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MPC-20V30
Firmware for Drive Controllers
Title IndraDrive
MPC-20V30
Firmware for Drive Controllers
Document Typecode
Internal File Reference RS-7f58d9433de19ce90a347ea500b83c34-20-en-US-4
Table of Contents
Table of Contents
Page
1 General information....................................................................................................... 1
1.1 Releases................................................................................................................................................. 1
1.2 Firmware variant..................................................................................................................................... 2
1.3 System overview..................................................................................................................................... 4
1.3.1 Software.............................................................................................................................................. 4
1.3.2 Power sections, drive systems ........................................................................................................... 4
1.3.3 Control Sections and Optional Modules.............................................................................................. 6
1.3.4 Supported motors and measuring systems....................................................................................... 10
Supported motors........................................................................................................................... 10
Supported measuring systems....................................................................................................... 10
1.3.5 Firmware types.................................................................................................................................. 11
2 Firmware replacement................................................................................................. 13
2.1 Brief description.................................................................................................................................... 13
2.1.1 Basic principles.................................................................................................................................. 13
2.1.2 Preparations and conditions for firmware replacement..................................................................... 14
2.2 Firmware release update...................................................................................................................... 14
2.2.1 General information........................................................................................................................... 14
2.2.2 Firmware release update with a computer........................................................................................ 15
2.3 Firmware version upgrade.................................................................................................................... 16
2.3.1 General information........................................................................................................................... 16
2.3.2 Saving parameter values................................................................................................................... 17
2.3.3 Version upgrade with "IndraWorks"................................................................................................... 17
2.4 Firmware release downgrade............................................................................................................... 18
2.4.1 General information........................................................................................................................... 18
2.4.2 Firmware release downgrade with a computer.................................................................................. 19
2.5 Firmware version downgrade............................................................................................................... 19
2.5.1 General information........................................................................................................................... 19
2.5.2 Saving parameter values................................................................................................................... 20
2.5.3 Firmware version downgrade with "IndraWorks"............................................................................... 20
2.6 Possible problems during firmware replacement.................................................................................. 21
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Command value jump when velocity control mode is activated..................................................... 23
3.1.6 530_Error reactions........................................................................................................................... 24
Error reaction uses command value and not actual value.............................................................. 24
3.1.7 560_Probe function............................................................................................................................ 24
F2037 Excessive position command difference in the case of probe with drive quick stop........... 24
3.1.8 600_Device and Parameteradministration general............................................................................ 24
S-0-0192 does not contain enough elements when backed up via 16-bit interface....................... 24
3.1.9 620_Parameter Handling................................................................................................................... 24
Average value filter for display, error.............................................................................................. 24
3.1.10 622_Scaling....................................................................................................................................... 25
Scaling of velocity changes after restart......................................................................................... 25
3.1.11 688_Service functions....................................................................................................................... 25
Replacing the control panel: Display shows C0214 after "Load new Safety" was carried out....... 25
3.1.12 750_EtherCAT................................................................................................................................... 25
EtherCAT CoE: E4072 Mac address invalid with Beckhoff control................................................ 25
3.1.13 790_CCD - Communication............................................................................................................... 25
CCD system mode with ProfiNet: Clarifying the behavior of the CCD slaves in the case of
PLC stop......................................................................................................................................... 25
CCD master cannot configure any parameters (only known in the CCD slave) in the process
data................................................................................................................................................. 25
3.1.14 805_Power Supply general................................................................................................................ 26
HCSW54 F2816 when operated at energy buffer.......................................................................... 26
3.1.15 810_Power Supply Components and additional devices................................................................... 26
Softstart fault F2816 with HCS1.1W54........................................................................................... 26
3.2 Functional enhancements..................................................................................................................... 26
3.2.1 515_Operating modes single axis..................................................................................................... 26
Missing display parameter for output of position command value generator................................. 26
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Drive sporadically moves in wrong direction or by one modulo range too far................................ 28
Switching from position to velocity control uses command value instead of actual value.............. 29
4.1.7 525_Drive halt.................................................................................................................................... 29
IndraDrive: Sensorless control FXC - motor does not stop with Drive Halt.................................... 29
4.1.8 600_Device and Parameteradministration general............................................................................ 29
Classes missing in S-0-1601.......................................................................................................... 29
4.1.9 620_Parameter Handling................................................................................................................... 29
Invalid retain data (P-0-1359)......................................................................................................... 29
4.1.10 660_Ethernet engineering................................................................................................................. 29
CCD: Error while loading parameters at CCD slave after master reboot....................................... 29
4.1.11 688_Service functions....................................................................................................................... 30
C6500 generates ibf files independent of AGP status of the firmware........................................... 30
4.1.12 710_Master communication basic..................................................................................................... 30
NC cannot control axis anymore after easy startup mode has been exited................................... 30
4.1.13 750_EtherCAT................................................................................................................................... 30
Incorrect length of cyclic data with 1:1 timing................................................................................. 30
4.1.14 790_CCD - Communication............................................................................................................... 30
Value range of P-0-1803.2.1, CCD: Slave address in high level network is only 0-99................... 30
4.1.15 805_Power Supply general................................................................................................................ 30
Softstart fault with HCS W54.......................................................................................................... 30
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Default value loading "without device parameters" and "without SMO parameters" did not
work................................................................................................................................................ 36
5.1.7 640_Diagnostic System..................................................................................................................... 36
Oscilloscope: Manual trigger does not work as expected.............................................................. 36
5.1.8 660_Ethernet engineering................................................................................................................. 36
FW update via loader not possible with PROFIBUS and CoC....................................................... 36
5.1.9 710_Master communication basic..................................................................................................... 36
Invalid parameters when switching from master communication to EtherCAT COE...................... 36
5.1.10 790_CCD - Communication............................................................................................................... 36
Process data configuration of CCD master is overwritten sporadically during CCD phase
switching (C0170)........................................................................................................................... 36
5.1.11 810_Power Supply Components and additional devices................................................................... 36
After phase progression, error F2087 is signaled........................................................................... 36
5.1.12 999_Other.......................................................................................................................................... 37
F9005 occurs when disconnecting the Ethernet connector while sending data with TCP-IP
from a PLC project.......................................................................................................................... 37
5.2 Functional enhancements..................................................................................................................... 37
5.2.1 410_Motor Handling.......................................................................................................................... 37
MSC motors with Tamagawa encoder are supported.................................................................... 37
5.2.2 418_Establishing the position reference............................................................................................ 37
Incompatible behavior with 2nd encoder in versions MPx-18VRS and MPx-20VRS..................... 37
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Incorrect actual position during fast homing procedure.................................................................. 42
6.1.6 425_Motor Control............................................................................................................................. 42
Drive switched off erroneously with F8079 in the case of firmware not requiring export licen‐
ses.................................................................................................................................................. 42
Incorrect bit display in P-0-0445..................................................................................................... 42
6.1.7 435_Axis control................................................................................................................................ 42
Axis does not comply with target position....................................................................................... 42
6.1.8 440_Commutation............................................................................................................................. 43
C0258 in the case of NC cycle time of 24 ms and linear fine interpolation (cycl. position con‐
trol)................................................................................................................................................. 43
6.1.9 620_Parameter Handling................................................................................................................... 43
IndraDrive device signaled inadmissible service channel error code............................................. 43
Maximum length =0 displayed when reading instance parameters (e.g., S-0-0601.1.130/
P-0-2572) via PROFINET/PROFIBUS........................................................................................... 43
Commands: Error when implementing elements 5 and 6 (minimum and maximum value)........... 43
6.1.10 650_Statemachine Subdevice........................................................................................................... 44
Subsequent PM switching is prevented with C0401 in the case of bus failure (F4009)................. 44
6.1.11 710_Master communication basic..................................................................................................... 44
PLL type can be switched with Sercos III....................................................................................... 44
6.1.12 750_EtherCAT................................................................................................................................... 44
EtherCAT: Diagnostics missing if SM not activated but SYNC activated....................................... 44
6.2 Functional enhancements..................................................................................................................... 44
6.2.1 425_Motor Control............................................................................................................................. 44
Noise reduction by smoothing the actual current value.................................................................. 44
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8.1.5 480_Power supply............................................................................................................................. 50
HCS03 hangs up in "Bb" in spite of DC bus voltage (DC560V)..................................................... 50
8.1.6 515_Operating modes single axis..................................................................................................... 51
Drive-controlled positioning: Positioning status incorrectly determined when using the posi‐
tioning jerk (jerk limitation).............................................................................................................. 51
8.1.7 530_Error reactions........................................................................................................................... 51
Deactivated controlled deceleration in the case of encoder failure................................................ 51
8.1.8 580_Encoder emulation..................................................................................................................... 51
No zero pulses output after E2035................................................................................................. 51
8.1.9 620_Parameter Handling................................................................................................................... 51
Oscilloscope function changes parameter attributes of uninvolved parameters............................ 51
8.1.10 640_Diagnostic System..................................................................................................................... 51
F9005 and retain data deleted during oscilloscope measurement (8 channels)............................ 51
8.1.11 650_Statemachine Subdevice........................................................................................................... 52
C0298 after occurrence of C0242 with simulated axis................................................................... 52
8.1.12 688_Service functions....................................................................................................................... 52
Backup and Restore aborted with error.......................................................................................... 52
8.1.13 745_SERCOS III................................................................................................................................ 52
CCD group - last slave remains in AF in the case of bus failure.................................................... 52
Parameter S-0-0001 NC cycle time is not correctly generated with Sercos................................... 52
8.1.14 750_EtherCAT................................................................................................................................... 53
EtherCAT SOE: Data applied in spite of error message 0x7003.................................................... 53
EtherCat COE: Watchdog trigger of SM 3 activated at drive --> drive goes online to OP.............. 53
8.1.15 790_CCD - Communication............................................................................................................... 53
Impossible to switch sub-device state machines (CCD master/CCD slaves) separately............... 53
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9.1.7 520_Operating modes synchronization............................................................................................. 57
Position synchronization operation mode is incorrect when using a linear motor.......................... 57
9.1.8 620_Parameter Handling................................................................................................................... 57
F2100 due to individual corrupt pages........................................................................................... 57
9.1.9 640_Diagnostic System..................................................................................................................... 57
Initializing IndraDrive oscilloscope function.................................................................................... 57
9.1.10 750_EtherCAT................................................................................................................................... 57
EtherCAT SOE : Missing error message F4009 in EtherCAT in FreeRun mode........................... 57
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Forcing absolute encoder evaluation also possible for merely incremental encoders................... 65
Homing at positive stop, torque limitation with S-0530 remains active........................................... 65
C0300 Set absolute position procedure command sucessfully executed in spite of "Fxxxx
Encoder X: Encoder signals incorrect"........................................................................................... 66
F8078 during drive-controlled homing with dedicated point "positive stop".................................... 66
Loss of reference after encoder was replaced............................................................................... 66
11.1.7 425_Motor Control............................................................................................................................. 66
Checking the rotational direction moves axis to mechanical limit stop/position limitation.............. 66
Velocity-dependent PWM switching did not work with command value box.................................. 66
11.1.8 435_Axis control................................................................................................................................ 67
Cogging torque compensation does not take effect in torque control mode.................................. 67
Hybrid actual position value also takes effect in operation modes w/o axis control word
S-0-0520, and for spindle positioning............................................................................................. 67
S-0-0211, S-0-0212: decimal places deviating from standard........................................................ 67
11.1.9 445_Limitations, monitoring............................................................................................................... 67
E2001 prevents other diagnostic messages from being displayed................................................ 67
11.1.10 480_Power supply............................................................................................................................. 67
Softstart fault F2816....................................................................................................................... 67
11.1.11 485_Compensation functions, corrections......................................................................................... 68
Cogging torque compensation value does not take effect or takes effect with a delay.................. 68
Faulty cogging torque compensation with incremental measuring systems................................... 68
11.1.12 510_Operating modes....................................................................................................................... 68
Sporadic error F2028 "Excessive deviation".................................................................................. 68
11.1.13 515_Operating modes single axis..................................................................................................... 68
With anti-vibration filter, drive does not move to initial position, F2028.......................................... 68
11.1.14 620_Parameter Handling................................................................................................................... 69
F2008 instead of C4101 during parameter set switching of encoder parameters in AF................. 69
Delay time for parameter set switching (P-0-2218) too long.......................................................... 69
Value read back of parameters with structure index 130 does not comply with written value........ 69
11.1.15 640_Diagnostic System..................................................................................................................... 69
Impossible to configure S-0-0390, bit 20, in the signal status word............................................... 69
11.1.16 650_Statemachine Subdevice........................................................................................................... 69
S-0-0425, bit 0, cannot be controlled via digital input..................................................................... 69
11.1.17 660_Ethernet engineering................................................................................................................. 69
S/IP server sporadically cannot be accessed in the drive.............................................................. 69
11.1.18 688_Service functions....................................................................................................................... 70
Backup and Restore not successful............................................................................................... 70
Backup/restore function does not work with Profibus master communication and CCD slaves..... 70
C7600 parameter image error with string parameters.................................................................... 70
CCD: Backup for hydraulic drives causes command error C6502................................................. 70
Restore possible if archive created on different device type.......................................................... 70
Backup and Restore: F9005 with modified ZIP file......................................................................... 70
11.1.19 720_Profile adaption.......................................................................................................................... 71
Error bit set in status word 0x6041................................................................................................. 71
11.1.20 740_CAN........................................................................................................................................... 71
Incorrect cyclic handling of 1-byte values....................................................................................... 71
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CANopen (CoC, CoE): impossible to configure parameter P-0-4077 as process data (com‐
mand value).................................................................................................................................... 71
11.1.21 745_SERCOS III................................................................................................................................ 71
Error F2067 occurs sporadically when switching from phase 4 to phase 0.................................... 71
11.1.22 750_EtherCAT................................................................................................................................... 71
CoE: Error F4009 is not signaled if bus connector is removed...................................................... 71
CoE: S-0-0014 and P-0-4073 not always consistent...................................................................... 71
ECAT SoE in Free Run: MDT error counter is incremented........................................................... 72
EtherCat COE S1 is overwritten..................................................................................................... 72
EtherCat COE: Wrong max. AT and MDT length........................................................................... 72
EtherCAT EoE: Invalid MAC address does not cause error........................................................... 72
Switching from PM to OM takes a long time with a configured master communication encoder... 72
EtherCAT COE: Value of P4076 can be changed in Data Exchange............................................ 72
11.1.23 760_Powerlink................................................................................................................................... 73
DS402: Bit 9 not generated in status word 0x6041 (remote).......................................................... 73
EPL: SDO access to DS402 objects is rejected............................................................................. 73
11.1.24 790_CCD - Communication............................................................................................................... 73
CCD extrapolation of P-0-0434 impossible with modulo scaling.................................................... 73
11.2 Functional enhancements..................................................................................................................... 73
11.2.1 410_Motor Handling.......................................................................................................................... 73
Copy protection for MSK motors.................................................................................................... 73
Evaluating PT1000 with EnDat2.2 encoder.................................................................................... 73
Supported temperature sensors for ML3 linear motor.................................................................... 73
11.2.2 418_Establishing the position reference............................................................................................ 74
Impossible to operate digital Hall sensors...................................................................................... 74
Quiting parking axis and exiting parameterization level too slow with HIPERFACE encoders...... 74
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No detailed diagnostics if the same F6010 error occurs again....................................................... 77
13.1.5 410_Motor Handling.......................................................................................................................... 77
F2019 cannot be cleared in phase 4 after encoder error (data+ interrupt) with ACURO@link...... 77
MPE: Motor data identification, third-party motor, S106 = 0........................................................... 78
Thermal model inadmissibly reduces above 125 Hz...................................................................... 78
13.1.6 415_Measuring systems.................................................................................................................... 78
E2048 cannot be cleared after battery replaced............................................................................. 78
ENCB resolution incorrectly calculated for TTL encoder................................................................ 78
Error "F2075 Actual pos. value 2 outside absolute encoder window" is incorrectly generated...... 78
F2074 after MSM battery replaced and drive controller switched off/on........................................ 78
F2177 Encoder 1 modulo limitation error with EnDat2.2................................................................ 79
Gear ratio not taken into account in the case of parameter set switching 0 to 1............................ 79
Incorrect diagnostic message C0270 when encoder fine correction fails....................................... 79
Incorrect diagnostic message generated with SSI encoders.......................................................... 79
Mark evaluation does not work with combined encoders for SSI................................................... 79
Parameter set switching of gearbox parameters............................................................................ 79
Position feedback value of encoder 2 (homed) is not applied to position feedback value of
encoder 1 (not homed)................................................................................................................... 79
Reference point offset with a distance-coded encoder................................................................... 80
Check of resolution for 2^n with rotary SSI sine does not match default resolution....................... 80
Loss of position without loss of reference in the case of encoder with sine signals and SSI
interface.......................................................................................................................................... 80
SSI encoder is changed to combined encoder for SSI during 1st OM switching........................... 80
13.1.7 418_Establishing the position reference............................................................................................ 80
Actual position value is not initialized to encoder raw value in the case of modulo scaling........... 80
Amplitude and offset adjustment does not work for resolvers with number of pole pairs
smaller than 3................................................................................................................................. 81
Calculated absolute encoder offset is inaccurate when homing procedure uses reference
marks.............................................................................................................................................. 81
Switching encoder 1 to encoder 2 does not work with two homed absolute encoder systems...... 81
13.1.8 425_Motor Control............................................................................................................................. 81
Motor shutdown temperature was not set or not checked.............................................................. 81
Commutation setting, saturation method does not work with subsequent optimization................. 81
V/Hz (U/f) control: Wrong command value after drive enable switched on.................................... 81
13.1.9 435_Axis control................................................................................................................................ 82
Target position is not applied to actual position when changing from MC_Jog to MC_Move‐
Additive........................................................................................................................................... 82
13.1.10 480_Power supply............................................................................................................................. 82
IndraDrive Mi - wrong drive state AB if DC bus voltage missing - no error message in AF........... 82
13.1.11 485_Compensation functions, corrections......................................................................................... 82
Correction of torque constant does not work correctly................................................................... 82
13.1.12 530_Error reactions........................................................................................................................... 83
Return motion error reaction not available in functional package Sytronix..................................... 83
13.1.13 570_Measuring Encoder.................................................................................................................... 83
E2074 after update from 20V09/20V10 to 20V14 with MSK motor................................................ 83
Encoder 2 mounted on actuator side is not correctly supported for all allowed scaling settings.... 83
13.1.14 580_Encoder emulation..................................................................................................................... 83
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Problems with incremental encoder emulation with zero pulse offset (P-0-0901.x.4) and
P-0-0052......................................................................................................................................... 83
F2053 when switching from P2 to P4............................................................................................. 83
Impossible to complete homing procedure after motor encoder emulation.................................... 84
13.1.15 620_Parameter Handling................................................................................................................... 84
Backup/Restore: String parameters with an odd number of characters were not restored cor‐
rectly with Restore.......................................................................................................................... 84
P-0-0013 contains parameters whose values were not changed by the customer........................ 84
P-0-0013 does not show all affected parameters if EtherCAT master communication is active.... 84
Sytronix: Impossible to include actuator infeed compensation in AT telegram.............................. 85
Transition command error C0212 due to invalid parameters......................................................... 85
Incorrect parameter set switching for motor/encoder..................................................................... 85
13.1.16 622_Scaling....................................................................................................................................... 85
Faulty torque scaling with pound force unit.................................................................................... 85
13.1.17 640_Diagnostic System..................................................................................................................... 85
F9100 is displayed after error F900x.............................................................................................. 85
13.1.18 688_Service functions....................................................................................................................... 86
C0206 Error when accessing machine archive is not generated................................................... 86
No error message in the case of C66 in CCD group if slave axis in OM........................................ 86
13.1.19 710_Master communication basic..................................................................................................... 86
CCD cycle time is incorrectly generated (S-0-0001 is not generated correctly)............................. 86
13.1.20 730_PROFINET................................................................................................................................. 86
ProfiNet: Communication via Ethernet impossible if IP settings are incorrect................................ 86
13.1.21 750_EtherCAT................................................................................................................................... 86
CoE: Process data configuration is not saved................................................................................ 86
CoE: Sercos II provides wrong length for mailbox.......................................................................... 86
Command errors (C0113) with EtherCAT in Free Run Mode......................................................... 87
E2001 warning in conjunction with EtherCat COE......................................................................... 87
EtherCAT COE: F4009 : although exiting the cyclic communication.............................................. 87
Impossible to configure real-time status bits via TwinCAT startup list on CCD slave.................... 87
P1901.0.2 (CiA402: status word) not set correctly in simulation mode with CiA402 profile........... 87
The 0x1C00 01..04 objects are of the wrong data type.................................................................. 87
Zero data are transmitted to FSoE stack........................................................................................ 87
13.1.22 760_Powerlink................................................................................................................................... 88
Alias parameter cannot be written via SDO in the case of EPL..................................................... 88
EPL: "All" parameter backup via IP does not work......................................................................... 88
13.1.23 805_Power Supply general................................................................................................................ 88
C0202 after switching from PM to OM with HMS inverter.............................................................. 88
13.2 Functional enhancements..................................................................................................................... 88
13.2.1 525_Drive halt.................................................................................................................................... 88
Encoder switching in hybrid position control................................................................................... 88
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14.1.2 150_Safe Motion Parameterization................................................................................................... 89
Verification of SMO parameters via ADS does not work................................................................ 89
SafeMotion: Detailed diagnostics in S-0-0390.0.136...................................................................... 89
14.1.3 200_PLC Basic System..................................................................................................................... 89
MC_Power signals error; MLD-M................................................................................................... 89
Communication aborted in the case of PLC exception................................................................... 89
Long adjusted diagnostic messages and errors of PLC are not displayed in S-0-0095................. 89
PLC project prevents repeated program download........................................................................ 90
Watchdog when accessing list/string parameters.......................................................................... 90
14.1.4 220_PLC Motion components........................................................................................................... 90
MC_MoveAbsolute: Simultaneous CommandAborted and Done................................................... 90
Virtual master axis generator: Function blocks do not output any error message if master ax‐
is generation not activated.............................................................................................................. 90
14.1.5 250_PLC Debug Interface................................................................................................................. 91
Parameter P-0-1365 does not contain code offset......................................................................... 91
14.1.6 410_Motor Handling.......................................................................................................................... 91
No command error C3609 if wrong number of pole pairs or encoder resolution............................ 91
Hxx05 F8060 when executing C3600 motor data identification..................................................... 91
14.1.7 415_Measuring systems.................................................................................................................... 91
Error in position initialization of digital encoders............................................................................. 91
F2174 with MSM motors without buffer battery and 360 degrees modulo..................................... 91
Functional package Synchronization: Encoder 1 loses reference or encoder 2 cannot be de‐
tected in the case of modulo scaling.............................................................................................. 92
Measuring encoder: Incorrect position initialization if "P-0-0765, Modulo factor" = 0..................... 92
Modulo value can be set to value higher than maximum travel range........................................... 92
Position feedback value (S-0-0051/S-0053/P-0-0052) incorrectly initialized if forced absolute
encoder evaluation configured....................................................................................................... 92
Restricted travel range with rotary distance-coded measuring systems........................................ 92
C0209 with linear SSI encoder....................................................................................................... 92
Diagnostics missing for faulty EnDat2.2 encoder........................................................................... 93
Distance-coded encoders: Display of offset in S-0-0600.x.10 is applied to S-0-0173.................... 93
F2009 "PL Load parameter default values" with specific HW equipment options.......................... 93
F8079 in the case of overflow S-0-0600.x.2 with EnDat 2.2 (>32bit)............................................. 93
F9003 when switching from PM to OM and an error occurring simultaneously............................. 93
Impossible to negate the incremental track for distance-coded encoders...................................... 93
Incorrect velocity extrapolation in case encoder telegram fails...................................................... 94
Master communication encoder displays twice the velocity of encoder at master axis.................. 94
MPC-20V08: C0606 and E2001 in the case of drive-controlled homing with 1Vpp encoder......... 94
Offline parameterization not possible with IndraWorks.................................................................. 94
P-0-0019, Initial position value has no effect.................................................................................. 94
Problems with MS2N motor (S4W encoder) and long encoder cable (> 50 meters)...................... 95
Switching error C0272 if linear axis set to load scaling.................................................................. 95
"F2036 Excessive position feedback difference" generated if "C0300 Set absolute position
procedure command" executed...................................................................................................... 95
Automatically calculated resolution of analog, rotary encoders is not rounded down correctly...... 95
No position adjustment between encoder 1 and encoder 2 if both encoders can be evalu‐
ated in absolute form...................................................................................................................... 95
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Variable maximum value implemented for P-0-0095/96/97 absolute encoder monitoring win‐
dow................................................................................................................................................. 96
14.1.8 418_Establishing the position reference............................................................................................ 96
Faulty parameter set switching function of encoder parameters.................................................... 96
INCH scaling does not work with linear opt. encoder..................................................................... 96
No reference marks with SSI encoder............................................................................................ 96
14.1.9 425_Motor Control............................................................................................................................. 96
Better utilization of synchronous motors with reluctance effect in field weakening........................ 96
Change in direction of motion not applied during motor data identification (C3600)...................... 96
P-0-0017, Power output stage control word cannot be configured in signal control word.............. 97
PT1000 temperature sensor inaccurately evaluated...................................................................... 97
S-0-0100 incorrectly calculated with MPE20V12 during motor identification at MLP070C............ 97
Wrong identification values are determined if drive is much bigger than synchronous motor........ 97
S 534 set to zero after motor identification..................................................................................... 97
14.1.10 480_Power supply............................................................................................................................. 97
S-0-0337, Status P >= PL is not mapped to S-0-0013, Class 3 diagnostics.................................. 97
14.1.11 485_Compensation functions, corrections......................................................................................... 97
Coordinate offset was not deleted.................................................................................................. 97
14.1.12 510_Operating modes....................................................................................................................... 98
Anti-vibration filter does not work in "drive-controlled position control".......................................... 98
Faulty positioning block mode........................................................................................................ 98
14.1.13 580_Encoder emulation..................................................................................................................... 98
P-0-0788 cannot be emulated (incremental encoder emulation).................................................... 98
14.1.14 620_Parameter Handling................................................................................................................... 98
P-0-2937.0.3, Input of force feedback value cannot be written via master communication........... 98
FW download via http cannot be locked with customer password................................................. 98
14.1.15 660_Ethernet engineering................................................................................................................. 98
IP messages are sporadically transmitted at the wrong port (X24/25)........................................... 98
14.1.16 665_Webserver................................................................................................................................. 99
IDST, unable to activate SafeMotion in „Controller replacement“ dialog after device was re‐
placed............................................................................................................................................. 99
14.1.17 688_Service functions....................................................................................................................... 99
Backup function cannot be used if no CCD slaves connected....................................................... 99
14.1.18 715_General Communication Services............................................................................................. 99
Too many Telnet sessions cause F9100........................................................................................ 99
14.1.19 720_Profile adaption.......................................................................................................................... 99
"Operating mode neutral" profile sets wrong default operation modes.......................................... 99
CoE: No check for maximum value 255 when writing byte values................................................. 99
CoE: Only DS402 displayed as configurable profile....................................................................... 99
14.1.20 725_Profibus.................................................................................................................................... 100
Master communication: S-0-0000 cannot be used in process data configuration........................ 100
14.1.21 730_PROFINET............................................................................................................................... 100
PROFINET: F2025 or AF after switching from PM to OM............................................................ 100
14.1.22 745_SERCOS III.............................................................................................................................. 100
Sercos: Value 0 can be set for S1003.......................................................................................... 100
14.1.23 750_EtherCAT................................................................................................................................. 100
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CoE: Incorrect length via subindex 81.......................................................................................... 100
CoE: No AT data during switching process from SafeOp to Operational..................................... 100
F9100 when downloading a FW via FoE...................................................................................... 101
P-0-3335.0.3 (possible source ID for signal control of outputs) is filled with wrong IDNs in
the case of ADS communication.................................................................................................. 101
EtherCAT SoE: Toggle bit (bit 0) in drive status word (S-0-0135) does not work........................ 101
14.1.24 760_Powerlink................................................................................................................................. 101
EPL: MDT data are not applied by the drive, AT data are not transmitted................................... 101
14.1.25 999_Other........................................................................................................................................ 101
Axis hangs up in transition command C0200 if scaling changed from mm to inch....................... 101
14.2 Functional enhancements................................................................................................................... 101
14.2.1 415_Measuring systems.................................................................................................................. 101
Functionality of BiSS C encoders extended................................................................................. 101
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16.1.4 255_PLC Programming interface.................................................................................................... 108
No logger message if boot project does not fit into memory........................................................ 108
16.1.5 302_HW-Support Control Units....................................................................................................... 108
F8836 can be cleared although error is still present..................................................................... 108
16.1.6 315_HW Identification...................................................................................................................... 108
S-0-1300.0.152 not read completely............................................................................................ 108
16.1.7 410_Motor Handling........................................................................................................................ 108
MSK type plate version 3 not supported....................................................................................... 108
MSM motor: Faulty thermal motor monitoring.............................................................................. 108
P-0-0018, Number of pole pairs................................................................................................... 109
P-0-0548.0.2 has an effect on duration of brake check................................................................ 109
S-0-0100 set to zero after command C3200................................................................................ 109
Sensorless synchronous motor cannot be operated after execution of motor data identifica‐
tion command............................................................................................................................... 109
With asynch. motor + encoder, S-0-0100 is set to 0 after end of command C3600..................... 109
"RL" (F2008) not generated if motor with brake replaced by motor without brake....................... 109
HMS05: PT1000 motor temperature sensor cannot be operated................................................. 110
Motor replacement MSK-> MS2N................................................................................................. 110
F8034 when executing C3600 together with HMS05 devices...................................................... 110
Linear motor with encoder data memory...................................................................................... 110
Switching times PM -> OM too long............................................................................................. 110
16.1.8 412_Drive Mechanics...................................................................................................................... 110
Brake check does not start........................................................................................................... 110
16.1.9 415_Measuring systems.................................................................................................................. 111
Battery-backed EnDat2.2 with wrong position signals reference................................................. 111
C202 or C209 not generated if initialization error detected.......................................................... 111
Loss of position in the case of negated ENCB initial position and digital encoders..................... 111
Position jump with linear analog encoders (travel range cannot be displayed internally)............ 111
Amplitude and offset correction not active.................................................................................... 112
Distance-coded encoders were not supported............................................................................. 112
ENCB error bit is set too late in the case of encoder error........................................................... 112
Encoder negated: Absolute monitoring for SSI sine encoder does not work anymore................ 112
Encoder voltage not switched off in the case of 24V error........................................................... 112
EnDat2.2: F2105 with set absolute position procedure command............................................... 112
Hengstler encoder (S4W AD37S) with 20-bit single-turn is not supported................................... 113
Increase of resolution: Absolute range not reduced for rotary combined encoders..................... 113
Negation of encoder does not become active, for linear encoders: Sine, TTL, Hiperface, En‐
Dat 2.1.......................................................................................................................................... 113
No detailed diagnostics displayed with F8022 (ACURO®link encoder)....................................... 113
Position initialization of combined encoder: Correction angle is not limited................................. 113
Position offset of up to one division period in the case of initialization under motion (HIPER‐
FACE)........................................................................................................................................... 113
Puttin S-0-0054 in cyclic telegram S-0-0188................................................................................ 114
Reduction of encoder resolution does not work........................................................................... 114
SSI-encoder emulation - SSI-encoder evaluation as measuring encoder.................................... 114
Switching off fine adjustment for combined encoders for SSI...................................................... 114
Third-party resolver sporadically returns F8022 if Cs heats up.................................................... 114
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Sporadic E2075 with optional encoder......................................................................................... 114
SSI sine encoder linear: Encoder resolution S-0-0601.x.2 incorrectly calculated........................ 115
16.1.10 418_Establishing the position reference.......................................................................................... 115
Error when shifting coordinate system after switching PM-OM.................................................... 115
Command "S-0-0447, C0300 Set absolute position procedure command" sets wrong position.. 115
S-0-0197/0199 only take effect for one encoder.......................................................................... 115
Spindle encoder function cannot be activated.............................................................................. 116
Homing at positive stop faulty if torque/force scaling negated..................................................... 116
Loss of reference F2174 if PWM mode changed......................................................................... 116
16.1.11 425_Motor Control........................................................................................................................... 116
C3607 generated after C3600...................................................................................................... 116
C3609 is generated if C3600 started under motion for asynchronous motor with encoder.......... 116
E2056/C3607 during motor identification with sensorless MSK and P-0-0510 = 0...................... 116
F8395 in the case of load-dependent PWM reduction................................................................. 116
MSM motor battery monitoring inconsistent with MPx-18VRS..................................................... 117
PT1000 - faulty short circuit monitoring........................................................................................ 117
Sytronix and sensorless motor control do not work...................................................................... 117
16.1.12 435_Axis control.............................................................................................................................. 117
Automatic control loop setting: C1806 with linear motor because safety distance too small....... 117
Infeed factor unit P-0-0562 wrong ([mm/rev] instead of [rev/mm])............................................... 117
16.1.13 440_Commutation........................................................................................................................... 118
CoE: RevisionNo does not comply with device description file.................................................... 118
P-0-0509 faulty if commutation angle determined using measuring method................................ 118
16.1.14 480_Power supply........................................................................................................................... 118
Current rms value: Control word P-0-0610 cannot be cycl. configured........................................ 118
Parameter S-0-1702.0.15 does not retain.................................................................................... 118
16.1.15 485_Compensation functions, corrections....................................................................................... 118
Parameter conversion error (C0203) occurs after machine switched on for the first time............ 118
Incorrect min/max values of coordinate system parameters........................................................ 118
16.1.16 510_Operating modes..................................................................................................................... 119
Position-controlled op. mode with encoder1 not possible with FXC as motor ctrl and com‐
plex actuator with encoder1.......................................................................................................... 119
Warning E2063 no longer output after changing operation mode and changing back................. 119
16.1.17 515_Operating modes single axis................................................................................................... 119
Extended position command value (P-0-0100) did not take effect in cyclic position control
mode............................................................................................................................................. 119
Inkompatibles Verhalten bzgl. konfigurierter erlaubter Verbindungsausfälle bei zyklischer La‐
geregelung.................................................................................................................................... 119
16.1.18 520_Operating modes synchronization........................................................................................... 119
Parameters in a cyclic connection have to handle the value 0 as parameter value..................... 119
Factor is not recalculated in OM during phase synchronization................................................... 120
16.1.19 530_Error reactions......................................................................................................................... 120
Controlled deceleration after encoder error did not work............................................................. 120
16.1.20 550_Drive internal command generator.......................................................................................... 120
Incorrect command value generator switching between different target parameters................... 120
16.1.21 570_Measuring Encoder.................................................................................................................. 120
MSM motor with the wrong position signals reference................................................................. 120
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Combined encoder for SSI by AMO displays warning E2074...................................................... 121
16.1.22 580_Encoder emulation................................................................................................................... 121
Motor-related encoder emulation was not supported................................................................... 121
Inversion using S-0-0277 not taken into account for encoder-1-related emulation...................... 121
16.1.23 620_Parameter Handling................................................................................................................. 121
Hxx05: Timeout when read accessing P-0-2602.0.1 (power section logbook event)................... 121
Initial value of "P-0-0562, Actuator infeed/gear ratio compensation" was wrong......................... 121
Parameter limit values S550,S551,S553 wrong/unsuitable with [N] as torque scaling................ 122
16.1.24 640_Diagnostic System................................................................................................................... 122
F9005 during boot-up if string in P-0-0492 is too long.................................................................. 122
16.1.25 655_Local Control panel.................................................................................................................. 122
MPx20V10: Backup/restore control panel function....................................................................... 122
16.1.26 665_Webserver............................................................................................................................... 122
Problems when saving parameters using parameter snapshot.................................................... 122
16.1.27 688_Service functions..................................................................................................................... 122
C6702 generated during update via SD card with Update.zip...................................................... 122
MLD EtherNetIP scanner: Run/idle bit not set correctly............................................................... 122
16.1.28 710_Master communication basic................................................................................................... 123
Cyclically configured parameters get lost when default values are loaded.................................. 123
16.1.29 725_Profibus.................................................................................................................................... 123
Exception F9003 with PROFIBUS................................................................................................ 123
PROFIBUS: Acknowledging malfunction after communication interrupted.................................. 123
16.1.30 730_PROFINET............................................................................................................................... 123
F4012 can be acknowledged although error still present............................................................. 123
PROFINET IO: Acknowledging malfunction after communication interrupted............................. 123
PROFINET: F4012 is signaled and cannot be acknowledged anymore...................................... 123
16.1.31 735_EtherNet IP.............................................................................................................................. 123
EtherNet/IP: Acknowledging malfunction after communication interrupted.................................. 123
16.1.32 745_Sercos III.................................................................................................................................. 124
At the beginning of CP4, C-CON= 0x0, but CON.State = 2 instead of 1...................................... 124
Hotplug did not work after device had been switched back on..................................................... 124
16.1.33 750_EtherCAT................................................................................................................................. 124
CoE: Runtime optimization........................................................................................................... 124
Error when writing data to list parameter P-0-4042 using EtherCAT with CoE............................ 124
EtherCat COE: PDOs (rx) are not mapped.................................................................................. 124
EtherCAT: F9100 when saving all parameters via ADS............................................................... 124
Impossible to set system time with EtherCAT.............................................................................. 125
S-0-0000 gets max. value of P-0-4071 or P-0-4082..................................................................... 125
EtherCAT COE: Drive remains in PreOp state............................................................................. 125
Ethernet over EtherCAT (EoE) processing was optimized........................................................... 125
16.1.34 790_CCD - Communication............................................................................................................. 125
CCD slave could not be reached anymore via redundant Sercos line in the case of node fail‐
ure................................................................................................................................................ 125
E2001/E2004 during Sercos master (CCD master) run-up in MPC derivative............................. 126
F4140 cannot be cleared.............................................................................................................. 126
S-0-0134 and S-0-0135 not used with analog profile type........................................................... 126
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16.1.35 805_Power Supply general.............................................................................................................. 126
F8354 in STO deselection with dynamization error...................................................................... 126
16.1.36 999_Other........................................................................................................................................ 126
S-0-0141 too short for kit motors.................................................................................................. 126
F9100 instead of F8070 in the case of 24V dip............................................................................ 127
16.2 Functional enhancements................................................................................................................... 127
16.2.1 120_Safe Motion Functions............................................................................................................. 127
SCA: Implementing the "single cam" requirement........................................................................ 127
Taking the jerk into account in SMD............................................................................................. 127
16.2.2 435_Axis control.............................................................................................................................. 127
P-0-0110 extended by error classes bits 1 & 2............................................................................. 127
16.2.3 480_Power supply........................................................................................................................... 128
Braking resistor supposed to be switched off............................................................................... 128
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POWERLINK: Sporadic F4009 with bus cycles >= 1ms.............................................................. 133
18.1.2 000_General Firmware Platform...................................................................................................... 133
Long switching times for PM to OM switching.............................................................................. 133
18.1.3 100_Safe Motion Basic system....................................................................................................... 133
F8304 if control unit reestablishes connection after F4001/F4002............................................... 133
18.1.4 140_Safe Communication............................................................................................................... 133
F8304: No detailed diagnostics displayed in Diagnostic Trace.................................................... 133
18.1.5 200_PLC Basic System................................................................................................................... 133
F9005 when accessing SMO parameters with MLD.................................................................... 133
PositionLoop event needs more calculating time after PLC reset (warm,cold)............................ 133
Possible F9003 in the case of overloaded PLC task in synchronism with CCD/master com‐
munication.................................................................................................................................... 134
Retain variables do not work after project loaded using parameters............................................ 134
18.1.6 220_PLC Motion components......................................................................................................... 134
CCD basic settings: Impossible to switch drives to "bb" if MLD-M system mode and "Not al‐
lowed" selected............................................................................................................................. 134
18.1.7 240_PLC Parameter channel.......................................................................................................... 134
AxisData structure still contains old force feedback value (S-0-0084) for HydraulicDrive............ 134
F9005 when loading a PLC project.............................................................................................. 134
18.1.8 302_HW-Support Control Units....................................................................................................... 135
UL certification failed due to "Component Breakdown Test"........................................................ 135
18.1.9 410_Motor Handling........................................................................................................................ 135
Command C3600 aborted with C3607......................................................................................... 135
Default values of the parameters were not available.................................................................... 135
Direction of rotation incorrectly checked in sensorless operation................................................. 135
Loading application-specific data from encoder did not work....................................................... 136
Motor holding brake remains applied in spite of drive enable...................................................... 136
P-0-0548.0.2, Maximum test duration holding system released, has an influence on the
brake check duration.................................................................................................................... 136
Y-D switching of synchronous motors.......................................................................................... 136
18.1.10 415_Measuring systems.................................................................................................................. 136
Encoder error F207x with double-axis device in the case of PM to OM switching....................... 136
EnDat2.2 encoder with multi-turn range using external battery box............................................. 137
Incorrect "P-0-0334, Absolute encoder range of measuring encoder"......................................... 137
MSM motor encoder: Incorrect position if battery entirely empty................................................. 137
C0401 and longer switching time in simulation mode.................................................................. 137
Drive remains in PM to OM transition command.......................................................................... 138
E2074 with a high-resolution Endat2.1 encoder........................................................................... 138
Encoder negated: Reference mark detection does not work correctly with sine encoders and
TTL encoders............................................................................................................................... 138
F2105 with command for commutation offset determination........................................................ 138
F2105 with rotary Hiperface encoder (encoder data memory < 600 bytes) and MPB-20V06...... 138
Incorrect encoder status (S-0-0600.x.1) if error detected, only encoders with SSI interfaces
and encoders of MSM motors...................................................................................................... 138
KTY motor temperature inaccurately transmitted via S4W........................................................... 139
Position feedback value drifts when changing between PM-OM under motion............................ 139
Reference is always set again after "C1500 Cancel reference point procedure" command........ 139
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Sercos encoder cannot be used as a motor control encoder....................................................... 139
Speed-dependent position offset between encoder 1 and 2 (F2036)........................................... 139
Transition command error C0209 with Endat2.1 encoders.......................................................... 139
Transition command error C0209 with MPE and encoder version 4.1......................................... 139
TTL encoder evaluation: S-0-0600.x.1 Encoder status, bit 5 position status always 0................ 140
Velocity feedback value of encoder 2 incorrectly generated........................................................ 140
Absolute encoder monitoring default is deactivated..................................................................... 140
F2174 after set absolute position procedure and OM->PM->OM switching................................. 140
Incorrect automatic calculation of Encoder Basic resolution with linear sine encoders and
TTL encoders............................................................................................................................... 140
Incorrect entries in S-0-0423 during physical initialization of multiple encoder types................... 140
Sercos encoder: Position value transmission not checked in transition command...................... 141
18.1.11 418_Establishing the position reference.......................................................................................... 141
Incorrect position after exception.................................................................................................. 141
Incorrect position initialization of position feedback value (modulo) with motion.......................... 141
Sporadic F9100 with MSM motor................................................................................................. 141
Endat 2.1: Incorrect position initialization without fine correction................................................. 141
Incorrect position initialization measuring encoder with motion.................................................... 141
Homing procedure with incremental motor encoder and asynchronous motor............................ 142
Increasing the Basic resolution for encoders does not work correctly.......................................... 142
18.1.12 425_Motor Control........................................................................................................................... 142
Drive keeps turning infinitely after E8040 in spite of AH in the control word................................ 142
Commutation using encoder 2 not active..................................................................................... 142
Inductance values Ld and Lq incorrectly determined................................................................... 142
Velocity search mode did not work............................................................................................... 142
18.1.13 435_Axis control.............................................................................................................................. 143
Impossible to activate redundant motor encoder.......................................................................... 143
Only 2 filter types can be selected in "P-0-1120" with MPE......................................................... 143
Filters without effect in velocity control loop after P-0-1120 = 0................................................... 143
18.1.14 440_Commutation........................................................................................................................... 143
Optimized commutation offset in relation to the zero mark does not work................................... 143
18.1.15 480_Power supply........................................................................................................................... 143
HMV05 signals E2814 Undervoltage in mains if mains overvoltage of approx. 530V is applied.. 143
18.1.16 515_Operating modes single axis................................................................................................... 143
Axis incorrectly moves to target position in drive-controlled positioning mode!............................ 143
18.1.17 520_Operating modes synchronization........................................................................................... 144
Velocity synchronization mode: Operation mode incorrectly activated, if Vact < S-0-0124......... 144
18.1.18 530_Error reactions......................................................................................................................... 144
"P-0-0175 configurable reaction for specific devices – error cases"............................................. 144
18.1.19 550_Drive internal command generator.......................................................................................... 144
F9005 sporadically generated when target parameter switched in command value generator... 144
18.1.20 575_Virtual master axis................................................................................................................... 145
Virtual master axis generator: Incorrect motion profile if NC cycle time unequal "S-0-0001"....... 145
18.1.21 580_Encoder emulation................................................................................................................... 145
Incremental encoder emulation: Error F2053 in the case of modulo processing of "S-0-0051"... 145
Encoder emulation: F2053 during homing procedure.................................................................. 145
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F9005 if motor encoder emulation selected in MPx-20VRS......................................................... 145
18.1.22 620_Parameter Handling................................................................................................................. 146
Diagnostics not helpful with Engineering using ADS interface..................................................... 146
Incorrect parameter set switching................................................................................................. 146
18.1.23 655_Local Control panel.................................................................................................................. 146
Control panel: "Backup"-"Restore" menu item............................................................................. 146
18.1.24 675_FTP Server.............................................................................................................................. 146
Connection aborted or F9005 with FTP........................................................................................ 146
Handling problems with FTP........................................................................................................ 146
18.1.25 688_Service functions..................................................................................................................... 147
Backup/restore does not work if Profibus set as master communication..................................... 147
Diagnostic messages C6601 and C6704 cannot be cleared........................................................ 147
F9202 after reboot command....................................................................................................... 147
Restore: MLD reload was triggered although MLD had not been stopped/restored.................... 147
Backup&Restore: FWA update is possible in spite of MLD running............................................. 147
Backup&Restore: Update.zip use case was not executed correctly............................................ 148
FW update invitation still displayed after update.......................................................................... 148
New device detected with Backup/Restore function..................................................................... 148
18.1.26 710_Master communication basic................................................................................................... 148
S-0-0007 becomes invalid when basic parameters are loaded.................................................... 148
18.1.27 720_Profile adaption........................................................................................................................ 148
CiA402: Objects cannot be configured in oscilloscope................................................................. 148
18.1.28 745_Sercos III.................................................................................................................................. 148
E2004 during Sercos phase switch.............................................................................................. 148
Sercos: Drive sometimes loses telegrams after switching to CP3............................................... 149
"S-0-1000" contains the "SCP-SafetyCon" class.......................................................................... 149
18.1.29 750_EtherCAT................................................................................................................................. 149
EtherCAT COE: Drive address..................................................................................................... 149
18.1.30 760_Powerlink................................................................................................................................. 149
POWERLINK: Communication interrupted with "backup of all parameters"................................ 149
18.1.31 790_CCD - Communication............................................................................................................. 149
Memory access error when ring topology interrupted.................................................................. 149
TCP connection to the CCD slave: IndraWorks exception during Sercos phase switch.............. 150
Binary configuration without configured connection causes memory access error...................... 150
18.1.32 810_Power Supply Components and additional devices................................................................. 150
"F2821 Error in control of braking resistor" sporadically signaled................................................ 150
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Page
Measuring encoder: Error in homing procedure: Incorrect reference position depending on
velocity.......................................................................................................................................... 159
Drive has to be switched off after command error C0606 to allow homing procedure to be
carried out again........................................................................................................................... 159
20.1.11 425_Motor Control........................................................................................................................... 160
FXC asynchronous motor, taking the premagnetization factor into account................................ 160
FXC: Switching on drive enable after F8xxxx error...................................................................... 160
FXC: Switching open-loop-controlled closed-loop-controlled range............................................. 160
PT1000 motor temperature sensor does not work with V1 control sections................................ 160
FXC: Incorrect torque feedback value is displayed...................................................................... 160
Max. frequency slope incorrectly calculated................................................................................. 161
Switching frequency of the power output stage can now be changed in PM............................... 161
Thermal motor model overload E2051......................................................................................... 161
20.1.12 435_Axis control.............................................................................................................................. 161
Velocity feedback value (S-0-0040) incorrectly calculated if mix factor used............................... 161
Wrong cogging reference with absolute encoder and encoder gearbox unequal 1:1.................. 161
20.1.13 440_Commutation........................................................................................................................... 161
Error message "C5603 Timeout: Axis in motion" with command C5600...................................... 161
Error message F8012 with commutation setting command......................................................... 162
20.1.14 445_Limitations, monitoring............................................................................................................. 162
Considering the directives for products requiring export licenses (closed-loop).......................... 162
20.1.15 480_Power supply........................................................................................................................... 162
W54 device remains in bb in spite of mains voltage having been connected.............................. 162
20.1.16 520_Operating modes synchronization........................................................................................... 162
"P-0-0753, Position actual value in actual value cycle" incorrectly generated, if active param‐
eter set number is not 0................................................................................................................ 162
Exception if synchronous bit generation activated for MotionProfile and synchronization
mode not active............................................................................................................................ 162
MotionProfile - erratic behavior if value of P-0-0701 changed in operating mode........................ 163
20.1.17 580_Encoder emulation................................................................................................................... 163
F2053 and missing zero pulses if external signal P-0-0901.0.7 turning backward....................... 163
P-0-0901.x.2, bit 7, not cyclically configurable in signal control word........................................... 163
P-0-0901.x.2, bit 7, not cyclically configurable in signal status word............................................ 163
20.1.18 620_Parameter Handling................................................................................................................. 164
F9005 when reading via ADS....................................................................................................... 164
Dependencies between P-0-4084 and P-0-4089.0.1 when loading a parameter......................... 164
20.1.19 640_Diagnostic System................................................................................................................... 164
Reading P-0-2602.0.130 provided error message....................................................................... 164
List parameters contained in oscilloscope signal selection.......................................................... 164
Recordiung of diagnostic messages cannot be controlled using diagnostic trace control............ 164
20.1.20 720_Profile adaption........................................................................................................................ 165
DS402 prevents switching from "Ready to Switch on" to "Switched on" without power on.......... 165
Switching the master communication protocol does not cause switching of master communi‐
cation profile................................................................................................................................. 165
FSP Drive 0x102 profile not possible with PROFINET, EtherNet/IP and PROFIBUS.................. 165
20.1.21 745_Sercos III.................................................................................................................................. 165
F4002 after first run-up to CP4..................................................................................................... 165
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20.1.22 750_EtherCAT................................................................................................................................. 165
„Enable PDO Configuration“ bit missing in EEPROM for CoE..................................................... 165
Problems with parameter download, e.g. using IW...................................................................... 165
20.1.23 790_CCD - Communication............................................................................................................. 166
S/IP gateway does not work in MLD master................................................................................. 166
20.1.24 Measuring systems (mechanical axis system)................................................................................ 166
Incorrect zero point shifting with EnDat 2.1.................................................................................. 166
20.1.25 Motor control.................................................................................................................................... 166
F8078 in FXC control.................................................................................................................... 166
20.1.26 Parameters, basics.......................................................................................................................... 166
P-0-4089.0.1 - misleading min/max values.................................................................................. 166
20.2 Functional enhancements................................................................................................................... 166
20.2.1 140_Safe Communication............................................................................................................... 166
F3450 cannot be cleared during serial commissioning................................................................ 166
20.2.2 220_PLC Motion components......................................................................................................... 167
MLD axis pattern adjusted for MLD-S.......................................................................................... 167
20.2.3 999_Other........................................................................................................................................ 167
HCS03.1-W0350 supported......................................................................................................... 167
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Page
21.1.10 Establishing the position data reference.......................................................................................... 172
Position feedback value drifts with modulo scaling...................................................................... 172
Encoder replacement recognition with MSM motor...................................................................... 172
Linear HIPERFACE encoders (TTK70) are not supported........................................................... 172
Loss of reference with linear encoders without OEM memory..................................................... 172
Resolution not automatically determined for combined encoder for SSI...................................... 172
21.1.11 Master communication.................................................................................................................... 172
EtherCAT CoE: Wrong flashing pattern of diagnostic LED in the case of configuration error...... 172
EPL: Free_Run: Content of object 1006 does not comply with bus cycle time............................ 172
Starting commands "S-0-0127/S-0-0128" in forbidden Sercos phase using real-time bits.......... 173
21.1.12 Measuring systems (mechanical axis system)................................................................................ 173
Combined encoder for SSI by AMO, incorrect position initialization............................................ 173
Position feedback value drifts when changing between PM-OM under motion............................ 173
Position initialization with EnDat2.1 is not initialized over entire absolute encoder range............ 173
Axis error correction for external encoder activated with motor encoder by mistake
(P-0-0413 = 0x1)........................................................................................................................... 173
F9005 with sensorless control and linear scaling......................................................................... 173
Rotary combined encoder for SSI only works with SSI resolution................................................ 174
Measuring encoder always initializes using the retain data.......................................................... 174
S-0-0602.x.136 is not reset when default values are loaded........................................................ 174
21.1.13 Motor control.................................................................................................................................... 174
Diagnostic motor data MSM: Motor replacement is not displayed............................................... 174
MPM: Incorrect default value for "P-0-0045" with OPEN-LOOP.................................................. 175
21.1.14 Om_cam mode................................................................................................................................ 175
Cam table in MotionProfile incorrectly processed........................................................................ 175
21.1.15 Om_drive-controlled positioning...................................................................................................... 175
Double velocity when switching to position control with a clock ratio of 1:1................................. 175
21.1.16 Om_phase synchronisation............................................................................................................. 175
Master axis synchronization range incorrectly implemented with single-step synchronization.... 175
"MotionProfile” mode: F2028 when switching sets....................................................................... 175
21.1.17 Parameters, basics.......................................................................................................................... 175
Drive is constantly rebooted in the case of C6600 with safety technology................................... 175
Combination check for 0x60C2 might possibly prevent changeover............................................ 176
Incorrect velocity scaling in mm/s................................................................................................. 176
Feed constant (S-0-0123) has no unit.......................................................................................... 176
21.1.18 Safety Technology........................................................................................................................... 176
F3360, if encoder standstill via local safe output.......................................................................... 176
F8304 when executing the command C8300............................................................................... 176
IO mapper inputs, "Safe AND" (type8): Wrong target parameter................................................. 176
Parameterization incorrectly applied in the case of C8400.......................................................... 177
21.2 Unresolved defects............................................................................................................................. 177
21.2.1 Safety Technology........................................................................................................................... 177
Modulo correction missing for absolute position feedback values................................................ 177
Index.......................................................................................................................... 179
General information
1 General information
1.1 Releases
Firmware designation Release date Change of version
General information
Rexroth IndraDrive
Firmware for Drive Controllers
FWA-INDRV*-MPC-20VRS-D5
(Single-axis firmware with
Advanced performance and functionality)
General information
R911347105 FWA-INDRV*-MPC-20VRS-D5-1-MSP-ML
R911347106 FWA-INDRV*-MPC-20VRS-D5-1-MSP-NN
R911347108 FWA-INDRV*-MPC-20VRS-D5-1-NNN-ML
R911347109 FWA-INDRV*-MPC-20VRS-D5-1-NNN-NN
R911347110 FWA-INDRV*-MPC-20VRS-D5-1-SNC-ML
R911347111 FWA-INDRV*-MPC-20VRS-D5-1-SNC-NN
R911347112 FWA-INDRV*-MPC-20VRS-D5-1-SRV-ML
R911347113 FWA-INDRV*-MPC-20VRS-D5-1-SRV-NN
Due to the revision
R911347114 FWA-INDRV*-MPC-20VRS-D5-1-ALL-MA
of the EU Dual‑Use Regulation
R911347115 FWA-INDRV*-MPC-20VRS-D5-1-ALL-ML [Regulation (EC) No 428/2009],
R911347116 FWA-INDRV*-MPC-20VRS-D5-1-ALL-NN the output frequency of the drive controllers is restric‐
ted to less than 600 Hz in open-loop operation.
R911347117 FWA-INDRV*-MPC-20VRS-D5-0-ALL-ML
The firmware
R911347118 FWA-INDRV*-MPC-20VRS-D5-0-ALL-NN
does not require export licenses.
R911347119 FWA-INDRV*-MPC-20VRS-D5-0-MSP-ML
R911347120 FWA-INDRV*-MPC-20VRS-D5-0-MSP-NN
R911347121 FWA-INDRV*-MPC-20VRS-D5-0-NNN-ML
R911347122 FWA-INDRV*-MPC-20VRS-D5-0-NNN-NN
R911347123 FWA-INDRV*-MPC-20VRS-D5-0-SNC-ML
R911347124 FWA-INDRV*-MPC-20VRS-D5-0-SNC-NN
R911347152 FWA-INDRV*-MPC-20VRS-D5-0-SYX-ML
R911347153 FWA-INDRV*-MPC-20VRS-D5-1-SYX-ML
R911369432 FWA-INDRV*-MPC-20VRS-D5-E-ALL-MA
R911369433 FWA-INDRV*-MPC-20VRS-D5-E-ALL-ML
R911369434 FWA-INDRV*-MPC-20VRS-D5-E-ALL-NN The control mode "E" is a firmware with "closed-loop"
package.
R911369435 FWA-INDRV*-MPC-20VRS-D5-E-MSP-ML
In open-loop operation, this firmware can operate
R911369436 FWA-INDRV*-MPC-20VRS-D5-E-MSP-NN
drive controllers with output frequencies ≥600 Hz.
R911369437 FWA-INDRV*-MPC-20VRS-D5-E-NNN-ML
CAUTION: This firmware requires export licenses!
R911369438 FWA-INDRV*-MPC-20VRS-D5-E-NNN-NN
The firmware can only be supplied upon a formal or‐
R911369439 FWA-INDRV*-MPC-20VRS-D5-E-SNC-ML der, either pre-installed in the drive controller or on the
R911369440 FWA-INDRV*-MPC-20VRS-D5-E-SNC-NN corresponding data carriers (µSD, control panel…).
For legal reasons, it is impossible to download the
R911369441 FWA-INDRV*-MPC-20VRS-D5-E-SRV-ML firmware.
R911369442 FWA-INDRV*-MPC-20VRS-D5-E-SRV-NN
R911369443 FWA-INDRV*-MPC-20VRS-D5-E-SYX-ML
General information
General information
Power sections
Inverter - single-axis
HMS01.1N-W0020-A-07-NNNN
HMS01.1N-W0036-A-07-NNNN
HMS01.1N-W0054-A-07-NNNN
HMS01.1N-W0070-A-07-NNNN
HMS01.1N-W0110-A-07-NNNN
HMS01.1N-W0150-A-07-NNNN
HMS01.1N-W0210-A-07-NNNN
HMS01.1N-W0350-A-07-NNNN
HMS02.1N-W0028-A-07-NNNN
HMS02.1N-W0054-A-07-NNNN
Inverter - double-axi
HMD01.1N-W0012-A-07-NNNN
HMD01.1N-W0020-A-07-NNNN
HMD01.1N-W0036-A-07-NNNN
Power sections
Converter
HCS02.1E-W0012-A-03-NNNN
HCS02.1E-W0028-A-03-NNNN
HCS02.1E-W0054-A-03-NNNN1)
HCS02.1E-W0070-A-03-NNNN1)
HCS03.1E-W0070-A-05-NNNN
HCS03.1E-W0100-A-05-NNNN
HCS03.1E-W0150-A-05-NNNN
HCS03.1E-W0210-A-05-NNNN
HCS03.1E-W0350-A-05-NNNN
HCS04.2E-W0290-N-0x-xNxN
HCS04.2E-W0350-N-0x-xNxN
HCS04.2E-W0520-N-0x-xNxN
HCS04.2E-W0640-N-0x-xNxN
HCS04.2E-W0790-N-0x-xNxN
HCS04.2E-W1010-N-0x-xNxN
HCS04.2E-W1240-N-0x-xNxN
HCS04.2E-W1540-N-0x-xNxN
1) from CW30/2007
Tab. 1-6: Power sections, converters
General information
HMU05.1N-F0140-0210-N-A5-11-___-NNNN
HMU05.1N-F0140-0350-N-A4-D7-___-NNNN
HMU05.1N-F0170-0250-N-A5-11-___-NNNN
HMU05.1N-F0170-0430-N-A4-D7-___-NNNN
HMU05.1N-F0220-0300-N-A5-11-___-NNNN
HMU05.1N-F0220-0510-N-A4-D7-___-NNNN
HMU05.1N-F0270-0370-N-A5-11-___-NNNN
HMU05.1N-F0270-0660-N-A4-D7-___-NNNN
HMU05.1N-F0340-0820-N-A4-D7-P__-NNNN
HMU05.1N-F0400-0600-N-A5-11-___-NNNN
HMU05.1N-F0430-1040-N-A4-D7-P__-NNNN
HMU05.1N-F0540-0750-N-A5-11-___-NNNN
HMU05.1N-F0540-1300-N-A4-D7-P__-NNNN
HMU05.1N-F0680-0980-N-A5-11-___-NNNN
HMU05.1N-F0680-1690-N-A4-D7-P__-NNNN
Drive systems
HCS01.1E-W00xx-A-0x-x-xx-EC-xx-xx-NN-FW
KMS02.1B-A0xx-P-D7-ET-xxx-xx-xx-FW
KSM02.1B-0xxC-xxN-xx-Hxx-ET-xx-D7-xx-FW
KMS03.1B-xxxx-P-D7-ET-END-xx-xx-FW
HCQ02.1E-W-00xx-A-03-B-L8-1S-xx-xx-NN-xx
HCT02.1E-W00xx-A-03-B-xx-xx-xx-xx-NN-xx
Our sales representative will help you with the current status of
available control section card types.
General information
■
CN CANopen - ■ ■
3)
■
ET MultiEthernet - - -
3)
■
EM Encoder emulation - ■ ■
2)
■
S4 Safe Motion - ■ ■
2)
■
SB Safe Motion Bus - ■ ■
2)
■
S5 Safe Motion - ■ ■
2)
General information
In their basic configuration, all HCS01 controllers already contain modules for
encoder evaluation (EC) and master communication (ET, S3, CC). The table
below shows the optional modules supported by the MPx-20VRS firmware.
Device HCS01.1
General information
The table below shows the optional modules for compact multi-axis convert‐
ers HCT and HCQ supported with MPx20VRS.
BASIC BASIC
"Multi-axis" "Multi-axis"
Firmware variant → MPM-20VRS MPM-20VRS
Optional modules for master communication
ET Multiprotocol EtherNet ■ -
PB PROFIBUS ■ -
L8 Embedded PC, LX 800 ■ ■
Optional modules for encoder evaluation
Number of encoder evaluations in basic device 4 5
Optional modules for I/O extension
D1 Digital I/O extension (DEA40.1) ■ ■
General information
MLF (IndraDyn L)
MSK (IndraDyn S) MAD (IndraDyn A)
MBS (IndraDyn H)
MSM MAF (IndraDyn A) 1MB
MCL
MS2N MAL
MBT (IndraDyn T)
General information
Base package of
variant ... Alternative Additive ex‐
(depending on Lan‐ Open-loop / expansion pansion
IndraDrive firmware control section) Version Release guage Closed-loop packages packages
The sales representative in charge will help you with the current
status of available firmware types.
Firmware replacement
2 Firmware replacement
2.1 Brief description
2.1.1 Basic principles
Explanation of terms The following cases are distinguished for firmware replacement:
● Release update
An old firmware release contained in the device (e.g. MPB20V04) is re‐
placed by a new firmware release (e.g. MPB20V06).
● Version upgrade
The old firmware version contained in the device is replaced by a new
firmware version (example: MPB18V10 is replaced by MPB20V06).
● Release downgrade
A new firmware release contained in the device (e.g. MPB20V06) is re‐
placed by an old firmware release (e.g. MPB20V04).
● Version downgrade
The new firmware version contained in the device is replaced by an old
firmware version (example: MPB20V06 is replaced by MPB18V10).
Procedure Firmware for IndraDrive can be replaced using the following hardware and
software:
● Computer with Firefox or Internet Explorer web browser or
● Computer with "IndraWorks" software or
● Computer with TFTP client
● IndraDrive Service Tool (IDST)
Firmware replacement
After the IP settings have been changed, the device has to be re‐
started to activate the settings. If several devices have been con‐
nected via the master communication bus, make sure that an un‐
equivocal IP address is assigned to each node.
IP configuration in the Easy Menu See functional description "Standard control panel"
IP settings on the computer See Microsoft help, keyword "LAN connection"
Firmware replacement
Firmware replacement
Firmware replacement
Firmware upgrade with Carrying out the firmware version upgrade with "IndraWorks" requires the fol‐
"IndraWorks" lowing steps:
1. Load firmware
1.1 Call "IndraWorks".
1.2 Load project for the corresponding axis or create new project. To
do this, address axis via Ethernet.
1.3 Switch project "online".
1.4 Select/highlight controller and call "Firmware management" in
context menu.
A new window opens and firmware currently available in drive is
displayed.
1.5 Highlight new firmware (*.ibf file) in the upper part of the dialog
and start firmware download via "Download" button.
Firmware download runs automatically and all required firmware
components are loaded to drive.
1.6 After firmware download has been completed, close "Firmware
management" window.
1.7 Reboot drive controller
2. Put drive into ready-for-operation state
⇒ Switch project "online".
After project has been switched "online", a message sometimes signals
that "IndraWorks" could not establish communication to drive via
Ethernet interface, since drive-internal settings for Ethernet communica‐
tion were reset.
Firmware replacement
For axes with active Safe Motion, the parameterization of the old
firmware version can be applied. For this purpose, the scaling of
the command "C0750 Load defaults procedure command (factory
settings)" has to be set to without "Safe Motion (SMO)" in
"P‑0‑4090, Configuration for loading default values". The Safe
Motion then remains active even in the case of a version upgrade,
and it is not necessary to recommission Safe Motion or repeat the
acceptance test.
With active Safety bus communication, the device data sheets
have to be updated in the safety control.
Firmware replacement
If the safety technology options Sx (S3, S4, S5, SB, SD) are
used, the system checks whether firmware and parameter set are
compatible. This prevents the safety technology from being oper‐
ated with an incompatible parameter set ("C0213 SMO: Incorrect
parameterization" or "C8214 SMO: Incorrect configuration"). In‐
compatible parameter sets are involved when using Safe Motion
functions no longer available in the currently loaded firmware (old
firmware release).
In the case of an incompatibility, there are two options:
● Either continue with the existing parameterization by reload‐
ing the originally available firmware,
● or perform the complete initial commissioning with the new
firmware, including the loading of the basic parameters for
SMO.
Firmware replacement
Firmware replacement
For axes with active Safe Motion, the axis after the booting proc‐
ess detects an incompatible SMO parameter image and gener‐
ates the error "F8324 SMO: Error in activation". The incompatible
SMO parameter image can be deleted with the command "C0720
SMO: Load defaults procedure command" or within the scope of
the "C0750 Load defaults procedure command (factory settings)".
Afterwards, the Safe Motion has to be recommissioned.
Unless the command "C0720 SMO: Load defaults procedure
command" or "C0750 Load defaults procedure command (factory
settings)" has been started, the SMO parameter image is still
completely available. If the axis is downgraded to the original firm‐
ware version, the axis can be operated without recommissioning
the Safe Motion.
Firmware replacement
If there is no valid firmware available in the control section, the loader is star‐
ted. The text "LOADER active! IP address:" followed by the active IP address
are displayed. With the loader, it is possible to replace the firmware of the
control section.
The loader attempts to reset the last IP. If this is not possible, a default IP
configuration is used. (IP address: 192.168.0.1, network mask
255.255.255.0)
If the last IP cannot be determined at devices without display, the hardware
address switch is also included for generation of the default IP configuration.
(IP address: 192.168.0.<hardware switch>, network mask 255.255.255.0)
The IP configuration used in the loader is displayed at the device or can be
determined from S/IP communication via the "Browse" UDP service.
3.1.4 440_Commutation
Incorrect commutation angle with linear motor
CQ-ID: Defdb00208543
Severity: K3 - malfunction (no workaround)
Description: Negative values in P-0-0523 caused an incorrect commutation angle.
Description: When velocity control had been activated below the standstill window
(S-0-0124), the command value adjustment input value and the controller
command value (P-0-0048) were set to 0.
This caused a jump in the command value, the acceleration limitation
(S-0-0138) in the command value adjustment became ineffective.
Fixing: Below standstill (S-0-0124), only the input value of command value adjust‐
ment (P-0-0563) is set to 0.
The controller command value (P-0-0048) is set to the active actual position
value.
Thus, the ramp of acceleration limitation (S-0-0138) can still take effect.
This prevents an excessive command value from taking effect in P-0-0048.
Severity: K4 - malfunction
Description: The average value for display had been deactivated for certain parameters
(e.g.: S-0-0040, S-0-0535) after phase switch or reboot.
3.1.10 622_Scaling
Scaling of velocity changes after restart
CQ-ID: Defdb00209963
Severity: K2 - serious malfunction
Description: When the scaling had been switched, the exponent was internally written.
The data of the parameter was not saved. After a restart, the exponent had
the old value and the scaling was wrong.
Fixing: The exponent data is only overwrittten with preferred scaling when the scal‐
ing type is written.
3.1.12 750_EtherCAT
EtherCAT CoE: E4072 Mac address invalid with Beckhoff control
CQ-ID: Defdb00209367
Severity: K3 - malfunction (no workaround)
Description: If multiple E4072 warnings had occurred in rapid succession in the drive, this
could cause the diagnostic memory to be flooded.
the case of encoder replacement, even if the monitoring function had been
switched off.
Impossible to switch MS2N with Acuro-Link encoder to operating mode
CQ-ID: Defdb00208001
Severity: K3 - malfunction (no workaround)
Description: In the functional package SYTRONIX, it was impossible to switch an MS2N
motor with Acuro-Link encoder to the operating mode if a complex actuator
had been configured.
The parameter P-0-0513, Temperature sensor characteristic was signaled to
be faulty.
Due to a modulo correction, the axis moved in the wrong direction or by one
modulo range too far in the correct direction.
Switching from position to velocity control uses command value instead of actual value
CQ-ID: Defdb00208122
Severity: K3 - malfunction (no workaround)
Description: The acceleration limitation in the V-controller had been activated for an axis.
S-0-0138 was set to a value slightly higher than the command acceleration.
The axis had been blocked by positive stop, the V-command value
(P-0-0048) thus was at the maximum value.
After switching the operation mode to position control, velocity control, Drive
Halt, the V-command value was not set to 0, but reduced via the maximum
acceleration. This caused a travel motion!
Fixing: In the new operation mode, the V-controller uses the actual velocity.
the communication from the CCD master to the CCD slave (route) was
blocked.
4.1.13 750_EtherCAT
Incorrect length of cyclic data with 1:1 timing
CQ-ID: Defdb00205091
Severity: K3 - malfunction (no workaround)
Description: With the configuration bus clock = position controller clock (e.g., for Ether‐
CAT CoE), the cyclic length was not correctly limited to half the maximum
length. Thus, only one byte less could be configured.
Fixing: The filtering of the mains voltage measurement is taken into account for the
monitoring functions.
Severity: K4 - malfunction
Description: For MS2N motors, "Torque/force constant correction" has been switched on
by default. The calculation of the maximum torque value percentage did not
take into account the reduction of the torque constant due to saturation and
temperature influences. Thus, an unreachable high value was displayed.
Fixing: The calculation of the maximum torque value percentage is based on the
maximum torque and the continuous torque at standstill (nominal torque).
Default value loading "without device parameters" and "without SMO parameters" did not
work
CQ-ID: Defdb00206764
Severity: K3 - malfunction (no workaround)
Description: When loading the default values, the options "without SMO parameters" and
"without device parameters" could not be activated simultaneously.
The boot times can vary significantly in the axis group. In the case of open-
loop axes the devices boot very fast. With the automatic switching of the axis
to OM the error detection is “triggered" very fast. Consequently, the axis re‐
ported F2087 when devices that boot very slow were part of the axis group.
Fixing: The signal "Module bus ok" is output as soon as possible so that the different
boot times are no longer relevant.
5.1.12 999_Other
F9005 occurs when disconnecting the Ethernet connector while sending data with TCP-IP
from a PLC project.
CQ-ID: Defdb00206183
Severity: K4 - malfunction
Description: If TCP IP data is sent via a PLC project and the connector is disconnected,
error F9005 could sporadically occur.
Using the asynchronous FB IL_TCPSendAsync or SysSocket with according‐
ly "non blocking" socket settings is a boundary condition.
Workaround: Use one of the three different options: synchronous FB IL_TCPSend func‐
tions, synchronous SysSocket functions or asynchronous SysSocket func‐
tions and subsequently close and reopen socket in case an error occurs.
the following behavior: With a resolver encoder and in the case of error, ac‐
tual values were displayed like in the case of success in P-0-3257 (SMO: Po‐
sition feedback value) and P-0-3258 (SMO: Velocity feedback value) after the
booting process or after the "parking axis" command had been exited. An en‐
coder error was displayed in P-0-3256, bit 13 (SMO: Encoder evaluation sta‐
tus) (detailed diagnostics: Amplitude monitoring and phase monitoring error).
Fixing: With SafeMotion available, the resolver adjustment is also called during boot-
up or when the "parking axis" function had been exited.
E2010 after complete machine start-up at an EtherCAT axis
CQ-ID: Defdb00204395
Severity: K3 - malfunction (no workaround)
Description: If the target operating mode "Automatic run-up to OM" had been activated
with EtherCAT, the warning "E2010 Position control with encoder 2 not possi‐
ble" was sometimes signaled during drive run-up.
Endat2.2: Velocity-dependent position offset between S-0-0051 and S-0-0053
CQ-ID: Defdb00205208
Severity: K3 - malfunction (no workaround)
Description: If an Endat2.2 encoder had been evaluated as encoder 2 or measuring en‐
coder, the cyclic encoder position detection occurred by one velocity control‐
ler clock too early. Thus, the encoder 2 or measuring encoder displayed the
wrong position (error = distance per velocity controller clock). If the encoder 2
or measuring encoder had been generated at the same encoder interface as
encoder 1, the error did not occur.
F2105 after C02xx transition command error in the case of encoders with encoder data mem‐
ory
CQ-ID: Defdb00204063
Severity: K3 - malfunction (no workaround)
Description: In the case of encoders with encoder data memory, it was sometimes impos‐
sible to read or write the OEM data correctly when the drive had been switch‐
ed from OM to PM, or after a transition command error had occurred. The
error F2105 was generated.
Unjustified E2084 "Reference mark not detected (cogging reference)" cannot be cleared
CQ-ID: Defdb00205199
Severity: K3 - malfunction (no workaround)
Description: In the case of an axis without cogging torque compensation (no "servo func‐
tion" or "synchronization" functional package), the function for determining
the cogging reference (relative encoder) had been activated by mistake.
Thus, the warning E2084 was output.
Fixing: The function for determining the cogging reference is only activated with the
"servo function" and "synchronization" functional packages.
Note:
If cogging torque compensation is not used, it is possible to switch to the limi‐
ted position range (P-0-1131, bit 1) in order to switch off the function for de‐
termining the cogging reference.
2. Keep the same filter order in the case of block change in motion.
6.1.8 440_Commutation
C0258 in the case of NC cycle time of 24 ms and linear fine interpolation (cycl. position con‐
trol)
CQ-ID: Defdb00203989
Severity: K3 - malfunction (no workaround)
Description: With an MPB20 firmware, an attempt was made to set the NC cycle time to
24 ms. With a cycle time of 500 µs, however, only a maximum NC cycle time
of 16 ms was allowed.
The position modes with internal interpolation use the cubic fine interpolator.
Thus, the NC cycle time is always restricted to selected division factors.
Division factors:
1..8 in steps of 1
10..16 in steps of 2
20..32 in steps of 4
Fixing: The division factor 48 was implemented (MPB, MPC, MPM only).
Fixing: When the minimum or the maximum value of a command parameter is read,
the Sercos error message 0x5001 (min. value does not exist) or 0x6001 (max
value does not exist) is generated.
6.1.12 750_EtherCAT
EtherCAT: Diagnostics missing if SM not activated but SYNC activated
CQ-ID: Defdb00205206
Severity: K3 - malfunction (no workaround)
Description: In case the "Sync Out Unit" (Sync signals from the distributed clocks) had
been inconsistently configured in the EtherCAT Slave Controller, no warning
was generated in the drive.
Fixing: Warning E4075, in the case of inconsistent configuration.
Operation was only possible with a small delay during the first soft start or a
2nd soft start.
variable before the value was generated internally again. Therefore, functions
accessing the active value of S-0-0001 in this space of time calculated with
the wrong value.
8.1.14 750_EtherCAT
EtherCAT SOE: Data applied in spite of error message 0x7003
CQ-ID: Defdb00202496
Severity: K2 - serious malfunction
Description: If data of the wrong length had been acyclically written with EtherCAT SoE to
a drive parameter, the drive provided an error message but nevertheless ap‐
plied the transmitted value.
EtherCat COE: Watchdog trigger of SM 3 activated at drive --> drive goes online to OP
CQ-ID: Defdb00203812
Severity: K3 - malfunction (no workaround)
Description: By default, the drive has a 3-buffer mode for transmitting the process data.
With the watchdog trigger of Syncmanager 3 activated, the drive neverthe‐
less went online (Operational).
Fixing: The transition to Operational is prevented in the above-mentioned case.
9.1.4 440_Commutation
Sense of motion check results in permanent motor rotation
CQ-ID: Defdb00199015
Severity: K3 - malfunction (no workaround)
Description: The motor rotates permanently when executing the command C3600 “Com‐
mand motor data identification" with motion sense check (P-0-0601). The
command was not completed.
Fixing: Monitoring can be disabled using a configuration bit (P-0-3219; bit 4).
Workaround: Enlarge the standstill window as much as possible.
9.1.10 750_EtherCAT
EtherCAT SOE : Missing error message F4009 in EtherCAT in FreeRun mode
CQ-ID: Defdb00201914
Severity: K2 - serious malfunction
Description: The sync manager 3 (AT data) configuration was not verified during the tran‐
sition from PreOp->SafeOp. If the watchdog trigger flag was set at the wrong
sync manager, the configuration was not verified and no error F4009 was re‐
ported in FreeRun mode.
Fixing: The parameter "P-0-3075 Application-specific data, type plate" is read and
displayed if application-specific data have been stored in the encoder.
With the load application-specific data command, these parameters are loa‐
ded.
QSK motor is not acknowledged with C0204
CQ-ID: Defdb00178858
Severity: K3 - malfunction (no workaround)
Description: MSK, QSK and MS2N motors are equipped with specific HIPERFACE encod‐
ers with an identifier for Bosch Rexroth. The check and thus the enabling for
the motor data memory had not been limited to encoders with a Bosch
Rexroth identifier.
Fixing: For QSK motors, the motor data memory is only read if HIPERFACE encod‐
ers with the specific Bosch Rexroth identifier are used.
Commutation setting aborted with "timeout" error message
CQ-ID: Defdb00199276
Severity: K4 - malfunction
Description: The commutation setting for the Economy device was aborted with the error
message C1220 "Automatic commutation: Timeout" or F8015 "Automatic
commutation: Timeout".
Workaround: Switch off returning in parameter "P-0-0522, Control word for commutation
setting".
Description: With an increased resolution (resolution smaller than default value), the reso‐
lution had been incorrectly determined internally so that the quantization did
not comply with the resolution that had been set. Moreover, the absolute en‐
coder range had been incorrectly determined so that the user could not rec‐
ognize whether or not the encoder was still operated within the allowed posi‐
tion range. This sometimes caused wrong positions and faulty commutation.
Error in the case of configured resolution with ACURO-Link encoder
CQ-ID: Defdb00198289
Severity: K4 - malfunction
Description: If the automatic calculation of S-0-0601.x.2 (Resolution of position) had been
activated by setting bit 0 to 0 in S-0-0601.x.1 (Encoder data out configuration)
and S-0-0601.x.2 (Resolution of position) had previously been configured
with a value greater than S-0-0602.x.4 (Phys. encoder resolution (digital)),
the automatic calculation of S-0-0601.x.2 (Resolution of position) failed. The
command C0200 "Exit parameterization level" was aborted with C0209 "In‐
correct encoder configuration".
No comparison of phys. absolute range with configured resolution for linear analog encoder
CQ-ID: Defdb00197722
Severity: K4 - malfunction
Description: If bit 0 is set in S-0-0601.x.1 and the resolution is parameterized in
S-0-0601.x.2 for an analog linear encoder (sine or TTL), the absolute range
displayed in S-0-0602.x.9 (corresponds to maximum scale length that can be
evaluated) possibly cannot be supported. However, this had not been
checked previously so that the absolute range displayed in S-0-0602.x.9 was
possibly greater than the one that can be evaluated with the resolution input.
Fixing: If the configuration bit has been set in S-0-0601.x.1, the absolute range in
S-0-0602.x.9 is checked against the resolution in S-0-0601.x.2. If the value in
S-0-0602.x.9 exceeds the maximum possible absolute range for the entered
resolution, a command error is entered in the transition command and
S-0-0602.x.9 is entered in the list of invalid parameters.
F2021 "motor temperature sensor defective" for Acuro-Link encoder
CQ-ID: Defdb00199361
Severity: K5 - non critical problem
Description: If the encoder had signaled a nonrecurring transmission error or a warning,
the motor temperature was set to -45°C. Thus, the error F2021 "motor tem‐
perature sensor defective" was always generated.
Fixing: In case the communication is interrupted or a checksum error occurs in trans‐
mission, the measured value is frozen and the encoder errror F8022 is sig‐
naled.
position range sometimes was offset so that negative position feedback val‐
ues were generated in the case of modulo scaling.
EnDat2.2 encoders with more than 32-bit position provide wrong ENCB position
CQ-ID: Defdb00200227
Severity: K2 - serious malfunction
Description: If an EnDat2.2 encoder had been operated with a position format greater
than 32 bit with a non-negated rotational direction, position jumps occurred
with the default resolution if the position of the encoder had left the value
range of 32 bit.
Incorrect position when homing distance-coded encoder systems
CQ-ID: Defdb00200332
Severity: K2 - serious malfunction
Description: During the homing procedure of axes with distance-coded encoders, incor‐
rect reference positions occurred sometimes depending on the position, and
according to the mark configuration and encoder resolution. This was not de‐
tected by the drive. Reference was signaled but the axis position was wrong.
Fixing: Due to the bug fixing, the previous S-0-0177/78 absolute offset may be wrong
so that it is necessary to re-calibrate the axis.
Analog Hall sensors are not operable
CQ-ID: Defdb00185611
Severity: K3 - malfunction (no workaround)
Description: The encoder type "15", analog Hall sensor with a 120 degrees phase, was
not supported by the firmware.
Fixing: The encoder type "15" can now be used as encoder 2 for commutation initial‐
ization.
Forcing absolute encoder evaluation also possible for merely incremental encoders
CQ-ID: Defdb00199123
Severity: K3 - malfunction (no workaround)
Description: Using the force absolute evaluation function (S-0-0277 or S-0-0115) it had
been possible to evaluate a merely incremental encoder system as an abso‐
lute system without an error message being generated. During PM-OM
switching, the position was incorrectly initialized and reference was signaled.
Fixing: The message C0302 "Absolute evaluation of measuring system impossible"
is now generated with the "set absolute position" command. In addition, bit 6
is deleted in the position feedback type parameter (S-0-0277 or S-0-0115)
during PM-OM switching.
Homing at positive stop, torque limitation with S-0530 remains active
CQ-ID: Defdb00198219
Severity: K3 - malfunction (no workaround)
Description: In the case of homing at positive stop, an additional torque/force limit value
becomes active (S-0-0530) and controller monitoring is switched off. The limi‐
tation had been switched off with the end of the command and controller
monitoring became active again. With a vertical axis, this was a problem if
the limit value had been smaller than the force due to weight. The axis was
unable to boot up.
Fixing: In the case of homing at positive stop, the limitation of S-0-0530 is already
removed when the axis moves away from the limit stop and controller moni‐
toring is activated again.
C0300 Set absolute position procedure command sucessfully executed in spite of "Fxxxx En‐
coder X: Encoder signals incorrect"
CQ-ID: Defdb00200309
Severity: K4 - malfunction
Description: It had been possible to sucessfully execute the C0300 Set absolute position
procedure command in spite of the encoder error "Fxxxx Encoder X: Encoder
signals incorrect" being present. After repeated position initialization, the po‐
sition thereupon was sometimes incorrect (affects encoder 1, encoder 2 and
measuring encoder).
F8078 during drive-controlled homing with dedicated point "positive stop"
CQ-ID: Defdb00199258
Severity: K4 - malfunction
Description: For homing at positive stop, velocity control loop monitoring (F8078) had not
been switched off. Thus, this error could still occur at the positive stop.
Fixing: Velocity control loop monitoring (F8078) and velocity monitoring for the maxi‐
mum value (E2059) are switched off for homing at positive stop. Thus, the
behavior corresponds to the "positive stop drive procedure" command
(S-0-0149).
Loss of reference after encoder was replaced
CQ-ID: Defdb00198980
Severity: K4 - malfunction
Description: If the encoder is replaced, the reference is deleted due to the changed serial
number and F2174 is output. Multiple absolute encoders are exchanged at a
tool changer. The reference is supposed to be reestablished by loading the
serial number S611.x.136 and the absolute encoder buffer P-0-0177 of the
corresponding encoder. However, this had been impossible and the error
F2174 was signaled.
11.1.20 740_CAN
Incorrect cyclic handling of 1-byte values
CQ-ID: Defdb00200392
Severity: K3 - malfunction (no workaround)
Description: In the case of parameters with 1 byte, that had been configured as AT proc‐
ess data (slave->master), the wrong feedback values were transmitted to the
master.
CANopen (CoC, CoE): impossible to configure parameter P-0-4077 as process data (com‐
mand value)
CQ-ID: Defdb00199243
Severity: K4 - malfunction
Description: With the device data sheets for CoC and CoE made available, it had been
impossible to configure the parameter P-0-4077 as process data (command
value).
Fixing: A current device data sheet has to be used.
11.1.22 750_EtherCAT
CoE: Error F4009 is not signaled if bus connector is removed
CQ-ID: Defdb00198189
Severity: K3 - malfunction (no workaround)
Description: In the case of bus failure, the error F4009 was not signaled with EtherCAT
CoE. If the drive had been in drive enable, only the error F4002 was signaled.
CoE: S-0-0014 and P-0-4073 not always consistent
CQ-ID: Defdb00186334
Severity: K3 - malfunction (no workaround)
Description: The EtherCAT communication state was not correctly mapped to S-0-0014.
11.1.23 760_Powerlink
DS402: Bit 9 not generated in status word 0x6041 (remote)
CQ-ID: Defdb00199155
Severity: K3 - malfunction (no workaround)
Description: The bit 9 (remote) had not been generated in the status word DS402
(0x6041). Some controls evaluate this bit and therefore were not able to set
the enable signal.
EPL: SDO access to DS402 objects is rejected
CQ-ID: Defdb00199340
Severity: K3 - malfunction (no workaround)
Description: Accessing the DS402 objects via über SDO access had been impossible with
Ethernet POWERLINK.
established without OM-PM-OM phase switch, a position offset of the axis oc‐
curred with the next PM-OM switching without the reference being cleared.
F2177 Encoder 1 modulo limitation error with EnDat2.2
CQ-ID: Defdb00195684
Severity: K3 - malfunction (no workaround)
Description: EnDat2.2 encoders were not supported with a 31-bit resolution. If such an en‐
coder had been used, this caused the error message F2177 when switching
to OM took place.
Gear ratio not taken into account in the case of parameter set switching 0 to 1
CQ-ID: Defdb00196348
Severity: K3 - malfunction (no workaround)
Description: If load gear switching had only been carried out with encoder 1, the gear was
not taken into account in the case of load gear switching via the parameter
set switching. The gear active for PM-OM switching was always activated.
Incorrect diagnostic message C0270 when encoder fine correction fails
CQ-ID: Defdb00194575
Severity: K3 - malfunction (no workaround)
Description: Diagnostic text did not go with current error background anymore.
Incorrect diagnostic message generated with SSI encoders
CQ-ID: Defdb00190558
Severity: K3 - malfunction (no workaround)
Description: In certain cases, error of the SSI encoder was signaled with incorrect diag‐
nostic message at the drive controller.
Mark evaluation does not work with combined encoders for SSI
CQ-ID: Defdb00193858
Severity: K3 - malfunction (no workaround)
Description: Homing via (virtual) reference marks impossible with combined encoders for
SSI.
Parameter set switching of gearbox parameters
CQ-ID: Defdb00184923
Severity: K3 - malfunction (no workaround)
Description: The load gears of the different parameter sets were not taken into account for
switching. Thus, gear switching in OM was not possible!
Position feedback value of encoder 2 (homed) is not applied to position feedback value of en‐
coder 1 (not homed)
CQ-ID: Defdb00197702
Severity: K3 - malfunction (no workaround)
Description: If two encoder systems had been used in an axis and both systems had not
been homed before the homing procedure, the position feedback value of the
encoder system to be homed was set to the reference distance, but the posi‐
tion feedback value of the other encoder system remained at the previous
value. (was not set to the same value)
Fixing: The actual position value is initialized with the last valid absolute encoder da‐
ta so that a possibly useful actual position value is generated even if refer‐
ence is lost
Amplitude and offset adjustment does not work for resolvers with number of pole pairs small‐
er than 3
CQ-ID: Defdb00192253
Severity: K3 - malfunction (no workaround)
Description: The signal correction was not carried out with a single-pole or two-pole re‐
solver. This sometimes caused a velocity error in the low percent range.
Fixing: The offset and amplitude correction is carried out according to the number of
poles of the resolver up to approx. 400 rpm.
Calculated absolute encoder offset is inaccurate when homing procedure uses reference
marks
CQ-ID: Defdb00196713
Severity: K3 - malfunction (no workaround)
Description: If the absolute position reference of an encoder evaluation that can be evalu‐
ated in absolute form had been established via the command "C0600 Drive-
controlled homing procedure command" (prerequisite S-0-0447 bit7 = 1), a
minor error sometimes occurred in the calculation of the absolute encoder
offset depending on the scaling, mechanics and homing velocity. As a result,
the actual position value sometimes showed a minor position error at the next
position initialization.
Switching encoder 1 to encoder 2 does not work with two homed absolute encoder systems
CQ-ID: Defdb00196156
Severity: K3 - malfunction (no workaround)
Description: If an axis had been operated with two abs. encoder systems that both had
been homed using the set absolute position command, it was not possible to
switch from encoder 1 to encoder 2.
Description: If an acceleration limit value had been input via the parameter S-0-0138, Bi‐
polar acceleration limit value, the velocity command value was incorrect
when drive enable had been switched on after best possible deceleration
with velocity command value reset.
Workaround: Set bipolar acceleration limitation (S-0-0138) to zero. If the acceleration limi‐
tation afterwards is set via the max. frequency slope (P-0-0569), the error
does not occur.
Fixing: The jump in the command value signal is output to the emulation as long as
the maximum output frequency is not exceeded. If this is the case, the error
„F2053 Incr. encoder emulator: pulse frequency too high" or the warning
„E2035 Incr. encoder emulator: pulse frequency too high" is output and the
emulator is stopped for 3 NC cycles.
After 3 NC cycles the output hardware is reinitialized and the output is started
again automatically.
The increments to be output due to the command value jump and the incre‐
ments to be output during the 3 NC cycles are suppressed. The reinitializa‐
tion ensures that the zero pulse is output at the same position in reference to
the command value signal.
Impossible to complete homing procedure after motor encoder emulation
CQ-ID: Defdb00198004
Severity: K4 - malfunction
Description: For detecting the reference mark, the emulation with reference to encoder 1
uses the same functionality as the homing procedure command. If the phase
had been switched without mark detection carried out, the function for the
emulation remained active after a change to signal-related emulation and the
homing procedure could not be completed.
Fixing: The mark detection for emulation with reference to encoder 1 is deactiveated
for OM-PM phase switch.
13.1.16 622_Scaling
Faulty torque scaling with pound force unit
CQ-ID: Defdb00193702
Severity: K3 - malfunction (no workaround)
Description: A rotary actuator with linear pound force (lbf) scaling caused incorrect force
values.
13.1.20 730_PROFINET
ProfiNet: Communication via Ethernet impossible if IP settings are incorrect
CQ-ID: Defdb00196842
Severity: K2 - serious malfunction
Description: The parameters P-0-4089.0.13, P-0-4089.0.14 and P-0-4089.0.15 were not
checked for validity in the drive. This sometimes made communication via
Ethernet (Engineering over IP) impossible.
13.1.21 750_EtherCAT
CoE: Process data configuration is not saved
CQ-ID: Defdb00195463
Severity: K3 - malfunction (no workaround)
Description: With CANopen over EtherCAT (CoE) the process data configuration was not
saved in the drive. However, this is required because there are CoE masters
that do not write the configuration during run-up.
CoE: Sercos II provides wrong length for mailbox
CQ-ID: Defdb00197396
Severity: K3 - malfunction (no workaround)
Description: The mailbox length specified in the EEPROM was not correct. The error only
affected the MPC firmware.
Command errors (C0113) with EtherCAT in Free Run Mode
CQ-ID: Defdb00195566
Severity: K3 - malfunction (no workaround)
Description: With EtherCAT, command errors (e.g. C0113, ...) occurred sporadically in the
Free Run Mode.
E2001 warning in conjunction with EtherCat COE
CQ-ID: Defdb00195455
Severity: K3 - malfunction (no workaround)
Description: In the case of EtherCAT, a diagnostic logbook overflow (E2001) occurred
sometimes when the cyclic telegrams had failed, because failures were sig‐
naled both for MDT and AT in the diagnostic logbook.
Fixing: In the case of EtherCAT, only MDT failures are written to the diagnostic log‐
book.
EtherCAT COE: F4009 : although exiting the cyclic communication
CQ-ID: Defdb00196078
Severity: K3 - malfunction (no workaround)
Description: The error F4009 was signaled during phase switch from Operational to Safe‐
Operational or to PreOperational. This happened if the EtherCAT SyncMan‐
ager watchdog had been set to a low value (example: watchdog of 1 ms with
bus cycle time of 1 ms).
Fixing: The SyncManager watchdog is not monitored during phase switch.
Impossible to configure real-time status bits via TwinCAT startup list on CCD slave
CQ-ID: Defdb00195272
Severity: K3 - malfunction (no workaround)
Description: In the CCD system mode and with EtherCAT as the higher-level master com‐
munication, it was impossible to configure the real-time status bits of a CCD
slave drive via the TwinCAT startup list.
P1901.0.2 (CiA402: status word) not set correctly in simulation mode with CiA402 profile
CQ-ID: Defdb00195459
Severity: K3 - malfunction (no workaround)
Description: P1901.0.2 (CiA402: status word) bit4 (power supply available) was not set in
the simulation mode.
The 0x1C00 01..04 objects are of the wrong data type
CQ-ID: Defdb00197798
Severity: K3 - malfunction (no workaround)
Description: The 0x1C00 01..04 objects were of the wrong data type. They were of the
UINT32 data type instead of UINT8.
Zero data are transmitted to FSoE stack
CQ-ID: Defdb00197327
Severity: K3 - malfunction (no workaround)
Description: During the EtherCAT bus run-up, FSoE telegrams consisting entirely of zeros
were sometimes received in the drive. This caused the error F3452 on the
SMO side. Therefore, FSoE telegrams set to zero are intercepted on the host
side and not evaluated in the FSoE stack.
13.1.22 760_Powerlink
Alias parameter cannot be written via SDO in the case of EPL
CQ-ID: Defdb00196843
Severity: K3 - malfunction (no workaround)
Description: Acyclic access to alias parameters was not possible with Ethernet POWER‐
LINK. The error message "SDO Transfer Abort: Data type does not match,
length of service parameter does not match. (0x6070010)" was output.
EPL: "All" parameter backup via IP does not work
CQ-ID: Defdb00182328
Severity: K3 - malfunction (no workaround)
Description: In the case of a backup of all drive parameters via Ethernet POWERLINK,
the error message "Service channel not open" was output for some Ethernet
POWERLINK parameters.
Long adjusted diagnostic messages and errors of PLC are not displayed in S-0-0095
CQ-ID: Defdb00193586
Severity: K4 - malfunction
Description: Functions such as MX_fSetDriveWarningText(), MX_fSetDriveErrorText(): If
the transmitted warning or error texts had been longer than 25 characters,
they were not displayed.
Fixing: Transmitted warning or error texts are correctly displayed up to 59 charac‐
ters. Longer texts are cut off and thus limited to 59 characters.
PLC project prevents repeated program download
CQ-ID: Defdb00191115
Severity: K4 - malfunction
Description: If a corrupt boot project had been loaded to the drive, it was impossible to
load another project and to carry out reset original.
With Codesys the message "Index was outside the bounds of the array" was
generated, and when attempting with P-0-1350 there was no reaction.
Watchdog when accessing list/string parameters
CQ-ID: Defdb00191909
Severity: K4 - malfunction
Description: In an MLD application, a string parameter (S-0-0030) was read in the first cy‐
cle (initialization clock). If this MLD application had been loaded to the drive
in IndraWorks as a compiled PAR file and PM -> OM switching had been car‐
ried out afterwards (without starting the PLC before), the error F6010 "*EX‐
CEPTION* OmittedCycle watchdog application 'Application' task 'Cyclic_S'"
occurred sometimes.
If this PLC runtime error had occurred once, it was necessary to switch the
drive off and back on, since the error was generated over and over again.
Error = TRUE
ErrorIdent.Additional1 = 3
ErrorIdent.Additional2 = 20
ErrorIdent.Table = MLD_TABLE
If P-0-0758 is removed from P-0-0916 while a PLCopen function block is pro‐
cessed with the virtual master axis generator, the CommandAborted function
block output is set.
pared to the direction of counting of distance coding". Thus, it had been im‐
possible to carry out the homing procedure without error.
Moreover, S-0-0277/0115 bit 5 had been incorrectly implemented, so that the
sign of the calculated zero point distance could be inverted instead of the di‐
rection of counting of the distance-coded system.
Fixing: The constellation (physics of the encoder) "incremental track inverted com‐
pared to the direction of counting of distance coding" can now be configured/
represented via S-0-0602.x.2 bit 3.
Bit 5 in S-0-0277/0115 is no longer used, the distance-coded system is en‐
tirely inverted via S-0-0277/0115 bit 3.
Workaround: Connect the encoder correctly, i.e. incremental track and distance coding
have to match.
Incorrect velocity extrapolation in case encoder telegram fails
CQ-ID: Defdb00189492
Severity: K3 - malfunction (no workaround)
Description: In the case of telegram failure, the position was not correctly extrapolated for
digital encoders. Thus, the position was generated incorrectly due to the tele‐
gram failure.
Fixing: In the case of telegram failure, the extrapolated position contains the current
velocity.
Master communication encoder displays twice the velocity of encoder at master axis
CQ-ID: Defdb00194066
Severity: K3 - malfunction (no workaround)
Description: If an encoder signal had been transmitted to the drive via the master commu‐
nication, the velocity feedback value was incorrectly determined. The feed‐
back velocity displayed twice the value of the actual velocity.
MPC-20V08: C0606 and E2001 in the case of drive-controlled homing with 1Vpp encoder
CQ-ID: Defdb00185878
Severity: K3 - malfunction (no workaround)
Description: If the reference mark evaluation of an encoder had been activated for differ‐
ent functions in parallel (e.g., measuring encoder and encoder 1), sometimes
only the first function detected the mark. No mark was signaled to the second
function and the function accordingly generated an error
Offline parameterization not possible with IndraWorks
CQ-ID: Defdb00187319
Severity: K3 - malfunction (no workaround)
Description: Among other things, the encoder configuration did not work in the offline
mode.
P-0-0019, Initial position value has no effect
CQ-ID: Defdb00190707
Severity: K3 - malfunction (no workaround)
Description: If only one control encoder had been configured and it had been a relative
measuring system or the absolute evaluation had been deactivated in the po‐
sition feedback type parameter (bit 7), the position feedback value was initial‐
ized with 0 instead of P-0-0019, Initial position value. This was also the case
if two control encoders had been configured and both measuring systems
could only be evaluated in relative form.
Problems with MS2N motor (S4W encoder) and long encoder cable (> 50 meters)
CQ-ID: Defdb00183872
Severity: K3 - malfunction (no workaround)
Description: With MS2N motors and Acuro encoders (encoder type C&D), transmission
errors occurred sometimes with long cables (> 50m). Reliable operation was
not possible.
Fixing: The problem with too long cables (> 50m) and Acuro encoders was resolved
for all devices except for:
- CSH02.5B (control section plug-in unit for HMS05 power sections)
- optional cards for encoders
Switching error C0272 if linear axis set to load scaling
CQ-ID: Defdb00184585
Severity: K3 - malfunction (no workaround)
Description: It had been impossible to operate a linear motor with load-side position data
reference.
Fixing: A linear motor with load-side scaling can be evaluated as encoder 1, if the
gearbox parameters (S-0-0121, S-0-0122, P-0-0121 und P-0-0122) have the
value 1.
"F2036 Excessive position feedback difference" generated if "C0300 Set absolute position
procedure command" executed
CQ-ID: Defdb00195167
Severity: K4 - malfunction
Description: If 2 control encoders (encoder 1 + encoder 2) had been active and a value
unequal 0 had been parameterized in "S-0-0391, Monitoring window", the
error F2036 occurred sometimes when the command C0300 Set absolute po‐
sition procedure had been executed. The command C03 acknowledged the
execution as successful, but the reference bit was not set.
Automatically calculated resolution of analog, rotary encoders is not rounded down correctly
CQ-ID: Defdb00193026
Severity: K4 - malfunction
Description: With rotary sine encoders and TTL encoders, the encoder output resolution in
S-0-0601.x.2 was calculated as intended with 2^n on the basis of the physical
resolution. Due to a faulty rounding function, however, the next higher power
of 2 was used in some cases, according to the physical resolution. The next
lower power of 2 should be used though, since the resolution is otherwise in‐
creased artificially.
Fixing: The next lower power of 2 below the physical resolution is always used for
calculating the encoder output resolution.
No position adjustment between encoder 1 and encoder 2 if both encoders can be evaluated
in absolute form
CQ-ID: Defdb00195544
Severity: K4 - malfunction
Description: If 2 control encoders (encoder 1 and encoder 2) have been configured, posi‐
tion adjustment occurs after the position initialization. The adjustment was not
carried out if both control encoders could be evaluated in absolute form.
Variable maximum value implemented for P-0-0095/96/97 absolute encoder monitoring win‐
dow
CQ-ID: Defdb00194417
Severity: K4 - malfunction
Description: The maximum values for the parameters P-0-0095, P-0096 and P-0097 were
not limited to the position ranges.
Fixing: The maximum values for the parameters P-0-0095, P-0096 and P-0097 are
limited to logic position ranges.
P-0-0017, Power output stage control word cannot be configured in signal control word
CQ-ID: Defdb00194610
Severity: K3 - malfunction (no workaround)
Description: It should be possible to write the parameter P-0-0017, Power output stage
control word via S-0-0145, Signal control word so that the entire parameter
does not always need to be included in the cyclic telegram. Only bit 0 has
currently been defined in parameter P-0-0017, Power output stage control
word. It is thereby possible for the control unit to switch the PWM frequency.
PT1000 temperature sensor inaccurately evaluated
CQ-ID: Defdb00194930
Severity: K3 - malfunction (no workaround)
Description: If the motor temperature had been measured with PT1000 and digitally trans‐
mitted via the AcuroLink encoder, the measured value was too inaccurate.
The displayed value was too low, particularly in the range of overtemperature
shutdown.
S-0-0100 incorrectly calculated with MPE20V12 during motor identification at MLP070C
CQ-ID: Defdb00193980
Severity: K3 - malfunction (no workaround)
Description: The adjustment to the linear motor had not been carried out correctly in the
calculation. Thus, wrong values were calculated for S-0-0100.
Wrong identification values are determined if drive is much bigger than synchronous motor
CQ-ID: Defdb00194007
Severity: K3 - malfunction (no workaround)
Description: If the amplifier had beern much bigger than the synchronous motor, wrong
values were determined during the identification.
S 534 set to zero after motor identification
CQ-ID: Defdb00193937
Severity: K5 - non critical problem
Description: The parameter S-0-0534 was overwritten by mistake.
Only the parameter data was deleted, the effective offset in the encoder eval‐
uation was still active. This means that the offset in the actual position value
was still active.
14.1.16 665_Webserver
IDST, unable to activate SafeMotion in „Controller replacement“ dialog after device was re‐
placed
CQ-ID: Defdb00193913
Severity: K3 - malfunction (no workaround)
Description: After a device had been replaced with IDST, the „Activate parameter set“ but‐
ton was not active in the „Activate SafeMotion“ area. It was impossible to acti‐
vate SafeMotion.
14.1.20 725_Profibus
Master communication: S-0-0000 cannot be used in process data configuration
CQ-ID: Defdb00194075
Severity: K3 - malfunction (no workaround)
Description: The parameter S-0-0000 could not be used in the process data configuration.
A byte length of 0 byte was calculated in the drive instead of the 2-byte data
length of S-0-0000. This sometimes caused the error F4012, for example.
It affects the field buses:
- PROFIBUS
- PROFINET
- EtherNet/IP
14.1.21 730_PROFINET
PROFINET: F2025 or AF after switching from PM to OM
CQ-ID: Defdb00193280
Severity: K2 - serious malfunction
Description: If one of the Rexroth profiles "freely configurable mode", "freely configurable
mode neutral operation modes" or "I/O mode" had been used and drive
enable had been set in the control word (P-0-4068 or P-0-4077), the error
F2025 occurred sometimes in the switching process to OM. In a few cases,
the drive was switched directly to AF instead of the error occurring.
Fixing: Drive enable is only set in the drive if a positive edge is input for drive enable
in the control word (P-0-4068 or P-0-4077).
14.1.23 750_EtherCAT
CoE: Incorrect length via subindex 81
CQ-ID: Defdb00193278
Severity: K3 - malfunction (no workaround)
Description: The length was not displayed in elements but in bytes via subindex 81.
CoE: No AT data during switching process from SafeOp to Operational
CQ-ID: Defdb00194353
Severity: K3 - malfunction (no workaround)
Description: CAN over EtherCAT: The drive controller did not provide any process data
during the switching process from SafeOp to Operational.
F9100 when downloading a FW via FoE
CQ-ID: Defdb00195792
Severity: K3 - malfunction (no workaround)
Description: When a FW had been downloaded via FoE konnte, the error F9100 occurred
sometimes.
P-0-3335.0.3 (possible source ID for signal control of outputs) is filled with wrong IDNs in the
case of ADS communication
CQ-ID: Defdb00193467
Severity: K3 - malfunction (no workaround)
Description: P-0-3335.0.3 (possible source ID for signal control of outputs) was filled with
wrong IDNs in the case of ADS communication.
Fixing: In the case of ADS communication, the alias parameters are displayed, i.e. in
the 16-bit IDN format.
EtherCAT SoE: Toggle bit (bit 0) in drive status word (S-0-0135) does not work
CQ-ID: Defdb00192879
Severity: K4 - malfunction
Description: If the parameter S-0-0135 drive status word had been read via the parameter
channel, bit 0 (of S135) toggled too often.
14.1.24 760_Powerlink
EPL: MDT data are not applied by the drive, AT data are not transmitted
CQ-ID: Defdb00192659
Severity: K4 - malfunction
Description: If the drive had already been switched to OM during the Basic Ethernet
mode, the configuration transmitted from the master to the drive was not ap‐
plied, since it was impossible to write the corresponding parameters in this
state.
Fixing: If the drive had been in the Basic Ethernet mode and is then switched to Init
or Per-Operational, the sub-device state machine is checked and switched to
PM, if required (i.e. if the sub-device state machine is in OM).
14.1.25 999_Other
Axis hangs up in transition command C0200 if scaling changed from mm to inch
CQ-ID: Defdb00193405
Severity: K3 - malfunction (no workaround)
Description: If the scaling had been set to inch, it was impossible to switch the axis to OM
due to a conversion error.
Workaround: The axis can be operated if the scaling of the axis is configured with mm.
netization took 100 ms, it required 30 s when drive enable was switched on
for the first time.
Fixing: When drive enable is switched on for the first time, the magnetization takes
as long as every other time.
Workaround: - Set P-0-0534 Voltage loop integral action time to 0 and then input the old
value again.
- Do not switch off the controller
- Before actually starting the procedure, set drive enable, wait a bit and re‐
move drive enable.
Description: The temperature model limited the current to the 1.1-fold continuous current
of the motor. In standstill, this sometimes caused the motor to be destroyed.
Fixing: The temperature model limited the current to the continuous current of the
motor.
P-0-0018, Number of pole pairs
CQ-ID: Defdb00191175
Severity: K3 - malfunction (no workaround)
Description: The value of P-0-0018, Number of pole pairs had been limited to 100 pole
pairs.
Fixing: Motors up to 200 pole pairs can be operated.
P-0-0548.0.2 has an effect on duration of brake check
CQ-ID: Defdb00184958
Severity: K3 - malfunction (no workaround)
Description: So far there always was a waiting time of the entire maximum time of the test
item releasing the holding brake, even if the criterion for a successful comple‐
tion of the test had occurred.
Fixing: The parameter P-0-0548.0.2 is the maximum time that the axis may take for
running through the test distance in one direction. After the displacement, the
axis has to be moved back to the initial position. This takes at least the time
from P-0-0548.0.2, at most the 3-fold time from P-0-0548.0.2.
S-0-0100 set to zero after command C3200
CQ-ID: Defdb00192423
Severity: K3 - malfunction (no workaround)
Description: If zero had been entered in the inertia, the value of S-0-0100 was changed
after the identification.
Sensorless synchronous motor cannot be operated after execution of motor data identifica‐
tion command
CQ-ID: Defdb00188906
Severity: K3 - malfunction (no workaround)
Description: If the motor identification (C3600 Command Motor data identification) had
been executed with a negative direction of rotation, a sensorless synchro‐
nous motor could not be operated any longer. This was due to incorrectly de‐
termined parameters.
With asynch. motor + encoder, S-0-0100 is set to 0 after end of command C3600
CQ-ID: Defdb00192725
Severity: K3 - malfunction (no workaround)
Description: The velocity controller proportional gain was reset to the value 0 after the mo‐
tor data identification command.
"RL" (F2008) not generated if motor with brake replaced by motor without brake
CQ-ID: Defdb00190392
Severity: K4 - malfunction
Description: If MS2N motors without brake had been replaced by motors with brake, and
vice versa, the "RL" message was not generated. For this reason, the brake
was not configured automatically.
Fixing: If MS2N motors without brake are replaced by motors with brake, and vice
versa, the "RL" error is signaled when switching to the operating mode. When
the error is cleared, the brake data are automatically loaded.
HMS05: PT1000 motor temperature sensor cannot be operated
CQ-ID: Defdb00190492
Severity: K4 - malfunction
Description: With the PT1000 motor temperature sensor type, the temperature was dis‐
played correctly. The firmware nevertheless signaled F2021 sensor defective.
Motor replacement MSK-> MS2N
CQ-ID: Defdb00191462
Severity: K4 - malfunction
Description: If an MSK motor with brake had been replaced by an MS2N motor without
brake, the configuration of the motor brake was maintained. The brake re‐
mained active even with "RL, loading controller default values".
Workaround: If the command "set saved parameters to default values" was executed, the
brake can be deselected.
F8034 when executing C3600 together with HMS05 devices
CQ-ID: Defdb00187882
Severity: K5 - non critical problem
Description: During the execution of the command C3600 Command Motor data identifi‐
cation, the error F8034 Communication error, power section modules occur‐
red after a short time. It only occurred if the command had been used with
devices of the HMS05 series.
Linear motor with encoder data memory
CQ-ID: Defdb00190373
Severity: K5 - non critical problem
Description: If the motor data for a linear motor had been stored in the encoder memory,
either the scaling type for position data, velocity data, acceleration data and
torque data also had to be stored in the encoder memory (linear scaling), or
the scaling type had to be switched to linear so that the run-up to OM was
possible.
Fixing: In the case of a linear motor for which the motor data have been stored in the
encoder memory, the scaling type is automatically changed to linear.
Switching times PM -> OM too long
CQ-ID: Defdb00191064
Severity: K5 - non critical problem
Description: For motors with an encoder, that have a data memory which however is not
used for saving motor data, switching from PM to OM took unnecessarily
long.
Description: If the scaling of the velocity data had been negated, the brake check some‐
times hung up when determining the load due to weight. This means that the
command was never completed.
has been configured by the user, the maximum possible position range with
this resolution is entered in S-0-0602.x.9.
Amplitude and offset correction not active
CQ-ID: Defdb00187752
Severity: K3 - malfunction (no workaround)
Description: The offset and amplitude correction function for 1Vpp had not been active.
Distance-coded encoders were not supported
CQ-ID: Defdb00184037
Severity: K3 - malfunction (no workaround)
Description: Due to the modification of the encoder evaluation for the Sercos encoder pro‐
file, the function had been no longer operational.
Fixing: Distance-coded encoders are supported with the same functional principle as
in MPx-18VRS.
ENCB error bit is set too late in the case of encoder error
CQ-ID: Defdb00190765
Severity: K3 - malfunction (no workaround)
Description: If an encoder error occurs with a 1Vpp encoder, the error bit is only activated
after triple error. The position and velocity, however, are still generated with
the faulty signals and thus are wrong.
Fixing: If an encoder error occurs with a 1Vpp encoder, the position is extrapolated
up to 3 times and the velocity remains unchanged.
Encoder negated: Absolute monitoring for SSI sine encoder does not work anymore
CQ-ID: Defdb00186517
Severity: K3 - malfunction (no workaround)
Description: If the encoder position is negated for the SSI sine encoder using the parame‐
ter S-0-0602.x.2 (bit 3), the absolute monitoring does not work anymore, i.e.
the "encoder signals disturbed" warning (E2074, E2075 or E2076) is gener‐
ated.
Workaround: If these warning messages (E2074, E2075 or E2076) are to be suppressed,
the absolute encoder monitoring (S-0-0602.x.136; bit 0) has to be deactiva‐
ted.
Encoder voltage not switched off in the case of 24V error
CQ-ID: Defdb00192866
Severity: K3 - malfunction (no workaround)
Description: The encoder voltage was not switched off if a 24V control voltage error had
been detected. This reduced the storage time of the retain data so that the
retain data sometimes could not be correctly saved anymore.
EnDat2.2: F2105 with set absolute position procedure command
CQ-ID: Defdb00192177
Severity: K3 - malfunction (no workaround)
Description: In the case of the set absolute position procedure command, the error mes‐
sage F2105 is generated.
Workaround: Deactivate use of OEM memory (can be switched off with 20V10 and above):
Set bit 11 in S-0-0602.x.136 to 1.
Description: With encoder monitoring activated (S-0-0602.2.136 bit 0 = 1) and with En‐
Dat2.1 (absolute encoder) as optional encoder, the warning E2075 was spor‐
adically generated. The encoder monitoring could not be used.
Workaround: Deactivate abs. encoder monitoring --> set S-0-0602.2.136 bit 0 to 0.
SSI sine encoder linear: Encoder resolution S-0-0601.x.2 incorrectly calculated
CQ-ID: Defdb00187174
Severity: K4 - malfunction
Description: The ENCB resolution (S-0-0601.x.2) for linear SSI sine encoders is calcula‐
ted by the factor 100 too high. A too high resolution value means a too
coarse resolution.
Fixing: For compatibility reasons - changing the automatically calculated resolution
causes loss of reference - this defect is not resolved in the firmware.
Instead, a sign is to be displayed in IndraWorks next to the determined reso‐
lution. In the context menu, the sign will point to the provided workaround:
The resolution can be increased if the configuration bit S-0-0601.x.1 bit 0 has
been set, because the calculated resolution is less fine than at most possible.
Workaround: The resolution in S-0-0601.x.2 can be increased if the configuration bit
S-0-0601.x.1 bit 0 has been set, because the calculated resolution is less fine
than at most possible.
Fixing: The shifting still refers to the reference encoder, but both encoder positions
are adjusted.
Encoder 2 encapsulated via OPT_GEB2.
Spindle encoder function cannot be activated
CQ-ID: Defdb00185608
Severity: K3 - malfunction (no workaround)
Description: The spindle encoder function (P-0-0185; bit 1) for encoder 2 could not be ac‐
tivated.
Homing at positive stop faulty if torque/force scaling negated
CQ-ID: Defdb00190222
Severity: K4 - malfunction
Description: The parameter clamping torque (S-0-0530) was generated as a neg. value in
the case of neg. torque/force polarity in the drive. However, the limit value is
always unsigned.
Loss of reference F2174 if PWM mode changed
CQ-ID: Defdb00187774
Severity: K4 - malfunction
Description: If a transition command error C0202 or C0203 had been generated for a
homed axis, the reference got lost F2174/75/76 if the faulty parameterization
had been corrected.
16.1.13 440_Commutation
CoE: RevisionNo does not comply with device description file
CQ-ID: Defdb00192324
Severity: K4 - malfunction
Description: CANopen Over EtherCAT: In the firmware, the RevisionNo. did not copmply
with the device description file. The communication progression was preven‐
ted.
P-0-0509 faulty if commutation angle determined using measuring method
CQ-ID: Defdb00188400
Severity: K4 - malfunction
Description: If the command for determining the commutation angle had been executed
using the measuring method, the calculated commutation angle was not en‐
tered in the "commutation offset coarse" parameter (P-0-0509).
Description: Battery-buffered MSM with the wrong position signaled reference. If the bat‐
tery had been replaced with the drive powered off, the drive after having been
switched back on signaled reference and had initialized to the wrong position.
Fixing: If the battery is replaced with the drive switched off, the reference is cleared
the next time the drive is run up to OM.
Combined encoder for SSI by AMO displays warning E2074
CQ-ID: Defdb00187858
Severity: K4 - malfunction
Description: When the encoder moves (combined encoder for SSI by AMO, resolution:
6400DP/rev) the warning E2074 Encoder signals disturbed is generated.
Workaround: Deactivate absolute encoder monitoring S-0-0602.x.136 bit 0 to 1.
16.1.26 665_Webserver
Problems when saving parameters using parameter snapshot
CQ-ID: Defdb00186413
Severity: K3 - malfunction (no workaround)
Description: The values of some snapshot backup parameters of a CCD master slave axis
were wrong.
16.1.29 725_Profibus
Exception F9003 with PROFIBUS
CQ-ID: Defdb00192179
Severity: K3 - malfunction (no workaround)
Description: In very rare cases the exception F9003 occurred with PROFIBUS. During the
next drive booting process, loss of retain data occurred.
PROFIBUS: Acknowledging malfunction after communication interrupted
CQ-ID: Defdb00186946
Severity: K4 - malfunction
Description: After the communication had been interrupted (F4009), it was only possible
to acknowledge a malfunction if the control was in the RUN mode again.
16.1.30 730_PROFINET
F4012 can be acknowledged although error still present
CQ-ID: Defdb00189815
Severity: K3 - malfunction (no workaround)
Description: It was possible to acknowledge the error F4012 (incorrect I/O length) al‐
though the error had still been present.
PROFINET IO: Acknowledging malfunction after communication interrupted
CQ-ID: Defdb00188775
Severity: K4 - malfunction
Description: After the communication had been interrupted (F4009), it was only possible
to acknowledge a malfunction if the control was in the RUN mode again.
PROFINET: F4012 is signaled and cannot be acknowledged anymore
CQ-ID: Defdb00191201
Severity: K4 - malfunction
Description: After the cause of the error F4012 had been removed, it was impossible to
acknowledge it, even after the bus had been run up again.
16.1.31 735_EtherNet IP
EtherNet/IP: Acknowledging malfunction after communication interrupted
CQ-ID: Defdb00188774
Severity: K4 - malfunction
Description: After the communication had been interrupted (F4009), it was only possible
to acknowledge a malfunction if the control was in the RUN mode again.
16.1.33 750_EtherCAT
CoE: Runtime optimization
CQ-ID: Defdb00186070
Severity: K3 - malfunction (no workaround)
Description: The performance was optimized for the EtherCAT CoE implementation to
enable a bus cycle time of 250 µs.
Error when writing data to list parameter P-0-4042 using EtherCAT with CoE
CQ-ID: Defdb00183972
Severity: K3 - malfunction (no workaround)
Description: For SDO writing to list parameters, access for a single list element had so far
been supported via subindex 11 (up to 18 for parameter sets). The list ele‐
ments in P-0-4042 formed a characteristic. When a list element had been
written, the entire characteristic was checked for correctness, while the other
elements still had to be written. This caused the error of SDO Abort.
Fixing: Access to the entire list data is now supported for SDO access via the subin‐
dex 1.
EtherCat COE: PDOs (rx) are not mapped
CQ-ID: Defdb00192558
Severity: K3 - malfunction (no workaround)
Description: When the drive went from the EtherCAT state Init to PreOp, it transmitted an
EoE telegram of ARP. The "TeltaTau POWER CLIPPER" control did not sup‐
port EoE and interpreted this as an incorrect response.
Fixing: EoE telegram of ARP is only transmitted after the master initializes EoE in
the drive.
EtherCAT: F9100 when saving all parameters via ADS
CQ-ID: Defdb00186577
Severity: K3 - malfunction (no workaround)
Description: F9100 occurred when P-0-1630 had been read via ADS.
16.1.36 999_Other
S-0-0141 too short for kit motors
CQ-ID: Defdb00189643
Severity: K3 - malfunction (no workaround)
Description: When loading the motor data of kit motors or linear motors, the designations
of primary and secondary part are loaded to the parameter S-0-0141, Motor
type. The number of characters for the motor type is restricted to 40. When a
parameter set had been imported from DriveBase, the error "unable to write
S-0-0141" therefore occurred in IndraWorks. The other motor data had been
written and it was possible to operate the motor.
Workaround: Write the paramter S-0-0141, Motor type with mit 40 characters at most.
F9100 instead of F8070 in the case of 24V dip
CQ-ID: Defdb00192334
Severity: K4 - malfunction
Description: In the case of temporary voltage dips or voltage peaks, the suitable diagnos‐
tic message, e.g. F8070, was not generated, but F9100. F8070 was not even
displayed temporarily when switching off the device.
However, the bug fixing does not cover linear EnDat2.2 encoders. See also:
Defdb00190068 Impossible to increase ENCB resolution for linear EnDat2.2
encoders.
No F2174 or F2175 if loss of reference P-0-0753 Position actual value in actual value cycle
CQ-ID: Defdb00189897
Severity: K3 - malfunction (no workaround)
Description: The generation of "P-0-0753, Position actual value in actual value cycle", that
is required for the "position synchronization" mode, relates to the encoder1
(S-0-0051) or to the encoder2 (S-0-0053). In the PM-OM transition command,
the bit 0 of parameter "S-0-0520, Axis control word" defines to which encoder
it relates. If the absolute position reference had been established for
"P-0-0753” by "set absolute position", a check is run in every PM-OM transi‐
tion command to find out whether the absolute position reference still exists.
If the check reveals that the absolute position reference no longer exists, the
corresponding encoder has to signal the "loss of reference" error.
Encoder1: "F2174 Loss of encoder 1 reference"
Encoder2: "F2175 Loss of encoder 2 reference"
"P-0-0753, Position actual value in actual value cycle" loses its absolute posi‐
tion reference,
- if the corresponding encoder loses its absolute position reference
- if "P-0-0786, Modulo value actual value cycle" changes
or
- if P-0-0753 relates to a different encoder (old encoder 1 (S-0-0051), new
encoder 2 (S-0-0053) or vice versa.
Description of error: Loss of reference of "P-0-0753, Position actual value in
actual value cycle" did not cause the corresponding encoder evaluation of
"S-0-0051" or of "S-0-0053" to signal the F2 error "loss of reference".
Overflow of encoder position handled incorrectly with digital encoders
CQ-ID: Defdb00189743
Severity: K3 - malfunction (no workaround)
Description: With the EnDat2.2, ACURO-Link and SSI encoder types, the overflow thresh‐
olds were not calculated, and neither limitation of position differences nor
overflow detections were used.
Fixing: The overflow thresholds are calculated. In the case of encoder positions with
32 bits, however, the thresholds take the value 0. The functions for limiting
the position differences and overflow detection are applied.
17.1.6 665_Webserver
Incorrect web server list access
CQ-ID: Defdb00190099
Severity: K3 - malfunction (no workaround)
Description: With MPx-20VRS, it is no longer possible to read MLD lists via the CGI inter‐
face.
17.2 Hardware
17.2.1 Resolved defects
100_Safe Motion Basic system
F6200 in normal operation
CQ-ID: Defdb00189238
Severity: K2 - serious malfunction
Description: The error F6200 sporadically occurred with MPx18/SMO13 in normal opera‐
tion. This was caused by too high timing tolerances in bus access. The bug
fixing was also implemented in MPx20/SMO14, since the problem might also
occur here.
Fixing: The defect has been resolved with a new ICS11-FPGA.
Possible F9003 in the case of overloaded PLC task in synchronism with CCD/master com‐
munication
CQ-ID: Defdb00188030
Severity: K4 - malfunction
Description: In the case of a PLC project with overload in a task in synchronism with CCD
or master communication (task not completed in the required time), F9003
with failure of the 2 ms task occurred sometimes. The error had occurred on
an MLD-M master with a CCD clock of 1 ms and a specific timing.
Workaround: A synchronous task generally should not work at its limit load -> modify task
structure so that a synchronous task does not reach the limit load.
In the case of 1 ms tasks, it is possible to use a cyclic task without difficulty.
Retain variables do not work after project loaded using parameters
CQ-ID: Defdb00187682
Severity: K4 - malfunction
Description: If an MLD project with retain data had been loaded using the IW DS dialog
(parameter file), the retain variables were reinitialized after every reboot. If
the MLD program is loaded to the drive in the "standard way" (compilation,
IW download), the retain variables retain their values as expected before
switching off.
Workaround: Project with SPS in STOP, load the parameters incl. "P-0-1359" via parame‐
ter group and then switch off / switch on.
Description: In very rare cases, F9005 was generated if a PLC program had been loaded
to a drive (without PLC program so far). To this end, MLD-S had to have
been configured and AxisData had to have been activated.
Since the error occurred very rarely and only if no PLC program had been
available on the drive, this could only happen at the beginning of a commis‐
sioning procedure.
Workaround: Restart drive.
ing button is activated in the menu dialog. In doing so, the motor has to turn
slowly. So far the motor simply remained in the nonoperating state in spite of
the current flowing.
Loading application-specific data from encoder did not work
CQ-ID: Defdb00187997
Severity: K3 - malfunction (no workaround)
Description: It is possible to store data in the motor encoder. These data can be loaded to
the drive with the "load application-specific data" command.
In the case of a Hiperface encoder without a motor type plate by Bosch
Rexroth, this did not work because the application-specific data in the encod‐
er had been detected to be valid.
Fixing: The motor type plate including the application-specific data has to be gener‐
ated again so that the application-specific data become valid. Afterwards, the
loading of the data works.
Motor holding brake remains applied in spite of drive enable
CQ-ID: Defdb00187367
Severity: K3 - malfunction (no workaround)
Description: If the "Release motor holding brake" command had been reset at the same
time as drive enable had been set, the holding brake sometimes remained
applied in spite of drive enable and the drive subsequently moved against the
applied brake. This caused heavy wear of the brake.
P-0-0548.0.2, Maximum test duration holding system released, has an influence on the brake
check duration
CQ-ID: Defdb00184958
Severity: K3 - malfunction (no workaround)
Description: So far there always was a waiting time of the entire maximum time of the test
item releasing the holding brake, even if the criterion for a successful comple‐
tion of the test had occurred.
Y-D switching of synchronous motors
CQ-ID: Defdb00185021
Severity: K3 - malfunction (no workaround)
Description: During star-delta switching for synchronous motors with incremental measur‐
ing system, the commutation offset was not switched. Switching the commu‐
tation offset related to the zero mark of the encoder did not work.
Fixing: For synchronous motors with incremental measuring systems, the commuta‐
tion offset has to be automatically determined when switching on the first time
to PM->OM. During the initial commissioning, the offset has to be saved in
optimized form in relation to the zero mark. When the parameter sets are
switched, the zero mark detection of the encoder is activated. Thereby
switching to the commutation offset saved in P-x-0508 takes place when the
mark is passed.
Description: If both axes of a double-axis device had been simultaneously switched from
PM to OM, one of the axes sometimes did not activate the encoder evalua‐
tion, although this had been signaled via the encoder status. In the case of
absolute evaluation, the error F207x occurred if applicable.
Fixing: The defect has been resolved.
EnDat2.2 encoder with multi-turn range using external battery box
CQ-ID: Defdb00186645
Severity: K2 - serious malfunction
Description: The stored multi-turn revolutions get lost if the battery fails or the external
battery box is disconnected. The firmware does not detect the battery failure.
After the device has been switched back on, the previously homed encoder
signals to be homed, although its position is distorted by the lost multi-turn
revolutions.
Fixing: If the battery voltage with an EnDat2.2 encoder is low, the warning E207x is
signaled. If the battery is empty, the warning E2048 is generated. In the case
of PM-OM, F2048 is generated and the reference is cleared.
Incorrect "P-0-0334, Absolute encoder range of measuring encoder"
CQ-ID: Defdb00188378
Severity: K2 - serious malfunction
Description: If the "automatic calculation of the output resolution" had been deactivated in
"S-0-0601.x.1, Encoder data out configuration" by setting bit 0, "P-0-0334,
Absolute encoder range of measuring encoder", was incorrectly calculated if
the following conditions had been fulfilled.
(((S-0-0611.3.6*S-0-0611.3.2) > S-0-0611.3.10) && S-0-0611.3.10 > 0
or
((S-0-0611.3.6*S-0-0611.3.2) > 2^32) && S-0-0611.3.10 == 0
Thus, absolute encoder evaluation possible (P-0-0328 bit6 = 1) was some‐
times signaled, although this had not been the case.
MSM motor encoder: Incorrect position if battery entirely empty
CQ-ID: Defdb00186360
Severity: K2 - serious malfunction
Description: If the battery with an MSM motor had been discharged so far that the encod‐
er did not provide the correct absolute position any more, this was not ac‐
knowledged with a loss of reference (F2174). The position is incorrect and
the drive signals reference!
Fixing: If the battery voltage with an MSM motor is low, the warning E207x is sig‐
naled. If the battery is empty, the warning E2048 is generated. In the case of
PM-OM, F2048 is generated and the reference is cleared.
C0401 and longer switching time in simulation mode
CQ-ID: Defdb00186621
Severity: K3 - malfunction (no workaround)
Description: Operation in the simulation mode had no longer been possible, because the
"parking axis" command used for it could not be completed when switching
from PM->OM.
Command error "C0401 Switching not allowed" was generated with detailed
diagnostics "Impossible to stop command C1600 Parking axis procedure
command".
TTL encoder evaluation: S-0-0600.x.1 Encoder status, bit 5 position status always 0
CQ-ID: Defdb00186931
Severity: K3 - malfunction (no workaround)
Description: With a TTL encoder, the position status in the parameter "S-0-0600.x.1 En‐
coder status; bit 5" was had not been generated correctly and always had the
value 0.
Velocity feedback value of encoder 2 incorrectly generated
CQ-ID: Defdb00188177
Severity: K3 - malfunction (no workaround)
Description: With a linear encoder 2, the velocity feedback value was determined by the
factor 10^6 too low.
Absolute encoder monitoring default is deactivated
CQ-ID: Defdb00188779
Severity: K4 - malfunction
Description: With some combined encoders the warning E2074 was sometimes gener‐
ated.
Fixing: When loading the basic parameters, the bit 0 in S-0-0602.x.136 is now set to
1. Therefore, the monitoring function is deactivated.
Workaround: Set bit 0 in S-0-0602.x.136 to 1!
F2174 after set absolute position procedure and OM->PM->OM switching
CQ-ID: Defdb00187498
Severity: K4 - malfunction
Description: In spite of the set absolute position procedure having been carried out,
F2174 was signaled when the drive had been switched to OM.
Incorrect automatic calculation of Encoder Basic resolution with linear sine encoders and TTL
encoders
CQ-ID: Defdb00186757
Severity: K4 - malfunction
Description: With linear sine encoders and TTL encoders, the resolution in S-0-0601.x.2
was incorrectly calculated and set in the case of automatic calculation. It
should be the physical resolution in nanometers divided by 2^15. The inver‐
ted value was calculated instead: 2^15 divided by the physical resolution. In
addition, a decimal place had been moved in the conversion from millimeters
to nanometers so that the calculated resolution was lower by the factor 10.
Fixing: The defect has been resolved.
Incorrect entries in S-0-0423 during physical initialization of multiple encoder types
CQ-ID: Defdb00188123
Severity: K5 - non critical problem
Description: If S-0-0602.x.3 had not contained a valid value, the wrong parameter was en‐
tered in S-0-0423 (S-0-0603.x.3 instead of S-0-0602.x.3) for sine encoder,
EnDat 2.1, Hiperface, resolver and TTL. This was due to an error in the IDN
generation.
With Safety-4-Wire, S-0-0302.x.7 instead of S-0-0602.x.7 was also entered in
S-0-0423 due to an incorrect IDN, if the writing of the telegram length had
failed.
Description: If the measuring encoder had been moved during the position initialization
PM->OM, the position was sometimes initialized slighty wrong. If the retain
data had been used for initialization, the position offset persisted!
Homing procedure with incremental motor encoder and asynchronous motor
CQ-ID: Defdb00187920
Severity: K4 - malfunction
Description: The homing procedure with zero mark worked exactly once after the drive
had been switched to OM.
If the homing procedure had been restarted, the drive did not find the zero
mark, the axis kept moving at homing velocity.
Increasing the Basic resolution for encoders does not work correctly
CQ-ID: Defdb00183376
Severity: K4 - malfunction
Description: If the user had increased the resolution (with S-0-0601.x.1 bit 0 set), the over‐
flow value was not limited. Thus, the overflows were incorrectly displayed.
Fixing: For rotary encoders, the overflow threshold is limited to 2 to the power of 30.
If a higher value is calculated, the maximum threshold of 2 to the power of 30
is used instead.
For linear encoders, the overflow threshold is limited to a maximum of 2 to
the power of 31. If a higher value is calculated, the natural overflow is used
instead.
Description: The velocity search mode did not work in FXC and V/Hz (U/f) operation.
18.1.14 440_Commutation
Optimized commutation offset in relation to the zero mark does not work
CQ-ID: Defdb00187067
Severity: K3 - malfunction (no workaround)
Description: In the case of incremental measuring systems, the commutation offset, for
more precise commutation, can be related to the reference point and/or the
zero mark of the encoder. For the reference to the zero mark, the encoder
has to have a zero mark with a fixed reference to the electrical revolution
(e.g., one zero mark/revolution).
The reference to the zero mark did not work.
Fixing: For incremental measuring systems with a fixed reference of the zero mark to
the electrical revolution, the commutation offset can be saved in optimized
form with reference to the zero mark during initial commissioning.
The optimized commutation offset takes effect in operation when the zero
mark is passed.
Description: In the phase progression and regression of the der Sercos communication
phase, the change in parameterization of the Logicware took too long. De‐
pending on the FW version, this caused the warning E2004 (detailed diag‐
nostics: Monitored part of position controller interrupt interrupted by velocity
controller interrupt).
Sercos: Drive sometimes loses telegrams after switching to CP3
CQ-ID: Defdb00187480
Severity: K3 - malfunction (no workaround)
Description: Sercos FPGA sometimes loses telegrams in a cycle after having switched to
CP3. This can cause errors in other slaves in the Sercos network.
"S-0-1000" contains the "SCP-SafetyCon" class
CQ-ID: Defdb00182355
Severity: K5 - non critical problem
Description: In the case of drives without a safety technology card, the parameter
"S-0-1000" contained the "SCP-SafetyCon” class.
18.1.29 750_EtherCAT
EtherCAT COE: Drive address
CQ-ID: Defdb00178509
Severity: K4 - malfunction
Description: The EtherCAT address in P-0-4089.0.3 was write-protected in SafeOpera‐
tional and Operational.
18.1.30 760_Powerlink
POWERLINK: Communication interrupted with "backup of all parameters"
CQ-ID: Defdb00187331
Severity: K3 - malfunction (no workaround)
Description: Telegrams got sometimes lost in the case of SDO access or TCP telegrams
(e.g., via IndraWorks). This caused communication interruption messages,
for example, in IndraWorks.
TCP connection to the CCD slave: IndraWorks exception during Sercos phase switch
CQ-ID: Defdb00186168
Severity: K3 - malfunction (no workaround)
Description: If an IndraWorks S/IP connection to a CCD slave had been established via
the CCD master, this sometimes caused an IndraWorks exception. This error
only occurred during the Sercos phase switch.
Fixing: The Sercos phase switch no longer causes IndraWorks to crash. In individual
cases, establishing the connection takes longer or has to be repeated.
Binary configuration without configured connection causes memory access error
CQ-ID: Defdb00187786
Severity: K4 - malfunction
Description: Applying a binary connection configuration that does not contain any connec‐
tion can cause a memory access error in the CSMD_ProcessBinConfig()
function.
ErrorIdent.Additional2 = 16#00000001
The MC_TorqueControl function block had not been assigned to any
PLCopen state.
Fixing: The MC_ReadStatus function block as of now sets the "ContinuousMotion"
output when called with Enable = TRUE.
MC_CamIn: Deadlock in error state
CQ-ID: Defdb00185024
Severity: K3 - malfunction (no workaround)
Description: If the MC_CamIn function block had generated an error ("Error", "ErrorID"
and "ErrorIdent" outputs set), a deadlock occurred in the case of certain er‐
rors. The function block remained in the error state, even after a falling and a
rising edge at the Execute input. It was necessary to reset the PLC to run the
function block again.
MC_ReadStatus: Done and Error outputs simultaneously set
CQ-ID: Defdb00184020
Severity: K3 - malfunction (no workaround)
Description: If the MC_ReadStatus function block had signaled the error "internal process‐
ing error (undefined state)", the "Error" and "Done" outputs were simultane‐
ously set.
ErrorIdent.Table = MLD_TABLE
ErrorIdent.Additional1 = 16#00000199
ErrorIdent.Additional2 = 16#00000001
The error occured, for example, if the drive had been in the torque control
mode (MC_TorqueControl) and the MC_ReadStatus function block was
called.
ErrorID and ErrorIdent error outputs are reset at falling Execute edge
CQ-ID: Defdb00185047
Severity: K5 - non critical problem
Description: If the Execute input had been set to FALSE for the MLD motion function
blocks with a function block error being present, the ErrorID and ErrorIdent
outputs were reset.
Fixing: If a function block error is present (Error, ErrorID and ErrorIdent outputs have
been set) and the Execute input is set to FALSE, only the Error output is re‐
set. The pieces of information at the ErrorID and ErrorIdent outputs remain
present.
At a rising Execute edge, the pieces of information at the ErrorID and ErrorI‐
dent outputs subsequently are also reset.
The pieces of information at the ErrorID and ErrorIdent outputs always should
only be evaluated in conjunction with the Error=TRUE output.
MB_PhasingSlave: VmAxisInt has to be used in secondary master mode to offset the slave
axis position
CQ-ID: Defdb00185239
Severity: K5 - non critical problem
Description: In the secondary master mode of the virtual master axis, "VmAxisInt" had to
be transmitted at the "Axis" function block input at the MB_PhasingSlave
function block to offset the master axis position for the slave axis (P-0-0761).
- ErrorID = RESOURCE_ERROR
- ErrorIdent.Table = MLD_TABLE
- ErrorIdent.Additional1 = 16#00000001
- ErrorIdent.Additional2 = 16#00000016
Description: The TTL encoder wire break monitoring did not work, because the corre‐
sponding hardware signal had not been read. No error was output in spite of
hardware-side wire break detection.
Wrong IDN for reading maximum possible phys. initialization speed
CQ-ID: Defdb00185233
Severity: K3 - malfunction (no workaround)
Description: The parameter S-0-0602.x.137 Phys. max. initialization speed was used for
the maximum possible phys. initialization speed. This does not comply with
the Sercos specification for which S-0-0602.x.8 is to be used.
20.1.13 440_Commutation
Error message "C5603 Timeout: Axis in motion" with command C5600
CQ-ID: Defdb00183217
Severity: K3 - malfunction (no workaround)
Description: When the command C5600 Command Subsequent optimization of commuta‐
tion offset had been started, the motor sometimes started turning and did not
stop. If a resolver had been used as a motor encoder, "C5603 Timeout: Axis
in motion" was sometimes signaled during command execution, although the
motor did not move.
20.1.22 750_EtherCAT
„Enable PDO Configuration“ bit missing in EEPROM for CoE
CQ-ID: Defdb00184989
Severity: K3 - malfunction (no workaround)
Description: Controls that read the ESI (EtherCAT Slave Information) of the slave (EE‐
PROM) got a wrong feedback. The „Enable PDO Configuration“ bit was not
set.
Problems with parameter download, e.g. using IW
CQ-ID: Defdb00185637
Severity: K3 - malfunction (no workaround)
Description: Exception when writing the parameter P-0-0320.
20.2.3 999_Other
HCS03.1-W0350 supported
CQ-ID: Defdb00185086
Severity: K6 - functional enhancement
Description: Functional enhancement - The device is new in the product range. Up to
now, it had not been supported.
Enhancement: The HCS03.1-W0350 device is supported. The device variants with and with‐
out bleeder are supported.
21.1.5 Brake
"C3900 Holding brake resurfacing" command not completed after specified time
CQ-ID: Defdb00182366
Severity: K3 - malfunction (no workaround)
Description: When the "C3900 Holding brake resurfacing" command had been started, er‐
ratic drive behavior occurred sometimes. The axis stopped or kept moving
until the command was reset.
21.1.8 Encoder
Invalid encoder operating data parameters for MS2N motor with HIPERFACE encoder
CQ-ID: Defdb00182231
Severity: K3 - malfunction (no workaround)
Description: In the case of MS2N motors with HIPERFACE encoder, the diagnostic motor
data were not stored in the motor. The diagnostic motor data were only stor‐
ed in the controller.
Rotary combined encoder for SSI only works with SSI resolution
CQ-ID: Defdb00183289
Severity: K3 - malfunction (no workaround)
Description: The output resolution "S-0-0601.x.2" for a rotary combined encoder for SSI
was defined using the SSI protocol (bit/rev). Hereby, the position was gener‐
ated with the SSI position resolution, but not using incremental signals!
Fixing: Due to the bug fixing, the resolution is recalculated, but calculated incompati‐
bly. This can cause loss of reference of the position (F2174/F2075). Atten‐
tion: Check this when updating the firmware!
Measuring encoder always initializes using the retain data
CQ-ID: Defdb00182450
Severity: K4 - malfunction
Description: With integral multiples of the modulo value with regard to the absolute encod‐
er range, the position initialization was not carried out with the absolute en‐
coder offset, but with the retain data.
S-0-0602.x.136 is not reset when default values are loaded
CQ-ID: Defdb00183626
Severity: K4 - malfunction
Description: When "load default values" had been executed, "S-0-0602.x.136, Phys. en‐
coder evaluation configuration" was not reset.
Index
Index
Symbols Alert and warning bits incorrectly evaluated
"C3900 Holding brake resurfacing" com‐ with S4W........................................................... 129
mand not completed after specified time.......... 170 Alias parameter cannot be written via SDO
"C8215 SMO: Incorrect encoder/scaling con‐ in the case of EPL............................................... 88
figuration" in the case of serial commission‐ Amplitude and offset adjustment does not
ing with ACUROlink encoder.............................. 39 work for resolvers with number of pole pairs
"F2036 Excessive position feedback differ‐ smaller than 3..................................................... 81
ence" generated if "C0300 Set absolute po‐ Amplitude and offset correction not active........ 112
sition procedure command" executed................. 95 Analog Hall sensors are not operable................. 65
"F2821 Error in control of braking resistor" Anti-vibration filter does not work in "drive-
sporadically signaled......................................... 150 controlled position control".................................. 98
"F8324 SMO: Error in activation" in the case At the beginning of CP4, C-CON= 0x0, but
of parking axis with ACUROlink encoder............ 39 CON.State = 2 instead of 1............................... 124
"MotionProfile” mode: F2028 when switching Automatic control loop setting: C1806 with
sets................................................................... 175 linear motor because safety distance too
"Operating mode neutral" profile sets wrong small.................................................................. 117
default operation modes..................................... 99 Automatically calculated resolution of ana‐
"P-0-0175 configurable reaction for specific log, rotary encoders is not rounded down
devices – error cases"....................................... 144 correctly.............................................................. 95
"P-0-0753, Position actual value in actual Average value filter for display, error.................. 24
value cycle" incorrectly generated, if active Axis does not comply with target position........... 42
parameter set number is not 0.......................... 162 Axis does not switch to OM if a 2nd encoder
"RL" (F2008) not generated if motor with has been parameterized as a position con‐
brake replaced by motor without brake............. 109 trol encoder......................................................... 27
"S-0-1000" contains the "SCP-SafetyCon" Axis error correction for external encoder ac‐
class.................................................................. 149 tivated with motor encoder by mistake
„Enable PDO Configuration“ bit missing in (P-0-0413 = 0x1)............................................... 173
EEPROM for CoE............................................. 165 Axis hangs up in transition command C0200
if scaling changed from mm to inch.................. 101
0…9 Axis incorrectly moves to target position in
3 EC encoder interfaces not supported at drive-controlled positioning mode!.................... 143
IndraDrive......................................................... 130 AxisData only works in PM if OM was
reached before.................................................... 77
A AxisData structure still contains old force
feedback value (S-0-0084) for Hydraulic‐
A deadlock occurred in MX_SetDeviceMode
Drive.................................................................. 134
after changing the OperationMode during
processing........................................................... 55
Absolute encoder monitoring default is deac‐ B
tivated......................................................... 63, 140 Backup and Restore aborted with error.............. 52
Absolute position lost with combined encod‐ Backup and Restore not successful.................... 70
er for SSI........................................................... 157 Backup and Restore: F9005 with modified
Absolute range is not correctly reduced for ZIP file................................................................. 70
linear EnDat2.2 and BiSS C encoders................ 62 Backup function cannot be used if no CCD
Acceleration feedback value encoder 2 slaves connected................................................ 99
(S-0-0195) always has the value 0..................... 49 Backup/restore does not work if Profibus set
Acceleration insufficiently limited for linear as master communication................................. 147
motor................................................................. 104 Backup/restore function does not work with
Activating CCD in bb with active MLD cau‐ Profibus master communication and CCD
ses F9005 exception......................................... 107 slaves.................................................................. 70
Actual position value is not initialized to en‐ Backup/Restore: String parameters with an
coder raw value in the case of modulo scaling... 80 odd number of characters were not restored
Acuro-Link: Impossible to load application- correctly with Restore......................................... 84
specific data from encoder.................................. 61 Backup&Restore: FWA update is possible in
After phase progression, error F2087 is sig‐ spite of MLD running......................................... 147
naled................................................................... 36
180/199 IndraDrive MPC-20V30 Firmware for Drive Controllers
Index
Backup&Restore: Update.zip use case was Cam table in MotionProfile incorrectly pro‐
not executed correctly....................................... 148 cessed............................................................... 175
Battery-backed EnDat2.2 with wrong posi‐ CANopen (CoC, CoE): impossible to config‐
tion signals reference........................................ 111 ure parameter P-0-4077 as process data
Better utilization of synchronous motors with (command value)................................................ 71
reluctance effect in field weakening.................... 96 CCD basic settings: Impossible to switch
Binary configuration without configured con‐ drives to "bb" if MLD-M system mode and
nection causes memory access error............... 150 "Not allowed" selected...................................... 134
Brake check does not start............................... 110 CCD cycle time is incorrectly generated
Brake check: No check in the direction of (S-0-0001 is not generated correctly)................. 86
load due to weight with brake released............... 89 CCD extrapolation of P-0-0434 impossible
Brake test: Problems when determining the with modulo scaling............................................. 73
holding torque (P-0-0554)................................... 40 CCD group - last slave remains in AF in the
Braking resistor supposed to be switched off... 128 case of bus failure............................................... 52
CCD master cannot configure any parame‐
C ters (only known in the CCD slave) in the
C06 with absolute encoder does not work process data....................................................... 25
properly, P-0-0177 data is invalid....................... 33 CCD slave could not be reached anymore
C0202 after switching from PM to OM with via redundant Sercos line in the case of
HMS inverter....................................................... 88 node failure....................................................... 125
C202 or C209 not generated if initialization CCD system mode with ProfiNet: Clarifying
error detected.................................................... 111 the behavior of the CCD slaves in the case
C0206 Error when accessing machine ar‐ of PLC stop......................................................... 25
chive is not generated......................................... 86 CCD: Backup for hydraulic drives causes
C0209 after switching on MS2N motor with command error C6502........................................ 70
Acuro encoder..................................................... 49 CCD: Error while loading parameters at
C0209 with linear SSI encoder........................... 92 CCD slave after master reboot........................... 29
C220 at MCL with analog Hall sensor / lower Change in checksums in case of serial com‐
signal monitoring threshold too high................... 27 missioning with different FW version................ 129
C0258 in the case of NC cycle time of 24 ms Change in direction of motion not applied
and linear fine interpolation (cycl. position during motor data identification (C3600)............. 96
control)................................................................ 43 Check of resolution for 2^n with rotary SSI
C0270 warning was sporadically signaled sine does not match default resolution............... 80
when initializing an MS2N motor (AD37S) for Check sum changed due to parameter de‐
MPE20V18.......................................................... 33 duction................................................................ 35
C0298 after occurrence of C0242 with simu‐ Checking the rotational direction moves axis
lated axis............................................................. 52 to mechanical limit stop/position limitation.......... 66
C0300 Set absolute position procedure com‐ CiA402: Objects cannot be configured in os‐
mand sucessfully executed in spite of "Fxxxx cilloscope.......................................................... 148
Encoder X: Encoder signals incorrect"................ 66 Classes missing in S-0-1601.............................. 29
C0401 and longer switching time in simula‐ CoE: Error F4009 is not signaled if bus con‐
tion mode.......................................................... 137 nector is removed............................................... 71
C600 takes a long time > 200ms........................ 28 CoE: Incorrect length via subindex 81.............. 100
C3300 and C3400 generate wrong offset........... 64 CoE: No AT data during switching process
C3607 generated after C3600.......................... 116 from SafeOp to Operational.............................. 100
C3609 is generated if C3600 started under CoE: No check for maximum value 255
motion for asynchronous motor with encod‐ when writing byte values..................................... 99
er....................................................................... 116 CoE: Only DS402 displayed as configurable
C6500 generates ibf files independent of profile.................................................................. 99
AGP status of the firmware................................. 30 CoE: Process data configuration is not saved.... 86
C6702 generated during update via SD card CoE: RevisionNo does not comply with de‐
with Update.zip................................................. 122 vice description file............................................ 118
C7600 parameter image error with string pa‐ CoE: Runtime optimization............................... 124
rameters.............................................................. 70 CoE: S-0-0014 and P-0-4073 not always
Calculated absolute encoder offset is inac‐ consistent............................................................ 71
curate when homing procedure uses refer‐ CoE: Sercos II provides wrong length for
ence marks......................................................... 81 mailbox................................................................ 86
IndraDrive MPC-20V30 Firmware for Drive Controllers 181/199
Index
Cogging torque compensation does not take Default value loading "without device param‐
effect in torque control mode.............................. 67 eters" and "without SMO parameters" did
Cogging torque compensation not possible not work.............................................................. 36
with single-turn encoders.................................. 104 Default values of the parameters were not
Cogging torque compensation value does available............................................................ 135
not take effect or takes effect with a delay.......... 68 Defdb00174215................................................ 144
Combination check for 0x60C2 might possi‐ Defdb00175413................................................ 121
bly prevent changeover..................................... 176 Defdb00177630................................................ 176
Combined encoder for SSI by AMO displays Defdb00177730................................................ 172
warning E2074.................................................. 121 Defdb00178509................................................ 149
Combined encoder for SSI by AMO, incor‐ Defdb00178603................................................ 134
rect position initialization................................... 173 Defdb00178825................................................ 165
Command "S-0-0447, C0300 Set absolute Defdb00178858.................................................. 62
position procedure command" sets wrong Defdb00180371................................................ 162
position.............................................................. 115 Defdb00180562................................................ 164
Command “Positive stop drive procedure” - Defdb00180750................................................ 165
torque jump when disabling drive enable............ 56 Defdb00180832................................................ 169
Command C3600 aborted with C3607.............. 135 Defdb00181539................................................ 176
Command errors (C0113) with EtherCAT in Defdb00181583................................................ 173
Free Run Mode................................................... 87 Defdb00181608................................................ 173
Command value jump when velocity control Defdb00182075................................................ 176
mode is activated................................................ 23 Defdb00182108................................................ 172
Commands: Error when implementing ele‐ Defdb00182168................................................ 175
ments 5 and 6 (minimum and maximum val‐ Defdb00182209................................................ 172
ue)....................................................................... 43 Defdb00182213................................................ 172
Communication aborted in the case of PLC Defdb00182229................................................ 171
exception............................................................. 89 Defdb00182231................................................ 171
Commutation setting aborted with "timeout" Defdb00182245................................................ 135
error message..................................................... 62 Defdb00182277................................................ 177
Commutation setting, saturation method Defdb00182315................................................ 170
does not work with subsequent optimization...... 81 Defdb00182328.................................................. 88
Commutation using encoder 2 not active.......... 142 Defdb00182355................................................ 149
Connection aborted or F9005 with FTP............ 146 Defdb00182361.................................................. 90
Considering the directives for products re‐ Defdb00182366................................................ 170
quiring export licenses (closed-loop)................ 162 Defdb00182383................................................ 169
Control panel: "Backup"-"Restore" menu Defdb00182414................................................ 176
item................................................................... 146 Defdb00182435................................................ 176
Control sections, overview.................................... 6 Defdb00182443................................................ 165
Controlled deceleration after encoder error Defdb00182450................................................ 174
did not work....................................................... 120 Defdb00182457................................................ 172
Coordinate offset was not deleted...................... 97 Defdb00182463................................................ 175
Copy protection for MSK motors......................... 73 Defdb00182523................................................ 159
Correction of torque constant does not work Defdb00182580................................................ 175
correctly.............................................................. 82 Defdb00182591................................................ 173
Current rms value: Control word P-0-0610 Defdb00182669................................................ 171
cannot be cycl. configured................................ 118 Defdb00182671................................................ 170
Cyclic marker evaluation function does not Defdb00182732................................................ 169
work with multi-axis devices................................ 40 Defdb00182797................................................ 171
Cyclic monitoring between absolute and in‐ Defdb00182807.................................................. 80
cremental tracks missing for combined en‐ Defdb00182825................................................ 169
coders (for E2074)............................................ 157 Defdb00182826................................................ 157
Cyclically configured parameters get lost Defdb00182837.................................................. 99
when default values are loaded........................ 123 Defdb00182838................................................ 176
Defdb00182907................................................ 175
D Defdb00183023................................................ 172
Deactivated controlled deceleration in the Defdb00183071................................................ 139
case of encoder failure........................................ 51 Defdb00183121................................................ 172
Defdb00183216................................................ 159
182/199 IndraDrive MPC-20V30 Firmware for Drive Controllers
Index
Index
Index
Index
Index
Defdb00198219.................................................. 65 Defdb00201528.................................................. 55
Defdb00198287.................................................. 63 Defdb00201540.................................................. 56
Defdb00198288.................................................. 63 Defdb00201569.................................................. 55
Defdb00198289.................................................. 64 Defdb00201716.................................................. 55
Defdb00198290.................................................. 63 Defdb00201844.................................................. 33
Defdb00198344.................................................. 72 Defdb00201914.................................................. 57
Defdb00198387.................................................. 75 Defdb00201949.................................................. 39
Defdb00198687.................................................. 69 Defdb00201969.................................................. 57
Defdb00198688.................................................. 75 Defdb00202040.................................................. 56
Defdb00198711.................................................. 75 Defdb00202207.................................................. 55
Defdb00198852.................................................. 70 Defdb00202272.................................................. 50
Defdb00198899.................................................. 61 Defdb00202439.................................................. 50
Defdb00198916.................................................. 66 Defdb00202496.................................................. 53
Defdb00198950.................................................. 73 Defdb00202511.................................................. 49
Defdb00198980.................................................. 66 Defdb00202835.................................................. 52
Defdb00198981.................................................. 74 Defdb00202865.................................................. 50
Defdb00199015.................................................. 56 Defdb00202933.................................................. 49
Defdb00199066.................................................. 72 Defdb00202944.................................................. 51
Defdb00199082.................................................. 72 Defdb00203106.................................................. 52
Defdb00199091.................................................. 56 Defdb00203155.................................................. 50
Defdb00199123.................................................. 65 Defdb00203187.................................................. 49
Defdb00199132.................................................. 70 Defdb00203278.................................................. 49
Defdb00199133.................................................. 72 Defdb00203294.................................................. 51
Defdb00199135.................................................. 71 Defdb00203311.................................................. 44
Defdb00199137.................................................. 69 Defdb00203351.................................................. 51
Defdb00199155.................................................. 73 Defdb00203398.................................................. 49
Defdb00199238.................................................. 70 Defdb00203495.................................................. 52
Defdb00199243.................................................. 71 Defdb00203641.................................................. 50
Defdb00199258.................................................. 66 Defdb00203673.................................................. 51
Defdb00199272.................................................. 69 Defdb00203679.................................................. 53
Defdb00199276.................................................. 62 Defdb00203690.................................................. 40
Defdb00199340.................................................. 73 Defdb00203812.................................................. 53
Defdb00199357.................................................. 73 Defdb00203956.................................................. 44
Defdb00199361.................................................. 64 Defdb00203989.................................................. 43
Defdb00199392.................................................. 68 Defdb00204063.................................................. 41
Defdb00199467.................................................. 64 Defdb00204109.................................................. 40
Defdb00199644.................................................. 73 Defdb00204152.................................................. 42
Defdb00199647.................................................. 73 Defdb00204266.................................................. 35
Defdb00199820.................................................. 67 Defdb00204292.................................................. 42
Defdb00200017.................................................. 72 Defdb00204393.................................................. 35
Defdb00200019.................................................. 72 Defdb00204395.................................................. 41
Defdb00200038.................................................. 67 Defdb00204471.................................................. 44
Defdb00200056.................................................. 62 Defdb00204525.................................................. 39
Defdb00200123.................................................. 61 Defdb00204543.................................................. 47
Defdb00200227.................................................. 65 Defdb00204550.................................................. 29
Defdb00200230.................................................. 62 Defdb00204565.................................................. 42
Defdb00200242.................................................. 63 Defdb00204672.................................................. 39
Defdb00200249.................................................. 66 Defdb00204799.................................................. 43
Defdb00200309.................................................. 66 Defdb00204820.................................................. 40
Defdb00200332.................................................. 65 Defdb00204847.................................................. 40
Defdb00200392.................................................. 71 Defdb00204904.................................................. 42
Defdb00200476.................................................. 57 Defdb00204931.................................................. 40
Defdb00200495.................................................. 61 Defdb00205091.................................................. 30
Defdb00200572.................................................. 63 Defdb00205096.................................................. 36
Defdb00200609.................................................. 51 Defdb00205199.................................................. 41
Defdb00201245.................................................. 39 Defdb00205206.................................................. 44
Defdb00201338.................................................. 57 Defdb00205208.................................................. 41
Defdb00201469.................................................. 59 Defdb00205236.................................................. 33
IndraDrive MPC-20V30 Firmware for Drive Controllers 187/199
Index
Index
Index
Error when shifting coordinate system after F2019 cannot be cleared in phase 4 after
switching PM-OM.............................................. 115 encoder error (data+ interrupt) with
Error when using the entire MLD retain data.... 107 ACURO@link...................................................... 77
Error when writing data to list parameter F2021 "motor temperature sensor defective"
P-0-4042 using EtherCAT with CoE................. 124 for Acuro-Link encoder........................................ 64
ErrorID and ErrorIdent error outputs are re‐ F2032 Validation error during commutation
set at falling Execute edge................................ 154 fine adjustment.............................................. 50, 61
EtherCat COE S1 is overwritten......................... 72 F2037 Excessive position command differ‐
EtherCAT COE: Drive address......................... 149 ence in the case of probe with drive quick
EtherCAT COE: Drive remains in PreOp stop..................................................................... 24
state.................................................................. 125 F2053 and missing zero pulses if external
EtherCAT CoE: E4072 Mac address invalid signal P-0-0901.0.7 turning backward.............. 163
with Beckhoff control........................................... 25 F2053 when switching from P2 to P4................. 83
EtherCAT COE: F4009 : although exiting the F2074 after MSM battery replaced and drive
cyclic communication.......................................... 87 controller switched off/on.................................... 78
EtherCat COE: PDOs (rx) are not mapped....... 124 F2100 due to individual corrupt pages................ 57
EtherCAT COE: Value of P4076 can be F2105 after C02xx transition command error
changed in Data Exchange................................. 72 in the case of encoders with encoder data
EtherCat COE: Watchdog trigger of SM 3 memory............................................................... 41
activated at drive --> drive goes online to OP..... 53 F2105 during “Referencing" or “Delete refer‐
EtherCAT CoE: Wrong flashing pattern of di‐ ence" with a HIPERFACE encoder..................... 55
agnostic LED in the case of configuration F2105 when switching to OM with HIPER‐
error.................................................................. 172 FACE encoder.................................................... 49
EtherCat COE: Wrong max. AT and MDT F2105 with command for commutation offset
length.................................................................. 72 determination.................................................... 138
EtherCAT EoE: Invalid MAC address does F2105 with rotary Hiperface encoder (en‐
not cause error.................................................... 72 coder data memory < 600 bytes) and
EtherCAT SOE : Missing error message MPB-20V06....................................................... 138
F4009 in EtherCAT in FreeRun mode................ 57 F2174 after set absolute position procedure
EtherCAT SOE: Data applied in spite of and OM->PM->OM switching............................ 140
error message 0x7003........................................ 53 F2174 with MSM motors without buffer bat‐
EtherCAT SoE: Toggle bit (bit 0) in drive sta‐ tery and 360 degrees modulo............................. 91
tus word (S-0-0135) does not work................... 101 F2177 Encoder 1 modulo limitation error
EtherCAT: Diagnostics missing if SM not ac‐ with EnDat2.2...................................................... 79
tivated but SYNC activated................................. 44 F3360, if encoder standstill via local safe
EtherCAT: F9100 when saving all parame‐ output................................................................ 176
ters via ADS...................................................... 124 F3450 cannot be cleared during serial com‐
Ethernet over EtherCAT (EoE) processing missioning......................................................... 166
was optimized................................................... 125 F4002 after first run-up to CP4......................... 165
EtherNet/IP: Acknowledging malfunction af‐ F4012 can be acknowledged although error
ter communication interrupted.......................... 123 still present........................................................ 123
Evaluating PT1000 with EnDat2.2 encoder........ 73 F4140 cannot be cleared.................................. 126
Exception F9003 with PROFIBUS.................... 123 F6010 if using the last 104 bytes of the MLD
Exception if synchronous bit generation acti‐ retain data......................................................... 107
vated for MotionProfile and synchronization F6010 occurred during an MLD tech function
mode not active................................................. 162 update................................................................. 55
Extended position command value F6028 occurred during drive-controlled refer‐
(P-0-0100) did not take effect in cyclic posi‐ encing with distance-coded measuring sys‐
tion control mode.............................................. 119 tems.................................................................... 55
F6200 during torque change at load................... 56
F F6200 in normal operation................................ 132
F2009 "PL Load parameter default values" F8034 when executing C3600 together with
with specific HW equipment options................... 93 HMS05 devices................................................. 110
F2008 instead of C4101 during parameter F8064 Interruption of motor phase is inade‐
set switching of encoder parameters in AF......... 69 quately displayed in the case of error................. 23
F8078 during drive-controlled homing with
dedicated point "positive stop"............................ 66
F8078 in FXC control........................................ 166
190/199 IndraDrive MPC-20V30 Firmware for Drive Controllers
Index
Index
HMS05: PT1000 motor temperature sensor Impossible to switch sub-device state ma‐
cannot be operated........................................... 110 chines (CCD master/CCD slaves) separately..... 53
HMV05 signals E2814 Undervoltage in INCH scaling does not work with linear opt.
mains if mains overvoltage of approx. 530V encoder............................................................... 96
is applied........................................................... 143 Incompatible behavior with 2nd encoder in
Homing at positive stop faulty if torque/force versions MPx-18VRS and MPx-20VRS.............. 37
scaling negated................................................. 116 Incorrect "P-0-0334, Absolute encoder range
Homing at positive stop, torque limitation of measuring encoder"...................................... 137
with S-0530 remains active................................. 65 Incorrect actual position during fast homing
Homing procedure not executable multiple procedure............................................................ 42
times................................................................... 49 Incorrect automatic calculation of Encoder
Homing procedure with distance-coded Basic resolution with linear sine encoders
marks not possible for two analog encoders..... 103 and TTL encoders............................................. 140
Homing procedure with incremental motor Incorrect bit display in P-0-0445......................... 42
encoder and asynchronous motor.................... 142 Incorrect command value generator switch‐
Hotplug did not work after device had been ing between different target parameters........... 120
switched back on.............................................. 124 Incorrect commutation angle with linear motor... 23
Hxx05 F8060 when executing C3600 motor Incorrect cyclic handling of 1-byte values........... 71
data identification................................................ 91 Incorrect detection of the warning “E2048
Hxx05: Timeout when read accessing Battery undervoltage (encoder)”......................... 33
P-0-2602.0.1 (power section logbook event).... 121 Incorrect diagnostic message C0270 when
Hybrid actual position value also takes effect encoder fine correction fails................................ 79
in operation modes w/o axis control word Incorrect diagnostic message generated
S-0-0520, and for spindle positioning................. 67 with SSI encoders............................................... 79
Incorrect encoder status (S-0-0600.x.1) if
I error detected, only encoders with SSI inter‐
IDST, unable to activate SafeMotion in faces and encoders of MSM motors................. 138
„Controller replacement“ dialog after device Incorrect entries in S-0-0423 during physical
was replaced....................................................... 99 initialization of multiple encoder types.............. 140
If F217x is reported, a reference is signaled Incorrect length of cyclic data with 1:1 timing..... 30
after switching between OM-PM-OM.................. 34 Incorrect maximum torque value for MS2N
IL_SIIIMasterState function block does not motors................................................................. 34
work with MLD.................................................. 169 Incorrect maximum values of S-0-0113/
IL_UdpKeys and IL_MKeys missing in P-0-0113 with linear motors.............................. 170
MPx-20VRS...................................................... 156 Incorrect measuring encoder position initiali‐
Immediately switched on after OM->PM- zation after setting absolute position with
>OM with the IO profiles 0xFF82,0xFF92......... 169 P-0-0087 unequal 0.......................................... 159
Impossible to activate redundant motor en‐ Incorrect min/max values of coordinate sys‐
coder................................................................. 143 tem parameters................................................. 118
Impossible to complete homing procedure Incorrect parameter set switching..................... 146
after motor encoder emulation............................ 84 Incorrect parameter set switching for motor/
Impossible to configure real-time status bits encoder............................................................... 85
via TwinCAT startup list on CCD slave............... 87 Incorrect position after exception...................... 141
Impossible to configure S-0-0390, bit 20, in Incorrect position initialization measuring en‐
the signal status word......................................... 69 coder with motion.............................................. 141
Impossible to determine the cogging torque Incorrect position initialization of measuring
table with linear motor....................................... 104 encoder if P-0-0765 = 0.................................... 130
Impossible to evaluate BISS C encoders............ 50 Incorrect position initialization of position
Impossible to negate EnDat2.2 with <= 32- feedback value (modulo) with motion............... 141
bit position format................................................ 62 Incorrect position initialization with modulo
Impossible to negate the incremental track scaling............................................................... 130
for distance-coded encoders............................... 93 Incorrect position initialization with SSI en‐
Impossible to operate digital Hall sensors.......... 74 coder after encoder error.................................. 103
Impossible to set system time with Ether‐ Incorrect position when homing distance-co‐
CAT................................................................... 125 ded encoder systems.......................................... 65
Impossible to switch MS2N with Acuro-Link Incorrect ring delay measurement in the
encoder to operating mode................................. 28 case of unstable slave topology when
switching to CP0............................................... 153
192/199 IndraDrive MPC-20V30 Firmware for Drive Controllers
Index
Incorrect velocity extrapolation in case en‐ Linear motor with encoder data memory.......... 110
coder telegram fails............................................. 94 List parameters contained in oscilloscope
Incorrect velocity scaling in mm/s..................... 176 signal selection................................................. 164
Incorrect web server list access........................ 132 LOADER IP address: 192.168.0.1...................... 21
Incorrect zero point shifting with EnDat 2.1...... 166 Loading application-specific data from en‐
Increase in ENCB resolution incorrectly im‐ coder did not work............................................. 136
plemented for EnDat2.2 and ACURO-Link....... 130 Long adjusted diagnostic messages and er‐
Increase of resolution: Absolute range not rors of PLC are not displayed in S-0-0095.......... 89
reduced for rotary combined encoders............. 113 Long switching times for PM to OM switch‐
Increased lag error for devices with optional ing..................................................................... 133
safety technology module "L4".......................... 170 Long switching times for resolver after park‐
Increasing the Basic resolution for encoders ing axis and PM-OM........................................... 50
does not work correctly..................................... 142 Loss of position in the case of negated
Incremental encoder emulation: Error F2053 ENCB initial position and digital encoders........ 111
in the case of modulo processing of Loss of position without loss of reference in
"S-0-0051"......................................................... 145 the case of encoder with sine signals and
IndraDrive device signaled inadmissible SSI interface....................................................... 80
service channel error code.................................. 43 Loss of reference after encoder was replaced.... 66
IndraDrive Mi - wrong drive state AB if DC Loss of reference F2174 if PWM mode
bus voltage missing - no error message in AF.... 82 changed............................................................ 116
IndraDrive: Sensorless control FXC - motor Loss of reference with linear encoders with‐
does not stop with Drive Halt.............................. 29 out OEM memory.............................................. 172
Inductance values Ld and Lq incorrectly de‐
termined............................................................ 142 M
Infeed factor unit P-0-0562 wrong ([mm/rev] Magnetization with asynchronous motor
instead of [rev/mm]).......................................... 117 takes very long.................................................. 103
Infinite loop of DriveInit task................................ 27 Mark evaluation does not work with com‐
Initial value of "P-0-0562, Actuator infeed/ bined encoders for SSI....................................... 79
gear ratio compensation" was wrong................ 121 Master axis synchronization range incorrect‐
Initializing IndraDrive oscilloscope function........ 57 ly implemented with single-step synchroniza‐
Inkompatibles Verhalten bzgl. konfigurierter tion.................................................................... 175
erlaubter Verbindungsausfälle bei zyklischer Master comm. motion task occasionally
Lageregelung.................................................... 119 called in 1 ms clock during switching proc‐
Invalid basic device parameters (P-0-0192, ess of master comm. state machine................... 40
P-0-0193, ...)....................................................... 75 Master communication encoder displays
Invalid encoder operating data parameters twice the velocity of encoder at master axis....... 94
for MS2N motor with HIPERFACE encoder...... 171 Master communication: S-0-0000 cannot be
Invalid parameters when switching from used in process data configuration................... 100
master communication to EtherCAT COE.......... 36 Max. frequency slope incorrectly calculated..... 161
Invalid retain data (P-0-1359)............................. 29 Maximum length =0 displayed when reading
Invalid standard parameters after SMO auto instance parameters (e.g., S-0-0601.1.130/
commissioning.................................................. 129 P-0-2572) via PROFINET/PROFIBUS................ 43
Inversion using S-0-0277 not taken into ac‐ MB_PhasingSlave: VmAxisInt has to be
count for encoder-1-related emulation.............. 121 used in secondary master mode to offset the
IO mapper inputs, "Safe AND" (type8): slave axis position............................................. 154
Wrong target parameter.................................... 176 MC_CamIn: Deadlock in error state.................. 154
IP messages are sporadically transmitted at MC_MoveAbsolute: Simultaneous
the wrong port (X24/25)...................................... 98 CommandAborted and Done.............................. 90
MC_Power signals error; MLD-M........................ 89
K MC_ReadStatus: Done and Error outputs si‐
KTY motor temperature inaccurately trans‐ multaneously set............................................... 154
mitted via S4W.................................................. 139 Measuring encoder always initializes using
the retain data................................................... 174
L Measuring encoder: Error in homing proce‐
Linear encoder with absolute scaling................ 159 dure: Incorrect reference position depending
Linear HIPERFACE encoders (TTK70) are on velocity......................................................... 159
not supported.................................................... 172
IndraDrive MPC-20V30 Firmware for Drive Controllers 193/199
Index
Measuring encoder: Incorrect position initiali‐ New device detected with Backup/Restore
zation if "P-0-0765, Modulo factor" = 0............... 92 function............................................................. 148
Measuring systems No command error C3609 if wrong number
Supported measuring systems...................... 10 of pole pairs or encoder resolution...................... 91
Memory access error when ring topology in‐ No comparison of phys. absolute range with
terrupted............................................................ 149 configured resolution for linear analog en‐
Missing display parameter for output of posi‐ coder................................................................... 64
tion command value generator........................... 26 No detailed diagnostics displayed with
MLD axis pattern adjusted for MLD-S............... 167 F8022 (ACURO®link encoder)......................... 113
MLD EtherNetIP scanner: Run/idle bit not No detailed diagnostics if the same F6010
set correctly....................................................... 122 error occurs again............................................... 77
MLD: Error during project download via pa‐ No error message in the case of C66 in CCD
rameters.............................................................. 61 group if slave axis in OM..................................... 86
Modulo correction missing for absolute posi‐ No F2174 or F2175 if loss of reference
tion feedback values......................................... 177 P-0-0753 Position actual value in actual val‐
Modulo value can be set to value higher ue cycle............................................................. 131
than maximum travel range................................ 92 No IP communication due to incorrect detec‐
MotionProfile - erratic behavior if value of tion of duplicate IP............................................ 132
P-0-0701 changed in operating mode............... 163 No logger message if boot project does not
Motor holding brake remains applied in spite fit into memory.................................................. 108
of drive enable.................................................. 136 No position adjustment between encoder 1
Motor motion during Drive on delay time............ 23 and encoder 2 if both encoders can be eval‐
Motor replaced without C0263.......................... 156 uated in absolute form........................................ 95
Motor replacement MSK-> MS2N..................... 110 No reference marks with SSI encoder................ 96
Motor shutdown temperature was not set or No zero pulses output after E2035..................... 51
not checked......................................................... 81 Noise reduction by smoothing the actual cur‐
Motor-related encoder emulation was not rent value............................................................ 44
supported.......................................................... 121
Motors O
Supported motors.......................................... 10 OEM memory was not recognized after mo‐
MPC-20V08: C0606 and E2001 in the case tor replacement................................................. 157
of drive-controlled homing with 1Vpp encoder.... 94 Offline parameterization not possible with
MPE: Motor data identification, third-party IndraWorks.......................................................... 94
motor, S106 = 0.................................................. 78 Only 2 filter types can be selected in
MPM: Incorrect default value for "P-0-0045" "P-0-1120" with MPE......................................... 143
with OPEN-LOOP............................................. 175 Optimized commutation offset in relation to
MPx20V10: Backup/restore control panel the zero mark does not work............................. 143
function............................................................. 122 Optional modules.................................................. 6
MSC motors with Tamagawa encoder are Oscilloscope function changes parameter at‐
supported............................................................ 37 tributes of uninvolved parameters....................... 51
MSK type plate version 3 not supported........... 108 Oscilloscope: Manual trigger does not work
MSM motor battery monitoring inconsistent as expected......................................................... 36
with MPx-18VRS............................................... 117 Overcurrent when operating asynchronous
MSM motor encoder: Incorrect position if motors................................................................. 28
battery entirely empty........................................ 137 Overflow of encoder position handled incor‐
MSM motor with the wrong position signals rectly with digital encoders................................ 131
reference........................................................... 120
MSM motor: Faulty thermal motor monitor‐ P
ing..................................................................... 108 P-0-0013 contains parameters whose values
were not changed by the customer..................... 84
N P-0-0013 does not show all affected param‐
NC cannot control axis anymore after easy eters if EtherCAT master communication is
startup mode has been exited............................. 30 active................................................................... 84
Negation of encoder does not become ac‐ P-0-0017, Power output stage control word
tive, for linear encoders: Sine, TTL, Hiper‐ cannot be configured in signal control word........ 97
face, EnDat 2.1................................................. 113 P-0-0018, Number of pole pairs........................ 109
P-0-0019, Initial position value has no effect...... 94
194/199 IndraDrive MPC-20V30 Firmware for Drive Controllers
Index
P-0-0110 extended by error classes bits 1 & Position feedback value (S-0-0051/S-0053/
2........................................................................ 127 P-0-0052) incorrectly initialized if forced ab‐
P-0-0214 and P-0-0216 cannot be config‐ solute encoder evaluation configured................. 92
ured in MDT and AT.......................................... 169 Position feedback value 2 jumps if feed con‐
P-0-0509 faulty if commutation angle deter‐ stant 2 activated................................................ 157
mined using measuring method........................ 118 Position feedback value drifts when chang‐
P-0-0548.0.2 has an effect on duration of ing between PM-OM under motion........... 139, 173
brake check....................................................... 109 Position feedback value drifts with modulo
P-0-0548.0.2, Maximum test duration hold‐ scaling............................................................... 172
ing system released, has an influence on the Position feedback value of encoder 2
brake check duration......................................... 136 (homed) is not applied to position feedback
P-0-0788 cannot be emulated (incremental value of encoder 1 (not homed).......................... 79
encoder emulation)............................................. 98 Position initialization of combined encoder:
P-0-0901.x.2, bit 7, not cyclically configura‐ Correction angle is not limited........................... 113
ble in signal control word.................................. 163 Position initialization of combined encoder:
P-0-0901.x.2, bit 7, not cyclically configura‐ max. initialization speed not taken into ac‐
ble in signal status word.................................... 163 count................................................................. 157
P-0-2937.0.3, Input of force feedback value Position initialization with EnDat2.1 is not ini‐
cannot be written via master communication...... 98 tialized over entire absolute encoder range...... 173
P-0-3335.0.3 (possible source ID for signal Position jump with linear analog encoders
control of outputs) is filled with wrong IDNs (travel range cannot be displayed internally).... 111
in the case of ADS communication................... 101 Position limit value monitoring does not take
P-0-4089.0.1 - misleading min/max values....... 166 effect for homing WITHOUT mark and switch.... 42
P1901.0.2 (CiA402: status word) not set cor‐ Position offset in the case of initialization un‐
rectly in simulation mode with CiA402 profile..... 87 der motion (SSI sine)........................................ 157
Parameter conversion error (C0203) occurs Position offset of up to one division period in
after machine switched on for the first time...... 118 the case of initialization under motion (HI‐
Parameter limit values S550,S551,S553 PERFACE)........................................................ 113
wrong/unsuitable with [N] as torque scaling...... 122 Position offset under motion (EnDat 2.1).......... 158
Parameter P-0-1365 does not contain code Position synchronization operation mode is
offset................................................................... 91 incorrect when using a linear motor.................... 57
Parameter P-0-3060.0.3 invalid.......................... 75 Position-controlled op. mode with encoder1
Parameter S-0-0001 NC cycle time is not not possible with FXC as motor ctrl and
correctly generated with Sercos.......................... 52 complex actuator with encoder1....................... 119
Parameter S-0-1702.0.15 does not retain......... 118 PositionLoop event needs more calculating
Parameter set switching of gearbox parame‐ time after PLC reset (warm,cold)...................... 133
ters...................................................................... 79 Possible F9003 in the case of overloaded
Parameter values are lost after 2nd reset PLC task in synchronism with CCD/master
(via S-0-1350)................................................... 169 communication.................................................. 134
Parameterization incorrectly applied in the Power sections, overview..................................... 4
case of C8400................................................... 177 POWERLINK: Communication interrupted
Parameters in a cyclic connection have to with "backup of all parameters"......................... 149
handle the value 0 as parameter value............. 119 POWERLINK: Sporadic F4009 with bus cy‐
Parameters S-0-0440 to S-0-0443 (marker cles >= 1ms....................................................... 133
position) re-implemented.................................... 63 Problems when saving parameters using pa‐
PLC error F6010 if retain data only defined rameter snapshot.............................................. 122
in FB instances................................................... 23 Problems with incremental encoder emula‐
PLC project prevents repeated program tion with zero pulse offset (P-0-0901.x.4)
download............................................................. 90 and P-0-0052...................................................... 83
PLC task watchdog or hangs up after re- Problems with MLD project when parameter
download of a PLC project................................ 108 file is loaded...................................................... 171
PLC tasks are not suspended if suspension Problems with MS2N motor (S4W encoder)
occurs at the wrong time..................................... 40 and long encoder cable (> 50 meters)................ 95
PLC: AxisData does not work for SMO pa‐ Problems with parameter download, e.g. us‐
rameters as actual values................................. 156 ing IW................................................................ 165
PLL type can be switched with Sercos III........... 44 Problems with temperature sensor evalua‐
Position actual value in actual value cycle is tion of SNM 110-EK (ML3 motors)...................... 34
incorrectly initialized with motion....................... 131
IndraDrive MPC-20V30 Firmware for Drive Controllers 195/199
Index
Process data configuration of CCD master is Restricted travel range with rotary distance-
overwritten sporadically during CCD phase coded measuring systems.................................. 92
switching (C0170)............................................... 36 Retain variables do not work after project
PROFIBUS: Acknowledging malfunction af‐ loaded using parameters.................................. 134
ter communication interrupted.......................... 123 Return motion error reaction not available in
PROFINET IO: Acknowledging malfunction functional package Sytronix................................ 83
after communication interrupted....................... 123 RIL_SercosIII: Done output (Fb IL_SIIISvc‐
ProfiNet: Communication via Ethernet im‐ Write) is not set when deleting 1-byte list pa‐
possible if IP settings are incorrect..................... 86 rameters.............................................................. 49
PROFINET: F2025 or AF after switching Rotary combined encoder for SSI only works
from PM to OM.................................................. 100 with SSI resolution............................................ 174
PROFINET: F4012 is signaled and cannot
be acknowledged anymore............................... 123 S
PT1000 - faulty short circuit monitoring............ 117 S 534 set to zero after motor identification......... 97
PT1000 motor temperature sensor does not S-0-0000 gets max. value of P-0-4071 or
work with V1 control sections............................ 160 P-0-4082........................................................... 125
PT1000 temperature sensor inaccurately S-0-0007 becomes invalid when basic pa‐
evaluated............................................................ 97 rameters are loaded.......................................... 148
Puttin S-0-0054 in cyclic telegram S-0-0188..... 114 S-0-0100 incorrectly calculated with
MPE20V12 during motor identification at
Q MLP070C............................................................ 97
QSK motor is not acknowledged with C0204...... 62 S-0-0100 is calculated incorrectly when the
Quiting parking axis and exiting parameteri‐ motor identification C3600 is in motion............... 56
zation level too slow with HIPERFACE en‐ S-0-0100 set to zero after command C3200..... 109
coders................................................................. 74 S-0-0134 and S-0-0135 not used with ana‐
log profile type................................................... 126
R S-0-0141 too short for kit motors...................... 126
Reading P-0-2602.0.130 provided error S-0-0192 does not contain enough elements
message........................................................... 164 when backed up via 16-bit interface................... 24
Recordiung of diagnostic messages cannot S-0-0197/0199 only take effect for one en‐
be controlled using diagnostic trace control...... 164 coder................................................................. 115
Recursive master axis combination is not S-0-0211, S-0-0212: decimal places deviat‐
checked............................................................. 155 ing from standard................................................ 67
Reduction of encoder resolution does not S-0-0337, Status P >= PL is not mapped to
work.................................................................. 114 S-0-0013, Class 3 diagnostics............................ 97
Reference gets lost after measuring wheel S-0-0425, bit 0, cannot be controlled via dig‐
mode is activated................................................ 63 ital input............................................................... 69
Reference in spite of F2105 when setting S-0-0600.x.1 Encoder status; bit 5 position
absolute position............................................... 158 status was not generated.................................. 158
Reference is always set again after "C1500 S-0-0602.x.136 is not reset when default
Cancel reference point procedure" com‐ values are loaded.............................................. 174
mand................................................................. 139 S-0-1300.0.152 not read completely................. 108
Reference point offset with a distance-coded S/IP gateway does not work in MLD master..... 166
encoder............................................................... 80 S/IP server sporadically cannot be accessed
Rejected Forward Open request....................... 151 in the drive.......................................................... 69
Release downgrade............................................ 13 S/IP: PlcVarAccess, F9005 if MLD not con‐
Release update................................................... 13 figured as functional package........................... 171
Releases............................................................... 1 S4W signals wrong encoder status in the
Replacing the control panel: Display shows case of error F8022........................................... 158
C0214 after "Load new Safety" was carried SafeMotion: Detailed diagnostics in
out....................................................................... 25 S-0-0390.0.136................................................... 89
Resolution not automatically determined for Safety-relevant error ticket #385 in CSoS
combined encoder for SSI................................ 172 stack (IXXAT).................................................... 153
Restore possible if archive created on differ‐ SCA: Implementing the "single cam" require‐
ent device type.................................................... 70 ment.................................................................. 127
Restore: MLD reload was triggered although Scaling of velocity changes after restart............. 25
MLD had not been stopped/restored................ 147
196/199 IndraDrive MPC-20V30 Firmware for Drive Controllers
Index
Sense of motion check results in permanent Switching error C0272 if linear axis set to
motor rotation...................................................... 56 load scaling......................................................... 95
Sensorless deceleration is possible again.......... 47 Switching frequency of the power output
Sensorless synchronous motor cannot be stage can now be changed in PM..................... 161
operated after execution of motor data iden‐ Switching from PM to OM takes a long time
tification command............................................ 109 with a configured master communication en‐
Sercos encoder cannot be used as a motor coder................................................................... 72
control encoder................................................. 139 Switching from position to velocity control
Sercos encoder: Position value transmission uses command value instead of actual value..... 29
not checked in transition command.................. 141 Switching off fine adjustment for combined
Sercos: Drive sometimes loses telegrams af‐ encoders for SSI............................................... 114
ter switching to CP3.......................................... 149 Switching the master communication proto‐
Sercos: Value 0 can be set for S1003.............. 100 col does not cause switching of master com‐
Serial commissioning impossible with cus‐ munication profile.............................................. 165
tomer password assigned................................. 105 Switching times PM -> OM too long.................. 110
SMO - configuration loss after parameters Sytronix and sensorless motor control do not
were loaded...................................................... 129 work.................................................................. 117
SMO dynamization monitoring only works for Sytronix: Impossible to include actuator in‐
one functional input............................................. 77 feed compensation in AT telegram..................... 85
SMO parameters assigned to X31/X35 as
output do not switch the output......................... 104 T
SMO: Incorrect velocity feedback value with Taking the jerk into account in SMD................. 127
modulo scaling.................................................... 39 Target position is not applied to actual posi‐
Softstart fault F2816............................................ 67 tion when changing from MC_Jog to
Softstart fault F2816 with HCS1.1W54............... 26 MC_MoveAdditive............................................... 82
Softstart fault with HCS W54.............................. 30 TCP connection to the CCD slave:
Speed-dependent position offset between IndraWorks exception during Sercos phase
encoder 1 and 2 (F2036).................................. 139 switch................................................................ 150
Spindle encoder function cannot be activa‐ The 0x1C00 01..04 objects are of the wrong
ted..................................................................... 116 data type............................................................. 87
Sporadic E2075 with optional encoder............. 114 The readout of stored parameters in the en‐
Sporadic error F2028 "Excessive deviation"....... 68 coder fails / or encoder cannot be written........... 33
Sporadic F8034................................................. 153 Thermal model inadmissibly reduces above
Sporadic F8304 with Advanced control sec‐ 125 Hz................................................................. 78
tions.................................................................. 151 Thermal motor model overload E2051.............. 161
Sporadic F9100 with MSM motor...................... 141 Third-party resolver sporadically returns
Sporadisch F8354 mit Querschlusserken‐ F8022 if Cs heats up......................................... 114
nung.................................................................. 107 Time stamp of hardware/firmware replace‐
SSI encoder is changed to combined encod‐ ment detection contains wrong data................... 61
er for SSI during 1st OM switching..................... 80 Too many Telnet sessions cause F9100............ 99
SSI issues with gray-coded encoders and Transition command error C0209 with En‐
enabled error bits................................................ 56 dat2.1 encoders................................................ 139
SSI sine encoder linear: Encoder resolution Transition command error C0209 with MPE
S-0-0601.x.2 incorrectly calculated................... 115 and encoder version 4.1................................... 139
SSI-encoder emulation - SSI-encoder evalu‐ Transition command error C0212 due to in‐
ation as measuring encoder.............................. 114 valid parameters................................................. 85
Stall detection does not work in FXC opera‐ TTL encoder evaluation: S-0-0600.x.1 En‐
tion...................................................................... 40 coder status, bit 5 position status always 0....... 140
Starting commands "S-0-0127/S-0-0128" in TTL encoder incorrectly evaluated in
forbidden Sercos phase using real-time bits..... 173 MPC-20VRS..................................................... 158
Subsequent PM switching is prevented with TTL encoder wire break monitoring does not
C0401 in the case of bus failure (F4009)............ 44 work.................................................................. 158
Supported temperature sensors for ML3 lin‐
ear motor............................................................. 73 U
Switching encoder 1 to encoder 2 does not UL certification failed due to "Component
work with two homed absolute encoder sys‐ Breakdown Test"............................................... 135
tems.................................................................... 81
IndraDrive MPC-20V30 Firmware for Drive Controllers 197/199
Index
Unjustified E2084 "Reference mark not de‐ Wrong identification values are determined if
tected (cogging reference)" cannot be cleared... 41 drive is much bigger than synchronous motor.... 97
Wrong IDN for reading maximum possible
V phys. initialization speed................................... 159
V/Hz (U/f) control: Wrong command value Wrong module code and thereby motor seri‐
after drive enable switched on............................ 81 al number in motor encoder memory.................. 27
Value range of P-0-1803.2.1, CCD: Slave
address in high level network is only 0-99.......... 30 Y
Value read back of parameters with struc‐ Y-D switching of synchronous motors............... 136
ture index 130 does not comply with written
value................................................................... 69 Z
Values for S-0602.1.1 and S-0602.1.3 got Zero data are transmitted to FSoE stack............ 87
lost.................................................................... 131 Zero pulse output with motor encoder-rela‐
Variable maximum value implemented for ted emulation incorrect in case of absolute
P-0-0095/96/97 absolute encoder monitoring encoder systems................................................. 34
window................................................................ 96
Velocity feedback value (S-0-0040) incor‐
rectly calculated if mix factor used.................... 161
Velocity feedback value of encoder 2 incor‐
rectly generated................................................ 140
Velocity in master axis generator is too low
by factor 0.5 after first phase progression......... 169
Velocity search mode did not work................... 142
Velocity synchronization mode: Operation
mode incorrectly activated, if Vact <
S-0-0124........................................................... 144
Velocity-dependent PWM switching did not
work with command value box............................ 66
Verification of SMO parameters via ADS
does not work...................................................... 89
Version downgrade............................................. 13
Version upgrade.................................................. 13
Virtual master axis generator: Function
blocks do not output any error message if
master axis generation not activated.................. 90
Virtual master axis generator: Incorrect mo‐
tion profile if NC cycle time unequal
"S-0-0001"......................................................... 145
W
W54 device remains in bb in spite of mains
voltage having been connected........................ 162
Warning E2035 indicates that the encoder
emulation frequency is too high.......................... 35
Warning E2063 no longer output after
changing operation mode and changing
back.................................................................. 119
Watchdog when accessing list/string param‐
eters.................................................................... 90
With anti-vibration filter, drive does not move
to initial position, F2028...................................... 68
With asynch. motor + encoder, S-0-0100 is
set to 0 after end of command C3600............... 109
Wrong cogging reference with absolute en‐
coder and encoder gearbox unequal 1:1.......... 161
Wrong error message with VmAxisInt as
slave axis.......................................................... 155
198/199 IndraDrive MPC-20V30 Firmware for Drive Controllers
Notes
IndraDrive MPC-20V30 Firmware for Drive Controllers 199/199
Notes
Bosch Rexroth AG
P.O. Box 13 57
97803 Lohr a.Main, Deutschland
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr a.Main, Deutschland
Phone +49 9352 18 0
Fax +49 9352 18 8400
www.boschrexroth.com/electrics
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