Rexroth IndraDrive
Command Diagnostic Messages
9-35
DOK-INDRV*-GEN-**VRS**-WA01-EN-P
C0132 Invalid settings for controller cycle times
Supported by Firmware Variant:
FWA-INDRV*-
MPH02
VRS-MS
FWA-INDRV*-
MPB02
VRS-MS
FWA-INDRV*-
MPD02
VRS-MS
During the execution of the command
S-0-0127, C0100 Communication
phase 3 transition check
an error in the parameterization of controller
cycle times or PWM switching frequencies was detected.
P-0-0556, Control word
of axis controller, bit 2
P-0-0001,
Switching frequency of the
power output stage
TA position
loop
TA velocity loop
TA current
loop
0 (Basic)
16 kHz
500
µ
s
250
µ
s
62.5
µ
s
0 (Basic)
12 kHz
500
µ
s
250
µ
s
83.3
µ
s
0 (Basic)
8 kHz
500
µ
s
250
µ
s
125.0
µ
s
0 (Basic)
4 kHz
500
µ
s
250
µ
s
125.0
µ
s
1
(Advanced)
16 kHz
250
µ
s
125
µ
s
62.5
µ
s
1
(Advanced)
8 kHz
250
µ
s
125
µ
s
62.5
µ
s
1
(Advanced)
4 kHz
250
µ
s
125
µ
s
125.0
µ
s
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 "Basic performance" (cf. bit 2) in
P-0-0556, Control word of axis controller
Incorrect parameterization of selected switching
frequency in
P-0-0001, Switching frequency of the
power output stage
with given controller
performance (= sampling rate/time)
In
P-0-0001, Switching frequency of the power
output stage
select allowed switching frequency (see
table)
See also Functional Description "Features of the Control Loops"
For removing command errors see "Command Errors"
C0132 - Attributes
Display:
C0132
Mess. no.:
C0132 (hex)
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01
