4.1 Command Diagnostic Messages C... and D

The commands are used for control of complex features in the drive. For example, the features "drive controlled homing procedure" or "Communication Phase 4 Transition Check" are defined as commands. Commands can start, interrupt or erase a primary control. A parameter belongs to each command whereby the command can be controlled by the parameter.

During the command operation, the diagnostic message "Cx" appears in the H1 display where the x stands for the number of the command. It can distinguish between 3 types of commands.

Command Types

· Drive Commands

- Lead to an eventual automatic drive movement

- Can be started only through an inputted control enable

- 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

C100 Communication phase 3 transition check

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, IDN-list of invalid op. data for comm. Ph. 2. The invalid parameters must be rewritten so they are correct.

Cause:

Communications parameters, which are needed to operate the drive in communication phase 3, are outside their limit values.

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 with values between the respective min. and the max. value to be 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 provide S-0-0024, Config. list of 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
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:

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.

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.

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.

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.

C118 Order of MDT configuration wrong

The chronological order of processing the cyclical MDT data in the drive is the same order in which the configurated ident numbers (IDN) are placed in the parameter S-0-0024, Config. list of the master-data-telegram.

If both parameters S-0-0360, MDT Data container A and S-0-0368, Addressing for data container A as well are configured in the MDT, then the processing of the MDT data container is only correct if the addressing has been processed before. To maintain the correct order for the configuration of the MDT, the drive checks in the command S-0-127, C100 Communication phase 3 transition check, whether the IDN S-0-0368 is configured before S-0-0360. If this is not the case, the drive generates the command error C118 Order of MDT configuration wrong.

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 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 with correct values.

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.

2. The motor feedback memory cannot be read.

Remedy:

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

For 2. Check feedback connection. If feedback is defective, exchange motor.

Cause:

Defective drive.

Remedy:

1. Power down and then on again.

2. If this in not successfull, exchange drive.

Description:

When the motors are first distributed, the parameter for absolute control emulation is purposely invalid to ensure that the "Set Absolute Measurement Emulator Command" will be executed after a motor is exchanged.

Cause:

The SSI emulation was selected. The parameters required for emulation are invalid.

Remedy:

Connect the control drive to a PC and activate DriveTop. "Actual Position Output" menu with controller emulation type "Absolute Controller Emulation (SSI)":

· Describe "Homing Position/Offset"

· Select "Absolute Control Directional Counter"

Cause:

Values that require an optional encoder have been entered in S-0-0147, Homing parameter or in the S-0-0032...35, Mode of Operation parameters. However, 0 (not available) has been entered in the P-0-0075, Feedback type 2, optional parameter. The ident number of the parameter that requires the optional 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 optional encoder. Set P-0-0075, Feedback type 2, optional to a value different from 0 to activate the optional measuring system.

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

Invalid data has been encountered when the parameters stored in the motor feedback were read, or an error has occurred when the data was read.

Causes:

1. Motor feedback cable not connected or defective

2. Motor feedback defective

3. Drive controller defective

Remedy:

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

Ref. 2. Replace motor

Ref. 3. Replace amplifier

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

During drive initialization, the operating software fetches data from an EEPROM in the drive controller. This error message is generated after that access has failed.

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, Feedback type 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, Feedback type 1

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

Cause:

The display format of the acceleration data can be set using acceleration 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, Feedback type 1

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

Cause:

The display format of the torque/force data can be set using torque/force 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