Keba ServoOne Series, User Manual

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Error messages and diagnostics
ServoOne User Manual SERCOS II and III
ID no.: 1108.26B.3-00 Date: 04/2020
Error messages and diagnostics
10.2.2 Additional diagnostic parameters
In addition to the standard parameters for the oscilloscope, a further field parameter
"COM_SERIII_ScopeVars" is available. With the aid of 15 indices in the parameter it is
possible to undertake diagnostics on the most important registers for the SERCOS III
field bus. Some internal state machines and counters can also be monitored. All the
indices in the parameter described in the following are shown in hexadecimal notation.
This parameter has the number 22000.
The indices in the parameter have the following significance:
y Index 0 "COM_SERIII_State": Shows the status of two software-internal
state machines.
Bit no. Description
31 – 24 Status of the initialisation of the S-III option card / software:
0  FPGA is started
1  Waiting for the end of the FPGA initialisation
2  Initialisation of the software
3  Initialisation successful
4  Error during initialisation
23 – 16 Status of the topology detection
15 – 0 Reserved
Table 10.8 Software status
y
Index 1 "COM_SERIII_ActComPhase": Actual communication phase for the
slave (0 – 4 = CP0 – CP4, 5 = NRT).
y
Index 2 "COM_SERIII_PhaseSwitchState": Status on changing
communication phases
y
Index 3 "COM_SERIII_PortState": Status of the ports.
Bit no. Description
31 – 21 Reserved
20 P2: P telegram (0) or S telegram received
19 P2: No MST received
18 P2: MST received
17 P2: Valid MST
16 P2: Link
Table 10.9 Port status
Bit no. Description
15 – 5 Reserved
4 P1: P telegram (0) or S telegram received
3 P1: No MST received
2 P1: MST received
1 P1: Valid MST
0 P1: Link
Table 10.9 Port status
y Index 4 "COM_SERIII_SVC": Service channel status word (bit 16 – 31) and
control word (bit 0 – 15).
y
Index 5: Reserved.
y
Index 6 "COM_SERIII_TG_Status_P1": Telegram - status register on port
P1. The register is updated with each bus cycle. The individual bits have the
following significance:
Bit no. Description
31 – 12 Reserved
11 MST failure once
10 MST outside time window
9 Reserved
8 Valid MST
7 – 4 Valid AT3 (bit 7) – AT0 (bit 4)
3 – 0 Valid MDT3 (bit 3) – MDT0 (bit 0)
Table 10.10 Telegram status
y
Index 7 "COM_SERIII_TG_Status_P2": Telegram - status register on port
P2. The register is updated with each bus cycle. For the significance of the
individual bits, see Table 3.
y Index 8 "COM_SERIII_INT_Count": Counter for interrupts during the cyclic
communication (CP3, CP4).