DIAX04 - A-koder

A-koder, DIAX04

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A000	A102	A148
A001	A103	A149
A002	A104	A800
A003	A105
A010	A106
A011	A107
A012	A108
A013	A109
A100	A146
A101	A147

A000 Communication phase 0

The communication process is divided into four communications phases: Phases 0 and 1 are used to recognize the participants. Phase 2 is used to provide the time and data protocols for communications phases 3 and 4. Initialization is performed in ascending order of the sequence. The defaults of the communications phase are set by the control system. When the switch to communications phase 4 takes place, initialization is completed and input power is enabled. If the delayed phase switch is interrupted, the status display in the communications phase which has already been reached freezes. If diagnostic message A000 Communication phase 0 is active, the drive is in phase 0 and is waiting for a phase transfer to 1 by the control system.

A001 Communication phase 1

The communication process is divided into four communications phases: Phases 0 and 1 are used to recognize the participants. Phase 2 is used to provide the time and data protocols for communications phases 3 and 4. Initialization is performed in ascending order of the sequence. The defaults of the communications phase are set by the control system. When the switch to communications phase 4 takes place, initialization is completed and input power is enabled. If the delayed phase switch is interrupted, the status display in the communications phase which has already been reached freezes. If diagnostic message A001 Communication phase 1 is active, the drive is in phase 1, and transfer from phase 1 to 2 has not yet been initiated by the control system.

A002 Communication phase 2

The communication process is divided into four communications phases: Phases 0 and 1 are used to recognize the participants. Phase 2 is used to provide the time and data protocols for communications phases 3 and 4. Initialization is performed in ascending order of the sequence. The defaults of the communications phase are set by the control system. When the switch to communications phase 4 takes place, initialization is completed and input power is enabled. If the delayed phase switch is interrupted, the status display in the communications phase which has already been reached freezes. If diagnostic message A002 Communication phase 2 is active, the drive is in phase 2.Before the control system transfers to communications phase 3, command S-0-0127, C100 Communication phase 3 transition check must be started. If the command is acknowledged negatively, transfer to communications phase 3 is not possible. The problems that were diagnosed by the drive must be solved first.

Note: The parameters are not checked to see if they are correct.

A003 Communication phase 3

The communication connection is divided into four communication phases: Phases 0 and 1 are used to recognize the participants. Phase 2 is used to provide the time and data protocols for communications phases 3 and 4. Initialization is performed in ascending order of the sequence. The defaults of the communications phase are set by the control system. When the switch to communications phase 4 takes place, initialization is completed and input power is enabled. If the delayed phase switch is interrupted, the status display in the communications phase which has already been reached freezes. If diagnostic message A003 Communication phase 3 is active, the drive is in phase 3. Before the control system transfers to communications phase 4 (operating mode), command S-0-0128, C200 Communication phase 4 transition check must be started. If the command is acknowledged negatively, transfer to communications phase 4 is not possible. The problems that were diagnosed by the drive must be solved first.

Note: The parameters are not checked to see if they are correct.

A010 Drive HALT

The feature "Halt drive" was activated. The halt drive feature serves to stop the motor at a defined deceleration and a defined jerk. This feature can either be activated by deleting the drive halt bits (BIT 13) in the master control word or by interrupting a drive control command (i.e., in drive-controlled homing).

A011 Drive Interlock open

Digital drive controllers are equipped with a starting lockout device that prevents an unwanted start of a servo axis. Activating the starting lockout device separates the power stage control electronics from the power stage via a relay contact. +24 V is applied to the AS+; AS– terminals of the X3 connector.

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 for power delivery.

A013 Ready for Power On

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

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 RPM 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 following (lag) 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 following (lag) 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 following (lag) error to the target position of the travel path. 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 following (lag) error to the target position of the travel path. 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 of the travel path. 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 of the travel path. 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

· S-0-0259, Positioning velocity

· S-0-0260, Positioning acceleration

· S-0-0193, Positioning jerk

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

· 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

· S-0-0259, Positioning velocity

· S-0-0260, Positioning acceleration

· S-0-0193, Positioning jerk

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).

A800 Unknown Operation Mode

There is no diagnosis for the activated mode.