Siemens Simovert Masterdrives Compendium page 617

02.2004
Error code Meaning
(hex)
FF31 No position has programmed in
MDI mode
FF32 No velocity has been
programmed in MDI mode
FF33 G91 not allowed with MDI on
the fly
FF34 Start conditions for flying MDI
do not exist
FF35 Negative overtravel reached
FF36 Positive overtravel reached
8.5.5 Life guarding / node guarding
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES
MASTERDRIVES with CANopen supports life and node guarding.
After objects 100Ch (guard time) and 100Dh (life time factor) have been
set, the MASTERDRIVES is ready to receive the first node guarding
message. The monitor in the MASTERDRIVES is activated as soon as
the first message has been received.
If the MASTERDRIVES has received a node guarding message, it
returns the life guarding message using the same identifier. The
MASTERDRIVES toggles the highest bit in every transmitted life
guarding message, thereby indicating to the master that it is still alive.
In turn, the MASTERDRIVES monitors the CANopen master and waits
for the time set in object 100Ch multiplied by the number in object
100Dh.
When this time period has expired, the MASTERDRIVES switches to
the state set in parameter P719, see Subsection 8.5.2.1.
Compendium Motion Control
Communication / CBC CANopen Communication Board
MC error MC alarm Error text /
A166
A167
A168
A169
A195
A196
description
Position MDI does not exist
Velocity MDI does not exist
On-the-fly MDI with G91 illegal
Start condition for on-the-fly
MDI does not exist
Software limit switch approach
in negative direction
Software limit switch approach
in positive direction
8.5-59