2. Status indications

The display codes of a status indicator are arranged alphanumerically.

The following is available for each code:

* meaning,

* possible causes, and,

* remedial actions (in the case of either faults or warnings)

Displays on H1 (on the drive controller): see section 2.1 Displays on H2 (on the SERCOS interface module): see section 2.2

The power source on the drive controller must be ready to operate before the status displays can be used for fault diagnostics.

Cancelling a fault.

After clearing a fault, it is necessary to first cancel the error message before the drive can be ready to operate. An error message is cancelled as follows:

* via the controller, if a SERCOS interface module is used,

* via the fault clearance key "S1" on the drive, if the ANALOG interface module is used, and,

* via the fault clerance key "S1" on the drive, and the "CL" key on the control unit's control panel if a single-axis positioning module (DLC) is used.

2.1. H1 status indicator (on the drive controller)

-1

Clearing data RAM (temporary operating status)

Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

Checking and, if necessary, automatic clearing of the parameter memory (EEPROM) in the software module (temporary operating status)

This is displayed on new software modules for approximately 15 seconds. Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

-3

Loading program (temporary operating status)

The firmware is loaded into programm memory from EPROM . Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

-4

Checking Hardware (temporary operating status)

Checking data RAM. Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

-5

Initializing hardware (temporary operating status)

Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

-6

Initializing software (temporary operating status)

Data from EEPROM are copied onto the RAM and verified to see whether the limiting values have been maintained. Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

-7

Initializing the software (temporary operating status)

(Oscillator functions and feedback codes.) Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

-8

Initializing the software (temporary operating status)

(reading DSF data) Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

-9

Initializing the SERCOS (temporary operating status)

Should the drive controller stall in this display, then the drive controller must be replaced. (See relevant documentation in Applications Manual.)

..

Watchdog (fault message)

Cause 1: Software module not installed or defective.
Remedy
Install or replace the software module.

Cause 2: Processor defective.
Remedy
Replace the drive controller.

Ab

Drive ready (operating status)

The control and power sections of the drive are ready. Power is on. Drive enable signal from the NC control unit has not been applied.

AF

Drive enable signal (operating status)

The drive enable signal has been applied and the drive activated. The drive will follow the velocity command.

AH

Drive halt (operating status)

The drive is braked to a stop at the acceleration rate set in the parameters (ID no. 00136 for SERCOS) and remains under control.

AS

Starting lock-out (operating status)

The power output stage has been locked. This signal ensures safe torque disabling of the drive independently of the current operating status of the drive package (see Applications Manual).

bb

Ready for input power (operating status)

The control section of the drive is ready for powering up.

ES

E-STOP (Emergency stop) (operating status)

The E-STOP has been activated. The AC servo drive will be shut down according to the set error reaction (see Applications Manual).

PA

Park axis command (operating status)

The NC control unit has issued this command. The drive controller has been deactivated.

P0

Phase 0 (temporary operating status)

The drive is in Phase 0 and is waiting for phase progression from Phase 0 to Phase 1. If the drive controller stalls in this display, then there is a problem with phase progression. For further diagnostics, please check the definition of the display presently on H2 (on the SERCOS interface module) in the relevant section of this manual.

P1

Phase 1 (temporary operating status)

The drive is in Phase 1 and is waiting for phase progression from Phase 1 to Phase 2. If the drive controller stalls in this display, then there is a problem with phase progression. For further diagnostics, please check the definition of the display presently on H2 (on the SERCOS interface module) in the relevant section of this manual.

P2

Phase 2 (temporary operating status)

Before the NC control unit progresses to Communications Phase 3, the drive controller checks the parameters entered for completeness and for compliance with the input limits (but not for logical accuracy!). If the controller detects any invalid parameter values, it will prevent progression of the communications phase.

Does not progress to Phase 3
Remedy
The "ID no. List of Invalid Operation Data for Communications Phase 2" (ID no. S-0-0021) contains parameters that are recognized as invalid prior to transition to Communications Phase 3. These parameters must be run through before any progression to Phase 3 is possible. Check the parameters.

P3

Phase 3 (temporary operating status)

Before the control unit progresses to Communications Phase 4, the drive controller checks the parameters entered for completeness and for compliance with the input limits (but not for logical accuracy!). These parameters must be run through before any progression to Phase 4 is possible.

Does not progress to Phase 4
Remedy
The "ID no. List of Invalid Operation Data for Communications Phase 3" (ID.-Nr. S-0-0022) contains parameters that are recognized as invalid prior to transition to Communications Phase 4. These parameters must be run through before any progression to Phase 4 is possible. Check the parameters.

01

Double MST error shutdown (fault message)

The drive has not received the master synchronization telegram for two successive SERCOS cycles.

Cause 1: Error in the optical-fiber transmission cable, or excessive damping of optical signals.
Remedy
Check the optical-fiber (LWL) connections in the SERCOS ring. Check the damping in the LWL cable (maximum damping between Tx and Rx: 12.5 dB).

Cause 2: Fault in the SERCOS interface module (general).
Remedy
Replace the SERCOS interface module in the drive package.

02

Double MST error shutdown (fault message)

The drive has not received the master synchronization telegram for two successive SERCOS cycles. For cause and remedial actions see display "01" (double MST error shutdown).

03

Invalid communication phase shutdown (fault message)

The SERCOS master module has commanded an invalid communication phase (phase > 4). Fault in the SERCOS master module of the NC control unit

Remedy
Consult the control unit manufacturer.

04

Error during phase progression (fault message)

Phase progression did not comply with the prescribed sequence. For cause and remedial action see error message "03" (invalid communication phase shutdown).

05

Error during phase regression (fault message)

The phase did not revert to Phase 0 during regression. For cause and remedial action see error message "03" (invalid communication phase shutdown).

06

Phase progression without ready signal (fault message)

The SERCOS master attempted to switch phases without waiting for the drive's "ready" signal. For cause and remedial action see error message "03" (invalid communication phase shutdown).

07

Switching to uninitialized operating mode (fault message)

No operating mode defined in the activated operating mode parameter.
Remedy
Enter the desired operating mode in the activated operating mode parameter.

See control unit manual for entering the desired operating mode as well as the parameters S-0-0032 (primary operating mode) and S-0-0033 to S-0-0035 (secondary operating modes 1 through 3) in the SERCOS interface manual. Permissible operating modes are:

* torque loop

* velocity loop

* position loop with position feedback value 1

* position loop with position feedback value 2

* position loop with position feedback value 1, lagless

* position loop with position feedback value 2, lagless

* position loop with command filter with lag error

* position loop with command filter, lagless

18

Drive overtemperature shutdown (fault message)

Overtemperature was detected in the power output stage of the DDS 2.1 drive controller. The drive controller then emitted a thirty-second warning: 50 "amplifier overtemperature warning", and shut itself down according to the selected error reaction, while signalling the above error message.

Cause 1: Failure of internal cooling system of unit.
Remedy
Replace the drive controller.

Cause 2: Failure of the cabinet air conditioning.
Remedy
Restore the cabinet air conditioning function.

Cause 3: Incorrectly dimensioned heat dissipation of the cabinet air conditioning.
Remedy
Check the cabinet dimensioning.

19

Motor overtemperature shutdown (fault message)

The motor temperature has risen above the permissible level. The drive controller then a emitted a thirty-second warning: 51 "motor overtemperature warning". The drive then shut down according to the selected error reaction, while signalling the above error message (see selection options for error reactions in the Application Manual).

Cause 1: The motor was overloaded. The effective torque demanded from the motor was above the permissible nominal torque for too long.
Remedy
Check motor dimensioning. For plants which have been in operation for some time, check whether the drive conditions have changed (e.g., contamination, friction, moved masses, etc.).

Cause 2: Earthing or short-circuit in the conductor for motor temperature monitoring.
Remedy
Check the motor temperature monitoring conductor X 6/1 and X 6/2 for earth-short or breaks.

20

Bleeder overtemperature shutdown (fault message)

Excessively high continuous regenerative power.

Remedy
Change the process cycle or choose a DKS with a higher rated current.

22

Motor encoder failure (fault message)

The signals emitted by the motor encoder are monitored. If the signals lies outside their tolerance window, the main power will be cut out.

Cause 1: Defective or disconnected encoder cable.
Remedy
Check feedback cable.

Cause 2: Motor feedback is defective.
Remedy
If no error can be found on the cable, replace the motor (see relevant documentation).

24

Overcurrent (fault message)

One of the three phase currents has risen to a level higher than 1.5 times the rated current of the unit.

Remedy
Check the motor cable.

Contact an INDRAMAT service representative.

25

Overvoltage error (fault message)

The DC link circuit voltage has risen above the permissible level. (U d > 475 V). The drive torque has been disabled in order not to risk damaging the power output stage of the controller. The energy of a braking main spindle motor could not be converted quickly enough by the installed bleeder resistors.

Remedy
Reduce the gradient of the braking ramp for the main spindle or increase bleeder resistance by installing an additional bleeder (see relevant Applications Manual).

26

Undervoltage error (fault message)

The DC link circuit voltage is monitored in the supply module. It signals to the drive controller via the control voltage bus whether the DC link circuit voltage exceeds the minimum permissible level of +200. If the voltage falls below this level, the drive will be shut down according to the selected error reaction. A prerequisite is that an NCB bridge is not used on the supply module (see Applications Manual, "Error Reactions" section).

Cause 1: Mains power shutdown without first deactivating the drive by cancelling the controller enable signal (RF).
Remedy
Check the NC control logics for activating the drive.

Cause 2: Malfunction of the supply unit
Remedy
Remedy the malfunction in the power supply unit (see Applications Manual of the supply unit).

28

Excessive deviation (fault message)

The drive could not follow the given command value and reacted according to the selected error reaction.

Cause 1: The command signal exceeded the acceleration potential of the drive.
Remedy
Check the parameter "bipolar torque limit value" (no. S-0-0092) and set to the maximum permissible value for th   application (see the section on "Limit Values" in the Applications Manual), or reduce the acceleration command in the control unit (see the control unit manual).

Cause 2: The axis has jammed.
Remedy
Check the mechanics and remedy any jamming.

Cause 3: Error in the drive parameters.
Remedy
Check the drive parameters (see section "Velocity Loop" in the relevant Applications Manual).

Cause 4: S-0-0159 monitoring window incorrectly parametrized.
Remedy
To check parameter S-0-0159, see section on Operating Modes / Monitoring of Control Loops in the relevant Applications Manual.

Cause 5: Main power was switched off without the controller enable signal having been cancelled. Possible cause is an error in one AC servo drive in the common supply module.
Remedy
Check AC servo drive for errors other than denoted by message "28".

30

Travel limit switch is exceeded (fault message)

The drive has received a command value which would move the axis outside the permitted travel range.

Remedy
Check position limit parameters S-0-0049 and S-0-0050 (see Applications Manual, section on "Limit Values") or check the software limits in the control unit.

32

Command error (fault message)

Error messages occurring while a command is being executed are displayed as a collective diagnostic message on the H2 status indicator (32, flashing). The exact error message can be called up via the SERCOS parameter S-0-0095 "diagnostic messages". The definition of all emitted errors is listed in section 2.3 "Command Errors".

33

External power supply error (fault message)

Different optional plug-in modules have DC-decoupled inputs and outputs. An external power supply must be applied for proper operation of these inputs and outputs.

The voltage lies above the permissible level.
Remedy
Check the external power supply.

Description                                          unit minimum rated maximum
External operating voltage +U L              V           18            24          32
Current consumption of external +U L   mA                                   100
Figure 2.1: Voltage tolerances

34

Error in internal software synchronization (fault message)

Faulty communication between the drive's processor and the SERCOS interface module
Remedy
Replace the SERCOS interface module or the drive controller (see relevant Applications Manual).

35

Invalid reference cam position (fault message)

The position of the reference cam relative to the null point of the motor encoder is outside the permissible range.

Remedy
For software status £ DSM2.1-S01.9:
Parameter P-0-0020 gives the offset of the home switch flank to the optimum point. Shift the reference cam by this amount, then initiate a drive-generated homing procedure.

For software status ³ DSM2.1-S01.10:
Load the value displayed in parameter P-0-0020 into parameter S-0-0299.

For the tolerance range of the permissible home switch flank positions in the encoder cycle, see Figure 1.2.:

36

Excessive actual position difference (fault message)

In the prepare phase progression command on Communications Phase 4, actual position value 2 is stored on the position feedback value, and the cyclical evaluation of both encoders is initiated. During this cyclical operation (phase 4), the position difference of both encoders is compared every 8 milliseconds. If the difference is greater than one parametrized monitoring window (P-0-0120), then error "36" appears and the parametrized error reaction (P-0-0007) is executed.

Cause 1: The parameter for the external encoder is incorrect (S-0-0115, S-0-0117, S-0-0118).
Remedy
Check position encoder parameter (S-0-0115) and encoder resolution (S-0-0117 or S-0-0118).

Cause 2: The mechanics between the motor shaft and the external encoder are incorrectly parametrized.
Remedy
Check input and output revolutions of load mechanism (S-0-0121, S-0-0122) and feed constants (S-0-0123).

Cause 3: The mechanics between motor shaft and external encoder are not rigid (e.g., gear backlash).
Remedy
Enlarge monitoring window for external encoder (P-0-0120).

Cause 4: The encoder cable is defective.
Remedy
Replace the encoder cable

Cause 5: DEF 1.1 is defective.
Remedy
Replace DEF 1.1.

Cause 6: Maximum input frequency of the encoder interface exceeded.
Remedy
Reduce velocity.

Cause 7: External encoder not mounted to running axis.
Remedy
Set monitoring window for external encoder (P-0-0120) to "0" (= monitoring disengaged).