Softdrive Object - Beckhoff XTS Hygienic Operating Instructions Manual

Fault correction

SoftDrive object

12.3
Error
12.3.1
ID Message
10000 Interpolator Object is missing Damaged TcSoftDrive configuration
10000 PositionCtrl Object is missing Damaged TcSoftDrive configuration
10000 VelocityCtrl Object is missing Damaged TcSoftDrive configuration
10000 Encoder Object is missing
10000 Filter Object is missing
10000 Feedforward Object is miss-
ing
10001 Velocity difference too big for
emergency ramp down
10001 Emergency ramp takes too
long
10002 Velocity following error -
check setpoint generation &
commutation (actual velocity !
= command velocity)
10003 New mover re-sort while axis
is enabled
10004 New Mover 1 detection while
axis is enabled
10005 HW error occur after Mover 1
detection is started
10006 Both movements while Mover
1 detection do not fit together
10007 Time out while Mover 1 de-
tection is running
94 ───
12.3.1
Cause
within the TwinCAT configuration
within the TwinCAT configuration
within the TwinCAT configuration
Damaged TcSoftDrive configuration
within the TwinCAT configuration
Damaged TcSoftDrive configuration
within the TwinCAT configuration
Damaged TcSoftDrive configuration
within the TwinCAT configuration
Triggering of an emergency ramp by
TcSoftDrive
Difference between the setpoint and
actual value of the velocity is more
than 250 mm/s
Emergency ramp triggered by TcSoft-
Drive requires more time than the time
of 0.5 sec configured in the parameter
"EmergencyRamp"
Different sign to the setpoint velocity
and actual velocity, deviation from one
another by more than the velocity of
1000 mm/s set in the parameter
"CommutationErrorVelocity"
New mover search activated during
the enabling of the axis by the NC
controller
New Mover 1 detection started during
the enabling of the axis by the NC
controller
HW error during running Mover 1 de-
tection
Each mover performs two small
movements during the Mover 1 detec-
tion:
These movements must take place in
different directions
No ending of the Mover 1 detection
possible within the specified time
eXtended Transport System
Number of the solution
1
1
1
1
1
1
2 3
4 5
6 7
2
2
Version: 1.0
8 9
10
11 12
13