A002 Communication phase 2

For field bus and SERCOS devices, the control demands via the master communication "communication phase 2", or the drive has been switched to phase 2 by the command P-0-4023, C400 Communication phase 2 transition. Therefore, the drive is in the "parameter mode". In this mode, many parameters are editable, which can no more be edited in "communication phase 4" ("operation mode").
In this phase, usually

· for field bus and SERCOS devices, the communication parameters are transferred from the control to the drive and

· the functions Load and Save parameters ("file services") are performed when needed.

Before switching to communication phase 3 is possible, the command S-0-0127, C100 Communication phase 3 transition check must be done. In this command, the drive checks e.g. the validity of the parameters needed for the communication phase 3.

After successful execution of the command, the control switches the drive to comm. phase 3 (with field bus and SERCOS devices), or the drive switches by itself to phase 3 at the end of the command.

A003 Communication phase 3

For field bus and SERCOS devices, the control demands via the master communication "communication phase 3", or the drive has been switched to phase 3 by the command S-0-0127, C100 Communication phase 3 transition check. The drive is in the "restricted parameter mode". In this mode, still many parameters are editable too, which can no more be edited in "communication phase 4" ("operation mode").

Before switching to communication phase 4 is possible, the command S-0-0128, C200 Communication phase 4 transition check must be done. In this command, the drive checks e.g. the validity of the parameters needed for the communication phase 4 ("operation mode").

After successful execution of the command, the control switches the drive to comm. phase 4 (with field bus and SERCOS devices), or the drive switches by itself to phase 4 at the end of the command.

A010 Drive HALT

The feature Drive-Halt ( = contrary of Drive-Start) is activated by the applied control via the used interface through clearing the /Drive-Halt bit (bit 13) in the master control word or by interrupting a drive control command (i.e. drive-controlled homing).

The Drive-Halt feature is for decelerating the axis to standstill at defined acceleration and defined jerk.

In process block mode, the acceleration and the jerk value of the previous process block are active.

In Jog mode and in stepper position mode,for acceleration, S-0-0260, Positioning acceleration is taken,
and for jerk, S-0-0193, Positioning jerk is taken.

In Velocity control and in Torque control mode, the drive is decelerated to standstill by setting the velocity command to 0 and with the max. torque.

A012 Control and power sections ready for operation

The drive is supplied with control voltage, and the power is switched on. The drive is ready to deliver power.

A013 Ready for power on

The drive is supplied with a control voltage, and there are no errors in the drive controller. The drive is ready to be turned on with power.

A100 Drive in TORQUE control

The drive is in the torque control operating mode. It follows the torque command value sequence which was set by the control system.

A101 Drive in VELOCITY control

The drive is in the velocity control operating mode. It follows the velocity command value sequence set by the control system. The velocity control loop is closed in the drive.

A102 Position mode with encoder 1

The drive is in position control mode. The position loop is closed in the drive by a position encoder. The control system only sets the position command value sequence; the drive follows the command value with a systematical lag (following error).

Encoder 1 indicates that the position encoder is installed on the motor shaft (indirect measurement of the axis position).

A103 Position mode with encoder 2

The drive is in position control mode. The position loop is closed in the drive by a position encoder. The control system only sets the position command value sequence; the drive follows the command value with a systematical lag (following error).

Encoder 2 indicates that the position encoder is installed on the machine axis (direct axis position measurement).

A104 Position mode lagless, encoder 1

The drive is in position control mode. The position loop is closed in the drive by a position encoder. The control system only sets the position command value sequence; the drive follows the command value without following (lag) error.

Encoder 1 indicates that the position encoder is installed on the motor shaft (indirect measurement of axis position).

A105 Position control lagless, feedback 2

The drive is in position control mode. The position loop is closed in the drive by a position encoder. The control system only sets the position command value sequence; the drive follows the command value without following (lag) error.

Encoder 2 indicates that the position encoder is installed on the machine axis (direct axis position measurement).

A106 Drive controlled interpolation, encoder 1

The drive receives a position command value from the control system which is identical to the target position of the travel path. Then the drive generates (interpolates) an internal position command value sequence, which uses the control system to maintain maximum values for jerk, velocity and acceleration sequences. The drive moves with a systematical §lag (following error) to the target position.

Encoder 1 indicates that the position encoder is installed on the motor shaft (indirect measurement of the axis position).

A107 Drive controlled interpolation, encoder 2

The drive receives a position command value from the control system which is identical to the target position of the travel path. Then the drive generates (interpolates) an internal position command value sequence, which uses the control system to maintain maximum values for jerk, velocity and acceleration sequences. The drive moves with a systematical lag (following error) to the target position.

Encoder 2 indicates that the position encoder is installed on the machine axis (direct axis position measurement).

A108 Drive controlled interpolation, lagless, encoder 1

The drive receives a position command value from the control system which is identical to the target position
of the travel path. Then the drive generates (interpolates) an internal position command value sequence, which uses the control system to maintain maximum values for jerk, velocity and acceleration sequences. The drive moves without following error to the target position.

Encoder 1 indicates that the position encoder is installed on the motor shaft (indirect measurement of the axis position).

A109 Drive controlled interpolation, lagless, encoder 2

The drive receives a position command value from the control system which is identical to the target position
of the travel path. Then the drive generates (interpolates) an internal position command value sequence, which uses the control system to maintain maximum values for jerk, velocity and acceleration sequences. The drive moves without following error to the target position.

Encoder 2 indicates that the position encoder is installed on the machine axis (direct axis position measurement).

A146 Relative drive controlled interpolation, encoder 1

In the S-0-0282, Travel distance parameter, the drive receives a distance specification from the controller.
When bit 0 of the S-0-0346, Setup flag for relative command values parameter is toggled, this distance is
summed up to the value in S-0-0258, Target position. In order to get from the current position to the new target
position, the drive now generates (interpolates) an internal position command value curve. This is done taking the limit values of velocity, acceleration, and jerk in the parameters

· S-0-0259, Positioning velocity

· S-0-0260, Positioning acceleration

· S-0-0193, Positioning jerk

into account.

The drive approaches the target position with a position lag that is proportional to the velocity.

Encoder 1 means that the position encoder is attached to the motor shaft (indirect measurement of the axis position).

A147 Relative drive controlled interpolation, encoder 2

In the S-0-0282, Travel distance parameter, the drive receives a distance specification from the controller.
When bit 0 of the S-0-0346, Setup flag for relative command values parameter is toggled, this distance is
summed up to the value in S-0-0258, Target position. In order to get from the current position to the new target
position, the drive now generates (interpolates) an internal position command value curve. This is done taking the limit values of velocity, acceleration, and jerk in the parameters

· S-0-0259, Positioning velocity

· S-0-0260, Positioning acceleration

· S-0-0193, Positioning jerk

into account.

The drive approaches the target position with a position lag that is proportional to the velocity.

Encoder 2 means that the position encoder that is attached to the load is used for closing the position control loop (direct axis position measurement).

A148 Relative drive contr. interpolation, enc. 1, lagless

In the S-0-0282, Travel distance parameter, the drive receives a distance specification from the controller. When bit 0 of the S-0-0346, Setup flag for relative command values parameter is toggled, this distance is summed up to the value in S-0-0258, Target position. In order to get from the current position to the new target position, the drive now generates (interpolates) an internal position command value curve. This is done taking the limit values of velocity, acceleration, and jerk in the parameters

· S-0-0259, Positioning velocity

· S-0-0260, Positioning acceleration

· S-0-0193, Positioning jerk

into account.

The drive approaches the target position of the travel path without a position lag. Encoder 1 means that the position encoder is attached to the motor shaft (indirect measurement of the axis position).

A149 Relative drive contr. interpolation, enc. 2, lagless

In the S-0-0282, Travel distance parameter, the drive receives a distance specification from the controller.
When bit 0 of the S-0-0346, Setup flag for relative command values parameter is toggled, this distance is summed up to the value in S-0-0258, Target position. In order to get from the current position to the new target position, the drive now generates (interpolates) an internal position command value curve. This is done taking the limit values of velocity, acceleration, and jerk in the parameters

· S-0-0259, Positioning velocity

· S-0-0260, Positioning acceleration

· S-0-0193, Positioning jerk

into account.

The drive approaches the target position of the travel path without a position lag.

Encoder 2 means that the position encoder that is attached to the load is used for closing the position
control loop (direct axis position measurement).

A206 Process block mode, encoder 1

The drive performs a closed loop position control with systematical lag. The actual value comes from the encoder 1 (motor encoder). The command value profile is generated in the drive. Target position, velocity, acceleration and jerk are determined by a pre-programmed process block. Depending on P-0-4019, Process block mode, the target position is interpreted as an absolute value or as a relative distance to move.

A207 Process block mode lagless, encoder 1

The drive performs a closed loop position control without lag. The actual value comes from the encoder 1 (motor encoder). The command value profile is generated in the drive. Target position, velocity, acceleration and jerk are determined by a pre-programmed process block. Depending on P-0-4019, Process block mode, the target position is interpreted as an absolute value or as a relative distance to move.

A208 JOG mode positive

The drive moves with a jogging velocity (P-0-4030) in the positive direction. The motor is turning clockwise, when viewing the motor shaft.

A210 Process block mode, encoder 2

The drive performs a closed loop position control with systematical lag. The actual value comes from the
encoder 2 (ext. encoder). The command value profile is generated in the drive. Target position, velocity,
acceleration and jerk are determined by a pre-programmed process block. Depending on P-0-4019, Process block mode, the target position is interpreted as an absolute value or as a relative distance to move.

A211 Process block mode lagless, encoder 2

The drive performs a closed loop position control without lag. The actual value comes from the encoder 2 (ext. encoder). The command value profile is generated in the drive. Target position, velocity, acceleration and jerk are determined by a pre-programmed process block. Depending on P-0-4019, Process block mode, the target position is interpreted as an absolute value or as a relative distance to move.

A218 JOG mode negative

The drive moves with a jogging velocity (P-0-4030) in the negative direction. The motor is turning counter clockwise, when viewing the motor shaft.

A800 Unknown operation mode

There is no diagnosis for the activated operation mode.