REXROTH DOK-DIAX04-ELS-06VRS**-WA01-EN-P Series Troubleshooting Manual
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REXROTH DOK-DIAX04-ELS-06VRS**-WA01-EN-P Series Troubleshooting Manual

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DIAX04
Drive With Electric Gear
Function
Troubleshooting Guide: ELS 06VRS
SYSTEM200
DOK-DIAX04-ELS-06VRS**-WA01-EN-P

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Summary of Contents for REXROTH DOK-DIAX04-ELS-06VRS**-WA01-EN-P Series

  • Page 1 DIAX04 Drive With Electric Gear Function Troubleshooting Guide: ELS 06VRS SYSTEM200 DOK-DIAX04-ELS-06VRS**-WA01-EN-P...
  • Page 2 • help in understanding error messages • help in finding the causes of errors • describe the procedure for trouble shooting • simplify the process of establishing contact with the Rexroth Indramat Customer service department Record of Revisions Description...
  • Page 3 DIAX04 ELS-06VRS About this Documentation Summary of Documentation - Box Functional Description: Description of all implemented Function based on SERCOS-Parameters Order designation: DOK-DIAX04-ELS-06VRS**-FK01-EN-P 2 8 2 8 0 1 Parameter Description: A description of all parameters used in the firmware Order designation: DOK-DIAX04-ELS-06VRS**-PA01-EN-P 2 8 2 8 0 1...
  • Page 4 About this Documentation DIAX04 ELS-06VRS Notes DOK-DIAX04-ELS-06VRS**-WA01-EN-P...

  • Page 5: Table Of Contents

    DIAX04 ELS-06VRS Contents Contents Diagnostic Message Descriptions Overview of the Diagnostic Message Descriptions................ 1-1 Diagnostic Message Types...................... 1-1 Construction of a Diagnostic Message ..................1-1 Important Directions for Use Appropriate Use ..........................2-1 Introduction ..........................2-1 Areas of Use and Application....................2-2 Inappropriate Use...........................
  • Page 6 Contents DIAX04 ELS-06VRS F236 Excessive position feedback difference................4-6 F237 Excessive position command difference ................ 4-7 F242 Encoder 2 failure: signal amplitude wrong..............4-7 F245 Encoder 2 failure: quadrant error..................4-9 F248 Low battery voltage......................4-9 F249 Master drive encoder failure: signal too small .............. 4-10 F252 Master drive encoder failure: quadrant error ..............
  • Page 7 DIAX04 ELS-06VRS Contents F644 Negative travel limit switch detected ................4-22 F820 Braking resistor overload ....................4-23 F822 Encoder 1 failure: signal amplitude wrong..............4-23 F827 Drive interlock while drive activated ................4-25 F860 Overcurrent: short in power stage ................4-25 F861 Overcurrent: short to ground ..................
  • Page 8 Contents DIAX04 ELS-06VRS E843 Positive limit switch activated ..................4-39 E844 Negative limit switch activated ..................4-39 Description of Diagnostic Messages B…, C…, D… and A… Command Diagnostic Messages B…, C… and D…..............5-1 B100 Command Release motor holding brake................ 5-2 B101 Command not enabled ....................
  • Page 9 DIAX04 ELS-06VRS Contents C235 Load-side motor encoder with inductance motor only ..........5-15 C236 Feedback 1 required (P-0-0074) .................. 5-16 C300 Command Set absolute measuring................5-16 C302 Absolute measuring system not installed..............5-16 C500 Reset class 1 diagnostic, error reset................5-16 C501 Error delete only in parameter mode................
  • Page 10 Contents DIAX04 ELS-06VRS A110 Velocity synchronization, virtual master drive .............. 5-27 A112 Phase synchronization, encoder 1, virtual master drive..........5-27 A113 Phase synchronization, encoder 2, virtual master drive..........5-27 A116 Phase synchr. lagless, encoder 1, virtual master drive..........5-28 A117 Phase synchr. lagless, encoder 2, virtual master drive..........5-28 A128 Cam shaft, encoder 1, virtual master drive..............

  • Page 11: Diagnostic Message Descriptions

    DIAX04 ELS-06VRS Diagnostic Message Descriptions Diagnostic Message Descriptions Overview of the Diagnostic Message Descriptions Diagnostic Message Types Each operational state of the drive will be characterized with a diagnostic message. Differentiation will be made between: • Error diagnostic messages • Warning diagnostic messages •...
  • Page 12 Diagnostic Message Descriptions DIAX04 ELS-06VRS Display The H1 display is the visual representation the diagnosis of the drive controller. H2 serves two-axis units (HDD) as an addition display. H1-Display H2-Display FA5133f1.fh7 Fig. 1-2: H1 and H2 displays on the HDS and HDD controllers The diagnostic number appears on this two-positional seven-segment display.
  • Page 13 DIAX04 ELS-06VRS Diagnostic Message Descriptions If more than one diagnostic message is waiting, then the message with Diagnostic Message Output the highest priority will be displayed. Priority The following graphic classifies operation status in order of importance. Error Warning Command error Command active Ready to operate ? Ready to...
  • Page 14 Diagnostic Message Descriptions DIAX04 ELS-06VRS Notes DOK-DIAX04-ELS-06VRS**-WA01-EN-P...

  • Page 15: Important Directions For Use

    The user alone carries all responsibility of the risks. Before using Rexroth Indramat products, make sure that all the pre- requisites for an appropriate use of the products are satisfied: • Personnel that in any way, shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use.

  • Page 16: Areas Of Use And Application

    Important Directions for Use DIAX04 ELS-06VRS Areas of Use and Application Drive controllers made by Rexroth Indramat are designed to control electrical motors and monitor their operation. Control and monitoring of the motors may require additional sensors and actors. Note: The drive controllers may only be used with the accessories and parts specified in this document.

  • Page 17: Safety Instructions For Electric Drives And Controls

    If you do not have the user documentation for your equipment, contact your local Rexroth Indramat representative to send this documentation immediately to the person or persons responsible for the safe operation of this equipment.

  • Page 18: Hazards By Improper Use

    Safety Instructions for Electric Drives and Controls DIAX04 ELS-06VRS Hazards by Improper Use High voltage and high discharge current! Danger to life or severe bodily harm by electric shock! DANGER Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional motor movements! DANGER High electrical voltage due to wrong...

  • Page 19: General Information

    DIAX04 ELS-06VRS Safety Instructions for Electric Drives and Controls General Information • Rexroth Indramat GmbH is not liable for damages resulting from failure to observe the warnings provided in this documentation. • Read the operating, maintenance and safety instructions in your language before starting up the machine.
  • Page 20 Safety Instructions for Electric Drives and Controls DIAX04 ELS-06VRS • Operation is only permitted if the national EMC regulations for the application are met. The instructions for installation in accordance with EMC requirements can be found in the documentation "EMC in Drive and Control Systems".

  • Page 21: Protection Against Contact With Electrical Parts

    DIAX04 ELS-06VRS Safety Instructions for Electric Drives and Controls Protection Against Contact with Electrical Parts Note: This section refers to equipment and drive components with voltages above 50 Volts. Touching live parts with voltages of 50 Volts and more with bare hands or conductive tools or touching ungrounded housings can be dangerous and cause electric shock.

  • Page 22: Protection Against Electric Shock By Protective Low Voltage (Pelv)

    Protection Against Electric Shock by Protective Low Voltage (PELV) All connections and terminals with voltages between 0 and 50 Volts on Rexroth Indramat products are protective low voltages designed in accordance with international standards on electrical safety. High electrical voltage due to wrong...

  • Page 23: Protection Against Dangerous Movements

    DIAX04 ELS-06VRS Safety Instructions for Electric Drives and Controls Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of the connected motors. Some common examples are: • improper or wrong wiring of cable connections • incorrect operation of the equipment components •...
  • Page 24 Safety Instructions for Electric Drives and Controls DIAX04 ELS-06VRS Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! ⇒ Ensure personal safety by means of qualified and tested higher-level monitoring devices or measures DANGER integrated in the installation. Unintended machine motion is possible if monitoring devices are disabled, bypassed or not activated.

  • Page 25: Protection Against Magnetic And Electromagnetic Fields During Operation And Mounting

    DIAX04 ELS-06VRS Safety Instructions for Electric Drives and Controls ⇒ Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for: - maintenance and repair work - cleaning of equipment - long periods of discontinued equipment use ⇒...

  • Page 26: Protection Against Contact With Hot Parts

    3-10 Safety Instructions for Electric Drives and Controls DIAX04 ELS-06VRS Protection Against Contact with Hot Parts Housing surfaces could be extremely hot! Danger of injury! Danger of burns! ⇒ Do not touch housing surfaces near sources of heat! Danger of burns! CAUTION ⇒...

  • Page 27: 3.11 Battery Safety

    3-11 DIAX04 ELS-06VRS Safety Instructions for Electric Drives and Controls 3.11 Battery Safety Batteries contain reactive chemicals in a solid housing. Inappropriate handling may result in injuries or material damage. Risk of injury by incorrect handling! ⇒ Do not attempt to reactivate discharged batteries by heating or other methods (danger of explosion and cauterization).
  • Page 28 3-12 Safety Instructions for Electric Drives and Controls DIAX04 ELS-06VRS Notes DOK-DIAX04-ELS-06VRS**-WA01-EN-P...

  • Page 29: Description Of Diagnostic Letters F

    DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Description of Diagnostic Letters F... and E... Error Diagnostic Messages F... Many functions are monitored subject to operating modes and parameter settings. An error message is generated if a condition is discovered which no longer allows proper operation.

  • Page 30: F207 Switching To Uninitialized Operation Mode

    Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS F207 Switching to uninitialized operation mode Cause: 0 has been selected in at least one of the four mode operating mode parameters S-0-0032…35. This mode has been selected by the bits 8 and 9 in the master control word while the drive controller was on.

  • Page 31: F218 Amplifier Overtemperature Shutdown

    DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Remedy: Press S1 button on the drive controller, and all the parameters will be erased and restored with the factory preset default values ⇒ This overwrites all parameters and positioning blocks. WARNING See also the functional description: "Basic parameter block".

  • Page 32: F221 Motor Temp. Surveillance Defective

    Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS Remedy: For 1. Check the layout of the motor. For motors which have been in operation for longer periods of time, check to see if the operating conditions have changed (in regards to cleanliness, friction, moved components, etc.).

  • Page 33: F228 Excessive Deviation

    DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Remedy: 1. Check the command torque to know whether it corresponds to the expected load cycle. Check the settings of velocity control loop and position control loop. 2. Check the application. F228 Excessive deviation When the position loop is closed, the drive monitors whether it is able to follow the specified command value.

  • Page 34: F233 External Power Supply Error

    Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS F233 External power supply error Cause: The DEA plug-in modules have isolated inputs and outputs. Proper operation of those inputs and outputs requires an external 24 volts to be applied. The drive monitors that voltage as soon as a DEA plug-in module has been installed.

  • Page 35: F237 Excessive Position Command Difference

    DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Remedy for: 1. Check S-0-0115, Position feedback 2 type parameter and S-0-0117, Resolution of feedback 2. 2. Check S-0-0121, S-0-0122, Input/Output revolutions of load gear and S-0-0123, Feed constant. 3. Increase S-0-0391, Monitoring window feedback 2; switch off when using a gearbox with a large amount of slip.
  • Page 36 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS To check this, it is possible to transmit the encoder signals to the analog output of the controller. This is done by means of the following parameter setting: Channel 1: P-0-0420 = 0; P-0-0421 = 3 (sine encoder 2); P-0-0422 = 1.0 Channel 2: P-0-0423 = 0;...

  • Page 37: F245 Encoder 2 Failure: Quadrant Error

    DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Remedy: Check the measuring system cable. Check the measuring system. In the case of linear measuring systems, check the mounting of the measuring head. F245 Encoder 2 failure: quadrant error The evaluation of the additional optional encoder (encoder 2) is active. In the evaluation of the sinusoidal input signals of the optional encoder, a plausibility check is performed between these signals and the counter fed by these signals.

  • Page 38: F249 Master Drive Encoder Failure: Signal Too Small

    4-10 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS If the control voltage is turned off while the battery is taken out, the absolute reference point will be lost. Then, the reference point must be reestablished with the command "Set absolute measuring“. Removing the Battery •...

  • Page 39: F253 Incr. Encoder Emulator: Pulse Frequency Too High

    4-11 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... F253 Incr. encoder emulator: pulse frequency too high Cause: The incremental encoder emulator can process a maximum of 1023 increments per sample period (250 µs ); this value has been exceeded. Remedial action: Reduce the number of lines of the incremental encoder emulator (P-0-0502).

  • Page 40: F268 Brake Fault

    4-12 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS Remedy: Replace drive controller. F268 Brake fault The drive controller takes control of the brake for motors with an integrated holding brake. The braking current is monitored. If the braking current is outside of the permissible range between: 0.4 -1.6 * P-0-0511, Break current this error message will be generated.

  • Page 41: F271 Error Power Supply Travel Limit Switch

    4-13 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... See also the functional description: "Connection of the Home switch" F271 Error power supply travel limit switch To be able to monitor the travel limit switches, the DSS2.1 plug-in module requires an external 24-V power supply.

  • Page 42: F276 Absolute Encoder Out Of Allowed Window

    An accident may occur by accidental axis movement. Check absolute position information. The feedback is defective if the absolute position information is wrong. The motor should be exchanged and sent to the Rexroth Indramat Customer Service. WARNING Note:...

  • Page 43: F281 Mains Fault

    4-15 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... F281 Mains fault Cause: The power supply voltage was not present during operation for at least 3 power periods. As a result, the drive controller was brought to a standstill according to the set error response.

  • Page 44: F316 Softstart Fault Power Supply Unit

    4-16 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS Remedy: - Reduce maximum torque level - Use a step up (mains) transformer, to increase the mains supply voltage to the drive. F316 Softstart fault power supply unit The DC bus cannot be activated. Cause: Short-circuit in power supply or drive controller.

  • Page 45: F360 Overcurrent Power Supply Unit

    4-17 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... On 2: Increase cycle time, reduce the speed of the drive, install additional bleeder. On 3: Replace unit. F360 Overcurrent power supply unit With HVR only! Cause: Short-circuit in power supply unit, drive controller, motor or a cable. Remedy: Disconnect power supply lines on the drive controller one at a time.

  • Page 46: F382 Mains Phase Loss Fault

    4-18 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS F382 Mains phase loss fault With HVE only ! Cause: At least one phase of the 3 pjase power supply input is missing. Remedy: Check mains fuses and replace, if necessary. F383 Line voltage fault With HVR only ! Cause:...

  • Page 47: F402 Double Mdt Failure Shutdown

    4-19 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Cause: Disruption in the fiber optic transmission line. Too much attenuation of the light signal. Malfunction in the SERCOS interface (general). Remedy for: Check all fiber Optic connections in the SERCOS ring. Measure the attenuation in the fiber optic cable.

  • Page 48: F404 Error During Phase Progression

    4-20 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS F404 Error during phase progression The prescribed order was not maintained during phase progression. Cause: Error in the SERCOS master module of the control system. Remedy: Consult the control system manufacturer. See also the functional description: "SERCOS interface error"...

  • Page 49: F630 Negative Travel Limit Exceeded

    4-21 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Cause: S-0-0049, Positive position limit value exceeded. Remedy: Check S-0-0049, Positive position limit value Check the software limits of the control system Activate the axis after the error response Procedure: •...

  • Page 50: F643 Positive Travel Limit Switch Detected

    4-22 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS Cause: The emergency stop switch has been pressed. Remedy: Eliminate the malfunction that has caused the emergency switch to be actuated, and clear the error. See also the functional description: "Emergency stop feature". F643 Positive travel limit switch detected The positive travel range limit switch has been activated.

  • Page 51: F820 Braking Resistor Overload

    4-23 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... F820 Braking resistor overload Cause: The energy of a braking motor cannot be converted quickly enough by the bleeder resistors. The energy converted by the internal bleeder is analyzed. When the maximum energy capacity of the bleeder is exceeded, it is shut off.
  • Page 52 4-24 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS Permissible signal amplitudes for sine and cosine signals maximum pointer length > 11.8 V minimum pointer length > 5.0 or 1.0 V nominal pointer length (9.2 V) sine signal amplitude =non-permissible range Dg5004a1.fh7 Fig.

  • Page 53: F827 Drive Interlock While Drive Activated

    4-25 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... F827 Drive interlock while drive activated Cause: The drive starting lockout was activated while controller enable was set. The drive controller switches to torque-free state immediately. Remedy: The drive interlock should not be activated when controller enable is set. Check the control system of the drive interlock input.

  • Page 54: F870 +24Volt Dc Error

    4-26 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS F870 +24Volt DC error The drive controller requires a 24V control voltage. The drive’s torque is released immediately when the maximum permissible tolerance of +-20 % is exceeded. If an optional electrically released motor holding brake is present, then it is activated.

  • Page 55: F879 Velocity Limit S-0-0091 Exceeded

    4-27 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... For 4. Check the velocity controller to see whether it is within operational parameters. For 5. Exchange the motor. see also the functional description: "Determining the Velocity Controller Setting". see also the functional description: "Determining commutation offset" F879 Velocity limit S-0-0091 exceeded In torque control, the actual velocity is monitored.

  • Page 56: F891 Power Stage Fault

    4-28 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS F891 Power stage fault The DC bus voltage is not established after the main contactor has been switched on. Cause: If there is a short-circuit in the DC bus, voltage cannot build up after the drive has been switched on.

  • Page 57: Error Diagnostic Messages E

    4-29 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Error Diagnostic Messages E... E219 Warning Drive temp. surveillance defective Temperature monitoring checks to see if the measured drive controller temperature is within reasonable bounds. If it determines that it is lower than -10 °C, then it is assumed the measuring unit is defective.

  • Page 58: E226 Undervoltage In Power Section

    4-30 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS See also the functional description: "Current Limit" E226 Undervoltage in power section If bit 5 of the P-0-0118, Power off on error parameter has been set, an undervoltage condition will be handled as a nonfatal warning. The drive issues this warning if the drive enabling signal is present and the DC bus voltage message disappears.

  • Page 59: E249 Positioning Velocity >= S-0-0091

    4-31 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... Operation modes with drive internal position command generation: 1. Drive-internal interpolation 2. Drive-controlled homing 3. Drive Halt 4. Jog Remedy: Input a reasonable value > 0 for the employed acceleration. Possible acceleration specifications, depending from the operation mode, are: For 1.and 4.: S-0-0260, Positioning acceleration...

  • Page 60: E251 Motor Overtemp. Prewarning

    4-32 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS E251 Motor overtemp. prewarning The motor is too hot. If the motor temperature, which is displayed in parameter S-0-0383, Motor temperature, has exceeded the value in S-0- 0201, Motor warning temperature, warning E251 is generated. If the temperature increases above the value in S-0-0204, Motor shutdown temperature, error F219 Motor overtemp.

  • Page 61: E255 Feedrate-Override S-0-0108 = 0

    4-33 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... • The same holds for Relative Positioning commands, where the sum of the commanded positions + the start position should be less than the maximum allowed position. • Check the position limit values. Moreover, the positive position limit value must be greater than the negative position limit value.

  • Page 62: E259 Command Velocity Limit Active

    4-34 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS In the case of installations that have been operated for a long time, check whether the drive conditions have changed with regard to: • friction • moved masses. See also the functional description: "Current Limit"). E259 Command velocity limit active In the position control and velocity control operating modes, the effective velocity command value is limited to the value in parameter S-0-0091,...

  • Page 63: E263 Velocity Command Value > Limit S-0-0091

    4-35 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... E263 Velocity command value > limit S-0-0091 Cause: S-0-0036, Velocity Command Value is outside the allowed range of values. Remedy: It is limited to S-0-0091, Bipolar velocity limit value. See also the functional description: "Operating Mode: Velocity Control" E324 Option module error power supply unit Cause: A component that is connected to the HVE or HVR power supply unit...

  • Page 64: E352 Braking Resistor Overload Warning Power Supply Unit

    4-36 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS Remedy: Reduce load reduce control cabinet temperature check cooling air ducts replace unit. E352 Braking resistor overload warning power supply unit Cause: 75% of the permissible bleeder ON time has been reached due to excessive regenerated power.

  • Page 65: E825 Overvoltage In Power Stage

    4-37 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... warning E410. Communication with these slaves higher communications phases is not possible. They work only in pass through mode (i.e. they do not have an AT of their own, rather they serve only as a pass through for the SERCOS communication).

  • Page 66: E829 Positive Position Limit Exceeded

    4-38 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS E829 Positive position limit exceeded The drive has received a command value which resulted in an axis position outside the positive travel range. The axis has been brought to a standstill by setting the velocity command to zero.

  • Page 67: E834 Emergency-Stop

    4-39 DIAX04 ELS-06VRS Description of Diagnostic Letters F... and E... E834 Emergency-Stop Pressing the emergency stop switch has caused the drive to perform the error reaction that had been selected via the P-0-0119, Best possible deceleration parameter. There is no error message issued to the controller.
  • Page 68 4-40 Description of Diagnostic Letters F... and E... DIAX04 ELS-06VRS Notes DOK-DIAX04-ELS-06VRS**-WA01-EN-P...

  • Page 69: Description Of Diagnostic Messages B

    DIAX04 ELS-06VRS Description of diagnostic letters F... and E... Description of Diagnostic Messages B…, C…, D… and A… Command Diagnostic Messages B…, C… and D… The commands are used for control of complex features in the drive. For example, features "drive controlled homing...

  • Page 70: B100 Command Release Motor Holding Brake

    Description of diagnostic letters F... and E... DIAX04 ELS-06VRS B100 Command Release motor holding brake The command P-0-0542, Command Release motor holding brake has been activated. See also the functional description: "Motor Holding Brake". B101 Command not enabled The command P-0-0542, Command Release motor holding brake has been activated without prior enabling via the parameter P-0-0538, Bit 9.

  • Page 71: C100 Communication Phase 3 Transition Check

    DIAX04 ELS-06VRS Description of diagnostic letters F... and E... C100 Communication phase 3 transition check The command S-0-0127, C1 Communication phase 3 transition check has been activated. See also the functional description: "S-0-0127, C100 Communication Phase 3 Transition Check" C101 Invalid communication parameter (S-0-0021) Cause: Communications parameters which are needed to operate the drive in communication phase 3 are invalid.

  • Page 72: C106 Config. Idn For At Not Configurable

    Description of diagnostic letters F... and E... DIAX04 ELS-06VRS Remedy: • set preferred telegram (telegram type = 0..6 ) • number of configured parameters in MDT (S-0-0024) must be decreased See also the functional description: "Configuration of telegram contents" C106 Config. IDN for AT not configurable Cause: Telegram type 7 was set in parameter S-0-0015, Telegram type parameter.

  • Page 73: C109 Position Of Data Record In Mdt (S-0-0009) Even

    DIAX04 ELS-06VRS Description of diagnostic letters F... and E... Remedy: Correct the appropriate parameter(s). These times are determined by the manufacturer of the control system and are specified by the SERCOS interface. See also the functional description: "Configuration of the telegram send and receive times"...

  • Page 74: C112 Tncyc (S-0-0001) Or Tscyc (S-0-0002) Error

    Description of diagnostic letters F... and E... DIAX04 ELS-06VRS C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error Cause: Only 500 µs 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).

  • Page 75: C115 T2 Too Small

    DIAX04 ELS-06VRS Description of diagnostic letters F... and E... C115 T2 too small 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.

  • Page 76: C204 Motor Type P-0-4014 Incorrect

    Description of diagnostic letters F... and E... DIAX04 ELS-06VRS Remedy: Write correct values to the parameters in S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3. See also the functional description "S-0-0128, C200 Communication phase 4 transition check". 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.

  • Page 77: C212 Invalid Amplifier Data (->S-0-0022)

    DIAX04 ELS-06VRS Description of diagnostic letters F... and E... Remedy for: 1. Check motor feedback cable; connect both sides 2. Replace motor 3. Replace amplifier See also the functional description "S-0-0128, C200 Communication phase 4 transition check". C212 Invalid amplifier data (->S-0-0022) During drive initialization, the operating software accesses data from an EEPROM in the drive controller.

  • Page 78: C214 Velocity Data Scaling Error

    5-10 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS C214 Velocity data scaling error 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 allowable range.

  • Page 79: C216 Torque/Force Data Scaling Error

    5-11 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... C216 Torque/force data scaling error 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 allowable area.

  • Page 80: C220 Feedback 1 Initializing Error

    5-12 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS Cause: Defective measurement system cable Defective measurement system Remedy for: Check the measurement system cable. Exchange the measurement system. See also the functional description "S-0-0128, C200 Communication phase 4 transition check". C220 Feedback 1 initializing error A number of tests are performed when the motor encoder is initialized.

  • Page 81: C223 Input Value For Max. Range Too High

    5-13 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... Cause: External encoder cable defective. Defective feedback. Defective measurement system interface. Note: If this warning occurs in combination with an EnDat feedback device then the feedback device is defective. Remedy: For 1.

  • Page 82: C227 Modulo Range Error

    5-14 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS Cause: The coprocessor failed. Remedy: Exchange the drive controller. See also the functional description "S-0-0128, C200 Communication Phase 4 Transition Check". C227 Modulo range error Cause: The marginal conditions for modulo processing were not maintained. See functional description: "Modulo Processing-Limiting Conditions".

  • Page 83: C232 Encoder 1 Interface Not Present

    5-15 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... C232 Encoder 1 interface not present Cause: The encoder interface that was selected in the P-0-0074, Interface feedback 1 parameter has not been installed or cannot be found by the drive, due to a defect.

  • Page 84: C236 Feedback 1 Required (P-0-0074)

    5-16 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS C236 Feedback 1 required (P-0-0074) Cause: A motor encoder is not required (P-0-0074 = 0) if a load-sided motor encoder has been selected via the P-0-0185, Function of opt. encoder parameter.

  • Page 85: C501 Error Delete Only In Parameter Mode

    5-17 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... C501 Error delete only in parameter mode Cause: An attempt has been made of clearing the error F822 Motor encoder failure: signal too small in communication phase 4 (operating mode). This is only possible in communication phases <...

  • Page 86: C700 Basic Load

    5-18 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS Remedy: First activate command P-0-0012, C300 Command ’Set absolute measurement’, and then start command S-0-0148, C600 Drive controlled homing procedure command. This procedure will define the absolute reference point. See also the functional description: "Possible Error Messages During "Drive-Controlled Homing""...

  • Page 87: C703 Default Parameters Invalid

    The default parameters in use are not compatible with this software version. Remedy: Please contact Rexroth Indramat. Explain, which software version, which device and which motor type you have. See also the functional description: "Error Conditions of the Load Default Settings Procedure"...

  • Page 88: C801 Parameter Default Value Erroneous (-> S-0-0021)

    5-20 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS C801 Parameter default value erroneous (-> S-0-0021) Cause: During the execution of P-0-4094, C800 Command Base-parameter load, a default value that has been stored in the drive was recognized as incorrect.

  • Page 89: D501 Incremental Encoder Required

    5-21 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... D501 Incremental encoder required Cause: The command has been started for a measuring system that does not possess real reference markers. These include measuring systems such as DSF, EnDat, SSI or resolver measuring systems. Remedy: Check whether the correct encoder has been selected in S-0-0147,...

  • Page 90: D801 Measuring Wheel Operation Not Possible

    5-22 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS D801 Measuring wheel operation not possible Definition: The measuring wheel mode command cannot be conducted. Cause: • Optional encoder not parametrized (P-0-0075) • Use of optional encoders as measuring wheel encoder has not been parametrized (P-0-0185 =3).

  • Page 91: Status Diagnostic Messages A

    5-23 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... Status Diagnostic Messages A... A000 Communication phase 0 The communication process is divided into four communication phases: Phases 0 and 1 are used to recognize the participants. Phase 2 is used to prepare the time and data protocols for communication phases 3 and 4.

  • Page 92: A003 Communication Phase 3

    5-24 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS 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.

  • Page 93: A012 Control And Power Sections Ready For Operation

    5-25 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... 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.

  • Page 94: A104 Position Mode Lagless, Encoder 1

    5-26 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS 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;...

  • Page 95: A108 Drive Controlled Interpolation, Lagless, Encoder 1

    5-27 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... 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.

  • Page 96: A116 Phase Synchr. Lagless, Encoder 1, Virtual Master Drive

    5-28 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS encoder is mounted on the motor shaft (direct measurement of axis position). Virtual master axis means that the master axis position is fixed by the control. also functional description: "Operating mode: Phase synchronization with virtual master axis"...

  • Page 97: A132 Cam Shaft, Lagless, Encoder 1, Virt. Master Drive

    5-29 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... A132 Cam shaft, lagless, encoder 1, virt. master drive The drive is cam mode. The function is derived from the mechanical cam principle. This includes a fixed position relationship between master and slave axes.

  • Page 98: A147 Relative Drive Controlled Interpolation, Encoder 2

    5-30 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS 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.

  • Page 99: A149 Relative Drive Contr. Interpolation, Enc. 2, Lagless

    5-31 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... 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.

  • Page 100: Diagnostic Messages For Basic Initialization And After Fatal System Errors

    5-32 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS Diagnostic Messages for Basic Initialization and After Fatal System Errors Diagnostic Message Display: -0 Cause: The data storage for the controller is tested for its functional capability. If an error is detected, this display will remain. Remedy: The drive controller is defective (DRP3) and must be exchanged.

  • Page 101: Diagnostic Message Display: -6

    5-33 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... Diagnostic Message Display: -6 Cause: A fatal processor or program error was encountered. Remedy: The error in question is a system error. Please contact the appropriate software development company. Diagnostic Message Display: Watchdog Cause: A fatal processor or program error (Watchdog) was encountered.

  • Page 102: Operation Status

    5-34 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS Operation Status "read for operation" The drive is ready to be turned on. Diagnostic message text: Ready to be turned on (ready for operation) "Drive is ready" The control and power components of the drive are ready for operation. Diagnostic message text: Control and power components are ready (drive is ready) "Drive enable"...
  • Page 103 5-35 DIAX04 ELS-06VRS Description of diagnostic letters F... and E... Phase 0 The drive is in phase 0 and is waiting on the phase transition from phase 0 to phase 1. Diagnostic message text: Phase 0 Phase 1 The transition from phase 1 to phase 2 was still not initiated from the control system.
  • Page 104 5-36 Description of diagnostic letters F... and E... DIAX04 ELS-06VRS Notes DOK-DIAX04-ELS-06VRS**-WA01-EN-P...

  • Page 105: Index

    DIAX04 ELS-06VRS Index Index Ab 5-74 AF 5-74 AH 5-74 Appropriate use Introduction 2-1 Appropriate uses 2-2 AS 5-74 bb 5-74 command diagnostic messages 5-41 Diagnostic Message Construction of 1-1 Display 1-2 Overview of Descriptions 1-1 Types 1-1 Diagnostic Message Display -0 5-72 -1 5-72 -2 5-72...
  • Page 106 Index DIAX04 ELS-06VRS Warning symbols 3-1 DOK-DIAX04-ELS-06VRS**-WA01-EN-P...

  • Page 107: Service & Support

    DIAX04 ELS-06VRS Service & Support Service & Support Helpdesk Unser Kundendienst-Helpdesk im Hauptwerk Lohr Our service helpdesk at our headquarters in Lohr am am Main steht Ihnen mit Rat und Tat zur Seite. Main, Germany can assist you in all kinds of inquiries. Sie erreichen uns Contact us +49 (0) 9352 40 50 60...

  • Page 108: Kundenbetreuungsstellen - Sales & Service Facilities

    S E R V I C E C A L L E N T R Y C E N T E R H O T L I N E ERSATZTEILE / SPARES Rexroth Indramat GmbH MO – FR MO – FR verlängerte Ansprechzeit Bgm.-Dr.-Nebel-Str.
  • Page 109 Italy - Italien Italy - Italien Netherlands – Niederlande/Holland Netherlands - Niederlande/Holland Bosch Rexroth S.p.A. Bosch Rexroth S.p.A. Bosch Rexroth B.V. Bosch Rexroth Services B.V. Via Mascia, 1 Viale Oriani, 38/A Kruisbroeksestraat 1 Kruisbroeksestraat 1 80053 Castellamare di Stabia NA 40137 Bologna (P.O.
  • Page 110 (0) after country code Czech Republic - Tschechien Czech Republic - Tschechien Hungary - Ungarn Poland – Polen DEL a.s. Bosch -Rexroth, spol.s.r.o. Bosch Rexroth Kft. Bosch Rexroth Sp.zo.o. Strojírenská 38 Hviezdoslavova 5 Angol utca 34 ul. Staszica 1 591 01 Zdar nad Sázavou...
  • Page 111 Africa, Asia, Australia – incl. Pacific Rim Australia - Australien Australia - Australien China China AIMS - Australian Industrial Bosch Rexroth Pty. Ltd. Shanghai Bosch Rexroth Bosch Rexroth China Ltd. Machinery Services Pty. Ltd. No. 7, Endeavour Way Hydraulics & Automation Ltd.
  • Page 112 Canada East - Kanada Ost Canada West - Kanada West Mexico Mexico Bosch Rexroth Canada Corporation Bosch Rexroth Canada Corporation Bosch Rexroth Mexico S.A. de C.V. Bosch Rexroth S.A. de C.V. Burlington Division 5345 Goring St. Calle Neptuno 72 Calle Argentina No 3913...
  • Page 114 2 9 1 6 2 8...

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