Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

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7-6 Commissioning and Parameterization Rexroth IndraDrive Communication Phase 3 Transition Check The procedure comprises several steps and is controlled by the master by presetting communication phases –1 to 4 and starting/completing the following commands: • S-0-0127, C0100 Communication phase 3 transition check • S-0-0128, C0200 Communication phase 4 transition check . When the drive has reached communication phase 4 without error, the display reads "bb". The corresponding diagnostic message is: • A0013 Ready for power on Transition Check Commands To switch from communication phase 2 to 3 and from 3 to 4 it is necessary to activate transition check commands in the drive: • S-0-0127, C0100 Communication phase 3 transition check • S-0-0128, C0200 Communication phase 4 transition check Note: In order to get back from the operating mode to the parameterization mode, there is the command P-0-4023, C0400 Communication phase 2 transition. By executing the command S-0-0127, C0100 Communication phase 3 transition check a number of checks and parameter conversions are carried out that can possibly cause the listed command errors: • Checking whether functional package selection was changed • C0199 Functional package selection changed. Restart → drive has to be rebooted before it is possible to switch to phase 3 • Checking validity of parameters required for switching to phase 3 If one of these parameters has never been written or the backup was carried out incorrectly, the error message "C0101" is generated. The IDNs of the faulty parameters are listed in parameter S-0-0021, IDN list of invalid operating data for communication phase 2. These parameters have to be set valid by writing correct values to them. • C0101 Invalid parameters (-> S-0-0021) • Checking device configuration • C0132 Invalid settings for controller cycle times • C0138 Invalid amplifier data (->S-0-0021) • Checking telegram configuration, especially in the case of configured telegrams In this case a check is run to find out whether the parameters selected for the configurable data block in the cyclic command value channel (MDT) or actual value channel (AT) may be configured and whether the allowed length of the configurable data blocks is complied with. • C0104 Config. IDN for MDT not configurable • C0105 Maximum length for MDT exceeded • C0106 Config. IDNs for AT not configurable • C0107 Maximum length for AT exceeded • If necessary, checking timing parameters for SERCOS communication in phases 3 and 4 for validity and compliance with requirements • C0108 Time slot parameter > Sercos cycle time • C0109 Position of data record in MDT (S-0-0009) even DOK-INDRV*-FU*********-IB01-EN-P
Rexroth IndraDrive Commissioning and Parameterization 7-7 Communication Phase 4 Transition Check DOK-INDRV*-FU*********-IB01-EN-P • C0110 Length of MDT (S-0-0010) odd • C0111 ID9 + Record length - 1 > length MDT (S-0-0010) • C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error • C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error • C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005) • C0115 T2 too small • C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010) • C0139 T2 (S-0-0089) + length MDT (S-0-0010) > TScyc (S-0- 0002) • If necessary, checking parameters for field bus communication for validity and compliance with requirements • C0154 Field bus: IDN for cycl. command val. not configurable • C0155 Field bus: max. length for cycl. command val. exceeded • C0156 Field bus: IDN for cycl. actual val. not configurable • C0157 Field bus: length for cycl. actual values exceeded • C0158 Field bus: Tcyc (P-0-4076) incorrect • C0159 Field bus: P-0-4077 missing for cycl. command values • Checking configuration of multiplex channel • C0118 Order of MDT configuration incorrect • C0151 IDN for command value data container not allowed • C0152 IDN for actual value data container not allowed • Limit value check of communication parameters and system • C0102 Limit error in parameter (-> S-0-0021) • C0103 Parameter conversion error (->S-0-0021) • C0131 Switching to phase 3 impossible With the S-0-0128, C0200 Communication phase 4 transition check command the following checks and initializations are carried out that can possibly cause the listed command errors: • Checking validity of parameters required for subsequent initializations • C0201 Invalid parameters (->S-0-0022) • C0212 Invalid control section data (->S-0-0022) • Checking motor and encoder configuration • C0219 Max. travel range too large • C0270 Error when reading encoder data => motor encoder • C0271 Incorrect parameterization of motor encoder (hardware) • C0272 Incorr. parameteriz. of motor enc. (mechanical system) • C0273 Modulo value for motor encoder cannot be displayed • C0274 Motor encoder unknown • C0275 Error when reading encoder data => optional encoder • C0276 Incorrect parameterization of optional enc. (hardware) • C0277 Incorr. parameteriz. of opt. enc. (mechanical system) • C0278 Modulo value for optional encoder cannot be displayed • C0279 Optional encoder unknown • C0280 Maximum travel range cannot be displayed internally • C0284 Invalid motor data in encoder memory (->S-0-0022)
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Electric Drives Linear Motion and a
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Rexroth IndraDrive Contents I Conte
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Rexroth IndraDrive Contents III Mul
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Rexroth IndraDrive Introducing the
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Rexroth IndraDrive Important Direct
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Rexroth IndraDrive Safety Instructi
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Rexroth IndraDrive Identification,
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Rexroth IndraDrive Electrical Data
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Rexroth IndraDrive Mounting and Ins
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Rexroth IndraDrive Diagnostic and S
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Rexroth IndraDrive Service & Suppor
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Rexroth IndraDrive Index 10-1 10 In
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Rexroth IndraDrive Index 10-3 DOK-I
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Rexroth IndraDrive Index 10-11 DOK-
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R911314905 Bosch Rexroth AG Electri
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Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

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