3.1 Command Diagnostic Messages C... and D

· Drive Commands

- Deactivates the active operating mode during its operation

· Monitor Commands

Activation or deactivation of monitors or features

· Management Commands

- Lead management tasks that are not interruptable

Meaning:
The command S-0-0127, C1 Communication phase 3 transition check has been activated.

Cause:
Communications parameters which are needed to operate the drive in communication phase 3 are invalid.

Remedy:
A list of the invalid parameters can be seen in parameter S-0-0021, List of invalid op. data for comm. ph. 2. The invalid parameters must be rewritten so they are correct.

Cause:
Telegram type 7 was set in parameter S-0-0015, Telegram type parameter. Parameters which are missing in S-0-0188, List of configurable data in MDT are kept in S-0-0024, Configuration list for the master data telegram.

Remedy:
You must either set a priority telegram (Telegram type = 0..6) or else provide S-0-0024, Config. list of the master data telegram with parameters. These parameters are also contained in S-0-0188, List of configurable data in the MDT.

Cause:
Telegram type 7 was set in parameter S-0-0015, Telegram type parameter. The length of the configured record in MDT, which is determined by S-0-0024, Configurations list of the master data telegram, exceeds the maximum permissible length S-0-0186, Length of the configurable data record in the MDT.

Remedy:
You must either set a priority telegram in S-0-0015, Telegram type parameter (telegram type = 0..6 ) or else reduce the number of configurable parameters in MDT.

Cause:
Telegram type 7 was set in parameter S-0-0015, Telegram type parameter. Parameters which are not contained in S-0-0187, List of configurable data in AT can be seen in S-0-0016, Custom amplifier telegram configuration list.

Remedy:
You must either set a priority telegram in parameter S-0-0015, Telegram type parameter (telegram type = 0..6) or you must provide S-0-0016, Custom amplifier telegram configuration list with parameters that are contained in S-0-0187, List of configurable data in the AT.

Cause:
Message frame type 7 has been selected in S-0-0015, Telegram Type Parameter. The length of the configured data record in the AT, that is defined via S-0-0016, Custom amplifier telegram configuration list, exceeds the maximum permissible S-0-0185, Length of the configurable data record in the AT.

Remedy:
Either select the priority message frame via S-0-0015, Telegram Type Parameter (message frame type = 0...6) or reduce the number of configured parameters in the AT ( S-0-0016 ).

Cause:
One of the time slot parameters:

· S-0-0006, AT transmission starting time (T1)

· S-0-0089, MDT transmission starting time (T2)

· S-0-0007, Feedback acquisition starting time (T4)

· S-0-0008, Command valid time (T3) exceeds S-0-0002, SERCOS Cycle time (Tscyc).

Remedy:
Correct the appropriate parameter(s). These times are determined by the manufacturer of the control system and are specified by the SERCOS interface.

Cause:
Parameter S-0-0009, Beginning address in master data telegram contains an even value. This is not permitted.

Remedy:
Parameter S-0-0009, Beginning address in master data telegram must be set to an odd value. These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.

Cause:
Parameter S-0-0010, Length of master data telegram contains an odd value. This is not permitted.

Remedy:
Parameter S-0-0010, Length of master data telegram must be set to an even value. These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.

Parameter(s) are set incorrectly for S-0-0009, Beginning address in master data telegram and S-0-0010, Length of master data telegram. The length of the record in MDT for the drive plus the starting address inMDT is greater than the total length of the MDT.

Remedy:
The parameters for S-0-0009, Beginning address in master data telegram and S-0-0010, Length of master data telegram must be corrected. Those parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface.

Cause:
Only 500 us or even multiples of 1ms are permitted as valid values for S-0-0001, NC Cycle time (TNcyc) and S-0-0002, SERCOS Cycle time (Tscyc). Here, this is not the case.

Remedy:
S-0-0001, NC Cycle time (TNcyc) and S-0-0002, SERCOS Cycle time (Tscyc) must be corrected. These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.

Cause:
The value of S-0-0001, NC Cycle time (TNcyc) can only be equal to or be a multiple of S-0-0002, SERCOS Cycle time (Tscyc). Here this is not the case.

Remedy:
S-0-0001, NC Cycle time (Tncyc) and S-0-0002, SERCOS Cycle time (Tscyc) must be corrected. These parameters are determined by the manufacturer of the control system and are specified by the SERCOS interface.

Cause:
The maximum permissible value for S-0-0007, Feedback acquisition starting time (T4) is: S-0-0002, SERCOS Cycle time (Tscyc) -S-0-0005, Minimum feedback acquisition time(T4min). The value for S-0-0007, Feedback acquisition starting time (T4) is incorrect.

Remedy:
**Correct S-0-0007, Feedback acquisition starting time (T4). These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.

Cause:
The value set for S-0-0089, MDT Transmit starting time (T2) is incorrect. The drive cannot work with this value.

Remedy:
**Correct S-0-0089, MDT Transmit starting time (T2). These parameters are determined by the manufacturer of the control system, and are specified by the SERCOS interface.

Meaning:
The command S-0-0128, C200 Communication phase 4 transition check has been activated.

Cause:
Parameters which will be necessary to operate the drive in communications phase 4 are invalid. The invalid parameters can be seen in S-0-0022, IDN list of invalid op. data for comm. ph. 3.

Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph. 3 must be rewritten so they are correct.

Cause:
Parameters which are necessary to operate the drive in communications phase 4 are either outside of their minimum or maximum input values or the entered value can't be processed (for BIT bars). The incorrect parameters are listed in S-0-0022, IDN list of invalid op. data for comm. ph. 3.

Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph. 3 must be rewritten so they are correct.

Cause:
Parameters that are required for phase-4 operation (operating mode) cannot be processed in that way. The incorrect parameters are listed in S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.

Remedy:
Write correct values to the parameters in S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.

C204 Motor type P-0-4014 incorrect

An MHD-, MKD or MKE motor (value 1 or 5) is entered into parameter P-0-4014, Motor type. The appropriate abbreviation "MHD", "MKD", or MKE however, was not found in parameter S-0-0141, Motor type in the motor feedback data memory.

Cause:
1. Incorrect parameter set for type of motor.

Remedy:

For 1. Enter the type of motor used in parameter P-0-4014, Motor type

Cause:
Values that require an external encoder have been entered in S-0-0147, Homing parameter or in the S-0-0032...35, Mode of Operation parameters. However, zero (not available) has been entered in the P-0-0075, Interface Feedback 2, external parameter. The ident number of the parameter that requires the external encoder is entered in S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.

Remedy:
Modify S-0-0147, Homing parameter or the S-0-0032...35, Mode of Operation parameters to utilization of the motor encoder instead of external encoder. Set P-0-0075, Interface Feedback 2, external to a value different than zero to activate the external measuring system.

C211 Invalid feedback data (->S-0-0022)

Causes:
1. Motor feedback cable not connected or defective

3. Drive controller defective

Remedy:
Ref. 1. Check motor feedback cable; connect both sides

Ref. 3. Replace amplifier

C212 Invalid amplifier data (->S-0-0022)

Causes:
Defective hardware in the drive controller.

Remedy:
Replace drive controller.

Cause:
The scaling parameters for position data permit the position data display format to be selected. The drive-internal position data format depends on the employed motor encoder and the encoder resolution. The factor used for converting the position data from the drive-internal format into the display format or vice versa is outside the processable range, because either

· linear motor and rotary position scaling with motor reference, or

· rotary motor and linear position scaling with motor reference, or

· linear motor with modulo scaling has been selected; or

· the determined factor used for converting the position data from the display format to the internal format, and vice versa, cannot be represented.

Remedy:

Checking and correcting the relevant parameters, such as:

· S-0-0076, Position data scaling type

· S-0-0077, Linear position data scaling factor

· S-0-0078, Linear position data scaling exponent

· S-0-0079, Rotational position resolution

· S-0-0116, Resolution of motor feedback

· S-0-0121, Input revolutions of load gear

· S-0-0122, Output revolutions of load gear

· S-0-0123, Feed constant

· P-0-0074, Interface feedback 1

· S-0-0277, Position feedback 1 type parameter

Cause:
The scaling parameters for velocity data permit the velocity data display format to be selected. The drive-internal velocity data format depends on the employed motor encoder and the encoder resolution. The factor used for converting the velocity data from the drive-internal format into the display format or vice versa is outside the processable range.

Remedy:
Checking and correcting the relevant parameters, such as:

· S-0-0044, Velocity data scaling type

· S-0-0045, Velocity data scaling factor

· S-0-0046, Velocity data scaling exponent

· S-0-0116, Resolution of motor feedback

· S-0-0121, Input revolutions of load gear

· S-0-0122, Output revolutions of load gear

· S-0-0123, Feed constant

· P-0-0074, Interface feedback 1

· S-0-0277, Position feedback 1 type parameter

Cause:
The display format of the acceleration data can be set for the acceleration data using scaling parameters. The drive-controlled format of the acceleration data is dependent on what motor encoder and encoder resolution are used. The factor for converting acceleration data from internal drive format to display format (or vice-versa) is outside the workable range.

Remedy:
Check and set the relevant parameters correctly as follows:

· S-0-0160, Acceleration data scaling type

· S-0-0161, Acceleration data scaling factor

· S-0-0162, Acceleration data scaling exponent

· S-0-0116, Resolution of motor feedback

· S-0-0121, Input revolutions of load gear

· S-0-0122, Output revolutions of load gear

· S-0-0123, Feed constant

· P-0-0074, Interface feedback 1

· S-0-0277, Position feedback 1 type parameter

Cause:
The display format of the torque/force data can be set for the torque/force data using scaling parameters. The factor for converting torque data from drive-controlled format to display format (or vice-versa) is outside the workable area.

Remedy:
Check and set the relevant parameters correctly as follows:

· S-0-0086, Torque/force data scaling type

· S-0-0093, Torque/force data scaling factor

· S-0-0094, Torque/force data scaling exponent

· S-0-0110, Amplifier peak current

· S-0-0111, Motor current at standstill

C217 Motor feedback data reading error

If you have entered these values into P-0-0074, Interface feedback 1:

· "1" for standard interface,

· "4" for DFF module, or

· "8" for DAG module (Endat) then the attached encoder must have a feedback data memory. The values for the encoder resolution and the feedback type are taken from there. An error was discovered while reading these values.

Cause:
1. Defective motor feedback cable.

2. Defective motor feedback.

Remedy:
For 1. Check the motor feedback cable.

For 2. Exchange the motor