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
10.1.4 Interface diagnostics
With the aid of parameter S-0-0014.0.0, the state of the interface as well as the actual
communication phase can be monitored.
If an error is set in the interface status, the communication error C1D (S-0-0011) is
set. Setting bits 2-0 does not cause an error. If there is no communication error,
the interface status contains the actual communication phase in bits 0-2. If there
is a communication error, the error and the communication phase are saved. The
communication error is only cleared again to "0" by the drive if there is no longer an
interface error and the "Reset class 1 diagnostic" command (S-0-099) has been
received by the drive via the service channel.
Bit no. Description
15 – 14 Reserved
13 Phase change without CPS bit (only SERCOS III)
12 Timeout on phase change (only SERCOS III)
11 IPO sync error (only SERCOS II)
10 Drives with same address in the ring (only SERCOS II)
9 Change to uninitialised operation mode
8 Phase change without signalling readiness
7 Error on changing back to a lower phase (not phase 0)
6 Error on changing up to a higher phase (invalid sequence)
5 Invalid phase (phase > 4)
4 MDT failure (only SERCOS II)
3 MST failure (S-0-1003 exceeded)
2 – 0 Communication phase
000:
Phase 0
001: Phase 1
010: Phase 2
011: Phase 3
100: Phase 4
101: NRT
Table 10.4 Interface status
Bit = 0 error not active, bit = 1 error active
10.1.5 Telegram failure and error counter
During each bus cycle the drive monitors whether a valid MST or MDT has been
received. In addition, each MST and MDT is monitored for compliance with
y
The correct reception timing
y
The agreed telegram length
y The correct CRC checksum
SERCOS II
The failure of a telegram is registered by incrementing an error counter. For this purpose
there are the two parameters S-0-0028 (Error counter MST) and S-0-0029 (Error
counter MDT). The content of the parameter S-0-0028 is cleared on changing from
communication phase 2 to 3, the content of the parameter S-0-0029 on changing from
communication phase 3 to 4.
SERCOS III
The parameters S-0-1028.0.0 (Error counter MST P/S) and S-0-1035.0.0 (Error counter
port 1 and 2) are used for diagnostics.
The error counter S-0-1028.0.0 is always incremented if a valid MST has not been
received on port 1 or port 2. The maximum value that the counter can reach is 65535.
If this value is reached, the counter is not incremented further. The counter is reset to
zero on the transition from communication phase 2 to phase 3.
The parameter S-0-1035.0.0 indicates whether the telegrams received on port 1 and
2 were valid. If the length of a telegram received is incorrect, or the CRC checksum
is invalid, then the value of the parameter is incremented. The lower 16 bits of the
parameter indicate the erroneous telegrams on port 1, the upper 16 bits the erroneous
telegrams on port 2. The maximum value for both ports is 65535 in each case; after
reaching this value the counter is not incremented further. The value of the parameter
can be reset by writing to the parameter via the service channel or using DriveManager.
With the aid of parameter S-0-1003, the maximum number of telegram failures after
which the drive is to trigger an error is defined. If the maximum value is exceeded, the
communication bit in state class 1 is set, the drive changes back to the NRT phase.