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Pagina 1 di 164
1: Invalid parameter ID
Info:
Data type:
Description:
Response error while writing or reading an invalid parameter ID.
Reaction:
None.
Cause/Remedy:
See error number 1002.
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16: The data segment is already the last when reading the data block
Info:
Data type:
Description:
Response error while reading a data segment (RD_BLOCK_SEGM), if the initialized length of the upload
data has already been transferred. The last data segment must be transferred with its own parameter ID
(RD_BLOCK_LAST_SEGM).
Reaction:
The data block upload is aborted.
Cause/Remedy:
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Pagina 4 di 164
17: The data segment is already the last when writing the data block
Info:
Data type:
Description:
Response error while writing a data segment (RD_BLOCK_SEGM), if the initialized length of the download
data has already been transferred. The last data segment must be transferred with its own parameter ID
(WR_BLOCK_LAST_SEGM).
Reaction:
The data block download is aborted. No data is saved.
Cause/Remedy:
See error number 9.
18: The data segment is not yet the last when reading the data block
Info:
Data type:
Description:
Response error while reading the last data segment (RD_BLOCK_LAST_SEGM), if enough upload data has
not yet been transferred for the initialized length.
Reaction:
The data block upload is aborted.
Cause/Remedy:
See error number 8.
19: The data segment is not yet the last when writing the data block
Info:
Data type:
Description:
Response error while writing the last data segment (WR_BLOCK_LAST_SEGM), if enough download data
has not yet been transferred for the initialized length.
Reaction:
The data block download is aborted. No data is saved.
Cause/Remedy:
See error number 9.
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Pagina 5 di 164
Data type:
Description:
Response error in BsLoader mode during the data block download of an NC system module ('acp10sys.br'
or 'acp10bsl.br'). The checksum of the NC system module (B&R module) is invalid.
Reaction:
See error number 25.
Cause/Remedy:
See error number 32018.
See error number 1012.
Parameter ID
Data type:
'PARID'
Description:
Response error in BsLoader mode during the data block download of an NC system module ('acp10sys.br'
or 'acp10bsl.br'). The parameter ID of the data block does not match the parameter ID entered to the B&R
module header of the transferred NC system module.
Reaction:
See error number 25.
Cause/Remedy:
The transferred data block is an invalid NC system module.
A BsLoader ('acp10bsl.br') was transferred during the operating system download.
An operating system ('acp10sys.br') was transferred during the BsLoader download.
See error number 32018.
27: Operating system not able to be started (operating system is not on the
FPROM)
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Pagina 6 di 164
Info:
Data type:
Description:
Response error during command for changing the boot state, 'start operating system'. There is no
operating system saved on the drive.
Reaction:
The operating system is not started.
Cause/Remedy:
See error number 32018.
Maximum value
Data type:
REAL
Description:
Response error while writing a parameter, if the value is larger than the upper limit for this parameter.
Reaction:
The parameter value is not accepted.
Cause/Remedy:
See error number 1002.
Maximum value
Data type:
UDINT
Description:
See error number 40.
Reaction:
See error number 40.
Cause/Remedy:
See error number 40.
Maximum value
Data type:
DINT
Description:
See error number 40.
Reaction:
See error number 40.
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Cause/Remedy:
See error number 40.
Minimum value
Data type:
REAL
Description:
Response error while writing a parameter, if the value is smaller than the lower limit for this parameter.
Reaction:
The parameter value is not accepted.
Cause/Remedy:
See error number 1002.
Minimum value
Data type:
UDINT
Description:
See error number 52.
Reaction:
See error number 52.
Cause/Remedy:
See error number 52.
Minimum value
Data type:
DINT
Description:
See error number 52.
Reaction:
See error number 52.
Cause/Remedy:
See error number 52.
Hardware ID
Data type:
USINT
Description:
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Pagina 8 di 164
Response error in BsLoader mode during the download of an NC system module ('acp10sys.br' or
'acp10bsl.br'). The hardware ID in the B&R module header of the NC system module is invalid or
incompatible to the ACOPOS hardware.
Reaction:
See error number 25.
Cause/Remedy:
The NC system module cannot be supported by the ACOPOS hardware.
See error number 32018.
Hardware Revision
Data type:
USINT
Description:
Response error in BsLoader mode during the download of an NC system module ('acp10sys.br' or
'acp10bsl.br'). The hardware version in the B&R module header of the NC system module is not compatible
with the hardware version of the drive.
Reaction:
See error number 25.
Cause/Remedy:
Incorrect operating system version or BsLoader version:
BsLoader V047 or operating system V110 is not allowed to be loaded on an ACOPOS servo drive
8Vxxxx.00-1.
BsLoader V0381 or operating system V0390 is not allowed to be loaded on an ACOPOS servo drive
8Vxxxx.xx-2.
See error number 32018.
66: The operating system on the drive is incompatible to the existing network
Info:
Data type:
USINT
Description:
Response error in BsLoader mode during the 'change boot state' command. The operating system cannot
be started because the saved operating system does not support the existing network.
Hardware ID of operating system:
80h...CAN operating system
81h...Powerlink operating system
Reaction:
The command is not executed.
Cause/Remedy:
A Powerlink operating system is saved on a drive with a CAN network card (AC110 plug-in card).
A CAN operating system is saved on a drive with a Powerlink network card (AC112 plug-in card).
See error number 32018.
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Parameter ID
Data type:
'PARID'
Pagina 9 di 164
Description:
Response error while writing the parameter. A parameter, which is necessary for the assignment, was not
configured or was configured incorrectly
Reaction:
Parameter value is not accepted.
Cause/Remedy:
Parameters were configured in wrong order.
Dependent parameters are missing or were before invalidly configured.
Example: If when switching on the external bleeder not all parameters of the external bleeder were valid
configured, then this error is sent.
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Pagina 10 di 164
Info:
Data type:
Description:
Response error while writing a parameter if the value is outside the valid limits.
Reaction:
The parameter value is not accepted.
Cause/Remedy:
Incorrect parameter ID being used for the desired function.
The value is not a valid constant or is not in the allowed selection list.
The value exceeds or does not meet the limits for implementation.
The value is outside of a physically possible range (e.g. negative time).
The data type or data length for this parameter ID is incorrect.
Network transfer error. See also error number 1012.
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Time for network life sign monitoring NETWORK_LIVE_CTRL is defined too short.
Network life sign monitoring is activated too early, before cyclic telegrams are sent.
Problem in network data transfer:
Cycle time exceeded, extremely high computing time load or failure of the controller CPU.
Disturbance or disconnection of the network connection. See wiring guidelines error number 7030.
The network load is too high.
1007: Master for network coupling deactivated - one master is already sending
Info:
Data type:
Description:
Runtime error when sending cyclic master data (positions) for a network coupling if data is also received at
the same CAN ID (MA1/2/3_CYCLIC_SEND).
Reaction:
The transmission of data is deactivated for this coupling object, to prevent a CAN-BUS-OFF or position
jumps.
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Cause/Remedy:
The transmission of data to this coupling object was also activated for another master (network nodes).
Another device is sending telegrams to the CAN-IDs of the ACOPOS network coupling (125, 126, 127).
Reaction:
The most recently requested function is not executed.
The download data is not saved.
The parameter value is not accepted.
Cause/Remedy:
An individual memory area is too large or too much memory was being used:
cam profile data download,
parameter sequence download,
EPROM data download,
creation of function block (FUNCTION_BLOCK_CREATE),
when writing parameters with memory allocation (CAMCON_MAX_CAM, FIFO_MAX_LENGTH)
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Station number
Data type:
UINT
Description:
Error configuring cyclic receive data if the network station for a coupling is not available
(CONFIG_MA1/2/3/4/5_CYCLIC_POS).
Reaction:
The cyclic data (position) is not available on the corresponding parameter ID (MA1/2/3/4/5_CYCLIC_POS)
and is not updated.
Cause/Remedy:
Invalid station number.
The configuration was written too early.
The station is not yet on the network or has failed.
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Parameter ID
Data type:
'PARID'
Description:
Response error configuring a cyclic read access or a data connection using pointer parameter ID.
Reaction:
The parameter ID is not accepted.
Cause/Remedy:
Invalid parameter ID, the data type is not supported (composite data type or not a 4 byte value).
Read access not allowed or parameter with a computing-intensive read function.
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Parameter ID
Data type:
'PARID'
Pagina 15 di 164
Description:
Response error configuring a cyclic write access or a data connection using pointer parameter ID.
Reaction:
The parameter ID is not accepted.
Cause/Remedy:
Write access not allowed. Write access not allowed when controller is active or when a movement is active.
See also error number 1017.
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Info:
Data type:
Description:
Response error using 'Start trace' command if a trace is already active.
Reaction:
This does not interrupt the active trace.
Cause/Remedy:
See error number 2001.
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command (CMD_ERR_STATE_INTO_FIFO).
Reaction:
The power level is not enabled and the controller is not switched on.
Cause/Remedy:
See additionally entered error numbers.
Data type:
REAL
Description:
Runtime error when position controller is active if the lag error PCTRL_LAG_ERROR exceeds the configured
lag error limit value AXLIM_DS_STOP.
Reaction:
Movement stopped with speed regulated ramp, with axis limits and by switching off the controller.
Cause/Remedy:
Lag error limit too small (AXLIM_DS_STOP).
Incorrect controller configuration:
- Controller is set too weak.
- Feed forward incorrectly configured (e.g. prediction time = 0).
- Unstable control loop.
Current limiting:
- Increased current. See error number 9030.
- EMF: Operating speed too high and/or network voltage too low. Check if the motor is being run within the
voltage limit sqrt(ICTRL_USD_REF^2+ ICTRL_USQ_REF^2) > UDC_ACT/sqrt(3).
- Current limiting: Check if the current ICTRL_ISQ_REF is limited with the limits sqrt(2)*
MOTOR_CURR_MAX or sqrt(2)* ACOPOS_CURR_MAX.
- Recovery power limiter: Check if UDC_ACT > UDC_BLEEDER_ON and ICTRL_ISQ_REF = ISQ_MAX_UDC
and ICTRL_ISQ_REF = ISQ_MIN_UDC.
- Under-voltage limiter: Check if UDC_ACT < UDC_NOMINAL and ICTRL_ISQ_REF = ISQ_MAX_UDC and
ICTRL_ISQ_REF = ISQ_MIN_UDC.
- Temperature limiter: The current is limited when movement is stopped due to over-temperature on
junction. See error number 9030.
- Torque limiting: Check if the torque TORQUE_ACT is limited with the 4 quadratic torque limiter
(LIM_T1_POS, LIM_T1_NEG, LIM_T2_POS, LIM_T2_NEG).
Speed limiting:
- Speed controller. Check if the speed SCTRL_SPEED_REF is limited with the limits SCTRL_LIM_V_POS,
SCTRL_LIM_V_NEG or MOTOR_SPEED_MAX.
- Position controller. Check if the speed PCTRL_V_ACT is limited with the limit POS_CTRL_P_MAX.
Encoder position or speed contains an error: See error number 4014.
Motor wiring error: See error number 6045.
Motor defect: See error number 6045.
ACOPOS defect: See error number 6045.
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Data type:
Description:
Runtime error when movement is active if the positive limit switch is reached in the positive direction of
movement.
Reaction:
Movement stopped with the axis limits. The controller remains switched on.
Cause/Remedy:
Movement command without target position or with incorrect target position.
SW limits are deactivated or are defined too large.
Slave movement range for cam automats is too large.
When slowly "exiting" a closed limit switch with the cam automats if the master position does not increase
steadily.
See also error number 4010.
4010: Controller cannot be switched on: Both limit switches are closed
Info:
Data type:
Description:
Response error using the 'switch on controller' command if the positive and negative limit switches are
closed.
Reaction:
The command is not executed.
Cause/Remedy:
The active input level of the limit switch is inverted.
Limit switch falsely closed due to an 'external force' (mechanically blocked, closed manually).
Falsely closed due to HW error (wire break, line termination, wiring error, supply voltage).
For 'endless axes' or 'cyclic axes' without limited movement range and without end switch:
Monitoring of the limit switch can also be deactivated (LIMIT_SWITCH_IGNORE) for an alternative use of
the digital inputs.
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4012: Controller cannot be switched on: Init parameters missing or not valid
Info:
Parameter ID
Data type:
'PARID'
Description:
Response error using 'switch on controller' command if at least one Init parameter is missing or was set to
an invalid value.
Reaction:
The command is not executed.
Cause/Remedy:
The command was written too soon in the initialization phase, before the configuration was completed.
Parameter initialization or request (delay step) for 'Global init' state is missing.
-> Check program sequence and status request.
Data type:
REAL
Description:
Runtime error when two-encoder position control is active. The difference between position encoder
position and motor encoder position is greater than AXLIM_DS_STOP2.
Reaction:
See error number 4007.
Cause/Remedy:
Error in the motor/position encoder configuration.
Tolerances in the drive mechanics (fluctuations in the spindle slope, backlash, thermal expansions in the
power transmission system, high accelerations and low rigidity in power transmission system) require a
larger AXLIM_DS_STOP2.
Defective drive mechanics (slip, coupling break)
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Data type:
Description:
Runtime error when movement is active if the braking range of the positive SW limit has been reached and
the set speed is 0.
Reaction:
The movement is deactivated. The controller remains switched on.
Cause/Remedy:
Incorrect movement command without absolute target position (movement in positive direction).
Positive SW limit incorrectly configured.
Cam automat: The set value generation is too dynamic (speed or acceleration is too high) for the axis limit
AXLIM_A2_POS and therefore exceeds the range of the 'braking parabola' on the positive SW limit.
See also error number 5001.
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5010: Move in pos. direction not possible: Pos. limit switch is closed
Info:
Data type:
Description:
Response error when starting a movement. The positive limit switch is closed and the requested movement
is moving in the positive direction.
Reaction:
The requested movement start is not executed.
Cause/Remedy:
Movement command or target position incorrect.
See also error number 4010.
5011: Move in neg. direction not possible: Neg. limit switch is closed
Info:
Data type:
Description:
Response error when starting a movement. The negative limit switch is closed and the requested
movement is moving in the negative direction.
Reaction:
See also error number 5010.
Cause/Remedy:
See also error number 5010.
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Data type:
Description:
Response error when starting a movement if a movement stop is active.
Reaction:
The requested movement start is not executed.
Cause/Remedy:
Missing status request (delay step) following a stop command.
The movement stop was triggered by a drive error.
A movement can also be started in the deceleration ramp after the 'halt basis movement' command.
5013: Cyclic set value mode cannot be switched on: Movement active
Info:
Data type:
Description:
Response error when switching on the operating mode 'cyclic, external set
values' (CMD_CYC_SET_VALUE_MODE) if a drive-controlled movement is active. A movement must first be
decelerated to standstill so that the new operating mode can be initialized and a set value generator
external to the drive can be applied without any jumps.
Reaction:
The operating mode 'cyclic, external set values' is not activated.
The current movement is not interrupted.
Cause/Remedy:
A referencing procedure or a basis movement is started and the status request (delay state) for 'move
complete' is missing.
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Description:
Response error while writing a parameter if a homing procedure is active. 'Online' changes cannot be made
to the homing parameter.
Reaction:
The parameter value is not accepted.
This does not interrupt the active homing procedure.
Cause/Remedy:
The parameter was written too late, after the 'start homing procedure' command.
-> Check program sequence and status request.
Parameter ID
Data type:
'PARID'
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Description:
Response error when writing a homing parameter or using 'start homing procedure' command. An invalid
configuration was detected.
Reaction:
The parameter value is not accepted.
When 'start homing procedure' command: See error number 5017.
Cause/Remedy:
According to the parameter ID in the additional info.
5020: Homing procedure not possible: Both limit switches are closed
Info:
Data type:
Description:
Response error using 'start homing procedure' command. The positive and negative limit switches are
closed.
Reaction:
See error number 5017.
Cause/Remedy:
See error number 4010.
5021: Limit switch closed: No direction change for this homing mode
Info:
Data type:
Description:
A homing mode was defined which does not allow a change of direction at the HW limits.
Response error if a limit switch in the start direction is already closed (ncABS_SWITCH) when the 'start
homing procedure' command is given.
Runtime error during homing procedure if a limit switch signal occurred (ncABS_SWITCH, ncEND_SWITCH).
Reaction:
When 'start homing procedure' command: See error number 5017.
When homing procedure: See error number 5035.
Cause/Remedy:
The HW limit was reached while searching for the edge of the absolute reference switch.
-> HW error at reference switch (wire break, line termination, wiring error, supply voltage).
The reference switch is mounted too close to the limit switch.
See also error number 4010.
5022: Second limit switch signal received: Reference switch not found
Info:
Data type:
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Description:
Runtime error during homing procedure if a limit switch signal has already occurred two times.
Reaction:
See error number 5035.
Cause/Remedy:
When searching for a reference switch edge or a reference pulse, the entire range between positive and
negative end switch was covered.
-> HW error at reference switch or encoder (wire break, line termination, wiring error, supply voltage).
False triggering at a limit switch due to 'bounce'.
See also error number 4010.
5023: Incorrect limit switch signal received for current movement direction
Info:
Data type:
Description:
Runtime error during homing procedure if the negative limit switch signal is reached in the positive
direction or if the positive limit switch signal is reached in the negative direction.
Reaction:
See error number 5035.
Cause/Remedy:
The reference switch is mounted too close to the limit switch.
See also error number 4010.
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correction (+ncCORRECTION). Automatic correction of the homing offset cannot be performed because the
encoder counting range with overflow is not unique in the entire movement range.
Reaction:
See error number 5017.
Cause/Remedy:
The maximum encoder counting range is smaller than the movement range between the SW limits.
-> Difference between the SW limits is too large. Load scaling (units per motor revolutions) is too small. No
absolute encoder (incremental encoder), encoder counting range is too small (e.g. only 'Single-Turn').
The testing limits exceeded the Integer32 counting range.
-> Value for the SW limits or load scaling is defined too large.
5026: Basis movement parameters (with override) exceed speed limit value
Info:
Data type:
Description:
Response error when starting a movement or writing the speed override. A speed value of the basis
movement parameter multiplied with the override is greater than the corresponding axis limit.
Reaction:
The requested movement start is not executed, and the speed override is not accepted.
This will not interrupt an active movement.
Cause/Remedy:
Speed override greater than 100%.
5027: Basis movement parameters (with override) exceed acceleration limit value
Info:
Data type:
Description:
Response error when starting a movement or writing the acceleration override. An acceleration of the basis
movement parameter multiplied with the override is greater than the corresponding axis limit.
Reaction:
The requested movement start is not executed, and the acceleration override is not accepted.
This will not interrupt an active movement.
Cause/Remedy:
Acceleration override greater than 100%.
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Reaction:
The requested command is not executed.
Cause/Remedy:
For example, the cam automat or the operating mode 'external, cyclic set values' is active.
-> The 'stop movement' command is allowed for any movement.
5031: Homing procedure mode not possible: Cyclic set values mode is off
Info:
Data type:
Description:
Response error using 'start homing procedure' command. A homing mode was configured, which is only
possible in the 'cyclic, external set values' mode (homing mode = ncINIT_SET_POS).
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Reaction:
See error number 5017.
Cause/Remedy:
Incorrect homing mode.
The operating mode 'cyclic, external set values' was not switched on or was deactivated due to a drive
error.
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Reaction:
See error number 5017.
Cause/Remedy:
Detail information from additionally entered runtime error in the encoder.
Acceleration
Data type:
REAL
Description:
Runtime error when cam automat is active or in the operating mode, 'cyclic, external set values'. The
acceleration of the set position exceeds the defined maximum value (LIM_A_SET_STOP).
Reaction:
Movement stopped with the axis limits and by switching off the controller.
Cause/Remedy:
When active cam automats:
Maximum value (LIM_A_SET_STOP) too small.
Set value generation is too dynamic. Speed and acceleration are too high due to:
Overriding additional movements on the additive axes.
External encoder with 'coarse' resolution as master axis.
The dynamics of the master movement are not taken into consideration when forming the curve.
External master with 'unknown' movement dynamics.
Online change of the multiplication factors.
See error number 5101 for compensation gears.
Cam automat is terminated from a curve with a slope not equal to 0 (EVENT_ST_INDEX=255).
Direct start of the cam automat with moved master from an active basis movement.
Set position jumps due to:
Referencing the master axis or the additive axes.
Jump-causing value change on the additive axes.
Small positions offset between cam profiles and within the polynomial. See error number 37111.
Network error while coupling the master axis to a cyclic network position.
Lag error stop in the master axis (set value jumps to actual value).
In the operating mode, 'cyclic, external set values':
Maximum value (LIM_A_SET_STOP) too small.
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Set value generation is too dynamic. Speed and acceleration are too high.
Faulty set value generation.
Actual/set value set falsely after the controller is switched on or following a drive-controlled movement
(homing).
Jump-causing value change of the additive offset (CYC_ADD_SET_PARID).
Network error.
Cause/Remedy:
'Effective' master compensation path too short. See also error number 37108.
'Effective' master compensation path too long in connection with AUT_COMP_SL_V_MIN.
'Effective' slave compensation path too short or too long. See also error number 37101 and
Error number 37102.
Maximum speed value of the master axis AUT_MA_V_MAX too large.
Maximum speed value of the master axis AUT_MA_V_MAX too small in connection with
AUT_COMP_SL_V_MIN.
Exit slope of the curve of the 'old' state is too large.
Entrance slope of the curve of the 'new' state is too large (multiplication factor of the slave axis).
Maximum slave speed value AUT_COMP_SL_V_MAX too small.
Minimum slave speed value AUT_COMP_SL_V_MIN too large.
Maximum slave acceleration value in the first part of the compensation AUT_COMP_SL_A1_MAX too small.
Maximum slave acceleration value in the second part of the compensation AUT_COMP_SL_A2_MAX too
small.
5102: Too many changes of cam profile per cycle (master period too short)
Info:
Data type:
Description:
Runtime error when cam automats are active if consecutive scan cycles (calculation cycle 400us) require a
cam profile change each time. A maximum of one cam profile change is executed in a scan cycle. If this
maximum 'frequency of change' is no longer sufficient, then the cam profiles lose their shape and the
position relationship between the master and slave is lost.
Reaction:
Cam automat movement aborted with the axis limits.
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Cause/Remedy:
Speed too high in the master axis or an additive axis.
Position jumps in the master axis or an additive axis.
Master period of a cam profile or a compensation gear too short.
Master multiplication factor too small.
Change-of-state event with the attribute ncAT_ONCE occurs too often.
See also error number 5036.
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Cause/Remedy:
Too many false triggers when a FIFO length is at the maximum limit (CAM_MA_S_TRIG large and
(CAM_MA_S_SYNC + CAM_MA_S_COMP) small). This mostly happens if the trigger window is larger than
the half interval (CAM_MA_TRIG_WINDOW > (CAM_MA_S_SYNC + CAM_MA_S_COMP) / 2).
5107: Cam coupling cannot be started: Parameter outside the valid range
Info:
Parameter ID
Data type:
'PARID'
Description:
Response error at start and restart of the cam automat (CMD_CAM_START) if an invalid configuration was
detected.
Reaction:
The cam automat start is not executed.
Cause/Remedy:
The parameter ID of the additional information differentiates between the following causes:
CAM_MA_S_START
The current master position has already exceeded CAM_MA_S_START.
CAM_MA_V_MAX
The slave speed exceeds the axis limit value. This means that the maximum speed of the master axis or
the cam profile slope is too large ((CAM_MA_V_MAX * CAM_SL_S_SYNC / CAM_MA_S_SYNC) >
AXLIM_V_POS).
CAM_SL_S_COMP_MIN
Slave axis compensation path is smaller than the minimum value (CAM_SL_S_COMP <
CAM_SL_S_COMP_MIN)
CAM_SL_S_COMP_MAX
Slave axis compensation path is larger than the maximum value (CAM_SL_S_COMP >
CAM_SL_S_COMP_MAX)
CAM_MA_TRIG_WINDOW
Master axis trigger window is larger than the interval (CAM_MA_TRIG_WINDOW > (CAM_MA_S_SYNC +
CAM_MA_S_COMP))
CAM_MA_COMP_TRIG_WINDOW
Master axis compensation trigger window is larger than the interval (CAM_MA_COMP_TRIG_WINDOW >
(CAM_MA_S_SYNC + CAM_MA_S_COMP))
CAM_SL_TRIG_WINDOW
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Slave axis trigger window is larger than the interval (CAM_SL_TRIG_WINDOW > (CAM_SL_S_SYNC +
CAM_SL_S_COMP))
CAM_MA_S_TRIG
Master trigger FIFO exceeds the maximum length. This means the relative trigger position of the master
axis is too large or the interval is too small.
CAM_MA_S_COMP_TRIG
Master compensation trigger FIFO exceeds the maximum length. This means the relative position
compensation trigger of the master axis is too large or the interval is too small.
CAM_SL_S_TRIG
Slave trigger FIFO exceeds the maximum length. This means the relative trigger position of the slave axis
is too large or the interval is too small.
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Runtime error while coupling to a cyclic network position (MA1/2/3_CYCLIC_POS). Linear extrapolation
occurs if a new set position is not received within the master cycle. This error is registered if this failure
occurs several times consecutively.
Reaction:
Movement aborted with the axis limits and coupling aborted.
Cause/Remedy:
Coupling is activated too soon, before set values are sent.
The sending of set values was not activated or the master station failed.
The master cycle is too short or the network load is too high.
Disturbance or disconnection of the network connection. See also error number 1012.
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Reaction:
The controller state remains unchanged.
Cause/Remedy:
The controller was already on.
The controller was not switched off earlier.
-> Check program sequence and status request.
5115: Restart command not possible: The cam automat is not active
Info:
Data type:
Description:
Response error when restarting (ncRESTART) the cam automat if the automat function is not active.
Reaction:
The cam automat restart is not executed.
Cause/Remedy:
The cam automat has not yet ever been started 'normally' using ncSTART.
The cam automat was terminated previously using ncSTOP.
The cam automat was previously terminated using the end state 255 (only for CMD_AUT_START).
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Cause/Remedy:
The parameter was written too late (after the drum sequencer start).
The parameter was written too soon (before the cam automat movement was aborted).
-> Check program sequence.
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Cause/Remedy:
The parameter was written too late (after the cam automat start).
The parameter was written too soon (before the cam automat movement was aborted).
-> Check program sequence and status request.
Detail
Data type:
UINT
Description:
Response error at the last data segment of the cam profile download (AUT_POLY_DATA). The polynomial
data is checked for validity before the cam profile is accepted.
Reaction:
The new cam profile is not accepted.
A previously valid cam profile with this data index is kept.
Cause/Remedy:
Detail
1: The number of polynomials does not fall within the range of 1-64.
2: The coefficient a1 for the y-shift of the 1st polynomial is not 0.
3: Invalid float value range for a coefficient.
4: A polynomial master position xi is negative or smaller than the previous master position.
5: The last master position xn does not correspond to the master interval (period).
6: The polynomial function value y(xn) at the end of the master interval does not correspond to the slave
interval. See also error number 37111.
7: The length of the master period (period) is too small or is negative.
8: The number of bytes in the data block does not fall within the range of 1-64 polynomials.
9: The value for 'reserve' is not 0.
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Response error while writing CMD_AUT_ST_CHECK. Parameter checks of the automat state are performed.
Reaction:
None.
Cause/Remedy:
An event was configured in this state, which leads to a state without valid cam profile data.
The event was incorrectly configured (AUT_EVENT_ST_INDEX).
The state at AUT_EVENT_ST_INDEX has not yet been completely configured.
5315: Download error: Cam profile data in use by cam automat or function block
Info:
Data type:
Description:
Response error at the last data segment of the cam profile download (AUT_DATA_INDEX,
AUT_POLY_DATA). A download for this data index has already been executed several times (online change
of cam profiles). These cam profiles have not yet been enabled and too many cam profiles are now being
used with the same index.
Reaction:
The new cam profile is not accepted.
A previously valid cam profile with this data index is kept.
Cause/Remedy:
Download to the wrong data index.
The lock for consistent online parameter change (AUT_ONL_PAR_LOCK) is not reset.
Too many instances are using the same cam profile. For example, cam automat real and virtual axis,
CURVE function blocks.
The cam profile is not enabled (e.g. the cam profile master axis does not move, therefore remaining in the
curve).
CURVE function blocks continually block a curve.
-> For online change and static application, no common data index should be used. If the same cam profile
is required, it can be transferred to a second data index.
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Info:
Data type:
Description:
Response error at the start of the cam automat (CMD_AUT_START) directly in a certain state. In this state,
there is no cam profile data at AUT_START_ST_INDEX or the state was selectively deactivated
(AUT_ST_DATA_INDEX=0).
Reaction:
The cam automat start is not executed.
Cause/Remedy:
The state has not yet been completely configured.
Invalid state index.
5318: Relative distance of master axis higher than cam profile period
Info:
Data type:
Description:
Response error at the start of the cam automat (CMD_AUT_START, AUT_START_ST_INDEX) directly in a
certain state. The parameter AUT_CAM_MA_S_REL, for the master start position within the curve exceeds
the total length of the curve.
Reaction:
The cam automat start is not executed.
Cause/Remedy:
Invalid state index.
AUT_CAM_MA_S_REL is too large.
Master interval of the curve is too small.
Multiplication factor for the master axis is too small.
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Info:
Data type:
Description:
Response error while writing CMD_AUT_ST_CHECK. Parameter checks of the automat state are performed.
Reaction:
None.
Cause/Remedy:
There is no cam profile data in this state.
The state was selectively deactivated (AUT_ST_DATA_INDEX=0).
The state has not yet been completely configured.
6000: Master sampling time is not a multiple of position controller sampling time
Info:
Data type:
Description:
Response error while writing the master cycle time. The master cycle time cannot be divided by the
position controller cycle time (400us).
Reaction:
The master cycle time is not accepted.
Cause/Remedy:
See error number 1002.
When using Powerlink, see also error number 1012.
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Info:
Data type:
Description:
Runtime error using the 'switch on controller' command. See also error number 4005.
An initialization accesses the FLASH memory. The controller may not be switched on during access.
Reaction:
See error number 4005.
Cause/Remedy:
An initialization was started by changing the encoder type from ncINC to ncSSI when using an AC123 plugin card. The command 'switch on controller' was made during this phase.
-> Request the status 'controller ready' before the command 'switch on controller'.
6015: CAN controller: CAN bus disturbance (receive error counter greater 96)
Info:
Slot
Data type:
USINT
Description:
Runtime error when using an AC110 plug-in card. Any CAN network node can detect malfunctions. To do
this, a CAN node contains a send and receive error counter, which is incremented when a send or receive
procedure containing an error is detected and is decremented when a send or receive procedure occurs
without errors. The error counter is incremented further when an error occurs than it is decremented when
the transfer is successful.
Therefore, the state of the error counter is a measurement for the relative frequency of disturbances. If a
network node detects an error which only has local effects, then the error flag triggered by this node
causes a subsequent signal to all other network nodes. Using the point in time that the error flag was
completed, the network nodes know if they were the first to signal the error. To localize the error, receiveerrors and send-errors in the node that signaled an error while receiving or sending the node are
incremented by a considerably higher amount (9x or 8x) than the counter of the secondary signalizing
node. If the first detection of an error by the same node exceeds a certain frequency, then it is very likely
that this node is defective. By exceeding certain error counter limits measures are taken to limit the
influence of an affected node on the network. These measures include the notification of an increased error
counter state, prohibiting the sending of active error flags when a high error counter state is reached and
automatically switching off the node when a very high send-error counter state is reached. The counter
state cannot be read.
This error notifies of the arrival of the receive-error counter state 96.
See also error number 4005.
Reaction:
See error number 1004.
Cause/Remedy:
The network is interrupted or defective. See wiring guidelines error number 7030.
Check terminating resistors.
AC110 plug-in card defective.
CAN network defective in the entire system.
6016: CAN controller: CAN bus disturbance (transmit error counter greater 96)
Info:
Slot
Data type:
USINT
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Description:
Runtime error in the CAN network. This error notifies of the arrival of the send-error counter state 96.
See error number 6015.
Reaction:
See error number 1004.
Cause/Remedy:
CAN bus stations with the same node number in the entire system.
See also error number 6015.
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Runtime error if at least one of the six transistors in the inverter or the transistor for the braking resistor
registers overcurrent.
When using the following ACOPOS servo drives, this error is also registered for overcurrent in the current
transformer (U and V):
8V1180.xx-x....95.4 Apeak
8V1320.xx-x....160.4 Apeak
8V1640.xx-x....400.0 Apeak
8V128M.xx-x....585.0 Apeak
Reaction:
Synchronous motor: Movement stop with short-circuit braking.
Asynchronous motor: Movement stop by switching off the power section and switching on the holding
brake.
If the error occurs two times consecutively, then a movement is stopped by switching off the power section
and switching on the holding brake.
Cause/Remedy:
Motor wiring error:
- Phase and ground conductor switched. -> Check if the ground conductor PE in the motor cable on the X5
plug is connected with motor phase U, V or W.
- Short circuit in the motor cable. Short circuit between two phases, ground PE and phase or shield and
phase. -> Check the resistance between U-V, V-W, W-U, U-PE, V-PE, W-PE, U-shield, V-shield and Wshield.
Motor defect:
- Winding short in a motor phase. -> Check on the motor plug and on the motor terminals if two of the
three motor impedances (phase-phase) have lowered.
- Winding short between two motor phases. -> Check on the motor plug and on the motor terminals if one
of the three motor impedances (phase-phase) has lowered.
- Housing short between motor phase and housing. -> Using a continuity tester or a megohmmeter, check
the insulation resistance between the motor phases and the housing.
ACOPOS servo drive defect:
- Alloyed transistor or control in a half-bridge defective. -> Check if the error is also registered when the
motor cable is unplugged.
- Alloyed transistor or control for braking resistor defective. -> Check if the error is registered when the DC
bus voltage UDC_ACT is greater than the switch-on voltage of the braking resistor UDC_BLEEDER_ON.
- Problem with current measurement. -> Check the phase current when the power section is switched off.
External braking resistor defect:
- Short circuit. -> Check if the error is also registered when the external braking resistor is not connected.
Set current value jump: See error number 9300. This cause is more likely on devices with current
transformer monitoring.
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Cause/Remedy:
Supply voltage via DC bus power supply:
Problems with the VAC power supply (wire breakage, control, power failure, dip in power, etc)
Voltage supply via an external power supply:
Problem with the 24VDC supply voltage (cable breakage, control, power supply overload, power supply
failure, etc)
ACOPOS hardware defect.
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Info:
Data type:
Description:
Runtime error in the hardware monitor using the 'switch on controller' command or while the controller is
active. A voltage sag occurs on the controller enable input (contact ENABLE on connector X1).
Reaction:
When 'switch on controller' command: See error number 4005.
When controller is active:
Movement stop by switching off the IGBT output stage and switching on the holding brake.
The 'controller ready' state is reset.
Cause/Remedy:
Triggered by external operation or external factors (application program or manual operation).
False triggering due to defective hardware or malfunctions (broken connection, line termination, wiring
error, control hardware defective or failed, ACOPOS 24VDC supply voltage, malfunctions). See also wiring
guidelines error number 7030.
ACOPOS servo drive defect.
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6030: Holding brake: Brake output is active, but no brake entered in motor data
Info:
Data type:
Description:
Runtime error using the 'switch on controller' command when holding brake monitor is active. Current is
flowing to the holding brake output even though a holding brake was not specified in the motor parameter
block.
Reaction:
See error number 6022.
Cause/Remedy:
Incorrect configuration of the holding brake in the motor parameter block.
The output for the holding brake is being used for another functionality and the brake monitor has not been
deactivated (bit 2 in the BRAKE_MODE not set).
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Slot
Data type:
USINT
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Description:
Runtime error during initialization of a plug-in card. An error occurred while configuring a FPGA function
block.
Reaction:
Plug-in card not supported
Cause/Remedy:
Plug-in card defective.
PROM data from the plug-in card contains errors.
ACOPOS hardware defect (bus board, plug, internal SSI bus).
Parameter ID
Data type:
'PARID'
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Description:
Response error using the 'switch on controller' or 'burn motor data' commands. The motor parameter block
was not completely initialized.
Reaction:
The command is not executed.
Cause/Remedy:
At least one motor parameter was not written or was written incorrectly.
The motor type was not written as first parameter in the motor parameter block. The initialization status of
all motor parameters is reset by writing the motor type; that means that all motor parameters must
subsequently be rewritten.
The motor data in motors with EnDat encoders could not by read by the EnDat encoder memory (encoder
error, OEM motor, no motor data in the encoder memory).
Data type:
REAL
Description:
Response error when writing a parameter for the torque limit (torque limit or torque limit override). An
active torque limit would be larger than the peak motor torque by writing the parameter.
Reaction:
Torque limit is not accepted.
Cause/Remedy:
Torque limit or torque limit override is too large for the motor parameter block.
See also error number 1002.
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Response error when writing the maximum allowed version BSYS_VERS_MAX if the ACOPOS operating
system version is higher than BSYS_VERS_MAX.
Reaction:
The 'controller ready' state is reset. See error number 4005.
Cause/Remedy:
Invalid operating system version. Update operating system. See error number 32018.
See error number 1002.
PHASING_MODE
Data type:
UINT
Description:
Runtime error when switching on the controller if an incremental encoder was used as motor encoder and
the wrong PHASING_MODE was selected for determining the commutation offset
MOTOR_COMMUT_OFFSET.
Reaction:
The startup procedure is cancelled.
Cause/Remedy:
Permissible values for PHASING_MODE:
0: Saturation mode
2: Dither mode
Non-permissible values for PHASING_MODE:
1: Stepper mode would cause invalid movements.
3: Direct mode not supported.
See error number 1002.
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REAL
Description:
Runtime error during phasing CMD_PHASING in stepper mode (PHASING_MODE=1).
Reaction:
Phasing is aborted.
Cause/Remedy:
Info shows the negative number of polepairs:
- Motor wiring error: Motor phase permuted. -> Swap two motor phases.
- Encoder position or speed contains an error: See error number 4014.
Info shows a value in the range -0.5..0.5:
- Encoder scaling SCALE_ENCODx_INCR is incorrect
- Encoder position or speed contains an error: See error number 4014.
- Motor wiring error: Motor phase not connected to the plug X4. -> Check the motor movement during the
phasing. The motor should move 10 polepairs.
- Load torque active. -> Check the motor movement during the phasing. The motor should move 10
polepairs.
- Motor holding brake do not open. -> Check the motor movement during the phasing. The motor should
move 10 polepairs.
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Info:
Data type:
Description:
Runtime error during phasing (CMD_PHASING=ncSTART) in dither mode (PHASING_MODE=2). Speed
SCTRL_SPEED_ACT is too low during the 'phasing'.
Reaction:
Phasing is aborted.
Cause/Remedy:
Rotor blocked:
- Motor with holding brake, blocked due to external load, motor with very high moment of inertia. -> Check
the speed SCTRL_SPEED_ACT during the 'phasing'.
Incorrect motor configuration:
- No torque is created when the phasing current PHASING_CURR is too low. -> Check the speed
SCTRL_SPEED_ACT during the 'phasing'.
Encoder position or speed contains an error: See error number 4014.
Motor wiring error: At least two motor phases are disconnected, loose terminal. See error number 6045.
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Error in the configuration of the holding brake (Delay time for closing the holding brake too small).
Error in the configuration of the motor encoder.
Position error limit too small (Clearance and elastic deformation between holding brake and motor encoder
must be considered).
Load torque too large.
Holding brake defective.
No drive controlled movement halt.
Additionally during functional test of the holding brake torque:
Test torque or holding brake rated torque too large.
Load torque determination incorrect (Current measuring system, motor configuration, rotor commutation or
motor encoder measuring system).
Controller instable.
If the holding brake torque test is not active, then the stop monitoring can be deactivated by setting
BRAKE_MODE Bit3 = 1.
Slot
Data type:
USINT
Description:
Runtime error in a Hiperface encoder while reading or writing a parameter. An error occurred when
transferring data between Hiperface encoder and AC121 plug-in card. As a result, the error bit was set.
This error bit is set due to commands which cannot be processed (protocol error, command arguments) or
due to internal encoder errors.
Reaction:
Error number 7013 is entered.
Cause/Remedy:
See additionally entered error numbers.
Status code
Data type:
USINT
Description:
Runtime error in a Hiperface encoder while reading or writing a parameter. The present encoder status is
requested due to an error bit entry during a data transfer between Hiperface encoder and AC121 plug-in
card. This should provide an answer about the cause of error.
Reaction:
If the error bit has not been set, the Hiperface status message is read and error number 7013 is entered.
Cause/Remedy:
Description of the encoder status according to Stegmann:
00h...The encoder has not detected an error
Initialization error:
01h...Analog signal outside specification
02h...Internal angular offset incorrect
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Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). A CDC error
occurred during the data transfer.
Reaction:
The transfer is repeated during the encoder initialization.
The transfer is aborted while writing the parameter.
Cause/Remedy:
Encoder voltage dip (Check the ACOPOS 24VDC supply when power is supplied via plug-in cards).
Encoder defective.
SSI encoder connection is interrupted or defective. See wiring guidelines error number 7030.
AC120 or AC121 plug-in card defect.
Slot
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USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). A timeout error
occurred during the data transfer. The encoder did not send an answer to a send request.
Reaction:
The transfer is repeated during the encoder initialization.
The transfer is aborted while writing the parameter.
Cause/Remedy:
Encoder is not connected.
See also error number 7014.
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The data transfer
could not be started because the previous transfer was not completed.
Reaction:
The transfer is repeated during the encoder initialization.
The transfer is aborted while writing the parameter.
Cause/Remedy:
Operating system error.
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The encoder data
contains errors or is not supported.
Reaction:
See error number 7030.
Cause/Remedy:
EnDat encoder:
Error in the checksum of the encoder data.
Hiperface encoder:
Encoder type not supported.
Slot
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USINT
Description:
Runtime error in an encoder while writing the OEM data. Errors occurred during the serial transfer.
Reaction:
The write procedure is aborted.
Cause/Remedy:
See additionally entered error numbers.
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). A timeout error
occurred while reading the absolute serial position. The encoder did not send an answer to a send request.
Reaction:
The transfer is repeated.
Cause/Remedy:
See error number 7014.
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The encoder
initialization is not complete.
Reaction:
Write command motor data, read/write PROM data, etc is not executed.
See also error number 7030.
Cause/Remedy:
Encoder is not connected.
Encoder defective.
Encoder initialization is active due to AB signal failure.
Serial communication error (see additionally entered error numbers).
Slot
Data type:
USINT
Description:
Response error while reading/writing encoder OEM data. A read/write access to the encoder OEM data was
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Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The amplitude of
the sinusoidal AB signals is smaller than 17.5% (AC120) or 20.0% (AC121) of the maximum amplitude
which can be displayed (see ACOPOS user's manual).
Reaction:
See error number 7030.
Cause/Remedy:
No encoder supply or supply contains an error.
See also error number 7030.
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor.
The monitor is activated with the following configurations:
- Homing the encoder position (CMD_HOMING, CMD_ENCOD2_HOMING, CMD_ENCOD3_HOMING).
- Encoder position used for drive control (VCTRL_S_ACT_PARID, PCTRL_S_ACT_PARID).
- Switch on the drive control (CMD_CONTROLLER). See also error number 4005.
- Encoder position used for cam profile linkage (CAM_MA_AXIS).
- Encoder position used for cam automat (AUT_MA_AXIS, AUT_MA_AXIS_VAX1, AUT_MA_ADD_AXIS,
AUT_MA_ADD_AXIS_VAX1, AUT_SL_ADD_AXIS, AUT_SL_ADD_AXIS_VAX1).
- Encoder position used for drum sequencer (DRUMSEQ_MA_AXIS).
- Encoder position used for network coupling (MA1/2/3_CYCLIC_SEND).
- Encoder position used for encoder emulation output value (ENCOD2/3_OUT_PARID).
- Encoder position used for Latch (LATCH1/2_VALUE_PARID).
- Encoder position used for cyclic set value input (CYC_ABS_MOVE_PARID).
- Encoder position used for FUB Pointer parameter ID (e.g. PID_IN_PARID etc).
The amplitude of the sinusoidal AB signals is larger than 99% of the maximum amplitude which can be
displayed (see ACOPOS user's manual).
Reaction:
'Switch on controller' command: See error number 4005.
'Homing' command: See error number 5034.
Other commands: The command is not executed.
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Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The amplitude of
the sinusoidal AB signals is larger than 100% of the maximum amplitude which can be displayed (see
ACOPOS user's manual)
Reaction:
See error number 7030.
Cause/Remedy:
See also error number 7030.
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The amplitude of
the sinusoidal AB signals is smaller than 10% of the maximum amplitude which can be displayed (see
ACOPOS user's manual) -> Encoder is not recognized by the ACOPOS servo drive.
Reaction:
The internal status 'positions synchronous' is reset.
See also error number 7029.
Cause/Remedy:
No encoder supply or supply contains an error.
See also error number 7029.
7036: Encoder: Interface ID invalid (Check slot and Interface EEPROM data)
Info:
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The encoder is not
supported by the drive.
Reaction:
See error number 7030.
Cause/Remedy:
A plug-in card is not inserted in the slot assigned to the encoder.
A plug-in card which does not support encoders is inserted in the slot assigned to the encoder.
An invalid plug-in card ID was read due to hardware error. (plug-in card, PROM data, SSI interface, bus
board, module plug, etc.)
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Slot
Data type:
USINT
Description:
Runtime error in an absolute encoder with activated monitor (activation, see error number 7030). The
incremental position of the plug-in card could not be synchronized with the absolute serial position of the
encoder.
Reaction:
See error number 7030.
Cause/Remedy:
Serial communication error (see additionally entered error numbers).
Incremental signal error (see additionally entered error numbers).
Slot
Data type:
USINT
Description:
Runtime error in an incremental encoder with activated monitor (activation, see error number 7030).
Signal A and nA must complement each other. Overlapping only occurs in the area of the switching edges.
A cable disturbance is registered if the low or high level overlap for a long period of time.
Reaction:
See error number 7030.
Cause/Remedy:
Encoder is not connected.
No encoder supply or supply contains an error.
Encoder connection is interrupted or defective. See wiring guidelines error number 7030.
Signal level of the encoder does not meet the specifications of the plug-in card (check encoder data sheet).
Encoder defective.
AC123 plug-in card defective.
Slot
Data type:
USINT
Description:
Runtime error in an incremental encoder with activated monitor (activation, see error number 7030).
Signals B and nB do not complement each other.
See error number 7039.
Reaction:
See error number 7030.
Cause/Remedy:
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Slot
Data type:
USINT
Description:
Runtime error in an incremental encoder with activated monitor (activation, see error number 7030).
Signals R and nR do not complement each other.
See error number 7039.
Reaction:
See error number 7030.
Cause/Remedy:
See error number 7039.
If the encoder does not support reference pulses and they are not necessary, then the reference pulse
monitor can be deactivated by setting bit 1 of ENCODX_LINE_CHK_IGNORE.
Slot
Data type:
USINT
Description:
Runtime error in an incremental encoder with activated monitor (activation, see error number 7030). Each
edge of the quadrature signal (A/B incremental encoder signals) is evaluated. The limit value for the time
interval between two edges was not reached.
Reaction:
See error number 7030.
Cause/Remedy:
Encoder speed too high.
Encoder connection is interrupted or defective. See wiring guidelines error number 7030.
Encoder vibrations.
Encoder defective.
AC123 plug-in card defective.
Slot
Data type:
USINT
Description:
Runtime error in a SSI encoder with activated monitor (activation, see error number 7030). Signals D and
nD do not complement each other.
See error number 7039.
Reaction:
See error number 7030.
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Cause/Remedy:
See error number 7039.
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The transferred
parity bit does not match the determined parity bit. The determined parity bit results from the LSB of the
sum of the read data bits and the defined PARITY_MODE.
Reaction:
See error number 7030.
Cause/Remedy:
The configuration of the PARITY_MODE parameter does not correspond to the encoder specifications (check
encoder data sheet).
Encoder connection is interrupted or defective. See wiring guidelines error number 7030.
Encoder defective.
AC123 plug-in card defective.
Slot
Data type:
USINT
Description:
Runtime error in a resolver with activated monitor (activation, see error number 7030). The determined
acceleration of the resolver position is larger than the maximum acceleration allowed ENCODX_A_LIM.
Reaction:
See error number 7030.
Cause/Remedy:
Configuration of the maximum acceleration ENCODX_A_LIM is too restrictive.
Resolver connection is interrupted or defective. See wiring guidelines error number 7030.
Resolver does not meet the specifications of the AC122 plug-in card.
Resolver is not connected.
Resolver defective.
AC122 plug-in card defective.
Slot
Data type:
USINT
Description:
Runtime error in a resolver with activated monitor (activation, see error number 7030). A vector
comparison is made between the sine/cosine signals in the resolver evaluation circuit. An error is output if
deviations are too large. Correct functioning of the monitor depends greatly on the input impedance and
the voltage ratio of the resolver.
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Reaction:
See error number 7030.
Cause/Remedy:
See error number 7045.
If the resolver does not meet the specifications of the AC122 plug-in card, the monitor of the cable
disturbances can be deactivated by setting bit 0 of ENCODX_LINE_CHK_IGNORE.
Caution: This can cause uncontrolled movements when 'real' resolver errors occur.
This error is not supported by 8AC122.60-1 plug-in cards.
Distance
Data type:
DINT
Description:
Runtime error while referencing with distance-coded reference marks. The distance between two reference
marks is 0 or is larger than the general distance for reference marks ENCODX_REF_DCM_DISTANCE.
Reaction:
See error number 5035.
Cause/Remedy:
The configured general distance does not match the general distance for reference marks of the encoder
(check encoder data sheet).
Reference signal encoder connection is interrupted or defective (see wiring guidelines error number 7030).
Encoder does not support reference marks (check encoder data sheet).
Encoder reference signal does not meet the specifications of the plug-in card (check encoder data sheet).
Encoder measure is no longer clean.
Encoder defective.
AC120, AC123 or AC130 plug-in card defect.
Slot
Data type:
USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). During reading
the encoder memory too many data transfer errors occurred.
Reaction:
The encoder initialization is aborted.
See error number 7030.
Cause/Remedy:
The encoder error can be cleared only by SW reset.
See also error number 7015.
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Data type:
Description:
Response error while writing a parameter specific to the plug-in card. The addressed plug-in card does not
support the parameter.
Reaction:
Parameter is not set.
Cause/Remedy:
The slot addressed by the parameter contains either no plug-in card or the wrong plug-in card.
See also error number 1002.
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Reaction:
The 'controller ready' state is reset. See error number 4005.
Cause/Remedy:
Mains disturbance:
- Operation at the limits. The filtered DC bus voltage UDC_FILTER sporadically exceeds the cut-off voltage
UDC_BLEEDER_ON - 23.3 VDC or sporadically sinks below the minimum cut-off voltage 0.9*MAX
(UDC_NOMINAL, 400*SQRT(2))VDC.
- Large DC bus voltage fluctuation. -> Check the filtered DC bus voltage UDC_FILTER.
Data type:
REAL
Description:
Runtime error when controller is active. A mains phase failure (STAT_UDC_MON=16) is detected or the DC
bus voltage UDC_ACT sinks below the cut-off voltage 0.779 * UDC_NOMINAL.
Reaction:
See error number 1011.
The under-voltage limiter is switched on during the movement stop.
Cause/Remedy:
Mains disturbance:
- Brief mains or phase failure. -> Check phase voltages and DC bus voltage for brief dips during operation.
Mains wiring error or overloaded mains:
- High supply impedance, saturation effect of the mains transformer. -> Check if the envelope of the DC
bus voltage UDC_ACT or the phase voltage in motor operation is reduced by more than 10%.
- Loose contact or mains phase not attached. See error number 7215.
- Mains phase failure. See error number 7215.
Single-phase mains operation:
- The DC bus voltage UDC_ACT cannot be sufficiently supported when the motor load is too high.
- Nominal voltage detection problem: -> Compare the measure nominal DC bus voltage UDC_NOMINAL
with the DC bus voltage UDC_ACT or multimeter.
- Nominal voltage initialization problem: -> Compare the nominal DC bus voltage UDC_NOMINAL with the
DC bus voltage UDC_ACT or multimeter.
Data type:
REAL
Description:
Runtime error: During the movement stop with under-voltage limiter (see error number 7211) the DC bus
voltage can no longer be maintained above 0.65 * UDC_NOMINAL.
Reaction:
See error number 6021.
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Cause/Remedy:
Recovery power too low: Following a power failure, the recovery power in the DC bus network is lower than
the power loss of the DC bus network. -> Check the power balance.
7214: DC bus: Charging resistor hot (too many power line fails)
Info:
Data type:
Description:
Runtime error if the DC bus is loaded at least two times within 20 seconds with the following ACOPOS servo
drives:
8V1022.00-1
8V1045.00-1
8V1090.00-1
8V1022.00-2 from Rev.:A0 up to and including Rev.:F0
8V1045.00-2 from Rev.:A0 up to and including Rev.:F0
8V1090.00-2 from Rev.:A0 up to and including Rev.:F0
The charging resistor can be damaged if the intervals for switching on the mains are shorter than 20s.
Reaction:
See error number 7210.
Cause/Remedy:
Short intervals for switching on the mains (< 20s) must be prevented in the application.
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Data type:
REAL
Pagina 69 di 164
Description:
Runtime error using the 'switch on controller' command. The filtered DC bus voltage UDC_FILTER is higher
than the cut-off voltage UDC_BLEEDER_ON-23.3 VDC.
Reaction:
See error number 7210.
Cause/Remedy:
Invalid mains: Supply voltage or DC bus voltage is too high. -> Check the DC bus voltage.
Incorrect configuration of over-voltage limiter: UDC_BLEEDER_ON too low.
7218: DC bus: Voltage too low - Nominal voltage detection not possible
Info:
Data type:
REAL
Description:
Runtime error using the 'switch on controller' command. The filtered DC bus voltage UDC_FILTER is lower
than the cut-off voltage 0.9*UDC_DETECTION.
Reaction:
See error number 7210.
Cause/Remedy:
Invalid mains: Supply voltage or DC bus voltage is too low. -> Check the DC bus voltage.
Incorrect configuration of the nominal voltage detection: UDC_DETECTION too high.
Data type:
REAL
Description:
Runtime error using the 'switch on controller' command. The filtered DC bus voltage UDC_FILTER is lower
than the cut-off voltage 0.9*UDC_NOMINAL.
Reaction:
See error number 7210.
Cause/Remedy:
Invalid mains: Supply voltage or DC bus voltage is too low. -> Check the DC bus voltage.
Incorrect configuration of the nominal voltage initialization: UDC_NOMINAL too high.
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DC bus voltage
Data type:
REAL
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Description:
Runtime error using the 'switch-on controller' command, in ACOPOS servo drives with internal DC bus
power supply (8V1180.xx-x - 8V128M.xx-x) if the filtered DC bus voltage UDC_FILTER is in the critical
range [0.9*SQRT(2)*240, SQRT(2)*380] VDC.
Reaction:
See error number 7210.
Cause/Remedy:
Invalid mains: Mains voltage or DC bus voltage is invalid. -> Check the DC bus voltage.
Slot
Data type:
UINT
Description:
Response error during the input/output configuration DIO_DIR for digital IOs. A configuration was defined
which is not supported by the hardware.
Reaction:
The parameter value is not accepted.
Cause/Remedy:
When using the AC130 plug-in cards, the first 8 IOs must be configured in pairs (1/2, 3/4, 5/6, 7/8) as
inputs or outputs.
See error number 1002.
Index of parameter
Data type:
UINT
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Description:
Runtime error during initialization of a parameter sequence if the parameter sends an error at the present
index (index begins at 0).
Reaction:
The subsequent parameters in the parameter sequence are not processed. The status remains at 'not
initialized'. The parameter error is additionally entered as runtime error.
Cause/Remedy:
According to the parameter ID and the additionally entered error number.
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Cause/Remedy:
Value of the parameter is outside of the valid range [0...5].
Caution: Internal parameter for writing the EEPROM. False usage can cause damage to the ACOPOS servo
drive.
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EEPROM Parameter ID
Data type:
UINT
Pagina 73 di 164
Description:
Runtime error while reading from the EEPROM.
Reaction:
None.
Cause/Remedy:
Plug-in card: EEPROM defect. -> Switch plug-in card.
ACOPOS servo drives: EEPROM defect. -> Switch the ACOPOS servo drive.
EEPROM Parameter ID
Data type:
UINT
Description:
See error number 8006.
Reaction:
None.
Cause/Remedy:
See error number 8006.
Temperature limit
Data type:
REAL
Description:
Runtime error if the temperature of the heat sink temperature sensor TEMP_HEATSINK exceeds the limit
(see INFO).
Reaction:
See error number 1011.
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Cause/Remedy:
Invalid operational conditions:
- Environmental temperature is higher than 40C while in operation. -> Check the cool air temperature
right after opening the intake.
- Moderate air flow in the ACOPOS servo drive. -> Check the mounting direction and the covers on the
intake opening.
ACOPOS servo drive defect:
-Cooling fan defect. -> Check if the fan makes any sound when the controller is on. The sound from the fan
is louder when the heat sink temperature is high.
- Problem with heat sink temperature measurement: -> When the controller is switched off, compare the
environmental temperature with the temperature of the heat sink temperature sensor TEMP_HEATSINK.
- If the thermal transition resistance between IGBT and the heat sink is too high, check the heat dissipation
past between the heat sink and IGBT. -> Switch the ACOPOS servo drive.
Temperature limit
Data type:
REAL
Description:
Runtime error if the temperature of the heat sink temperature sensor TEMP_HEATSINK exceeds the limit
(see INFO).
Reaction:
Synchronous motor: Movement stopped with short-circuit braking. If the current signals and voltage
signals in phase 1 and phase 2 are stationary, the regulator is switched off.
Asynchronous motor: Movement stopped with eddy-current braking. If the current signals and voltage
signals in phase 1 and phase 2 are stationary, the regulator is switched off.
The motor current is limited during the Movement stop with the motor rated current MOTOR_CURR_RATED
and the servo drive rated current ACOPOS_CURR_RATED.
Cause/Remedy:
During the movement stop (see error number 9000), the temperature of the heat sink increases.
If the movement would be stopped in already in deeper temperatures, the limit temperature (see INFO)
would not be exceeded.
Temperature limit
Data type:
REAL
Description:
Runtime error if the measured heat sink temperature goes below the value -20C.
Reaction:
See error number 1011.
Cause/Remedy:
Invalid operational conditions:
- Environmental temperature is lower than -20C while in operation. -> Check the cool air temperature
right after opening the intake.
ACOPOS servo drive defect:
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- Problem with heat sink temperature measurement. -> When the controller is switched off, compare the
environmental temperature with the heat sink temperature TEMP_HEATSINK.
Temperature limit
Data type:
REAL
Description:
Runtime error if the measured heat sink temperature exceeds the value 120C.
Reaction:
See error number 1011.
Cause/Remedy:
Invalid operational conditions:
- Environmental temperature is higher than 120C while in operation. -> Check the cool air temperature
right after opening the intake.
ACOPOS servo drive defect: Problem with heat sink temperature measurement. See error number 9002.
Temperature limit
Data type:
REAL
Description:
Runtime error if the temperature of the motor temperature sensor TEMP_MOTOR exceeds the limit (see
INFO).
Reaction:
See error number 1011.
Cause/Remedy:
Invalid operational conditions:
- Environmental temperature too high. -> Check the motor specifications.
- Flange temperature too high. -> Check the motor specifications.
- Cooling is defective. -> Check any necessary air or water cooling.
Motor continuous current exceeded:
- Increased current. See error number 9030. -> Determine the medium speed and the effective value of
the motor current and compare these values with the continuous current curve (S1 operation) of the
motor.
Problem with motor temperature measurement:
- Sensor defect: -> When the controller is switched off, compare the environmental temperature with
TEMP_MOTOR.
- Defective isolation of the temperature sensor: -> Take the plug X5 and X4 off. Check the dielectric
strength between the temperature sensor wires (T+ and T-) at the plug X4. Check the dielectric strength
between the motor phases (U,V,W) and the motor cable shield at the plug X5. If a defective temperature
sensor (isolation demage) at the ACOPOS servo drive is plug on, then the ACOPOS servo drive can be
damaged.
- ACOPOS servo drive defect: -> Take the plug X5 and X4 off. Check the voltage between the contacts T+
and T- at the female plug X4. If the voltage is unequal 5V, the ACOPOS servo drive is defective.
- Disturbance: Motor temperature sensor cable missing or poorly shielded. Check motor temperature
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Temperature limit
Data type:
REAL
Description:
Runtime error if the temperature of the motor temperature sensor TEMP_MOTOR exceeds the limit (see
INFO).
Reaction:
See error number 9001
Cause/Remedy:
During the movement stop (see error number 9010), the temperature of the motor increases.
If the movement would be stopped in already in deeper temperatures, the limit temperature (see INFO)
would not be exceeded.
Motor temperature
Data type:
REAL
Description:
Runtime error when using a linear thermistor if the upper resistance limit of the temperature sensor MAX
(MOTOR_TEMPSENS_PAR1, MOTOR_TEMPSENS_PAR2) is exceeded.
Runtime error when using a PTC switch if the resistance of the PTC switch exceeds 1MOhm.
Reaction:
See error number 1011.
Cause/Remedy:
Motor temperature sensor wiring error or defect: Motor temperature sensor is not connected, or there is a
loose contact. -> When the controller is switched off, compare the environmental temperature with
TEMP_MOTOR. -> Check the resistance of the motor temperature sensor on the X4 terminal for plausibility
using a multimeter.
The upper resistance limit of the linear thermistor MAX(MOTOR_TEMPSENS_PAR1,
MOTOR_TEMPSENS_PAR2) was selected too low.
Problem with the motor temperature measurement: See error number 9010.
Motor temperature
Data type:
REAL
Description:
Runtime error when using a linear thermistor if the lower resistance limit of the temperature sensor MIN
(MOTOR_TEMPSENS_PAR1, MOTOR_TEMPSENS_PAR2) is not reached.
Runtime error when using a PTC switch if the resistance of the PTC switch falls below 30Ohm.
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Reaction:
See error number 1011.
Cause/Remedy:
Motor temperature sensor wiring error or defect: Temperature sensor short circuit. When the controller is
switched off, compare the environmental temperature with TEMP_MOTOR. -> Check the resistance of the
motor temperature sensor on the X4 terminal for plausibility using a multimeter.
The lower resistance limit of the temperature sensor MIN(MOTOR_TEMPSENS_PAR1,
MOTOR_TEMPSENS_PAR2) was selected too high.
Problem with the motor temperature measurement: See error number 9010.
Temperature limit
Data type:
REAL
Description:
Runtime error if the temperature of the junction temperature model TEMP_JUNCTION exceeds the limit
(see INFO).
The limit depends on the ACOPOS servo drive:
8V1010.xx-x....150C
8V1016.xx-x....150C
8V1022.xx-x....125C
8V1045.xx-x....125C
8V1090.xx-x....125C
8V1180.xx-x....125C
8V1320.xx-x....125C
8V1640.xx-x....150C
8V128M.xx-x....150C
Reaction:
See error number 1011. The junction temperature limiter is switched on during the movement stop.
Cause/Remedy:
Increased current:
- Set value generation is too dynamic. Speed and acceleration are too high. See error number 5036.
- Impermissible load torque: Increased current demand due to impermissibly high load torque (friction,
jammed mechanics, aging, load thrusts).
- Set current value jump: See error number 9300.
- Incorrect controller configuration: Unstable controller.
- Motor defect: Demagnetized motor. -> Check the torque constant MOTOR_TORQ_CONST and the voltage
constant MOTOR_VOLT_CONST of the motor.
- Motor dimensioning error: -> Check the current demand for the generation of the required torque.
Generally, the torque constant MOTOR_TORQ_CONST is reduced with high currents (>
MOTOR_CURR_RATED) due to magnetic saturation.
- Incorrect motor configuration: MOTOR_COMMUT_OFFSET. -> Check the commutation offset
MOTOR_COMMUT_OFFSET with the 'phasing' command (CMD_PHASING=ncSTART) in stepper mode
(PHASING_MODE=1).
- Incorrect asynchronous motor configuration: -> Check if the magnetizing current SQRT(2)
*MOTOR_MAGNETIZING_CURR is larger than ACOPOS_CURR_RATED.
- Incorrect asynchronous motor configuration: -> Check if the magnetizing current
MOTOR_MAGNETIZING_CURR is smaller than 0.5*MOTOR_CURR_RATED.
Heat sink temperature sensor: See error number 9000.
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Mains disturbance or dimensioning error: Supply voltage or DC bus voltage is too high. Observe the
derating which is dependant on the DC bus voltage (see user's manual).
ACOPOS servo drive defect: DC bus voltage measurement problem. See error number 9040.
Reduced current, lowered switching frequency F_SWITCH, low DC bus voltage and good cooling of the
ACOPOS servo drive can prevent the junction from heating up.
Temperature limit
Data type:
REAL
Description:
Runtime error if the temperature of the junction temperature model TEMP_JUNCTION exceeds the limit
(see INFO).
Reaction:
See error number 9001
Cause/Remedy:
During the movement stop (see error number 9030), the temperature of the junction increases.
If the movement would be stopped in already in deeper temperatures, the limit temperature (see INFO)
would not be exceeded.
Temperature limit
Data type:
REAL
Description:
Runtime error if the temperature of the braking resistor temperature model TEMP_BLEEDER exceeds the
limit (see INFO) (external -> TEMP_MAX_BLEEDER_EXT | internal -> see following list).
The limit of the internal braking resistor is dependent on the ACOPOS servo drive:
8V1010.xx-x....250C
8V1016.xx-x....250C
8V1022.xx-x....400C;
8V1045.xx-x....400C
8V1090.xx-x....400C
8V1180.xx-x....350C
8V1320.xx-x....350C
8V1640.xx-x....400C
8V128M.xx-x....400C
Reaction:
See error number 1011.
Cause/Remedy:
Recovery power increased:
-> Check the dimensioning of the braking resistor (see user's manual). The braking power is distributed on
the controllers which are switched on if DC bus's from multiple ACOPOS servo drives are linked together.
Heat sink temperature sensor: See error number 9000.
ACOPOS servo drive defect:
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- DC bus voltage measurement problem: -> Check the DC bus voltage UDC_ACT with a multimeter.
Temperature limit
Data type:
REAL
Description:
Runtime error if the temperature of braking resistor temperature model TEMP_BLEEDER exceeds the limit
(see INFO).
Reaction:
See error number 9001
Cause/Remedy:
During the movement stop (see error number 9040), the temperature of the bleeder increases.
If the movement would be stopped in already in deeper temperatures, the limit temperature (see INFO)
would not be exceeded.
Load limit
Data type:
REAL
Description:
Runtime error if the ACOPOS peak current load LOAD_PEAK_CURR exceeds the limit (see INFO). The
ACOPOS peak current load determines the ratio from effective phase current SQRT(ICTRL_ISQ_ACT^2 +
ICTRL_ISD_ACT^2)/SQRT(2) to doubled ACOPOS rated current 2*ACOPOS_CURR_RATED.
Reaction:
See error number 1011.
Cause/Remedy:
Current increased: See error number 9030.
Load limit
Data type:
REAL
Description:
Runtime error if the load of the ACOPOS peak current load LOAD_PEAK_CURR exceeds the limit (see INFO).
Reaction:
See error number 9001
Cause/Remedy:
During the movement stop (see error number 9050), the load of the ACOPOS peak current increases.
If the movement would be stopped in already in deeper loads, the limit load (see INFO) would not be
exceeded.
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Load limit
Data type:
REAL
Pagina 80 di 164
Description:
Runtime error if the ACOPOS continuous current load LOAD_CONT_CURR exceeds the limit (see INFO). The
ACOPOS continuous current load determines the ratio from effective phase current SQRT
(ICTRL_ISQ_ACT^2 + ICTRL_ISD_ACT^2)/SQRT(2) to 1.1x ACOPOS rated current
1.1*ACOPOS_CURR_RATED.
Reaction:
See error number 1011.
Cause/Remedy:
Current increased: See error number 9030.
Load limit
Data type:
REAL
Description:
Runtime error if the load of the ACOPOS continuous current load LOAD_CONT_CURR exceeds the limit (see
INFO).
Reaction:
See error number 9001
Cause/Remedy:
During the movement stop (see error number 9060), the load of the ACOPOS continuous current increases.
If the movement would be stopped in already in deeper loads, the limit load (see INFO) would not be
exceeded.
Load limit
Data type:
REAL
Description:
Runtime error if the load of motor temperature model LOAD_MOTOR_MODEL exceeds the limit (see INFO).
The motor temperature model determines the ratio from effective phase current SQRT(ICTRL_ISQ_ACT^2
+ ICTRL_ISD_ACT^2)/SQRT(2) to rated motor current MOTOR_CURR_RATED.
Reaction:
See error number 1011.
Cause/Remedy:
Current increased: See error number 9030.
Incorrect motor configuration:
-> Compare the motor rated current MOTOR_CURR_RATED with the motor specifications.
-> Check the den motor winding cross section MOTOR_WIND_CROSS_SECT.
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Load limit
Data type:
REAL
Description:
Runtime error if the load of the motor temperature model LOAD_MOTOR_MODEL exceeds the limit (see
INFO).
Reaction:
See error number 9001
Cause/Remedy:
During the movement stop (see error number 9070), the load of the motor temperature model increases.
If the movement would be stopped in already in deeper loads, the limit load (see INFO) would not be
exceeded.
Load limit
Data type:
REAL
Description:
Runtime error if the ACOPOS continuous power LOAD_POWER exceeds the limit (see INFO).
Reaction:
See error number 1011.
Cause/Remedy:
Current increased: See error number 9030.
Load limit
Data type:
REAL
Description:
Runtime error if the load of the ACOPOS continuous power LOAD_POWER exceeds the limit (see INFO).
Reaction:
See error number 9001
Cause/Remedy:
During the movement stop (see error number 9075), the load of the ACOPOS continuous power increases.
If the movement would be stopped in already in deeper loads, the limit load (see INFO) would not be
exceeded.
Limit
Data type:
REAL
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Description:
Runtime error if the maximum permissible (measurable) phase current is exceeded in phase U or phase V.
The current limit depends on the ACOPOS servo drive:
8V1010.00-2....6.4Apeak
8V1010.50-2.....16Apeak
8V1016.00-2....9.6Apeak
8V1016.50-2...26.7Apeak
8V1022.xx-x.....20Apeak
8V1045.xx-x.....40Apeak
8V1090.xx-x.....40Apeak
8V1180.xx-2.....82Apeak
8V1320.xx-2....133Apeak
8V1640.xx-x....333Apeak
8V128M.xx-x....500Apeak
Reaction:
See error number 6019.
Cause/Remedy:
Set current value jump:
A jump in the set stator current of the quadrature component ICTRL_ISQ_REF occurs due to:
- Jump in the set position or set speed: See error number 5036.
- Jump in the encoder position or speed: See error number 4014.
- Jump in the speed offset (SCTRL_ADD_SET_PARID, SCTRL_SPEED_REF, SCTRL_V_SET_UNITS)
- Jump in the load offsets (ICTRL_ADD_SET_PARID, ICTRL_ADD_TRQ)
- Jump in the load on the motor shaft (jammed mechanics, load thrusts, etc.)
The actual stator current of the quadrature component ICTRL_ISQ_ACT can fluctuate above the maximum
value as a result of a rigidly set current controller and a jump in the set stator current of the quadrature
component ICTRL_ISQ_REF to the maximum value.
Unstable current controller:
- Due to magnetic saturation, the inductance is lower at high currents. The current controller is initialized
automatically according to the motor inductance MOTOR_STATOR_INDUCTANCE. -> Check the current
controller with the maximum permissible current.
- Incorrect current controller configurations: The current controller is initialized automatically according to
the motor parameters MOTOR_STATOR_INDUCTANCE, MOTOR_ROTOR_INDUCTANCE. Check these
parameters. -> Check the overshoot behavior of the step-response on the current controller.
Motor defect: See error number 6019.
ACOPOS servo drive defect: See error number 6019.
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Status of CAN_xopen()
Data type:
UINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_xopen() is called for each
CAN interface defined in the NC configuration to initialize the required resources of the CAN driver. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of all ACOPOS nodes connected to this CAN interface is aborted. All corresponding NC objects
can no longer be operated.
Cause/Remedy:
Wrong interface name in the NC configuration.
Status of CAN_xopen(): See CAN library error numbers.
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each CAN interface specified in the NC configuration to define a Write COB with a specific CAN ID for the
broadcast command to all connected ACOPOS nodes. This error number is output if an error occurs with
this procedure.
Reaction:
Initialization of all ACOPOS nodes connected to this CAN interface is aborted. All corresponding NC objects
can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Write COB with a specific CAN ID for the Channel1 Read Request telegram. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
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CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Write COB with a specific CAN ID for the Channel1 Write Request telegram. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Read COB with a specific CAN ID for the Channel1 Read Response telegram. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Read COB with a specific CAN ID for the Channel1 Write Response telegram. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
32007: Error defining Read COB for Monitor Data from the drive
Info:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
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UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Read COB with a specific CAN ID for the monitor data from the drive. This error
number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
Status of CAN_sendCOB()
Data type:
UINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the NC manager first sends a Read Request
telegram with the CAN_sendCOB() function from the PLC to the ACOPOS for reading a parameter value
from the ACOPOS. This error number is output if an error occurs with this procedure.
Reaction:
Resets the interface of the corresponding read channel.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
Status of CAN_sendCOB(): See CAN library error numbers.
Status of CAN_sendCOB()
Data type:
UINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the NC manager first sends a Write
Request telegram with the CAN_sendCOB() function from the PLC to the ACOPOS for transferring a
parameter value to the ACOPOS. This error number is output if an error occurs with this procedure.
Reaction:
Resets the interface of the corresponding write channel.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
Status of CAN_sendCOB(): See CAN library error numbers.
32010: Drive not responding to Read Request (is the drive in the network ?)
Info:
Timeout [usec]
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Pagina 86 di 164
UDINT
Description:
CAN network:
To read a parameter value from the ACOPOS, the NC manager first sends a Read Request telegram from
the PLC to the ACOPOS. This error is displayed if the NC manager did not receive the corresponding Read
Response telegramm for a specific amount of time after the Read Request telegram was successfully
transferred on the CAN bus.
Powerlink network:
To read a parameter value from the ACOPOS, the NC manager first enters a Read Request telegram in the
cyclic Powerlink frame to the ACOPOS. This error is displayed if the corresponding Read Response telegram
has not been entered in the cyclic Powerlink frame from the ACOPOS after a specific amount of time.
Note:
The INFO is displayed from V1.142 on.
Reaction:
Resets the interface of the corresponding read channel.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
32011: Drive not responding to Write Request (is the drive in the network ?)
Info:
Timeout [usec]
Data type:
UDINT
Description:
CAN network:
To transfer a parameter value to the ACOPOS, the NC manager first sends a Write Request telegram from
the PLC to the ACOPOS. This error is displayed if the NC manager did not receive the corresponding Read
Response telegramm for a specific amount of time after the Write Request telegram was successfully
transferred on the CAN bus.
Powerlink network:
To transfer a parameter value to the ACOPOS, the NC manager first enters a Write Request telegram in the
cyclic Powerlink frame to the ACOPOS. This error is displayed if the corresponding Write Response telegram
has not been entered in the cyclic Powerlink frame from the ACOPOS after a specific amount of time.
Note:
The INFO is displayed from V1.142 on.
Reaction:
Resets the interface of the corresponding write channel.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
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Info:
Data type:
Description:
Before transferring a system module to the ACOPOS, the NC manager was not able to read its module
description.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
The corresponding data range of the system module could not be opened by the NC manager for reading.
See also error number 32018.
32014: Operating system version on the drive not compatible with NC manager
version
Info:
Data type:
UINT
Description:
This error is displayed during the ACOPOS startup function if the NC manager detects that the version of
the operating system on the ACOPOS is not compatible to the version of the NC manager.
Reaction:
The ACOPOS startup function is aborted for this ACOPOS.
Cause/Remedy:
The first three places in the version number of "acp10sys" and "acp10man" are not the same.
See also error number 32013.
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Status of q_create()
Data type:
UINT
Pagina 88 di 164
Description:
Reaction:
Cause/Remedy:
Status of q_send()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Boot state
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Parameter-ID
Data type:
UINT
Description:
Before transferring a system module to the ACOPOS, the NC manager reads its parameter ID from the
module description. One of the following parameter IDs must be entered at the respective memory
location:
- BRMOD_BSL: ACOPOS BsLoader
- BRMOD_NCSYS: ACOPOS operating system
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
The software object "acp10bsl" or "acp10sys" handled by the NC manager is not a valid NC system module.
The following system modules are available for the ACP10-SW:
- acp10bsl: ACOPOS BsLoader
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32019: Download of NC system module not allowed (the module is on the PLC)
Info:
Data type:
Description:
Two options are available for SG3 target systems for handling the ACOPOS operating system "acp10sys":
1) Store NC operating system on the PLC: No (default setting for SG3)
The software object "acp10sys" is added to the project as NC system module. It is not stored on the PLC
after being transferred from Automation Studio to the PLC. The ACOPOS operating system contained in
"acp10sys" is then transferred to the ACOPOS via the NC manager, while "acp10sys" is transferred from
Automation Studio to the PLC.
2) Store the NC operating system on the PLC: Yes
The software object "acp10sys" is added to the project as data object. It is stored on the PLC after being
transferred from Automation Studio to the PLC. The ACOPOS operating system contained in "acp10sys" is
read from the data object "acp10sys" and transferred to the ACOPOS via the NC manager, after the next
CPU restart.
This error is displayed if the NC manager detects that "acp10sys" is being transferred from Automation
Studio to the PLC as NC system module, even though an "acp10sys" data object has already been stored
on the PLC.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
The first option mentioned above is currently selected in the project and the "acp10sys" data object has
been stored on the PLC.
Delete the data object "acp10sys" from the PLC or change the selection in the project to the second option
mentioned above and re-insert the ACP10 software to the project.
See also error number 32013.
32020: System module data could not be read from the drive during NC manager
INIT
Info:
Data type:
Description:
A system module should only then be transferred to the ACOPOS during the system module download
function, if it is not already present on the ACOPOS. To detect this, the NC manager reads the version data
of the system modules which are stored on the ACOPOS (ACOPOS BsLoader and ACOPOS operating
system) during the ACOPOS startup function. This error number is output if an error occurs with this
procedure. In addition, further details are also output about the error which occurred.
Reaction:
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Pagina 90 di 164
32021: System module data could not be read from the drive after download
Info:
Data type:
Description:
During the system module download function, the corresponding version data is read from the ACOPOS
after a system module is transferred to the ACOPOS.This error number is output if an error occurs with this
procedure. In addition, further details are also output about the error which occurred.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
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Pagina 91 di 164
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
Boot state
Data type:
UINT
Description:
System module download is only allowed when the ACOPOS is in a certain boot state.
If the ACOPOS is in another boot state, the SW Reset command is sent during the system module
download function to change to this boot state before transferring a system module to the ACOPOS. The
boot state is then read once again. This error number is then output if the ACOPOS is still not in the
required boot state. In addition, further details are also output about the error which occurred.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
32026: Error during INIT of data block write access for download
Info:
Data type:
Description:
Write access to the system module data is initialized during the system module download function, before
the actual data from a system module can be transferred to the ACOPOS. This error number is output if an
error occurs with this procedure. In addition, further details are also output about the error which occurred.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
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Pagina 92 di 164
Description:
The data from a system module is transferred to the ACOPOS in segments during the system module
download function. This error number is output if an error occurs while calling the respective send function.
In addition, further details are also provided about the error which occurred.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
32031: Error reading status for system module burn after download
Info:
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Pagina 93 di 164
Data type:
Description:
During the system module download function, the command to burn a system module to the FPROM is sent
to the ACOPOS after that system module is transferred to the ACOPOS. A corresponding status is then
read. This error number is output if an error occurs while reading this status. In addition, further details are
also output about the error which occurred.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
Data type:
USINT
Description:
During the system module download function, the command to burn a system module to the FPROM is sent
to the ACOPOS after that system module is transferred to the ACOPOS. A corresponding status is then
read. This error number is output if an error is displayed in this status. In addition, further details are also
output about the error which occurred.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
Data type:
USINT
Description:
During the system module download function, the command to burn a system module to the FPROM is sent
to the ACOPOS after that system module is transferred to the ACOPOS. A corresponding status is then
read. This error number is output if the timeout is reached for the system module burn procedure, before
the system module has been successfully burned to the ACOPOS. In addition, further details are also
output about the error which occurred.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
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Pagina 95 di 164
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
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Pagina 96 di 164
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
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Pagina 97 di 164
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
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Pagina 98 di 164
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Write COB with a specific CAN ID for the Channel2 Read Request telegram. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
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Pagina 99 di 164
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Write COB with a specific CAN ID for the Channel2 Write Request telegram. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Read COB with a specific CAN ID for the Channel2 Read Response telegram. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB() is called for
each ACOPOS to define a Read COB with a specific CAN ID for the Channel2 Write Response telegram. This
error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
Status of SS_get_entry()
Data type:
UINT
Description:
18/04/2007
Reaction:
Cause/Remedy:
Status of SS_get_entry()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Value of tk_no
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32060: Timeout for cyclic data from drive - Indications invalid (network error ?)
Info:
Data type:
Description:
Runtime error following successfully initialized network communication between the NC manager (on the
PLC) and the ACOPOS if the NC manager did not receive any cyclic data from the ACOPOS for a specific
number of NC task cycles.
NC_TimeoutCycles, the number of NC task cycles which leads to this error, depends on the network being
used and the network properties of the ACOPOS:
TC: Task class of cyclic NC task
PL: Powerlink
CAN network:
- TC_Timeout = 2 * TC_CycleTime + TC_Tolerance
- NC_TimeoutCycles = 1 + (2*TC_Timeout) / TC_CycleTime
Powerlink network:
- NC_TimeoutCycles = 2 + (2*PL_CycleTime) / TC_CycleTime
Powerlink network for ACOPOS with "multiplexed" property:
- NC_TimeoutCycles = 2 + (2*PL_MuxCycleTime) / TC_CycleTime
Reaction:
The NC manager switches into the "Network communication not active" state for this ACOPOS. This can be
18/04/2007
18/04/2007
32064: Parameter with that type cannot be set with option ncDATA_TEXT
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32065: Parameter with that type cannot be read with option ncDATA_TEXT
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
18/04/2007
Description:
Reaction:
Cause/Remedy:
32069: The data address of the ACOPOS parameters in module acp10cfg cannot
be read
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Interface index (in HB) and node number (in LB) of this drive
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Boot state
Data type:
UINT
Description:
Reaction:
18/04/2007
Cause/Remedy:
Version ID of NC system module (in HB) and version ID of ACOPOS (in LB)
Data type:
UINT
Description:
System module download is only allowed if the hardware version entered in the system module is
compatible to the hardware version of the BsLoader on the ACOPOS.
This error number is output if it is determined (before transferring an ACOPOS BsLoader) that the system
module to be transferred is not compatible to the hardware version of the BsLoader on the ACOPOS. In
addition, further details are also output about the error which occurred.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
The ACOPOS connected to the network has a different hardware version than the one configured in the
project.
Version ID of NC system module (in HB) and version ID of ACOPOS (in LB)
Data type:
UINT
Description:
System module download is only allowed if the hardware version entered in the system module is
compatible to the hardware version of the BsLoader on the ACOPOS.
This error number is output if it is determined (before transferring an ACOPOS operating system) that the
system module to be transferred is not compatible to the hardware version of the BsLoader on the
ACOPOS. In addition, further details are also output about the error which occurred.
18/04/2007
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
The ACOPOS connected to the network has a different hardware version than the one configured in the
project.
32076: FIFO for messages with high priority to NC Manager Task is full
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32079: With this version one CAN interface must be in module acp10cfg
Info:
Data type:
Description:
Reaction:
18/04/2007
Cause/Remedy:
32080: With this version one Powerlink interface must be in module acp10cfg
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32081: With this version only one Powerlink interface is allowed in module
acp10cfg
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32082: Module acp10cfg contains a CAN interface without any drive node
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32083: Module acp10cfg contains a Powerlink interface without any drive node
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32088: The INIT parameter module specified in the NC Deployment Table does not
exist
Info:
Data type:
Description:
18/04/2007
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32091: Invalid block data in INIT parameter module (data range exceeded)
Info:
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Maximum value
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32096: Size of data buffer for trace data upload in module acp10cfg too small
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32097: All counts of used network interfaces in module acp10cfg are zero
Info:
Data type:
Description:
18/04/2007
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of SM_malloc()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of SS_get_entry()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32106: Error list of error text module not equal with that of NC manager
Info:
Data type:
UINT
Description:
18/04/2007
Reaction:
Cause/Remedy:
32107: Parameter list of error text module not equal with that of NC manager
Info:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32108: The last error number of error text module is not equal to 65535
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32109: The last parameter ID of error text module is not equal to 65535
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Expected length
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32115: The basis CAN ID for WR/RD channel1 in the CAN-CFG-Module is invalid
Info:
Data type:
Description:
18/04/2007
Reaction:
Cause/Remedy:
32116: The basis CAN ID for WR/RD channel2 in the CAN-CFG-Module is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32117: The basis CAN ID for WR/RD channel3 in the CAN-CFG-Module is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32118: The basis CAN ID for monitor data in the CAN-CFG-Module is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32119: Invalid basis CAN ID for cyclic data to the drive in CAN-CFG-Module
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32120: Invalid basis CAN ID for cyclic data from the drive in CAN-CFG-Module
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32121: The CAN ID for the SYNC telegram in the CAN-CFG-Module is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32122: The CAN ID for the broadcast command in the CAN-CFG-Module is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32123: Error defining Read COB for WR2 Request (external set position mode)
Info:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, in the external set position mode the
function CAN_defineCOB() is called for each ACOPOS to define a Read COB with a specific CAN ID for the
Channel2 Write Request telegram. This error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
32124: Error defining Read COB for WR2 Response (external set position mode)
Info:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
18/04/2007
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, in the external set position mode the
function CAN_defineCOB() is called for each ACOPOS to define a Read COB with a specific CAN ID for the
Channel2 Write Response telegram. This error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
32125: Error defining Read COB for RD2 Request (external set position mode)
Info:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, in the external set position mode the
function CAN_defineCOB() is called for each ACOPOS to define a Read COB with a specific CAN ID for the
Channel2 Read Request telegram. This error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
32126: Error defining Read COB for RD2 Response (external set position mode)
Info:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, in the external set position mode the
function CAN_defineCOB() is called for each ACOPOS to define a Read COB with a specific CAN ID for the
Channel2 Read Response telegram. This error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
32127: Error deleting Write COB for Broadcast Command (external set position
mode)
Info:
CAN-ID (in HB and MHB) and Status of CAN_deleteCOB() (in MLB and LB)
Data type:
UDINT
Description:
18/04/2007
For the operation of ACOPOS servo drives via the CAN network in external set position mode, the Broadcast
command is sent to all connected ACOPOS nodes from another PLC. Therefore, the Write COB (set by
default) for each CAN interface specified in the NC configuration for the Broadcast command must be
deleted using the CAN_deleteCOB() function to be able to replace it with a Read COB. This error number is
output if an error occurs with this procedure.
Reaction:
Initialization of all ACOPOS nodes connected to this CAN interface is aborted. All corresponding NC objects
can no longer be operated.
Cause/Remedy:
Status of CAN_deleteCOB(): See CAN library error numbers.
32128: Error defining Read COB for Broadcast Command (external set position
mode)
Info:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network in external set position mode, the Broadcast
command is sent to all connected ACOPOS nodes from another PLC. Therefore, a Read COB for each CAN
interface specified in the NC configuration for the Broadcast command is defined using the CAN_defineCOB
() function with a specific CAN ID. This error number is output if an error occurs with this procedure.
Reaction:
Initialization of all ACOPOS nodes connected to this CAN interface is aborted. All corresponding NC objects
can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
32129: Error defining Read COB for cyclic user data from drive (ext. set pos.
mode)
Info:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type:
UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, in external set position mode the function
CAN_defineCOB() is called for each ACOPOS to define a Read COB with a specific CAN ID for the monitor
data from the drive. This error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
32130: This external set position mode is only allowed with one CAN interface
Info:
Data type:
UINT
18/04/2007
Description:
This external set position mode is not allowed for the operation of ACOPOS servo drives via the CAN
network if multiple CAN interfaces are defined in the NC configuration.
Reaction:
Initialization of the NC software is aborted. No NC objects can be operated:
Cause/Remedy:
Reduce the number of CAN interfaces in the NC configuration to one or deactivate the external set position
mode.
Requested type (in HB) and type of NC data module (in LB)
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32134: The NC module type of the specified NC data module cannot be read
Info:
Data type:
UINT
Description:
18/04/2007
Reaction:
Cause/Remedy:
32135: The data address of the specified NC data module cannot be read
Info:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32138: Data address zero (user data for data block operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32139: Data length zero (user data for data block operation)
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32140: Data block operation: Data module name or data address must be zero
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
Data type:
UDINT
Description:
18/04/2007
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Initial ACOPOS parameter tables are tables that are defined for an NC object in an NC deployment table. All
of the parameters contained in initial ACOPOS parameter tables for a certain ACOPOS module are
transferred to this ACOPOS during the function for ACOPOS startup.
This error number is output if an error occurs while processing an initial ACOPOS parameter table.
Additionally, the name of this ACOPOS parameter table is also entered in the logbook. Furthermore, an
additional error record is also output containing details about the error which occurred.
Reaction:
The transfer of initial ACOPOS parameter tables to this NC object is aborted. Processing is continued for
any other initial ACOPOS parameter table defined for other NC objects of this ACOPOS module.
Cause/Remedy:
The error described in the subsequent error record must be corrected.
18/04/2007
Data type:
Description:
Reaction:
Cause/Remedy:
32148: The NC module type of the ACOPOS Parameter Table cannot be read
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32149: The data address in the ACOPOS Parameter Table cannot be read
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
18/04/2007
Cause/Remedy:
32153: The first XML element is invalid in the ACOPOS Parameter Table
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32154: The ACOPOS Parameter Table does not contain any ACOPOS parameters
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Note:
The INFO is displayed from V1.181 on.
Reaction:
Cause/Remedy:
18/04/2007
Parameter ID
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32157: Length of parameter data too large for ACOPOS parameter in XML data
Info:
Parameter ID
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32160: Basis movements with mode ncTRG_STOP are not allowed for ncV_AXIS
Info:
Data type:
Description:
18/04/2007
Reaction:
Cause/Remedy:
32162: Internal task class number wrong (from now on operation is blocked !!!)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
18/04/2007
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Node number
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32170: A data module name has to be entered for this data block operation
Info:
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32171: Index zero is not allowed (user data for data block operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32172: The specified data module name is not valid for a BR module
Info:
Status of conv_asc2brstr()
Data type:
UINT
Description:
18/04/2007
Reaction:
Cause/Remedy:
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
Status of BrmFlushModuleMemory()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of BR_install()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32177: Output text for parameter data too large for parameter list with text format
Info:
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
32178: This NC object is not enabled for this ACOPOS (channel number too high)
18/04/2007
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
32181: Data address zero (user data for parameter list operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32182: Data length zero (user data for parameter list operation)
Info:
Data type:
Description:
18/04/2007
Reaction:
Cause/Remedy:
32183: Data length invalid (user data for parameter list operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32189: Timeout for cyclic data from drive - Indications invalid (network error ?)
Info:
Timeout [usec]
Data type:
UDINT
Description:
Runtime error following successfully initialized network communication between the NC manager (on the
PLC) and the ACOPOS if the NC manager did not receive any cyclic data from the ACOPOS for a specific
amount of time.
Reaction:
The NC manager switches into the "Network communication not active" state for this ACOPOS. This can be
seen in the following status indicators:
- network.init = ncFALSE
- network.phase = 0
Cause/Remedy:
CAN network:
The task class cycle time or task class tolerance are defined too low for the task class of the NC manager
task.
Powerlink network:
The powerlink cycle time is defined too low.
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1004.
See also error number 1012.
32190: Error defining Write COB for selection of node number via software
Info:
CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
18/04/2007
UDINT
Description:
The "selection of node number via software" function allows the user to set the node number used for an
ACOPOS in the application via a specific software protocol instead of using the node number switch
provided on the ACOPOS hardware.
For the operation of ACOPOS servo drives via the CAN network, for this function a separate Write COB
must be defined with the function CAN_defineCOB() for each CAN interface defined in the NC configuration.
This error number is output if an error occurs with this procedure.
Reaction:
Initialization is aborted for all ACOPOS nodes which use the "Node number selection via software" function
and which are connected to this CAN interface. All corresponding NC objects can no longer be operated.
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Node number of ACOPOS which caused the error (if not equal to zero)
Data type:
UINT
Description:
The data in the "acp10bsl" object are transferred as BsLoader to the ACOPOS by the NC manager. This
error number is output if an error occurs during this procedure. Further details are also output in additional
error records about the error which occurred.
Reaction:
Transfer of the BsLoader to the ACOPOS is aborted.
Cause/Remedy:
Error during the transfer of a BsLoader to the ACOPOS.
The exact cause can be determined from the details entered in the additional error records.
Node number of ACOPOS which caused the error (if not equal to zero)
Data type:
UINT
Description:
The data in the "acp10sys" object are transferred as operating system to the ACOPOS by the NC manager.
This error number is output if an error occurs during this procedure. Further details are also output in
additional error records about the error which occurred.
Reaction:
Transfer of the operating system to the ACOPOS is aborted.
Cause/Remedy:
During the transfer of an operating system to the ACOPOS.
The exact cause can be determined from the details entered in the additional error records.
18/04/2007
Reaction:
The ACOPOS startup function is aborted.
Cause/Remedy:
Error during the transfer of an operating system to the ACOPOS.
The exact cause can be determined from the details entered in the log book.
See also error number 32198.
Status of plAcycWrite()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plAcycWrite()
Data type:
UINT
Description:
18/04/2007
Reaction:
Cause/Remedy:
Status of plAcycRead()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plAcycRead()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32204: Timeout while reading par. via acyclic channel (is the drive in the
network ?)
Info:
Timeout [usec]
Data type:
UDINT
Description:
To read a parameter value from the ACOPOS, the NC manager first sends an acyclic Read Request frame
from the PLC to the ACOPOS. This error is displayed if the NC manager could not read the corresponding
acyclic Read Response frame from the ACOPOS using the Powerlink library within a specific amount of time
after the Powerlink send function call was made.
Note:
The INFO is displayed from V1.142 on.
Reaction:
Resets the interface of the corresponding acyclic Powerlink write channel.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1012.
32205: Timeout while writing par. via acyclic channel (is the drive in the
network ?)
18/04/2007
Timeout [usec]
Data type:
UDINT
Description:
To transfer a parameter value to the ACOPOS, the NC manager first sends a Write Request frame from the
PLC to the ACOPOS. This error is displayed if the NC manager could not read the corresponding acyclic
Write Response frame from the ACOPOS using the Powerlink library within a specific amount of time after
the Powerlink send function call was made.
Note:
The INFO is displayed from V1.142 on.
Reaction:
Resets the interface of the corresponding acyclic Powerlink write channel.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
See also error number 1012.
Status of plAction()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Status of plAction()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32210: Wrong interface ident when calling plState() (additional info in Log Book)
Info:
Interface ident
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
32211: Interface not available when calling plState() (additional info in Log Book)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32212: Fatal interface error when calling plState() (additional info in Log Book)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
18/04/2007
Description:
Reaction:
Cause/Remedy:
Status of plAcycOpen()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plCECreate()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plAction()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plAcycWrite()
Data type:
UINT
Description:
Reaction:
18/04/2007
Cause/Remedy:
Status of plAcycWrite()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plAction()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plAction()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plAction()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Status of plAction()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plGetNodeInfo()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of plAction()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
Data type:
UDINT
Description:
18/04/2007
Reaction:
Cause/Remedy:
Interface index (in HB) and node number (in LB) of this drive
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Timeout [usec]
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Status of RtkCreateFifo()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of RtkCreateCriticalSection()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of RtkCreateTask()
Data type:
UINT
Description:
18/04/2007
Reaction:
Cause/Remedy:
Status of GetTaskclassCycleTime()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of GetTaskclassMaxCycleTime()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
Status of RtkWriteFifo()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32509: The Critical Section for Network Command Trace already exists
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
18/04/2007
Status of RtkCreateCriticalSection()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
32511: The Critical Section for messages with high priority already exists
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32512: Error creating Critical Section for messages with high priority
Info:
Status of RtkCreateCriticalSection()
Data type:
UINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Info:
Data type:
Description:
Response error while writing a parameter if the value is outside the valid limits.
Reaction:
The parameter limit to a valid value and accepted.
Cause/Remedy:
See error number 1002.
36002: Total time for the position loop controller limited to prediction time
Info:
Data type:
Description:
Response error while writing the total delay time for the position controller if the value is smaller than the
prediction time.
Reaction:
The total delay time for the position controller is set to the prediction time.
Cause/Remedy:
The total delay time for the position controller is too long.
The configuration sequence is not efficient.
-> The prediction time should first be increased.
See also error number 1002.
18/04/2007
Info:
Data type:
Description:
Runtime error when cam automats are active during the calculation of a compensation gear. The 'effective'
slave compensation is below the minimum value (AUT_COMP_SL_S_MIN or CAM_SL_S_COMP_MIN). See
also error number 5101. Only registered once following a start or restart.
Reaction:
The compensation is calculated with the limit value.
As a result, the slave interval is shifted.
Cause/Remedy:
Slave compensation path is too short.
Slave curve period is too large.
Slave multiplication factors are too large.
See also error number 37101.
18/04/2007
Cause/Remedy:
Label missing.
Sensor failure.
See also error number 37103.
37107: Displacement actual/set position too high during 'controller switch on'
Info:
Data type:
Description:
Response error using the 'Switch on controller when cam automat is active' command
(CMD_CAM_CONTROLLER=ncSWITCH_ON). The difference between the actual position and the set position
of the cam automat is calculated. This difference exceeds the valid range (CAM_SL_S_COMP_MAX,
CAM_SL_S_COMP, CAM_SL_S_COMP_MIN).
Reaction:
The command is executed and the controller is switched on.
Result of the large compensation path: Error number 37101 or
Error number 37102.
Cause/Remedy:
Axis movement while controller is off.
Limits are too strict (CAM_SL_S_COMP_MIN CAM_SL_S_COMP_MAX).
18/04/2007
Description:
Runtime error when cam automats are active during the calculation of a compensation gear. The 'effective'
master compensation is below the minimum value (AUT_COMP_MA_S_MIN). See also error number 5101.
Only registered once following a start or restart.
Reaction:
The compensation is calculated with the limit value.
As a result, the master interval is shifted.
Cause/Remedy:
Event with the ncAT_ONCE attribute occurs mistakenly.
Master compensation path is too short.
Master curve period is too large.
Master multiplication factors are too large.
37111: Cam profile data: Difference between polynomial value y(xn) and slave
file://C:\Documents and Settings\covatta\Impostazioni locali\Temp\~hhE9C7.htm
18/04/2007
period
Info:
Difference
Data type:
REAL
Description:
Response error at the last data segment of the cam profile download (AUT_POLY_DATA). The polynomial
function value y(xn) is checked to see if it corresponds to the slave interval at the end of the master
interval. The function value is calculated as a float number. The intervals (periods) are placed in the cam
profile data as whole number. This warning is generated if there is a deviation greater than 0.01 and less
than 0.5. See also error number 5304.
Reaction:
The cam profile is accepted, but the deviation may cause position jumps during active cam profile coupling.
Cause/Remedy:
Numeric error while calculating the cam profile polynomial.
The calculation algorithm does not account for the fact that only whole-number intervals are allowed.
Detail
Data type:
UINT
Description:
Response error while writing AUT_POLY_CHECK. The polynomial of a cam profile is checked for limit
violations.
Reaction:
None.
Cause/Remedy:
The cam profile was incorrectly dimensioned.
The AUT_MA_V_MAX parameter or the axis limit is not correct.
Detail
1: Y-shift (position jump) to the left connection polynomial
2: Y-shift (position jump) to the right connection polynomial
3: Maximum acceleration in positive direction (AXLIM_A1_POS)
4: Maximum deceleration in positive direction (AXLIM_A2_POS)
5: Maximum acceleration in negative direction (AXLIM_A1_NEG)
6: Maximum deceleration in negative direction (AXLIM_A2_NEG)
7: Maximum speed in positive direction (AXLIM_V_POS)
8: Maximum speed in negative direction (AXLIM_V_NEG)
38000: Current controller: Motor speed at compensation of current offset too high
Info:
Data type:
Description:
Runtime error while switching on the current controller. The rotor speed (secondary element) is too high
during the compensation of the current offset. The current offsets cannot be compensated due to the
induced synchronous generated voltage.
18/04/2007
Reaction:
The current offsets are compensated with 0.
Cause/Remedy:
Drive switched on in standstill.
Data type:
REAL
Description:
Response error when writing a parameter for the torque limit (torque limit or torque limit override). The
drive cannot generate the electrical current required for the configured torque limit.
Reaction:
The torque limit is additionally limited by the maximum current of the drive.
Cause/Remedy:
The torque limit cannot be achieved due to the pairing of ACOPOS/motor.
Torque limit too high.
38004: Motor holding brake: Test torque less than load torque
Info:
Data type:
Description:
Runtime error during the holding brake torque test. The test torque is less than the actual load torque.
Reaction:
None.
Cause/Remedy:
Actual load torque is too large for the holding brake.
18/04/2007
Slot
Data type:
USINT
Description:
Runtime error in an EnDat or Hiperface encoder with activated monitor (activation, see error number
7030). The position difference between the incremental position of the plug-in card and the serial absolute
position of the encoder is too large after several comparison cycles.
This error is entered only one time.
Reaction:
The incremental position is readjusted according to the serial absolute position.
Cause/Remedy:
AB encoder connection is interrupted or defective. See wiring guidelines error number 7030.
Problem with the serial absolute position. See error number 39006.
Encoder defective.
AC120 or AC121 plug-in card defect.
Slot
Data type:
USINT
Description:
Runtime error in a resolver. The permissible speed (4000 Rev/min per resolver pole pair) was exceeded at
a resolution of 2^14 increments per revolution.
Reaction:
None
Cause/Remedy:
Resolution or set speed defined too high (reduce the resolution or set speed).
Resolver defective.
Resolver connection is interrupted or defective. See wiring guidelines error number 7030.
AC122 plug-in card defective.
Slot
Data type:
USINT
Description:
Runtime error in an active EnDat encoder being used. Alarms were entered in the operating status register
of the encoder.
An alarm is set if a malfunction in the measurement system can cause incorrect position values.
18/04/2007
Reaction:
For encoders being actively used, additional warnings are entered according to the alarm memory read.
Referencing commands are not executed when an alarm is active.
Cause/Remedy:
Causes can be read from the following warnings.
Slot
Data type:
USINT
Description:
Runtime error in an active EnDat encoder being used. Lighting failure in the optical encoder.
Reaction:
None
Cause/Remedy:
Encoder defective.
Slot
Data type:
USINT
Description:
Runtime error in an active EnDat encoder being used. The amplitudes of the sinusoidal incremental signals
are too small.
Reaction:
None
Cause/Remedy:
Encoder is no longer clean.
Encoder is incorrectly adjusted (check physical mounting).
Encoder defective.
Slot
Data type:
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). The
position monitor internal to the encoder detected an error.
Reaction:
None
Cause/Remedy:
Encoder speed or speed of movement is too high.
Encoder vibrations (mechanical vibrations).
18/04/2007
Slot
Data type:
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). Supply
voltage too high.
Reaction:
None
Cause/Remedy:
Problem with the encoder supply voltage (check voltage fluctuations or disturbances).
Encoder defective.
Slot
Data type:
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). Supply
voltage too low.
Reaction:
None
Cause/Remedy:
See error number 39007.
Slot
Data type:
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). An overcurrent was measured in the encoder.
Reaction:
None
Cause/Remedy:
Encoder defect (internal short circuit).
Slot
18/04/2007
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). Battery
must be changed.
Reaction:
None
Cause/Remedy:
Change encoder battery.
Slot
Data type:
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). Count
frequency of the incremental signals too high.
Reaction:
None
Cause/Remedy:
Speed or speed of movement is too high.
Encoder vibrations (mechanical vibrations).
Encoder defective.
Slot
Data type:
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). Encoder
temperature too high. A further temperature increase can cause position failure.
Reaction:
None
Cause/Remedy:
Check motor and environmental temperature.
Encoder defective.
Slot
Data type:
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). The
18/04/2007
maximum manipulated variable for the brightness controller of the internal lighting has been reached.
Further fading of the brightness can cause position failure.
Reaction:
None
Cause/Remedy:
Aging of the encoder lighting.
Encoder defective.
Slot
Data type:
USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030). Battery
charge too low.
Reaction:
None
Cause/Remedy:
Change encoder battery.
Encoder defective.
Slot
Data type:
UINT
Description:
Runtime error while executing the incremental encoder emulation. The speed of the output position
ENCODx_OUT_PARID is too high. The maximum frequency allowed is 65,000 signal periods per second.
Reaction:
The output frequency is limited according to the maximum frequency allowed. The emulated encoder
position tracks the output position to prevent increments from getting lost.
Cause/Remedy:
Encoder resolution of the incremental encoder emulation is too large.
Speed of the output position too high.
Output position jump due to homing (switch off encoder emulation during the homing).
Slot
Data type:
USINT
Description:
Runtime error while reading the serial absolute position of an encoder. A CRC or checksum error occurred
during the data transfer.
18/04/2007
Reaction:
Serial absolute position is read again.
Cause/Remedy:
See error number 7014.
Slot
Data type:
USINT
Description:
Runtime error when incremental reference pulse monitor is active. The distance between two reference
pulses is outside the valid range.
Reaction:
None
Cause/Remedy:
Compare configuration of the reference pulse monitor (pulse width, pulse interval, watch window and
mode) with encoder data sheet.
See also error number 7047.
Slot
Data type:
USINT
Description:
Runtime error while operating the serial interface of an encoder. A stop bit error occurred while receiving
data.
Reaction:
Encoder initialization: Data transfer is repeated.
Absolute position reading: Data is ignored.
Operation via data block transfer: None.
Cause/Remedy:
See error number 7014.
Slot
Data type:
USINT
Description:
Runtime error while operating the serial interface of an encoder. Receive buffer overflow while receiving
data.
Reaction:
Encoder initialization: Data transfer is repeated.
Absolute position reading: Data is ignored.
18/04/2007
Slot
Data type:
USINT
Description:
Runtime error while operating the serial interface of an encoder. A data transfer error occurred while
sending data.
Reaction:
Encoder initialization: Data transfer is repeated.
Absolute position reading: Data is ignored.
Operation via data block transfer: None.
Cause/Remedy:
See error number 7014.
Slot
Data type:
UINT
Description:
Runtime error in the supply voltage of an AC130 or AC131 plug-in card. The supply voltage is lower than
18V.
Reaction:
Supply to the outputs can no longer be guaranteed.
Cause/Remedy:
Check power supply control.
Power supply overload or malfunction.
Power supply defect.
Power supply connection defect (open line, line termination, wiring error, fuse).
AC130 or AC131 plug-in card defect.
Slot
Data type:
UINT
Description:
Runtime error on digital outputs 1 to 4 of an AC130 plug-in card.
The diagnostics bit was set due to one of the following errors:
- Active current limitation of the output transistors
- Junction temperature of the transistors is too high
- Supply voltage too low
18/04/2007
Reaction:
Current overload, supply voltage error or thermal overload causes the output to be shut off.
Cause/Remedy:
Continuous output load exceeded (see AC130 technical data).
Output short-circuit.
See also error number 39301.
Slot
Data type:
UINT
Description:
Runtime error on digital outputs 5 to 8 of an AC130 plug-in card.
See also error number 39302.
Reaction:
See error number 39302.
Cause/Remedy:
See error number 39302.
Slot
Data type:
UINT
Description:
Runtime error on digital output 10 of an AC130 plug-in card. The diagnostics but was set due to current
overload or thermal overload.
Reaction:
Current overload, or thermal overload causes the output to be shut off.
Cause/Remedy:
See error number 39302.
Slot
Data type:
UINT
Description:
Runtime error on digital output 9 of an AC130 plug-in card.
See also error number 39305.
Reaction:
See error number 39305.
Cause/Remedy:
See error number 39302.
18/04/2007
Heatsink temperature
Data type:
REAL
Description:
Runtime error if the temperature of the heat sink temperature sensor TEMP_HEATSINK exceeds the
warning limit 0.95*103C.
Reaction:
None
Cause/Remedy:
See error number 9000.
Motor temperature
Data type:
REAL
Description:
Runtime error if the temperature of the motor temperature sensor TEMP_MOTOR exceeds the warning limit
0.95*110C.
Reaction:
None
Cause/Remedy:
See error number 9010.
Junction temperature
Data type:
REAL
Description:
Runtime error if the temperature of the junction temperature model TEMP_JUNCTION exceeds 95% of the
maximum junction temperature allowed (see error number 9030).
Reaction:
None
Cause/Remedy:
See error number 9030.
Bleeder temperature
Data type:
REAL
Description:
18/04/2007
Runtime error if the temperature of the braking resistor temperature model TEMP_BLEEDER exceeds 95%
of the maximum braking resistor temperature allowed (see error number 9040).
Reaction:
None
Cause/Remedy:
See error number 9040.
Data type:
REAL
Description:
Runtime error if the ACOPOS peak current load LOAD_PEAK_CURR exceeds 95%.
See error number 9050.
Reaction:
None
Cause/Remedy:
See error number 9050.
Data type:
REAL
Description:
Runtime error if the ACOPOS continuous current load LOAD_CONT_CURR exceeds 95%.
See error number 9060.
Reaction:
None
Cause/Remedy:
See error number 9060.
Data type:
REAL
Description:
Runtime error if the motor temperature model LOAD_MOTOR_MODEL exceeds 95%.
See error number 9070.
Reaction:
None
Cause/Remedy:
See error number 9070.
18/04/2007
64001: ncalloc in slower task class than defined for NC Manager Task
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
64003: Delay before NC System Start (network with ascending node numbers ?)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
64004: The following boot error could be entered here with a delay
18/04/2007
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
Timeout [sec]
Data type:
UDINT
Description:
Reaction:
Cause/Remedy:
18/04/2007
Description:
Runtime info at the input of the speed controller. The set speed SCTRL_SPEED_REF is limited to
SCTRL_LIM_V_NEG in the negative direction.
Reaction:
None
Cause/Remedy:
18/04/2007
Info:
Data type:
Description:
Runtime info during torque limitation. The negative set quadrature current value ICTRL_ISQ_REF is limited
according to the torque LIM_T2_NEG.
Reaction:
None
Cause/Remedy:
18/04/2007