ...he bus system of the master communication set the length of the fiber optic cable activate the analog mode master communication C07_x load defaults procedure command loading controller parameters resp base parameters other commands like C2200 Backup working memory procedure command C2300 Load working memory command C2500 Copy IDN from optional memory to internal memory C2600 Copy IDN from internal...

Page 32: ...nation display changes flashes between Y Y and XXXXXXXX 2 Comand commands settings Down button Up button Enter button Esc button 2 1 1 ZE display 2 1 2 ZE display Enter button Esc button accept with Enter button set units digit with Up Down buttons set tens digit with Up Down buttons ZE tens units Zehner Einer digit of drive address 2 3 Easy Enter button Enter button Easy ON automatic return 1 Nma...

Page 33: ...of Diagnostic Messages Error Depending on the operating mode that is used and some parameter settings the drive controller carries out monitoring functions An error message is generated by the drive controller if a status is detected that no longer allows correct operation Errors can be divided into several error classes The error class is represented by the first two digits of the diagnostic mess...

Page 34: ...r by the user via the control panel Note Some errors can only be cleared in communication phase 2 If the error status persists the drive controller generates the error message again Note Apart from the mentioned error classes that can occur during operation errors can occur when the devices are booted and during firmware download These errors are not displayed at the control panel with a diagnosti...

Page 35: ... operating mode during its execution Executing monitoring commands activates or deactivates monitors and functions Administration commands execute administration tasks They cannot be interrupted Note Command errors are displayed with a diagnostic message too By means of the first three digits Cxx of the diagnostic message number it is possible to recognize which command caused the command error St...

Page 36: ... of damages resulting from inappropriate use are forfeited The user alone carries all responsibility of the risks Before using Rexroth products make sure that all the pre requisites for an appropriate use of the products are satisfied Personnel that in any way shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use If the...

Page 37: ...drive controllers are available with differing drive power and different interfaces Typical applications of drive controllers belonging to the IndraDrive family are handling and mounting systems packaging and foodstuff machines printing and paper processing machines and machine tools The drive controllers may only be operated under the assembly installation and ambient conditions as described here...

Page 38: ...safe operation of this equipment If the equipment is resold rented or transferred or passed on to others then these safety instructions must be delivered with the equipment WARNING Improper use of this equipment failure to follow the safety instructions in this document or tampering with the product including disabling of safety devices may result in material damage bodily harm electric shock or e...

Page 39: ...o wrong connections Danger to life or bodily harm by electric shock WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment CAUTION Surface of machine housing could be extremely hot Danger of injury Danger of burns CAUTION Risk of injury due to improper handling Bodily harm caused by crushing shearing cutting and mechanical shock...

Page 40: ...cturer Follow all safety regulations and requirements for the specific application as practiced in the country of use The equipment is designed for installation in industrial machinery The ambient conditions given in the product documentation must be observed Use only safety features and applications that are clearly and explicitly approved in the Project Planning Manual For example the following ...

Page 41: ...ce with EMC requirements can be found in the documentation EMC in Drive and Control Systems The machine or installation manufacturer is responsible for compliance with the limiting values as prescribed in the national regulations Technical data connections and operational conditions are specified in the product documentation and must be followed at all times LSA Control S L www lsa control com com...

Page 42: ...f the ground wire is not permanently connected to the points of the components provided for this purpose Before working with electrical parts with voltage higher than 50 V the equipment must be disconnected from the mains voltage or power supply Make sure the equipment cannot be switched on again unintended The following should be observed with electrical drive and filter components Wait five 5 mi...

Page 43: ...ups even for brief tests always connect the protective conductor or connect with ground wire Otherwise high voltages can occur on the housing that lead to electric shock 3 6 Protection Against Electric Shock by Protective Low Voltage PELV All connections and terminals with voltages between 0 and 50 Volts on Rexroth products are protective low voltages designed in accordance with international stan...

Page 44: ...gerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble free operation The monitoring in the drive components will normally be sufficient to avoid faulty operation in the connected drives Regarding personal safety especially the danger of bodily injury and material damage this alone cannot be relied upon to ensure complete safety Until the...

Page 45: ...ly if there is a possibility of loose parts flying off Mount the emergency stop switch in the immediate reach of the operator Verify that the emergency stop works before startup Don t operate the machine if the emergency stop is not working Isolate the drive power connection by means of an emergency stop circuit or use a starting lockout to prevent unintentional start Make sure that the drives are...

Page 46: ...n motors represent a serious health hazard to persons with heart pacemakers metal implants and hearing aids WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in proximity to electrical equipment Persons with heart pacemakers hearing aids and metal implants are not permitted to enter the following areas Areas in which electrical equipment and parts are mounted ...

Page 47: ...ct handling and mounting of parts and components may cause injuries CAUTION Risk of injury by incorrect handling Bodily harm caused by crushing shearing cutting and mechanical shock Observe general installation and safety instructions with regard to handling and mounting Use appropriate mounting and transport equipment Take precautions to avoid pinching and crushing Use only appropriate tools If s...

Page 48: ...he respective Project Planning Manual must be provided with pressurized media such as compressed air hydraulic oil cooling fluid and cooling lubricant supplied by external systems Incorrect handling of the supply and connections of pressurized systems can lead to injuries or accidents In these cases improper handling of external supply systems supply lines or connections can cause injuries or mate...

Page 49: ...3 12 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive DOK INDRV GEN VRS WA01 EN P Notes LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 50: ...227 227 227 Finally the initialization results are controlled If initialization errors occurred they are output via the display After initialization without errors the controller goes through the communication phases and where required switches to ready for operation bb 227 227 4 2 Devices without Valid Firmware In case the device does not detect valid firmware neither in the non volatile memory f...

Page 51: ...PLC and Stop PLC Stop PLC Brief Description Do not start PLC after booting Pressing the ENTER button on the control panel prevents the start of a PLC boot project Run PLC Brief Description Start PLC after booting When the ENTER button is pressed on the control panel the drive PLC and a possibly available boot project are started after the booting process No IDN on MMC Brief Description MMC was not...

Page 52: ... memory was active Then switch drive on again End C29 Brief Description Command C29 successfully completed The command C2900 Command Firmware update from MMC was successfully completed The firmware was copied from the MultiMediaCard MMC to the drive internal memory MMC not correct Brief Description MMC incorrectly formatted Cause Remedy MMC was not formatted correctly Switch drive off and plug in ...

Page 53: ...y Check showed that firmware on flash and on MMC are not identical Switch drive off and install MMC in drive with the same release version as on flash or Confirm diagnostic message with ENTER and start firmware update Update Error Brief Description Firmware update error during booting process Cause Remedy Firmware update was not carried out correctly Reboot device and start firmware update or Swit...

Page 54: ...ck and adjustment AE see also A0401 Drive deceleration to standstill AF drive enable Antrieb Freigabe Depending on the operating mode used you can find a detailed description of the AF display under the respective diagnostic status message AH Drive Halt Antrieb Halt see also A0010 Drive HALT AS see also A0011 Starting lockout active ASP see also A0014 Drive interlock active AU see also A0402 Drive...

Page 55: ...tection for SERCOS Interface P1 Phase 1 see also A0001 Communication phase 1 P2 Phase 2 see also A0002 Communication phase 2 P3 Phase 3 see also A0003 Communication phase 3 PL parameter load with basic values see also F2009 PL Load parameter default values RL see also F2008 RL The motor type has changed SBB see also A0017 Special mode motion active SBH see also A0016 Safety related operational sto...

Page 56: ...Rexroth IndraDrive Operating States 5 3 DOK INDRV GEN VRS WA01 EN P ZKS see also A0520 DC bus quick discharge active LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 57: ...5 4 Operating States Rexroth IndraDrive DOK INDRV GEN VRS WA01 EN P LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 58: ...ls are prepared for the communication phases 3 and 4 The phase progression takes place in ascending order The communication phase is set by the master Switching to communication phase 4 completes the initialization and allows power input If the phase progression is interrupted the status display remains in the communication phase that has been reached When the A0000 Communication phase 0 diagnosti...

Page 59: ...ed for the communication phases 3 and 4 The phase progression takes place in ascending order The communication phase is set by the master Switching to communication phase 4 completes the initialization and allows power input If the phase progression is interrupted the status display remains in the communication phase that has been reached When the A0001 Communication phase 1 diagnostic message is ...

Page 60: ...o get to communication phase 2 the master in the case of drives with field bus and SERCOS interfaces sets communication phase 2 via the master communication interface Another possibility to switch to communication phase 2 is to execute the P 0 4023 C0400 Communication phase 2 transition command Before it is possible to switch to communication phase 3 it is necessary to execute the S 0 0127 C0100 C...

Page 61: ...us and SERCOS interfaces sets communication phase 3 via the master communication interface Another possibility to switch to communication phase 3 is to execute the S 0 0127 C0100 Communication phase 3 transition check command Before it is possible to switch to communication phase 4 it is necessary to execute the S 0 0128 C0200 Communication phase 4 transition check command Among other things the d...

Page 62: ... phase 0 1 the progression to phase 0 is carried out at the moment when the correct baud rate is detected During the A0009 Automatic baud rate detection for SERCOS interface diagnostic message the control panel of the drive reads P 1 A0009 Attributes Display P 1 Mess no A0009 hex A0010 Drive HALT Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The Dr...

Page 63: ...ex A0012 Control and power sections ready for operation Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 The A0012 Control and power sections ready for operation diagnostic message signals that the drive is provided with control voltage and the power has been switched on The drive is ready for power output Note This stat...

Page 64: ... HMV01 The A0013 Ready for power on diagnostic message signals that the drive is provided with control voltage and that there isn t any error present in the drive The drive is ready for power on Note This status is displayed on the control panel of the drive with bb betriebsbereit ready for operation A0013 Attributes Display bb Mess no A0013 hex LSA Control S L www lsa control com comercial lsa co...

Page 65: ... The drive has come to standstill the power supply has been interrupted via two channels output stage locked DANGER Dangerous movements Danger to life danger of injury severe bodily injury or property damage After the output stage has been locked standstill monitoring is not active If external force influences are to be expected e g in the case of a vertical axis this motion has to be safely preve...

Page 66: ...o standstill the power supply has been interrupted via two channels output stage locked If the drive is still in motion when safety related standstill is selected there first is a stopping process then the power supply is interrupted via two channels output stage locked DANGER Dangerous movements Danger to life danger of injury severe bodily injury or property damage After the output stage has bee...

Page 67: ...errupted all control loops are active the standstill monitors are active If the drive is still in motion when safety related operational stop is selected there first is a stopping process then the standstill monitors become active axis spindle cannot be moved When the drive leaves the standstill position the output stage is locked via two channels DANGER Dangerous movements Danger to life danger o...

Page 68: ... motion has to be safely prevented by additional measures e g a mechanical brake or weight compensation Note The special mode motion can only be selected for the time limited by P 0 3222 Max activation time of enabling control According to selection bit 3 4 5 or 6 is set in parameter P 0 3213 Safety technology status Safety Functions and their Limit Value Monitors With the safety function safety r...

Page 69: ...riant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in the Torque control mode It follows the torque command value characteristic set by the master See also Functional Description Torque Force Control A0100 Attributes Display AF Mess no A0100 hex A0101 Drive in VELOCITY control Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD0...

Page 70: ...tion Position Control with Cyclic Command Value Input A0102 Attributes Display AF Mess no A0102 hex A0103 Position mode with encoder 2 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control The position control loop is closed by means of a position encoder in the drive The master only specifies the position command value cha...

Page 71: ...ion Position Control with Cyclic Command Value Input A0104 Attributes Display AF Mess no A0104 hex A0105 Position control lagless encoder 2 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control The position control loop is closed by means of a position encoder in the drive The master only specifies the position command valu...

Page 72: ...also Functional Description Drive Internal Interpolation A0106 Attributes Display AF Mess no A0106 hex A0107 Drive controlled interpolation encoder 2 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS From the master the drive receives a position command value identical to the target position of the distance to be traveled The drive then generates inter...

Page 73: ...o Functional Description Drive Internal Interpolation A0108 Attributes Display AF Mess no A0108 hex A0109 Drive controlled interpolation lagless encoder 2 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS From the master the drive receives a position command value identical to the target position of the distance to be traveled The drive then generates ...

Page 74: ... unit See also Functional Description Velocity Synchronization with Real Virtual Master Axis A0110 Attributes Display AF Mess no A0110 hex A0111 Velocity synchronization real master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in velocity control The speed command value is derived from the master axis position The master axis pos...

Page 75: ...ion Phase Synchronization with Real Virtual Master Axis A0112 Attributes Display AF Mess no A0112 hex A0113 Phase synchronization encoder 2 virtual master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control The position control loop is closed by means of a position encoder in the drive Taking the gear ratio and the m...

Page 76: ...cription Phase Synchronization with Real Virtual Master Axis A0114 Attributes Display AF Mess no A0114 hex A0115 Phase synchronization encoder 2 real master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control The position control loop is closed by means of a position encoder in the drive Taking the gear ratio and the...

Page 77: ...ion Phase Synchronization with Real Virtual Master Axis A0116 Attributes Display AF Mess no A0116 hex A0117 Phase synchr lagless encoder 2 virtual master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control The position control loop is closed by means of a position encoder in the drive Taking the gear ratio and the ma...

Page 78: ...ion Phase Synchronization with Real Virtual Master Axis A0118 Attributes Display AF Mess no A0118 hex A0119 Phase synchr lagless encoder 2 real master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in lagless position control The position command value is calculated by the master axis position The master axis position is derived fr...

Page 79: ...tion Electronic Cam Shaft with Real Virtual Master Axis A0128 Attributes Display AF Mess no A0128 hex A0129 Cam shaft encoder 2 virtual master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in the cam shaft mode The function has been derived from the principle of the mechanical cam shaft There is a fixed position relation between m...

Page 80: ...tion Electronic Cam Shaft with Real Virtual Master Axis A0130 Attributes Display AF Mess no A0130 hex A0131 Cam shaft encoder 2 real master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in the cam shaft mode The function has been derived from the principle of the mechanical cam shaft There is a fixed position relation between mast...

Page 81: ...tion Electronic Cam Shaft with Real Virtual Master Axis A0132 Attributes Display AF Mess no A0132 hex A0133 Cam shaft lagless encoder 2 virt master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in the cam shaft mode The function has been derived from the principle of the mechanical cam shaft There is a fixed position relation betw...

Page 82: ...scription Electronic Cam Shaft with Real Virtual Master Axis A0134 Attributes Display AF Mess no A0134 hex A0135 Cam shaft lagless encoder 2 real master axis Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in the cam shaft mode The function has been derived from the principle of the mechanical cam shaft There is a fixed position relation...

Page 83: ... then generates interpolates an internal position command value characteristic in order to get from the current position to this target position This is done considering the limit values for velocity acceleration and jerk in the following parameters S 0 0193 Positioning Jerk S 0 0259 Positioning Velocity S 0 0260 Positioning Acceleration and S 0 0359 Positioning Deceleration With a lag error propo...

Page 84: ...enerates interpolates an internal position command value characteristic in order to get from the current position to this target position This is done considering the limit values for velocity acceleration and jerk in the following parameters S 0 0259 Positioning Velocity S 0 0260 Positioning Acceleration S 0 0359 Positioning Deceleration and S 0 0193 Positioning Jerk The drive laglessly moves to ...

Page 85: ...then generates interpolates an internal position command value characteristic in order to get from the current position to this target position This is done considering the limit values for velocity acceleration and jerk in the following parameters S 0 0259 Positioning Velocity S 0 0260 Positioning Acceleration S 0 0359 Positioning Deceleration and S 0 0193 Positioning Jerk With a lag error propor...

Page 86: ...nerates interpolates an internal position command value characteristic in order to get from the current position to this target position This is done considering the limit values for velocity acceleration and jerk in the following parameters S 0 0259 Positioning Velocity S 0 0260 Positioning Acceleration S 0 0359 Positioning Deceleration and S 0 0193 Positioning Jerk The drive laglessly moves to t...

Page 87: ...ternal Interpolation and Drive Controlled Positioning A0154 Attributes Display AF Mess no A0154 hex A0155 Position mode with encoder 2 drive controlled Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control The position control loop is closed by means of a position encoder in the drive The drive presets the position command ...

Page 88: ...ternal Interpolation and Drive Controlled Positioning A0156 Attributes Display AF Mess no A0156 hex A0157 Position control lagless encoder 2 drive controlled Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control The position control loop is closed by means of a position encoder in the drive The drive presets the position co...

Page 89: ... See also Functional Description Positioning Block Mode A0206 Attributes Display AF Mess no A0206 hex A0207 Positioning block mode lagless encoder 1 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control without lag distance Encoder 1 motor encoder provides the actual value The command value profile is generated in the drive...

Page 90: ... See also Functional Description Positioning Block Mode A0210 Attributes Display AF Mess no A0210 hex A0211 Positioning block mode lagless encoder 2 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is in position control without lag distance Encoder 2 provides the actual value The command value profile is generated in the drive Target positi...

Page 91: ...nit HMV01 The mains contactor has been switched in the DC bus has been charged the DC bus current is regulated with regard to a preset command value Note This operating status is only available for manufacturer side testing and developing purposes A0501 Attributes Display I Lb Mess no A0501 hex A0502 Supply module in operation Supported by Supply Unit HMV01 The mains contactor has been switched in...

Page 92: ...to 65 V All monitoring thresholds have been adjusted for a test run at 43 V mains voltage Note This operating status is only available for manufacturer side testing and developing purposes A0510 Attributes Display lb Mess no A0510 hex A0511 Test run for current control Supported by Supply Unit HMV01 The mains contactor has been switched in the DC bus current is regulated with regard to a preset co...

Page 93: ... Mess no A0512 hex A0520 DC bus quick discharge active Supported by Supply Unit HMV01 The braking resistor is presently short circuiting the DC bus in order to reduce the DC bus voltage as quickly as possible Note The DC bus short circuit function ZKS was activated via the terminal strip X32 at the HMV A0520 Attributes Display ZKS Mess no A0520 hex A0800 Unknown operating mode Supported by Supply ...

Page 94: ...the air gap field in the case of asynchronous motors automatic determination of the commutation offset in the case of synchronous motors with incremental measuring system Depending on the parameterization the automatic brake check is displayed with the A4000 diagnostic message too see P 0 0525 Holding brake control word A4000 Attributes Display AC Mess no A4000 hex A4001 Drive deceleration to stan...

Page 95: ...matic mode Supported by Firmware Variant FWA INDRV MPH02VRS MS The drive internal PLC moves the drive in the automatic mode See also Application Manual Rexroth IndraMotion MLD A4002 Attributes Display AU Mess no A4002 hex LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 96: ... torque The brake output is deactivated if a self holding brake is used it is applied One of the following diagnostic messages is output at the display F9xxx fatal system errors E8xxx exceptions or E 0800 watchdog An English diagnostic message text is output via the serial interface After a fatal system error has occurred the drive can only be commissioned again when 1 the 24 V supply is completel...

Page 97: ...RV MPD02VRS MS Cause An error occurred in the firmware general software error The drive was switched off by the firmware Note The display varies according to the interrupt or processor exception that occurred Remedy Please contact our service department E0000 Attributes Display E XXXX Mess no E0000 hex LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 98: ...e An error occurred in firmware general software error Please contact our service department F9001 Attributes Display F9001 Mess no F9001 hex F9002 Error internal RTOS function call Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Cause An error occurred in the firmware general software error The drive was switched off by the firmware Remedy Please co...

Page 99: ...e error Drive was switched off by firmware Replace device contact our service department F9003 Attributes Display F9003 Mess no F9003 hex F9004 Hardware trap Supported by Supply Unit HMV01 An internal firmware error has occurred The device was switched off by the firmware Cause Remedy An error occurred in firmware Please contact our service department F9004 Attributes Display F9004 Mess no F9004 h...

Page 100: ...or therefore is immediately switched off i e it goes torque free see also Functional Description Error Reaction Note In the case of fatal errors the settings in P 0 0118 Power supply configuration still are taken into account After a fatal error has occurred the drive can only be commissioned again when 1 the error message was cleared by the error clearing command cf S 0 0099 C0500 Reset class 1 d...

Page 101: ...gard to polarity and plausibility If necessary invert polarity of motor encoder or invert two motor phases Carry out commutation setting again Positive feedback of motor after axis was mounted in spite of successful initial commissioning before axis was dismounted Check whether direction of motion sense of rotation of motor complies with that of motor encoder If not invert direction of motion of m...

Page 102: ...equency with priority in P 0 0522 Control word for commutation setting or Reduce value in P 0 0507 Test frequency for angle acquisition in order modify excitation frequency for sine wave method compared to resonance frequency of axis Motor has not been supplied with current Check motor connection Sine wave method without success although axis has required freedom of motion and doesn t show any res...

Page 103: ... or Increase value contained in P 0 0507 Test frequency for angle acquisition External forces or torques cause axis to move out of allowed actual position value range Check mechanical axis system for occurrence of external forces e g due to trailing cable installation vertical load etc Detent force or torque causes axis to move out of allowed actual position value range Make sure that during commu...

Page 104: ...requency for angle acquisition and restart commutation setting process or Enter value 0 in P 0 0506 Amplitude for angle acquisition Appropriate value for P 0 0506 is thereby automatically determined during commutation setting process or Reduce value of P 0 0517 Commutation required harmonics component if approx 30 similar values are determined for P 0 0521 Effective commutation offset with repeate...

Page 105: ...014 is generated Cause Remedy Amplitude of actual current value is higher than allowed maximum current Reduce signal voltage P 0 0506 Voltage amplitude for angle acquisition or increase signal frequency P 0 0507 Test frequency for angle acquisition or With P 0 0506 Voltage amplitude for angle acquisition 0 start automatic determination of appropriate values Note If error occurs repeatedly please c...

Page 106: ...error continues to be signaled contact our service department The commutation setting with motion by means of the sine wave method is completed when the axis after commutation offset determination has been moved back to the initial position at which it was before the start If this is impossible the error F8015 is generated Cause Remedy Axis cannot be moved back to position at which it was at begin...

Page 107: ...ration effect in motor Required maximum current is approx 1 5 fold continuous current at standstill S 0 0111 Motor current at standstill Check whether controller can supply motor with sufficiently high current cf S 0 0111 Motor current at standstill and S 0 0110 Amplifier peak current If maximum controller current is too low drive controller has to be replaced by a bigger one or Change position of...

Page 108: ...ation phase 2 parameter mode Cause Remedy Defective encoder cable or cable shielding Check cable to measuring system and replace it if necessary Measuring system defective Check measuring system and replace it if necessary Faulty mounting of measuring head in the case of linear measuring systems Check mounting of measuring head and correct it if necessary Measuring system dirty Clean or replace me...

Page 109: ...nuity Take possible loose contacts into account Check connection of motor feed wire at controller Check connection of motor feed wire at motor Line break in motor Replace motor Line break in controller Replace controller F8023 Attributes Display F8023 Mess no F8023 hex F8027 Starting lockout while drive enabled Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD...

Page 110: ...rrent in the power transistors has exceeded the maximum allowed device peak current cf S 0 0110 Amplifier peak current Note In the case of an internal signal voltage error in the power section this error message is directly generated when the device is switched on before power was demanded from the power section Cause Remedy Short circuit in motor or motor cable Check motor cable and motor for sho...

Page 111: ...ply This voltage is monitored with regard to the allowed tolerance Note When the error F8070 occurs the motors within the drive system are immediately go torque free Apply possibly existing self holding motor holding brakes Cause Remedy Supply cable for control voltages defective Check and if necessary replace supply cable for control voltages and connector Overload of 24 V power supply unit Check...

Page 112: ...eviation have different signs Cause Remedy Motor phases U V W interchanged so that commutation of motor is incorrect Check motor cable connection and correct phase assignment if necessary Incorrect encoder arrangement Correct encoder arrangement inverting rotational direction of encoder can possibly resolve problem Speed loop setting incorrect Check speed loop setting according to Application Manu...

Page 113: ... value Reduce P 0 0048 Effective velocity command value by adjusting S 0 0036 Velocity command value or S 0 0037 Additive velocity command value See also Functional Description Control Loop Structure F8079 Attributes Display F8079 Mess no F8079 hex F8091 Power section defective Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Cause Remedy After contro...

Page 114: ...nt Firmware used is not suitable e g MPH02VRS for double axis control section i e hardware and software do not match Select suitable firmware by means of Functional Description or Version Notes Release Notes see supported control section configurations Hardware defect on control section Switch drive off and on again If error still occurs contact our service department and if necessary replace cont...

Page 115: ...tact our service department Maybe you have to replace power section or entire drive controller Hardware defect on power section Replace power section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controller is described in the Project Planning Manual for the power section F81...

Page 116: ...Control section defective Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the initialization of the control section an error occurred Cause Remedy Hardware of control section is defective Replace control section or entire drive controller use hardware configuration of same type Note Only Rexroth service engineers or especially trained users ar...

Page 117: ...te An error occurred during firmware update Restart firmware update If error message is displayed again replace control section with control section of same type if you are authorized to do this Otherwise entire drive controller has to be replaced Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controlle...

Page 118: ...te An error occurred during firmware update Restart firmware update If error message is displayed again replace control section with control section of same type if you are authorized to do this Otherwise entire drive controller has to be replaced Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controlle...

Page 119: ...elated standstill and the output stage is switched off via one channel All poles of the mains contactor are switched off Note Safety is not acknowledged i e safety technology status output controller was cleared reset in P 0 3214 Safety technology signal status word channel 1 or the diagnosis input output I O10n channel 2 was set depending on the parameterization in P 0 3210 Safety technology cont...

Page 120: ...s procedure command with P 0 4090 Index for C07 Load defaults procedure 165 and reset module switch control voltage off and on again Note If necessary repeat procedure if P 0 3207 Safety technology password level is unequal 1 Incompatible firmware releases on channel 1 and channel 2 Establish compatible firmware releases on channel 1 and channel 2 If the error occurs repeatedly the hardware has to...

Page 121: ...on 1 P 0 3250 Control word for safety related motion 2 P 0 3260 Control word for safety related motion 3 P 0 3270 Control word for safety related motion 4 The comparison showed that not all of the double elements are identical Note Switching to the operating mode is impossible Cause Remedy A memory cell was overwritten by mistake Command C07_2 Load def proc com load def pr for safety techn and res...

Page 122: ...mber of additional capacitance modules There is short circuit or load of low impedance in DC bus Check wiring of DC bus connection F8806 Attributes Display F8806 Mess no F8806 hex F8813 Connection error mains choke Supported by Supply Unit HMV01 After the power supply had been switched on a wiring error of the mains choke e g incorrect phase sequence of the mains phases was detected Cause Remedy M...

Page 123: ...e braking resistor circuit is rising in an inadmissible way Cause Remedy Resistance value of connected braking resistor is too low Connect braking resistor unit with higher resistance value take specification into account Short circuit at braking resistor connection Remove short circuit See also Functional Description Power Supply F8838 Attributes Display F8838 Mess no F8838 hex LSA Control S L ww...

Page 124: ...tered in P 0 3220 Tolerance time transition from normal operation or P 0 3225 Tolerance time transition from safety rel oper is over Then the power is switched off depending on the setting in P 0 0118 Power supply configuration The drive can only be commissioned again when 1 the error message was cleared by the error clearing command cf S 0 0099 C0500 Reset class 1 diagnostics 2 the actual cause o...

Page 125: ... soon as the axis has stopped the safety door can be opened Cause In safety function special mode motion position range defined in parameter P 0 3243 Safety related limited increment 1 or P 0 3253 Safety related limited increment 2 or P 0 3263 Safety related limited increment 3 or P 0 3273 Safety related limited increment 4 has been exceeded Remedy Start command S 0 0099 C0500 Reset class 1 diagno...

Page 126: ...to clear error and then set drive enable again F7011 Attributes Display F7011 Mess no F7011 hex F7012 Safety rel position limit val exc in neg dir Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is shut down with velocity command value reset The drive automatically switches to safety related standstill and the output stage is switched off v...

Page 127: ...n as the axis has stopped the safety door can be opened Cause In safety function special mode motion velocity threshold parameterized in parameter P 0 3244 Safety related reduced speed 1 or P 0 3254 Safety related reduced speed 2 or P 0 3264 Safety related reduced speed 3 or P 0 3274 Safety related reduced speed 4 has been exceeded Remedy Start command S 0 0099 C0500 Reset class 1 diagnostics in o...

Page 128: ...e safety door can be opened Cause In safety function special mode motion threshold parameterized in parameter P 0 3245 Safety related deceleration acceleration ramp 1 or P 0 3255 Safety related deceleration acceleration ramp 2 or P 0 3265 Safety related deceleration acceleration ramp 3 or P 0 3275 Safety related deceleration acceleration ramp 4 has been exceeded Remedy Start command S 0 0099 C0500...

Page 129: ...clear error and then set drive enable again F7020 Attributes Display F7020 Mess no F7020 hex F7021 Safety related end position exceeded Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is shut down with velocity command value reset The drive automatically switches to safety related standstill and the output stage is switched off via two chan...

Page 130: ...els As soon as the axis has stopped the safety door can be opened Cause Remedy In safety function safety related operational stop position window defined in P 0 3230 Monitoring window for safety related operational stop has been exceeded Start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error and then set drive enable again If necessary change parameterization of P 0 3230 Mo...

Page 131: ...r P 0 3250 Control word for safety related motion 2 or P 0 3260 Control word for safety related motion 3 or P 0 3270 Control word for safety related motion 4 Motion in incorrect direction was carried out with velocity greater than parameterized velocity threshold P 0 3232 Monitoring window for safety related direction of motion Parameterization of P 0 3232 Monitoring window for safety related dire...

Page 132: ...ring function a check is run to find out whether both channels are working with the same internal safety parameter values errors caused by accidental overwriting are detected Values are required for all safety monitoring functions and are of fundamental importance for functioning of safety technology Execute P 0 3204 Synchronize and store safety technology IDN command channel 2 accepts parameters ...

Page 133: ...n be opened Cause Remedy Actual position values determined on channel 1 and channel 2 are differing Start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error and then set drive enable again If error occurs repeatedly replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The ...

Page 134: ...PH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The axis was already shut down before in order to then lock the output stage or has been shut down in order to then activate the output stage After selecting safety related drive interlock or safety related standstill the output stage cannot be switched off The output stage is only switched off via one channel If the drive already is in safety...

Page 135: ...erance time transition from normal operation is used If transition takes place from safety related operation time P 0 3225 Tolerance time transition from safety rel oper is used If actual velocity greater than value parameterized in P 0 3233 Velocity threshold for safety related stopping process is detected after tolerance time is over error F7050 is generated Parameterization of P 0 3233 Velocity...

Page 136: ...th P 0 0569 Maximum stator frequency change See also Functional Description Error Reaction Note In the case of travel range errors the settings in P 0 0118 Power supply configuration still are taken into account At the end of each error reaction the drive goes torque free The drive can only be commissioned again when 1 the error reaction has been completed i e the drive has stopped v 0 2 the error...

Page 137: ...on of S 0 0273 Maximum drive off delay time and if necessary increase parameter content in order to extend delay time and avoid incorrect reaction Brake defective or brake control resp brake cable defective Check brake function and brake connection cabling Hardware defect on power section Replace control section or entire drive controller Note Only Rexroth service engineers or especially trained u...

Page 138: ...rameter Cause Remedy Command value set for drive causes axis position outside of positive travel range position limit value S 0 0049 Positive position limit value 1 Clear error and switch power on 2 Set drive enable and preset command value that leads back to the allowed travel range Contact machine manufacturer in order to clarify cause of incorrect command value S 0 0049 Positive position limit ...

Page 139: ...rameter Cause Remedy Command value set for drive causes axis position outside of positive travel range position limit value S 0 0050 Negative position limit value 1 Clear error and switch power on 2 Set drive enable and preset command value that leads back to the allowed travel range Contact machine manufacturer in order to clarify cause of incorrect command value S 0 0050 Negative position limit ...

Page 140: ...ggering Incorrect parameterization of digital inputs and outputs on control section Correct configuration of digital inputs outputs and correct it if necessary E Stop switch or cable connection defective or incorrectly wired Check function and wiring of E Stop switch Control section or digital inputs on control section defective Replace control section or entire drive controller Note Only Rexroth ...

Page 141: ...d as an error setting in P 0 0090 Travel range limit parameter Cause Remedy Due to incorrect mounting axis activates both travel range limit switches simultaneously Mount travel range limit switches in such a way that they are activated shortly before axis end position is reached Make sure the braking distance is sufficient Travel range limit switches were incorrectly connected Connect travel rang...

Page 142: ...earing command and switch power on 2 Set drive enable and preset command value that leads back to the allowed travel range Incorrect parameterization of digital inputs and outputs on control section Correct configuration of digital inputs outputs and correct it if necessary Travel range limit switch or cable is defective or incorrectly wired Check function and wiring of travel range limit switch C...

Page 143: ...earing command and switch power on 2 Set drive enable and preset command value that leads back to the allowed travel range Incorrect parameterization of digital inputs and outputs on control section Correct configuration of digital inputs outputs and correct it if necessary Travel range limit switch or cable is defective or incorrectly wired Check function and wiring of travel range limit switch C...

Page 144: ... NC reaction via P 0 0117 Activation of NC reaction on error is no longer possible At the end of each error reaction the drive goes torque free The drive can only be commissioned again when 1 the error reaction has been completed i e the drive has stopped v 0 2 the error message was cleared by the error clearing command cf S 0 0099 C0500 Reset class 1 diagnostics 3 the cause of the error was remov...

Page 145: ...er cables again Maximum attenuation between TX and RX mustn t exceed 12 5 dB Different SERCOS cycle times in master and slave Check SERCOS cycle times in master and slave and adjust them if necessary Disturbance in SERCOS interface general Replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section Th...

Page 146: ...ls too low Light power to be measured at receiver with test mode continuous light must be between 20 dBm 10 µW and 5 dBm 320 µW Adjust transmitting power or check attenuation of fiber optic cable Maximum attenuation between TX and RX mustn t exceed 12 5 dB Disturbance in SERCOS interface general Replace control section or entire drive controller Different transmission times of master data telegram...

Page 147: ...ription Interface Errors and Diagnostic Possibilities F4003 Attributes Display F4003 Mess no F4003 hex F4004 Error during phase progression Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The compulsory order was not followed during the phase progression Cause Remedy Error in SERCOS master module of control unit Error can only be corrected after cons...

Page 148: ...e Errors and Diagnostic Possibilities F4005 Attributes Display F4005 Mess no F4005 hex F4006 Phase switching without ready signal Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The SERCOS master tried to carry out a phase switch without waiting for the ready signal from the drive Cause Remedy Error in SERCOS master module of control unit Error can o...

Page 149: ...longer than watchdog time Check watchdog time parameterized in P 0 4075 Field bus watchdog and field bus connector as well as cable connection F4009 Attributes Display F4009 Mess no F4009 hex F4012 Incorrect I O length Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The master tries to establish communication with an I O length that does not correspo...

Page 150: ...S MS The controller is monitoring the runtime of the PLC tasks Cause Remedy Controller has detected that runtime of PLC program has been exceeded Check task settings via IndraLogic programming user interface F4014 Attributes Display F4014 Mess no F4014 hex LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 151: ...y cause of E Stop triggering Incorrect parameterization of digital inputs and outputs on control section Correct configuration of digital inputs outputs on control section and correct it if necessary E Stop switch or cable connection defective or incorrectly wired Check function and wiring of E Stop switch Control section or digital inputs on control section defective Replace control section or en...

Page 152: ...nsition from safety rel oper In case the time is exceeded the error F7050 Time for stopping process exceeded is generated At the end of the error reaction the drive goes torque free and power is switched off depending on the setting in P 0 0118 Power supply configuration The drive therefore can only be commissioned again when 1 the error reaction has been completed i e the drive has stopped v 0 2 ...

Page 153: ...the output stage is switched off via two channels As soon as the axis has stopped the safety door can be opened Cause Remedy Acceleration threshold parameterized in P 0 3245 Safety related deceleration acceleration ramp 1 has been exceeded Start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error an then set drive enable again If necessary increase value for parameter P 0 3245...

Page 154: ...d the axis signals safety i e safety technology status output controller was set in P 0 3214 Safety technology signal status word channel 1 or the diagnosis input output I O10n channel 2 was set depending on the parameterization in P 0 3210 Safety technology control word Cause Remedy A safety related motion safety function with configured safety related absolute position was selected without safet...

Page 155: ...rive automatically switches to safety related standstill and the output stage is switched off via two channels As soon as the axis has stopped the axis signals safety i e safety technology status output controller was set in P 0 3214 Safety technology signal status word channel 1 or the diagnosis input output I O10n channel 2 was set depending on the parameterization in P 0 3210 Safety technology ...

Page 156: ...tion signal states that are not allowed were detected contact error or cable break Remove cause of error in wiring of inputs or replace switch Then start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error an then set drive enable again When using optional module safety technology I O During dynamization of safety function selection not all input signals are zero Cause can be ...

Page 157: ...ed starting lockout function or if operated condition is detected with starting lockout not active error message F3131 is generated Error in wiring of acknowledgment signal contact error or cable break Remove cause of error in wiring of acknowledgment signal Then start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error an then set drive enable again When using optional module...

Page 158: ... safety function feedback at check input E10 is missing b At end of transition from safety function to normal operation feedback is still present at check input E10 Error in wiring of diagnostic output Remove error s in wiring of diagnostic output Error in parameterization of digital I Os Control and if necessary correct parameterization of digital I Os in the following parameters P 0 0300 Digital...

Page 159: ...triggered The drive is decelerated according to the setting in P 0 0119 Best possible deceleration The drive automatically switches to safety related standstill and the output stage is switched off via one channel Note Safety is not acknowledged i e safety technology status output controller was cleared reset in P 0 3214 Safety technology signal status word channel 1 or the diagnosis input output ...

Page 160: ...ce in the case of external dynamization Parameterization of P 0 3210 Safety technology control word does not make sense In the case of internal dynamization per safety zone configure one axis as master for dynamization set bit 3 in P 0 3210 Safety technology control word After having removed the cause start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error and then set drive...

Page 161: ...ation Error in signal shape of dynamization signal in the case of external dynamization Use appropriate signal source in the case of external dynamization After having removed the cause start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error and then set drive enable again Note If error message occurs repeatedly safety technology firmware has to be replaced or Control sectio...

Page 162: ...are Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the monitoring process the input signals of channel 1 and channel 2 were detected not to be identical The drive is shut down according to the setting in P 0 0119 Best possible deceleration The drive automatically switches to safety related standstill and the output stage is switched off via two channels As soon as...

Page 163: ...ge is switched off via two channels As soon as the axis has stopped the safety door can be opened Cause Remedy Parameterized activation time has been exceeded Parameterization of P 0 3222 Max activation time of enabling control does not make sense Change parameterization of P 0 3222 Max activation time of enabling control in useful way Enabling control is defective or incorrectly wired Check and i...

Page 164: ...an be opened Cause Remedy Execution of internal command was aborted with timeout Reset module by switching control voltage on and off If error occurs repeatedly replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controller is described in the Project Planni...

Page 165: ...till The output stage is switched off via two channels Cause Remedy Error in mechanical system of safety door Check mechanical system of safety door Error in wiring of safety door e g short circuit between I O10n and 24 V or O10n and 0 V driver at output of O10n defective Check wiring of safety door Then start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error and then set dr...

Page 166: ...r can be opened Cause Remedy System error on channel 2 Reset module by switching control voltage on and off Start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error an then set drive enable again If error occurs repeatedly replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control secti...

Page 167: ...o channels As soon as the axis has stopped the safety door can be opened Cause Remedy Cyclic test of monitoring functions of safety technology channel 1 is faulty Reset module by switching control voltage on and off If error occurs repeatedly replace firmware and or hardware Note Only Rexroth service engineers are allowed to replace optional modules of the control section Only Rexroth service engi...

Page 168: ...oltage on and off F3150 Attributes Display F3150 Mess no F3150 hex F3151 Safety command for system halt incorrect Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The drive is shut down according to the setting in P 0 0119 Best possible deceleration The drive automatically switches to safety related standstill and the output stage is switched off via ...

Page 169: ... mode and therefore when deactivating safety technology functions error occurred in channel 2 e g output stage cannot be switched on off via channel 2 Start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error an then set drive enable again If necessary reset module by switching control voltage on and off F3152 Attributes Display F3152 Mess no F3152 hex LSA Control S L www lsa ...

Page 170: ...of the error was removed 4 drive enable was switched on again 0 1 edge F2005 Cam shaft invalid Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS When the cam shaft mode is active the drive monitors whether one of the cam shaft profiles contains invalid elements or is incomplete Cause Remedy One of cam shaft profiles is invalid Check cam shaft profiles ...

Page 171: ...troller again and then start command S 0 0099 C0500 Reset class 1 diagnostics in order to clear error Loose contact in MMC slot or MMC incorrectly plugged Check fixing of MMC and if necessary plug it in correctly MMC defective Replace MMC MMC slot defective Replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the ...

Page 172: ...ating mode parameters S 0 0032 Primary mode of operation S 0 0033 Secondary operating mode 1 S 0 0034 Secondary operating mode 2 S 0 0035 Secondary operating mode 3 Cause Remedy Via S 0 0134 Master control word for SERCOS or P 0 4077 Field bus control word for field bus an operating mode was selected that had not been initialized e g S 0 0032 0 Enter the desired operating mode in the selected oper...

Page 173: ... parameter file was loaded to drive controller in which parameter S 0 0141 Motor type differs from connected motor type or Drive controller was switched on for the first time Motor type stored in S 0 0141 Motor type differs from connected motor type Clear error by means of S 0 0099 C0500 Reset class 1 diagnostics or Press ESC button at control panel of controller Note If the error is cleared comma...

Page 174: ...s Before executing the command for loading the parameter default values by clear errors you should save the current parameter set Cause Remedy Drive was started with new firmware for the first time or a version update was carried out due to which number of non volatile parameters has changed By clearing error via control panel all parameter values are cleared and set to original values default val...

Page 175: ...02 Digital I Os direction F2010 Attributes Display F2010 Mess no F2010 hex F2011 PLC Error nr 1 Supported by Firmware Variant FWA INDRV MPH02VRS MS In conjunction with technology functions the PLC integrated in the drive optional expansion package drive PLC allows the user generating error messages F2011 F2014 within the PLC program The causes of the error are depending on the respective PLC proje...

Page 176: ...e also documentation Rexroth IndraMotion MLD S F2012 Attributes Display F2012 Mess no F2012 hex F2013 PLC Error nr 3 Supported by Firmware Variant FWA INDRV MPH02VRS MS In conjunction with technology functions the PLC integrated in the drive optional expansion package drive PLC allows the user generating error messages F2011 F2014 within the PLC program The causes of the error are depending on the...

Page 177: ...es F2011 F2014 within the PLC program The causes of the error are depending on the respective PLC project or the active technology function If the error message is generated by a technology function made available by Bosch Rexroth the causes and remedies are contained in the description of the technology function See also documentation Rexroth IndraMotion MLD S F2014 Attributes Display F2014 Mess ...

Page 178: ...e dimensioning working power mustn t exceed on average continuous power of drive Ambient temperature too high Specified performance data are valid up to an ambient temperature of 40 C Reduce ambient temperature e g by cooling the control cabinet Heat sink of device is dirty Clean heat sink Convection is prevented by other components or mounting position of control cabinet Mount device vertically a...

Page 179: ... used because an appropriate temperature sensor is used for these motors Cause Remedy Motor shutdown temperature incorrectly parameterized Check and correct parameterization of S 0 0204 Motor shutdown temperature by means of motor or temperature sensor data sheet The motor is overloaded Effective torque demanded from motor was above allowed torque for a too long time Check dimensioning of motor In...

Page 180: ...eplacement sensor or replace motor Drive controller defective Replace drive controller or power section See also Functional Description Motor Temperature Monitoring F2021 Attributes Display F2021 Mess no F2021 hex F2022 Device temperature monitor defective Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 The function of ...

Page 181: ...action to undervoltage in P 0 0118 Power supply configuration If the DC bus voltage falls below 75 of the mains voltage crest value that was detected when the mains contactor had been switched on the error F2026 is displayed at the device Power is switched off Cause Remedy Power is switched off without previous drive deactivation by means of drive enable AF Check logic for activating drive in conn...

Page 182: ...Max model deviation Cause Remedy Parameterized monitoring window too small Check and if necessary correct content of S 0 0159 Monitoring window Too high command acceleration due to incorrect command value set by control unit Reduce acceleration value set by the control unit see control unit manual Numeric value in S 0 0092 Bipolar torque force limit value too low Check content of parameter S 0 009...

Page 183: ...on is too great the operational safety of the motor is no longer guaranteed because a runaway effect of the motor can occur Cause Remedy Initial commissioning was not or incompletely carried out Carry out initial commissioning Motor encoder was replaced Carry out initial commissioning Motor connections U V W were mixed up Check and if necessary correct motor connection Values in P 0 0508 Commutati...

Page 184: ...e externally applied is outside of allowed range and temporary failures voltage peaks are detected Supply interface with controlled power supply unit At least one of the inputs was connected with reversed polarity Check wiring At least one of the outputs has short circuit Check wiring At least one of the outputs is overloaded Supply motor brake and interface with different power supply units espec...

Page 185: ...orrectly 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 in...

Page 186: ... the position command value monitor is activated and the error F2037 is generated The excessive position command value is stored in parameter P 0 0010 Excessive position command value The last valid position command value is stored in parameter P 0 0011 Last valid position command value Cause Remedy Value in S 0 0091 Bipolar velocity limit value too low Check and if necessary correct parameterizat...

Page 187: ...8 Bipolar acceleration limit value too low Check and if necessary correct parameterization of S 0 0138 Bipolar acceleration limit value Incorrect command values set by control unit position command values Contact control unit manufacturer or programmer Preset acceleration value was greater than value parameterized in S 0 0138 Bipolar acceleration limit value Reduce acceleration value used S 0 0042...

Page 188: ...e error F2040 is generated and the device is switched off Cause Remedy Ambient temperature too high Specified performance data are valid up to an ambient temperature of 40 C Reduce ambient temperature e g by cooling the control cabinet Heat sink of device is dirty Clean heat sink Convection is prevented by other components or mounting position in control cabinet Mount device vertically and provide...

Page 189: ...ck measuring system and replace it if necessary Faulty mounting of measuring head in the case of linear measuring systems Check mounting of measuring head and correct it if necessary Measuring system dirty Replace measuring system Hardware defect on control section of drive Replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowe...

Page 190: ...nd replace it if necessary Encoder defective Check measuring system and replace it if necessary Faulty mounting of measuring head in the case of linear measuring systems Check mounting of measuring head and correct it if necessary Measuring system dirty Replace measuring system Hardware defect on control section of drive Replace control section or entire drive controller Note Only Rexroth service ...

Page 191: ...ause Remedy Temporary failures voltage peaks or voltage drops Use controlled power supply unit At least one of the inputs was connected with reversed polarity Check wiring incl cable and correct it if necessary At least one of the outputs has short circuit or is overloaded Check wiring incl cable and remove short circuit if necessary Voltage drops because motor brake applied Supply motor brake and...

Page 192: ...motors and moving parts When the error occurs for the first time the absolute encoder function is only guaranteed for approx another 2 weeks Replace battery immediately Cause Remedy Battery voltage has fallen below 3 1 V Clear error and immediately arrange for and prepare replacement of battery see instructions in Project Planning Manual for respective motor For replacement of battery observe warn...

Page 193: ...set a new positioning command value x k 2 while drive was moving to target position of positioning command value x k Check command value in control unit and make sure that new positioning command value x k 2 is only preset when positioning command value x k 1 was accepted and drive moves to corresponding target position Incorrect command value acceptance toggling of S 0 0346 Positioning control wo...

Page 194: ...Cause Remedy When target position of a sequential block has been reached there is no new positioning block in target position preset memory Preset sequential block in time before target position has been reached Positioning block mode by mistake set to sequential block without intermediate stop Check positioning block mode and switch off sequential block processing if necessary S 0 0346 Positionin...

Page 195: ...therwise a position offset would be produced due to lost increments Note The maximum allowed frequency of the incremental encoder signals also has to be taken into account for dimensioning the subsequent evaluation electronics in the control unit Cause Remedy Resolution set in P 0 0903 Encoder emulation resolution is too high for existing travel velocity Reduce number of increments of incremental ...

Page 196: ...the error message F2054 Cause Remedy Run time internally exceeded Switch off all functions not required e g analog output If this does not remove error replace control section or entire drive controller and contact our service department Hardware error Replace control section or entire drive controller and contact our service department Note Only Rexroth service engineers or especially trained use...

Page 197: ...hronization problems Check connection of master communication incl shield connection and correct it if necessary Synchronization clock of master oscillates very much due to software or hardware error in master e g jitter of MST with SERCOS Check field bus master and make sure synchronization clock is good and constant Master communication hardware of drive controller is defective e g optional SERC...

Page 198: ...e The result of the brake check is displayed in P 0 0539 Holding brake status word Cause Remedy Motor brake servo brake was not or incorrectly connected Connect brake or correct connection Axis is mechanically blocked Check mechanical system and remove blocking Brake is defective Check and if necessary replace brake Brake supply error Check voltage Friction torque of axis is greater than test torq...

Page 199: ...095 Absolute encoder monitoring window for motor encoder is too low for existing encoder resolution so that normal encoder jitter will already cause monitor to be triggered Check parameterization of P 0 0095 Absolute encoder monitoring window for motor encoder and increase monitoring window Switching on without reference in the case of initial commissioning or caused for example by changing parame...

Page 200: ...ta reference Value entered in P 0 0096 Absolute encoder monitoring window for opt encoder is too low for existing encoder resolution so that normal encoder jitter will already cause monitor to be triggered Check parameterization of P 0 0096 Absolute encoder monitoring window for opt encoder and increase monitoring window Switching on without reference in the case of initial commissioning or caused...

Page 201: ...n data reference Value entered in P 0 0097 Absolute encoder monitoring window for measuring encoder is too low for existing encoder resolution so that normal encoder jitter will already cause monitor to be triggered Check parameterization of P 0 0097 Absolute encoder monitoring window for measuring encoder and increase monitoring window Switching on without reference in the case of initial commiss...

Page 202: ...rance If the values are higher the error message F2077 is generated Cause Remedy Hardware of control section or power section defective Replace power section or control section resp entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section or the power section The replacement of the entire drive controller is described in the...

Page 203: ...to digital output and possibly causes DC bus short circuit requires corresponding wiring This error can also have been caused by a fatal drive error that was signaled to the supply via the module bus The respective settings must be made in P 0 0118 Power supply configuration Cause Remedy Failure in power supply or overload of power supply Check power supply Fatal error message of one or several dr...

Page 204: ...Functional Description Power Supply F2087 Attributes Display F2087 Mess no F2087 hex F2100 Incorrect access to command value memory Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS An error occurred when accessing the flash internal memory Cause Remedy Failure occurs sporadically firmware error Clear error and contact our service department for firmwa...

Page 205: ...ent in order to get a firmware update MMC has not been plugged in correctly or is defective Clear error and check MMC or plug it in correctly If error occurs again when MMC is accessed MMC has to be replaced MMC slot in control section is defective Clear error and check MMC slot If error occurs again when MMC is accessed control section or entire drive controller has to be replaced See also Functi...

Page 206: ...elding Clear error Replace defective encoder cable or improve shielding Encoder memory or encoder electronics is defective Clear error Replace encoder or motor Hardware defect on control section Replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controller ...

Page 207: ...hielding Clear error Replace defective encoder cable or improve shielding Encoder memory or encoder electronics is defective Clear error Replace encoder or motor Hardware defect on control section Replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controlle...

Page 208: ...se Remedy Failure occurs sporadically firmware error Clear error Then execute command P 0 0524 C1200 Commutation offset setting command if error occurs again contact our service department in order to get a firmware update Encoder memory or encoder electronics is defective Clear error Replace encoder or motor Then execute command P 0 0524 C1200 Commutation offset setting command See also Functiona...

Page 209: ...ure occurs sporadically firmware error Clear error and contact our service department for firmware update Hardware defective Should error occur repeatedly control section or entire device has to be replaced Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controller is described in the Project Planning Ma...

Page 210: ...n Clear error and reestablish position data reference Switching on without reference after replacing motor or motor encoder Clear error and establish position data reference Motor encoder defective Replace motor or motor encoder clear error and establish position data reference Parameters of mechanical system changed gear feed constant Clear error and establish position data reference Amplifier re...

Page 211: ...on evaluation Clear error and reestablish position data reference Switching on without reference after replacement of encoder Clear error and establish position data reference Optional encoder defective Replace encoder clear error and establish position data reference Parameters of mechanical system changed gear feed constant Clear error and establish position data reference Amplifier replaced wit...

Page 212: ...al position value status S 0 0403 Position feedback value status goes to relative and this diagnostic message is generated Cause Remedy Switching on without reference in the case of initial commissioning or caused for example by changing parameters that characterize mechanical system or influence position evaluation Clear error and establish position data reference Encoder defective Replace measur...

Page 213: ... travel range have been incorrectly parameterized and not adjusted to the application Check and if necessary correct S 0 0103 Modulo value or S 0 0278 Maximum travel range Drive was moved as rapidly that recalculation no longer works correctly Reduce drive velocity at position overflow F2177 Attributes Display F2177 Mess no F2177 hex F2178 Modulo limitation error of optional encoder Supported by F...

Page 214: ...verflow Cause Remedy S 0 0103 Modulo value or S 0 0278 Maximum travel range have been incorrectly parameterized and not adjusted to the application Check and if necessary correct S 0 0103 Modulo value or S 0 0278 Maximum travel range Drive was moved as rapidly that recalculation no longer works correctly Reduce drive velocity at position overflow F2179 Attributes Display F2179 Mess no F2179 hex F2...

Page 215: ...dy Mains voltage below minimum value Use matching transformer See also Functional Description Power Supply F2814 Attributes Display F2814 Mess no F2814 hex F2815 Overvoltage in mains Supported by Supply Unit HMV01 Cause Remedy Mains voltage is greater than maximum specified value 500 V 10 Check mains voltage If necessary use matching transformer F2815 Attributes Display F2815 Mess no F2815 hex LSA...

Page 216: ...on error within device or other devices connected to DC bus To find defective device take connected devices out of drive system step by step remove wiring Final value of DC bus voltage is not reached within a maximum time Check whether there is defect at load externally connected to DC bus Inadmissible voltage fluctuations in supply mains Mains voltage has inadmissibly dropped during soft start pr...

Page 217: ... F2818 Mess no F2818 hex F2819 Mains failure Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 The mains has failed The DC bus voltage has fallen below a threshold value so that a new soft start process is required Cause Remedy Mains failure permanent or temporary Search and remove cause of mains failure See also Function...

Page 218: ...f connected drives Energy absorption capacity of braking resistor is exhausted Switch power supply off with a delay in the case of drive OFF or E STOP for regenerative supplies or reduce velocity Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum velocity Continuous regenerative power and or rotary drive energy is too high Reduce maximum velocity or check dimen...

Page 219: ...he external braking resistor Cause Remedy Control of braking resistor has detected inadmissibly high current Check braking resistor for correct resistance value If necessary use braking resistor with higher resistance value Terminal connectors for external braking resistor have been short circuited Remove short circuit connect braking resistor correctly if necessary Devices of the HMV type An erro...

Page 220: ...ata of external braking resistor or Select different reference value for ON OFF switching voltage of braking resistor in P 0 0860 Control word of power section F2825 Attributes Display F2825 Mess no F2825 hex F2833 Ground fault in motor line Supported by Supply Unit HMV01 During the loading process of the DC bus a ground fault was detected in the motor line of one of the connected converters inver...

Page 221: ...4 Attributes Display F2834 Mess no F2834 hex F2836 Error balancing monitor ground fault Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 Unbalance was detected for supply unit HMV01 1 converter HCS03 during the loading of the DC bus capacitances Cause Remedy F2836 is signaled during loading of DC bus soft start Replace d...

Page 222: ...e motor coasts to stop The current in the mains side power bridge has exceeded the maximum allowed value The power supply is switched off Cause Remedy Short circuit in motor or motor cable Check motor cable and motor for short circuit Device defective Replace device Current loop parameterized differently not for HMV01 1R Check current loop parameters to see whether they differ from the parameters ...

Page 223: ...Cause Remedy Device defective Replace device F2891 Attributes Display F2891 Mess no F2891 hex F2892 Hardware variant not supported Supported by Supply Unit HMV01 Cause Remedy Device defective Replace device F2892 Attributes Display F2892 Mess no F2892 hex LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 224: ...bute transmission too short 0x3003 attribute transmission too long 0x3004 attribute cannot be changed 0x3005 attribute presently write protected 0x4001 unit not available 0x4002 unit transmission too short 0x4003 unit transmission too long 0x4004 unit cannot be changed 0x4005 unit presently write protected 0x5001 minimum input value not available 0x5002 minimum input value transmission too short 0...

Page 225: ...0A Operation data is write protected it is configured cyclically 0x700B Invalid indirect addressing e g data container list handling 0x700C Operation data is write protected due to other settings e g parameter operation mode drive enable drive on etc 0x7010 procedure command already active 0x7011 procedure command not interruptible 0x7012 procedure command at this time not executable e g in this p...

Page 226: ... error F2817 Overvoltage in power section is generated Cause Remedy Energy regenerated to DC bus by mechanical machine system during braking process was so high that supply unit couldn t dissipate it during regeneration time This caused DC bus voltage to rise to inadmissible value Reduce regenerative power by lower acceleration values or Correct drive dimensioning or Dimension supply unit sufficie...

Page 227: ...encoder data memory MHD MKD MKE values for current loop parameterization do not correspond to values in encoder data memory Check whether values in S 0 0106 Current loop proportional gain 1 and S 0 0107 Current loop integral action time 1 correspond to values in encoder data memory P 0 2106 Current loop proportional gain 1 encoder memory and P 0 2107 Current loop integral action time 1 encoder mem...

Page 228: ...parameterized in P 0 0090 Travel range limit parameter Cause Remedy A command value was set for the drive that causes an axis position outside the positive travel range position limit value Set command value that leads back to the allowed travel range Contact machine manufacturer in order to find out cause of incorrect command value Positive travel range position limit value incorrectly parameteri...

Page 229: ...parameterized in P 0 0090 Travel range limit parameter Cause Remedy A command value was set for the drive that causes an axis position outside the negative travel range position limit value Set command value that leads back to the allowed travel range Contact machine manufacturer in order to find out cause of incorrect command value Positive travel range position limit value incorrectly parameteri...

Page 230: ...Incorrect parameterization of digital inputs and outputs on control section Correct configuration of digital inputs outputs on control section and correct it if necessary E Stop switch or cable connection defective or incorrectly wired Check function and wiring of E Stop switch Control section or digital inputs on control section defective Replace control section or entire drive controller Note On...

Page 231: ...play E8040 Mess no E8040 hex E8041 Current limit active Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The warning E8041 is generated when the current limitation loop takes effect and reduces the output voltage due to overvoltage Note The axis is shut down as fast as can with velocity command value reset There isn t any message transmitted to the co...

Page 232: ...vel range limit parameter Note Unless the cause of E8042 has not been removed the controller does not accept any command value Cause Remedy Due to incorrect mounting axis activates both travel range limit switches simultaneously Mount travel range limit switches in such a way that they are activated shortly before axis end position is reached Make sure the braking distance is sufficient Travel ran...

Page 233: ...Set drive enable and input a command value leading back to allowed travel range Incorrect parameterization of digital inputs and outputs on control section Correct configuration of digital inputs outputs on control section and correct it if necessary Travel range limit switch or cable is defective or incorrectly wired Check function and wiring of travel range limit switch Control section or digita...

Page 234: ...Set drive enable and input a command value leading back to allowed travel range Incorrect parameterization of digital inputs and outputs on control section Correct configuration of digital inputs outputs on control section and correct it if necessary Travel range limit switch or cable is defective or incorrectly wired Check function and wiring of travel range limit switch Control section or digita...

Page 235: ...onsequence thereof the drive can no longer follow the command values preset by a control unit Note When the E8055 warning is active bit 0 overload warning is additionally set in S 0 0012 Class 2 diagnostics Cause Remedy Too high acceleration torque too high acceleration force demanded Reduce acceleration by adjusted command value profile Overload of drive by too high continuous load Reduce overloa...

Page 236: ... load has reached 100 the continuous current limitation is activated and the warning E8057 is generated As a consequence thereof the available DC bus power is reduced and especially drives that require high power can no longer follow the preset command values Cause Remedy Device is not adjusted to requirements of application or motor Check dimensioning of drive and if necessary use more powerful d...

Page 237: ...rors package reaction react with shutdown The reacting drives display the warning E8058 the supply unit displays E2810 Drive system not ready for operation The settings for error messages and error reactions for devices that are interconnected via the DC bus and module bus are made in P 0 0118 Power supply configuration Cause Remedy Error message of one or several drives of a drive system Identify...

Page 238: ...re is an ever increasing position deviation between command and actual value lag error In position control reduce the preset acceleration value or velocity value so that the drive can follow the position command value characteristic Closed loop operation Torque force limit values incorrectly parameterized Increase values of S 0 0082 Torque force limit value positive S 0 0083 Torque force limit val...

Page 239: ...red Cause Remedy During dynamization of safety function selection not all input signals are zero Cause can be error in wiring of input signals or short circuit of switch contacts with positive supply voltage Remove cause of error in wiring of input signals or replace switch There are unequal channel states between channel 1 and 2 Cause can be error in wiring of input signals or defective switch Re...

Page 240: ...actual position values are cyclically checked for plausibility When the safety technology has been activated this warning only occurs in normal operation When a safety function is selected the cause of the error causes the error F3117 Plausibility error of actual position values to be triggered Cause Remedy Implausible values on channel 1 and 2 resulted from cyclic comparison of actual position va...

Page 241: ...3224 Duration of dynamization pulse of safety function selection Remove cause of error in wiring of dynamization input E3103 Attributes Display E3103 Mess no E3103 hex E3104 Plausibility error of safety parameters Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS When the safety technology has been activated this warning only occurs in normal operation...

Page 242: ...1 and channel 2 a difference was detected for more than 5 seconds Reboot drive If drive generates warning again hardware has to be replaced E3105 Attributes Display E3105 Mess no E3105 hex E3106 System error channel 2 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS When the safety technology has been activated this warning only occurs in normal opera...

Page 243: ... E3110 Time interval of forced dynamization exceeded Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS In parameter P 0 0103 Time interval of forced dynamization it is possible to set a time interval within which the starting lockout has to be activated This time interval has been exceeded Cause Remedy Setting of time interval in parameter P 0 0103 Tim...

Page 244: ...technology functions the drive integrated PLC allows the user generating warnings E2011 E2014 within the PLC program Cause and remedy of a PLC warning depend on the respective PLC project or the active Rexroth technology function and are contained in the respective description of the technology function E2012 Attributes Display E2012 Mess no E2012 hex E2013 PLC Warning no 3 Supported by Firmware V...

Page 245: ...bus voltage falls below the minimum value determined for the drive or it reacts to DC bus not ok of the module bus see value of P 0 0114 Undervoltage threshold the device generates the warning E2026 if non fatal warning has been set with regard to the reaction to undervoltage in P 0 0118 Power supply configuration If the DC bus voltage falls by 80 V below the command value of 750 V direct voltage ...

Page 246: ...is switched off F2040 it is possible to shut down the axis via the control unit in accordance with the process e g terminate processing leave collision area etc or to reduce the load of the drive controller Cause Remedy Ambient temperature too high Specified performance data are valid up to an ambient temperature of 40 C Reduce ambient temperature e g by cooling the control cabinet Heat sink of de...

Page 247: ...city is preset value 0 cf S 0 0259 Positioning velocity S 0 0041 Homing velocity P 0 4007 Positioning block velocity i S 0 0222 Spindle positioning speed S 0 0091 Bipolar velocity limit value Check parameterization or cyclic command value of control unit and set value for preset velocity unequal zero Analog input to which preset velocity was assigned is defective or not connected Check wiring and ...

Page 248: ...use an acceleration 0 The parameter values which drive internally still cause an acceleration 0 can be calculated See also Functional Description Drive Internal Display of Position Data The monitor is active in the following operating modes or operating states drive internal interpolation drive controlled positioning positioning block mode Drive Halt position spindle drive controlled homing automa...

Page 249: ...tioning block velocity i S 0 0222 Spindle positioning speed S 0 0091 Bipolar velocity limit value Check parameterization or cyclic command value of control unit and set value for preset velocity higher than value for S 0 0091 Bipolar velocity limit value S 0 0091 Bipolar velocity limit value incorrectly parameterized Control parameter content of S 0 0091 Bipolar velocity limit value and check whet...

Page 250: ...e heat sink due to overload of drive overcurrent Switch drive off and let it cool down check mechanical system as well as drive dimensioning working power mustn t exceed on average continuous power of drive Ambient temperature too high Specified performance data are valid up to an ambient temperature of 40 C Reduce ambient temperature e g by cooling the control cabinet Heat sink of device is dirty...

Page 251: ...medy S 0 0201 Motor warning temperature incorrectly parameterized Check and correct parameterization of S 0 0201 Motor warning temperature by means of motor or temperature sensor data sheet The motor is overloaded Effective torque demanded by the motor was above allowed torque for a too long time Check motor dimensioning and reduce motor load e g by reduced infeed velocity in the case of metal cut...

Page 252: ... higher than S 0 0050 Negative position limit value Position limit value monitor has been activated although it is not needed Deactivate position limit value monitor if it is not needed e g in modulo operation In the case of relative interpolation value for travel range was set too high or several travel ranges that are added cause effective target position cf P 0 0050 Effective target position to...

Page 253: ...em used for positioning cf operating mode selection has been homed Note When the warning E2054 appears the drive stops or does not accept the target position or the positioning block In parameter S 0 0012 Class 2 diagnostics a warning bit is set Cause Remedy Absolute positioning was started although position data reference of drive had not yet been established drive has not been homed cf S 0 0403 ...

Page 254: ...se Remedy Parameter S 0 0108 Feedrate override was set to 0 Set feedrate override 0 so that drive moves Full velocity is reached with 100 For devices with analog inputs feedrate override via analog input has been activated and voltage at analog input is 0 Apply voltage 0 proportionally to desired velocity 10 V corresponds to 100 of velocity alternative deactivate feedrate override Infeed potentiom...

Page 255: ...put is 0 Apply voltage 0 proportionally to desired torque force limit value Note Scaling of analog input defines scaling of analog input voltage see also Functional Description Analog Inputs Potentiometer of connected control unit was set to 0 or is incorrectly evaluated Carefully actuate potentiometer check analog signal and evaluation Cable connected at analog input for torque force limitation i...

Page 256: ...itioning block data P 0 4006 Positioning block target position P 0 4007 Positioning block velocity P 0 4008 Positioning block acceleration P 0 4009 Positioning block jerk and P 0 4019 Positioning block mode and correct respective parameters Incorrect positioning block selection via field bus or digital inputs Check P 0 4026 Positioning block selection and control If necessary also check wiring and...

Page 257: ...command value exceeds S 0 0091 Bipolar velocity limit value the warning E2059 is output because for positioning tasks the lag error can be increased Cause Remedy Cyclic command value preset by control unit is incorrect or too high Control cyclic command value and if necessary adjust control program Velocity limit value parameterized too low Check and correct parameterization of S 0 0091 Bipolar ve...

Page 258: ...erload warning are at 80 90 so that there still is a little reserve capacity until the actual thermal work load is reached 100 Note The warning can be deactivated by the value 100 in P 0 0441 Overload warning because in this case the fatal warning E8057 Device overload current limit active warning is immediately generated The threshold value for the overload prewarning is fixed to 90 If the therma...

Page 259: ...ange Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The operating mode drive internal interpolation or drive controlled positioning was selected and the preset target position cannot be displayed in the internal position format Cause Remedy Incorrect target position or positioning command value was preset Check target position S 0 0258 Target positi...

Page 260: ...rning occurs when drive enable is switched off start brake check command in order to abrade brake if this setting was made in P 0 0525 Holding brake control word Afterwards brake should be able to provide full torque again Brake is worn see service life of brake in Project Planning Manual for motor If holding torque still isn t reached after repeated start of brake check command abrasion cleaning ...

Page 261: ...zation of the encoder position i e it is necessary to switch to communication phase 2 Cause Remedy Defective encoder cable or cable shielding Check cable to measuring system and replace it if necessary Measuring system defective Check measuring system and replace it if necessary Faulty mounting of measuring head in the case of linear measuring systems Check mounting of measuring head and correct i...

Page 262: ...tialization of the encoder position i e it is necessary to switch to communication phase 2 Cause Remedy Defective encoder cable or cable shielding Check cable to measuring system and replace it if necessary Measuring system defective Check measuring system and replace it if necessary Faulty mounting of measuring head in the case of linear measuring systems Check mounting of measuring head and corr...

Page 263: ...einitialization of the encoder position i e it is necessary to switch to communication phase 2 Cause Remedy Defective encoder cable or cable shielding Check cable to measuring system and replace it if necessary Measuring system defective Check measuring system and replace it if necessary Faulty mounting of measuring head in the case of linear measuring systems Check mounting of measuring head and ...

Page 264: ... of power supply Reduce required power by lower infeed velocity of tools Check dimensioning of supply Max energy absorption capacity of braking resistor almost reached Check dimensioning of braking resistor and if necessary increase dimensioning See also Functional Description Power Supply E2086 Attributes Display E2086 Mess no E2086 hex E2800 DC bus timeout Supported by Supply Unit HMV01 After a ...

Page 265: ...00 V Cause Remedy DC bus voltage 900 V due to increased regenerated braking energy Check drive dimensioning and if necessary use additional capacitance Braking resistor defective or not correctly connected Check function of braking resistor incl cabling and connection Hardware defect in brake control Replace power section or entire drive controller Note Only Rexroth service engineers or especially...

Page 266: ...ng as the error keeps being signaled it is impossible to switch power on The supply unit or converter is signaling E2810 Drive system not ready for operation on the display Cause Remedy Error message of one or several drives of a drive system Identify drive or drives signaling an error Remove cause of error at respective drive or drives One or several drives still are in communication phase 2 Swit...

Page 267: ...during operation has fallen below the parameterized threshold value The threshold value can be individually set by the user via P 0 0810 Minimum mains crest value Cause Remedy Mains voltage falls under load Check dimensioning of mains connection increase feed wire cross section or use matching transformer if necessary Mains voltage too low at power on Use matching transformer See also Functional D...

Page 268: ...on falls below the values parameterized in P 0 0114 Undervoltage threshold Note The parameter P 0 0114 Undervoltage threshold is preset with a default value and if required can be changed by the user Cause Remedy DC bus voltage drops due to temporary overload Check drive dimensioning incl devices connected at DC bus Required acceleration currents are too high Reduce command acceleration by adjusti...

Page 269: ...g E2818 Attributes Display E2818 Mess no E2818 hex E2819 Mains failure Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 A two phase or three phase mains failure was detected Power is not switched off unless undervoltage occurs in the DC bus F2026 Cause Remedy Mains circuit breaker defective Replace mains circuit breaker ...

Page 270: ...e is too high Increase cycle time or reduce maximum drive speed of application Continuous regenerative power and or rotary drive energy is too high Check dimensioning of braking resistor and if necessary increase dimensioning E2820 Attributes Display E2820 Mess no E2820 hex E2829 Not ready for power on Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS ...

Page 271: ...8 46 Warning Diagnostic Messages Exxxx Rexroth IndraDrive DOK INDRV GEN VRS WA01 EN P LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 272: ...he S 0 0127 C0100 Communication phase 3 transition check command was activated Note This status is displayed on the control panel of the drive with C01 C0100 Attributes Display C01 Mess no C0100 hex C0200 Communication phase 4 transition check Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 The S 0 0128 C0200 Communicat...

Page 273: ...300 Attributes Display C03 Mess no C0300 hex C0400 Switching to parameter mode Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 The command for switching to the parameter mode was started by means of the P 0 4023 C0400 Communication phase 2 transition parameter Note This command has to be carried out before editing param...

Page 274: ... cleared that were removed Errors that are still present after clearing will cause the error message to be generated again C0500 Attributes Display C05 Mess no C0500 hex C0600 Drive controlled homing procedure command Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The command for drive controlled homing S 0 0148 C0600 Drive controlled homing procedu...

Page 275: ...command load base parameters command In parameter P 0 4090 Index for C07 Load defaults procedure it is possible to set which of both commands is started The C07_0 Load defaults procedure command load controller parameters can only be carried out in the case of motors of the MHD MKD and MKE series In the case of these motors the controller parameters are loaded from the motor encoder data memory to...

Page 276: ...s procedure 2 Start S 0 0262 C07_x Load defaults procedure command Note It is possible to start further commands with parameter S 0 0262 In parameter P 0 4090 Index for C07 Load defaults procedure it is possible to set which commands is started The command C07_2 Load def proc com load def pr for safety techn deactivates the safety technology and sets all safety technology parameters to their defau...

Page 277: ...lay C07_1 Mess no C0750 hex C0800 Load basic parameters command Supported by Supply Unit HMV01 Note This command is only available for manufacturer side testing and developing purposes C0800 Attributes Display C08 Mess no C0800 hex C0900 Position spindle command Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS Via the control unit the S 0 0152 C0900 Position spindle comman...

Page 278: ...or commutation setting before Note Correctly set commutation offset is obligatory for operating synchronous kit motors and synchronous third party motors See also Functional Description Commutation Setting C1200 Attributes Display C12 Mess no C1200 hex C1300 Positive stop drive procedure command Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The com...

Page 279: ...xecuted In the case of incremental measuring systems the reference mark is checked for correct detection See also Functional Description Detect marker position C1400 Attributes Display C14 Mess no C1400 hex C1700 Command measuring wheel mode Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The P 0 0240 C1700 Command measuring wheel mode was started C1...

Page 280: ... C1800 can immediately trigger a motion if drive enable and drive start are set at the drive The drive automatically i e without external command value input carries out motions within the travel range defined before with the two limits P 0 0166 Lower limit for autom control loop adjust and P 0 0167 Upper limit for autom control loop adjust Check and make sure that the E Stop circuit and the trave...

Page 281: ...e C2000 Attributes Display C20 Mess no C2000 hex C2100 Brake check command Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The P 0 0541 C2100 Brake check command was activated See also Functional Description Motor Holding Brake C2100 Attributes Display C21 Mess no C2100 hex C2200 Backup working memory procedure command Supported by Firmware Variant F...

Page 282: ...ted C2400 Attributes Display C24 Mess no C2400 hex C2500 Copy IDN from optional memory to internal memory Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The command P 0 4091 C2500 Copy IDN from optional memory to internal memory was started All parameters are copied from the optional memory MMC to the internal memory flash The display C25 signals th...

Page 283: ...nly be used as an optional memory for control sections with MMC slot See also Functional Description Loading Storing and Saving Parameters C2600 Attributes Display C26 Mess no C2600 hex C2800 Analog input adjust command Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS By executing the command P 0 0220 C2800 Analog input adjust command it is possible t...

Page 284: ...fore becomes active If you try to switch to the operating mode without the drive having been rebooted there will either occur a switching command error or a system error F8xxx entered before the firmware update will be displayed again See also Functional Description Firmware Update C2900 Attributes Display C29 Mess no C2900 hex C3000 Synchronize and store safety technology IDN Supported by Firmwar...

Page 285: ... via the command parameter P 0 4033 C3200 Command Calculate data for asynchronous motor While the command is executed the values in P 0 4032 Type plate list asynchronous motor are checked for plausibility and completeness Then the motor parameters are calculated according to type plate data Note To calculate the controller parameters the current settings is P 0 0001 Switching frequency of the powe...

Page 286: ...tem S 0 0199 C3400 Shift coordinate system procedure command was activated See also Functional Description Shifting the Position Data Reference for Relative and Absolute Measuring Systems C3400 Attributes Display C34 Mess no C3400 hex C3500 Command Determine encoder correction Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS By executing the command P...

Page 287: ...ating mode and is effective in a selected safety function C3700 Attributes Display C37 Mess no C3700 hex C3800 Command Apply motor holding brake Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The command P 0 0543 C3800 Command Apply motor holding brake was started While the command is executed the motor holding brake is applied See also Functional D...

Page 288: ...ommunication phase 3 are missing or invalid Write allowed operating data to the respective parameters these parameters can be taken from the list S 0 0021 IDN list of invalid operating data for communication phase 2 A change was made in P 0 2003 Selection of functional packages Then you failed to reboot before trying to switch to the operating mode Check the content of P 0 2003 Selection of functi...

Page 289: ...invalid operating data for communication phase 2 For removing command errors see Command Errors C0102 Attributes Display C0102 Mess no C0102 hex C0103 Parameter conversion error S 0 0021 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS While the command S 0 0127 C0100 Communication phase 3 transition check is executed the internal parameter formats ar...

Page 290: ... parameter the telegram type 7 configured telegram was set set priority telegram telegram type 0 6 in S 0 0015 Telegram type parameter in S 0 0024 Config list of the master data telegram there were some parameters entered that are not contained in S 0 0188 List of configurable data in the MDT in S 0 0024 Config list of the master data telegram those parameters have to be entered that are contained...

Page 291: ... multiplex channel For removing command errors see Command Errors C0105 Attributes Display C0105 Mess no C0105 hex C0106 Config IDNs for AT not configurable Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 2 to communication phase 3 C0100 an error with regard to the telegram configuration of the mas...

Page 292: ...list C0107 Attributes Display C0107 Mess no C0107 hex C0108 Time slot parameter Sercos cycle time Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS While the command S 0 0127 C0100 Communication phase 3 transition check is executed the timing setting for SERCOS communication are checked An error was detected during the execution of the command Cause Re...

Page 293: ...ied by SERCOS For removing command errors see Command Errors C0109 Attributes Display C0109 Mess no C0109 hex C0110 Length of MDT S 0 0010 odd Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command S 0 0127 C0100 Communication phase 3 transition check an error was detected Cause Remedy Parameter S 0 0010 Length of master ...

Page 294: ...ty of the control unit manufacturer and is specified by SERCOS C0111 Attributes Display C0111 Mess no C0111 hex C0112 TNcyc S 0 0001 or TScyc S 0 0002 error Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command S 0 0127 C0100 Communication phase 3 transition check an error with regard to the SERCOS timing settings was de...

Page 295: ...ng of parameters S 0 0001 NC Cycle time TNcyc or S 0 0002 SERCOS Cycle time TScyc is incorrect Value of S 0 0001 NC Cycle time TNcyc can only be equal to or a multiple of S 0 0002 SERCOS Cycle time TScyc Correct parameters S 0 0001 NC Cycle time TNcyc and S 0 0002 SERCOS Cycle time TScyc Note The definition of the S 0 0001 and S 0 0002 parameters is the responsibility of the control unit manufactu...

Page 296: ...ition of the S 0 0007 parameter is the responsibility of the control unit manufacturer and is specified by SERCOS For removing command errors see Command Errors C0114 Attributes Display C0114 Mess no C0114 hex C0115 T2 too small Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command S 0 0127 C0100 Communication phase 3 tr...

Page 297: ...butes Display C0116 Mess no C0116 hex C0119 Max travel range too large Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 2 to communication phase 3 C0100 an error with regard to the scaling of the drive was detected Cause Remedy S 0 0278 Maximum travel range incorrectly parameterized The defined trav...

Page 298: ... hardware Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 2 to communication phase 3 C0100 an error with regard to the parameterization of the motor encoder hardware was detected Cause Remedy Parameterization P 0 0074 Encoder type 1 motor encoder does not match interface card e g EN1 with EnDat enc...

Page 299: ... be displayed Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 2 to communication phase 3 C0100 an error with regard to the modulo value for the motor encoder was detected Cause Remedy Parameterized value for S 0 0103 Modulo value is greater than maximum travel range cf S 0 0278 Maximum travel range...

Page 300: ...f motor encoder P 0 1000 Kind of encoder 1 encoder memory is not supported by the firmware Check content of P 0 1000 Kind of encoder 1 encoder memory and contact our service department Detected kind of encoder does not match parameterized type of encoder Check control section configuration and if necessary replace control section by a correctly configured control section or replace complete drive ...

Page 301: ...ta from the data memory of the optional encoder was detected Note Measuring systems with their own data memory are DSF HSF and resolvers as well as measuring systems with EnDat interface Heidenhain company and HIPERFACE interface Stegmann company Cause Remedy Measuring system cable defective Check measuring system cable Measuring system defective Replace measuring system Encoder interface card def...

Page 302: ...l encoder optional slot See also Functional Description Measurement Systems C0126 Attributes Display C0126 Mess no C0126 hex C0127 Incorr parameteriz of opt enc mechanical system Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 2 to communication phase 3 C0100 an error was detected with regard to sc...

Page 303: ... S 0 0103 Modulo value cannot be internally displayed with the gear ratios that have been set S 0 0121 S 0 0122 P 0 0121 P 0 0122 Correct content of S 0 0103 Modulo value or the gear ratios that have been set S 0 0121 Input revolutions of load gear S 0 0122 Output revolutions of load gear P 0 0121 Gear 1 motor side motor encoder P 0 0122 Gear 1 encoder side motor encoder Encoder resolution S 0 011...

Page 304: ...f motor encoder P 0 1010 Kind of encoder 2 encoder memory is not supported by the firmware Check content of P 0 1010 Kind of encoder 2 encoder memory and contact our service department Detected kind of encoder does not match parameterized type of encoder Check control section configuration and if necessary replace control section by a correctly configured control section or replace complete drive ...

Page 305: ...moving command errors see Command Errors C0130 Attributes Display C0130 Mess no C0130 hex C0131 Switching to phase 3 impossible Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 2 to communication phase 3 C0100 a forbidden attempt to switch to phase 3 was detected Cause Remedy during a firmware downl...

Page 306: ...0 µs 125 µs 62 5 µs 1 Advanced 4 kHz 250 µs 125 µs 125 0 µs TA sampling time Fig 9 1 Possible controller cycle times depending on controller performance and switching frequency that have been set Cause Remedy Parameterization of P 0 0556 Control word of axis controller does not comply with switching frequency of 12 kHz set in P 0 0001 Switching frequency of the power output stage Select setting Ba...

Page 307: ...DN list of invalid operating data for communication phase 2 parameter Cause Remedy Measuring system cable defective Check measuring system cable Measuring system defective Replace measuring system Encoder interface defective Replace control section or complete drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement...

Page 308: ... encoder For removing command errors see Command Errors C0135 Attributes Display C0135 Mess no C0135 hex C0136 Several motor encoders connected Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command S 0 0127 C0100 Communication phase 3 transition check two motor encoders were detected during the encoder configuration chec...

Page 309: ...otor data stored in motor data memory Replace motor or contact service department for correction of motor data Encoder cable defective or bad shielding Check encoder cable and shielding Encoder memory or encoder electronics defective Replace encoder Hardware defect on control section Replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users ...

Page 310: ...002 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command S 0 0127 C0100 Communication phase 3 transition check an error with regard to the timing setting of the SERCOS interface was detected The phase switch to communication phase 3 is prevented Cause Remedy Sum of transmit starting time of master data telegram set by m...

Page 311: ...although a linear motor is used The phase switch to communication phase 3 is prevented Cause Remedy Although a linear motor is used rotary scaling was selected in at least one of the following parameters S 0 0044 Velocity data scaling type S 0 0076 Position data scaling type S 0 0086 Torque force data scaling type S 0 0160 Acceleration data scaling type Check and correct respective scaling paramet...

Page 312: ...e pairs pole pair distance P 0 0051 Torque force constant P 0 4002 Charact of quadrature axis induct of motor inductances P 0 4003 Charact of quadrature axis inductance of motor currents P 0 4016 Direct axis inductance of motor P 0 4017 Quadrature axis inductance of motor Cause Remedy Incomplete or invalid entries in parameters for initialization of synchronous motor Check parameter contents and e...

Page 313: ...8 List of configurable data in the MDT For removing command errors see Command Errors C0154 Attributes Display C0154 Mess no C0154 hex C0155 Field bus max length for cycl command val exceeded Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 2 to communication phase 3 C0100 an error with regard to th...

Page 314: ...n the AT Note List parameters are only allowed in the multiplex channel For removing command errors see Command Errors C0156 Attributes Display C0156 Mess no C0156 hex C0157 Field bus length for cycl actual values exceeded Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 2 to communication phase 3 C...

Page 315: ...on BASIC For removing command errors see Command Errors C0158 Attributes Display C0158 Mess no C0158 hex C0159 Field bus P 0 4077 missing for cycl command values Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command S 0 0127 C0100 Communication phase 3 transition check an error with regard to the telegram configuration o...

Page 316: ...y replace or run it correctly Encoder defective Check encoder function and if necessary replace encoder Measuring encoder option on control section is defective Replace control section or entire drive controller Incorrect parameterization of P 0 0076 Encoder type 3 measuring encoder Check content of P 0 0076 Encoder type 3 measuring encoder and correct it in such a way that measuring encoder is co...

Page 317: ... parameterized Correct parameterization of P 0 0079 Assignment measuring encoder optional slot or change control section configuration replacement of control section or drive controller In the case of double axis device CDB control section P 0 0076 Encoder type 3 measuring encoder was parameterized unequal 0 for both axes Only one measuring encoder can be connected per double axis device CDB contr...

Page 318: ...der 3 encoder memory is not supported by the software Check content of P 0 1020 Kind of encoder 3 encoder memory and contact our service department Detected kind of encoder does not match parameterized type of encoder P 0 0079 Assignment measuring encoder optional slot Check P 0 0079 Assignment measuring encoder optional slot and if necessary replace control section by correctly configured control...

Page 319: ...163 hex C0164 Incorrect measuring encoder configuration Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command S 0 0127 C0100 Communication phase 3 transition check an error with regard to the measuring encoder configuration was detected Cause Remedy At least one of selected operating modes is synchronization mode velocit...

Page 320: ...es Set value in P 0 2003 Selection of functional packages to value in P 0 2004 Active functional packages See also Functional Description Enabling of Functional Packages For removing command errors see Command Errors C0199 Attributes Display C0199 Mess no C0199 hex C0201 Invalid parameters S 0 0022 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supp...

Page 321: ... for communication phase 3 For removing command errors see Command Errors C0202 Attributes Display C0202 Mess no C0202 hex C0203 Parameter calculation error S 0 0022 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 While the command S 0 0128 C0200 Communication phase 4 transition check is executed the internal parameter ...

Page 322: ... initialization of amplifier data was detected The respective parameters are entered in the list S 0 0022 IDN list of invalid operating data for communication phase 3 During the initialization of the device data error was detected Cause Remedy Reading error from I2C Prom due to hardware defect If possible replace hardware otherwise contact our service department For removing command errors see Com...

Page 323: ...als of an initialization track If the motor encoder is an HSF encoder the following checks are additionally carried out access of angle correction data pointer length of analog signals of an initialization track If one of the above checks fails the transition command error C0220 is generated Cause Remedy Motor encoder cable defective Check and if necessary replace motor encoder cable Motor encoder...

Page 324: ...ecution of the command S 0 0128 C0200 Communication phase 4 transition check an error in the initialization velocity of encoder 1 motor encoder was detected Cause Remedy Velocity for initialization of encoder 1 was too high Reduce velocity for encoder initialization For removing command errors see Command Errors C0221 Attributes Display C0221 Mess no C0221 hex LSA Control S L www lsa control com c...

Page 325: ...log signals of an initialization track If the optional encoder is an HSF encoder the following checks are additionally carried out access of angle correction data pointer length of analog signals of an initialization track If one of the above checks fails the transition command error C0224 is generated Cause Remedy Encoder cable defective Check and if necessary replace encoder cable Encoder defect...

Page 326: ...ution of the command S 0 0128 C0200 Communication phase 4 transition check an error in the initialization velocity of encoder 2 optional encoder was detected Cause Remedy Velocity for initialization of encoder 2 was too high Reduce velocity for encoder initialization For removing command errors see Command Errors C0225 Attributes Display C0225 Mess no C0225 hex LSA Control S L www lsa control com ...

Page 327: ...e measuring encoder is an HSF encoder the following checks are additionally carried out access of angle correction data pointer length of analog signals of an initialization track If one of the above checks fails the transition command error C0227 is generated Cause Remedy Encoder cable defective Check and if necessary replace encoder cable Interference caused by incorrect shielding Check and if n...

Page 328: ...xecution of the command S 0 0128 C0200 Communication phase 4 transition check an error in the initialization velocity of the measuring encoder was detected Cause Remedy Velocity for initialization of measuring encoder was too high Reduce velocity for encoder initialization For removing command errors see Command Errors C0228 Attributes Display C0228 Mess no C0228 hex LSA Control S L www lsa contro...

Page 329: ...nication phase 3 Each multiple configuration each conflict is displayed in the following form The 1 st entry contains the IDN of the parameter that was configured in a multiple way The subsequent entries contain the IDNs of the parameters in which the multiple configuration parameter was configured for cyclic parameter write Up to 5 entries are displayed In the IDN list each conflict is concluded ...

Page 330: ...Command Errors C0243 Attributes Display C0243 Mess no C0243 hex C0244 Act modulo value cycle greater than max travel range Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command S 0 0128 C0200 Communication phase 4 transition check an error was detected Cause Remedy Calculated modulo value for actual value cycle is greate...

Page 331: ...control encoders S 0 0032 Primary mode of operation S 0 0033 Secondary operating mode 1 S 0 0034 Secondary operating mode 2 S 0 0035 Secondary operating mode 3 etc Cause Remedy Operating mode configuration is invalid phase synchronization or electronic cam shaft with different control encoders Parameter contents of operating mode parameters have to be changed is such a way that invalid operating m...

Page 332: ...ter Deactivate travel range limit switches in P 0 0090 Travel range limit parameter For removing command errors see Command Errors See also Functional Description Digital Inputs Outputs See also Functional Description Position Limitation Travel Range Limit Switch C0246 Attributes Display C0246 Mess no C0246 hex C0247 Dig output already assigned to other axis Supported by Firmware Variant FWA INDRV...

Page 333: ... For removing command errors see Command Errors See also Functional Description Digital Inputs Outputs C0248 Attributes Display C0248 Mess no C0248 hex C0249 Dig I Os bit number too large Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 3 to communication phase 4 C0200 the configuration of the digit...

Page 334: ... synchronization to master communication Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the transition check from communication phase 3 to communication phase 4 C0200 the drive checks whether the drive control is synchronized to the bus interface SERCOS Profibus Interbus via two phase control loops The synchronization process must have been c...

Page 335: ...logy module and contact our service department Firmware defect on optional safety technology module If command error occurs repeatedly safety technology firmware has to be replaced Hardware defect on optional safety technology module If command error occurs repeatedly optional safety technology module has to be replaced Note Only Rexroth service engineers are allowed to replace optional modules of...

Page 336: ...ailable in control section Replace control section with control section configuration containing optional encoder module Optional encoder module with incorrect hardware code or defective hardware Replace optional encoder module or entire drive controller and contact our service department Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The...

Page 337: ...pective fine interpolator Cause Remedy S 0 0001 NC cycle time TNcyc incorrectly parameterized Select appropriate S 0 0001 NC cycle time TNcyc Allowed NC cycle times when using cubic fine interpolator or fine interpolator according to contour are 1 2 3 4 5 6 7 8 ms for S 0 0001 8 ms 10 12 14 16 ms for S 0 0001 16 ms 20 24 28 32 ms for S 0 0001 32 ms Cubic fine interpolation or fine interpolation ac...

Page 338: ...903 0 P S 0 0103 S 0 0103 Modulo value P 0 0903 P 0 0903 Encoder emulation resolution S 0 0079 S 0 0079 Rotational position resolution Otherwise the overflow takes place at the value entered in S 0 0278 Maximum travel range 29 2 0278 0 S 0079 0 S 0903 0 P P 0 0903 P 0 0903 Encoder emulation resolution S 0 0079 S 0 0079 Rotational position resolution S 0 0278 S 0 0278 Maximum travel range Cause Rem...

Page 339: ...ng system impossible Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the Set absolute measuring command C0300 it was detected that absolute evaluation of the selected measuring system is impossible Note The Set absolute measuring command can only be executed if there is an absolute measuring system available see S 0 0277 Posit...

Page 340: ...dy check encoder cable and repair it if necessary or replace encoder C0303 Attributes Display C0303 Mess no C0303 hex C0401 Drive active switching not allowed Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS Supported by Supply Unit HMV01 When switching to communication phase 2 C0400 an error was recognized Cause Remedy Command for switching to parame...

Page 341: ...e in communication phase 2 by means of the P 0 4023 C400 Communication phase 2 transition command and start the error clearing command again C0501 Attributes Display C0501 Mess no C0501 hex C0601 Homing only possible with drive enable Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the Drive controlled homing procedure command...

Page 342: ... home switch has been switched on S 0 0147 Homing parameter The distance between selected home switch edge and reference mark to be evaluated is outside the allowed range Remedy Read the value from parameter S 0 0298 Reference cam shift and take it over to parameter S 0 0299 Home switch offset or shift the reference cam See also Functional Description Establishing Position Data Reference for Relat...

Page 343: ...0 0147 Homing parameter an absolute measuring system was selected The command for drive controlled homing can only be executed if the P 0 0012 C0300 Command Set absolute measuring command had been activated before Remedy First activate the P 0 0012 C0300 Command Set absolute measuring command and then start the S 0 0148 C0600 Drive controlled homing procedure command Doing this the absolute refere...

Page 344: ...ated and the homing procedure is aborted with error Note In the case of linear non distance coded measuring systems the travel distance is unknown if 0 was entered in parameter P 0 0153 Optimum distance home switch reference mark This normally is the case if the linear scale does not have any reference marks in equal known distances In this case monitoring for faulty reference mark detection canno...

Page 345: ...INDRV MPD02VRS MS During the execution of the C07_0 Load defaults procedure com load controller param command an error occurred Cause The control loops in the case of motors of the MHD MKD and MKE series are adjusted to the connected digital drive by activating the controller parameters stored in the motor encoder data memory The C0702 message on the display of the drive controller signals that th...

Page 346: ...WA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS An error occurred during the execution of the command S 0 0262 C07_x Load defaults procedure command load controller parameters see also P 0 4090 Index for C07 Load defaults procedure Cause Remedy It was impossible to load the default values for the motor specific control loop parameters available in the encoder memory to the respect...

Page 347: ...eplace feedback C0706 Attributes Display C0706 Mess no C0706 hex C0722 Parameter default value incorrect S 0 0021 Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The S 0 0262 C07_x Load defaults procedure command with the load defaults procedure for safety technology option was started An error occurred when writing a default value Note The faulty pa...

Page 348: ...uted Clear command C07_2 Load def proc com load def pr for safety techn and then restart it If error is signaled again reset optional safety technology module switch control voltage off and then on again Channel 2 is executing another internal command that mustn t be interrupted Complete internal command that is still running Hardware defect on optional safety technology module Restart C07_2 Load ...

Page 349: ...estart C07_2 Load def proc com load def pr for safety techn If the command error occurs repeatedly contact our service department Firmware defect on optional safety technology module Restart C07_2 Load def proc com load def pr for safety techn If command error occurs repeatedly safety technology firmware has to be replaced Hardware defect on optional safety technology module Restart C07_2 Load def...

Page 350: ...Mess no C0751 hex C0752 Locked with password Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the C07_1 Load defaults procedure com load basic parameters command an error occurred Cause The drive parameters were write protected by means of the S 0 0267 Password parameter The C0752 diagnostic message signals that the C07_1 Load ...

Page 351: ... C07_x Load defaults procedure command can be set via P 0 4090 Index for C07 Load defaults procedure After the command was cleared the value in P 0 4090 Index for C07 Load defaults procedure is automatically set to 0 again C0799 Attributes Display C0799 Mess no C0799 hex C0851 Parameter default value incorrect S 0 0021 Supported by Supply Unit HMV01 Note This command error can only occur as a resu...

Page 352: ...ss no C0852 hex C0902 Spindle positioning requires drive enable Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS During the execution of the command for spindle positioning C0900 an error was detected Cause At the start of the S 0 0152 C0900 Position spindle command the drive was not yet in drive enable Remedy Set drive enable before starting the command C0902 Attributes D...

Page 353: ...stablish absolute position data reference e g by P 0 0012 C0300 Command Set absolute measuring C0903 Attributes Display C0903 Mess no C0903 hex C0906 Error during search for zero pulse Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS During the execution of the command for spindle positioning C0900 an error was detected Cause Homing procedure integrated in spindle position...

Page 354: ...tly C1204 Attributes Display C1204 Mess no C1204 hex C1208 No adjustment with asynchronous motor Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command for commutation offset determination C1200 an error was detected Cause There was an attempt to carry out a commutation offset determination with an asynchronous motor For ...

Page 355: ...controller to phase 4 and execute the command P 0 0524 C1200 Commutation offset setting command again C1209 Attributes Display C1209 Mess no C1209 hex C1211 Commutation offset could not be determined Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS An error has occurred during the execution of the command P 0 0524 C1200 Commutation offset setting comm...

Page 356: ...ut the wrong motor type P 0 4014 was selected or the pole pair distance P 0 0018 was set to 0 If the connected motor is a synchronous linear motor with absolute measuring system check the motor type that has been set P 0 4014 and correct it if necessary The connected motor is a synchronous linear motor the motor type P 0 4014 was correctly set but there isn t any absolute encoder with EnDat interf...

Page 357: ... is already in drive enable AF Remedy Bring the drive to the ready for operation status bb C1215 Attributes Display C1215 Mess no C1215 hex C1216 Commutation determination not selected Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command for commutation offset determination C1200 an error was detected Cause There wasn t...

Page 358: ...an error was detected Cause Remedy The drive was not ready at the start of the command the display did not read Ab 1 Switch drive to communication phase 4 if there isn t any error present the display reads bb betriebsbereit ready for operation 2 Switch power on drive goes to operating mode the display reads Ab Antrieb bereit drive ready 3 Now start command C1200 C1217 Attributes Display C1217 Mess...

Page 359: ...requency P 0 0507 Test frequency for angle acquisition and restart commutation setting process or Enter value 0 in P 0 0506 Amplitude for angle acquisition Appropriate value for P 0 0506 is thereby automatically determined during commutation setting process or Reduce value of P 0 0517 Commutation required harmonics component if approx 30 similar values are determined for P 0 0521 Effective commuta...

Page 360: ...quency P 0 0507 Test frequency for angle acquisition or With P 0 0506 0 start the automatic determination of appropriate values C1219 Attributes Display C1219 Mess no C1219 hex C1220 Automatic commutation timeout Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command for commutation offset determination C1200 an error was...

Page 361: ...utation offset Cause Remedy Type current of controller too low Use controller that can supply motor with sufficiently high current for Rexroth kit motors required minimum current for magnetic saturation effects is approx 2 0 2 5 fold continuous current at standstill If without success check whether sine wave method can be used for commutation offset setting Test current generated in motor is too l...

Page 362: ...arameters P 0 0508 P 0 0521 or P 0 3008 it was impossible to write the determined commutation offset value to it Remedy execute the C1200 command again check wiring for noise immunity replace sensor of the encoder contact our service department if necessary C1222 Attributes Display C1222 Mess no C1222 hex C1301 Class 1 diagnostics error at command start Supported by Firmware Variant FWA INDRV MPH0...

Page 363: ... requires drive enable Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS In order to make sure that the drive is in control when the command P 0 0162 C1800 Command Automatic control loop adjust is started this is queried at the start of the command Cause Remedy Drive enable not set at start of command Set drive enable and restart command P 0 0162 C1800...

Page 364: ...e One of above mentioned data stored in encoder has a value equal to or less than zero 0 which would cause incorrect calculation of controller parameters Motor without encoder data memory Remedy If known write correct values back to encoder data memory or contact Rexroth service department in order to get data valid for respective motor If it is impossible to correct parameter values in encoder da...

Page 365: ...imum values in order to guarantee useful and sufficiently exact calculation of the inertia Causes drive acceleration too low load inertia too high motor speed too low not enough measured values for automatic control loop setting Remedies increase S 0 0260 Positioning acceleration increase S 0 0092 Bipolar torque force limit value increase S 0 0259 Positioning Velocity increase S 0 0108 Feedrate ov...

Page 366: ...e again Causes oscillating mechanical systems resonances highly noisy encoder signals Remedy It is sometimes possible to achieve a satisfactory result by restarting the command P 0 0162 C1800 Command Automatic control loop adjust with a high P 0 0163 Damping factor for autom controller adjust i e a low degree of dynamic response This value then can still be reduced until the desired control loop b...

Page 367: ...ause Remedy Maximum travel distance P 0 0169 Travel distance for autom controller adjust defined with P 0 0166 Lower position limit for autom control loop adjust and P 0 0167 Upper position limit for autom control loop adjust is smaller than 6 motor revolutions and therefore too small in order to be able to start automatic control loop setting 1 Clear command error by completing the command 2 Defi...

Page 368: ...within defined travel range 3 Restart command with useful travel range See also Functional Description Prerequisites for Starting the Automatic Control Loop Setting C1806 Attributes Display C1806 Mess no C1806 hex C1807 Determining travel range only via travel distance Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS When parameterizing the travel ran...

Page 369: ... also Functional Description Motor Holding Brake C2001 Attributes Display C2001 Mess no C2001 hex C2101 Brake check only possible with drive enable Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS It is impossible to execute the Brake check command C2100 Cause The P 0 0541 C2100 Brake check command was activated but drive enable AF had not been set Re...

Page 370: ...he drive tries to reestablish the brake torque by automatically starting the abrasion cleaning process and then checks the holding torque again Cause Due to storage brake is covered with an oxide layer or Brake is wetted with oil or grease or Brake is worn Remedy Start Brake check command again in order to reestablish full brake torque by repeated abrasion If brake torque is still too low after se...

Page 371: ...ake C2104 Attributes Display C2104 Mess no C2104 hex C2202 Error when writing data to non volatile memory Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the S 0 0264 C2200 Backup working memory procedure command an error occurred Cause It was impossible to address the active non volatile memory internal flash memory or MMC if...

Page 372: ...in contact the service department Have the control section checked for functional safety C2301 Attributes Display C2301 Mess no C2301 hex C2302 Error when converting parameters Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the S 0 0263 C2300 Load working memory procedure command an error occurred Cause When reading the param...

Page 373: ... error occurred Cause It was impossible to address the active non volatile memory internal flash memory or MMC if plugged in without error Remedy Start the S 0 0293 C2400 Selectively backup working memory procedure command again If the error occurs again then replace MMC if plugged in if necessary then start the command again If the error occurs again contact the service department C2402 Attribute...

Page 374: ...nd then restart command P 0 4091 C2500 Copy IDN from optional memory to internal memory If error occurs repeatedly you should contact our service department MMC was not or not correctly formatted Format MMC or contact our service department Then restart command P 0 4091 C2500 Copy IDN from optional memory to internal memory MMC is defective Check MMC and restart command P 0 4091 C2500 Copy IDN fro...

Page 375: ...f the P 0 4091 C2500 Copy IDN from optional memory to internal memory an error occurred Cause Remedy Error when writing to the internal non volatile flash memory Start the P 0 4091 C2500 Copy IDN from optional memory to internal memory again If the diagnostic message is displayed repeatedly contact the service department C2504 Attributes Display C2504 Mess no C2504 hex LSA Control S L www lsa cont...

Page 376: ...or not correctly formatted Format MMC or contact our service department Then restart command P 0 4092 C2600 Copy IDN from internal memory to optional memory MMC is defective Check MMC and restart command P 0 4092 C2600 Copy IDN from internal memory to optional memory If diagnostic message appears repeatedly replace MMC MMC slot in control section is defective Check MMC slot and if necessary replac...

Page 377: ...onal safety C2604 Attributes Display C2604 Mess no C2604 hex C2802 Oscillations of input signal outside tolerance range Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS When the command P 0 0220 C2800 Analog input adjust command is executed the quality of the reference signal used is checked Cause Remedy During gain adjust reference voltage was used t...

Page 378: ...ded at analog input Voltage provided at input has to be modified between two steps of adjust voltage value for zero adjust 0 V voltage value for gain adjust maximum input voltage See also Functional Description Analog Inputs C2803 Attributes Display C2803 Mess no C2803 hex C2804 Automatic adjust failed Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS ...

Page 379: ...nd Firmware update from MMC again If error occurs again contact a Rexroth service engineer Firmware file ibf file available on MMC is not correct does not match control section Use different MMC with firmware file appropriate for control section control section CSH01 1C firmware MPH control section CSB01 1x firmware MPB control section CDB01 1x firmware MPD Note If the command error occurs during ...

Page 380: ... update from MMC again Control section is defective Replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controller is described in the Project Planning Manual for the power section Note If the command error occurs during the transmission of the firmware to a...

Page 381: ...An error was detected during check of flash Execute P 0 4072 C2900 Command Firmware update from MMC again If error occurs repeatedly replace control section or entire drive controller Note Only Rexroth service engineers or especially trained users are allowed to replace the control section The replacement of the entire drive controller is described in the Project Planning Manual for the power sect...

Page 382: ... and restart command P 0 3204 C3000 Synchronize and store safety technology IDN command Hardware defect of optional module safety technology I O Reset optional module safety technology I O by a restart If command error occurs repeatedly hardware has to be replaced C3001 Attributes Display C3001 Mess no C3001 hex C3101 Act modulo value cycle greater than max travel range Supported by Firmware Varia...

Page 383: ... C3201 Incorrect input for current Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command P 0 4033 C3200 Command Calculate data for asynchronous motor an error was detected Cause Remedy List element 1 rated current in P 0 4032 Type plate list asynchronous motor is outside of useful limits Value for rated current has to be...

Page 384: ...r rated voltage has to be between 10 V and 2000 V C3202 Attributes Display C3202 Mess no C3202 hex C3202 Incorrect input for frequency Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command P 0 4033 C3200 Command Calculate data for asynchronous motor an error was detected Cause Remedy List element 3 rated frequency in P 0...

Page 385: ...ot be calculated Correct list element 4 rated speed in P 0 4032 Type plate list asynchronous motor C3204 Attributes Display C3204 Mess no C3204 hex C3205 Incorrect input for power factor Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command P 0 4033 C3200 Command Calculate data for asynchronous motor an error was detecte...

Page 386: ...wer output smaller than 40 of effective electric power is not plausible Remedy Correct values in P 0 4032 Type plate list asynchronous motor and restart command P 0 4033 C3200 Command Calculate data for asynchronous motor C3206 Attributes Display C3206 Mess no C3206 hex C3207 Type plate list incomplete Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS ...

Page 387: ...ronous motor C3208 Attributes Display C3208 Mess no C3208 hex C3501 Acquisition velocity not allowed Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command P 0 0340 C3500 Command Determine encoder correction values an error was detected To acquire the signal shape the axis has to be moved at constant velocity the velocity...

Page 388: ...der and register it in P 0 0074 Encoder type 1 motor encoder C3502 Attributes Display C3502 Mess no C3502 hex C3503 Optional encoder not available Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command P 0 0340 C3500 Command Determine encoder correction values an error was detected Cause Remedy Optional encoder does not s...

Page 389: ...t connected or not registered Connect measuring encoder and register it in P 0 0076 Encoder type 3 measuring encoder C3504 Attributes Display C3504 Mess no C3504 hex C3505 No encoder selected Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS During the execution of the command P 0 0340 C3500 Command Determine encoder correction values an error was dete...

Page 390: ...lay C3506 Mess no C3506 hex C3701 Error when manually unlocking the safety door Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The command C3700 Manually unlocking the safety door was not or incorrectly executed Cause Remedy Drive still is in normal operation there hasn t been any safety function activated yet Clear command C3700 Manually unlocking ...

Page 391: ...A INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The execution of the command abrasion of brake P 0 0544 C3900 Command Abrasion of brake was aborted by an error Cause Remedy Torque of the amplifier is reduced Remove reduction Axis is mechanically blocked Remove mechanical blocking Axis is at end stop or runs towards it Choose axis position such that sufficient motion is possible Abrasion of brake is impo...

Page 392: ... no C3903 hex C4001 Error during safety related homing procedure Supported by Firmware Variant FWA INDRV MPH02VRS MS FWA INDRV MPB02VRS MS FWA INDRV MPD02VRS MS The command P 0 3228 C4000 Homing procedure command channel 2 was not or incorrectly executed Cause Remedy There hasn t been any home switch configured Configure a home switch in P 0 3211 Safety technology I O control word channel 2 Maximu...

Page 393: ...9 122 Command Diagnostic Messages Rexroth IndraDrive DOK INDRV GEN VRS WA01 EN P LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 394: ...Download The active loader appears on the display It precedes the download status display LD the loader of the control section is active FL the loader of the firmware is active Note Explanation of the messages displayed during firmware download XX active loader download status During error free firmware download the following diagnostic messages are displayed 5 6 352 6 XX DL Brief Description Down...

Page 395: ...tive The checksum calculation is active Subsequent to the calculation a comparison with the stored checksums is run Note FL CKS means firmware loader and LD CKS means loader in control section XX E ADR Brief Description Warning address error Cause Remedy Address read from IBF file is outside of allowed range Please contact our service department Note FL E ADR means firmware loader and LD E ADR mea...

Page 396: ...f Dolfi program or by starting command P 0 4072 C2900 Command Firmware update from MMC ATTENTION If Dolfi is used for carrying out firmware update it is first necessary to program loader before firmware module can be programmed Note FL E LD means firmware loader and LD E LD means loader in control section XX E SEQ Brief Description Warning sequence error Cause Remedy Command order was not complied...

Page 397: ...ed to be different Carry out firmware update again should error occur again please contact our service department Note FL F CKS means firmware loader and LD F CKS means loader in control section XX F ACC Brief Description Error access error Cause Remedy Several possibilities of firmware update serial and MMC were used simultaneously An access conflict has occurred Restart firmware update using onl...

Page 398: ... replacement of the entire drive controller is described in the Project Planning Manual for the power section Identical cause remedy F8122 Control section defective XX F8129 Brief Description Error optional safety module 1 incorrectly programmed See F8129 Firmware of option 1 of safety technology defective XX F8130 Brief Description Error optional safety module 2 incorrectly programmed See F8130 F...

Page 399: ...y unit of same type from Bosch Rexroth See also documentation of the respective supply unit A fault report form to be copied can be found in the documentation of the respective supply unit Please copy this fault report fill it out carefully and completely and enclose it to the defective device The fault report filled out completely supports quick handling of repair and helps recognizing applicatio...

Page 400: ...ive device has been plugged in the replacement device the drive is operational again because it is not required to repeat the adjustment of the drive to the machine Note When using the drive internal safety technology particular instructions have to be observed for replacing a device See documentation Integrated Safety Technology How to Replace Controllers Identify defective controller by means of...

Page 401: ...ject Planning Manual for Power Section Put machine into ready for operation status again according to machine manufacturer s instructions then switch on control voltage Depending on the previous configuration of the replacement device the following messages can appear during the booting phase Firmware update Acknowledge this message by pressing the Enter button of the control panel The firmware do...

Page 402: ...up operation data and P 0 0195 IDN list of retain data replacement of devices are copied from the controller internal memory to an MMC temporarily plugged in the controller Note If the MMC does not remain stationarily permanently plugged in the device it may be temporarily plugged in the switched on device after the booting phase and removed again hot plug or hot unplug DriveTop commissioning tool...

Page 403: ...ved switch it on again without plugged MMC see note Service program Dolfi By selecting the respective menu item the firmware stored on an external data carrier hard disk floppy disk or the like is loaded to the controller serial communication with the controller The axis specific parameter values saved before replacing the device can be loaded via Control panel of the controller with temporarily p...

Page 404: ...tial commissioning are not generally suited for reestablishing the operatability of the drive after replacement of devices Check actual position values and active target position before drive enable Reestablish ready for operation status of the machine put machine into ready for operation status again according to machine manufacturer s instructions check functions of drive Control Section IndraDr...

Page 405: ... motion Servo axes with indirect path measuring system via the motor encoder will loose the reference dimension when the motor is replaced This reference to the machine coordinate system must therefore be reestablished after replacement Servo axes with absolute motor encoder reestablish the reference dimension Replacing Cables ATTENTION Lethal electric shock caused by live parts with more than 50 ...

Page 406: ...cables cap open connector ends particularly if there might be the chance that they get in contact with coolant lubricant or dirt allowed level of contamination is 2 according to EN50178 Replace cables ATTENTION Material damage caused by bad power connectors Connect power connectors only when they are dry and clean Connect plug in connectors LSA Control S L www lsa control com comercial lsa control...

Page 407: ...ng system Service pack Language PC designation Hardware configuration system RAM hard disk memory Drive system Power section Type code Serial number SN Hardware index Control section only for IndraDrive Type code Serial number SN Hardware index Supply module Type code Serial number Motor Type designation Serial number S No Motor encoder Mounting position Additional components e g control system in...

Page 408: ...ble connection moisture in unit foreign body in unit Other defects problems in the mechanical system power section failure control system failure motor failure cable break defective blower defective feedback Wiring mechanical setup e g length of cables grounding assembly Information on the machine e g operating hours type serial number Mains conditions e g frequency voltage Ambient conditions e g ...

Page 409: ...10 16 Handling Diagnostic and Service Functions Rexroth IndraDrive DOK INDRV GEN VRS WA01 EN P LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 410: ... or switching off the control voltage supply RESET command via the module bus by drive CAUTION Destruction of the supply unit when power is switched on and a drive controller is defective After having reset an overcurrent error and after having replaced a defective supply unit the error memories of the drive controllers have to be read before the supply unit is switched on again If a defective com...

Page 411: ...emoved by especially trained staff Do not put protective devices out of operation Observe the Safety Instructions for Electric Drives and Controls in the homonymous chapter 11 3 Contacting the Service Department If you would like to contact our service department we ask you to have the following information ready in order to facilitate quick and purposeful handling type data and serial numbers of ...

Page 412: ...command change bit in P 0 0115 Device control status word evaluating S 0 0390 Diagnostic message number which contains the error message as a number e g C0201 evaluating S 0 0095 Diagnostic message which contains the error message as ASCII text e g C0201 Invalid parameters S 0 0022 evaluating the command status see Functional Description Command Processing Note A command error cannot be removed by...

Page 413: ...hange bit 1 No evaluation S 0 0095 Diagnostic message evaluation command status continue in program Yes command completed without error Yes program sequence start command analysis of command error complete command No DF000129v01_en wmf Fig 12 1 Example of command handling LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 414: ...rd P 0 4078 Field bus status word P 0 4028 Device control word evaluating S 0 0011 Class 1 diagnostics in order to obtain the detailed information with regard to the cause of the error evaluating S 0 0390 Diagnostic message number which contains the error message as a number e g F6034 evaluating S 0 0095 Diagnostic message which contains the error message as ASCII text e g F6034 Emergency Stop act...

Page 415: ...ve error bit 1 from master communication status word evaluation S 0 0095 Diagnostic message evaluation S 0 0011 Class 1 diagnostics continue in program program sequence Yes No analysis and fixing of error clear error DF000130v01_en wmf Fig 12 2 Example of error handling LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 416: ...us word P 0 4028 Device control word evaluating S 0 0012 Class 2 diagnostics in order to obtain the detailed information with regard to the cause of the warning evaluating S 0 0390 Diagnostic message number which contains the warning message as a number e g E2054 evaluating S 0 0095 Diagnostic message which contains the warning message as ASCII text e g E2054 Not homed Note Warnings cannot be clea...

Page 417: ...ation S 0 0012 Class 2 diagnostics continue in program program sequence Yes No analysis of command error DF000131v01_en wmf Fig 12 3 Example of warning handling Note In the case of drives with SERCOS master communication it is only possible to reset the collective warning bit change bit of class 2 diagnostics by read accessing parameter S 0 0012 Class 2 diagnostics LSA Control S L www lsa control ...

Page 418: ...AU 5 1 Autom commutation max motion range 7 8 max motion range when moving back 7 6 Automatic adjust failed 9 107 Automatic baud rate detection for SERCOS interface 6 5 Automatic commutation current too low 7 9 9 88 iteration without result 7 12 9 90 overcurrent 7 10 9 89 timeout 7 11 9 89 Automatic controller setting failed 9 95 Automatic drive check and adjustment 6 37 B Backup working memory pr...

Page 419: ...xxx error 7 41 Communication phase 0 6 1 Communication phase 1 6 2 Communication phase 2 6 3 Communication phase 3 6 4 Communication phase 3 transition check 9 1 Communication phase 4 transition check 9 1 Commutation determination not selected 9 86 Commutation offset could not be determined 7 7 Commutation offset could not be determined 9 84 Commutation offset invalid 7 113 commutation offset sett...

Page 420: ... lagless 6 29 Dynamization failed 8 16 Dynamization pulse width incorrect 7 66 Dynamization time interval incorrect 7 65 E Emergency Stop 7 56 8 5 Emergency Stop activated 7 45 Enc 1 enc signals incorr can be cleared in ph 2 7 13 Encoder 1 encoder signals disturbed 8 36 Encoder 2 encoder signals disturbed 8 37 encoder signals incorrect 7 94 End C29 4 3 Error at init of synchr motor with reluctance...

Page 421: ... 18 Error when writing data to internal memory 9 104 Error when writing data to non volatile memory 9 100 Error when writing offset parameters 9 91 Error when writing parameters 9 116 Excessive deviation 7 87 Excessive position command difference 7 91 Excessive position feedback difference 7 90 External power supply X10 error 7 89 External power supply X15 error 7 96 E xxxx errors commissioning 7 ...

Page 422: ...on cyclical data communic of power section 7 114 Error internal function call 7 3 Error supply shutdown 7 127 Ground fault in motor line 7 125 Hardware trap 7 4 Hardware variant not supported 7 128 Incorrect interrupt timing 7 128 Invalid control section data S 0 0022 9 51 Invalid device code 7 127 Invalid parameters S 0 0021 9 17 Invalid parameters S 0 0022 9 49 Limit error in parameter S 0 0021 ...

Page 423: ...t parameterization of motor encoder hardware 9 27 Incorrect parameterization of optional enc hardware 9 31 Incr encoder emulator hardware fault 7 101 pulse frequency too high 7 100 Incremental enc emulator resol cannot be displayed 9 67 Inertia detection failed 9 94 Initialization velocity encoder 1 too high 9 53 Initialization velocity encoder 2 too high 9 55 Initialization velocity measuring enc...

Page 424: ...uring system unavailable 9 68 Measuring wheel operation not possible 9 92 messages during the firmware download 10 1 MMC not correct 4 3 MMC was removed 7 76 Module group communication error 7 109 Modulo limitation error of measuring encoder 7 119 Modulo limitation error of motor encoder 7 118 Modulo limitation error of optional encoder 7 118 Modulo value for measuring encoder cannot be displayed ...

Page 425: ...2 PL Load parameter default values 7 79 Plausibility error actual position value 7 38 Plausibility error during commutation fine adjust 7 88 Plausibility error of actual position values 7 60 8 15 Plausibility error of safety parameters 7 67 8 16 Plausibility error of safety related operating mode 8 17 Plausibility error of selection 7 67 Plausibility error parameterized effective threshold 7 37 Pl...

Page 426: ...and for clearing errors incorrect 7 69 Safety command for load defaults procedure incorrect 9 77 Safety command for system halt incorrect 7 73 Safety command for system init incorrect 9 64 Safety command for system start incorrect 7 73 Safety Instructions for Electric Drives and Controls 3 1 Safety rel position limit val exc in neg dir 7 31 Safety rel position limit val exc in pos dir 7 31 Safety ...

Page 427: ...ynamization exceeded 8 18 Time slot parameter Sercos cycle time 9 21 Timeout of safety command for load defaults procedure 9 78 TNcyc S 0 0001 or TScyc S 0 0002 error 9 23 Torque limit 0 8 30 Torque force actual value limit active 8 6 Torque force command value limit active 8 13 Trav range lim switch not ass to dig input 9 61 travel range error commissioning 7 41 Travel range exceeded 9 97 Travel ...

Page 428: ...WA01 EN P E ADR 10 2 E SEC 10 2 E SEQ 10 3 ERASE 10 2 F ACC 10 4 F CKS 10 4 F2100 10 4 F2101 10 4 F8120 10 5 F8122 10 5 F8129 10 5 F8130 10 5 F9002 10 4 PROG 10 2 Z ZKS 5 3 LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 429: ...13 12 Index Rexroth IndraDrive DOK INDRV GEN VRS WA01 EN P LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 430: ...m für Sie nächstgelegenen Ansprechpartner auf Die Angaben in der vorliegenden Dokumentation können seit Drucklegung überholt sein At www boschrexroth com you may find additional notes about service repairs and training in the Internet as well as the actual addresses of our sales and service facilities figuring on the following pages sales agencies offices providing service Please contact our sales...

Page 431: ...dshuter Allee 8 10 80637 München Tel 49 0 89 127 14 0 Fax 49 0 89 127 14 490 Vertriebsgebiet West Germany West Bosch Rexroth AG Regionalzentrum West Borsigstrasse 15 40880 Ratingen Tel 49 0 2102 409 0 Fax 49 0 2102 409 406 49 0 2102 409 430 Gebiet Südwest Germany South West Bosch Rexroth AG Service Regionalzentrum Süd West Siemensstr 1 70736 Fellbach Tel 49 0 711 51046 0 Fax 49 0 711 51046 248 Ver...

Page 432: ...no Tel 39 011 224 88 11 Fax 39 011 224 88 30 Italy Italien Bosch Rexroth S p A Via Mascia 1 80053 Castellamare di Stabia NA Tel 39 081 8 71 57 00 Fax 39 081 8 71 68 85 Italy Italien Bosch Rexroth S p A Via del Progresso 16 Zona Ind 35020 Padova Tel 39 049 8 70 13 70 Fax 39 049 8 70 13 77 Italy Italien Bosch Rexroth S p A Via Isonzo 61 40033 Casalecchio di Reno Bo Tel 39 051 29 86 430 Fax 39 051 29...

Page 433: ...resti Tel Fax 40 0 21 255 35 07 40 0 21 255 77 13 Fax 40 0 21 725 61 21 eastel rdsnet ro Romania Rumänien Bosch Rexroth Sp zo o Str Drobety nr 4 10 app 14 70258 Bucuresti Sector 2 Tel 40 0 1 210 48 25 40 0 1 210 29 50 Fax 40 0 1 210 29 52 Russia Russland Bosch Rexroth OOO Wjatskaja ul 27 15 127015 Moskau Tel 7 095 785 74 78 7 095 785 74 79 Fax 7 095 785 74 77 laura kanina boschrexroth ru Russia Ru...

Page 434: ...ri East Mumbai 400 059 Tel 91 22 28 56 32 90 91 22 28 56 33 18 Fax 91 22 28 56 32 93 singh op boschrexroth co in India Indien Bosch Rexroth India Ltd S 10 Green Park Extension New Delhi 110016 Tel 91 11 26 56 65 25 91 11 26 56 65 27 Fax 91 11 26 56 68 87 koul rp boschrexroth co in Indonesia Indonesien PT Bosch Rexroth Building 202 Cilandak Commercial Estate Jl Cilandak KKO Jakarta 12560 Tel 62 21 ...

Page 435: ...Bosch Rexroth Canada Corporation 5345 Goring St Burnaby British Columbia Canada V7J 1R1 Tel 1 604 205 5777 Fax 1 604 205 6944 Hotline 1 604 205 5777 david gunby boschrexroth ca Mexico Bosch Rexroth Mexico S A de C V Calle Neptuno 72 Unidad Ind Vallejo 07700 Mexico D F Tel 52 55 57 54 17 11 Fax 52 55 57 54 50 73 mariofelipe hernandez boschrexroth com mx Mexico Bosch Rexroth S A de C V Calle Argenti...

Page 436: ...LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

Page 437: ...G Electric Drives and Controls P O Box 13 57 97803 Lohr Germany Bgm Dr Nebel Str 2 97816 Lohr Germany Phone 49 93 52 40 50 60 Fax 49 93 52 40 49 41 service svc boschrexroth de www boschrexroth com LSA Control S L www lsa control com comercial lsa control com 34 960 62 43 01 ...

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