R91129731 Edition Rexroth IndraDrive MPx02, MPx3, · PDF fileAbout this Documentation Rexroth...

Rexroth IndraControl VCP 20

IndustrialHydraulics

Electric Drivesand Controls

Linear Motion and Assembly Technologies Pneumatics

ServiceAutomation

MobileHydraulics

Rexroth IndraDriveMPx02, MPx3, MPx04 and HMV

R911297319Edition 03

Troubleshooting Guide

About this Documentation Rexroth IndraDrive

DOK-INDRV*-GEN-**VRS-WA03-EN-P

Rexroth IndraDrive

MPx02, MPx03, MPx04 and HMV

Troubleshooting Guide


Document Number, 120-2400-B307-03/EN

This document is designed to assist maintanenance personnel inidentifying errors with the machinery.

It serves to:

• help in understanding error messages

• help in finding the cause of errors

• describe the procedure for trouble shooting

Description ReleaseDate

Notes

DOK-INDRV*-GEN-**VRS**-WA01-EN-P 03.2004 First edition

DOK-INDRV*-GEN-**VRS**-WA02-EN-P 11.2004 Also valid for MPx03

DOK-INDRV*-GEN-**VRS**-WA03-EN-P 01.2006 Also valid for MPx04

2006 Bosch Rexroth AG

Copying this document, giving it to others and the use or communicationof the contents thereof without express authority, are forbidden. Offendersare liable for the payment of damages. All rights are reserved in the eventof the grant of a patent or the registration of a utility model or design(DIN 34-1).

The specified data is for product description purposes only and may notbe deemed to be guaranteed unless expressly confirmed in the contract.All rights are reserved with respect to the content of this documentationand the availability of the product.

Bosch Rexroth AGBgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85

http://www.boschrexroth.com/

Dept. EDY1 (SA, BB)

This document has been printed on chlorine-free bleached paper.

Title

Type of Documentation

Document Typecode

Internal File Reference

Purpose of Documentation

Record of Revisions

Copyright

Validity

Published by

Note

Rexroth IndraDrive Contents I


Contents

1 Basics on Device Diagnosis 1-1

1.1 Diagnostic System ........................................................................................................................ 1-1

Coded Diagnostic Drive Messages ......................................................................................... 1-1

Status Classes, Status Displays, Control Parameters ............................................................ 1-4

1.2 Control Panels of the IndraDrive Controllers .............................................................................. 1-10

General Information on the Control Options.......................................................................... 1-10

Standard Control Panel ......................................................................................................... 1-13

1.3 Extended Diagnostic Possibilities............................................................................................... 1-21

1.4 Terms, Basic Principles .............................................................................................................. 1-21

Parameters ............................................................................................................................ 1-21

Data Storage and Parameter Handling ................................................................................. 1-21

Password ............................................................................................................................... 1-22

Commands ............................................................................................................................ 1-23

Operating Modes ................................................................................................................... 1-24

Warnings................................................................................................................................ 1-24

Errors ..................................................................................................................................... 1-25

2 Important Directions for Use 2-1

2.1 Appropriate Use............................................................................................................................ 2-1

Introduction .............................................................................................................................. 2-1

Areas of Use and Application .................................................................................................. 2-2

2.2 Inappropriate Use ......................................................................................................................... 2-2

3 Safety Instructions for Electric Drives and Controls 3-1

3.1 General Information ...................................................................................................................... 3-1

Using the Safety Instructions and Passing them on to Others................................................ 3-1

Instructions for Use.................................................................................................................. 3-1

Explanation of Warning Symbols and Degrees of Hazard Seriousness ................................. 3-3

Hazards by Improper Use........................................................................................................ 3-4

3.2 Instructions with Regard to Specific Dangers............................................................................... 3-5

Protection Against Contact with Electrical Parts ..................................................................... 3-5

Protection Against Electric Shock by Protective Low Voltage (PELV) .................................... 3-6

Protection Against Dangerous Movements ............................................................................. 3-7

Protection Against Magnetic and Electromagnetic Fields During Operation andMounting .................................................................................................................................. 3-9

Protection Against Contact with Hot Parts ............................................................................ 3-10

Protection During Handling and Mounting............................................................................. 3-11

Battery Safety ........................................................................................................................ 3-11

Protection Against Pressurized Systems .............................................................................. 3-12

II Contents Rexroth IndraDrive


4 Operating States 4-1

Ab ............................................................................................................................................ 4-1

AC............................................................................................................................................ 4-1

AE ............................................................................................................................................ 4-1

AF ............................................................................................................................................ 4-1

AH............................................................................................................................................ 4-1

AS ............................................................................................................................................ 4-1

ASP.......................................................................................................................................... 4-1

AU............................................................................................................................................ 4-1

bb............................................................................................................................................. 4-1

charg........................................................................................................................................ 4-2

LB ............................................................................................................................................ 4-2

P0 ............................................................................................................................................ 4-2

P-1 ........................................................................................................................................... 4-2

P1 ............................................................................................................................................ 4-2

P2 ............................................................................................................................................ 4-2

P3 ............................................................................................................................................ 4-2

PM ........................................................................................................................................... 4-2

PL ............................................................................................................................................ 4-2

RL ............................................................................................................................................ 4-2

SBB.......................................................................................................................................... 4-2

SBB1........................................................................................................................................ 4-2

SBB2........................................................................................................................................ 4-3

SBB3........................................................................................................................................ 4-3

SBB4........................................................................................................................................ 4-3

SBH ......................................................................................................................................... 4-3

SH............................................................................................................................................ 4-3

ZKS.......................................................................................................................................... 4-3

5 Diagnostic Messages when Booting the Devices 5-1

5.1 Devices with Valid Firmware......................................................................................................... 5-1

5.2 Devices without Valid Firmware ................................................................................................... 5-1

5.3 Error Messages when Booting the Devices.................................................................................. 5-2

PLC ?....................................................................................................................................... 5-2

Stop PLC ................................................................................................................................. 5-2

Run PLC .................................................................................................................................. 5-2

Load New Safety ? .................................................................................................................. 5-3

No IDN on MMC ! .................................................................................................................... 5-3

Load new Param. ? ................................................................................................................. 5-4

End C29.................................................................................................................................. 5-4

MMC not correct! ..................................................................................................................... 5-4

IBF not correct! ........................................................................................................................ 5-4

Firmware update ?................................................................................................................... 5-5

Update Error ! .......................................................................................................................... 5-5

6 Status Diagnostic Messages 6-1

Rexroth IndraDrive Contents III


A0000 Communication phase 0 .............................................................................................. 6-1




A0009 Automatic baud rate detection for SERCOS interface................................................. 6-5

A0010 Drive HALT................................................................................................................... 6-6

A0011 Starting lockout active .................................................................................................. 6-6

A0012 Control and power sections ready for operation .......................................................... 6-7

A0013 Ready for power on...................................................................................................... 6-7

A0014 Drive interlock active .................................................................................................... 6-8

A0015 Safety related standstill active ..................................................................................... 6-9

A0016 Safety related operational stop active........................................................................ 6-10

A0017 Special mode motion active ....................................................................................... 6-11

A0018 Special mode motion 1 active .................................................................................... 6-13




A0050 Parameterization level 1 active .................................................................................. 6-21

A0100 Torque control ............................................................................................................ 6-21

A0101 Velocity control........................................................................................................... 6-22

A0102 Position mode, encoder 1 .......................................................................................... 6-22

A0103 Position mode, encoder 2 .......................................................................................... 6-23

A0104 Position mode lagless, encoder 1 .............................................................................. 6-23

A0105 Position mode lagless, encoder 2 .............................................................................. 6-24

A0106 Drive controlled interpolation, encoder 1 ................................................................... 6-24

A0107 Drive controlled interpolation, encoder 2 ................................................................... 6-25

A0108 Drive controlled interpolation, lagless, encoder 1 ...................................................... 6-25

A0109 Drive controlled interpolation, lagless, encoder 2 ...................................................... 6-26

A0110 Velocity synchronization, virtual master axis ............................................................. 6-26

A0111 Velocity synchronization, real master axis ................................................................. 6-27

A0112 Phase synchronization, encoder 1, virtual master axis.............................................. 6-27

A0113 Phase synchronization, encoder 2, virtual master axis.............................................. 6-28

A0114 Phase synchronization, encoder 1, real master axis ................................................. 6-28

A0115 Phase synchronization, encoder 2, real master axis ................................................. 6-29

A0116 Phase synchr. lagless, encoder 1, virtual master axis............................................... 6-29

A0117 Phase synchr. lagless, encoder 2, virtual master axis............................................... 6-30

A0118 Phase synchr. lagless, encoder 1, real master axis .................................................. 6-30

A0119 Phase synchr. lagless, encoder 2, real master axis .................................................. 6-31

A0128 Cam shaft, encoder 1, virtual master axis.................................................................. 6-31

A0129 Cam shaft, encoder 2, virtual master axis.................................................................. 6-32

A0130 Cam shaft, encoder 1, real master axis ..................................................................... 6-32

A0131 Cam shaft, encoder 2, real master axis ..................................................................... 6-33

A0132 Cam shaft, lagless, encoder 1, virt. master axis ........................................................ 6-33

A0133 Cam shaft, lagless, encoder 2, virt. master axis ........................................................ 6-34

A0134 Cam shaft, lagless, encoder 1, real master axis........................................................ 6-34

A0135 Cam shaft, lagless, encoder 2, real master axis........................................................ 6-35

IV Contents Rexroth IndraDrive


A0136 Motion profile, encoder 1, virtual master axis ............................................................ 6-35

A0137 Motion profile, encoder 2, virtual master axis ............................................................ 6-36

A0138 Motion profile, encoder 2, real master axis ................................................................ 6-36

A0139 Motion profile, encoder 1, real master axis ................................................................ 6-37

A0140 Motion profile lagless, encoder 1, virtual master axis ................................................ 6-37

A0141 Motion profile lagless, encoder 2, virtual master axis ................................................ 6-38

A0142 Motion profile lagless, encoder 1, real master axis.................................................... 6-38

A0143 Motion profile lagless, encoder 2, real master axis.................................................... 6-39

A0150 Drive-controlled positioning, encoder 1...................................................................... 6-40

A0151 Drive-controlled positioning, encoder 1, lagless ........................................................ 6-41

A0152 Drive-controlled positioning, encoder 2...................................................................... 6-42

A0153 Drive-controlled positioning, encoder 2, lagless ........................................................ 6-43

A0154 Position mode drive controlled, encoder 1................................................................. 6-44

A0155 Position mode drive controlled, encoder 2................................................................. 6-44

A0156 Position mode lagless, encoder 1 drive controlled .................................................... 6-45

A0157 Position mode lagless, encoder 2 drive controlled .................................................... 6-45

A0160 Position mode drive controlled................................................................................... 6-46

A0161 Drive-controlled positioning........................................................................................ 6-47

Ao162 Positioning block mode .............................................................................................. 6-48

A0163 Position synchronization ............................................................................................ 6-49

A0164 Velocity synchronization............................................................................................. 6-49

A0206 Positioning block mode, encoder 1 ............................................................................ 6-50

A0207 Positioning block mode lagless, encoder 1................................................................ 6-50

A0210 Positioning block mode, encoder 2 ............................................................................ 6-51

A0211 Positioning block mode lagless, encoder 2................................................................ 6-51

A0500 Supply module in voltage control ............................................................................... 6-52

A0502 Supply module in operation........................................................................................ 6-52

A0503 DC bus charging active .............................................................................................. 6-52

A0520 DC bus quick discharge active................................................................................... 6-53

A0800 Unknown operating mode .......................................................................................... 6-53

A4000 Automatic drive check and adjustment ...................................................................... 6-54

A4001 Drive deceleration to standstill ................................................................................... 6-55

A4002 Drive in automatic mode ............................................................................................ 6-55

7 Error Messages 7-1

7.1 Fatal System Errors (F9xxx and E-xxxx) ...................................................................................... 7-1

Behavior in the Case of Fatal System Error ............................................................................ 7-1

E-0000 Processor exception error........................................................................................... 7-2

F9001 Error internal function call............................................................................................. 7-3

F9002 Error internal RTOS function call ................................................................................. 7-3

F9003 Watchdog ..................................................................................................................... 7-4

F9004 Hardware trap............................................................................................................... 7-4

7.2 Fatal Errors (F8xxx) ...................................................................................................................... 7-5

Behavior in the Case of Fatal Error ......................................................................................... 7-5

F8000 Fatal Hardware Error.................................................................................................... 7-6

F8010 Autom. commutation: max. motion range when moving back ..................................... 7-7

Rexroth IndraDrive Contents V


F8011 Commutation offset could not be determined .............................................................. 7-8

F8012 Autom. commutation: max. motion range .................................................................... 7-9

F8013 Automatic commutation: current too low.................................................................... 7-10

F8014 Automatic commutation: overcurrent ......................................................................... 7-11

F8015 Automatic commutation: timeout................................................................................ 7-12

F8016 Automatic commutation: iteration without result......................................................... 7-13

F8022 Enc. 1: enc. signals incorr. (can be cleared in ph. 2) ................................................. 7-14

F8023 Error mechanical link of encoder or motor connection............................................... 7-15

F8027 Safety related standstill while drive enabled .............................................................. 7-16

F8042 Encoder 2 error: signal amplitude incorrect ............................................................... 7-17

F8057 Device overload shutdown ......................................................................................... 7-18

F8060 Overcurrent in power section ..................................................................................... 7-18

F8064 Interruption of motor phase ........................................................................................ 7-19

F8067 Synchronization PWM-Timer wrong........................................................................... 7-20

F8069 +/-15Volt DC error ...................................................................................................... 7-21

F8070 +24Volt DC error ........................................................................................................ 7-22

F8078 Speed loop error......................................................................................................... 7-23

F8079 Velocity limit value exceeded ..................................................................................... 7-24

F8091 Power section defective ............................................................................................. 7-25

F8100 Error when initializing the parameter handling........................................................... 7-26

F8102 Error when initializing power section.......................................................................... 7-27

F8118 Invalid power section/firmware combination .............................................................. 7-28

F8120 Invalid control section/firmware combination ............................................................. 7-28

F8122 Control section defective ............................................................................................ 7-29

F8129 Incorrect optional module firmware ............................................................................ 7-29

F8130 Firmware of option 2 of safety technology defective.................................................. 7-30

F8133 Error when checking interrupting circuits ................................................................... 7-31

F8140 Fatal CCD error .......................................................................................................... 7-32

F8201 Safety command for basic initialization incorrect ....................................................... 7-33

F8203 Safety technology configuration parameter invalid .................................................... 7-34

F8806 Timeout during loading process ................................................................................. 7-35

F8813 Connection error mains choke ................................................................................... 7-36

F8838 Overcurrent external braking resistor......................................................................... 7-36

7.3 Safety Technology Errors (F7xxx) .............................................................................................. 7-37

Behavior in the Case of Safety Technology Error ................................................................. 7-37

F7010 Safety related limited increment exceeded ................................................................ 7-38

F7011 Safety rel. position limit val., exc. in pos. dir. ............................................................. 7-39

F7012 Safety rel. position limit val., exc. in neg. dir. ............................................................. 7-39

F7013 Velocity threshold exceeded ...................................................................................... 7-40

F7014 Acceleration threshold exceeded ............................................................................... 7-40

F7020 Safety related maximum speed exceeded................................................................. 7-41

F7021 Safety related end position exceeded ........................................................................ 7-42

F7030 Pos. window for safety rel. operational stop exceeded.............................................. 7-42

F7031 Incorrect direction of motion....................................................................................... 7-43

F7040 Validation error parameterized - effective threshold .................................................. 7-44

F7041 Actual position value validation error ......................................................................... 7-45

VI Contents Rexroth IndraDrive


F7042 Validation error of safety related operating mode ...................................................... 7-46

F7043 Error of output stage interlock .................................................................................... 7-47

F7050 Time for stopping process exceeded ......................................................................... 7-48

F7051 Safety related deceleration exceeded........................................................................ 7-49

7.4 Travel Range Errors (F6xxx) ...................................................................................................... 7-51

Behavior in the Case of Travel Range Error ......................................................................... 7-51

F6010 PLC Runtime Error ..................................................................................................... 7-52

F6024 Maximum braking time exceeded .............................................................................. 7-53

F6029 Positive travel limit exceeded..................................................................................... 7-54

F6030 Negative travel limit exceeded ................................................................................... 7-55

F6034 Emergency-Stop......................................................................................................... 7-56

F6042 Both travel range limit switches activated .................................................................. 7-57

F6043 Positive travel range limit switch activated................................................................. 7-58

F6044 Negative travel range limit switch activated ............................................................... 7-59

F6140 CCD slave error (emergency halt) ............................................................................. 7-60

7.5 Interface Errors (F4xxx) .............................................................................................................. 7-61

Behavior in the Case of Interface Error ................................................................................. 7-61

F4001 Double MST failure shutdown .................................................................................... 7-62

F4002 Double MDT failure shutdown.................................................................................... 7-63

F4003 Invalid communication phase shutdown .................................................................... 7-64

F4004 Error during phase progression.................................................................................. 7-64

F4005 Error during phase regression.................................................................................... 7-65

F4006 Phase switching without ready signal ........................................................................ 7-65

F4009 Bus failure................................................................................................................... 7-66

F4012 Incorrect I/O length..................................................................................................... 7-66

F4014 PLC watchdog ............................................................................................................ 7-67

F4016 PLC double real-time channel failure ......................................................................... 7-68

F4017 S-III: incorrect sequence during phase switch ........................................................... 7-69

F4034 Emergency-Stop......................................................................................................... 7-70

F4140 CCD communication error.......................................................................................... 7-71

7.6 Non-Fatal Safety Technology Errors (F3xxx) ............................................................................. 7-72

Behavior in the Case of Non-Fatal Safety Technology Error ................................................ 7-72

F3111 Refer. missing when selecting safety related end pos............................................... 7-73

F3112 Safety related reference missing................................................................................ 7-74

F3115 Error, brake check time interval exceeded................................................................. 7-75

F3117 Actual position values validation error........................................................................ 7-76

F3130 Error when checking input signals ............................................................................. 7-77

F3131 Error when checking acknowledgment signal ............................................................ 7-78

F3132 Error when checking diagnostic output signal............................................................ 7-79

F3133 Error when checking interrupting circuits ................................................................... 7-80

F3134 Dynamization time interval incorrect .......................................................................... 7-81

F3135 Dynamization pulse width incorrect............................................................................ 7-82

F3140 Safety parameters validation error ............................................................................. 7-83

F3141 Selection validation error............................................................................................ 7-84

F3142 Activation time of enabling control exceeded............................................................. 7-85

F3143 Safety command for clearing errors incorrect ............................................................ 7-86

Rexroth IndraDrive Contents VII


F3144 Incorrect safety configuration ..................................................................................... 7-87

F3145 Error when unlocking the safety door......................................................................... 7-88

F3146 System error channel 2 .............................................................................................. 7-89

F3147 System error channel 1 .............................................................................................. 7-90

F3150 Safety command for system start incorrect................................................................ 7-91

F3151 Safety command for system halt incorrect ................................................................. 7-92

F3152 Incorrect backup of safety technology data................................................................ 7-93

F3160 Safety bus communication error ................................................................................ 7-94

7.7 Non-Fatal Errors (F2xxx) ............................................................................................................ 7-95

Behavior in the Case of Non-Fatal Error ............................................................................... 7-95

F2004 Error in motion profile ................................................................................................. 7-95

F2005 Cam shaft invalid........................................................................................................ 7-97

F2006 MMC was removed .................................................................................................... 7-98

F2007 Switching to non-initialized operating mode............................................................... 7-99

F2008 RL The motor type has changed.............................................................................. 7-100

F2009 PL Load parameter default values ........................................................................... 7-101

F2010 Error when initializing digital inputs/outputs ............................................................. 7-102

F2011 PLC - Error nr. 1 ....................................................................................................... 7-102

F2012 PLC - Error nr. 2 ....................................................................................................... 7-103

F2013 PLC - Error nr. 3 ....................................................................................................... 7-103

F2014 PLC - Error nr. 4 ....................................................................................................... 7-104

F2018 Device overtemperature shutdown .......................................................................... 7-105

F2019 Motor overtemperature shutdown ............................................................................ 7-106

F2021 Motor temperature monitor defective ....................................................................... 7-107

F2022 Device temperature monitor defective ..................................................................... 7-107

F2025 Drive not ready for Control ....................................................................................... 7-108

F2026 Undervoltage in power section................................................................................. 7-109

F2028 Excessive deviation.................................................................................................. 7-110

F2031 Encoder 1 error: signal amplitude incorrect ............................................................. 7-111

F2032 Validation error during commutation fine adjust....................................................... 7-112

F2033 External power supply X10 error.............................................................................. 7-113

F2036 Excessive position feedback difference ................................................................... 7-114

F2037 Excessive position command difference.................................................................. 7-115

F2039 Maximum acceleration exceeded............................................................................. 7-116

F2040 Device overtemperature 2 shutdown ....................................................................... 7-117

F2042 Encoder 2: encoder signals incorrect....................................................................... 7-118

F2043 Measuring encoder: encoder signals incorrect ........................................................ 7-119

F2044 External power supply X15 error.............................................................................. 7-120

F2048 Low battery voltage .................................................................................................. 7-121

F2050 Overflow of target position preset memory .............................................................. 7-122

F2051 No sequential block in target position preset memory ............................................. 7-123

F2053 Incr. encoder emulator: pulse frequency too high.................................................... 7-124

F2054 Incr. encoder emulator: hardware fault .................................................................... 7-125

F2055 External power supply X31/X32 error ...................................................................... 7-126

F2057 Target position out of travel range ........................................................................... 7-127

F2058 Internal overflow by positioning input ....................................................................... 7-128

VIII Contents Rexroth IndraDrive


F2059 Incorrect command value direction when positioning .............................................. 7-129

F2063 Internal overflow master axis generator ................................................................... 7-130

F2064 Incorrect cmd value direction master axis generator ............................................... 7-130

F2067 Synchronization to master communication incorrect ............................................... 7-131

F2069 Error when releasing the motor holding brake ......................................................... 7-132

F2074 Actual pos. value 1 outside absolute encoder window ............................................ 7-133



F2077 Current measurement trim wrong ............................................................................ 7-136

F2086 Error supply module ................................................................................................. 7-137

F2087 Module group communication error ......................................................................... 7-138

F2100 Incorrect access to command value memory........................................................... 7-139

F2101 It was impossible to address MMC .......................................................................... 7-140

F2102 It was impossible to address I2C memory ............................................................... 7-141

F2103 It was impossible to address EnDat memory........................................................... 7-142

F2104 Commutation offset invalid ....................................................................................... 7-143

F2105 It was impossible to address Hiperface memory...................................................... 7-144

F2110 Error in non-cyclical data communic. of power section............................................ 7-145

F2130 Error comfort control panel....................................................................................... 7-146

F2140 CCD slave error........................................................................................................ 7-147

F2174 Loss of motor encoder reference ............................................................................. 7-148

F2175 Loss of optional encoder reference.......................................................................... 7-149

F2176 Loss of measuring encoder reference...................................................................... 7-150

F2177 Modulo limitation error of motor encoder ................................................................. 7-151

F2178 Modulo limitation error of optional encoder .............................................................. 7-152

F2179 Modulo limitation error of measuring encoder.......................................................... 7-153

F2270 Analog input 1 or 2, wire break ................................................................................ 7-154

F2802 PLL is not synchronized ........................................................................................... 7-155

F2814 Undervoltage in mains.............................................................................................. 7-155

F2815 Overvoltage in mains................................................................................................ 7-156

F2816 Softstart fault power supply unit ............................................................................... 7-157

F2817 Overvoltage in power section................................................................................... 7-158

F2818 Phase failure ............................................................................................................ 7-158

F2819 Mains failure ............................................................................................................. 7-159

F2820 Braking resistor overload......................................................................................... 7-160

F2821 Error in control of braking resistor ............................................................................ 7-161

F2825 Switch-on threshold braking resistor too low............................................................ 7-162

F2833 Ground fault in motor line ......................................................................................... 7-162

F2834 Contactor control error ............................................................................................. 7-163

F2835 Mains contactor wiring error ..................................................................................... 7-163

F2836 DC bus balancing monitor error ............................................................................... 7-164

F2840 Error supply shutdown.............................................................................................. 7-164

F2860 Overcurrent in mains-side power section................................................................. 7-165

F2890 Invalid device code................................................................................................... 7-165

F2891 Incorrect interrupt timing........................................................................................... 7-166

F2892 Hardware variant not supported............................................................................... 7-166

Rexroth IndraDrive Contents IX


8 Warning Diagnostic Messages (Exxxx) 8-1

8.1 Fatal Warning Diagnostic Messages (E8xxx)............................................................................... 8-1

Behavior in the Case of Fatal Warning.................................................................................... 8-1

E8025 Overvoltage in power section....................................................................................... 8-1

E8026 Undervoltage in power section..................................................................................... 8-2

E8028 Overcurrent in power section ....................................................................................... 8-3

E8029 Positive position limit exceeded ................................................................................... 8-4

E8030 Negative position limit exceeded ................................................................................. 8-5

E8034 Emergency-Stop .......................................................................................................... 8-6

E8035 Quick stop with probe detection is active..................................................................... 8-7

E8040 Torque/force actual value limit active........................................................................... 8-7

E8041 Current limit active ....................................................................................................... 8-8

E8042 Both travel range limit switches activated .................................................................... 8-9

E8043 Positive travel range limit switch activated................................................................. 8-10

E8044 Negative travel range limit switch activated ............................................................... 8-11

E8055 Motor overload, current limit active ............................................................................ 8-12

E8057 Device overload, current limit active .......................................................................... 8-13

E8058 Drive system not ready for operation ......................................................................... 8-14

E8260 Torque/force command value limit active .................................................................. 8-15

E8819 Mains failure............................................................................................................... 8-16

8.2 Warnings of the Category E4xxx ................................................................................................ 8-17

E4008 Invalid addressing command value data container A ................................................ 8-17

E4009 Invalid addressing actual value data container A ...................................................... 8-18

E4012 Maximum number of CCD slaves exceeded.............................................................. 8-18

E4013 Incorrect CCD addressing.......................................................................................... 8-19

E4014 Incorrect phase switch of CCD slaves ....................................................................... 8-20

8.3 Possible Warnings when Operating Safety Technology (E31xx) ............................................... 8-21

Behavior in Case a Safety Technology Warning Occurs ...................................................... 8-21

E3100 Error when checking input signals ............................................................................. 8-21

E3101 Error when checking acknowledgment signal............................................................ 8-22

E3102 Actual position values validation error ....................................................................... 8-23

E3103 Dynamization failed.................................................................................................... 8-24

E3104 Safety parameters validation error............................................................................. 8-25

E3105 Validation error of safety related operating mode...................................................... 8-25

E3106 System error channel 2 .............................................................................................. 8-26

E3107 Safety related reference missing ............................................................................... 8-27

E3110 Time interval of forced dynamization exceeded......................................................... 8-27

E3115 Prewarning, end of brake check time interval ............................................................ 8-28

8.4 Non-Fatal Warning Diagnostic Messages (E2xxx)..................................................................... 8-29

Behavior in Case a Non-Fatal Warning Occurs .................................................................... 8-29

E2010 Position control with encoder 2 not possible.............................................................. 8-29

E2011 PLC - Warning no. 1................................................................................................... 8-29

E2012 PLC - Warning no. 2................................................................................................... 8-30

E2013 PLC - Warning no. 3................................................................................................... 8-30

E2014 PLC - Warning no. 4................................................................................................... 8-30

E2021 Warning Motor temp. surveillance defective .............................................................. 8-31

X Contents Rexroth IndraDrive


E2026 Undervoltage in power section................................................................................... 8-32

E2040 Device overtemperature 2 prewarning....................................................................... 8-33

E2047 Interpolation velocity = 0 ............................................................................................ 8-34

E2048 Interpolation acceleration = 0..................................................................................... 8-35

E2049 Positioning velocity >= limit value .............................................................................. 8-36

E2050 Device overtemp. Prewarning.................................................................................... 8-37

E2051 Motor overtemp. prewarning ...................................................................................... 8-38

E2053 Target position out of travel range ............................................................................. 8-39

E2054 Not homed.................................................................................................................. 8-40

E2055 Feedrate override S-0-0108 = 0................................................................................. 8-41

E2056 Torque limit = 0 .......................................................................................................... 8-42

E2058 Selected process block is not programmed............................................................... 8-43

E2059 Velocity command value limit active .......................................................................... 8-43

E2061 Device overload prewarning....................................................................................... 8-44

E2063 Velocity command value > limit value........................................................................ 8-45

E2064 Target position out of num. range .............................................................................. 8-45

E2069 Brake torque too low .................................................................................................. 8-46

E2070 Acceleration limit active.............................................................................................. 8-47

E2074 Encoder 1: encoder signals disturbed........................................................................ 8-48

E2075 Encoder 2: encoder signals disturbed........................................................................ 8-49

E2076 Measuring encoder: encoder signals disturbed ......................................................... 8-50

E2086 Prewarning supply module overload.......................................................................... 8-51

E2092 Internal synchronization defective.............................................................................. 8-51

E2100 Positioning velocity of master axis generator too high............................................... 8-52

E2101 Acceleration of master axis generator is zero............................................................ 8-52

E2270 Analog input 1 or 2, wire break .................................................................................. 8-53

E2800 DC bus timeout .......................................................................................................... 8-54

E2802 HW control of braking resistor.................................................................................... 8-54

E2810 Drive system not ready for operation ......................................................................... 8-55

E2814 Undervoltage in mains ............................................................................................... 8-56

E2815 Overvoltage in mains ................................................................................................. 8-56

E2816 Undervoltage in power section................................................................................... 8-57

E2818 Phase failure .............................................................................................................. 8-58

E2819 Mains failure............................................................................................................... 8-58

E2820 Braking resistor overload prewarning ........................................................................ 8-59

E2829 Not ready for power on............................................................................................... 8-59

9 Command Diagnostic Messages 9-1

9.1 Commands ................................................................................................................................... 9-1

C0100 Communication phase 3 transition check .................................................................... 9-1

C0200 Exit parameterization level procedure command ........................................................ 9-1

C0300 Command Set absolute measuring ............................................................................. 9-2

C0400 Activate parameterization level 1 procedure command............................................... 9-2

C0500 Reset class 1 diagnostics, error reset.......................................................................... 9-3

C0600 Drive-controlled homing procedure command............................................................. 9-3

C07_0 Load defaults procedure com. (load controller param.)............................................... 9-4

Rexroth IndraDrive Contents XI


C07_2 Load def. proc. com. (load def. pr. for safety techn.)................................................... 9-6

C07_1 Load defaults procedure com. (load basic parameters) .............................................. 9-7

C0800 Load basic parameters command ............................................................................... 9-7

C0900 Position spindle command........................................................................................... 9-8

C1200 Commutation offset setting command ......................................................................... 9-8

C1300 Positive stop drive procedure command...................................................................... 9-9

C1400 Command Get marker position.................................................................................... 9-9

C1500 Cancel reference point procedure command ............................................................ 9-10

C1600 Parking axis command............................................................................................... 9-10

C1700 Command measuring wheel mode ............................................................................ 9-11

C1800 Command automatic control loop setting .................................................................. 9-11

C2000 Command Release motor holding brake ................................................................... 9-12

C2100 Brake check command .............................................................................................. 9-12

C2200 Backup working memory procedure command ......................................................... 9-13

C2300 Load working memory command............................................................................... 9-14

C2400 Selectively backup working memory procedure command ....................................... 9-14

C2500 Copy IDN from optional memory to internal memory ................................................ 9-15

C2600 Copy IDN from internal memory to optional memory ................................................ 9-16

C2800 Analog input adjust command ................................................................................... 9-17

C2900 Command Firmware update from MMC .................................................................... 9-18

C3000 Synchronize and store safety technology IDN........................................................... 9-19

C3100 Recalculate actual value cycle................................................................................... 9-19

C3200 Command Calculate motor data ................................................................................ 9-20

C3300 Set coordinate system procedure command ............................................................. 9-21

C3400 Shift coordinate system procedure command ........................................................... 9-21

C3500 Command Determine encoder correction values ...................................................... 9-22

C3600 Command Motor data identification ........................................................................... 9-22

C3700 Manually unlocking the safety door ........................................................................... 9-23

C3800 Command Apply motor holding brake ....................................................................... 9-24

C3900 Command Abrasion of brake ..................................................................................... 9-24

C4000 Homing procedure command channel 2.................................................................... 9-24

C4100 Switch parameter set command ................................................................................ 9-25

C4200 Drive-controlled oscillation command........................................................................ 9-25

C4300 NC-controlled homing procedure command.............................................................. 9-26

C4400 Calculate displacement procedure command ........................................................... 9-27

C4500 Displacement to referenced system procedure command ........................................ 9-27

C4600 Command Calculate motor control parameters......................................................... 9-28

C4700 Command Activate easy startup mode...................................................................... 9-28

C4900 PLC command ........................................................................................................... 9-28

C5200 Communication phase 4 transition check .................................................................. 9-29

C5400 Command Save PLC retain data on MMC ................................................................ 9-29

C5500 Command Load PLC retain data from MMC ............................................................. 9-30

C5600 Command subsequent optimization of commutation offset....................................... 9-31

C6000 Command Set absolute measuring ........................................................................... 9-31

9.2 Command errors......................................................................................................................... 9-32

C0101 Invalid parameters (-> S-0-0021)............................................................................... 9-32

XII Contents Rexroth IndraDrive


C0102 Limit error in parameter (-> S-0-0021) ....................................................................... 9-33

C0103 Parameter conversion error (->S-0-0021) ................................................................. 9-33

C0104 Config. IDN for MDT not configurable........................................................................ 9-34

C0105 Maximum length for MDT exceeded.......................................................................... 9-35

C0106 Config. IDNs for AT not configurable ......................................................................... 9-36

C0107 Maximum length for AT exceeded ............................................................................. 9-36

C0108 Time slot parameter > Sercos cycle time .................................................................. 9-37

C0109 Position of data record in MDT (S-0-0009) even ....................................................... 9-38

C0110 Length of MDT (S-0-0010) odd.................................................................................. 9-39

C0111 ID9 + Record length - 1 > length MDT (S-0-0010) .................................................... 9-40

C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error ............................................................ 9-41

C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error .............................................. 9-42

C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)............................................................... 9-43

C0115 T2 too small ............................................................................................................... 9-44

C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010) .................................................... 9-45

C0118 Order of cyclic command value configuration incorrect............................................. 9-46

C0119 Max. travel range too large ........................................................................................ 9-47

C0120 Error when reading encoder data => motor encoder................................................. 9-48

C0121 Incorrect parameterization of motor encoder (hardware) .......................................... 9-49

C0122 Incorr. parameteriz. of motor enc. (mechanical system) ........................................... 9-50

C0123 Modulo value for motor encoder cannot be displayed............................................... 9-51

C0124 Motor encoder unknown ............................................................................................ 9-52

C0125 Error when reading encoder data => optional encoder ............................................. 9-53

C0126 Incorrect parameterization of optional enc. (hardware) ............................................. 9-54

C0127 Incorr. parameteriz. of opt. enc. (mechanical system)............................................... 9-55

C0128 Modulo value for optional encoder cannot be displayed ........................................... 9-56

C0129 Optional encoder unknown ........................................................................................ 9-57

C0130 Maximum travel range cannot be displayed internally............................................... 9-58

C0131 Switching to phase 3 impossible................................................................................ 9-59

C0132 Invalid settings for controller cycle times ................................................................... 9-60

C0134 Invalid motor data in encoder memory (->S-0-0021)................................................. 9-61

C0135 Type of construction of motor P-0-4014 incorrect ..................................................... 9-62

C0136 Several motor encoders connected ........................................................................... 9-63

C0137 Error during initialization of motor data (->S-0-0021) ................................................ 9-64

C0138 Invalid control section data (->S-0-0021)................................................................... 9-65

C0139 T2 (S-0-0089)+length MDT (S-0-0010)>TScyc (S-0-0002) ....................................... 9-65

C0140 Rotary scaling not allowed......................................................................................... 9-66

C0151 IDN for command value data container not allowed.................................................. 9-66

C0152 IDN for actual value data container not allowed ........................................................ 9-67

C0153 Error at init. of synchr. motor with reluctance torque ................................................. 9-68

C0154 Field bus: IDN for cycl. command val. not configurable ............................................ 9-69

C0155 Field bus: max. length for cycl. command val. exceeded .......................................... 9-69

C0156 Field bus: IDN for cycl. actual val. not configurable................................................... 9-70

C0157 Field bus: length for cycl. actual values exceeded .................................................... 9-70

C0158 Field bus: Tcyc (P-0-4076) incorrect.......................................................................... 9-71

C0159 Field bus: P-0-4077 missing for cycl. command values ............................................ 9-71

Rexroth IndraDrive Contents XIII


C0160 Error when reading encoder data => measuring encoder ......................................... 9-72

C0161 Incorr. prarmeterization of measuring enc. (hardware) ............................................. 9-73

C0162 Measuring encoder unknown..................................................................................... 9-74

C0163 Modulo value for measuring encoder cannot be displayed ....................................... 9-75

C0164 Incorrect measuring encoder configuration ............................................................... 9-75

C0199 Functional package selection changed. Restart ........................................................ 9-76

C0201 Invalid parameters (->S-0-0423)................................................................................ 9-77

C0202 Parameter limit error (->S-0-0423)............................................................................. 9-78

C0203 Parameter calculation error (->S-0-0423).................................................................. 9-79

C0210 Feedback 2 required (->S-0-0423) ............................................................................ 9-80

C0212 Invalid control section data (->S-0-0423)................................................................... 9-81

C0218 Double signal selection master axis format converter ............................................... 9-81

C0219 Max. travel range too large ........................................................................................ 9-82

C0220 Error when initializing position of encoder 1 .............................................................. 9-83

C0221 Initialization velocity encoder 1 too high .................................................................... 9-84

C0223 Invalid settings for controller cycle times ................................................................... 9-84

C0224 Error when initializing position of encoder 2 .............................................................. 9-85

C0225 Initialization velocity encoder 2 too high .................................................................... 9-86

C0227 Error when initializing position of measuring encoder ............................................... 9-87

C0228 Initialization velocity measuring encoder too high ..................................................... 9-88

C0229 Field bus: IDN for cycl. command val. not configurable ............................................ 9-89

C0230 Field bus: max. length for cycl. command val. Exceeded.......................................... 9-89

C0231 Field bus: IDN for cycl. actual val. not configurable................................................... 9-90

C0232 Field bus: length for cycl. actual values exceeded .................................................... 9-90

C0233 Field bus: Tcyc (P-0-4076) incorrect.......................................................................... 9-91

C0234 Field bus: P-0-4077 missing for cycl. command values ............................................ 9-91

C0238 Order of cyclic command value configuration incorrect............................................. 9-92

C0239 IDN for command value data container not allowed.................................................. 9-93

C0240 IDN for actual value data container not allowed ........................................................ 9-94

C0242 Multiple configuration of a parameter (->S-0-0423)................................................... 9-95

C0243 Brake check function not possible ............................................................................. 9-97

C0244 Act. modulo value cycle greater than max. travel range............................................ 9-97

C0245 Operating mode configuration (->S-0-0423) not allowed........................................... 9-98

C0246 Trav. range lim. switch not ass. to dig. input............................................................ 9-100

C0247 Dig. output already assigned to other axis............................................................... 9-101

C0248 Dig. input assigned differently to axes ..................................................................... 9-102

C0249 Dig. I/Os: bit number too large................................................................................. 9-102

C0250 Probe inputs incorrectly configured ......................................................................... 9-103

C0251 Error during synchronization to master communication .......................................... 9-103

C0254 Configuration error PROFIsafe ................................................................................ 9-104

C0255 Safety command for system init. incorrect............................................................... 9-105

C0256 Safety technology configuration error ...................................................................... 9-106

C0257 No encoder assigned to slot 1 ................................................................................. 9-107

C0258 Error in relation TNcyc (S-0-0001) to fine interpol. .................................................. 9-108

C0260 Incremental enc. emulator resol. cannot be displayed ............................................ 9-109

C0261 Emulator (P-0-0902) activated for both axes........................................................... 9-110

XIV Contents Rexroth IndraDrive


C0265 Incorrect CCD address configuration....................................................................... 9-110

C0266 Incorrect CCD phase switch .................................................................................... 9-111

C0267 CCD timeout phase switch....................................................................................... 9-112

C0270 Error when reading encoder data => motor encoder............................................... 9-113

C0271 Incorrect parameterization of motor encoder (hardware) ........................................ 9-114

C0272 Incorr. parameteriz. of motor enc. (mechanical system) ......................................... 9-115

C0273 Modulo value for motor encoder cannot be displayed............................................. 9-116

C0274 Motor encoder unknown .......................................................................................... 9-117

C0275 Error when reading encoder data => optional encoder ........................................... 9-118

C0276 Incorrect parameterization of optional enc. (hardware) ........................................... 9-119

C0277 Incorr. parameteriz. of opt. enc. (mechanical system)............................................. 9-119

C0278 Modulo value for optional encoder cannot be displayed ......................................... 9-120

C0279 Optional encoder unknown ...................................................................................... 9-121

C0280 Maximum travel range cannot be displayed internally............................................. 9-122

C0281 Commutation via encoder-2 impossible................................................................... 9-123

C0284 Invalid motor data in encoder memory (->S-0-0423)............................................... 9-124

C0285 Type of construction of motor P-0-4014 incorrect ................................................... 9-125

C0286 Several motor encoders connected ......................................................................... 9-126

C0287 Error during initialization of motor data (->S-0-0423) .............................................. 9-127

C0288 Rotary scaling not allowed....................................................................................... 9-129

C0289 Error at init. of synchr. motor with reluctance torque ............................................... 9-130

C0290 Error when reading encoder data => measuring encoder ....................................... 9-131

C0291 Incorr. prarmeterization of measuring enc. (hardware) ........................................... 9-132

C0292 Measuring encoder unknown................................................................................... 9-133

C0293 Modulo value for measuring encoder cannot be displayed ..................................... 9-134

C0294 Incorrect measuring encoder configuration ............................................................. 9-134

C0298 Impossible to exit parameterization level................................................................. 9-135

C0299 Functional package selection changed. Restart ...................................................... 9-135

C0301 Measuring system unavailable ................................................................................ 9-136

C0302 Absolute evaluation of measuring system impossible ............................................. 9-136

C0303 Absolute encoder offset cannot be saved................................................................ 9-137

C0401 Drive active, switching not allowed .......................................................................... 9-137

C0403 Switching to CCD phase 2 impossible..................................................................... 9-138

C0501 Error clearing only in parameter mode .................................................................... 9-139

C0601 Homing only possible with drive enable................................................................... 9-139

C0602 Distance home switch - reference mark erroneous ................................................. 9-140

C0604 Homing of absolute encoder not possible................................................................ 9-141

C0606 Reference mark not detected................................................................................... 9-142

C0607 Home switch input not assigned .............................................................................. 9-143

C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes ......................................... 9-143

C0609 Different travel directions parameterized ................................................................. 9-144

C0610 Absolute encoder offset could not be saved............................................................ 9-144

C0702 Default parameters not available ............................................................................. 9-145

C0703 Default parameters invalid ....................................................................................... 9-145

C0704 Parameters not copyable ......................................................................................... 9-146

C0706 Error when reading the controller parameters ......................................................... 9-146

Rexroth IndraDrive Contents XV


C0722 Parameter default value incorrect (-> S-0-0423) ..................................................... 9-147

C0723 Safety command for load defaults procedure incorrect ........................................... 9-148

C0724 Timeout of safety command for load defaults procedure ........................................ 9-149

C07_3 Load def. proc. com. (load defaults procedure for PLC).......................................... 9-150


C0752 Locked with password.............................................................................................. 9-151

C0799 An invalid index was set........................................................................................... 9-152


C0852 Locked with password.............................................................................................. 9-153

C0902 Spindle positioning requires drive enable ................................................................ 9-154

C0903 Error during initialization .......................................................................................... 9-154

C0906 Error during search for zero pulse ........................................................................... 9-155

C1204 Error in offset calculation ......................................................................................... 9-155

C1208 No adjustment with asynchronous motor................................................................. 9-156

C1209 Proceed to phase 4.................................................................................................. 9-156

C1211 Commutation offset could not be determined. ......................................................... 9-157

C1212 Motion range exceeded during commutation........................................................... 9-157

C1214 Command only possible with linear synchronous motor ......................................... 9-158

C1215 Command only possible in 'bb' ................................................................................ 9-159

C1216 Commutation determination not selected ................................................................ 9-159

C1217 Setting only possible in 'Ab' ..................................................................................... 9-160

C1218 Automatic commutation: current too low.................................................................. 9-161

C1219 Automatic commutation: overcurrent ....................................................................... 9-162

C1220 Automatic commutation: timeout ............................................................................. 9-162

C1221 Automatic commutation: iteration without result ...................................................... 9-163

C1222 Error when writing offset parameters....................................................................... 9-164

C1301 Class 1 diagnostics error at command start ............................................................ 9-164

C1402 Faulty reference mark signal.................................................................................... 9-165

C1701 Measuring wheel mode not possible ....................................................................... 9-165

C1801 Start requires drive enable....................................................................................... 9-166

C1802 Motor feedback data not valid.................................................................................. 9-166

C1803 Inertia detection failed.............................................................................................. 9-167

C1804 Automatic controller setting failed............................................................................ 9-168

C1805 Travel range invalid.................................................................................................. 9-169

C1806 Travel range exceeded ............................................................................................ 9-169

C1807 Determining travel range only via travel distance.................................................... 9-170

C2001 Command not enabled............................................................................................. 9-170

C2101 Brake check only possible with drive enable ........................................................... 9-171

C2103 Brake torque too low ................................................................................................ 9-172

C2104 Command execution not possible............................................................................ 9-173

C2105 Load of holding system > test torque....................................................................... 9-173

C2106 Test torque of holding system not reached.............................................................. 9-175

C2108 Error when releasing the holding system................................................................. 9-177

C2202 Error when writing data to non-volatile memory ...................................................... 9-177

C2301 Error when reading non-volatile memory................................................................. 9-178

C2302 Error when converting parameters .......................................................................... 9-178

XVI Contents Rexroth IndraDrive


C2402 Error when saving parameters................................................................................. 9-179

C2502 Error when accessing the MMC............................................................................... 9-180

C2504 Error when writing data to internal memory............................................................. 9-181


C2604 Error when reading the internal memory ................................................................. 9-183

C2801 Analog input not configured ..................................................................................... 9-183

C2802 Oscillations of input signal outside tolerance range ................................................ 9-184

C2803 Measured values at zero point and max. value identical......................................... 9-184

C2804 Automatic adjust failed............................................................................................. 9-185


C2904 Error when accessing the flash................................................................................ 9-186

C2905 Programmed firmware defective.............................................................................. 9-187

C3001 Synchronization and storage failed.......................................................................... 9-188

C3101 Act. modulo value cycle greater than max. travel range.......................................... 9-188

C3102 Drive is still in drive enable ...................................................................................... 9-189

C3201 Incorrect input for current......................................................................................... 9-189

C3203 Incorrect input for voltage ........................................................................................ 9-190

C3202 Incorrect input for frequency .................................................................................... 9-190

C3204 Incorrect input for speed .......................................................................................... 9-191

C3205 Incorrect input for power factor ................................................................................ 9-191

C3206 Incorrect input for power .......................................................................................... 9-192

C3207 Type plate list incomplete ........................................................................................ 9-192

C3208 Error when writing parameters................................................................................. 9-193

C3501 Acquisition velocity not allowed ............................................................................... 9-193

C3502 Motor encoder not available..................................................................................... 9-194

C3503 Optional encoder not available ................................................................................ 9-194

C3504 Measuring encoder not available............................................................................. 9-195

C3505 No encoder selected ................................................................................................ 9-195

C3506 Correction value table cannot be stored .................................................................. 9-196

C3601 Motor not or not correctly connected ....................................................................... 9-196

C3602 Determined values invalid........................................................................................ 9-197

C3603 Device current limit too low...................................................................................... 9-197


C3605 Motor turning{........................................................................................................... 9-198

C3606 Type of construction of motor not allowed............................................................... 9-199

C3701 Error when manually unlocking the safety door....................................................... 9-199

C3901 Abrasion of brake only possible with drive enable................................................... 9-200

C3902 Error during abrasion of brake ................................................................................. 9-200

C3903 Command execution impossible.............................................................................. 9-201

C4001 Error during safety related homing procedure ......................................................... 9-202

C4002 Incorrect distance of dedicated point channel 1-2 ................................................... 9-203

C4101 Switching only possible without AF.......................................................................... 9-204

C4102 Switching only possible in parameter mode ............................................................ 9-204

C4103 Preselect parameter set forbidden value ................................................................. 9-205

C4104 Error during parameter set switching (->S-0-0423) ................................................. 9-205

C4201 Oscillation requires drive enable.............................................................................. 9-206

Rexroth IndraDrive Contents XVII


C4202 Oscillation command speed cannot be reached...................................................... 9-206

C4302 Distance home switch - reference mark erroneous ................................................. 9-207

C4304 Homing of absolute encoder not possible................................................................ 9-208

C4306 Reference mark not detected................................................................................... 9-208

C4307 Reference cam input not assigned .......................................................................... 9-209

C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes ......................................... 9-209


C4701 Drive active, activation of easy startup impossible .................................................. 9-210

C4901 PLC command error no. 1........................................................................................ 9-211




C4910 PLC command timeout ............................................................................................ 9-213

C5401 PLC program not ready for retain data backup ....................................................... 9-213

C5402 Error when writing data to the MMC ........................................................................ 9-214

C5501 PLC program not ready for loading retain data........................................................ 9-215

C5502 MMC not available or not OK................................................................................... 9-215

C5503 PLC retain data do not match PLC program ........................................................... 9-216

C5504 Unknown format in PLC retain file ........................................................................... 9-216

C5505 Invalid PLC retain data............................................................................................. 9-217

C5601 Command requires drive enable.............................................................................. 9-217

C5602 Axis blocked............................................................................................................. 9-218

C5603 Timeout: axis in motion ............................................................................................ 9-218

C6001 Measuring system unavailable ................................................................................ 9-219

C6002 Absolute evaluation of measuring system impossible ............................................. 9-219

C6003 Absolute encoder offset cannot be saved................................................................ 9-220

C6004 Command cannot be executed under drive enable................................................. 9-220

10 Handling, Diagnostic and Service Functions 10-1

10.1 Firmware Update ........................................................................................................................ 10-1

10.2 Firmware Download.................................................................................................................... 10-1

Messages During the Firmware Download ........................................................................... 10-1

XX: DL ................................................................................................................................... 10-2

XX:ERASE............................................................................................................................. 10-2

XX: PROG ............................................................................................................................. 10-2

XX: CKS................................................................................................................................ 10-2

XX:E ADR.............................................................................................................................. 10-2

XX:E SEC .............................................................................................................................. 10-3

XX:E FW ............................................................................................................................... 10-3

XX:E LD ................................................................................................................................ 10-3

XX:E SEQ.............................................................................................................................. 10-4

XX:F9002............................................................................................................................... 10-4

XX:F2100............................................................................................................................... 10-4

XX:F CKS .............................................................................................................................. 10-4

XX:F ACC .............................................................................................................................. 10-5

XX:F2101............................................................................................................................... 10-5

XVIII Contents Rexroth IndraDrive


XX:F8122............................................................................................................................... 10-5

XX:F8129............................................................................................................................... 10-5

XX:F8130............................................................................................................................... 10-5

XX:F8120............................................................................................................................... 10-6

10.3 Replacing Devices, Cables and Motors...................................................................................... 10-6

Supply Units........................................................................................................................... 10-6

Drive Controllers .................................................................................................................... 10-7

Control Section .................................................................................................................... 10-12

Optional Modules................................................................................................................. 10-13

Replacing the Motor ............................................................................................................ 10-13

Replacing Cables ................................................................................................................ 10-14

10.4 Fault Report .............................................................................................................................. 10-15

11 Notes for Machine Operators 11-1

11.1 General Information .................................................................................................................... 11-1

11.2 Diagnosing Failures and Removing Errors................................................................................. 11-1

11.3 Contacting the Service Department............................................................................................ 11-2

12 Notes for Installation Programmers 12-1

12.1 How to Handle Command Errors................................................................................................ 12-1

12.2 How to Handle Errors ................................................................................................................. 12-3

12.3 How to Handle Warnings............................................................................................................ 12-5

13 Index 13-1

14 Service & Support 14-1

14.1 Helpdesk..................................................................................................................................... 14-1

14.2 Service-Hotline ........................................................................................................................... 14-1

14.3 Internet........................................................................................................................................ 14-1

14.4 Vor der Kontaktaufnahme... - Before contacting us... ................................................................ 14-1

14.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 14-2

Rexroth IndraDrive Basics on Device Diagnosis 1-1


1 Basics on Device Diagnosis

1.1 Diagnostic System

Coded Diagnostic Drive Messages

Brief DescriptionThe drive provides a diagnostic system including different possibilities thatare basically divided into two groups:

• recognizing and displaying the current drive status by means of drive-internal, priority-dependent generation of diagnostic messages

• collective messages for diverse status messages

Additionally, there are parameters for all important operating data thevalues of which can be transmitted both via master communication (e.g.SERCOS) and a parameterization interface (RS-232/485 in the ASCIIprotocol or SIS protocol; see section "Serial Communication").

• S-0-0030, Manufacturer version

• S-0-0095, Diagnostic message

• S-0-0140, Controller type

• S-0-0142, Application type

• S-0-0375, List of diagnostic numbers

• S-0-0390, Diagnostic message number

• P-0-0007, Display text of diagnostic message

• P-0-0009, Error number

• P-0-0478, Logbook event

• P-0-0479, Logbook time stamp

• P-0-3219, Diagnostic safety technology message

Note: For integrated safety technology, an extended diagnosis optionis provided in the form of a safety technology error code.When certain safety technology errors occur, this error codecan be read in parameter P-0-3219, Diagnostic safetytechnology message which allows quick error diagnosis.

Drive-Internal Generation of Diagnostic MessagesOperating states, activities and reactions of the drive controller aredetected by drive-internal generation of diagnostic messages and appearin coded form on the display of the control panel. In addition, thesediagnostic messages can be transmitted to the master (control unit orcommissioning software, e.g. IndraDrive D).

The following categories of diagnostic messages are differentiated (kindsof diagnostic messages):

• errors

• warnings

• commands/command errors

• status displays/operating states

Pertinent Parameters

1-2 Basics on Device Diagnosis Rexroth IndraDrive


Generally, the current diagnostic message with the highest priority isdisplayed or stored at the following locations in the drive:

• Display of the control panel and parameter "P-0-0007, Display textof diagnostic message"The diagnostic message number or, if applicable, text appears on the8-digit display of the standard control panel. The current display isstored in parameter P-0-0007.

• Parameter "S-0-0095, Diagnostic message"This parameter contains the operating status of the drive at presentrelevant in the form of a plain text. Preceding the text is the respectivecontent of parameter S-0-0390.

• Parameter "S-0-0390, Diagnostic message number"The diagnostic message number shown on the display is stored in thisparameter.

When a diagnostic message of the "error" category occurs, thecorresponding diagnostic message number is stored in the P-0-0009,Error number parameter. When there isn't any error present, the value ofparameter P-0-0009 equals zero.

In the S-0-0375, List of diagnostic numbers parameter the last 50diagnostic message numbers of parameter S-0-0390 are recorded inchronological order. When reading this list, the number of the diagnosticmessage that last occurred is displayed as parameter element 1.

The following priorities apply for displaying the current diagnosticmessage:

1 F4002

number of the drive in thebus system of the master

communication

error message

8-digit display

1 E20251 C09011 C091 AF

warning

command error

command

operating status

increasing priority

Fig. 1-1: Priorities of displays (with example displays)

An overview of all diagnostic messages and their meanings is included inthe documentation "Troubleshooting Guide" (description of diagnosticmessages).

Priorities of Display



Structure of a Diagnostic MessageEvery diagnostic message consists of

• diagnostic message number and

• diagnostic text.

The diagnostic message for the non-fatal error "Excessive deviation", forexample, has the following structure:

F2028 Excessive deviation

diagnostic message number

diagnostic text

Fig. 1-2: Structure of a diagnostic message

"F2028" flashes on the display of the control panel. The display "F2028" isoutput via parameter P-0-0007, Display text of diagnostic message,too. The diagnostic message number is contained in the S-0-0390,Diagnostic message number parameter in hexadecimal form (for thisexample: 0x00F2028). The diagnostic message number and thediagnostic text are contained as string F2028 Excessive deviation in theS-0-0095, Diagnostic message parameter. "2028" (dec) is written to theP-0-0009, Error number parameter because it is an error diagnosis.

Diagnostic Message on the Control Panel DisplayThe diagnostic message number appears on the 8-digit display of thestandard control panel. This allows recognizing the current operatingstatus of the drive quickly and without using a communication interface.

As a matter of principle, the following applies:

• status displays (P0, Ab, AF …) are displayed in right-aligned form

• warnings, command errors and other error messages are flashing

Kind of diagnostic message Diagnostic message number Display

error F2xxx F2xxx

command C0200 C02

command error C02xx C02xx

warning E2xxx E2xxx

communication phasee.g. communication phase 1 A0001 P1

drive ready for operation A0012 Ab

operating modee.g. velocity control A0101 AF

Fig. 1-3: Overview of diagnostic messages displayed

The current operating mode is not shown on the display. When the drivefollows the preset operating mode and no command was activated, thedisplay reads "AF".

Diagnostic Messages in Plain TextThe diagnostic message in plain text contains the diagnostic messagenumber followed by the diagnostic text. It can be read via the S-0-0095,



Diagnostic message parameter and directly displayed on an operatorinterface as a language-dependent description of the drive status.

The diagnostic message in plain text is switched to the selected languagevia the S-0-0265, Language selection parameter.

Diagnostic Message NumberThe diagnostic message number contains only the diagnostic numberwithout the diagnostic text. It can be read with the S-0-0390, Diagnosticmessage number parameter and is a language-independent possibility ofdetermining and displaying the drive status on an operator interface.

Display Text of Diagnostic MessageThe display text of a diagnostic message is the text appearing on thedisplay of the control panel. It can be read via parameter P-0-0007,Display text of diagnostic message which allows a user interface todetermine the drive status and display it in a language-independent way.

Error NumberThe error number contains only the error number without the diagnostictext. It can be read with the P-0-0009, Error number parameter and is alanguage-independent possibility of determining and displaying an errorcondition on an operator interface. This parameter only contains a valueunequal zero when an error is present in the drive.

The error number is generated from the lowest 4 digits of the diagnosticmessage number. For example, the F2028 Excessive deviation errorwith the diagnostic message number "(0x)F2028" would produce the errornumber "2028".

List of Diagnostic NumbersThe last 50 diagnostic message numbers displayed are stored inchronological order in the S-0-0375, List of diagnostic numbersparameter. Every change in the content of S-0-0390, Diagnosticmessage number means that the old content is transferred to S-0-0375.When reading S-0-0375 the last transferred diagnostic message numberappears in the first element of the parameter, the diagnostic messagenumber transferred before from S-0-0390 in the second element etc.

Language SelectionVia parameter S-0-0265, Language selection it is possible to define orswitch the language of diagnostic message texts.

Status Classes, Status Displays, Control ParametersIn the drive there are many parameters with important status information(bit lists). Some of the bits contained in these lists can be used forconfiguring real-time status bits and additionally can be assigned to digitaloutputs or to the configurable signal status word.

See "Digital Inputs/Outputs" in chapter "Extended Drive Functions"

See "Configurable Signal Status Word" in chapter "MasterCommunication"



Status Classes

Brief DescriptionThe drive differentiates between 3 states (error, warning and message)for which there is status information. To make the status informationavailable there are so-called status class parameters (S-0-0011,S-0-0012, S-0-0013) that contain the respective status bits.

In addition to these status class parameters there are change bitscontained in the status word of the field bus (e.g. S-0-0135 in the case ofSERCOS) that display changes in one of the above-mentioned statusclass parameters (collective information).

• status class parameter for errors (cf. S-0-0011)

• status class parameter for warnings (cf. S-0-0012)

• status class parameter for messages (cf. S-0-0013)

• change bits in status word of master communication (e.g. S-0-0135in the case of SERCOS)

• change bits of class 2 and 3 diagnostics (S-0-0097 and S-0-0098)can be masked in status word of master communication (e.g.S-0-0135 in the case of SERCOS) to suppress individual bits or statusmessages

• S-0-0011, Class 1 diagnostics



• S-0-0097, Mask class 2 diagnostics

• S-0-0098, Mask class 3 diagnostics

• S-0-0135, Drive status word

Functional Description

• S-0-0011, Class 1 diagnostics (status parameter for drive errors)

• In case a drive error occurs, the bit assigned to the error is set inparameter S-0-0011. A separate bit is assigned in S-0-0011 toerrors defined according to SERCOS.Manufacturer-specific errors cause bit 15 to be set in S-0-0011(see also Parameter Description "S-0-0011, Class 1 diagnostics").

• In case a drive error occurs, bit 13 (drive interlock; error in class 1diagnostics) is simultaneously set in the status word of the field bus(S-0-0135 in the case of SERCOS).

Note: All bits in class 1 diagnostics are cleared by executing thecommand C0500 (reset class 1 diagnostics).

See also Parameter Description "S-0-0099, C0500 Resetclass 1 diagnostics"

• S-0-0012, Class 2 diagnostics (status parameter for drive warnings)

• In case a drive warning occurs, the bit assigned to the warning isset in parameter S-0-0012. A separate bit is assigned in S-0-0012to warnings defined according to SERCOS.Manufacturer-specific warnings cause bit 15 to be set in S-0-0012(see also Parameter Description "S-0-0012, Class 2 diagnostics").

Features

Pertinent Parameters

Status Class Parameters



• In case a drive warning occurs, bit 12 (change bit class 2diagnostics) is simultaneously set in the status word of the field bus(S-0-0135 in the case of SERCOS) when the content of S-0-0012changes (i.e. at least one bit toggles).

• The bits in parameter S-0-0012 are automatically cleared when thewarning disappears. The change bit in the status word of themaster communication (S-0-0135 in the case of SERCOS) remainsset, however, until parameter S-0-0012 has been read once.

Note: Via parameter S-0-0097, Mask class 2 diagnostics warningscan be masked in terms of their effect on the change bit.

• S-0-0013, Class 3 diagnostics (status parameter for drive messages)

• Messages of the drive are listed in parameter S-0-0013. A separatebit is assigned in S-0-0013 to messages defined according toSERCOS (see also Parameter Description "S-0-0013, Class 3diagnostics").

• In the case of a drive message, bit 11 (change bit class 3diagnostics) is simultaneously set in the status word of the field bus(S-0-0135 in the case of SERCOS).

Note: Each of these messages is stored in a separate parameter(S-0-0330 to S-0-0342).

• The bits in parameter S-0-0013 are automatically cleared when themessage disappears. The change bit in the status word of themaster communication (S-0-0135 in the case of SERCOS) remainsset, however, until parameter S-0-0013 has at least been readonce.

If the status of a bit in S-0-0012, Class 2 diagnostics or S-0-0013,Class 3 diagnostics changes, the change bit for class 2 or 3 diagnosticsis set in the field bus status word (e.g. S-0-0135 in the case of SERCOS).A change bit in the status word (bit 11 or 12) is always set due to achange of the parameter content of S-0-0012 or S-0-0013. This enablesthe master to recognize very quickly whether a change occurred inS-0-0012 or S-0-0013.

A read access to one of the two parameters clears the respective changebit again.

Change Bits in Drive StatusWord



By means of the parameters S-0-0097, Mask class 2 diagnostics andS-0-0098, Mask class 3 diagnostics it is possible to mask out certainbits in terms of their effect on the change bit of the status word (bit 12 orbit 11).

The figure below illustrates the principle of masking by means of anexample:

= 1

&

S-0-0012, Class 2 diagnostics

S-0-0012 at last read access

S-0-0097, Mask class 2 diagnostics

unequal 0 ?

yes

setting change bit in drive status word

Fig. 1-4: Generating the change bit of class 2 diagnostics

Masking the Change Bit



Notes on CommissioningThe figure below illustrates the handling of the change bits in the statusword and of the status class parameters:

DC0009v1.fh7

drive error

no

yes

readingS-0-0011, Class 1 diagnostics

no

yes

readingS-0-0135, Drive status word

readingS-0-0390, Diagn. message no.

change bitclass 2 diagnostics?(S-0-0135; bit 12 = 1)

drive warning

no

yes


manufacturer-specif. warning ?(S-0-0012; bit 15 = 1)

no

yes

readingS-0-0390, Diagn. message no.

yes


no

drive error ?(S-0-0135; bit 13 = 1)

change bitclass 3 diagnostics?(S-0-0135; bit 11 = 1)

drive message

interpretingclass diagnostics information

and starting errorclearing command, if necessary

manufacturer-specif. error?(S-0-0011; bit 15 = 1)

Fig. 1-5: Handling the change bits and status class parameters

Fixed Status Displays

Function-Related Status ParametersIn the drive there are parameters the content of which has a direct relationto the status of the sequence of different drive functions. Theseparameters are used to display the current status information of theassigned function.

The following parameters are available for function-related status display:

• S-0-0014, Interface statusThis parameter displays the status of the communication phasetransition and the cyclic communication.



• S-0-0135, Drive status wordThis is the status word of the master communication (SERCOS) andcontains all essential status information for the master.

• S-0-0403, Position feedback value statusThis parameter contains status bits for the position data reference ofthe individual measuring systems.

• S-0-0419, Positioning command acknowledgeThis status information is used for acknowledgment in the "drive-controlled positioning" mode.

• P-0-0046, Status word of current controllerThis parameter contains status bits of the internal motor control (e.g.overvoltage in DC bus).

• P-0-0115, Device control: status wordThis parameter contains status bits of device control (see also "DeviceControl (Status Machine)").

• P-0-0222, Travel range limit inputsThis parameter displays the status of the travel range limit switchinputs (see also "Travel Range Limit Switch").

• P-0-0223, E-Stop inputThis parameter displays the status of the E-Stop input (see also "E-Stop Function").

• P-0-0445, Status word torque/current limitThis parameter contains status bits to display the activation oftorque/current limitation (see also "Torque/Force Limitation").

• P-0-0539, Holding brake status wordThis parameter contains status bits for the status of the motor holdingbrake (see also "Motor Holding Brake").

• P-0-0555, Status word of axis controllerThis parameter displays messages with regard to velocity and limitsthat have been reached.

• P-0-4029, SCSB diagnosticsParameter for reading master communication settings and states (withSERCOS interface).

• P-0-4086, Master communication statusThis parameter displays control information of the mastercommunication for handling phase switch, drive enable etc., definedduring initialization.



Status Parameters for Real-Time Status BitsThe following list contains status parameters that only contain one bit andcan therefore be used for configuring real-time status bits (see "MasterCommunication: SERCOS interface"):

• S-0-0330, Message 'n_actual = n_command'

• S-0-0331, Status 'n_feedback = 0'

• S-0-0332, Message 'nactual < nx'

• S-0-0333, Message 'T >= Tx'

• S-0-0334, Message 'T >= Tlimit'

• S-0-0335, Message 'n command > n limit'

• S-0-0336, Message In position

• S-0-0337, Message 'P >= Px'

• S-0-0341, In-Position coarse message

• S-0-0342, Target position reached

• S-0-0343, Status 'Interpolator halted'

• S-0-0409, Probe 1 positive latched

• S-0-0410, Probe 1 negative latched

• S-0-0411, Probe 2 positive latched

• S-0-0412, Probe 2 negative latched

Control ParametersApart from the parameters for status display, there are parametersavailable in the drive that are used to control the drive functions (see alsocorresponding parameter description):

• P-0-0045, Control word of current controller

• P-0-0427, Control parameter of analog output

• P-0-0522, Commutation setting control word

• P-0-0556, Control word of axis controller

• P-0-0612, Control word for setting absolute measuring

• P-0-4028, Device control word

1.2 Control Panels of the IndraDrive Controllers

General Information on the Control OptionsIndraDrive controllers are equipped with a control panel; its front consistsof a display and keys located underneath it. The display shows operatingstates, command and error diagnoses, as well as present warnings. Bymeans of the keys you can make settings, call information and triggersome commands.

The control panel for IndraDrive controllers can be supplied in twovariants of different possibilities of display and performance:

• standard control panel

• comfort control panel



Via the serial interface of the controller it is additionally possible toconnect an independent operator terminal VCP that can, for example,be integrated in the front of the control cabinet.

Standard Control Panel

DG0001v1.fh7

1 F4002

8-digit display

keys"Down" "Up"

Esc Enter

Fig. 1-6: Standard control panel (example of display)

The standard control panel allows the following displays:

• status of the master communication

• operating status

• activated commands and command diagnoses

• warnings and error diagnoses

• extended displays such as contents of error memories, diagnosticmessage memory, operating hours counter of control section,operating hours counter of power section, type designation of firmwareactive in the device, safety technology code (if safety technology optionavailable)

The following settings can be made with the standard control panel:

• set the drive address (drive number in the bus system of the mastercommunication)

• set the length of the fiber optic cable

• activate the master communication mode "Easy Startup"

The following commands can be activated with the standard controlpanel:

• activate S-0-0262, C07_x Load defaults procedure command (loadcontroller parameters or basic parameters)

• activate other commands, such as:

• C2200 Backup working memory procedure command

• C2300 Load working memory procedure command

• C2500 Copy IDN from optional memory to internal memory

• C2600 Copy IDN from internal memory to optional memory

• C2900 Firmware update from MMC

Possibilities of Display ofStandard Control Panel

Possible Settings with StandardControl Panel

Command Activation withStandard Control Panel



Comfort Control PanelCompared to the standard control panel, the comfort control panel, due tothe fact that it can be programmed, provides additional settings, as wellas additional display and command functions.

Additional possibilities of display of the comfort control panel (comparedto the standard control panel), for example:

• cyclic parameter display

• measured value of motor temperature sensor

• message threshold or shutdown threshold for motor temperature

• active switching frequency (PWM)

Additional possibilities of setting of the comfort control panel (compared tothe standard control panel), for example:

• language selection

• set/change single parameters

• input of motor data acc. to type plate data for asynchronous third-partymotors

Activation of further commands with the comfort control panel (comparedto the standard control panel), for example:

• C3200 Command Calculate motor data

• C3600 Command Motor data identification

The comfort control panel in particular supports the commissioning ofasynchronous third-party motors – another commissioning tool is notrequired for this purpose. The required steps are given by the display, thecorresponding input is made by means of the keys of the control panel.

Independent Operator Terminals VCPVCP operator terminals are separate components (terminals) that can beused in addition to the standard or comfort control panel. They areconnected to the serial interface of the controller via a separate line. Thisallows integrating a VCP operator terminal in the front of the controlcabinet, for example.

By means of a configuration tool it is additionally possible to configureother application-dependent settings, displays and command functions.

Possibilities of Display ofComfort Control Panel

Possible Settings with ComfortControl Panel

Command Activation withComfort Control Panel



Standard Control Panel

Brief DescriptionIndraDrive controllers equipped with a standard control panel have an8-digit display and four keys located underneath it.

The display shows operating states, command and error diagnoses, aswell as present warnings.

Using the four keys, the commissioning engineer or service techniciancan opt to display extended diagnostic messages at the drive controllerand to activate simple commands (in addition to master communicationusing the commissioning tool or NC control unit).

DG0001v1.fh7

1 F4002

8-digit display

keys"Down" "Up"

Esc Enter

Fig. 1-7: Standard control panel with display and control elements (exampleof display)

Functional Description

The display of the IndraDrive controller automatically shows:

• status of the master communication

• operating status

• activated commands and command diagnoses

• warnings and error diagnoses

The displays have priorities because it is impossible to have variousdisplays at the same time.

Standard Displays



1 P-1


communication

communication phase -1

8-digit display

1 P01 P11 P21 P3

communication phase 0




Fig. 1-8: Displays during phase progression of the master communication

1 bb


communication

ready for operation

8-digit display

1 Ab1 AF1 AS1 AH1 AE1 AC

drive ready

drive enable

drive interlock

Drive Halt

drive shutdown

drive check

Fig. 1-9: Operating status displays



1 C0101


communication

display of thecurrently active

command

display of thecommand errornumber

8-digit display

Fig. 1-10: Explanation of command error displays

1 F4002


communication

display of the erroror warning class

display of the erroror warning number

8-digit display

1 E2051

Fig. 1-11: Explanation of error and warning displays



The current drive status is displayed with highest priority.

1 F4002


communication

error message

8-digit display

1 E20251 C09011 C091 AF

warning

command error

command

operating status

increasing priority

Fig. 1-12: Priority of displays with examples

By simultaneously pressing the "Enter" and "Esc" keys (for 8 s!) you cancall up extended displays; subsequently pressing the "Up" key activatesthe command input.

1.Er.Anz1 F2002

standard display

press "Enter"and "Esc"keys for8 seconds(both!)

extended display

2.Comand

"Up" key

commands/settings

e.g.:

Fig. 1-13: Activating the extended display and the command input

Priorities of Display

Activating Extended Display andCommand Input



By means of the extended displays it is possible to additionally call up thecontents of certain parameters:

• error memory

• diagnostic message memory

• operating hours counter control section

• operating hours counter power section

• type designation of the firmware active in the device

• safety technology code, if safety technology option available

1.Er.Anz

extended display

1.1P-0-0192

"Enter" key

"Esc" key

display display

0:F4002

"Down" key"Up" key

"Enter" key

"Esc" key

1.2S-0-0375

0:A0002"Enter" key

"Esc" key

1.3P-0-0190

XXXXX.XX

"Down" key"Up" key

"Enter" key

"Esc" key

1.4P-0-0191

XXXXX.XX"Enter" key

"Esc" key

error memory

diagnostic messagememory

operating hours countercontrol section

operating hours counterpower section

Y.YXXXXXXXX

explanation:

browse list lines with "Up/Down"keys

browse list lines with "Up/Down"keys

"Down" key"Up" key

(e.g.)

display changes (flashes)between "Y.Y" and "XXXXXXXX"

"Down" key"Up" key

1.5S-0-0030

FWA-INDRV*-.."Enter" key

"Esc" key

type designation offirmware

"Down" key"Up" key

Fig. 1-14: Activating the extended display

For more details on diagnostic messages, error messages and operatinghours counters see the respective chapters of the present documentation.

Extended Displays



Starting from the extended display it is possible to activate commandsand make settings:

• set the drive address (drive number in the bus system of the mastercommunication)

• set the length of the fiber optic cable

• activate the easy master communication mode "Easy Startup"

• activate S-0-0262, C07_x Load defaults procedure command (loadcontroller parameters or basic parameters)

• other commands such as

• C2200 Backup working memory procedure command

• C2300 Load working memory procedure command

• C2500 Copy IDN from optional memory to internal memory

• C2600 Copy IDN from internal memory to optional memory

• C2900 Firmware update from MMC

• switch communication phases between operating mode(communication phase P4) and parameter mode (communicationphase P2); restrictions with SERCOS interface (switching in this caseonly possible in "easy startup" mode)

Command Inputs



"Down" key"Up" key

2.4 C07

"Down"key

"Up" key

"easy startup" mode

"Load defaultsprocedure" command

2.5 C03

"Down"key

"Up" key

"Enter" key

"Esc" key P-4090 0

"Enter" key

"Esc" key 2.5 C03?"Set absolutemeasuring" command

C07_0act

C03 act.

"Enter" key

"Enter" key

autom. return

...other commands...

P-4090 1

"Down" key"Up" key

C07_1act"Enter" key

"Down"key

"Up" key

load controllerparamter values

load basicparameter values

1.Er.Anz

extended display

"Enter" key

"Esc" key

display

2.1 Adr.

drive address

Y.YXXXXXXXX

explanation: display changes (flashes)between "Y.Y" and "XXXXXXXX"

2.Comand

commands/settings

"Down" key"Up" key

"Enter" key

"Esc" key 2.1.1 ZE

display

2.1.2 ZE

display

"Enter" key

"Esc" key

accept with "Enter" key

set units digit with"Up"/"Down" keys

set tens digit with"Up"/"Down" keys

ZE … tens/units (Zehner/Einer) digit of driveaddress

2.3 Easy"Enter" key

"Enter" keyEasy-ON

automatic return

1*Nmax

"Up" key

0,1*Nmax

9x"Up" key 9x"Down" key

V-control withVmax=xxxRpm

autom. return

2.2P-0-4027

"Down"key

"Up" key

"Enter" key

"Esc" key 0...15m

accept with "Enter" key

select ranges of lengthwith "Up/Down" keys

fiber optic cable length

Fig. 1-15: Activating settings and commands that can be accessed via thecontrol panel



Switching the communication phases (between operating mode "P4" andparameter mode "P2") via the control panel is possible with all mastercommunications except for SERCOS interface. With SERCOS interface,phase switch controlled via the control panel can only be carried out withactive "easy startup" mode!

Note: In order to carry out C07_1 Load defaults procedure com.(load basic parameters), the parameter mode (P2) has to beactivated.

1.Er.Anz3 bb

standard display extended display

2.Comand

"Up" key

commands/settings

"Enter" key

2.xx>CP2

2.1 Adr.Adr. 3

"Enter" key

automaticreturn tostandard display

3 P2

switching oncontrol voltage

loading basicparameters is possible!

Y.YXXXXXXXX

explanation: display changes (flashes)between "Y.Y" and "XXXXXXXX"

"Down" key

=> CP 2e.g.:

press "Enter"-and "Esc" keysfor 8 seconds

(both!)

Fig. 1-16: Activating the parameter mode via the control panel

1.Er.Anz3 P2

standard display extended display

2.Comand

"Up" key

commands/settings

"Enter" key

2.xx>CP4

2.1 Adr.Adr. 3

"Enter"key

automaticreturn tostandard display

3 bb

activatingparameter mode

power on ispossible!

Y.YXXXXXXXX

explanation: display changes (flashes) between"Y.Y" and "XXXXXXXX"

"Down" key

=> CP 4

e.g.:

press "Enter" and"Esc" keys

for 8 seconds(both!)

Fig. 1-17: Switching back from parameter mode to operating mode via thecontrol panel

Switching the CommunicationPhases



Notes on Commissioning

CAUTION

Property damage caused by command-dependent activation of motors and movingelements!⇒ Bring axis resp. moving parts in safe initial position;

limit travel range and drive power!

Note: By pressing the "Esc" key again the standard display willreappear.

Note: The input via the keys is polled in an 8 ms-cycle, the display isupdated in an 8 ms-cycle, too!

1.3 Extended Diagnostic Possibilities

The firmware provides further possibilities of diagnosis. For thedescription please see the Functional Description of the Firmware.

1.4 Terms, Basic Principles

ParametersCommunication between master and drive takes place, with a fewexceptions, by means of parameters.

Parameters are used for:

• determining the configuration

• parameterizing the control loop

• triggering and controlling drive functions and commands

• transmitting command values and actual values (according torequirements, cyclically or acyclically)

All operating data are mapped to parameters!

The operating data stored in parameters can be identified by means ofthe IDN. They can be read and transferred, if required. The user writeaccess to parameters depends on the properties of the respectiveparameter and the current communication phase. Specific parametervalues (operating data) are checked for validity by the drive firmware.

Data Storage and Parameter HandlingSeveral non-volatile data memories are available in an IndraDrive device:

• in the controller

• in the motor encoder (depending on motor type)

• as a MultiMediaCard (MMC), optional

In addition, a volatile data memory (working memory) is available in thecontroller.

Data Memory



Condition as supplied of the Rexroth drive components:

• The controller memory contains the drive firmware and the controller-specific parameter values.

• The motor encoder memory contains the encoder-specific and,depending on the motor type, the motor-specific parameter values.

• The MMC contains the drive firmware and the basic parameter sets.

The application-specific parameter values are stored in the controller. Dueto the limited number of writing cycles of non-volatile storage media,application-specific parameter values can be stored in the workingmemory (volatile memory), too.

Saving application-specific parameter values is required in the followingcases:

• after initial commissioning of the machine axis or the motor

• before replacing the controller for servicing (if possible)

Application-specific parameter values can be saved via:

• MMC → copying the parameter values by command

• "IndraWorks D" commissioning tool → saving the parameter values onexternal data carrier

• control master → saving the parameter values on master-side datacarrier

The drive supports master-side saving of parameter values by listingparameter identification numbers (IDNs). Using these lists guaranteescomplete storage of the application-specific parameter values. It is alsopossible to determine IDN lists defined by the customer.

Loading parameter values is required in the following cases:

• initial commissioning of the motor (loading basic parameter values andmotor-specific parameter values)

• serial commissioning of machine axes at series machines (loading thevalues saved after initial commissioning)

• reestablishing a defined original status (repeated loading of the valuessaved after initial commissioning)

• replacing the controller for servicing (loading the current parametervalues saved before servicing)

• Possibilities of loading parameter values to the controller:

• motor encoder data memory → loading the parameter values bycommand or via the control panel during initial motor commissioning

• MMC → loading the parameter values by command

• "IndraWorks D" commissioning tool → loading the parameter valuesfrom external data carrier

• control master → loading the parameter values from master-side datacarrier

By means of checksum comparison, the control master can determinewhether the values of the application-specific parameter values currentlyactive in the drive correspond to the values saved on the master side.

PasswordIndraDrive controllers provide the possibility to protect parameter valuesagainst accidental or unauthorized change by means of a password. Withregard to write protection, there are 3 groups of parameters that can bewritten:

Condition As Supplied

Storing the Application-SpecificParameter Values

Saving Parameter Values

Parameter IDN Lists

Loading Parameter Values

Checksum of Parameter Values



• Parameters that are write-protected as a standard, such as motorparameters, hardware code parameters, encoder parameters, errormemory etc. ("administration parameters"). The values of theseparameters guarantee correct function and performance of the drive.

• Parameters the customer can combine in groups and protect themwith a so-called customer password. This allows protecting parametervalues, that are used for adjusting the drive to the axis, after havingdetermined them.

• All other parameters that can be written and are not contained in theabove-mentioned groups. They are not write-protected.

The drive firmware allows activating and deactivating the write protectionfor parameter values by means of three hierarchically differentpasswords:

• Customer password

The parameter values of a parameter group combined by thecustomer can be protected.

• Control password

Parameters protected by a customer password can be written;"administration parameters" remain write-protected.

• Master password

All parameters that can be written, including "administrationparameters" and parameters protected by a customer password, canbe changed.

CommandsCommands are used to activate and control complex functions ormonitoring features in the drive. The higher-level master can start,interrupt or clear commands.

Each command is assigned to a parameter by means of which theexecution of the command can be controlled. During the execution of thecommand the display of the control panel reads "Cx", "C" representing thediagnostic command message and "x" representing the number of thecommand.

Note: Each command that was started must be actively clearedagain.

All commands available in the drive are stored in the S-0-0025, IDN-listof all procedure commands parameter.

Kinds of Passwords



There are 3 different kinds of commands:

• Drive control commands

• can cause automatic drive motion,

• can be started only when drive enable has been set,

• deactivate the active operating mode during its execution.

• Monitoring commands

• activate or deactivate monitors or functions in the drive.

• Administration commands

• carry out administration tasks,

• cannot be interrupted.

See also "Command Processing" in chapter "Master Communication"

Operating ModesThe selection of operating modes defines which command values will beprocessed in which way, in order to lead to the desired drive motion. Theoperating mode does not determine how these command values aretransmitted from the master to the slave.

One of the four or eight (for SERCOS) operating modes defined inparameters is always active when the following conditions have beenfulfilled:

• control section and power section are ready for operation

• drive enable signal sees a positive edge

• drive follows command value

• "Drive Halt" function has not been activated

• no drive control command is active

• no error reaction is carried out

The display of the control panel reads "AF" when an operating mode wasactivated.

Note: All implemented operating modes are stored in the S-0-0292,List of all operating modes parameter.

See also chapter "Operating Modes"

WarningsDepending on the active operating mode and the parameter settings,many monitoring functions are carried out. If a status is detected that stillallows correct operation but in case this status persists will cause an errorto occur and therefore cause the drive to be automatically switched off,the drive firmware generates a warning message.

Note: Warnings do not cause automatic shutdown (exception: fatalwarning).

Kinds of Commands



Warnings are classified in different warning classes which determinewhether the drive, when the warning is generated, carries out anautomatic reaction or not.

Note: The warning class can be recognized by the diagnosticmessage.

The following classes of warnings are distinguished:

• without drive reaction → diagn. message no. E2xxx, E3xxx, E4xxx

• with drive reaction → diagn. message no. E8xxx

Note: Warnings cannot be cleared. They persist until the conditionthat activated the warning is no longer fulfilled.

ErrorsDepending on the active operating mode and the parameter settings,many monitoring functions are carried out. If a status is detected thataffects or prevents correct operation the drive firmware generates anerror message.

Errors are classified in different error classes. There are 6 error classeswith different drive error reactions.

Note: The error class can be recognized by the diagnostic messagenumber.

Diagnostic messagenumber Error class

F2xxx non-fatal error

F3xxx non-fatal safety technology error

F4xxx interface error

F6xxx travel range error

F7xxx safety technology error

F8xxx fatal error

F9xxx fatal system error

E-xxxx fatal system error "processor exception"

Fig. 1-18: Overview of error classes

Note: Apart from the mentioned error classes that can occur duringoperation, errors can occur when the devices are booted andduring firmware download. These errors are not displayed atthe control panel with a diagnostic message number of the"Fxxxx" pattern, but with a short text. Boot errors and firmwaredownload errors are separately described in thedocumentation "Troubleshooting Guide" (diagnostic messagedescription).

Warning Classes

Error Classes



If the drive controller is in control and an error status is detected, theexecution of a drive error reaction is automatically started. The diagnosticmessage number "Fxxxx" flashes on the display of the control panel.

The drive reaction in the case of interface errors and non-fatal errors isdetermined in parameter P-0-0119, Best possible deceleration At theend of each error reaction, the drive is torque-free.

See also "Error Reactions" in chapter "Drive Functions"

Error messages are not cleared automatically but by the following action:

• activating the S-0-0099, C0500 Reset class 1 diagnostics command

- or -

• actuating the "Esc" button on the control panel

If the error status persists the error message is immediately generatedagain.

If a drive error occurs while operating with drive enable having been set,the drive carries out an error reaction. The drive automatically deactivatesitself at the end of each error reaction; in other words, the output stage isswitched off and the drive switches from an energized to a de-energizedstate.

To reactivate the drive:

• clear the error message and

• input a positive edge for drive enable again.

The diagnostic message numbers of occurring errors are written to anerror memory. This memory contains the diagnostic message numbers ofthe last 50 errors that occurred and the time when they occurred. Errorscaused by a shutdown of the control voltage (e.g. F8070 +24Volt DCerror) are not stored in the error memory.

The diagnostic message numbers in the error memory are mapped to theP-0-0192, Diagnostic numbers of error memory parameter and can bedisplayed by means of the control panel. By means of the "IndraWorks D"commissioning tool it is possible to display the diagnostic messagenumbers and the respective times at which the errors occurred.

Error Reactions of the Drive

Clearing Error Messages

Clearing Error Messages whenDrive Enable Was Set

Error Memory

Rexroth IndraDrive Important Directions for Use 2-1


2 Important Directions for Use

2.1 Appropriate Use

IntroductionRexroth products represent state-of-the-art developments andmanufacturing. They are tested prior to delivery to ensure operating safetyand reliability.

The products may only be used in the manner that is defined asappropriate. If they are used in an inappropriate manner, then situationscan develop that may lead to property damage or injury to personnel.

Note: Rexroth as manufacturer is not liable for any damagesresulting from inappropriate use. In such cases, the guaranteeand the right to payment of damages resulting frominappropriate use are forfeited. The user alone carries allresponsibility of the risks.

Before using Rexroth products, make sure that all the pre-requisites foran appropriate use of the products are satisfied:

• Personnel that in any way, shape or form uses our products must firstread and understand the relevant safety instructions and be familiarwith appropriate use.

• If the products take the form of hardware, then they must remain intheir original state, in other words, no structural changes are permitted.It is not permitted to decompile software products or alter sourcecodes.

• Do not mount damaged or faulty products or use them in operation.

• Make sure that the products have been installed in the mannerdescribed in the relevant documentation.

2-2 Important Directions for Use Rexroth IndraDrive


Areas of Use and ApplicationDrive controllers made by Bosch Rexroth are designed to controlelectrical motors and monitor their operation.

Control and monitoring of the motors may require additional sensors andactors.

Note: The drive controllers may only be used with the accessoriesand parts specified in this document. If a component has notbeen specifically named, then it may not be either mounted orconnected. The same applies to cables and lines.

Operation is only permitted in the specified configurations andcombinations of components using the software and firmwareas specified in the relevant Functional Descriptions.

Every drive controller has to be programmed before commissioning,making it possible for the motor to execute the specific functions of anapplication.

The drive controllers have been developed for use in single- and multi-axis drive and control tasks.

To ensure an application-specific use, the drive controllers are availablewith different drive power and different interfaces.

Typical applications of the drive controllers include:

• handling and mounting systems,

• packaging and food machines,

• printing and paper processing machines and

• machine tools.

The drive controllers may only be operated under the assembly andinstallation conditions described in this documentation, in the specifiedposition of normal use and under the ambient conditions as described(temperature, degree of protection, humidity, EMC, etc.).

2.2 Inappropriate Use

Using the drive controllers outside of the operating conditions described inthis documentation and outside of the indicated technical data andspecifications is defined as "inappropriate use".

Drive controllers must not be used, if

• ... they are subject to operating conditions that do not meet thespecified ambient conditions. This includes, for example, operationunder water, under extreme temperature fluctuations or extremely highmaximum temperatures.

• Furthermore, the drive controllers must not be used in applicationswhich have not been expressly authorized by Rexroth.

• Please carefully follow the specifications outlined in the general SafetyInstructions!

Rexroth IndraDrive Safety Instructions for Electric Drives and Controls 3-1


3 Safety Instructions for Electric Drives and Controls

3.1 General Information

Using the Safety Instructions and Passing them on to OthersDo not attempt to install or commission this device without first reading alldocumentation provided with the product. Read and understand thesesafety instructions and all user documentation prior to working with thedevice. If you do not have the user documentation for the device, contactyour responsible Bosch Rexroth sales representative. Ask for thesedocuments to be sent immediately to the person or persons responsiblefor the safe operation of the device.

If the device is resold, rented and/or passed on to others in any otherform, then these safety instructions must be delivered with the device.

WARNING

Improper use of these devices, failure to followthe safety instructions in this document ortampering with the product, including disablingof safety devices, may result in materialdamage, bodily harm, electric shock or evendeath!

Instructions for UseRead these instructions before the initial startup of the equipment in orderto eliminate the risk of bodily harm or material damage. Follow thesesafety instructions at all times.

• Bosch Rexroth AG is not liable for damages resulting from failure toobserve the warnings provided in this documentation.

• Read the operating, maintenance and safety instructions in yourlanguage before starting up the machine. If you find that you cannotcompletely understand the documentation for your product, please askyour supplier to clarify.

• Proper and correct transport, storage, assembly and installation aswell as care in operation and maintenance are prerequisites foroptimal and safe operation of this device.

• Only assign trained and qualified persons to work with electricalinstallations:

• Only persons who are trained and qualified for the use andoperation of the device may work on this device or within itsproximity. The persons are qualified if they have sufficientknowledge of the assembly, installation and operation of theequipment as well as an understanding of all warnings andprecautionary measures noted in these instructions.

• Furthermore, they must be trained, instructed and qualified toswitch electrical circuits and devices on and off in accordance withtechnical safety regulations, to ground them and to mark themaccording to the requirements of safe work practices. They musthave adequate safety equipment and be trained in first aid.

• Only use spare parts and accessories approved by the manufacturer.

• Follow all safety regulations and requirements for the specificapplication as practiced in the country of use.

3-2 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive


• The devices have been designed for installation in industrialmachinery.

• The ambient conditions given in the product documentation must beobserved.

• Only use safety-relevant applications that are clearly and explicitlyapproved in the Project Planning Manual. If this is not the case, theyare excluded.Safety-relevant are all such applications which can cause danger topersons and material damage.

• The information given in the documentation of the product with regardto the use of the delivered components contains only examples ofapplications and suggestions.

The machine and installation manufacturer must

• make sure that the delivered components are suited for hisindividual application and check the information given in thisdocumentation with regard to the use of the components,

• make sure that his application complies with the applicable safetyregulations and standards and carry out the required measures,modifications and complements.

• Startup of the delivered components is only permitted once it is surethat the machine or installation in which they are installed complieswith the national regulations, safety specifications and standards of theapplication.

• Operation is only permitted if the national EMC regulations for theapplication are met.

• The instructions for installation in accordance with EMC requirementscan be found in the documentation "EMC in Drive and ControlSystems".

The machine or installation manufacturer is responsible forcompliance with the limiting values as prescribed in the nationalregulations.

• Technical data, connections and operational conditions are specified inthe product documentation and must be followed at all times.



Explanation of Warning Symbols and Degrees of Hazard SeriousnessThe safety instructions describe the following degrees of hazardseriousness. The degree of hazard seriousness informs about theconsequences resulting from non-compliance with the safety instructions:

Warning symbol with signalword

Degree of hazard seriousness accordingto ANSI Z 535

DANGER

Death or severe bodily harm will occur.

WARNING

Death or severe bodily harm may occur.

CAUTION

Bodily harm or material damage may occur.

Fig. 3-1: Hazard classification (according to ANSI Z 535)



Hazards by Improper Use

DANGER

High electric voltage and high working current!Risk of death or severe bodily injury by electricshock!

DANGER

Dangerous movements! Danger to life, severebodily harm or material damage byunintentional motor movements!

WARNING

High electric voltage because of incorrectconnection! Risk of death or bodily injury byelectric shock!

WARNING

Health hazard for persons with heartpacemakers, metal implants and hearing aids inproximity to electrical equipment!

CAUTION

Hot surfaces on device housing! Danger ofinjury! Danger of burns!

CAUTION

Risk of injury by improper handling! Risk ofbodily injury by bruising, shearing, cutting,hitting, or improper handling of pressurizedlines!

CAUTION

Risk of injury by improper handling of batteries!



3.2 Instructions with Regard to Specific Dangers

Protection Against Contact with Electrical Parts

Note: This section only concerns devices and drive components withvoltages of more than 50 Volt.

Contact with parts conducting voltages above 50 Volts can causepersonal danger and electric shock. When operating electrical equipment,it is unavoidable that some parts of the devices conduct dangerousvoltage.

DANGER

High electrical voltage! Danger to life, electricshock and severe bodily injury!⇒ Only those trained and qualified to work with or on

electrical equipment are permitted to operate,maintain and repair this equipment.

⇒ Follow general construction and safety regulationswhen working on electrical power installations.

⇒ Before switching on the device, the equipmentgrounding conductor must have been non-detachably connected to all electrical equipment inaccordance with the connection diagram.

⇒ Do not operate electrical equipment at any time,even for brief measurements or tests, if theequipment grounding conductor is not permanentlyconnected to the mounting points of the componentsprovided for this purpose.

⇒ Before working with electrical parts with voltagepotentials higher than 50 V, the device must bedisconnected from the mains voltage or powersupply unit. Provide a safeguard to preventreconnection.

⇒ With electrical drive and filter components, observethe following:Wait 30 minutes after switching off power to allowcapacitors to discharge before beginning to work.Measure the voltage on the capacitors beforebeginning to work to make sure that the equipment issafe to touch.

⇒ Never touch the electrical connection points of acomponent while power is turned on.

⇒ Install the covers and guards provided with theequipment properly before switching the device on.Before switching the equipment on, cover andsafeguard live parts safely to prevent contact withthose parts.

⇒ A residual-current-operated circuit-breaker or r.c.d.cannot be used for electric drives! Indirect contactmust be prevented by other means, for example, byan overcurrent protective device according to therelevant standards.

⇒ Secure built-in devices from direct touching ofelectrical parts by providing an external housing, forexample a control cabinet.



European countries: according to EN 50178/ 1998,section 5.3.2.3.

USA: See National Electrical Code (NEC), NationalElectrical Manufacturers' Association (NEMA), as well aslocal engineering regulations. The operator must observeall the above regulations at any time.

With electrical drive and filter components, observe the following:

DANGER

High housing voltage and large leakage current!Risk of death or bodily injury by electric shock!⇒ Before switching on, the housings of all electrical

equipment and motors must be connected orgrounded with the equipment grounding conductor tothe grounding points. This is also applicable beforeshort tests.

⇒ The equipment grounding conductor of the electricalequipment and the units must be non-detachablyand permanently connected to the power supply unitat all times. The leakage current is greater than3.5 mA.

⇒ Over the total length, use copper wire of a crosssection of a minimum of 10 mm2 for this equipmentgrounding connection!

⇒ Before start-up, also in trial runs, always attach theequipment grounding conductor or connect with theground wire. Otherwise, high voltages may occur atthe housing causing electric shock.

Protection Against Electric Shock by Protective Low Voltage (PELV)All connections and terminals with voltages between 5 and 50 Volt atRexroth products are protective extra-low voltage systems which areprovided with touch guard according to the product standards.

WARNING

High electric voltage by incorrect connection!Risk of death or bodily injury by electric shock!⇒ To all connections and terminals with voltages

between 0 and 50 Volt, only devices, electricalcomponents, and conductors may be connectedwhich are equipped with a PELV (Protective Extra-Low Voltage) system.

⇒ Connect only voltages and circuits which are safelyisolated from dangerous voltages. Safe isolation isachieved for example by isolating transformers, safeoptocouplers or battery operation without mainsconnection.



Protection Against Dangerous MovementsDangerous movements can be caused by faulty control of connectedmotors. Some common examples are:

• improper or wrong wiring of cable connections

• incorrect operation of the equipment components

• wrong input of parameters before operation

• malfunction of sensors, encoders and monitoring devices

• defective components

• software or firmware errors

Dangerous movements can occur immediately after equipment isswitched on or even after an unspecified time of trouble-free operation.

The monitoring in the drive components will normally be sufficient to avoidfaulty operation in the connected drives. Regarding personal safety,especially the danger of bodily harm and material damage, this alonecannot be relied upon to ensure complete safety. Until the integratedmonitoring functions become effective, it must be assumed in any casethat faulty drive movements will occur. The extent of faulty drivemovements depends upon the type of control and the state of operation.



DANGER

Dangerous movements! Danger to life, risk ofinjury, severe bodily harm or material damage!⇒ For the above reasons, ensure personal safety by

means of qualified and tested higher-level monitoringdevices or measures integrated in the installation.They have to be provided for by the user accordingto the specific conditions within the installation and ahazard and fault analysis. The safety regulationsapplicable for the installation have to be taken intoconsideration. Unintended machine motion or othermalfunction is possible if safety devices are disabled,bypassed or not activated.

To avoid accidents, bodily harm and/or materialdamage:

⇒ Keep free and clear of the machine’s range ofmotion and moving parts. Possible measures toprevent people from accidentally entering themachine’s range of motion:- use safety fences

- use safety guards

- use protective coverings

- install light curtains or light barriers

⇒ Fences and coverings must be strong enough toresist maximum possible momentum.

⇒ Mount the emergency stop switch in the immediatereach of the operator. Verify that the emergency stopworks before startup. Don’t operate the device if theemergency stop is not working.

⇒ Isolate the drive power connection by means of anemergency stop circuit or use a safety relatedstarting lockout to prevent unintentional start.

⇒ Make sure that the drives are brought to a safestandstill before accessing or entering the dangerzone.

⇒ Additionally secure vertical axes against falling ordropping after switching off the motor power by, forexample:- mechanically securing the vertical axes,

- adding an external braking/ arrester/ clampingmechanism or

- ensuring sufficient equilibration of the verticalaxes.

The standard equipment motor brake or an externalbrake controlled directly by the drive controller arenot sufficient to guarantee personal safety!



⇒ Disconnect electrical power to the equipment using amaster switch and secure the switch againstreconnection for:- maintenance and repair work

- cleaning of equipment

- long periods of discontinued equipment use

⇒ Prevent the operation of high-frequency, remotecontrol and radio equipment near electronics circuitsand supply leads. If the use of such devices cannotbe avoided, verify the system and the installation forpossible malfunctions in all possible positions ofnormal use before initial startup. If necessary,perform a special electromagnetic compatibility(EMC) test on the installation.

Protection Against Magnetic and Electromagnetic Fields DuringOperation and Mounting

Magnetic and electromagnetic fields generated by current-carryingconductors and permanent magnets in motors represent a seriouspersonal danger to those with heart pacemakers, metal implants andhearing aids.

WARNING

Health hazard for persons with heartpacemakers, metal implants and hearing aids inproximity to electrical equipment!⇒ Persons with heart pacemakers and metal implants

are not permitted to enter following areas:- Areas in which electrical equipment and parts are

mounted, being operated or commissioned.

- Areas in which parts of motors with permanentmagnets are being stored, repaired or mounted.

⇒ If it is necessary for somebody with a pacemaker toenter such an area, a doctor must be consulted priorto doing so. The interference immunity of present orfuture implanted heart pacemakers differs greatly, sothat no general rules can be given.

⇒ Those with metal implants or metal pieces, as wellas with hearing aids must consult a doctor beforethey enter the areas described above. Otherwisehealth hazards may occur.



Protection Against Contact with Hot Parts

CAUTION

Hot surfaces at motor housings, on drivecontrollers or chokes! Danger of injury! Dangerof burns!⇒ Do not touch surfaces of device housings and

chokes in the proximity of heat sources! Danger ofburns!

⇒ Do not touch housing surfaces of motors! Danger ofburns!

⇒ According to operating conditions, temperatures canbe higher than 60 °C, 140 °F during or afteroperation.

⇒ Before accessing motors after having switched themoff, let them cool down for a sufficiently long time.Cooling down can require up to 140 minutes!Roughly estimated, the time required for coolingdown is five times the thermal time constantspecified in the Technical Data.

⇒ After switching drive controllers or chokes off, wait15 minutes to allow them to cool down beforetouching them.

⇒ Wear safety gloves or do not work at hot surfaces.⇒ For certain applications, the manufacturer of the end

product, machine or installation, according to therespective safety regulations, has to take measuresto avoid injuries caused by burns in the endapplication. These measures can be, for example:warnings, guards (shielding or barrier), technicaldocumentation.



Protection During Handling and MountingIn unfavorable conditions, handling and assembling certain parts andcomponents in an improper way can cause injuries.

CAUTION

Risk of injury by improper handling! Bodilyinjury by bruising, shearing, cutting, hitting!⇒ Observe the general construction and safety

regulations on handling and assembly.⇒ Use suitable devices for assembly and transport.⇒ Avoid jamming and bruising by appropriate

measures.⇒ Always use suitable tools. Use special tools if

specified.⇒ Use lifting equipment and tools in the correct

manner.⇒ If necessary, use suitable protective equipment (for

example safety goggles, safety shoes, safetygloves).

⇒ Do not stand under hanging loads.⇒ Immediately clean up any spilled liquids because of

the danger of skidding.

Battery SafetyBatteries consist of active chemicals enclosed in a solid housing.Therefore, improper handling can cause injury or damages.

CAUTION

Risk of injury by improper handling!⇒ Do not attempt to reactivate low batteries by heating

or other methods (risk of explosion andcauterization).

⇒ Do not recharge the batteries as this may causeleakage or explosion.

⇒ Do not throw batteries into open flames.⇒ Do not dismantle batteries.⇒ Do not damage electrical parts installed in the

devices.

Note: Environmental protection and disposal! The batteries installedin the product are considered dangerous goods during land,air, and sea transport (risk of explosion) in the sense of thelegal regulations. Dispose of used batteries separate fromother waste. Observe the local regulations in the country ofassembly.



Protection Against Pressurized SystemsAccording to the information given in the Project Planning Manuals,motors cooled with liquid and compressed air, as well as drive controllers,can be partially supplied with externally fed, pressurized media, such ascompressed air, hydraulics oil, cooling liquids, and cooling lubricatingagents. In these cases, improper handling of external supply systems,supply lines, or connections can cause injuries or damages.

CAUTION

Risk of injury by improper handling of pressurizedlines!⇒ Do not attempt to disconnect, open, or cut

pressurized lines (risk of explosion).⇒ Observe the respective manufacturer's operating

instructions.⇒ Before dismounting lines, relieve pressure and

empty medium.⇒ Use suitable protective equipment (for example

safety goggles, safety shoes, safety gloves).⇒ Immediately clean up any spilled liquids from the

floor.

Note: Environmental protection and disposal! The agents used tooperate the product might not be economically friendly.Dispose of ecologically harmful agents separate from otherwaste. Observe the local regulations in the country ofassembly.

Rexroth IndraDrive Operating States 4-1


4 Operating StatesIn the following, the possible operating states are listed in alphabeticalorder. The operating states are displayed on the control panel of thedevice:

Ab"drive ready" (Antrieb bereit)

see also: A0012 Control and power sections ready for operation

AC

see also: A4000 Automatic drive check and adjustment

AE

see also: A4001 Drive deceleration to standstill

AF"drive enable" (Antrieb Freigabe)

Depending on the operating mode used you can find a detaileddescription of the "AF" display under the respective diagnostic statusmessage.

AH"Drive Halt" (Antrieb Halt)

see also: A0010 Drive HALT

AS

see also: A0011 Starting lockout active

ASP

see also: A0014 Drive interlock active

AU

see also: A4002 Drive in automatic mode

bb"ready for operation" (betriebsbereit)

see also: A0013 Ready for power on

4-2 Operating States Rexroth IndraDrive


chargsee also: A0503 DC bus charging active

LBsee also: A0500 Supply module in voltage control resp. A0503 Supplymodule in operation

P0"Phase 0" (only with SERCOS master communication)

see also: A0000 Communication phase 0

P-1"Phase -1"

see also: A0009 Automatic baud rate detection for SERCOS Interface

P1"Phase 1"


P2"Phase 2"


P3"Phase 3"


PMsee also: A0050 Parameterization level 1 active

PL"parameter load with basic values"

see also: F2009 PL Load parameter default values

RLsee also: F2008 RL The motor type has changed

SBBsee also: A0017 Special mode motion active

SBB1see also: A0018 Special mode motion 1 active

Rexroth IndraDrive Operating States 4-3





SBHsee also: A0016 Safety related operational stop active

SHsee also: A0015 Safety related standstill active

ZKSsee also: A0520 DC bus quick discharge active

4-4 Operating States Rexroth IndraDrive


Rexroth IndraDrive Diagnostic Messages when Booting the Devices 5-1


5 Diagnostic Messages when Booting the Devices

5.1 Devices with Valid Firmware

When a valid firmware is available in the control section, the texts

BOOT 1.1

BOOT 1.2

BOOT 1.3

are displayed on the control section display after the control voltage isswitched on ("booting"). The controller first goes through the boot phasesin which the basic initialization of the processor takes place.

In the following boot phases the basic initialization of the hardwareconfiguration, the peripherals, the parameters, the master communicationetc. takes place:

BOOT 2.1

BOOT 2.2

...

BOOT 2.9

Finally, the initialization results are controlled. If initialization errorsoccurred they are output via the display. After initialization without errorsthe controller goes through the communication phases and, whererequired, switches to "ready for operation" ("bb"):

BOOT 3.0

BOOT 3.1

5.2 Devices without Valid Firmware

In case the device does not detect valid firmware, neither in the non-volatile memory (flash) nor in the MultiMediaCard (MMC), the so-called"loader" is started. The "loader" is an auxiliary program used to loadfirmware to the flash memory. When the "loader" is activated thecontroller goes through several initialization phases:

LOAD 1

LOAD 2

LOAD 3

LOAD 4

The LOADER display signals that the auxiliary program for loading("download") firmware is ready for operation.

5-2 Diagnostic Messages when Booting the Devices Rexroth IndraDrive


5.3 Error Messages when Booting the Devices

PLC ?Brief Description: PLC start dialog

Before "Boot 2.9" was displayed on the control panel the buttons "ESC"and "ENTER" had been simultaneously pressed and kept pressed on thecontrol panel.

As the functional package "Motion Logic" (drive PLC and technologyfunctions) has been enabled, the display reads "PLC ?". The automaticstart of a PLC boot project was prevented.

By pressing the arrow buttons (arrow down or arrow up) the displaychanges between "Run PLC" and "Stop PLC".

Stop PLCBrief Description: Do not start PLC after booting

Pressing the "ENTER" button on the control panel prevents the start of aPLC boot project.

Run PLCBrief Description: Start PLC after booting

When the "ENTER" button is pressed on the control panel, the drive PLCand a possibly available boot project are started after the booting process.



Load New Safety ?Brief Description: Query: Load safety technology parameters fromMMC?

Note: MMC plugged or changed indicates that the control sectionwas replaced. In this case it is possible to activate safetytechnology with the parameter file backed up during safetytechnology commissioning, but without repeated safetytechnology commissioning (see "Replacing the ControlSection").

Cause Remedy

Drive controller is equipped with optional safetytechnology module and active, non-volatile memory(P-0-4065, Non-volatile memory active) haschanged while controller was switched off, because– MMC was plugged (before switching off, device-internal memory was active) or– MultiMediaCard (MMC) was replaced (differentMMC was active) or– MMC was removed (before switching off, MMCwas active)

Confirm diagnostic message with "ENTER" in order toinitiate loading of safety technology parameters fromparameter file of MMC.ATTENTION!: Safety technology parameters alreadyexisting on control section will get lost.In parameter mode, parameters are first accepted insafety technology channel 1. They are only accepted bychannel 2 when switching to operating mode, withoutrestart in the meantime. If P-0-3206, Safety technologypassword in loaded parameter file is unequal defaultvalue "INDRASAVE", safety technology has beenactivated. For further steps see "Replacing the ControlSection"

– or –

Confirm diagnostic message with "ESC" and safetytechnology parameters won't be accepted

No IDN on MMC !Brief Description: MMC was not formatted correctly

Cause Remedy

Content of MMC is incorrect. Parameter (*.pbf) orretain file (*.rbf) is missing

Switch drive off and plug in MMC with correct content

MMC was not formatted correctly Switch drive off and plug in appropriate MMC– or –Switch drive off and format MMC again on PC and plugit in again



Load new Param. ?Brief Description: MMC plugged, changed or removed => differentparameter file

Cause Remedy

Active, non-volatile memory (P-0-4065, Non-volatilememory active) has changed while drive wasswitched off, because– an MMC was plugged (before switching drive off,device-internal memory had been active) or– MultiMediaCard (MMC) was replaced (other MMCwas active) or– MMC was removed (before switching drive off,MMC was active)

Confirm diagnostic message with "ENTER" and startloading of new parameters– or –Switch drive off and insert active, non-volatile memoryagain that was used before drive was switched off, byeither plugging in MMC / old MMC or removing MMCagain (device-internal memory was active). Then switchdrive on again

End C29Brief Description: Command C29 successfully completed

The command C2900 Command Firmware update from MMC wassuccessfully completed. The firmware was copied from theMultiMediaCard (MMC) to the drive-internal memory.

MMC not correct!Brief Description: MMC incorrectly formatted

Cause Remedy

MMC was not formatted correctly Switch drive off and plug in appropriate MMC– or –Switch drive off and format MMC again on PC and plugit in again

No IBF file or several IBF files on MMC Switch drive off and plug in appropriate MMC

No appropriate parameter file and retain data file onMMC

Switch drive off and plug in appropriate MMC

IBF not correct!Brief Description: Content of IBF file not correct

Cause Remedy

IBF file on MMC is not okay Switch drive off and install MMC with appropriate IBF filein drive– or –On PC copy appropriate IBF file to MMC



Firmware update ?Brief Description: Different firmware in device and on MMC

During the booting process with the MMC plugged in, a check is run bymeans of the release version to find out whether the firmware (FW) onthe flash is identical to the one on the MMC.

Cause Remedy

Check showed that firmware on flash and on MMCare not identical

Switch drive off and install MMC in drive with the samerelease version as on flash– or –Confirm diagnostic message with "ENTER" and startfirmware update

Update Error !Brief Description: Firmware update error during booting process

Cause Remedy

Firmware update was not carried out correctly Reboot device and start firmware update– or –Switch drive off, remove MMC and carry out firmwareupdate on PC via auxiliary program "Dolfi"



Notes

Rexroth IndraDrive Status Diagnostic Messages 6-1


6 Status Diagnostic Messages

A0000 Communication phase 0Contained in 02VRS: «MPB» «MPD» «MPH»

Contained in 03VRS: «MPB» «MPD» «MPH»


Supported by Supply Unit: HMV01

The communication between master and slaves via SERCOS interface isestablished in four communication phases:

The communication phases 0 and 1 are used to recognize the bus nodes.In the communication phase 2 the time and data build-up of the protocolsare prepared for the communication phases 3 and 4.

The phase progression takes place in ascending order. Thecommunication phase is set by the master. Switching to communicationphase 4 completes the initialization and allows power input.

If the phase progression is interrupted, the status display remains in thecommunication phase that has been reached.

When the A0000 Communication phase 0 diagnostic message is activethe drive is in phase 0 and waits for the master's phase switch fromcommunication phase 0 to 1.

During the communication phase 0 the control panel of the drive reads"P0".

A0000 - AttributesDisplay: P0

Mess. no.: A0000 (hex)

6-2 Status Diagnostic Messages Rexroth IndraDrive










When the A0001 Communication phase 1 diagnostic message is activethe drive is in phase 1, the master has not yet activated the phase switchform phase 1 to 2.










Communication phase 2 means that the drive is in the parameterizationmode. In this mode many parameters can be written that cannot bewritten any more in communication phase 4 (operating mode).

In communication phase 2

• the communication parameters are usually transmitted from themaster to the drive (in the case of field bus and SERCOS devices) and

• the "Load drive parameters" and "Save drive parameters" ("fileservice") functions are carried out, if required.


In order to get to communication phase 2 the master, in the case of driveswith field bus and SERCOS interfaces, sets "communication phase 2" viathe master communication interface. Another possibility to switch tocommunication phase 2 is to execute the P-0-4023, C0400Communication phase 2 transition command.

Before it is possible to switch to communication phase 3 it is necessary toexecute the S-0-0127, C0100 Communication phase 3 transitioncheck command. Among other things the drive, during the transitioncheck, checks the parameters required for communication phase 3 forvalidity.

After successful execution of the transition check command the masterswitches the drive to communication phase 3 (in the case of field bus andSERCOS devices) or the drive automatically switches to phase 3 at theend of the transition check command.



Communication Phase 3







Communication phase 3 means that the drive is in the restrictedparameterization mode. In this mode, as in the parameterization mode(phase 2), many parameters can still be written that cannot be written anymore in communication phase 4 (operating mode). Communicationparameters cannot be written in phase 3.


In order to get to communication phase 3 the master, in the case of driveswith field bus and SERCOS interfaces, sets "communication phase 3" viathe master communication interface. Another possibility to switch tocommunication phase 3 is to execute the S-0-0127, C0100Communication phase 3 transition check command.

Before it is possible to switch to communication phase 4 it is necessary toexecute the S-0-0128, C0200 Communication phase 4 transitioncheck command. Among other things the drive, during the transitioncheck, checks the parameters required for communication phase 4 forvalidity.

After successful execution of the transition check command the masterswitches the drive to communication phase 4 (in the case of field bus andSERCOS devices) or the drive automatically switches to phase 4 at theend of the transition check command.



Communication Phase 4



A0009 Automatic baud rate detection for SERCOS interfaceContained in 02VRS: «MPB» «MPD» «MPH»



Supported by Supply Unit: --





If the A0009 Automatic baud rate detection for SERCOS interfacediagnostic message is active, the drive is in phase 0 - 1, the progressionto phase 0 is carried out at the moment when the correct baud rate isdetected.

During the A0009 Automatic baud rate detection for SERCOSinterface diagnostic message the control panel of the drive reads "P-1".

A0009 - AttributesDisplay: P -1




A0010 Drive HALTContained in 02VRS: «MPB» «MPD» «MPH»




The Drive HALT function is activated by the master via the mastercommunication interface by clearing the Drive HALT bit in the S-0-0134,Master control word parameter or by interrupting a drive controlcommand (e.g. Drive controlled homing procedure).

When the Drive HALT function is active the control panel of the drivereads "AH".

The Drive HALT function is used to shut down an axis with definedacceleration and defined jerk.

In the case of speed control and torque control the drive is shut downby means of velocity command value reset with maximum torque.

See also Functional Description "The Functional Principle of Drive Halt"

A0010 - AttributesDisplay: AH


A0011 Starting lockout activeContained in 02VRS: «MPB» «MPD» «MPH»




As an option, certain digital drive controllers can be equipped with a driveinterlock. The drive interlock prevents the unintended start of a servo axis.This is realized by separating the electronic control system of the poweroutput stage from the power output stage by means of a relay contact.

When the drive interlock is active the control panel of the drive reads"AS".

See also Project Planning Manual Control Section, keyword "Driveinterlock"

A0011 - AttributesDisplay: AS




A0012 Control and power sections ready for operationContained in 02VRS: «MPB» «MPD» «MPH»




The A0012 Control and power sections ready for operation diagnosticmessage signals that the drive is provided with control voltage and thepower has been switched on. The drive is ready for power output.

Note: This status is displayed on the control panel of the drive with"Ab" ("Antrieb bereit" = Drive ready).

The diagnostic message A0012 Control and power sections ready foroperation signals that the supply unit is ready for switching in the mainscontactor.

Note: This status is displayed on the control panel of the device with"Bb" ("betriebsbereit" = ready for operation).

A0012 - AttributesDisplay: Ab


A0013 Ready for power onContained in 02VRS: «MPB» «MPD» «MPH»




The A0013 Ready for power on diagnostic message signals that thedrive is provided with control voltage and that there isn't any error presentin the drive.

The drive is ready for power on.

Note: This status is displayed on the control panel of the drive with"bb" ("betriebsbereit" = ready for operation).

A0013 - AttributesDisplay: bb


For HMS, HMD, HCS

For HMV



A0014 Drive interlock activeContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in the "special mode standstill". The active safety function is"safety related drive interlock".

Note: If the safety function "safety related drive interlock" is active,this is displayed on the control panel of the drive with "ASP"(Antriebssperre = drive interlock).

Bit 1 is set in parameter P-0-3213, Safety technology status.

The drive has come to standstill, the power supply has been interruptedvia two channels (output stage locked).

DANGER

Dangerous movements! Danger to life, dangerof injury, severe bodily injury or propertydamage!⇒ After the output stage has been locked, standstill

monitoring is not active. If external force influencesare to be expected, e.g. in the case of a vertical axis,this motion has to be safely prevented by additionalmeasures, e.g. a mechanical brake or weightcompensation.

The safety function "safety related drive interlock" cannot be deselectedby the enabling control but only by resetting the selection.

A0014 - AttributesDisplay: ASP




A0015 Safety related standstill activeContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in the "special mode standstill". The active safety function is"safety related standstill".

Note: If the safety function "safety related standstill" is active, this isdisplayed on the control panel of the drive with "SH" (SichererHalt = safety related standstill).


The drive has come to standstill, the power supply has been interruptedvia two channels (output stage locked).

If the drive is still in motion when "safety related standstill" is selected,there first is a stopping process, then the power supply is interrupted viatwo channels (output stage locked).

DANGER



A0015 - AttributesDisplay: SH




A0016 Safety related operational stop activeContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in the "special mode standstill". The active safety function is"safety related operational stop".

Note: If the safety function "safety related operational stop" is active,this is displayed on the control panel of the drive with "SBH"(Sicherer Betriebshalt = safety related operational stop).


The drive has come to standstill, the power supply has not beeninterrupted, all control loops are active, the standstill monitors are active.

If the drive is still in motion when "safety related operational stop" isselected, there first is a stopping process, then the standstill monitorsbecome active (axis/spindle cannot be moved). When the drive leaves thestandstill position, the output stage is locked via two channels.

DANGER



A0016 - AttributesDisplay: SBH




A0017 Special mode motion activeContained in 02VRS: «MPB» «MPD» «MPH»


Contained in 04VRS: «--» «--» «--»


The drive is in one of up to four special operating states "safety relatedmotion" that can be differently configured and selected.

By means of the parameters

• P-0-3240, Control word for safety related motion 1,

• P-0-3250, Control word for safety related motion 2,

• P-0-3260, Control word for safety related motion 3 and

• P-0-3270, Control word for safety related motion 4

it is possible to configure different characteristics of the special mode"safety related motion".

When a limit value of the configured and selected safety functions hasbeen exceeded, the drive system is brought to standstill in a safety-related way, then the power supply is interrupted via two channels (outputstage locked).

DANGER

Dangerous movements! Danger to life, risk ofinjury, severe bodily harm or material damage!⇒ After the output stage has been locked, standstill


Note: The "special mode motion" can only be selected for the timelimited by P-0-3222, Max. activation time of enablingcontrol.

According to selection, bit 3, 4, 5 or 6 is set in parameterP-0-3213, Safety technology status.



Safety Functions and their Limit Value MonitorsWith the safety function "safety related reduced speed" selected, the drivemoves at reduced speed. The speed monitors are active.

With the safety function "safety related direction of rotation" selected, thedrive can only move in a determined direction with reduced speed. Thespeed monitors are active.

With the safety function "safety related limited increment" selected, thedrive may only travel a maximum of one fixed increment after a travelcommand was executed. The drive moves at reduced speed. The speedand position monitors are active.

With the safety function "safety related limited absolute position" selected,the drive is under control loop control. The absolute position monitors areactive. The drive may only move within the range limits.

Note: Before the safety function "safety related limited absoluteposition" is selected, the "safety related homing procedure"has to be carried out.

Even if an absolute measuring system is used, it is necessary to carry outthe homing procedure for safely determining the "reference positionchannel 2". The "reference position channel 2" is determined viacam/switch at a separate input on channel 2.

A0017 - AttributesDisplay: SBB


Safety Related Reduced Speed

Safety Related Direction ofRotation

Safety Related LimitedIncrement

Safety Related Limited AbsolutePosition

Safety Related HomingProcedure



A0018 Special mode motion 1 activeContained in 02VRS: «--» «--» «--»




The drive is in the special mode "safety related motion 1" that can beconfigured and selected.

By means of the parameter P-0-3240, Control word for safety relatedmotion 1 it is possible to configure different characteristics of the specialmode "safety related motion 1".


DANGER



Note: The special mode "safety related motion 1" can only beselected for the time limited by P-0-3222, Max. activationtime of enabling control.

Bit 3 is set in parameter P-0-3213, Safety technology status(or P-0-3213, Safety technology operating status).









A0018 - AttributesDisplay: SBB1
















DANGER













When a limit value of the configured and selected safety function hasbeen exceeded, the drive system is brought to standstill in a safety-related way, then the power supply is interrupted via two channels (outputstage locked).

DANGER







A0050 Parameterization level 1 activeContained in 02VRS: «--» «--» «--»




The drive is in the "Parameterization level 1" mode. In this status, themonitoring functions of the position encoders and the motor temperaturesensor are deactivated. Although the master communication is incommunication phase 4, the drive can be parameterized as incommunication phase 3.

Note: This status is displayed on the control panel of the drive with"PE" (Parametrierebene, Parameterization Level 1).

See also Functional Description of firmware "Parking Axis"

See also Parameter Description "S-0-0420, C0400 Activateparameterization level 1 procedure command"

A0050 - AttributesDisplay: PM


A0100 Torque controlContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in the "Torque control" mode. It follows the torque commandvalue characteristic set by the master.

See also Functional Description "Torque/Force Control"

A0100 - AttributesDisplay: AF




A0101 Velocity controlContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in the "Velocity control" mode. It follows the speed commandvalue characteristic set by the master. The speed control loop is closed inthe drive.

See also Functional Description "Velocity Control"



A0102 Position mode, encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The master only specifies theposition command value characteristic, the drive follows the commandvalue with a lag error.

"Encoder 1" means that the encoder assigned by means of P-0-0077,Assignment motor encoder->optional slot is used as a controlencoder.

See also Functional Description "Position Control with Cyclic CommandValue Input"





A0103 Position mode, encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The master only specifies theposition command value characteristic, the drive follows the commandvalue with a lag error.

"Encoder 2" means that the encoder assigned by means of P-0-0078,Assignment optional encoder->optional slot is used as a controlencoder.




A0104 Position mode lagless, encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The master only specifies theposition command value characteristic, the drive follows the commandvalue laglessly (prerequisite: P-0-0040, Velocity feedforwardevaluation=100%).







A0105 Position mode lagless, encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The master only specifies theposition command value characteristic, the drive follows the commandvalue laglessly (prerequisite: P-0-0040, Velocity feedforwardevaluation=100%).





A0106 Drive controlled interpolation, encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»




From the control unit the drive receives a position command valueidentical to the target position of the distance to be traveled. The drivethen generates (interpolates) an internal position command valuecharacteristic that complies with the maximum values for the jerk,acceleration and velocity characteristic determined by the master.

With a lag error the drive moves to the target position.


See also Functional Description "Drive Internal Interpolation"





A0107 Drive controlled interpolation, encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»




From the master the drive receives a position command value identical tothe target position of the distance to be traveled. The drive then generates(interpolates) an internal position command value characteristic thatcomplies with the maximum values for the jerk, acceleration and velocitycharacteristic determined by the master.

With a lag error the drive moves to the target position.





A0108 Drive controlled interpolation, lagless, encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»





The drive laglessly moves to the target position (prerequisite: P-0-0040,Velocity feedforward evaluation=100%).







A0109 Drive controlled interpolation, lagless, encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»










A0110 Velocity synchronization, virtual master axisContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in velocity control. Taking the gear ratio and the master axisposition into account, the command speed is determined in the drive.

Virtual master axis means that the master axis position is calculated bythe control unit.

See also Functional Description "Velocity Synchronization withReal/Virtual Master Axis"





A0111 Velocity synchronization, real master axisContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in velocity control. The speed command value is derived fromthe master axis position. The master axis position is generated by themeasuring encoder.

See also Functional Description "Velocity Synchronization withReal/Virtual Master Axis"



A0112 Phase synchronization, encoder 1, virtual master axisContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. Taking the gear ratio and themaster axis position into account, the position command value isdetermined in the drive.

The drive follows the command value with a lag distance.

Encoder 1 means that the position encoder is mounted to the motor shaft(indirect measuring of the axis position). Virtual master axis means thatthe master axis position is calculated by the control unit.

See also Functional Description "Phase Synchronization with Real/VirtualMaster Axis"





A0113 Phase synchronization, encoder 2, virtual master axisContained in 02VRS: «MPB» «MPD» «MPH»






Encoder 2 means that the position encoder is mounted to the machineaxis (direct measuring of the axis position). Virtual master axis means thatthe master axis position is calculated by the control unit.




A0114 Phase synchronization, encoder 1, real master axisContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. Taking the gear ratio and themaster axis position into account, the position command value isdetermined in the drive. The drive follows the command value with a lagdistance.

Encoder 1 means that the position encoder is mounted to the motor shaft(indirect measuring of the axis position). Real master axis means that themaster axis position is derived from the incremental encoder signals.






A0115 Phase synchronization, encoder 2, real master axisContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. Taking the gear ratio and themaster axis position into account, the position command value isdetermined in the drive. The drive follows the command value with a lagdistance.

Encoder 2 means that the position encoder is mounted to the machineaxis (direct measuring of the axis position). Real master axis means thatthe master axis position is derived from the measuring encoder.




A0116 Phase synchr. lagless, encoder 1, virtual master axisContained in 02VRS: «MPB» «MPD» «MPH»





The drive follows the command value without any lag error.







A0117 Phase synchr. lagless, encoder 2, virtual master axisContained in 02VRS: «MPB» «MPD» «MPH»










A0118 Phase synchr. lagless, encoder 1, real master axisContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in lagless position control. The position command value iscalculated by the master axis position. The master axis position is derivedfrom the measuring encoder.






A0119 Phase synchr. lagless, encoder 2, real master axisContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in lagless position control. The position command value iscalculated by the master axis position. The master axis position is derivedfrom the measuring encoder.




A0128 Cam shaft, encoder 1, virtual master axisContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in the cam shaft mode. The function has been derived fromthe principle of the mechanical cam shaft. There is a fixed positionrelation between master axis and slave axis. The position commandvalues are taken from a table that is accessed by means of the masteraxis position.



See also Functional Description "Electronic Cam Shaft with Real/VirtualMaster Axis"





A0129 Cam shaft, encoder 2, virtual master axisContained in 02VRS: «MPB» «MPD» «MPH»










A0130 Cam shaft, encoder 1, real master axisContained in 02VRS: «MPB» «MPD» «MPH»






Encoder 1 means that the position encoder is mounted to the motor shaft(indirect measuring of the axis position). Real master axis means that themaster axis position is derived from the measuring encoder.






A0131 Cam shaft, encoder 2, real master axisContained in 02VRS: «MPB» «MPD» «MPH»










A0132 Cam shaft, lagless, encoder 1, virt. master axisContained in 02VRS: «MPB» «MPD» «MPH»












A0133 Cam shaft, lagless, encoder 2, virt. master axisContained in 02VRS: «MPB» «MPD» «MPH»










A0134 Cam shaft, lagless, encoder 1, real master axisContained in 02VRS: «MPB» «MPD» «MPH»






Encoder 1 means that the position encoder is mounted to the motor shaft(indirect measuring of the axis position). Real master axis means that themaster axis position is derived from the incremental encoder signals.






A0135 Cam shaft, lagless, encoder 2, real master axisContained in 02VRS: «MPB» «MPD» «MPH»










A0136 Motion profile, encoder 1, virtual master axisContained in 02VRS: «--» «--» «--»

Contained in 03VRS: «--» «--» «MPH»



The drive is in the "motion profile" mode. The function has been derivedfrom the principle of the mechanical cam shaft. There is a fixed positionrelation between master axis and slave axis. Depending on the masteraxis position, the position command values are generated from a givenmotion profile.


"Encoder 1" means that the position encoder is mounted to the motorshaft (indirect measuring of axis position). "Virtual master axis" meansthat the master axis position is calculated by the control unit.

See also Functional Description of firmware "Electronic Motion Profile withReal/Virtual Master Axis"





A0137 Motion profile, encoder 2, virtual master axisContained in 02VRS: «--» «--» «--»






"Encoder 2" means that the position encoder is mounted to the machineaxis (direct measuring of axis position). "Virtual master axis" means thatthe master axis position is calculated by the control unit.




A0138 Motion profile, encoder 2, real master axisContained in 02VRS: «--» «--» «--»






"Encoder 2" means that the position encoder is mounted to the machineaxis (direct measuring of axis position). "Real master axis" means that themaster axis position is derived from the measuring encoder.






A0139 Motion profile, encoder 1, real master axisContained in 02VRS: «--» «--» «--»






"Encoder 1" means that the position encoder is mounted to the motorshaft (indirect measuring of axis position). "Real master axis" means thatthe master axis position is derived from the measuring encoder.




A0140 Motion profile lagless, encoder 1, virtual master axisContained in 02VRS: «--» «--» «--»






"Encoder 1" means that the position encoder is mounted to the motorshaft (indirect measuring of axis position). "Virtual master axis" meansthat the master axis position is calculated by the control unit.






A0141 Motion profile lagless, encoder 2, virtual master axisContained in 02VRS: «--» «--» «--»






"Encoder 2" means that the position encoder is mounted to the machineaxis (direct measuring of axis position). "Virtual master axis" means thatthe master axis position is calculated by the control unit.




A0142 Motion profile lagless, encoder 1, real master axisContained in 02VRS: «--» «--» «--»






"Encoder 1" means that the position encoder is mounted to the motorshaft (indirect measuring of axis position). "Real master axis" means thatthe master axis position is derived from the incremental encoder signals.






A0143 Motion profile lagless, encoder 2, real master axisContained in 02VRS: «--» «--» «--»






"Encoder 2" means that the position encoder is mounted to the machineaxis (direct measuring of axis position). "Real master axis" means that themaster axis position is derived from the measuring encoder.






A0150 Drive-controlled positioning, encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»




From the master the drive receives a position command value in theS-0-0282, Positioning command value parameter. Thisposition/distance, when the status of bit 0 of parameter S-0-0346,Positioning command strobe changes, is copied to S-0-0258, Targetposition or, in the case of a relative input, added to the value inS-0-0430, Effective target position. The drive then generates(interpolates) an internal position command value characteristic in orderto get from the current position to this target position. This is doneconsidering the limit values for velocity, acceleration and jerk in thefollowing parameters:

• S-0-0193, Positioning Jerk,

• S-0-0259, Positioning Velocity,

• S-0-0260, Positioning Acceleration and

• S-0-0359, Positioning Deceleration.

With a lag error proportional to the velocity the drive moves to the targetposition.


See also Functional Description "Drive Controlled Positioning"





A0151 Drive-controlled positioning, encoder 1, laglessContained in 02VRS: «MPB» «MPD» «MPH»




From the master the drive receives a position command value in theS-0-0282, Positioning command value parameter. This distance, whenthe status of bit 0 of parameter S-0-0346, Positioning command strobechanges, is copied to S-0-0430, Effective target position or, in the caseof a relative input, added to the value in S-0-0430, Effective targetposition. The drive then generates (interpolates) an internal positioncommand value characteristic in order to get from the current position tothis target position. This is done considering the limit values for velocity,acceleration and jerk in the following parameters:


• S-0-0260, Positioning Acceleration,

• S-0-0359, Positioning Deceleration and

• S-0-0193, Positioning Jerk.








A0152 Drive-controlled positioning, encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»









With a lag error proportional to the velocity the drive moves to the targetposition.







A0153 Drive-controlled positioning, encoder 2, laglessContained in 02VRS: «MPB» «MPD» «MPH»
















A0154 Position mode drive controlled, encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The drive presets the positioncommand value characteristic internally and follows the command valuewith a lag distance.


See also Functional Descriptions "Drive-Internal Interpolation" and "Drive-Controlled Positioning"



A0155 Position mode drive controlled, encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The drive presets the positioncommand value characteristic internally and follows the command valuewith a lag distance.







A0156 Position mode lagless, encoder 1 drive controlledContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The drive presets the positioncommand value characteristic internally and follows the command valuewithout any lag error. (Prerequisite: P-0-0040, Velocity feedforwardevaluation= 100%).





A0157 Position mode lagless, encoder 2 drive controlledContained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The drive presets the positioncommand value characteristic internally and follows the command valuewithout any lag error. (Prerequisite: P-0-0040, Velocity feedforwardevaluation= 100%).







A0160 Position mode drive controlledContained in 02VRS: «--» «--» «--»




The drive is in position control. The position control loop is closed bymeans of a position encoder in the drive. The master only presets theposition command value characteristic.

When the operating mode is activated, any possible difference betweencurrent actual position value and transmitted position command value istraveled in a drive-controlled way.

According to the axis controller control word, the drive controls withencoder 1 or encoder 2, laglessly or with lag error, with regard to thetarget position to be approached (prerequisite: P-0-0040, Velocityfeedforward evaluation=100%).

Note: Control with encoder 2 can only take place if encoder 2 isavailable.






A0161 Drive-controlled positioningContained in 02VRS: «--» «--» «--»




From the master the drive receives a position command value inparameter S-0-0282, Positioning command value. This distance, whenthe status of bit 0 of parameter S-0-0346, Positioning command strobechanges, is copied to the value in S-0-0430, Effective target position or,in the case of relative input, added to this value. The drive then generates(interpolates) an internal position command value characteristic in orderto get from the current position to this target position. This is doneconsidering the parameterized values for velocity, acceleration and jerk inthe parameters







See also Functional Description "Drive-Controlled Positioning"





Ao162 Positioning block modeContained in 02VRS: «--» «--» «--»




The command value profile is generated in the drive. Target position,velocity, acceleration and jerk are determined by a programmedpositioning block. According to the parameterization of P-0-4019,Positioning block mode, the target position is understood as anabsolute or relative distance.



See also Functional Description "Positioning Block Mode"





A0163 Position synchronizationContained in 02VRS: «--» «--» «--»




The drive is in the "Position synchronization" mode.

This means that the drive is in position control and the position commandvalues are derived from master axis positions.

See also Functional Description of firmware "Synchronization Modes"



A0164 Velocity synchronizationContained in 02VRS: «--» «--» «--»




The drive is in the "Velocity synchronization" mode.

This means that the drive is in velocity control and the velocity commandvalues are derived from master axis positions.

See also Functional Description of firmware "Synchronization Modes"





A0206 Positioning block mode, encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control with systematic lag distance. Encoder 1(motor encoder) provides the actual value. The command value profile isgenerated in the drive. Target position, velocity, acceleration and jerk aredetermined by a previously programmed positioning block According tothe parameterization of P-0-4019, Positioning block mode, the targetposition shall be understood as being absolute or as relative distance.




A0207 Positioning block mode lagless, encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control without lag distance. Encoder 1 (motorencoder) provides the actual value. The command value profile isgenerated in the drive. Target position, velocity, acceleration and jerk aredetermined by a previously programmed positioning block According tothe parameterization of P-0-4019, Positioning block mode, the targetposition shall be understood as being absolute or as relative distance.






A0210 Positioning block mode, encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control with systematic lag distance. Encoder 2provides the actual value. The command value profile is generated in thedrive. Target position, velocity, acceleration and jerk are determined by apreviously programmed positioning block According to theparameterization of P-0-4019, Positioning block mode, the targetposition shall be understood as being absolute or as relative distance.




A0211 Positioning block mode lagless, encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is in position control without lag distance. Encoder 2 providesthe actual value. The command value profile is generated in the drive.Target position, velocity, acceleration and jerk are determined by apreviously programmed positioning block According to theparameterization of P-0-4019, Positioning block mode, the targetposition shall be understood as being absolute or as relative distance.






A0500 Supply module in voltage controlContained in 02VRS: «--» «--» «--»




The mains contactor has been switched in, the DC bus has beencharged, the DC bus voltage is regulated to 750 V direct voltage.

A0500 - AttributesDisplay: Lb


A0502 Supply module in operationContained in 02VRS: «--» «--» «--»




The mains contactor has been switched in, the DC bus has been chargedand is ready for power output.

A0502 - AttributesDisplay: Lb


A0503 DC bus charging activeContained in 02VRS: «--» «--» «--»




The DC bus is presently charged to the crest value of the mains voltage("soft start"). When the voltage in the DC bus has reached the crest valueof the mains voltage, the mains contactor is switched in.

A0503 - AttributesDisplay: charg




A0520 DC bus quick discharge activeContained in 02VRS: «--» «--» «--»




The braking resistor is presently short-circuiting the DC bus in order toreduce the DC bus voltage as quickly as possible.

Note: The "DC bus short circuit" function (ZKS) was activated via theterminal strip X32 at the HMV.

A0520 - AttributesDisplay: ZKS


A0800 Unknown operating modeContained in 02VRS: «--» «--» «--»




There isn't any diagnostic message existing for the activated operatingmode.





A4000 Automatic drive check and adjustmentContained in 02VRS: «MPB» «MPD» «MPH»




The A4000 diagnostic message is a collective diagnostic message fordifferent system states. It is used for drive check and adjustment. Whenenabling and disabling the drive enable this diagnosis is automaticallyactivated. The following system states that are processed independent ofthe parameterization are counted among the drive checks andadjustments:

• the holding brake delay times (S-0-0206, Drive on delay time,S-0-0207, Drive off delay time)

• build-up of the air-gap field (in the case of asynchronous motors)

• automatic determination of the commutation offset (in the case ofsynchronous motors with incremental measuring system)

Depending on the parameterization the automatic brake check isdisplayed with the A4000 diagnostic message, too (see P-0-0525,Holding brake control word).

A4000 - AttributesDisplay: AC




A4001 Drive deceleration to standstillContained in 02VRS: «MPB» «MPD» «MPH»




The drive

• is decelerated to standstill as set in the P-0-0119, Best possibledeceleration parameter

- or -

• conducts a speed command value reset.

Note: This status is displayed on the control panel of the drive with"AE".

See also Functional Description "Error"

A4001 - AttributesDisplay: AE


A4002 Drive in automatic modeContained in 02VRS: «--» «--» «MPH»

Contained in 03VRS: «MPB» «--» «MPH»



The drive-internal PLC moves the drive in the automatic mode.

See also Application Manual "Rexroth IndraMotion MLD"

A4002 - AttributesDisplay: AU


Rexroth IndraDrive Error Messages 7-1


7 Error Messages

7.1 Fatal System Errors (F9xxx and E-xxxx)

Behavior in the Case of Fatal System ErrorIn the case of fatal system errors there is a grave problem in the drivesystem (e.g. watchdog error, processor crash, ...) which does no longerallow regular operation of the drive. Due to a hardware or firmware error,the drive firmware is no longer operable; clearing an error is no longerpossible.

In this case the drive reacts automatically as follows:

• All digital outputs are set to "0".Safety technology: safety related feedback is deactivated!

• The "ready for operation" relay opens, this also switches power off incase the wiring is correct.

• The output stage is locked, this disables the drive torque.

• The brake output is deactivated; if a self-holding brake is used, it isapplied!

• One of the following diagnostic messages is output at the display:

• F9xxx (fatal system errors),

• E8xxx (exceptions),

• or E-xxxx (processor error), e. g. E-0800 (an English diagnosticmessage text is output via the serial interface)

After a fatal system error has occurred, the drive can only becommissioned again when:

1. the 24 V supply is completely switched off and on so that a restart ofthe drive is carried out (incl. booting process and initialization).

2. the drive is run up to the operating mode again.

3. power is switched on again (as the "ready for operation" relay hasopened before and power was switched off in case the wiring iscorrect).

Note: In case fatal system errors are occurring repeatedly, contactour service department as operating the drive then is nolonger possible.

Drive Behavior

Steps of Commissioning

7-2 Error Messages Rexroth IndraDrive


E-0000 Processor exception errorContained in 02VRS: «MPB» «MPD» «MPH»




Cause:

A fatal processor error (processor exception) occurred. The drive wasswitched off by the firmware (torque-free).

"0000" is a wild card for hexadecimal error codes by means of which theRexroth service department can recognize the exact cause of theoccurrence of the error.

"E-0220" means that an unauthorized (incorrect) interrupt call occurred.

E-0000 E-0220 E-0460 E-06C0

E-0020 E-0240 E-0480 E-0700

E-0040 E-0260 E-04A0 E-0720

E-0060 E-0280 E-04C0 E-0740

E-0080 E-02A0 E-04E0 E-0760

E-00A0 E-02C0 E-0500 E-0800

E-00C0 E-02E0 E-0520 E-0820

E-00E0 E-0300 E-0540 E-0A00

E-0100 E-0320 E-0560 E-0A20

E-0120 E-0340 E-0580 E-0A40

E-0140 E-0360 E-05A0 E-0A60

E-0160 E-0380 E-0600 E-0A80

E-0180 E-03A0 E-0620 E-0AA0

E-01A0 E-03C0 E-0640 E-0AC0

E-01C0 E-0400 E-0660 E-0AE0

E-01E0 E-0420 E-0680 E-0B00

E-0200 E-0440 E-06A0 E-0B80

Fig. 7-1: Hexadecimal error codes of a processor error

Remedy:

Switch drive off and then on again. If the processor error is still displayed,please contact our service department.

E0000 - AttributesDisplay: E-XXXX

Mess. no.: E0000 (hex)

Example



F9001 Error internal function callContained in 02VRS: «MPB» «MPD» «MPH»




The device was switched off by the firmware.

Cause Remedy

Undefined cause Switch device off/on. If error persists, replace device

An error occurred in firmware (general softwareerror)

Please contact our service department

F9001 - AttributesDisplay: F9001

Mess. no.: F9001 (hex)

F9002 Error internal RTOS function callContained in 02VRS: «MPB» «MPD» «MPH»




Cause:

An error occurred in the firmware (general software error). The drive wasswitched off by the firmware.

Remedy:

Please contact our service department.





F9003 WatchdogContained in 02VRS: «MPB» «MPD» «MPH»




Cause Remedy

Firmware-side watchdog timer was triggered(general firmware error). Drive was switched off byfirmware.

Replace device, contact our service department



F9004 Hardware trapContained in 02VRS: «--» «--» «--»




An internal firmware error has occurred. The device was switched off bythe firmware.

Cause Remedy

An error occurred in firmware Please contact our service department





7.2 Fatal Errors (F8xxx)

Behavior in the Case of Fatal ErrorBasically there are 2 kinds of fatal errors (F8-errors):

• fatal errors during initialization (initialization errors) (e.g. F8201 andF8203, F8118, F8120, ...)

• fatal errors during operation (e.g. F8060, F8022, ...)

Note: Fatal initialization errors cannot be cleared, they require thedrive to be switched off completely.

In addition to completely switching off the drive, fatal errorsassociated with the safety technology (e.g. F8201 and F8203)require safety technology to be completely recommissioned.

In the case of fatal errors, closed-loop control (or open-loop U/f control) ofthe drive is no longer ensured; with these errors the drive, independent ofthe setting in P-0-0119, Best possible deceleration and P-0-0117,Activation of NC reaction on error, therefore is immediately switchedoff, i.e. it goes torque-free (see also Functional Description "ErrorReaction").

Note: In the case of fatal errors, the settings in P-0-0118, Powersupply, configuration still are taken into account.

After a fatal error has occurred, the drive can only be commissioned againwhen:

1. the error message was cleared by the error clearing command (cf.S-0-0099, C0500 Reset class 1 diagnostics) [to do this it mightpossibly be necessary to switch to the parameter mode or switch thedrive off completely].

2. the actual cause of the error was recognized and removed. Thismight possibly imply the replacement of an entire component (e.g.motor or drive controller).

3. the drive is in the operating mode again and power was switched onagain ("Ab").

4. drive enable was switched on again (0-1 edge).

Note: In case fatal errors are occurring repeatedly, contact ourservice department as operating the drive then is no longerpossible.

Drive Behavior




F8000 Fatal Hardware ErrorContained in 02VRS: «--» «--» «--»




"F8000" is a collective diagnostic message for the following fatal hardwareerrors:

• F8060 Overcurrent in power section and

• F8069 +/-15Volt DC error

Normally you won't see "F8000" on the display of the drive controller,because F8060 Overcurrent in power section or F8069 +/-15Volt DCerror will be displayed shortly afterwards.

An external control unit cannot recognize the exact cause of the error; theexact cause of the error, however, can be detected via the servicechannel by repeated reading of S-0-0390, Diagnostic message numberand S-0-0095, Diagnostic message.

The respective cause is displayed in the diagnostic message whichfollows the error F8000 (F8060 Overcurrent in power section or F8069+/-15Volt DC error).

The error reaction defined for fatal errors (F8xxx) is immediately carriedout (see "Behavior in the Case of Fatal Error").

F8000 - AttributesDisplay: F8xxx


Cause

Reading Exact Cause of Errorat External Control Unit

Remedy

Error Reaction



F8010 Autom. commutation: max. motion range when moving backContained in 02VRS: «MPB» «MPD» «MPH»




When moving back to the initial position at which it was beforecommutation setting (only in the case of sine-wave method with motion),the axis left the allowed actual position value range.

Cause Remedy

Positive feedback of motor; commutation offsetdetermination generated incorrect value forP-0-0521, Effective commutation offset

Check motor encoder signals. To do this move motorknowing manufacturer-side setting for sense of rotationor velocity polarity and check actual position values withregard to polarity and validation.If necessary, invert polarity of motor encoder or inverttwo motor phases. Carry out commutation setting again

Positive feedback of motor after axis was mounted,in spite of successful initial commissioning beforeaxis was dismounted

Check whether direction of motion (sense of rotation) ofmotor complies with that of motor encoder. If not, invertdirection of motion of motor (invert phases) or of motorencoder

During commutation setting process, axis got intoresonance

Set "search direction for sine-wave method" to "increaseof frequency with priority" in P-0-0522, Control word forcommutation setting- or -Reduce value in P-0-0507, Test frequency for angleacquisition in order modify excitation frequency forsine-wave method compared to resonance frequency ofaxis





F8011 Commutation offset could not be determinedContained in 02VRS: «MPB» «MPD» «MPH»




The sine-wave method for commutation setting could not determine anyvalue for the commutation offset.

Cause Remedy

Axis could not carry out required motion Check axis for stiffness or blocking; if necessary, reducefriction (lubrication, guiding device of trailing cableinstallation) or remove blocking- or -Set "search direction for sine-wave method" to "increaseof amplitude with priority" in P-0-0522, Control word forcommutation setting- or -Increase value in P-0-0506, Amplitude for angleacquisition, in order to increase excitation amplitude forsine-wave method compared to frictional force of axis

During commutation setting process, axis got intoresonance

Set "search direction for sine-wave method" to "increaseof frequency with priority" in P-0-0522, Control word forcommutation setting- or -Reduce value in P-0-0507, Test frequency for angleacquisition in order modify excitation frequency forsine-wave method compared to resonance frequency ofaxis

Motor has not been supplied with current Check motor connection

Sine-wave method without success, although axishas required freedom of motion and doesn't showany resonance phenomena

Try with manually input values if automatic search formotor-specific values for P-0-0506, Amplitude forangle acquisition and P-0-0507, Test frequency forangle acquisition doesn't provide any result in spite ofseveral repetitions

Signals of motor encoder do not reflect motionprocess of axis; encoder cables of 2 drives possiblymixed up- or -Incorrect polarity of encoder signals

Check motor encoder signals. To do this move motorknowing manufacturer-side setting for sense of rotationor velocity polarity and check actual position values withregard to polarity and validation.





F8012 Autom. commutation: max. motion rangeContained in 02VRS: «MPB» «MPD» «MPH»




During commutation setting (sine-wave method) the axis left the allowedactual position value range.

Cause Remedy

Heavy axis motion due to too high drive torque orforce generation during commutation setting

Reduce value contained in P-0-0506, Amplitude forangle acquisition- and / or -Increase value contained in P-0-0507, Test frequencyfor angle acquisition

External forces or torques cause axis to move out ofallowed actual position value range

Check mechanical axis system for occurrence ofexternal forces, e.g. due to trailing cable installation,vertical load etc.

Detent force or torque causes axis to move out ofallowed actual position value range

Make sure that, during commutation setting by means ofsine-wave method, detent forces of motor do not causeposition limits to be exceeded near limits of actualposition value range





F8013 Automatic commutation: current too lowContained in 02VRS: «MPB» «MPD» «MPH»




The actual current value amplitude resulting from commutation settingwith the saturation method is monitored. When it does not exceed aminimum threshold, the error F8013 is generated.

Cause Remedy

Actual current value amplitude is not sufficient forexact determination of commutation offset

Increase signal voltage (P-0-0506, Amplitude for angleacquisition) or reduce signal frequency (P-0-0507, Testfrequency for angle acquisition) and restartcommutation setting process- or -Enter value "0" in P-0-0506, Amplitude for angleacquisition. Appropriate value for P-0-0506 is therebyautomatically determined during commutation settingprocess- or -Reduce value of P-0-0517, Commutation: requiredharmonics component, if approx. 30 similar values aredetermined for P-0-0521, Effective commutationoffset with repeated commutation setting for differentmotor positions (drive remains in "Ab"). ReduceP-0-0517, Commutation: required harmonicscomponent until command error F8013 no longeroccurs; finally check function several times!

Note: If error occurs repeatedly, please contact our servicedepartment.





F8014 Automatic commutation: overcurrentContained in 02VRS: «MPB» «MPD» «MPH»




The actual current value amplitude resulting from automatic commutationoffset determination is monitored. When a maximum value is exceeded,the error F8014 is generated.

Cause Remedy

Amplitude of actual current value is higher thanallowed maximum current

Reduce signal voltage (P-0-0506, Voltage amplitudefor angle acquisition) or increase signal frequency(P-0-0507, Test frequency for angle acquisition)- or -With P-0-0506, Voltage amplitude for angleacquisition=0 start automatic determination ofappropriate values






F8015 Automatic commutation: timeoutContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the automatic commutation offset determination(after drive enable) an error was detected.

Cause Remedy

An error occurred in internal signal generator usedfor determining commutation offset

Switch the drive off and on again. If the error continuesto be signaled, contact our service department.

The commutation setting with motion by means of the sine-wave methodis completed when the axis, after commutation offset determination, hasbeen moved back to the initial position at which it was before the start. Ifthis is impossible, the error F8015 is generated.

Cause Remedy

Axis cannot be moved back to position at which itwas at beginning of commutation determination

Check mechanical axis system, remove blocking orstiffness



Saturation Method

Sine-Wave Method



F8016 Automatic commutation: iteration without resultContained in 02VRS: «MPB» «MPD» «MPH»




During the automatic commutation offset determination (after driveenable) it has been impossible to find appropriate values for P-0-0506,Voltage amplitude for angle acquisition and P-0-0507, Test frequencyfor angle acquisition with which it would be possible to determine auseful commutation offset of the connected motor.

Cause Remedy

Current generated during automatic commutationoffset determination could not produce anysaturation effect in motor.Required maximum current is approx. 1.5-foldcontinuous current at standstill (S-0-0111, Motorcurrent at standstill).

Check whether controller can supply motor withsufficiently high current (cf. S-0-0111, Motor current atstandstill and S-0-0110, Amplifier peak current). Ifmaximum controller current is too low, drive controllerhas to be replaced by a bigger one- or -Change position of movable part of motor with regard toits rigid part restart command P-0-0524, C1200Commutation offset setting command- or -Contact our service department and, if necessary, usean absolute measuring system, because motorcharacteristics do not allow automatic commutation

See also Functional Description "Commutation Setting"





F8022 Enc. 1: enc. signals incorr. (can be cleared in ph. 2)Contained in 02VRS: «MPB» «MPD» «MPH»




The signals of the measuring system (encoder 1) are monitored withregard to their amplitudes and signal shape. If a signal (e.g. sin or cos)leaves the thresholds monitored by the hardware or if the signals aredisturbed in such a way that a position error occurs, the error F8022 isgenerated.

Note: As the position of the measuring system is no longergenerated correctly when the error F8022 is detected, it isnecessary to initialize the encoder again.

The error can only be cleared in communication phase 2(parameter mode).

Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and replace it, ifnecessary

Measuring system defective Check measuring system and replace it, if necessary

Faulty mounting of measuring head in the case oflinear measuring systems

Check mounting of measuring head and correct it, ifnecessary

Measuring system dirty Clean or replace measuring system

Hardware defect on control section of drive Replace control section or entire drive controller

Note: Only Rexroth service engineers or especially trained users areallowed to replace the control section. The replacement of theentire drive controller is described in the Project PlanningManual for the power section.

See also E2074 Encoder 1: encoder signals disturbed





F8023 Error mechanical link of encoder or motor connectionContained in 02VRS: «MPB» «MPD» «MPH»




The controller is monitoring the motor, among other things, by means of amodel calculation. The input values required for the model calculation arechecked for validity. If the check is negative, this error message isgenerated.

Cause Remedy

Mechanical connection between rotor of motor andmotor encoder is loose or broken

Check connection and fix or repair it

Phase break in motor feed wire - Check motor feed wire for continuity. Take possible"loose contacts" into account.- Check connection of motor feed wire at controller.- Check connection of motor feed wire at motor.- Line break in motor. Replace motor.- Line break in controller. Replace controller.





F8027 Safety related standstill while drive enabledContained in 02VRS: «MPB» «MPD» «MPH»




Note: When the error occurs, the drive immediately becomes torque-free!

Optional module "starting lockout" (HSI01)

Cause Remedy

Starting lockout was set with active control or driveenable was set with active starting lockout

Check control and connection of starting lockout input

Optional module "safety technology I/O" (HSI11)

Cause Remedy

Drive enable was set while "drive interlock" or "safetyrelated standstill" was active- or -Drive enable was set while drive was in error status"quasi safety related standstill" due to internal safetytechnology error

Do not set drive enable while drive is in described states





F8042 Encoder 2 error: signal amplitude incorrectContained in 02VRS: «--» «--» «--»




The signals of the measuring system (encoder 2) are monitored onhardware and software level with regard to their amplitudes and signalshape. If a signal (sin or cos) leaves the allowed range or if the signalsare disturbed in such a way that a position error occurs, this error isgenerated. The error only occurs in conjunction with the function"redundant motor encoder"!

Note: As the position is no longer generated correctly when this erroris detected, it is necessary to initialize the encoder again.

Note: When using an incremental encoder with square-wave signals,monitoring is carried out with regard to an inadmissible edge.

On the software level, the signals of a resolver are monitoredfor their levels.

Cause Remedy


Encoder defective Check measuring system and replace it, if necessary



Measuring system dirty Replace measuring system







F8057 Device overload shutdownContained in 02VRS: «--» «--» «--»




The device was switched off due to overload.

Cause Remedy

Power demanded by drives is too high Use drives with lower peak current

Power demanded by drives is too high Reduce allowed acceleration of axis or reduce finalvelocity to which acceleration takes place



F8060 Overcurrent in power sectionContained in 02VRS: «MPB» «MPD» «MPH»




The current in the power transistors has exceeded the maximum alloweddevice peak current (cf. S-0-0110, Amplifier peak current).

Note: In the case of an internal signal voltage error (15 V) in thepower section, this error message is generated, even withoutpower, directly when the device is switched on, before poweris demanded from the power section.

Cause Remedy

External 24 V supply is not sufficiently overload-proof Check overload withstand capability of external 24 Vpower supply unit and replace it, if necessary

Short circuit in motor or motor cable Check motor cable and motor for short circuit

Power section of drive controller is defective Replace drive controller

Current loop parameterized differently Check current loop parameterization (cf. motor datasheet) and correct it if necessary after having contactedour service department

Voltage fluctuations in DC bus too high becausesystem impedance too high

Reduce system impedance, e.g. increase feed wirecross sections





F8064 Interruption of motor phaseContained in 02VRS: «--» «--» «--»




During voltage-controlled U/f operation for asynchronous motors, thedrive monitors the motor current in the individual line phases.

The drive has detected that the current is "0" in at least one phase

DANGER

Lethal injury caused by coasting axis (torquedisable)!⇒ Additional measures are possibly required to stop

the axis.

• Safe monitoring of individual phases is only possible as of a speedcommand value >10 rpm.

• The monitor is also triggered in the case of totally incorrectparameterization of the motor (e.g. the setting in P-0-4004,Magnetizing current is by far higher than the actually availablemagnetizing current).

DANGER

Lethal electric shock caused by live parts withmore than 50 V!⇒ Observe the safety regulations when working at/

checking the drive controller/motor.

Cause Remedy

At least one line phase of motor has not beenconnected to drive controller or line break occurred

Check motor cable connection (assignment <-> axis).Check individual motor phases from connection at drivecontroller for line break and high ohmic resistance

For a double-axis device, the two motor powerconnections were interchanged or generally incorrectaxis assignment was made between motor andcontroller

Check whether assignment of motor connections iscorrect for the axes

Motor winding (U, V, W) has burned out Check motor winding by means of ohmmeter andreplace motor, if necessary

Motor incorrectly parameterized Compare motor data in drive to actual motor data (seealso Functional Description of firmware "Rexroth Motors"and "Determining the Parameter Values of Third-PartyMotors")

Power section defective Replace drive controller

Note: The sequence of the replacement of drive controllers isdescribed in the documentation "Project Planning Manual forPower Section".

Restrictions of CorrectMonitoring Function





F8067 Synchronization PWM-Timer wrongContained in 02VRS: «MPB» «--» «--»

Contained in 03VRS: «MPB» «--» «--»



Digital drive control requires absolutely synchronous data processing (e.g.sampling of actual current values); if this is not guaranteed, controlledoperation is impossible and the error F8067 is generated.

Cause Remedy

Synchronization clock of bus master oscillates verymuch due to software or hardware error [e.g. jitter ofMST with SERCOS (F2067 and F8067)]

Check external bus master and make suresynchronization clock is error-free and constant

Control section defective Replace control section or entire drive controller

Internal timing problem in drive firmware Contact our service department for firmware update


See also Functional Description "Master Communication"





F8069 +/-15Volt DC errorContained in 02VRS: «MPB» «MPD» «MPH»




An error has occurred in the internal +/-15 V supply of the device.

Cause Remedy

Error in external DC 24V power supply Check external power supply

Power section defective Replace device





F8070 +24Volt DC errorContained in 02VRS: «MPB» «MPD» «MPH»




The operation of IndraDrive devices requires an external 24 V controlvoltage supply. This voltage is monitored with regard to the allowedtolerance.

Note: When the error F8070 occurs, the motors within the drivesystem are immediately go torque-free. Apply possibly existingself-holding motor holding brakes.

Cause Remedy

Supply cable for control voltages defective Check and, if necessary, replace supply cable forcontrol voltages and connector

Overload of 24 V power supply unit Check 24 V supply voltage at power supply unit

Power supply unit defective Check and, if necessary, replace power supply unit

Short circuit in 24 V supply wiring Check 24 V supply wiring for short circuit





F8078 Speed loop errorContained in 02VRS: «MPB» «MPD» «MPH»




The speed loop monitor is activated if the following conditions occursimultaneously:

• Parameter S-0-0080, Torque/force command value is at thetorque/force limit.

• S-0-0080, Torque/force command value and actual velocity havedifferent signs.

• The actual velocity at the motor shaft is higher than 20 rpm (or20 mm/min for linear motors).

• Actual acceleration and control deviation have different signs.

Cause Remedy

Motor phases (U, V, W) interchanged so thatcommutation of motor is incorrect

Check motor cable connection and correct phaseassignment, if necessary

Incorrect encoder arrangement Correct encoder arrangement (inverting rotationaldirection of encoder can possibly resolve problem)

Speed loop setting incorrect Check speed loop setting according to ApplicationManual

Commutation offset incorrect Replace motor (in the case of MHD, MKD, MKE motors);in the case of kit motors, make commutation settings

Motor encoder defective Replace motor encoder (or motor)





F8079 Velocity limit value exceededContained in 02VRS: «MPB» «MPD» «MPH»




Cause Remedy

S-0-0040, Velocity feedback value has exceededthe 1.125-fold value of one of parameterized velocitylimit values

Check and, if necessary, correct parameterization ofS-0-0091, Bipolar velocity limit value, S-0-0038,Positive velocity limit value and S-0-0039, Negativevelocity limit value

Velocity control loop unstable or too heavilyoscillating due to incorrect parameterization

Check and, if necessary, correct parameterization ofvelocity loop

Preset velocity command value too high (cf.P-0-0048 = S-0-0036, Velocity commandvalue + S-0-0037, Additive velocity commandvalue)

Reduce P-0-0048, Effective velocity command valueby adjusting S-0-0036, Velocity command value orS-0-0037, Additive velocity command value

See also Functional Description "Control Loop Structure"





F8091 Power section defectiveContained in 02VRS: «MPB» «MPD» «MPH»




During the initialization of the power section the drive tries to access thepower section parameters. These are the following parameters:

• S-0-0140, Controller type

• P-0-0809, Properties of charging circuit

• P-0-0859, Data of internal braking resistor

• P-0-1510, Circuit board code power section

• P-0-1519, Module code of power section

• P-0-3902, Command values for power section adjust

• P-0-3903, Adjust values of power section

• P-0-4058, Amplifier type data

• P-0-4059, Electric type data of power section

Cause Remedy

One of power section parameters is invalid (e.g.checksum error) or contains inadmissible value

Check content of list S-0-0021, IDN list of invalidoperating data for communication phase 2, writedown IDNs it contains (IDNs/parameters) and thenplease contact Rexroth service department

As of MPx04VRS:Incorrect parameter setting when using device"HAC01" (SERCOS analog converter)

Check/correct settings of parameter P-0-0860,Converter configuration (bit 15);reboot device "HAC01" after having changed parametersetting

Hardware defect on power section Replace power section or entire drive controller

Note: Only Rexroth service engineers or especially trained users areallowed to replace the power section. The replacement of theentire drive controller is described in the Project PlanningManual for the power section.





F8100 Error when initializing the parameter handlingContained in 02VRS: «MPB» «MPD» «MPH»




During the initialization of the drive the control section is checked forcorrect function. An error was detected during this check.

Cause Remedy

Control section configuration not allowed becausean optional module (e.g. optional module 1...4,master communication,...) is not supported byfirmware

Switch drive off and on again. If error occurs again,replace control section (e.g. CSH01.1 or CDB01.1) bydifferent control section with appropriate configuration.If necessary, contact our service department

Firmware used is not suitable (e.g. MPH02VRS fordouble-axis control section), i.e. hardware andsoftware do not match

Select suitable firmware by means of FunctionalDescription or Version Notes/Release Notes(see "supported control section configurations")

Hardware defect on control section Switch drive off and on again. If error still occurs,contact our service department and, if necessary,replace control section or entire drive controller


See also Functional Description "System Overview"

See also Project Planning Manual for control section, keyword "TypeCode"





F8102 Error when initializing power sectionContained in 02VRS: «MPB» «MPD» «MPH»




During the initialization of the drive the power section is checked forcorrect function. An error was detected during this check.

Cause Remedy

Hardware and firmware do not match Check Firmware Release Notes or Firmware VersionNotes and, if necessary, use latest firmware release

Parameter P-0-1510, Circuit board code powersection stored on power section is invalid or wasincorrectly written

Switch drive off and on again. If error occurs again,check content of P-0-1510, Circuit board code powersection and contact our service department!Maybe you have to replace power section or entire drivecontroller

Hardware defect on power section Replace power section or entire drive controller






F8118 Invalid power section/firmware combinationContained in 02VRS: «MPB» «MPD» «MPH»




The power section is incompatible with the firmware used.

Cause Remedy

Inappropriate firmware Use firmware that matches power section

Inappropriate power section Use power section that matches firmware



F8120 Invalid control section/firmware combinationContained in 02VRS: «MPB» «MPD» «MPH»




The control section is incompatible with the firmware used.

Cause Remedy

Inappropriate firmware Use firmware that matches control section

Inappropriate control section Use control section that matches firmware





F8122 Control section defectiveContained in 02VRS: «MPB» «MPD» «MPH»




During the initialization of the control section an error occurred.

Cause Remedy

Hardware of control section is defective Replace control section or entire drive controller; usehardware configuration of same type




F8129 Incorrect optional module firmwareContained in 02VRS: «MPB» «MPD» «MPH»




The firmware of an optional module is defective.

Cause Remedy

Firmware of an optional module programmed ininvalid form– or -An error occurred during firmware update

Carry out firmware update (again). If error occursrepeatedly, it is necessary to replace control section ordrive controller






F8130 Firmware of option 2 of safety technology defectiveContained in 02VRS: «MPB» «MPD» «MPH»




The firmware of the optional safety technology module is defective.

Cause Remedy

Programming of firmware for optional safetytechnology module is invalid

Make firmware update

An error occurred during firmware update Restart firmware update.If error message is displayed again, replace controlsection with control section of same type, if you areauthorized to do this! Otherwise entire drive controllerhas to be replaced.






F8133 Error when checking interrupting circuitsContained in 02VRS: «MPB» «MPD» «MPH»




In order to lock the output stage in a safety related way when the safetytechnology has detected an error, the correct functioning of theinterrupting circuit is cyclically checked. This is done on the one handduring the actions "release output stage" and "lock output stage", on theother hand statically while the output stage is being released or locked.The corresponding hardware realization ensures that this is possiblewithout repercussion on the PWM control signals.

The drive torque is immediately disabled. The drive automaticallyswitches to "safety related standstill" and the output stage is switched offvia one channel. All poles of the mains contactor are switched off.

Note: Safety is not acknowledged; i.e. "safety technology statusoutput controller" was cleared/reset in P-0-3214, Safetytechnology signal status word, channel 1 / P-0-3214,Safety technology status word, channel 1 or the diagnosisinput/output I/O10n (channel 2) was set depending on theparameterization in P-0-3210, Safety technology controlword / P-0-3210, Safety technology configuration.

Cause Remedy

An error was detected during check of interruptingcircuit

Switch power supply off and on again.

If error occurs repeatedly, replace control section orentire drive controller






F8140 Fatal CCD errorContained in 02VRS: «--» «--» «--»




Cause Remedy

"Error reaction active" has been set in P-0-1600,CCD: configuration and an F8 error occurred in aslave

Localize faulty slave and remove cause of error for thisslave

Note: The CCD master reacts with torque disable.

See also Functional Description of firmware "Cross Communication(CCD)"





F8201 Safety command for basic initialization incorrectContained in 02VRS: «MPB» «MPD» «MPH»




In the booting phase of the drive a basic initialization is carried out on bothsafety technology channels. The initialization sequence on channel 2 isstarted via an internal command.

Cause Remedy

Basic initialization on channel 2 is incorrect orinternal command was aborted with timeout

Carry out load defaults procedure for safety technology(S-0-0262, C07_x Load defaults procedure commandwith P-0-4090, Index for C07 Load defaults procedure= 165) and reset optional safety technology module(switch control voltage off and on again).Note:If necessary, repeat procedure if P-0-3207, Safetytechnology password level is unequal 1

There are incompatible firmware versions onchannel 1 and channel 2, firmware on channel 2therefore wasn't started (to be noticed by the factthat parameter P-0-3200, Safety technologyfirmware code is without content)

Establish compatible firmware versions on channel 1and channel 2 by reloading firmware and payingattention to complete installation and possible errormessages during loading process

Channel 2 signals a checksum error and thereforewasn't started (to be noticed by the fact thatparameter P-0-3200, Safety technology firmwarecode is without content)

Reload firmware and pay attention to completeinstallation and possible error messages during loadingprocess

Error in safety memory (e.g. incorrect version forfirmware upgrade)

Carry out load defaults procedure for safety technology(S-0-0262, C07_x Load defaults procedure commandwith P-0-4090, Index for C07 Load defaults procedure= 165) and reset optional safety technology module(switch control voltage off and on again)

Error in parameterization, i.e. double assignment ofinputs at channel 2 (e.g. operating mode switchparameterized twice)

Check assignment of inputs in P-0-3211, Safetytechnology I/O control word, channel 2

Hardware error Replace hardware


Only Rexroth service engineers are allowed to replace optionalmodules of the control section.





F8203 Safety technology configuration parameter invalidContained in 02VRS: «MPB» «MPD» «MPH»




All safety technology parameters are protected against incorrect input – which is similar to the use of a password – because they have to be inputtwice.

The time and control word parameters required for initialization are readfrom their parameter memory after the drive has been switched on andthe two double elements are compared.

• P-0-3210, Safety technology control word or P-0-3210, Safetytechnology configuration

• P-0-3211, Safety technology I/O control word, channel 2 orP-0-3211, Safety technology I/O configuration list, channel 2

• P-0-3220, Tolerance time transition from normal operation

• P-0-3221, Max. tolerance time for different channel states

• P-0-3222, Max. activation time of enabling control

• P-0-3223, Time interval for dynamization of safety functionselection

• P-0-3224, Duration of dynamization pulse of safety functionselection

• P-0-3225, Tolerance time transition from safety rel. oper.

• P-0-3240, Control word of safety related motion 1 or P-0-3240,Configuration of safety related motion 1




• P-0-3290, PROFIsafe: F_Destination_Address (not MPx02VRS!)

• P-0-3291, PROFIsafe: F_Source_Address (not MPx02VRS!)

The comparison showed that not all of the double elements are identical.

Note: Switching to the operating mode is impossible.



Cause Remedy

A memory cell was overwritten by mistake Reset command C07_2 Load def. proc. com. (loaddef. pr. for safety techn.) and optional safetytechnology module (switch control voltage off and thenon again)Note: The command C07_2 Load def. proc. com.(load def. pr. for safety techn.) overwrites user-definedsafety technology settings! Only use this command ifyou want to commission safety technology again

Firmware defect on optional safety technologymodule

If command error occurs repeatedly, safety technologyfirmware has to be replaced

Hardware defect on optional safety technologymodule

If command error occurs repeatedly, optional safetytechnology module has to be replaced

Note: The command C07_2 Load def. proc. com. (load def. pr. forsafety techn.) is started by parameter S-0-0262, C07_x Loaddefaults procedure command with the respective setting inP-0-4090, Index for C07 Load defaults procedure.



F8806 Timeout during loading processContained in 02VRS: «--» «--» «--»




During the loading of the DC bus before switching on the power supply("soft start") the expected DC bus voltage could not be reached within atime window.

Cause Remedy

Too many additional capacitances were connected Reduce number of additional capacitance modules

There is short circuit or load of low impedance in DCbus

Check wiring of DC bus connection





F8813 Connection error mains chokeContained in 02VRS: «--» «--» «--»




After the power supply had been switched on a wiring error of the mainschoke (e.g. incorrect phase sequence of the mains phases) was detected.

Cause Remedy

Mains choke was incorrectly connected Check and correct connection of mains choke



F8838 Overcurrent external braking resistorContained in 02VRS: «MPB» «MPD» «MPH»




The error F8838 is generated when the current in the braking resistorcircuit is rising in an inadmissible way.

Cause Remedy

Resistance value of connected braking resistor is toolow

Connect braking resistor unit with higher resistancevalue (take specification into account!)

Short circuit at braking resistor connection Remove short circuit

See also Functional Description "Power Supply"





7.3 Safety Technology Errors (F7xxx)

Behavior in the Case of Safety Technology ErrorIn the case of safety technology errors (F7xxx), the drive, independent ofthe setting in P-0-0119, Best possible deceleration and P-0-0117,Activation of NC reaction on error, is shut down as fast as can; thedrive is stopped by a velocity command value reset (see also FunctionalDescription "Error Reaction").

Note: NC-controlled deceleration is no longer possible in the case ofsafety technology errors (F7xxx).

At the end of the error reaction the drive goes torque-free and the outputstage is locked via two channels after the time entered in P-0-3220,Tolerance time transition from normal operation or P-0-3225,Tolerance time transition from safety rel. oper. is over.

As of firmware MP*-03V20, the error reaction can be parameterized viathe configuration bit "reaction to F7 error" in P-0-3210, Safetytechnology configuration; the error reaction "velocity command valuereset" has been activated as a standard but can be deactivated so thatthe drive immediately goes torque-free when an F7 error occurs.

Note: The F7 error reaction "torque disable" should only be usedwhen forced deceleration by velocity command value resetgenerally causes problems, e.g. in the case of mechanicallycoupled axes.

The machine manufacturer is responsible for the F7 errorreaction "torque disable" and his risk analysis has toshow his responsibility.

The drive can only be commissioned again when:

1. the error message was cleared by the error clearing command (cf.S-0-0099, C0500 Reset class 1 diagnostics).

2. the actual cause of the error was recognized and removed (e.g.incorrect parameterization of velocity thresholds or time windows).

3. the drive is in the operating mode again and power was switched onagain ("Ab").


Note: In case safety technology errors are occurring repeatedly,contact our service department as operating the drive then isno longer allowed.




F7010 Safety related limited increment exceededContained in 02VRS: «MPB» «MPD» «MPH»




In the special mode "safety related motion" with configured safety function"safety related limited increment", the monitoring makes sure that thevalues do not leave the parameterized position window (increment).

The bipolar position window is activated with the start of the special mode.For the duration of the special mode the drive can freely move within thelimits of the position window.

Cause Remedy

At least one of the position windows relevant forspecial mode "safety related motion" has beenincorrectly parameterized

Check parameterization of position windows and adjustit to desired travel targets.Position windows:- P-0-3243, Safety related limited increment 1 or- P-0-3253, Safety related limited increment 2 or- P-0-3263, Safety related limited increment 3 or- P-0-3273, Safety related limited increment 4After trouble shooting start command S-0-0099, C0500Reset class 1 diagnostics in order to clear error anthen set drive enable again

Command value input is incorrect; i.e. drive movesto invalid target positions

Check command value input in control unit and adjusttarget positions according to travel range or requiredtarget positionsAfter trouble shooting start command S-0-0099, C0500Reset class 1 diagnostics in order to clear error anthen set drive enable again

See also documentation "Integrated Safety Technology"





F7011 Safety rel. position limit val., exc. in pos. dir.Contained in 02VRS: «MPB» «MPD» «MPH»




In the special mode "safety related motion" with configured safety function"safety related limited absolute position", the parameterized position limitvalue was exceeded in positive direction.

Cause Remedy

In safety function "special mode motion", valueparameterized in parameter- P-0-3241, Safety related limited absoluteposition 1, positive or- P-0-3251, Safety related limited absoluteposition 2, positivewas exceeded

Check command value input and adjust it according toparameterized position limit values

- or -

Check parameter setting and change it, if necessary.

Then start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then set driveenable again.



F7012 Safety rel. position limit val., exc. in neg. dir.Contained in 02VRS: «MPB» «MPD» «MPH»




In the special mode "safety related motion" with configured safety function"safety related limited absolute position", the parameterized position limitvalue was exceeded in negative direction.

Cause Remedy

In special mode "safety related motion", valueparameterized in- P-0-3242, Safety related limited absoluteposition 1, negative or- P-0-3252, Safety related limited absoluteposition 2, negativewas exceeded

Check command value input and adjust it according toparameterized position limit values

- or -


Then start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then set driveenable again





F7013 Velocity threshold exceededContained in 02VRS: «MPB» «MPD» «MPH»




In the special mode "safety related motion", a parameterized velocitythreshold was exceeded.

Cause Remedy

In special mode "safety related motion", velocitythreshold parameterized in- P-0-3244, Safety related reduced speed 1 or- P-0-3254, Safety related reduced speed 2 or- P-0-3264, Safety related reduced speed 3 or- P-0-3274, Safety related reduced speed 4was exceeded

Check command value input and adjust it according toparameter setting

- or -





F7014 Acceleration threshold exceededContained in 02VRS: «MPB» «MPD» «MPH»




Cause Remedy

In special mode "safety related motion", velocitythreshold parameterized in- P-0-3245, Safety relateddeceleration/acceleration ramp 1 or- P-0-3255, Safety relateddeceleration/acceleration ramp 2 or- P-0-3265, Safety relateddeceleration/acceleration ramp 3 or- P-0-3275, Safety relateddeceleration/acceleration ramp 4was exceeded.


- or -







F7020 Safety related maximum speed exceededContained in 02VRS: «MPB» «MPD» «MPH»




When monitoring of the safety related maximum speed has beenconfigured (see P-0-3239, Configuration of global safety technologyfunctions), the drive in normal operation and in special mode monitorsthe current actual velocity.

When the velocity threshold parameterized in P-0-3234, Safety relatedmaximum speed is exceeded, the error F7020 is generated.

Cause Remedy

Velocity threshold was incorrectly parameterized Check and, if necessary, increase parameter setting ofP-0-3234, Safety related maximum speed

Incorrect command value input; i.e. velocitycommand value too high

Check command value input in control unit or, for drive-internal interpolation, check parameterized positioningdata (cf. S-0-0259, Positioning velocity or P-0-4007,Positioning block velocity)

Description of error reaction: "Behavior in the Case of Safety TechnologyError"






F7021 Safety related end position exceededContained in 02VRS: «MPB» «MPD» «MPH»




With active safety technology, the drive in normal operation and in specialmode monitors the current position in safety related form, when the safetyfunction "safety related limited absolute end position" has beenparameterized.

Cause Remedy

Position parameterized in P-0-3235, Safety relatedend position, positive or P-0-3236, Safety relatedend position, negative has been exceeded

Start command S-0-0099, C0500 Reset class 1diagnostics to clear error. Then set drive enable againand move axis to allowed position range



F7030 Pos. window for safety rel. operational stop exceededContained in 02VRS: «MPB» «MPD» «MPH»




In the safety function "safety related operational stop" the axis ismonitored for standstill. The bipolar position window used for this purposeis activated with the start of the "safety related operational stop".

Cause Remedy

P-0-3230, Monitoring window for safety relatedoperational stop was incorrectly parameterized

Change parameterization of P-0-3230, Monitoringwindow for safety related operational stopin useful way

Incorrect command values are preset by drive orexternal control unit







F7031 Incorrect direction of motionContained in 02VRS: «MPB» «MPD» «MPH»




In the special mode "safety related motion" with safety function "safetyrelated direction of motion" configured, the drive is monitored with regardto whether it inadmissibly moves against the parameterized direction ofmotion by more than the distance parameterized in P-0-3232, Monitoringwindow for safety related direction of motion or P-0-3232, Standstillwindow safety related direction of motion. If yes, the error F7031 isgenerated.

Cause Remedy

Incorrect command value input Adjust command value input according to parameterizeddirection of motion and monitoring window P-0-3232,Monitoring window for safety related direction ofmotion or P-0-3232, Standstill window safety relateddirection of motion

Incorrect parameterization of directions of motion incorresponding control words for safety relatedmotion

Check parameterization of direction of motion in- P-0-3240, Control word of safety related motion 1 /P-0-3240, Configuration of safety related motion 1 or- P-0-3250, Control word of safety related motion 2 /P-0-3250, Configuration of safety related motion 2 or- P-0-3260, Control word of safety related motion 3 /P-0-3260, Configuration of safety related motion 3 or- P-0-3270, Control word of safety related motion 4 /P-0-3270, Configuration of safety related motion 4and change it, if necessary

Incorrect parameterization of P-0-3232, Monitoringwindow for safety related direction of motion orP-0-3232, Standstill window safety relateddirection of motion

Check parameterization of P-0-3232, Monitoringwindow for safety related direction of motion orP-0-3232, Standstill window safety related directionof motion and change it, if necessary





F7040 Validation error parameterized - effective thresholdContained in 02VRS: «MPB» «MPD» «MPH»




A cyclic check is run in order to find out whether the thresholds in theinternal monitoring functions comply with the values parameterized in thesafety memory. The check detects errors that can occur due tosubsequent change of scaling or accidental overwriting. The values arerequired for all safety monitoring functions and are of fundamentalimportance for the functioning of safety technology.

Cause Remedy

Safety parameters were changed without afterwardshaving been synchronized

Execute P-0-3204, Synchronize and store safetytechnology IDN command (channel 2 acceptsparameters of channel 1; internal values arerecalculated and loaded).Start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then set driveenable again

Hardware defect causes incorrect parametercontents

Replace control section or entire drive controller






F7041 Actual position value validation errorContained in 02VRS: «MPB» «MPD» «MPH»




Cause Remedy

Actual position values determined on channel 1 andchannel 2 are differing

Start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then set driveenable again.If error occurs repeatedly, replace control section orentire drive controller






F7042 Validation error of safety related operating modeContained in 02VRS: «MPB» «MPD» «MPH»




The active safety technology operating states of channel 1 and channel 2are cyclically and via two channels checked for validity.

If the two channels differ for more than 5 seconds, the error F7042 isgenerated.

Cause Remedy

Criteria for transition to new safety technologyoperating status selected have not been fulfilled inone channel; this channel remains in old status - theother channel already went to new safety technologyoperating status

Check time, velocity or position thresholds relevant forrespective transition and adjust them, if necessary

Control section is defective Replace control section or entire drive controller






F7043 Error of output stage interlockContained in 02VRS: «MPB» «MPD» «MPH»




When the output stage is activated, the correct functioning of the outputstage incl. control is checked. If an error is detected during the functioncheck, the error F7043 is generated.

Cause Remedy

Faulty output stage Replace control section or entire drive controller

Incorrect control of output stage or error in feedback Replace power section or entire drive controller

Note: Only Rexroth service engineers or especially trained users areallowed to replace the control section or the power section.The replacement of the entire drive controller is described inthe Project Planning Manual for the power section.





F7050 Time for stopping process exceededContained in 02VRS: «MPB» «MPD» «MPH»




During the transition of the drive from normal operation to a special mode"safety related stopping process" (or to "drive interlock") the followingcheck is run:

After the duration entered in

• P-0-3220, Tolerance time transition from normal operation, or

• P-0-3225, Tolerance time transition from safety rel. oper.

is over, the actual velocity is checked with regard to the velocity thresholdentered in P-0-3233, Velocity threshold for safety related stoppingprocess.

Note: The drive can also be shut down in an NC-controlled way (cf.P-0-3210, Safety technology control word).

Cause Remedy

Parameter setting in P-0-3220 orP-0-3225 for NC-controlled transition isincorrect

Check parameter setting of P-0-3220, Tolerance timetransition from normal operation or P-0-3225,Tolerance time transition from safety rel. oper. andcorrect it accordingly

Drive enable is still set Make sure that drive enable is removed

"NC-controlled shutdown" was activated by mistake Check parameter setting of P-0-3210, Safetytechnology control word and correct it accordingly; i.e.activate "drive-controlled shutdown"

Parameterized deceleration is too low or notadjusted to parameterized tolerance time

For drive-controlled transition, shutdown takes placevia P-0-0119, Best possible deceleration so that errorreaction parameterized in drive has to be checked.For NC-controlled transition, check decelerationparameterized in control unit






F7051 Safety related deceleration exceededContained in 02VRS: «--» «--» «--»




With the configuration "NC-controlled transitions" and "safety relatedmonitored deceleration" (P-0-3210, Safety technology control word orP-0-3210, Safety technology configuration, bit 4 and 13), the drivemonitors whether it can reach standstill within the remaining tolerancetime for transition.

Note: As of firmware MPx04VRS, additional monitoring takes placeto find out whether the drive can reach the selected velocitythreshold of the special mode "safety related motion" withinthe remaining tolerance time for transition.

The monitor is active for NC-controlled safety technology operating modetransitions from normal operation or special mode "safety related motion"to special mode "safety related stopping process" (safety relatedstandstill / safety related operational stop) or drive interlock.

Note: As of firmware MPx04VRS, the monitor, for NC-controlledsafety technology operating mode transitions, is also activefrom normal operation to special mode "safety relatedstopping process" and for transitions within the special modes"safety related motion (1-4)".



Cause Remedy

Only Firmware MPx04VRS:In the case of "NC-controlled safety technologyoperating mode transitions" from "normal operation"to a special mode "safety related motion" or in thecase of transitions within special modes "safetyrelated motion (1-4)", drive is not able to reachcorresponding velocity threshold of special mode"safety related motion" with decelerationparameterized in P-0-3282, Safety relatedmonitored deceleration within respective transitiontime (P-0-3220, Tolerance time transition fromnormal operation/P-0-3225, Tolerance timetransition from safety rel. oper.)

Adjust command value input to parameterized values

In the case of "NC-controlled safety technologyoperating mode transitions" from "normal operation"or special mode "safety related motion" to specialmode "safety related stopping process" or driveinterlock, drive is not able to reach standstill withdeceleration parameterized in P-0-3282, Safetyrelated monitored deceleration within respectivetransition time (P-0-3220, Tolerance time transitionfrom normal operation/P-0-3225, Tolerance timetransition from safety rel. oper.)

Adjust command value input to parameterized values

Values of parameters:- P-0-3282, Safety related monitored deceleration,- P-0-3220, Tolerance time transition from normaloperation or- P-0-3225, Tolerance time transition from safetyrel. oper.are not useful

Check parameter settings and change them, ifnecessary





7.4 Travel Range Errors (F6xxx)

Behavior in the Case of Travel Range ErrorTravel range errors are errors associated with exceeding a travel rangepreviously defined via hardware or software switches; independent of thesettings in P-0-0119, Best possible deceleration and P-0-0117,Activation of NC reaction on error the drive therefore is stopped as fastas can.

The kind of deceleration depends on the control mode:

• closed Loop: velocity command value reset

• open Loop: under compliance with P-0-0569, Maximum statorfrequency change

See also Functional Description "Error Reaction"

Note: In the case of travel range errors, the settings in P-0-0118,Power supply, configuration still are taken into account.

At the end of each error reaction, the drive goes torque-free.


1. the error reaction has been completed, i.e. the drive has stopped(v=0!).


3. the cause of the error was removed.

4. the drive is in the operating mode again and power was switched on("Ab").





F6010 PLC Runtime ErrorContained in 02VRS: «--» «--» «--»




The PLC integrated in the drive (Rexroth IndraMotion MLD-S) triggers theerror F6010 in the case of runtime errors (watchdog errors).

All tasks of the PLC are stopped. The drive is always shut down withvelocity command value reset; i.e. the error reaction cannot beparameterized by the user.

Cause Remedy (*1)

Runtime error in PLC program.Runtime monitor (watchdog) for a task has beenactivated. In this task the processing was notcompleted in the preset time.

Remove error by modifying program (correct a possiblyexisting infinite loop).The following actions according to application:- increase task cycle time or- increase watchdog time or reduce watchdog sensitivity(higher number)- optimize program structure- deactivate compilation option "debugging" (increasesprocessing velocity of PLC program)

Division by "0" Modify PLC program; remove division by "0"

Array limits exceeded Modify PLC program; check and correct memory map

A subrange type has been exceeded Remove error by program modification

We distinguish the following cases for trouble shooting:

• For removing the error in a freely programmed application it isnecessary to modify the PLC program or the task configuration withthe programming system IndraLogic.

Note: When connecting the programming system IndraLogic to thedrive-internal PLC or when starting the simulation (IndraLogic:"Online"-"Login"), the message window appears; it displaysmessages from the last compilation, check or comparisonprocess.

• For a technology function made available by Bosch Rexroth pleasesee the corresponding documentation for the troubleshooting guide.

• An extended diagnosis for determining the cause of the error isdisplayed in parameter P-0-1365, PLC error message.

See also IndraLogic online help

See also documentation "Rexroth IndraMotion MLD-S"



Error Reaction

(*1) Additional Notes on TroubleShooting



F6024 Maximum braking time exceededContained in 02VRS: «MPB» «MPD» «MPH»




The drive checks automatically whether the motor, after drive enable hasbeen switched off or when an error occurs, was shut down within thedelay time parameterized in S-0-0273, Maximum drive off delay time. Ifnot, the error F6024 is generated.

Cause Remedy

S-0-0273, Maximum drive off delay time incorrectlyparameterized

Check parameterization of S-0-0273, Maximum driveoff delay time and, if necessary, increase parametercontent in order to extend delay time and avoid incorrectreaction

Brake defective or brake control resp. brake cabledefective

Check brake function and brake connection (cabling)

Hardware defect on power section Replace control section or entire drive controller


See also Functional Description "Motor Holding Brake"





F6029 Positive travel limit exceededContained in 02VRS: «MPB» «MPD» «MPH»




The drive provides a function for monitoring an allowed travel range bymeans of software limit switches that can be parameterized.

Note: The travel range monitor has to be activated andparameterized via S-0-0049, Positive position limit value,S-0-0050, Negative position limit value and S-0-0055,Position polarities.

The drive reaction (fatal warning or error) in case the travelrange is exceeded has to be parameterized in P-0-0090,Travel range limit parameter.

Cause Remedy

Command value set for drive causes axis positionoutside of positive travel range/position limit value(S-0-0049, Positive position limit value)

1. Clear error and switch power on2. Set drive enable and preset command value thatleads back to the allowed travel rangeContact machine manufacturer in order to clarify causeof incorrect command value

S-0-0049, Positive position limit value incorrectlyparameterized

Check and, if necessary, correct parameterization ofS-0-0049, Positive position limit value

Note: The S-0-0057, Position window parameter is used to realizea hysteresis function for evaluating the position limit values.

See also Functional Description "Position Limitation/Travel Range LimitSwitch"





F6030 Negative travel limit exceededContained in 02VRS: «MPB» «MPD» «MPH»





Note: The travel range monitor has to be activated andparameterized via S-0-0049, Positive position limit value,S-0-0050, Negative position limit value and S-0-0055,Position polarities.

The drive reaction (fatal warning or error) in case the travelrange is exceeded has to be parameterized in P-0-0090,Travel range limit parameter.

Cause Remedy

Command value set for drive causes axis positionoutside of negative travel range/position limit value(S-0-0050, Negative position limit value)

1. Clear error and switch power on2. Set drive enable and preset command value thatleads back to the allowed travel rangeContact machine manufacturer in order to clarify causeof incorrect command value

S-0-0050, Negative position limit value incorrectlyparameterized

Check and, if necessary, correct parameterization ofS-0-0050, Negative position limit value







F6034 Emergency-StopContained in 02VRS: «MPB» «MPD» «MPH»




The drive provides a function for monitoring an E-Stop input (connectionof an external hardware switch).

Note: This monitor has to be activated and parameterized viaP-0-0008, Activation E-Stop function.

When the error F6034 occurs, the axis is shut down as fast ascan with velocity command value reset.

Cause Remedy

E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered andclarify cause of triggering

Incorrect parameterization of digital inputs andoutputs on control section

Correct configuration of digital inputs/outputs andcorrect it, if necessary

E-Stop switch or cable connection defective orincorrectly wired

Check function and wiring of E-Stop switch

Control section or digital inputs on control sectiondefective



See also Functional Descriptions:

• "E-Stop Function"

• "Digital Inputs/Outputs"

• "Velocity Command Value Reset"





F6042 Both travel range limit switches activatedContained in 02VRS: «MPB» «MPD» «MPH»




The compliance with the allowed travel range of linear axes is monitoredon the hardware side via two travel range limit switches. When the travelrange has been exceeded, one of the two limit switches is activated, if thelimit switches were correctly mounted.

The error F6042 is generated, if

• the controller detects that both travel range limit switches have beensimultaneously activated and

• exceeding the travel range is handled as an error (setting inP-0-0090, Travel range limit parameter).

Cause Remedy

Due to incorrect mounting, axis activates both travelrange limit switches simultaneously

Mount travel range limit switches in such a way that theyare activated shortly before axis end position is reached.Make sure the braking distance is sufficient

Travel range limit switches were incorrectlyconnected

Connect travel range limit switches correctly; checkcompliance with switching logic set in P-0-0090, Travelrange limit parameter

Switching logic of travel range limit switches doesnot correspond to realized wiring

Check switching logic with regard to realized wiring,adjust it in P-0-0090, Travel range limit parameter, ifnecessary





F6043 Positive travel range limit switch activatedContained in 02VRS: «MPB» «MPD» «MPH»




The drive provides a function for monitoring travel range limit switches(external hardware limit switches).

Note: This monitor has to be activated and parameterized viaP-0-0090, Travel range limit parameter.

When the error F6043 occurs, the axis is shut down withvelocity command value reset.

Cause Remedy

Travel range limit switch situated in positivedirection (see Project Planning Manual for motor)was activated because axis is outside of travelrange that was defined by means of travel rangelimit switches

1. Clear error (reset button or error clearing command)and switch power on2. Set drive enable and preset command value thatleads back to the allowed travel range



Travel range limit switch or cable is defective orincorrectly wired

Check function and wiring of travel range limit switch





• "Position Limitation/Travel Range Limit Switch"






F6044 Negative travel range limit switch activatedContained in 02VRS: «MPB» «MPD» «MPH»




The drive provides a function for monitoring travel range limit switches(external hardware limit switches).

Note: This monitor has to be activated and parameterized viaP-0-0090, Travel range limit parameter.

When the error F6044 occurs, the axis is shut down withvelocity command value reset.

Cause Remedy

Travel range limit switch situated in negativedirection (see Project Planning Manual for motor)was activated because axis is outside of travel rangethat was defined by means of travel range limitswitches

1. Clear error (reset button or error clearing command)and switch power on2. Set drive enable and preset command value thatleads back to the allowed travel range









• "Position Limitation/Travel Range Limit Switch"






F6140 CCD slave error (emergency halt)Contained in 02VRS: «--» «--» «--»




Cause Remedy

"Error reaction active" has been set in P-0-1600,CCD: configuration and an F6 or F7 error occurredin a slave; CCD master reacts with emergency halt(velocity command value reset)







7.5 Interface Errors (F4xxx)

Behavior in the Case of Interface ErrorThe user can influence the drive behavior in the case of interface errorsby means of the parameterization of P-0-0118, Power supply,configuration and P-0-0119, Best possible deceleration (see alsoFunctional Description "Error Reaction").

Note: In the case of an interface error, activating the NC reaction viaP-0-0117, Activation of NC reaction on error is no longerpossible!

At the end of each error reaction, the drive goes torque-free.










F4001 Double MST failure shutdownContained in 02VRS: «MPB» «MPD» «MPH»




The master synchronization telegram (MST) was not received in the drivein two successive SERCOS cycles.

Cause Remedy

Disturbance in the optic fiber transmission line Check all optic fiber connections in the SERCOS ringand replace them, if necessary

Attenuation of light signals too high Measure attenuation of optic fiber cables again.Maximum attenuation between TX and RX mustn'texceed 12.5 dB!

Different SERCOS cycle times in master and slave Check SERCOS cycle times in master and slave andadjust them, if necessary

Disturbance in SERCOS interface (general) Replace control section or entire drive controller


See also Functional Description "Interface Errors and DiagnosticPossibilities"





F4002 Double MDT failure shutdownContained in 02VRS: «MPB» «MPD» «MPH»




The master data telegram (MDT) was not received in the drive in twosuccessive SERCOS or field bus cycles. The drive goes back tocommunication phase 0.

Cause Remedy

Bus master does not send any more cyclictelegrams to the drive. These, however, areexpected in communication phase 4

Switch master on and start cyclic communication; seemanual for control unit

Fiber optic cable bus: disturbance in fiber optictransmission line

Check all fiber optic cable connections in SERCOS ring

Fiber optic cable bus: Input power of light signalstoo lowLight power to be measured at receiver (with testmode: continuous light) must be between–20 dBm (10 µW) and –5 dBm (320 µW)

Adjust transmitting power or check attenuation of fiberoptic cable.Maximum attenuation between TX and RX mustn'texceed 12.5 dB

Disturbance in SERCOS interface (general) Replace control section or entire drive controller

Different transmission times of master datatelegrams in master and slave

Synchronize transmission times of master datatelegrams in master and slave







F4003 Invalid communication phase shutdownContained in 02VRS: «MPB» «MPD» «MPH»




An invalid communication phase (phase > 4) was set by the SERCOSmaster module.

Cause Remedy

Error in SERCOS master module of control unit Error can only be corrected after consultation withcontrol unit manufacturer




F4004 Error during phase progressionContained in 02VRS: «MPB» «MPD» «MPH»




The compulsory order was not followed during the phase progression.

Cause Remedy







F4005 Error during phase regressionContained in 02VRS: «MPB» «MPD» «MPH»




When regressing from a communication phase the drive wasn't switchedto communication phase 0.

Cause Remedy





F4006 Phase switching without ready signalContained in 02VRS: «MPB» «MPD» «MPH»




The SERCOS master tried to carry out a phase switch without waiting forthe ready signal from the drive.

Cause Remedy







F4009 Bus failureContained in 02VRS: «MPB» «MPD» «MPH»




Communication via the field bus has failed. After the field bus had beeninitialized and put into operation, the field bus watchdog reacted, i.e. nottelegram was received within the monitoring time stored in P-0-4075,Field bus: watchdog.

Cause Remedy

Master does not exchange any cyclic data Check master status

Field bus cable not correctly connected Check connection of field bus cable

Bad transmission performance Check terminating resistors

Field bus: bus connection interrupted/blocked longerthan watchdog time

Check watchdog time parameterized in P-0-4075, Fieldbus: watchdog and field bus connector, as well ascable connection



F4012 Incorrect I/O lengthContained in 02VRS: «MPB» «MPD» «MPH»




The master tries to establish communication with an I/O length that doesnot correspond to the I/O length parameterized in the drive.

Cause Remedy

Different length for input data or output data thandrive expects in P-0-4071, Field bus: length ofcyclic command value data channel andP-0-4082, Field bus: length of cyclic actual valuedata channel was configured in master

- Check parameter set in drive– Adjust master configuration





F4014 PLC watchdogContained in 02VRS: «--» «--» «MPH»




The controller is monitoring the runtime of the PLC tasks.

Cause Remedy

Controller has detected that runtime of PLC programhas been exceeded

Check task settings via IndraLogic programming userinterface





F4016 PLC double real-time channel failureContained in 02VRS: «--» «--» «--»




Writing of the "RtcW" variable of the integrated PLC to the correspondingparameters failed twice in succession / didn't take place in time.

Cause Remedy

Function block MX_SynchronControl is used:Interval time of RTC task (task that uses real-timechannel) is too short. Processing task code takesmore time than one interval time

Increase interval time of RTC task

Function block MX_SynchronControl is not used:At time of controlled transmission of "RtcW" variable,program code of RTC task hadn't yet beenprocessed

Increase interval time of RTC task- or -increase value at input "CmdDelay" of function blockMX_SynchronControl

See also:

• Rexroth IndraMotion MLD-S, Application Manual "Real-Time Channel"

• Rexroth IndraMotion MLD, Library Description "MX_SynchronControl"





F4017 S-III: incorrect sequence during phase switchContained in 02VRS: «--» «--» «--»




Error in SERCOS-III master module of the control unit; the SERCOS-IIImaster tried to make a phase switch, the drive detected that thesequence of this phase switch was incorrect.

Cause Remedy

Timeout occurred in drive during phase switch(individual switching periods took too long)- or -Master changed phase without prior notice (newphase in MST without CPS bit set)- or -Drive was switched on while SERCOS III alreadywas in higher phase

Error can only be corrected after consultation withcontrol unit manufacturer





F4034 Emergency-StopContained in 02VRS: «MPB» «MPD» «MPH»




The drive provides a function for monitoring an E-Stop input (connectionof an external hardware switch).

Note: This monitor has to be activated and parameterized viaP-0-0008, Activation E-Stop function.

The axis is shut down as parameterized in P-0-0119, Bestpossible deceleration.

Cause Remedy

E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered andclear error (reset button or error clearing command).Then switch power on again and clarify cause of E-Stoptriggering.


Correct configuration of digital inputs/outputs on controlsection and correct it, if necessary







• "E-Stop Function"


• "Best Possible Deceleration"





F4140 CCD communication errorContained in 02VRS: «--» «--» «--»




Cause Remedy

CCD master detected double telegram failure ofcyclic telegrams

- or -

"Error reaction active" has been set in P-0-1600,CCD: configuration and slave has signaledcommunication error

Remove error in transmission line

Note: The CCD master is decelerated as set in P-0-0119, Bestpossible deceleration.






7.6 Non-Fatal Safety Technology Errors (F3xxx)

Behavior in the Case of Non-Fatal Safety Technology ErrorNon-fatal safety technology errors are errors that are still allowing a freelydefinable, variable error reaction.

The user can define the drive behavior for the case of non-fatal safetytechnology errors occurring via the setting in P-0-0119, Best possibledeceleration.

The drive automatically switches to safety related standstill and the outputstage is switched off via two channels.

As soon as the axis has stopped, the axis signals safety; i.e. "safetytechnology status output of controller" was set in P-0-3214, Safetytechnology status word, channel 1 or the diagnosis input/output I/O10n(channel 2) was set depending on the parameterization in P-0-3210,Safety technology configuration.

Note: NC-controlled deceleration activated via P-0-0117, Activationof NC reaction on error or en error reaction set via P-0-0119,Best possible deceleration is only possible for the durationentered in P-0-3220, Tolerance time transition from normaloperation or P-0-3225, Tolerance time transition fromsafety rel. oper.! In case the time is exceeded the errorF7050 Time for stopping process exceeded is generated.

At the end of the error reaction the drive goes torque-free.

The drive therefore can only be commissioned again when:






Note: In case non-fatal safety technology errors are occurringrepeatedly, contact our service department as operating thedrive then is no longer allowed.

Drive Behavior




F3111 Refer. missing when selecting safety related end pos.Contained in 02VRS: «MPB» «MPD» «MPH»




The drive is shut down according to the setting in P-0-0119, Bestpossible deceleration.


As soon as the axis has stopped the safety door can be opened.

Cause Remedy

Acceleration threshold parameterized in P-0-3245,Safety related deceleration/acceleration ramp 1has been exceeded

Start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error an then set driveenable again.If necessary, increase value for parameter P-0-3245,Safety related deceleration/acceleration ramp 1





F3112 Safety related reference missingContained in 02VRS: «MPB» «MPD» «MPH»




It was impossible to carry out the safety function "safety related limitedabsolute position" / "safety related limited absolute end position".

Cause Remedy

Monitoring of safety related limited absolute endposition has been configured (P-0-3239,Configuration of global safety technologyfunctions); prerequisite of channel 2 having beenhomed is missing and drive is in special mode.- or -

Monitoring of safety related limited absolute endposition has been configured (P-0-3239,Configuration of global safety technologyfunctions); prerequisite of channel 2 having beenhomed is missing and warning E3107 had beenpresent for 15 minutes in normal operation.- or -

Safety function "safety related limited absoluteposition" was selected and prerequisite of channel 2having been homed is missing

Note: Status of safety related reference can be seenin P-0-3238, Extended safety technology status.

1. Undo selection.2. Start command S-0-0099, C0500 Reset class 1diagnostics, in order to clear error.3. Set drive enable.4a. For absolute measuring systems: Execute P-0-3228,C4000 Homing procedure command channel 2 inorder to establish "safety related reference" onchannel 24b. For all other measuring systems: Execute S-0-0148,C0600 Drive-controlled homing procedure command(C4000 for establishing safety related reference ofchannel 2 is integrated).

Description of error reaction: "Behavior in the Case of Non-Fatal SafetyTechnology Error"

See documentation "Integrated Safety Technology", index entry "safetyrelated homing procedure"





F3115 Error, brake check time interval exceededContained in 02VRS: «--» «--» «--»




The "time interval of holding brake check" was activated in P-0-0525,Holding brake control word The controller measures the time that haspassed since the last holding brake check.

The space of time determined in P-0-0550, Time interval brake check,within which the holding brake check has to be carried out again, wasexceeded.

The drive reacts with the error reaction that has been set. The "status ofholding brake check" is set to "0" in P-0-0539, Holding brake statusword.

Cause Remedy

Drive was put into operation, then F3115 hasappeared

Clear error, then start P-0-0541, C2100 Brake checkcommand

Time set in P-0-0550, Time interval brake checkhas passed since last brake check

Clear error; drive is operational again. Start P-0-0541,C2100 Brake check command within 15 minutes




Error Reaction



F3117 Actual position values validation errorContained in 02VRS: «MPB» «MPD» «MPH»




When both safety technology channels have been homed (cf. S-0-0403,Position feedback value status for channel 1 and P-0-3213, Safetytechnology status for channel 2), their actual position values arecyclically checked for validity; the difference of the actual position valuesmustn't exceed an internal threshold that depends on the measuringsystem.

Note: For the configuration "homing procedure channel 2 via staticsignal", the signal at the homing input of channel 2 may onlybe 24 V when the axis is within P-0-3231, Safety relatedreference position channel 2 or P-0-3231, Referenceposition for safety related reference +/- P-0-3229,Tolerance window for safety related homing procedure.

The drive is shut down according to the setting in P-0-0119, Bestpossible deceleration.

In P-0-3213, Safety technology status or P-0-3213, Safety technologyoperating status the status "safely homed" is removed.

The drive automatically switches to "safety related standstill" and theoutput stage is switched off via two channels.

Cause Remedy

Short circuit of home switch input of channel 2 with24 V

Check connection of home switch input at optionalmodule "safety technology I/O"

Tolerance window around "safety related referenceposition channel 2" (P-0-3231) incorrectlyparameterized

Check parameter setting of P-0-3229, Tolerancewindow for safety related homing procedure andadjust it accordingly



After trouble shooting start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error an then set drive enable again.

Then establish safety related reference again by executing commandC4000 Homing procedure command channel 2.



Error Reaction



F3130 Error when checking input signalsContained in 02VRS: «MPB» «MPD» «MPH»




A validity check is run for the inputs for channel 1 and channel 2 of thesafety technology so that several errors can be detected.

For the optional module "starting lockout" the selection signals "AS_A" or"AS_B" and "ASn" are monitored for states that are not allowed.

For the optional module "safety technology I/O" a check is run duringdynamization to find out whether all input signals of safety functionselection are zero.

The drive is decelerated according to the setting in P-0-0119, Bestpossible deceleration.


Cause Remedy

Error in wiring of input signals or contact error resp.cable break

Remove cause of error in wiring of inputs or replaceswitch.Then start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then set driveenable again.

Note: In addition to the error message, it is possible to obtaindetailed information with regard to the cause of the error or theerror location. For this purpose evaluate parameter P-0-3219,Diagnostic safety technology message.

See also Documentation "Integrated Safety Technology", chapter"Diagnostic and Service Functions"



Optional Module "StartingLockout"

Optional Module "SafetyTechnology I/O"

Error Reaction



F3131 Error when checking acknowledgment signalContained in 02VRS: «MPB» «MPD» «MPH»







Cause Remedy

When using optional module starting lockout:

Channel 1 monitors status of acknowledgment relay.If normal condition of relay is detected in spite ofactivated starting lockout function or if operatedcondition of the relay is detected with starting lockoutnot active, error message F3131 is generated. Errorin wiring of acknowledgment signal (contact error orcable break)

Remove cause of error in wiring of acknowledgmentsignal.Then start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error an then set driveenable again

When using optional module safety technology I/O:

During check of acknowledgment signal I/O20 astatic high level (short circuit with V+) or a static lowlevel (cable break resp. loose or missing connection)was detected

Remove cause of error in wiring of acknowledgmentsignal I/O20.Then start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then set driveenable again

Note: If only diagnostic safety technology slave signalsF3131, this is a sign of missing connection of signalI/O20 between master and slave

Within defined time window there wasn't anydynamization signal detected, because SERCOSring (or field bus circuit) in which safety technologymaster has been included goes to operating modemore slowly than ring (or circuit) in which axis witherror message has been included

Safety technology master always has to be included inSERCOS ring (or field bus circuit) which is last to switchto operating mode





F3132 Error when checking diagnostic output signalContained in 02VRS: «MPB» «MPD» «MPH»




With control of a safety door configured (P-0-3210, Safety technologycontrol word or P-0-3210, Safety technology configuration, bit 1=1),the safety technology master for diagnostic message andacknowledgment (P-0-3210, Safety technology control word orP-0-3210, Safety technology configuration, bit 2=1) checks whether...:

• ...a feedback is present at the diagnostic input of channel 1 (I10)(P-0-3212, Safety technology signal control word, channel 1 orP-0-3212, Safety technology control word, channel 1 bit 9) aftertransition to a safety function.

• ...a feedback is present at the diagnostic input of channel 1 (I10)(P-0-3212, Safety technology signal control word, channel 1 orP-0-3212, Safety technology control word, channel 1 bit 9) aftertransition to normal operation.

The drive is decelerated according to the setting in P-0-0119, Bestpossible deceleration. The drive automatically switches to safety relatedstandstill and the output stage is switched off via two channels.

Cause Remedy

Error in wiring of diagnostic output / check input(O10, I10 or I/O10n)

Remove error in wiring of diagnostic output / check input

Error in parameterization of diagnostic output / checkinput

Check bit 1=1 (control of a safety door) and bit 2=1(safety technology master for diagnostic message andacknowledgment) in parameter P-0-3210, Safetytechnology control word or P-0-3210, Safetytechnology configuration.Check parameterization of O10 (P-0-3214, Safetytechnology signal status word, channel 1 orP-0-3214, Safety technology status word, channel 1,bit 0) and I10 (P-0-3212, Safety technology signalcontrol word, channel 1 or P-0-3212, Safetytechnology control word, channel 1, bit 9) for thecorresponding digital inputs/outputs.

Internal relay on channel 2 defective Replace control section or entire drive controller




Error Reaction



F3133 Error when checking interrupting circuitsContained in 02VRS: «MPB» «MPD» «MPH»




In order to lock the output stage in a safety related way when the safetytechnology has detected an error, the correct functioning of theinterrupting circuit is cyclically checked. This is done on the one handduring the actions "release output stage" and "lock output stage", on theother hand statically while the output stage is being released or locked.The corresponding hardware realization ensures that this is possiblewithout repercussion on the PWM control signals.

Note: When the safety technology has been activated, the errorF3133 only occurs in normal operation. When a safety functionis selected, the cause of the error causes the error F8133Error when checking interrupting circuit to be triggered.


The drive automatically switches to "safety related standstill" and theoutput stage is switched off via one channel.

Note: Safety is not acknowledged; i.e. "safety technology statusoutput controller" was cleared/reset in P-0-3214, Safetytechnology signal status word, channel 1 or P-0-3214,Safety technology status word, channel 1 or the diagnosisinput/output I/O10n (channel 2) was set depending on theparameterization in P-0-3210, Safety technology controlword / P-0-3210, Safety technology configuration.

Cause Remedy

An error was detected during check of interruptingcircuit

Start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then set driveenable again.If error occurs repeatedly, replace control section orentire drive controller






F3134 Dynamization time interval incorrectContained in 02VRS: «MPB» «MPD» «MPH»




The signal shape of the "dynamization signal of safety function selection"is monitored.

Note: Monitoring normally refers to the signals at the dynamizationinput I/O30. If "separate dynamization" has been set inP-0-3210, Safety technology control word or P-0-3210,Safety technology configuration, the dynamization input forchannel 1 is additionally monitored (see also P-0-3212, Safetytechnology signal control word, channel 1 or P-0-3212,Safety technology control word, channel 1).


When the drive is in a safety function, it is automatically switched to safetyrelated standstill and the output stage is switched off via two channels.

Cause Remedy

Error in wiring of dynamization signal (e.g. shortcircuit with V+)

Check wiring of dynamization signal and remove error

Error in signal shape of dynamization signal in thecase of external dynamization (see also F3135Dynamization pulse width incorrect)

Check dynamization signal and correct it, if necessary.Relevant parameters:- P-0-3223, Time interval for dynamization of safetyfunction selection (+20 % tolerance) mustn't beexceeded- P-0-3224, Duration of dynamization pulse of safetyfunction selection

Parameterization of P-0-3210, Safety technologycontrol word or P-0-3210, Safety technologyconfiguration not useful

In the case of internal dynamization, per safety zoneconfigure one axis as master for dynamization (set bit 3in P-0-3210, Safety technology control word orP-0-3210, Safety technology configuration)

After having removed the error start command S-0-0099, C0500 Resetclass 1 diagnostics in order to clear error and then set drive enableagain.

Note: If error message occurs repeatedly, safety technologyfirmware has to be replaced.

- or -

Control section (only by Rexroth service engineers orespecially trained users) or entire drive controller has to bereplaced. The replacement of the entire drive controller isdescribed in the Project Planning Manual for the powersection.

Error Reaction





F3135 Dynamization pulse width incorrectContained in 02VRS: «MPB» «MPD» «MPH»




For "dynamization of safety function selection" a dynamic signal is appliedto the selection elements, in order to detect errors in the wiring of theinput signal / input signals. The signal shape of the dynamic signal /dynamic signals is monitored, too.

The monitoring refers to the signal at the input I/O30 and in the case ofseparate dynamization (P-0-3210, Safety technology control word orP-0-3210, Safety technology configuration, bit 7=1) additionally to the"dynamization signal channel 1" (P-0-3212, Safety technology signalcontrol word, channel 1 or P-0-3212, Safety technology control word,channel 1, bit 10).

The pulse width of the dynamization signal was detected to be too shortor too long; the minimum pulse width is 30 ms, the maximum pulse widthis determined via P-0-3224, Duration of dynamization pulse of safetyfunction selection (plus a tolerance of 20 percent).

The drive is decelerated according to the setting in P-0-0119, Bestpossible deceleration. When the drive is in a safety function, it isautomatically switched to safety related standstill and the output stage isswitched off via two channels.



Error Reaction



F3140 Safety parameters validation errorContained in 02VRS: «MPB» «MPD» «MPH»




The safety parameters of channel 1 and channel 2 are cyclically checkedfor validity in the operating mode.


When the drive is in a safety function, it is automatically switched to safetyrelated standstill and the output stage is switched off via two channels.

Cause Remedy

Change in safety parameters without subsequentsynchronization of safety parameters in specialmode

Execute command P-0-3204, C3000 Synchronize andstore safety technology IDN command; channel 2thereby accepts parameters of channel 1 and internalvalues are recalculated and loaded

Then start command S-0-0099, C0500 Reset class 1 diagnostics inorder to clear error and then set drive enable again



Error Reaction



F3141 Selection validation errorContained in 02VRS: «MPB» «MPD» «MPH»




The check carried out when selecting/deselecting safety functions hasshown that the selection signals of channel 1 and channel 2 differed for alonger time than the tolerated duration preset by P-0-3221, Max.tolerance time for different channel states.




Cause Remedy

Error in wiring of input signalsor switch defective

Check switch elements and wiring of input signals

Different safety functions assigned to inputs ofchannel 1 and channel 2

Check configuration of inputs of channel 1 andchannel 2

P-0-3221, Max. tolerance time for differentchannel states incorrectly parameterized

Change parameterization of P-0-3221, Max. tolerancetime for different channel states (increase value)

After having removed the cause start command S-0-0099, C0500 Resetclass 1 diagnostics in order to clear error and then set drive enableagain.





F3142 Activation time of enabling control exceededContained in 02VRS: «MPB» «MPD» «MPH»




The parameterized maximum time for the activation of the enablingcontrol (P-0-3222, Max. activation time of enabling control) has beenexceeded.



Cause Remedy

Enabling control was activated too long Remove enabling signal before time parameterized inP-0-3222, Max. activation time of enabling controlis over

Parameterization of P-0-3222, Max. activation timeof enabling control does not make sense

Check and, if necessary, change parameterization ofP-0-3222, Max. activation time of enabling control

Enabling control is defective or incorrectly wired Check and, if necessary, replace/correct enablingcontrol and wiring

After having removed the cause start command S-0-0099, C0500 Resetclass 1 diagnostics in order to clear error and then set drive enableagain.



Error Reaction



F3143 Safety command for clearing errors incorrectContained in 02VRS: «MPB» «MPD» «MPH»




Via an internal command embedded in the call of S-0-0099, C0500 Resetclass 1 diagnostics all errors of channel 2 are cleared. If a problem isdetected during this procedure, the drive generates the error F3143.

Axis is in "safety related standstill". The output stage has been switchedoff via two channels.

Cause Remedy

If error message coincides with a firmware update,this indicates that firmware on channel 2 was notstarted; in this case, P-0-3200, Safety technologyfirmware code is without content. (This can be dueto following reasons: firmware of channel 2incompatible with channel 1, checksum or hardwareerror on channel 2.)

Carry out firmware update again

Execution of internal command was aborted withtimeout

Reset module by switching control voltage off and on.If error occurs repeatedly, replace control section orentire drive controller


See also Functional Description "Firmware Update"



Error Reaction



F3144 Incorrect safety configurationContained in 02VRS: «--» «--» «--»




An error was detected in the configuration of safety technology.



Cause Remedy

Safety technology control signals (selection signals)were configured in P-0-3211, Safety technology I/Ocontrol word, channel 2 or P-0-3211, Safetytechnology I/O configuration list, channel 2, butsafety technology with PROFIsafe hasn't beenconfigured or hardware requirements therefor aremissing

For configuration "safety technology with PROFIsafe",only assignment of home switch and safety technologyinputs 1 to 4 is allowed; for the other safety technologycontrol signals it is not allowed to establish anyfunctional connection; change parameter setting ofP-0-3211, Safety technology I/O control word,channel 2 or P-0-3211, Safety technology I/Oconfiguration list, channel 2 accordingly

Safety technology control signals (selection signals)were assigned several times in P-0-3211, Safetytechnology I/O control word, channel 2 orP-0-3211, Safety technology I/O configuration list,channel 2

Only assign safety technology control signals (selectionsignals) once in P-0-3211, Safety technology I/Ocontrol word, channel 2 or P-0-3211, Safetytechnology I/O configuration list, channel 2

Safety technology inputs 1 to 4 were configured inP-0-3211, Safety technology I/O control word,channel 2 or P-0-3211, Safety technology I/Oconfiguration list, channel 2, but safety technologywith PROFIsafe hasn't been configured or hardwarerequirements therefor are missing

Safety technology inputs 1 to 4 are only allowed inconjunction with the configuration "safety technologywith PROFIsafe"; change parameterization of P-0-3211,Safety technology I/O control word, channel 2 orP-0-3211, Safety technology I/O configuration list,channel 2 accordingly

Two configurations were inadmissibly made at thesame time for the axis:- master for diagnosis and acknowledgment(P-0-3210, Safety technology control word orP-0-3210, Safety technology configuration, bit 2)- and- - "deactivation of acknowledgment support at I/O20",i.e. drive does not work in acknowledgment group(P-0-3210, Safety technology control word orP-0-3210, Safety technology configuration, bit 8)

One of both configurations must be undone

After trouble shooting start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error an then set drive enable again.



Error Reaction



F3145 Error when unlocking the safety doorContained in 02VRS: «MPB» «MPD» «MPH»




When the special mode is deselected, a check is run to find out whetherthe control of the door locking device is inactive and the door is closedand locked.

The drive is decelerated according to the setting in P-0-0119, Bestpossible deceleration

- or -

the axis already is in "safety related standstill".

The output stage is switched off via two channels.

Cause Remedy

Error in mechanical system of safety door Check mechanical system of safety door

Error in wiring of safety door or short circuit betweenIO10n, O10, I10 and 24 V

Check wiring of safety door

Hardware defect on control section or on optionalsafety technology module





Error Reaction



F3146 System error channel 2Contained in 02VRS: «MPB» «MPD» «MPH»






In the case of a measuring system error, the safety door can only beopened via the command P-0-3218, C3700 Manually unlocking thesafety door.

Cause Remedy

System error on channel 2 Reset module by switching control voltage off andon.Start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then set driveenable again.If error occurs repeatedly, replace controlsection or entire drive controller

Failure of encoder signal - check cable to measuring system- check shield connection- check connection (ribbon cable) between optionalsafety technology module and encoder interface

No encoder signals - connection (ribbon cable) between optional safetytechnology module and encoder interfacemissing- check measuring system






F3147 System error channel 1Contained in 02VRS: «MPB» «MPD» «MPH»




The operatability of safety monitoring functions is cyclically checked innormal operation.

A system error occurred in channel 1. The drive is decelerated accordingto the setting in P-0-0119, Best possible deceleration.



Cause Remedy

Cyclic test of monitoring functions of safetytechnology channel 1 is faulty

Reset module by switching control voltage off and on.If error occurs repeatedly, replace firmware and/orhardware

You use a test firmware (to be recognized, amongother things, by P-0-3213, Safety technologyoperating status or P-0-3213, Safety technologystatus, bit 14).Test firmware was provided as an exception forapplications without active safety technology; safetytechnology firmware test was not carried out for thisfirmware!

Replace firmware by test firmware with safetytechnology firmware test or official firmware(V-release) with which safety technology can always beused without restrictions

Note: Only Rexroth service engineers are allowed to replace optionalmodules of the control section.

Only Rexroth service engineers or especially trained users areallowed to replace the control section. The replacement of theentire drive controller is described in the Project PlanningManual for the power section.





F3150 Safety command for system start incorrectContained in 02VRS: «MPB» «MPD» «MPH»




Channel 2 of the safety technology is switched from parameter mode tooperating mode via an internal command. During the command channel 2carries out the necessary initialization steps.



Cause Remedy

Time in command processing exceeded Start command S-0-0099, C0500 Reset class 1diagnostics to clear error.

⇒ Reset optional safety technology module (switchcontrol voltage off and on).

After control voltage was switched off and on, erroroccurs again:⇒ Reload firmware.

Error occurs in spite of switching control voltage off andon and reloading firmware:⇒ Hardware is defective; replace control section.

Note: To load the firmware please read the description "FirmwareUpdate (or Replacement)" in the Firmware Release Notes.




Error Reaction



F3151 Safety command for system halt incorrectContained in 02VRS: «MPB» «MPD» «MPH»




Channel 2 of the safety technology is switched from operating mode toparameter mode via an internal command. During the command thenecessary initialization steps are carried out in channel 2.

The drive is decelerated according to the setting in P-0-0119, Bestpossible deceleration. The drive automatically switches to safety relatedstandstill and the output stage is switched off via two channels.

Cause Remedy

Time exceeded in command processing becauseother command is active (e.g. C3000)

Start command S-0-0099, C0500 Reset class 1diagnostics in order to clear error and then switch fromoperating mode to parameter mode.If necessary, reset module by switching control voltageon and off



Error Reaction



F3152 Incorrect backup of safety technology dataContained in 02VRS: «MPB» «MPD» «MPH»




In order to use the same safety technology configuration, after the controlsection was replaced, without having to carry out safety technologycommissioning again, the monitoring of the correct backup or acceptanceof the safety technology data is contained in the drive. An error occurredduring data backup.

The drive is decelerated according to the setting in P-0-0119, Bestpossible deceleration. The drive automatically switches to safety relatedstandstill and the output stage is switched off via two channels. As soonas the axis has stopped the safety door can be opened.

Cause Remedy

Error in hardware or in internal sequence during databackup

Repeat data backup.If error occurs again, execute command "load defaultsprocedure for safety technology". If error occurs again,optional safety technology module or entire drivecontroller has to be replaced.If error occurs, content of parameter P-0-3208, Backupof safety techn. data channel 2 is incorrect

Content of parameter P-0-3208, Backup of safetytechn. data channel 2 is incorrect

Check whether correct parameter set, compatiblefirmware version (S-0-0030, Manufacturer version).If error-free P-0-3208, Backup of safety techn. datachannel 2 is not available, safety technologycommissioning has to be carried out again


Only Rexroth service engineers are allowed to replace optionalmodules of the control section.



Error Reaction



F3160 Safety bus communication errorContained in 02VRS: «--» «--» «--»




A cyclic check of the drive has shown that the drive cannot communicatewith the master via the safety bus.

The drive is decelerated according to the setting in P-0-0119, Bestpossible deceleration. The drive automatically switches to "driveinterlock" and the output stage is switched off via two channels.

Cause Remedy

Missing or incorrect connection Check connection, remove cause of error

Failure of bus master Remove error of master



Error Reaction



7.7 Non-Fatal Errors (F2xxx)

Behavior in the Case of Non-Fatal ErrorNon-fatal errors are errors that are still allowing a freely definable, variableerror reaction.

The user can define the drive behavior for the case of non-fatal errorsoccurring via the setting of the parameters P-0-0117, Activation of NCreaction on error and P-0-0119, Best possible deceleration.






F2004 Error in motion profileContained in 02VRS: «--» «--» «--»




In the operating mode with electronic motion profile the drive monitorswhether the defined motion profile (max. 8 individual motion steps) isplausible. The error is generated if a motion profile that has not passedthe validation checks is activated with the drive having been enabled.Depending on whether set 0 or set 1 had been selected, a number isdisplayed in parameter P-0-0702, Motion profile, diagnosis, set 0 orP-0-0709, Motion profile, diagnosis, set 1 which you have to interpretaccording to the list below.

Drive Behavior




Cause Remedy

1: Master axis initial positions of motion steps usedare not increasing

Check list P-0-0705, List of master axis initialpositions, set 0 or P-0-0712, List of master axis initialpositions, set 1

2: In the case of absolute motion profile, sum ofindividual distances is not "0" or a multiple ofS-0-0103, Modulo value

Check list P-0-0707, List of distances, set 0 orP-0-0714, List of distances, set 1

3: In the case of relative motion profile, number ofmotion steps is smaller than "2"

Check parameter P-0-0703, Number of motion steps,set 0 or P-0-0710, Number of motion steps, set 1

21…28: Checked motion step is "rest in velocity" or"velocity in velocity". Following step consists ofprofile which is not "velocity in rest" or "velocity invelocity".Number of checked motion step can be taken fromsecond digit of diagnostic message number

Check list P-0-0706, List of motion step modes, set 0or P-0-0713, List of motion step modes, set 1

31…38: Checked motion step is "rest in velocity" or"velocity in velocity". Following step consists ofprofile which is either "velocity in rest" or "velocity invelocity". Velocities of step that was checked andfollowing step do not match.Number of checked motion step can be taken fromsecond digit of diagnostic message number

Check list P-0-0708, List of slave axis velocities, set 0or P-0-0715, List of slave axis velocities, set 1

41…48: Checked motion step is "velocity in rest" or"velocity in velocity". Previous step consists of profilewhich is not "rest in velocity" or "velocity in velocity".Number of checked motion step can be taken fromsecond digit of diagnostic message number


51…58: Checked motion step is "velocity in rest" or"velocity in velocity". Previous step consists of profilewhich is either "velocity in rest" or "velocity invelocity". Velocities of step that was checked andprevious step do not match.Number of checked motion step can be taken fromsecond digit of diagnostic message number

Check list P-0-0708, List of slave axis velocities, set 0or P-0-0715, List of slave axis velocities, set 1

61…68: 1st profile element of a cam shaft profileused is unequal "0" or cam shaft profile is invalid.Number of rejected cam shaft profile can be takenfrom second digit of diagnostic message number


71...78: Checked motion step is "velocity in rest","velocity in velocity" or "rest in velocity". Distance ofmotion step inadmissibly is "0"Number of checked motion step can be taken fromsecond digit of diagnostic message number

Check list P-0-0707, List of distances, set 0 orP-0-0714, List of distances, set 1

See also Functional Description "Electronic Motion Profile withReal/Virtual Master Axis"





F2005 Cam shaft invalidContained in 02VRS: «MPB» «MPD» «MPH»




When the cam shaft mode is active, the drive monitors whether one of thecam shaft profiles contains invalid elements or is incomplete.

Cause Remedy

One of cam shaft profiles is invalid Check cam shaft profiles and, if necessary, reload them(P-0-0072, Cam shaft profile1, P-0-0092, Cam shaftprofile 2, P-0-0780, Cam shaft profile3 or P-0-0781,Cam shaft profile4).In case of doubt contact installation programmer ormachine manufacturer






F2006 MMC was removedContained in 02VRS: «MPB» «MPD» «MPH»




The drive monitors whether the MMC is available when it is used as anactive memory, i.e. when the parameters are stored in the MMC.

Cause Remedy

The MMC is used as active memory and wasremoved from the drive controller under voltage

Put MMC in its slot at the drive controller again and thenstart command S-0-0099, C0500 Reset class 1diagnostics in order to clear error

Loose contact in MMC slot or MMC incorrectlyplugged

Check fixing of MMC and, if necessary, plug it incorrectly

MMC defective Replace MMC

MMC slot defective Replace control section or entire drive controller






F2007 Switching to non-initialized operating modeContained in 02VRS: «MPB» «MPD» «MPH»




When switching the active operating mode the drive was switched to anon-initialized operating mode.

For the operating modes that can be selected please see ParameterDescription for the operating mode parameters:

• S-0-0032, Primary mode of operation

• S-0-0033, Secondary operating mode 1



Cause Remedy

Via S-0-0134, Master control word (for SERCOS)or P-0-4077, Field bus: control word (for field bus)an operating mode was selected that had not beeninitialized (e.g. S-0-0032="0")

Enter the desired operating mode in the selectedoperating mode parameter

See also Functional Description "Operating Mode Selection"





F2008 RL The motor type has changed.Contained in 02VRS: «MPB» «MPD» «MPH»




In the initialization phase (after the drive has been switched on) thecontroller checks whether the connected motor type corresponds to thetype designation in S-0-0141, Motor type. If this is not the case, the errorF2008 is generated and the controller demands loading the motor-specificcontrol loop parameter values from the encoder memory of the motor (thedisplay of the control panel reads "RL").

Cause Remedy

Motor was replaced by different motor type- or -A parameter file was loaded to drive controller inwhich parameter S-0-0141, Motor type differs fromconnected motor type- or -Drive controller was switched on for the first time.Motor type stored in S-0-0141, Motor type differsfrom connected motor type.

Clear error by means of- S-0-0099, C0500 Reset class 1 diagnostics- or -- Press "ESC" button at control panel of controller

Note: If the error is cleared, command S-0-0262, C07_xLoad defaults procedure command is thenautomatically executed, unless this was deactivated inP-0-0556, Control word of axis controller.Attention: By command execution, previous controlloop settings are overwritten with default control loopsettings from encoder memory!

See also Functional Description "Control Panel"

F2008 - AttributesDisplay: RL




F2009 PL Load parameter default valuesContained in 02VRS: «MPB» «MPD» «MPH»




When the firmware is replaced (firmware update) the non-volatile memory(internal memory or MMC) is automatically analyzed; during the analysisan error was detected.

Note: When the S-0-0262, C07_x Load defaults procedurecommand is started directly with the "Load basic parameters"option the F2009 error is automatically cleared.

During the transition checks for the communication phases 3 and 4 theoperating data (parameter values) are verified; parameters with invalidoperating data (normally only all new parameters) are output in theS-0-0021, IDN list of invalid operating data for communicationphase 2 or S-0-0022, IDN list of invalid operating data forcommunication phase 3 parameters.

CAUTION

Material damage caused by unintendedoverwriting of parameters and positioningblocks!⇒ Before executing the command for loading the

parameter default values by "clear errors" you shouldsave the current parameter set.

Cause Remedy

Drive was started with new firmware for the firsttime or a version update was carried out due towhich number of non-volatile parameters haschanged

By clearing error via control panel all parameter valuesare cleared and set to original values (default values)- or -Error is cleared by starting command S-0-0099, C0500Reset class 1 diagnostics. Parameters that can beread from memory remain with their last stored value, allparameters that cannot be read from the memory (newparameters) are set to default values and marked asbeing invalid

Parameter memory (MMC or internal memory) isdefective so that error F2009 keeps reappearing

Check MMC and replace it, if necessary, orreplace control section or entire drive controller


See also Functional Description "Control Panel"



F2009 - AttributesDisplay: PL


F2010 Error when initializing digital inputs/outputsContained in 02VRS: «MPB» «MPD» «MPH»




An error occurred during the first initialization of the drive (initialization ofdigital inputs/outputs).

Cause Remedy

Conflict with last stored parameters of digitalinputs/outputs

Check following parameter contents and correct them, ifnecessary:- P-0-0300, Digital I/Os, assignment list- P-0-0301, Digital I/Os, bit numbers- P-0-0302, Digital I/Os, direction



F2011 PLC - Error nr. 1Contained in 02VRS: «--» «--» «MPH»




In conjunction with technology functions the PLC integrated in the drive(optional expansion package "drive PLC") allows the user generating errormessages (F2011...F2014) within the PLC program.

The causes of the error are depending on the respective PLC project (orthe active technology function). If the error message is generated by atechnology function made available by Bosch Rexroth, the causes andremedies are contained in the description of the technology function.






F2018 Device overtemperature shutdownContained in 02VRS: «MPB» «MPD» «MPH»




The heat sink temperature of the device is monitored by a temperaturesensor and a temperature model. When the heat sink temperature hasreached the maximum value, the device is switched off in order to protectit against destruction.

Note: Before the error F2018 is triggered, the warning E2050 Deviceovertemp. prewarning is output for 30 s.

Cause Remedy

Overtemperature (heat sink) due to overload ofdevice

Switch drive off and let it cool down. Check mechanicalsystem and drive dimensioning (working power mustn'texceed, on average, continuous power of drive).

Ambient temperature too high. Specifiedperformance data are valid up to an ambienttemperature of 40 C.

Reduce ambient temperature, e.g. by cooling thecontrol cabinet

Heat sink of device is dirty Clean heat sink

Convection is prevented by other components ormounting position of control cabinet

Mount device vertically and provide sufficient space forventilating heat sink

Failure of internal blower If blower fails, replace device or power section

Failure of air conditioning for control cabinet Check air conditioning of control cabinet

Incorrect dimensioning of control cabinet with regardto heat discharge

Check dimensioning of control cabinet

See also Functional Description "Current Limitation"





F2019 Motor overtemperature shutdownContained in 02VRS: «MPB» «MPD» «MPH»




The motor temperature measured by the temperature sensor hasreached the limit value in S-0-0204, Motor shutdown temperature. Thedrive is immediately decelerated according to the selected error reaction(P-0-0119, Best possible deceleration) and shut down. The controlleroutputs F2019.

Note: For MHD, MKD, MKE and LSF motors, S-0-0204, Motorshutdown temperature is permanently set and cannot bechanged.

Cause Remedy

Motor shutdown temperature incorrectlyparameterized

Check and correct parameterization of S-0-0204, Motorshutdown temperature by means of motor ortemperature sensor data sheet

The motor is overloaded. Effective torque demandedfrom motor has been above allowed torque for toolong

Check dimensioning of motor. In the case ofinstallations that have been operated for a long time,check whether drive conditions have changed (withregard to dirt accumulation, friction, moved masses etc.)

Line interruption, ground fault or short circuit in linefor motor temperature monitoring

Check line for motor temperature monitoring for lineinterruption, ground fault or short circuit

Instability in speed control loop Check parameterization of speed control loop

See also Functional Description "Motor Temperature Monitoring"





F2021 Motor temperature monitor defectiveContained in 02VRS: «MPB» «MPD» «MPH»




The function of the temperature sensor used for motor temperaturemonitoring is cyclically monitored by the drive.

When a temperature equal to or less than -20 °C has been measured for30 seconds, a defect is supposed to have occurred and the F2021 error isoutput.

Cause Remedy

Interruption or short circuit in line for motortemperature monitoring

Check motor connection and cable for interruption andshort circuit

Sensor in motor is defective Use replacement sensor or replace motor

Drive controller defective Replace drive controller or power section




F2022 Device temperature monitor defectiveContained in 02VRS: «MPB» «MPD» «MPH»




The function of the temperature sensor used for device temperaturemonitoring is cyclically monitored.

When a temperature equal to or less than -20 °C has been measured for30 seconds, a defect is supposed to have occurred and the F2022 error isoutput.

Cause Remedy

Sensor in drive controller is defective Replace drive controller or power section





F2025 Drive not ready for ControlContained in 02VRS: «--» «--» «--»




When drive enable is set, the drive must be ready; i.e. it must signal thedrive status "Ab".

If the drive only signals "bb" (betriebsbereit = ready for operation), i.e. theDC bus voltage is too low or the drive is in parameter mode, the drivegenerates this error message.

Cause Remedy

Drive enable (AF) was set before power supply hadbeen switched on

- or -

Drive enable (AF) was set although drive is still inparameter mode

Check logic for activating drive in connected control unit





F2026 Undervoltage in power sectionContained in 02VRS: «MPB» «MPD» «MPH»




The DC bus voltage value is monitored by the drive controller and thesupply unit.

If the DC bus voltage falls below the minimum value determined for thedrive (see value of P-0-0114, Undervoltage threshold) or it reacts to"DC bus not ok" of the module bus, the device generates the errormessage F2026 if "non-fatal warning" has been set with regard to thereaction to undervoltage in P-0-0118, Power supply, configuration.

If the DC bus voltage falls below 75% of the mains voltage crest valuethat was detected when the mains contactor had been switched on, "errorin supply" is signaled via the module bus and F2026 is displayed at thedevice. Power is switched off!

If the DC bus voltage falls below 75% of DC750 V (DC562 V), "error insupply" is signaled via the module bus and F2026 is displayed at thedevice. Power is switched off!

Cause Remedy

Power is switched off without previous drivedeactivation by means of drive enable ("AF")


Failure in power supply or overload of power supply Check power supply

Mains failure Check cause of mains failure, switch mains voltage onagain




Drive Controllers HMS, HMD,HCS

Supply Unit HMV01.1E

Supply Unit HMV01.1R



F2028 Excessive deviationContained in 02VRS: «MPB» «MPD» «MPH»




When the position control loop is closed the drive monitors whether it canfollow the preset position command value. To do this a actual modelposition value is calculated in the drive and compared with the real actualposition value. If the difference of calculated and real actual position valueexceeds the value entered in parameter S-0-0159, Monitoring window itis obvious that the drive cannot follow the preset command value and theerror F2028 is generated.

Note: The maximum deviation between calculated and real actualposition value can be read from P-0-0098, Max. modeldeviation.

Cause Remedy

Parameterized monitoring window too small Check and, if necessary, correct content of S-0-0159,Monitoring window

Too high command acceleration due to incorrectcommand value set by control unit

Reduce acceleration value set by the control unit (seecontrol unit manual)

Numeric value in S-0-0092, Bipolar torque/forcelimit value too low

Check content of parameter S-0-0092, Bipolartorque/force limit value and set it to maximum valueallowed for application

Axis is blocked or sluggish Check mechanical system and remove axis blocking

Incorrect or non-optimized control loop parameters Check control loop setting (e. g. S-0-0104, Positionloop Kv-factor, S-0-0100, Velocity loop proportionalgain, P-0-0556, Control word of axis controller)

Acceleration capacity of drive was exceeded Check drive dimensioning





F2031 Encoder 1 error: signal amplitude incorrectContained in 02VRS: «--» «--» «--»




The signals of the measuring system (encoder 1) are monitored onhardware and software level with regard to their amplitudes and signalshape. If a signal (e.g. sin or cos) leaves the thresholds monitored by thehardware or if the signals are disturbed in such a way that a position erroroccurs, the error F2031 is generated in conjunction with the function"redundant motor encoder".

Note: As the position of the measuring system is no longergenerated correctly when the error F2031 is detected, it isnecessary to initialize the encoder again.

The error can only be cleared in communication phase 2(parameter mode).

Cause Remedy












F2032 Validation error during commutation fine adjustContained in 02VRS: «MPB» «MPD» «MPH»




When a synchronous motor with incremental measuring system ishomed, the value of P-0-0521, Effective commutation offset isconverted to the home point reference and compared to the optimizedcommutation offset in P-0-0508, Commutation offset. If the deviationdetermined due to this comparison is too great, the error F2032 isgenerated and the drive is shut down.

Note: If the deviation is too great, the operational safety of the motoris no longer guaranteed because a "runaway effect" of themotor can occur.

Cause Remedy

Initial commissioning was not or incompletelycarried out

Carry out initial commissioning

Motor encoder was replaced Carry out initial commissioning

Motor connections (U, V, W) were mixed up Check and if necessary correct motor connection

Values in P-0-0508, Commutation offset and/orP-0-3008, Commutation offset, encoder memorywere manipulated

Check value stored in P-0-0508, Commutation offset;carry out initial commissioning again, if required

See also Functional Description "Establishing the Position DataReference (Drive-Controlled Homing)"





F2033 External power supply X10 errorContained in 02VRS: «MPB» «MPD» «MPH»




If the X10 interface at the IndraDrive M controller has been equipped witha digital I/O extension, this requires an external 24 V power supply.

Cause Remedy

Voltage externally applied is outside of allowedrange [and temporary failures (voltage peaks) aredetected]

Supply interface with controlled power supply unit

At least one of the inputs was connected withreversed polarity

Check wiring

At least one of the outputs has short circuit Check wiring

At least one of the outputs is overloaded Supply motor brake and interface with different powersupply units, especially in the case of long motor cables





F2036 Excessive position feedback differenceContained in 02VRS: «MPB» «MPD» «MPH»




In cyclic operation the difference between actual position value 1 andposition value 2 (see also P-0-0391, Actual position value differenceencoder1 - encoder2) is compared to S-0-0391, Monitoring windowfeedback 2. If the absolute value of the difference is greater than themonitoring window and both encoders have been homed, the error F2036is generated.

The drive carries out the error reaction parameterized in P-0-0119, Bestpossible deceleration and the reference bits of both encoders arecleared (S-0-0403, Position feedback value status).

Note: The monitoring function is inactive if the value "0" was enteredin the S-0-0391, Monitoring window feedback 2 parameter.

Cause Remedy

Parameters for encoder 2 incorrect Check S-0-0115, Position feedback 2 type andS-0-0117, Feedback 2 Resolution

Mechanical system between motor shaft andencoder 2 incorrectly parameterized

Check S-0-0121, Input revolutions of load gear,S-0-0122, Output revolutions of load gear, andS-0-0123, Feed constant

Mechanical system between motor shaft andencoder 2 is not rigid (e.g. gear play, slip) andmonitoring window is too small

Increase S-0-0391, Monitoring window feedback 2,switch off in the case of gear with slip

Encoder cable defective Replace encoder cable

Maximum input frequency of encoder interfaceexceeded

Reduce velocity

Encoder 2 was not mounted to driven axis Set S-0-0391, Monitoring window feedback 2 to "0"(switch monitoring function off)

Incorrect encoder gear settings Check relevant encoder parameters and correct them, ifnecessary:

P-0-0121, Gear 1 motor-side (motor encoder) /P-0-0122, Gear 1 encoder-side (motor encoder)

P-0-0124, Gear 2 load-side (optional encoder) /P-0-0125, Gear 2 encoder-side (optional encoder)

S-0-0121, Input revolutions of load gear / S-0-0122,Output revolutions of load gear

Position data reference of an absolute encoderincorrect

Execute P-0-0012, C0300 Command Set absolutemeasuring

See also Functional Description "Velocity Control with Cyclic CommandValue Input"





F2037 Excessive position command differenceContained in 02VRS: «MPB» «MPD» «MPH»




When the drive is running in the operating mode "position control withcyclic command value input", the incoming position command values (cf.S-0-0047, Position command value) are monitored. If the positiondifference between two successive position command values is greaterthan or equal to the value in S-0-0091, Bipolar velocity limit value, theposition command value monitor is activated and the error F2037 isgenerated.

The excessive position command value is stored in parameter P-0-0010,Excessive position command value.

The last valid position command value is stored in parameter P-0-0011,Last valid position command value.

Cause Remedy

Value in S-0-0091, Bipolar velocity limit value toolow

Check and, if necessary, correct parameterization ofS-0-0091, Bipolar velocity limit value

Incorrect command value set by control unit Contact control unit manufacturer or programmer

See also Functional Description "Velocity Control with Cyclic CommandValue Input"





F2039 Maximum acceleration exceededContained in 02VRS: «MPB» «MPD» «MPH»




In cyclic position control the allowed acceleration limit value wasexceeded.

Note: The acceleration monitor can be switched off by means ofP-0-0556, Control word of axis controller.

Cause Remedy

Value in S-0-0138, Bipolar acceleration limit valuetoo low

Check and, if necessary, correct parameterization ofS-0-0138, Bipolar acceleration limit value

Incorrect command values set by control unit(position command values)

Contact control unit manufacturer or programmer

Preset acceleration value was greater than valueparameterized in S-0-0138, Bipolar accelerationlimit value

Reduce acceleration value used- S-0-0042, Homing acceleration- S-0-0260, Positioning acceleration- P-0-0057, Return acceleration





F2040 Device overtemperature 2 shutdownContained in 02VRS: «MPB» «MPD» «MPH»




A switch-off value for the second temperature sensor is stored inelement 3 of parameter P-0-4059, Electric type data of power section.

If parameter P-0-0816, Amplifier temperature 2 exceeds the switch-offvalue, the error F2040 is generated and the device is switched off.

Cause Remedy

Ambient temperature too high. Specifiedperformance data are valid up to an ambienttemperature of 40 C.

Reduce ambient temperature, e.g. by cooling thecontrol cabinet


Convection is prevented by other components ormounting position in control cabinet


Blower of device is defective Replace device





F2042 Encoder 2: encoder signals incorrectContained in 02VRS: «MPB» «MPD» «MPH»




The signals of the measuring system (encoder 2) are monitored withregard to their amplitudes and signal shape. If a signal (sin or cos) leavesthe allowed range or if the signals are disturbed in such a way that aposition error occurs, this error is generated.


Cause Remedy








Note: When using an incremental encoder with square-wave signals,monitoring is carried out with regard to an unallowed edge.

With regard to the software the signals of a resolver aremonitored for their level.

See also E2075 Encoder 2: encoder signals disturbed





F2043 Measuring encoder: encoder signals incorrectContained in 02VRS: «MPB» «MPD» «MPH»




The signals of the measuring system (measuring encoder) are monitoredwith regard to their amplitudes and signal shape. If a signal (e.g. sin orcos) leaves the allowed range or if the signals are disturbed in such a waythat a position error occurs, this error is generated.


Cause Remedy








Note: When using an incremental encoder with square-wave signals,monitoring is carried out with regard to an unallowed edge.

See also E2076 Measuring encoder: encoder signals disturbed





F2044 External power supply X15 errorContained in 02VRS: «MPB» «MPD» «MPH»




The external 24 V power supply for the digital I/Os at the optional module(HCC01) is monitored by the drive.

If the 24 V power supply is outside of the range of 19 V to 30 V, the errorF2044 is generated.

Cause Remedy

Temporary failures (voltage peaks) or voltage drops Use controlled power supply unit

At least one of the inputs was connected withreversed polarity

Check wiring incl. cable and correct it, if necessary

At least one of the outputs has short circuit or isoverloaded

Check wiring incl. cable and remove short circuit, ifnecessary

Voltage drops because motor brake applied Supply motor brake and interface with different powersupply units, especially with long motor cables





F2048 Low battery voltageContained in 02VRS: «MPB» «MPD» «MPH»




Note: The battery was designed for a service life of 10 years in itsinstalled state.

In the case of Rexroth motors of the MKD/MKE line, the absolute positioninformation is maintained, by means of battery-buffered electronics in themotor feedback, even when the drive controller has been switched off.The battery voltage is checked in the transition command from parameterto operating mode during the initialization of the drive.

Note: As long as the drive is locked with a customer password, theerror F2048 cannot be cleared!

CAUTION

Error when controlling motors and movingparts!⇒ When the error occurs for the first time, the absolute

encoder function is only guaranteed for approx.another 2 weeks!

⇒ Replace battery immediately!

Cause Remedy

Battery voltage has fallen below 3.1 V Clear error and immediately arrange for and preparereplacement of battery(see instructions in Project Planning Manual forrespective motor). For replacement of battery observewarning notice below!

Battery voltage has fallen below 2.8 V Error cannot be cleared any longer. Battery must bereplaced immediately(see instructions in Project Planning Manual forrespective motor). For replacement of battery observewarning notice below!

DANGER

Lethal electric shock caused by live parts withmore than 50 V!⇒ The battery must be replaced with the control voltage

switched on. The replacement of the battery mayonly be carried out by a qualified electrician.



Note: If the control voltage is switched off after the battery wasremoved, the absolute position data reference gets lost. Theposition data reference then has to be reestablished.

See also Functional Description "Establishing the Position DataReference"



F2050 Overflow of target position preset memoryContained in 02VRS: «MPB» «MPD» «MPH»




In the case of drive-controlled positioning it is possible to preset a newpositioning command value x(k+1) while the drive is moving to the targetposition of the last positioning command value x(k). The new positioningcommand value is stored in an input buffer (target position presetmemory) and is not cleared until it has been accepted.

Cause Remedy

There was an attempt to preset a new positioningcommand value x(k+2) while drive was moving totarget position of positioning command value x(k)

Check command value in control unit and make surethat new positioning command value x(k+2) is onlypreset when positioning command value x(k+1) wasaccepted and drive moves to corresponding targetposition

Incorrect command value acceptance (toggling ofS-0-0346, Positioning control word) in control unitcauses positioning command value to be acceptedseveral times

Check control program and only toggle bit 0 ofS-0-0346, Positioning control word once for each newpositioning command value, because every change ofthe bit causes current positioning command value to beaccepted

Incorrect positioning mode for "approaching target"was set in S-0-0346, Positioning control word

Set positioning mode "immediately moving to newtarget" for "approaching target" in S-0-0346,Positioning control word






F2051 No sequential block in target position preset memoryContained in 02VRS: «MPB» «MPD» «MPH»




In the case of the positioning block mode "sequential block withoutintermediate stop" the drive is monitoring whether a new positioning blockis available in the target position preset memory when the target positionhas been reached.

Cause Remedy

When target position of a sequential block hasbeen reached, there is no new positioning blockin target position preset memory

Preset sequential block in time (before target positionhas been reached)

Positioning block mode by mistake set to"sequential block without intermediate stop"

Check positioning block mode and switch offsequential block processing, if necessary (S-0-0346,Positioning control word)







F2053 Incr. encoder emulator: pulse frequency too highContained in 02VRS: «MPB» «MPD» «MPH»




The number of increments or lines output within the position loop cycle(basic: TA = 500 µs, advanced: TA = 250 µs) is monitored in the drive inorder to make sure that the maximum allowed frequency of theincremental encoder signals of 1024 kHz is not exceeded; otherwise aposition offset would be produced due to "lost increments".

Note: The maximum allowed frequency of the incremental encodersignals also has to be taken into account for dimensioning thesubsequent evaluation electronics in the control unit!

Cause Remedy

Resolution set in P-0-0903, Encoder emulationresolution is too high for existing travel velocity

Reduce number of increments of incremental encoderemulator in P-0-0903, Encoder emulation resolution- or -Reduce travel velocity

See also Functional Description "Incremental Encoder Emulation"





F2054 Incr. encoder emulator: hardware faultContained in 02VRS: «MPB» «MPD» «MPH»




In the case of incremental encoder emulation, a check is run at the end ofeach output interval (= position loop clock) to find out whether allincrements to be output have been output before the next incrementoutput is started. Exceeding the run time or hardware errors can causeoverlapping that is detected during the check and signaled by the errormessage F2054.

Cause Remedy

Run time internally exceeded Switch off all functions not required (e.g. analog output).If this does not remove error, replace control section orentire drive controller and contact our servicedepartment

Hardware error Replace control section or entire drive controller andcontact our service department







F2055 External power supply X31/X32 errorContained in 02VRS: «--» «--» «--»




In the case of "High" control of one or several digital outputs of theinterfaces X31/X32 at the drive controller (assigned in P-0-0300, DigitalI/Os, assignment list), there is no "High" signal (+DC24 V) output.

Cause Remedy

24 V supply of interface X31/X32 has not beenconnected

Connect 24 V supply

Short-circuited output or outputs Remove short circuit/short circuits

See also Functional Description "Digital Inputs/Outputs"





F2057 Target position out of travel rangeContained in 02VRS: «--» «--» «--»




In operating modes with internal position command value generation acheck is run, before a movement is carried out, in order to find outwhether the preset target position (S-0-0258, Target position, S-0-0282,Positioning command value or P-0-4006, Positioning block targetposition[i]) is within the allowed travel range of the drive. The error F2057was generated because the preset target position is outside of theallowed travel range.

The allowed travel range of the drive is defined by

• S-0-0049, Positive position limit value

• S-0-0050, Negative position limit value

The position limit value monitor and thus the monitoring of the allowedtravel range is activated/deactivated in S-0-0055, Position polarities.

The reaction to a travel range error can be set in P-0-0090, Travel rangelimit parameter.

Cause Remedy

Position limit values (S-0-0049, Positive positionlimit value, S-0-0050, Negative position limitvalue) incorrectly parameterized

Check parameterization of position limit values andadjust it according to desired travel range (S-0-0049,Positive position limit value has to be greater thanS-0-0050, Negative position limit value)

Position limit value monitor has been activatedalthough it is not needed

Deactivate position limit value monitor if it is not needed(e.g. in modulo operation)

In the case of relative interpolation, value for travelrange was set too high or several travel ranges thatare added cause effective target position (cf.P-0-0050, Effective target position) to be outside ofposition limits

Check travel range (cf. S-0-0258, Target position) and,if necessary, adjust it in control unit program

In the case of absolute interpolation, preset targetposition is incorrect

Check preset target position (cf. S-0-0258, Targetposition or S-0-0282, Positioning command value)and, if necessary, adjust it in control unit program(only enter S-0-0258, Target position within positionlimit values)

In "positioning block mode" one or more targetpositions have been incorrectly parameterized orincorrect positioning block is selected

Check parameterized target positions in P-0-4006,Positioning block target position and block selection(P-0-4026, Positioning block selection). In addition,check block selection via respective mastercommunication (e.g. field bus or digital I/Os).

See also "Position Limitation/Travel Range Limit Switch"

For "relative interpolation" see Functional Description "Drive-ControlledPositioning"

For "absolute interpolation" see Functional Description "Drive-InternalInterpolation"





F2058 Internal overflow by positioning inputContained in 02VRS: «MPB» «MPD» «MPH»




In operating modes that are using the internal path generator(interpolation, positioning, positioning block mode and spindlepositioning), the residual path to be traveled and the braking distance aremonitored to find out whether the numeric range is exceeded.

Cause Remedy

Due to command value input a residual path wasgenerated that is greater than 2^31.

Note: As the internal position resolution isdetermined by the travel range (from -travel range to+travel range the resulting max. distance is less than2^31), this can only occur with axes with moduloscaling. In this case only if relative distances arestringed together several times without the axisbeing able to follow.

Check command value input, positioning velocity orpotentiometer value

Calculated braking distance is greater than 2^31 Increase S-0-0278, Maximum travel range

– or -

Increase deceleration in S-0-0359, Positioningdeceleration, S-0-0372, Drive Halt accelerationbipolar or P-0-4063, Positioning block deceleration





F2059 Incorrect command value direction when positioningContained in 02VRS: «--» «--» «--»




In the operating modes "drive-controlled positioning" and "positioningblock mode" it is possible to jog the axis in both directions and presetrelative distances in both directions.

If S-0-0076, Position data scaling type was set in such a way that theposition data of the axis are to be processed in modulo format andpositive or negative rotational direction was selected in S-0-0393,Command value mode, a command value in the wrong direction causeserror F2059 to be generated.

Cause Remedy

In operating mode "drive-controlled positioning",target position points to wrong direction

Check relative positioning input (S-0-0282, Positioningcommand value)

Rotational direction of "modulo axis" incorrectlyparameterized for drive-controlled positioningprocedures

Check command value mode that was set (S-0-0393,Command value mode)

In operating mode "positioning block mode", targetposition points to wrong direction

Check relative positioning input (P-0-4006, Positioningblock target position)

You are trying to jog in wrong direction Jogging only in allowed rotational direction (S-0-0346,Positioning control word)

See also Functional Descriptions

• "Drive-Controlled Positioning"

• "Positioning Block Mode"





F2063 Internal overflow master axis generatorContained in 02VRS: «--» «--» «--»




The residual path to be traveled and the braking distance are monitoredto find out whether the numeric range is exceeded.

Cause Remedy

Braking distance of axis is greater than positionvalue range that can be displayed.Deceleration value that was set (P-0-0771, Virtualmaster axis, positioning acceleration) is too low

Increase P-0-0771, Virtual master axis, positioningacceleration

Braking distance of axis is greater than positionvalue range that can be displayed.Velocity value that was set (P-0-0770, Virtualmaster axis, positioning velocity) is too high

Reduce P-0-0770, Virtual master axis, positioningvelocity



F2064 Incorrect cmd value direction master axis generatorContained in 02VRS: «--» «--» «--»




With the internal master axis generator it is possible to jog the virtualmaster axis in both directions and preset relative distances in bothdirections.

Cause Remedy

Due to setting in P-0-0756, Virtual master axis,scaling type, position data of virtual master axis areto be processed in modulo format and positive ornegative rotational direction was selected inP-0-0769, Virtual master axis, command valuemode.Input command value leads to wrong direction

Input command value direction according to parametersetting in P-0-0769, Virtual master axis, commandvalue mode





F2067 Synchronization to master communication incorrectContained in 02VRS: «MPB» «MPD» «MPH»




The drive control is synchronized to the bus interface (SERCOS, Profibus,Interbus, ...) via two phase control loops (Phase Locked Loop - PLL). Thecorrect function of the synchronization is monitored by monitoring therespective control deviation of the two PLLs for an allowed threshold.When the threshold is exceeded this error message is generated.

Cause Remedy

Interference injection due to incorrect connectionof master communication cause synchronizationproblems

Check connection of master communication (incl.shield connection) and correct it, if necessary

Synchronization clock of master oscillates verymuch due to software or hardware error in master(e.g. jitter of MST with SERCOS)

Check field bus master and make sure synchronizationclock is good and constant

Master communication hardware of drive controlleris defective (e.g. optional SERCOS card)








F2069 Error when releasing the motor holding brakeContained in 02VRS: «MPB» «MPD» «MPH»




During the automatic check of the holding brake (P-0-0525, Holdingbrake control word), after drive enable or after the start of the P-0-0541,C2100 Brake check command the motor did not move, although half theholding torque was produced.

Note: The result of the brake check is displayed in P-0-0539,Holding brake status word.

Cause Remedy

Motor brake (servo brake) was not or incorrectlyconnected

Connect brake or correct connection

Axis is mechanically blocked Check mechanical system and remove blocking

Brake is defective Check and, if necessary, replace brake

Brake supply error Check voltage

Friction torque of axis is greater than test torque ofdrive

Deactivate brake check (P-0-0525, Holding brakecontrol word) because it cannot be used due tomechanical properties





F2074 Actual pos. value 1 outside absolute encoder windowContained in 02VRS: «MPB» «MPD» «MPH»




When turning off a drive with an encoder that can be evaluated inabsolute form, the current actual position will be stored in the drive. Whenswitching the drive on again the current position is compared with theposition stored when the drive was switched off the last time. If thedeviation is greater than the value in P-0-0095, Absolute encodermonitoring window for motor encoder the F2074 error message isgenerated.

Note: The monitoring function can be switched off by P-0-0095,Absolute encoder monitoring window for motorencoder = "0".

Cause Remedy

While turned off, axis was moved further thandistance contained in P-0-0095, Absolute encodermonitoring window for motor encoder

Make sure displayed position is correct in relation tomachine zero point Then clear error and, if necessary,reestablish position data reference

Value entered in P-0-0095, Absolute encodermonitoring window for motor encoder is too lowfor existing encoder resolution so that normalencoder jitter will already cause monitor to betriggered

Check parameterization of P-0-0095, Absolute encodermonitoring window for motor encoder and increasemonitoring window

Switching on without reference(in the case of initial commissioning or caused, forexample, by changing parameters that characterizemechanical system or influence position evaluation)

Clear error and establish position data reference

Switching on without reference(after replacing motor or motor encoder)


Amplifier replaced without parameter update Clear error and establish position data reference

Parameters of mechanical system changed (gear,feed constant, ...)


Motor encoder defective Replace motor or motor encoder

WARNING

Danger of accident by unintended axis motion!⇒ Check position data reference. The encoder is

defective if the position data reference is incorrect!Replace the motor and send it to the manufacturer'sservice department for inspection.









When turning off a drive with an external encoder that can be evaluated inabsolute form, the current actual position will be stored in the drive. Whenswitching the drive on again the current position is compared with theposition stored when the drive was switched off the last time. If thedeviation is greater than the value in P-0-0096, Absolute encodermonitoring window for opt. encoder the F2075 error message isgenerated.

Note: The monitoring function can be swithced off by P-0-0096,Absolute encoder monitoring window for opt. encoder.

Cause Remedy

While turned off, axis was moved further thandistance contained in P-0-0096, Absolute encodermonitoring window for opt. encoder


Value entered in P-0-0096, Absolute encodermonitoring window for opt. encoder is too low forexisting encoder resolution so that normal encoderjitter will already cause monitor to be triggered

Check parameterization of P-0-0096, Absolute encodermonitoring window for opt. encoder and increasemonitoring window



Encoder defective or encoder replacement Replace encoder, clear error and establish position datareference




WARNING


defective if the position data reference is incorrect!Replace the encoder and send it to themanufacturer's service department for inspection.









When turning off a drive with a measuring encoder that can be evaluatedin absolute form, the current actual position will be stored in the drive.When switching the drive on again the current position is compared withthe position stored when the drive was switched off the last time. If thedeviation is greater than the value in P-0-0097, Absolute encodermonitoring window for measuring encoder the F2076 error messageis generated.

Note: The monitoring function can be switched off by P-0-0097,Absolute encoder monitoring window for measuringencoder = "0".

Cause Remedy

While turned off, axis was moved further thandistance contained in P-0-0097, Absolute encodermonitoring window for measuring encoder


Value entered in P-0-0097, Absolute encodermonitoring window for measuring encoderis too low for existing encoder resolution so thatnormal encoder jitter will already cause monitor tobe triggered

Check parameterization of P-0-0097, Absolute encodermonitoring window for measuring encoder andincrease monitoring window



Encoder defective or encoder replacement Replace encoder, clear error and establish positiondata reference




WARNING


defective if the position data reference is incorrect!Replace the encoder and send it to themanufacturer's service department for inspection.





F2077 Current measurement trim wrongContained in 02VRS: «MPB» «MPD» «MPH»




The current measurement in the drive controller is adjusted in operation.The adjust values are checked for compliance with the allowed tolerance.If the values are higher the error message F2077 is generated.

Cause Remedy

Hardware of control section or power sectiondefective

Replace power section or control section resp. entiredrive controller

Note: Only Rexroth service engineers or especially trained users areallowed to replace the control section or the power section.The replacement of the entire drive controller is described inthe Project Planning Manual for the power section.





F2086 Error supply moduleContained in 02VRS: «MPB» «MPD» «MPH»




This error is signaled by the supply to the drives via the module bus. Ithas high priority and...

• causes error reaction in the drives in operation. The error message isdisplayed at these drives.

• causes power of the supply unit to be switched off or the Bb contact ofconverters to open (requires assignment of respective bit P-0-0861,Status word of power section to digital output!) and possibly causesDC bus short circuit (requires corresponding wiring!).

This error can also have been caused by a fatal drive error that wassignaled to the supply via the module bus. The respective settings mustbe made in P-0-0118, Power supply, configuration.

Cause Remedy

Failure in power supply or overload of power supply Check power supply

Fatal error message of one or several drives of adrive system and message signaled to supply(configuration P-0-0118)

Identify drive or drives signaling a fatal error. Removecause of error at respective drive or drives






F2087 Module group communication errorContained in 02VRS: «MPB» «MPD» «MPH»




Cause Remedy

Failure of control voltage supply of a module busnode while the "drive system" is ready for poweroutput or in operation

Supply all devices of "drive system" with control voltage

Disturbance on module bus Identify and remove sources of disturbance

Incorrect signal timing on module bus Identify and replace faulty device

Module bus cable defective Identify and replace defective module bus cable, replacedevice, if necessary






F2100 Incorrect access to command value memoryContained in 02VRS: «MPB» «MPD» «MPH»




An error occurred when accessing the flash/internal memory.

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department forfirmware update

Should error occur repeatedly, Hardware in controlsection is defective







F2101 It was impossible to address MMCContained in 02VRS: «MPB» «MPD» «MPH»




When accessing the Multi Media Card (MMC) an error occurred.

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department in orderto get a firmware update

MMC has not been plugged in correctly or isdefective

Clear error and check MMC or plug it in correctly. If erroroccurs again when MMC is accessed, MMC has to bereplaced

MMC slot in control section is defective Clear error and check MMC slot. If error occurs againwhen MMC is accessed, control section or entire drivecontroller has to be replaced

See also Functional Description "MultiMediaCard (MMC)"





F2102 It was impossible to address I2C memoryContained in 02VRS: «MPB» «MPD» «MPH»




When addressing a memory via the I2C bus an error occurred.

Cause Remedy


Encoder cable defective or bad shielding Clear error. Replace defective encoder cable or improveshielding

Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor

Hardware defect on control section Replace control section or entire drive controller


See also Functional Description "Measuring Systems"





F2103 It was impossible to address EnDat memoryContained in 02VRS: «MPB» «MPD» «MPH»




When addressing a memory via the EnDat bus an error occurred.

Cause Remedy











F2104 Commutation offset invalidContained in 02VRS: «MPB» «MPD» «MPH»




The commutation offset value stored in the motor encoder memory wasdetected to be invalid.

Note: The motor mustn't be operated without valid commutationoffset!

Cause Remedy

Failure occurs sporadically (firmware error) Clear error. Then execute command P-0-0524, C1200Commutation offset setting command; if error occursagain contact our service department in order to get afirmware update

Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor. Then executecommand P-0-0524, C1200 Commutation offsetsetting command.






F2105 It was impossible to address Hiperface memoryContained in 02VRS: «--» «--» «--»




When addressing a memory via the HIPERFACE bus an error occurred.

Cause Remedy





Note: Only Rexroth service engineers or especially trained users areallowed to replace the control section. The replacement of theentire drive controller is described in the Project PlanningManual of the power section, the saving and loading of theparameters is explained in the Functional Description of thefirmware.






F2110 Error in non-cyclical data communic. of power sectionContained in 02VRS: «MPB» «MPD» «MPH»




An error occurred in the communication between control section andpower section.

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department forfirmware update

Hardware defective Should error occur repeatedly, control section or entiredevice has to be replaced






F2130 Error comfort control panelContained in 02VRS: «--» «--» «--»




An error occurred in the communication with the comfort control panel(VCP01):

• "reset" couldn't be carried out

• error during download of application or firmware

• communication to control panel disturbed

Cause Remedy

Communication disturbed Remove EMC problems; check shielding of controller

Firmware / application problem Replace firmware and / or application on control panel;replace drive firmware

Control panel defective Replace control panel

Control section defective Should error occur repeatedly, control section or entiredrive has to be replaced






F2140 CCD slave errorContained in 02VRS: «--» «--» «--»




An error occurred in a CCD slave.

Cause Remedy

An F2 or F3 error occurred in a CCD slave and "errorreaction active" has been set in P-0-1600, CCD:configuration


An F8 error occurred in a CCD slave and "bestpossible deceleration" has been set in P-0-1600,CCD: configuration as reaction to an F8 error







F2174 Loss of motor encoder referenceContained in 02VRS: «MPB» «MPD» «MPH»




In the case of absolute encoder evaluation, the validity of the initializedabsolute position is checked during position initialization. If the controllerdetects that the position data reference of the encoder cannot beestablished any more due to changes of the mechanical systemparameters or due to replacement of encoder or device, the actualposition value status (S-0-0403, Position feedback value status) goesto "relative" and the error F2174 is generated.

Cause Remedy


Clear error and reestablish position data reference

Switching on without reference(after replacing motor or motor encoder)


Motor encoder defective Replace motor or motor encoder, clear error andestablish position data reference




Switching on without reference after replacement ofdevice with loaded axis-specific parameter values(according to list from S-0-0192, IDN-list of backupoperation data)

Clear error and establish position data reference- or -Clear error, then load parameter values of P-0-0195,IDN list of retain data (replacement of devices), if itwas possible to save them immediately before devicewas replaced. Check reestablished position datareference for correctness





F2175 Loss of optional encoder referenceContained in 02VRS: «MPB» «MPD» «MPH»




In the case of absolute encoder evaluation, the validity of the initializedabsolute position is checked during position initialization. If the controllerdetects that the position data reference of the encoder cannot beestablished any more due to changes of the mechanical systemparameters or due to replacement of encoder or device, the actualposition value status (S-0-0403, Position feedback value status) goesto "relative" and the error F2175 is generated.

Cause Remedy


Clear error and reestablish position data reference

Switching on without reference(after replacement of encoder)


Optional encoder defective Replace encoder, clear error and establish positiondata reference




Switching on without reference after replacement ofdevice with loaded axis-specific parameter values(according to list from S-0-0192, IDN-list of backupoperation data)

Clear error and establish position data reference- or -Clear error, then load parameter values of P-0-0195,IDN list of retain data (replacement of devices), if itwas possible to save them immediately before devicewas replaced. Check reestablished position datareference for correctness





F2176 Loss of measuring encoder referenceContained in 02VRS: «MPB» «MPD» «MPH»




When the controller is switched on, it determines, in the case of absoluteencoder evaluation, the initial position of the measuring system (positioninitialization) and checks its validity. If the controller detects that theposition data reference of the encoder cannot be established any moredue to changes of the mechanical system parameters or due toreplacement of encoder or device, the actual position value status(S-0-0403, Position feedback value status) goes to "relative" and thisdiagnostic message is generated.

Cause Remedy



Encoder defective Replace measuring encoder, clear error and establishposition data reference

Switching on without reference(after replacement of measuring encoder)


Controller replaced without parameter update Clear error and establish position data reference





F2177 Modulo limitation error of motor encoderContained in 02VRS: «MPB» «MPD» «MPH»




With active modulo scaling the drive limits its actual position values to thevalues parameterized in S-0-0103, Modulo value, otherwise to the valueparameterized in S-0-0278, Maximum travel range. As these valuespossibly cannot be exactly displayed, the corresponding recalculation ofthe systematic errors in the case of position overflow takes place in thedrive.

Note: In the ideal case S-0-0278, Maximum travel range is set insuch a way that the drive always is within the defined travelrange and there is no overflow.

Cause Remedy

S-0-0103, Modulo value or S-0-0278, Maximumtravel range have been incorrectly parameterizedand not adjusted to the application

Check and, if necessary, correct S-0-0103, Modulovalue or S-0-0278, Maximum travel range

Drive was moved as rapidly that recalculation nolonger works correctly

Reduce drive velocity at position overflow





F2178 Modulo limitation error of optional encoderContained in 02VRS: «MPB» «MPD» «MPH»




According to scaling, the drive limits the actual position values to themaximum travel range or to the modulo value. As these values possiblycannot be exactly displayed the corresponding recalculation of the errorstakes place in the drive.

Cause Remedy

Encoder speed was so high that recalculation nolonger works correctly

Reduce encoder speed- or –change S-0-0103, Modulo value





F2179 Modulo limitation error of measuring encoderContained in 02VRS: «MPB» «MPD» «MPH»




With active modulo scaling the drive limits its actual position values to thevalues parameterized in S-0-0103, Modulo value, otherwise to the valueparameterized in S-0-0278, Maximum travel range. As these valuespossibly cannot be exactly displayed, the corresponding recalculation ofthe systematic errors in the case of position overflow takes place in thedrive.

Note: In the ideal case S-0-0278, Maximum travel range is set insuch a way that the drive always is within the defined travelrange and there is no overflow.

Cause Remedy

S-0-0103, Modulo value or S-0-0278, Maximumtravel range have been incorrectly parameterizedand not adjusted to the application

Check and, if necessary, correct S-0-0103, Modulovalue or S-0-0278, Maximum travel range

Drive was moved as rapidly that recalculation nolonger works correctly

Reduce drive velocity at position overflow





F2270 Analog input 1 or 2, wire breakContained in 02VRS: «MPB» «--» «--»




Conditions under which this error is triggered:

• The wire break monitor was activated in P-0-0218, Analog input,control parameter (by the setting for the measuring range of theanalog inputs) and

• a setting in P-0-0218, Analog input, control parameter causes anerror to be generated when the input value has fallen below the inputvalue at analog input 1 or 2 and

• the current/voltage value at analog input 1 or 2 is lower than theminimum value of the measuring range.

Note: The value range of the voltage or current source that isconnected to the analog input should be limited to the allowedvalue range of the analog input.

Cause Remedy

Input value at analog input 1 or 2 is lower thanminimum value of voltage measuring range (setting"voltage signals" in P-0-0218, Analog input, controlparameter)

Check wiring of analog input, reestablish contact tovoltage source, if necessary- or –Check value range of voltage source

Input value at analog input 1 or 2 is lower thanminimum value of current measuring range (setting"current signals" in P-0-0218, Analog input, controlparameter)

Check wiring of analog input, reestablish contact tocurrent source, if necessary- or –Check value range of current source

Note: This error message can only be displayed at a controllercontaining a CSB01.1N-FC-... (BASIC OPENLOOP) controlsection.





F2802 PLL is not synchronizedContained in 02VRS: «--» «--» «--»




Synchronization to the mains voltage is impossible.

Cause Remedy

At least one phase is missing Check and, if necessary, replace mains circuit breakers

Mains voltage is too low Measure mains voltage and compare it to allowed valuerange

Mains frequency is outside of specified range Measure mains frequency and compare it to allowedvalue range



F2814 Undervoltage in mainsContained in 02VRS: «--» «--» «--»




The crest value of the mains voltage has fallen below the allowedminimum value (connection voltage range see documentation forHMV01.1).

Cause Remedy

Mains voltage below minimum value Use matching transformer






F2815 Overvoltage in mainsContained in 02VRS: «--» «--» «--»




Cause Remedy

Mains voltage is greater than maximum specifiedvalue (500 V+10%)

Check mains voltage. If necessary, use matchingtransformer





F2816 Softstart fault power supply unitContained in 02VRS: «MPB» «MPD» «MPH»




During the soft start process (loading of DC bus capacitance) the DC busvoltage curve is monitored. Great deviations suggest a defect in thepower section and are diagnosed with the error F2816.

Cause Remedy

Short circuit in DC bus Check DC bus wiring, remove if there is a short circuit

Load on DC bus Check DC bus wiring; if an external braking resistorhas been incorrectly connected, connect it correctly

Insulation error in DC bus Check DC bus wiring; if wiring is alright, there can bean insulation error within device or other devicesconnected to DC bus. To find defective device takeconnected devices out of drive system step by step(remove wiring)

Final value of DC bus voltage is not reached withina maximum time

Check whether there is defect at load externallyconnected to DC bus

Inadmissible voltage fluctuations in supply mains.Mains voltage has inadmissibly dropped during softstart process

Check mains voltage

Device is defective Replace device





F2817 Overvoltage in power sectionContained in 02VRS: «--» «--» «--»




If the warning E8025 Overvoltage in power section persists for morethan 2 seconds, the error F2817 is generated and power is switched off.

Cause Remedy

See E8025 Overvoltage in power section See E8025 Overvoltage in power section



F2818 Phase failureContained in 02VRS: «--» «--» «--»




A single-phase mains failure of more than 2 seconds was detected. Thedevice was switched off.

Cause Remedy

Mains circuit breaker defective Replace mains circuit breaker

Incorrect wiring Check and correct wiring





F2819 Mains failureContained in 02VRS: «MPB» «MPD» «MPH»




The mains has failed. The DC bus voltage has fallen below a thresholdvalue so that a new soft start process is required.

Cause Remedy

Mains failure (permanent or temporary) Search and remove cause of mains failure






F2820 Braking resistor overloadContained in 02VRS: «MPB» «MPD» «MPH»




Power was switched off due to overload of the braking resistor.

Note: After having eliminated the cause of the error check thebraking resistor for operatability!

Cause Remedy

Allowed deceleration of connected drives too high Reduce deceleration of connected drives

Energy absorption capacity of braking resistor isexhausted

Switch power supply off with a delay in the case of driveOFF or E-STOP (for regenerative supplies) or reducevelocity

Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum velocity

Continuous regenerative power and/or rotary driveenergy is too high

Reduce maximum velocity or check dimensioning ofbraking resistor and, if necessary, increasedimensioning







F2821 Error in control of braking resistorContained in 02VRS: «MPB» «MPD» «MPH»




Note: The error can occur for devices of both the HCS and the HMVtype. There are different causes and remedies for both devicetypes!

Devices of the HCS type:

An error has occurred in the control of the external braking resistor.

Cause Remedy

Control of braking resistor has detectedinadmissibly high current

Check braking resistor for correct resistance value. Ifnecessary, use braking resistor with higher resistancevalue

Terminal connectors for external braking resistorhave been short-circuited

Remove short circuit, connect braking resistor correctly,if necessary

Devices of the HMV type:

An error has occurred in the control of the internal braking resistor.

Cause Remedy






F2825 Switch-on threshold braking resistor too lowContained in 02VRS: «MPB» «MPD» «MPH»




For devices of the HCS type this error message is generated when theparameterized braking resistor reference switch-on voltage is too low. Thebraking resistor would already be active with correct DC bus voltage.

Cause Remedy

This error message is generated for devices of typeHCS when the value of the braking resistorreference switch-on voltage (list element 4 ofP-0-0858, Data of external braking resistor)activated viaP-0-0860, Control word of power section is toolow

Increase value of 4th list element in P-0-0858, Data ofexternal braking resistor- or -Select different reference value for ON-OFF switchingvoltage of braking resistor in P-0-0860, Control word ofpower section



F2833 Ground fault in motor lineContained in 02VRS: «--» «--» «--»




During the loading process of the DC bus a ground fault was detected inthe motor line of one of the connected converters/inverters.

Cause Remedy

Ground fault in a motor line within drive system- or –Ground fault in a controller of drive system

Take controllers of drive system successively out ofdevice group on control voltage and power voltage side,until error no longer occurs. By doing this identify faultydrive.Check insulation of motor cable with measuring device.If motor cable is not defective, there is a device orconnection error





F2834 Contactor control errorContained in 02VRS: «--» «--» «--»




The mains contactor couldn't be switched on or dropped out duringoperation.

Cause Remedy

Due to wiring or control error, contact "DC bus shortcircuit" (X32.8) or contact "mains OFF"(X32.6/X32.7) was opened while contact "mains ON"(X32.4/X32.5) still had been closed

Check control. "mains ON" has to be openedsimultaneously with or before "DC bus short circuit" and"mains OFF"

Mains contactor could not be switched Replace device

Contactor monitor has detected an error Replace device



F2835 Mains contactor wiring errorContained in 02VRS: «--» «--» «--»




For supply units of the HMV01 line which do not have an internal mainscontactor you have to connect an external mains contactor with externalswitching voltage.

Cause Remedy

No external mains contactor connected Connect mains contactor

No external switching voltage for mains contactorconnected

Check mains contactor wiring

External mains contactor defective Replace mains contactor

See also documentation "Rexroth IndraDrive Supply Units"





F2836 DC bus balancing monitor errorContained in 02VRS: «MPB» «MPD» «MPH»




Unbalance was detected for supply unit HMV01.1 / converter HCS03during the loading of the DC bus capacitances.

Cause Remedy

F2836 is signaled during loading of DC bus ("softstart")

Replace device



F2840 Error supply shutdownContained in 02VRS: «--» «--» «--»




Cause Remedy

A second supply unit or converter connected inparallel signals a supply error

Remove cause of error at respective supply unit /converter and clear error





F2860 Overcurrent in mains-side power sectionContained in 02VRS: «--» «--» «--»




The current in the power transistor bridge has exceeded the maximumallowed device peak current. The drive is immediately de-energized, themotor coasts to stop.

The current in the mains-side power bridge has exceeded the maximumallowed value. The power supply is switched off.

Cause Remedy

Short circuit in motor or motor cable Check motor cable and motor for short circuit

Device defective Replace device

Current loop parameterized differently (not forHMV01.1R)

Check current loop parameters to see whether theydiffer from the parameters on the motor data sheet;correct them if necessary



F2890 Invalid device codeContained in 02VRS: «--» «--» «--»




Cause Remedy




For HCS, HMS, HMD

For HMV01.1R



F2891 Incorrect interrupt timingContained in 02VRS: «--» «--» «--»




Cause Remedy




F2892 Hardware variant not supportedContained in 02VRS: «--» «--» «--»




Cause Remedy




Rexroth IndraDrive Warning Diagnostic Messages (Exxxx) 8-1


8 Warning Diagnostic Messages (Exxxx)

8.1 Fatal Warning Diagnostic Messages (E8xxx)

Behavior in the Case of Fatal WarningIn the case of warnings of category E8xxx, the drive carries out a drivereaction. In the case of warnings that were generated due to a mains orundervoltage error, the behavior of the drive can be determined via theparameter P-0-0118, Power off on error.

E8025 Overvoltage in power sectionContained in 02VRS: «MPB» «MPD» «MPH»




The DC bus voltage is monitored. When the allowed maximum value isexceeded, the fatal warning E8025 is generated.

Note: The controller switches the motor to torque-free state in thecase of overvoltage. If the DC bus voltage falls below theallowed maximum value again, the motor is switched on again.

Note: Only for HMV: If the warning E8025 persists for more than2 seconds, the error F2817 Overvoltage in power section isgenerated.

Cause Remedy

Energy regenerated to DC bus by mechanicalmachine system during braking process was sohigh that supply unit couldn't dissipate it duringregeneration time. This caused DC bus voltage torise to inadmissible value

Reduce regenerative power by lower accelerationvalues– or –Correct drive dimensioning– or –Dimension supply unit sufficiently with regard to brakingenergy requirements; if dimensioning of availablebraking resistor is insufficient, use additional brakingresistor, if necessary

Mains supply voltage (alternating input voltage) toohigh

Check mains supply voltage (alternatingvoltage/3-phase)

No braking resistor connected or connection or cabledefective

Connect braking resistor or check connection

E8025 - AttributesDisplay: E8025


8-2 Warning Diagnostic Messages (Exxxx) Rexroth IndraDrive


E8026 Undervoltage in power sectionContained in 02VRS: «--» «--» «--»





If the DC bus voltage falls below the minimum value determined for thedrive (see value of P-0-0114, Undervoltage threshold) or it reacts to"DC bus not ok" of the module bus, the device generates the warningE8026 if "fatal warning" has been set in P-0-0118, Power supply,configuration with regard to the reaction to undervoltage.

If the DC bus voltage falls by 80 V below the command value of 750 Vdirect voltage (DC670 V), the warning E8026 is displayed at the deviceand "DC bus not ok" is signaled via the module bus. The circuit is notinterrupted yet!

Note: In the case of fatal warning E8026, the motive torque islocked. The control unit still can actively decelerate the drive,but no longer accelerate it.

Cause Remedy



Malfunction or overload of power supply Check power supply









E8028 Overcurrent in power sectionContained in 02VRS: «MPB» «MPD» «MPH»




The controller monitors the motor current (= controller output current)supplied by the power section.

• If the controller output current is higher than the 1.2-fold of S-0-0110,Amplifier peak current

- or -

• if the controller output current is higher than the product of P-0-4013,Current limit value of demagnetization and S-0-0109, Motor peakcurrent,

the output stage of the power section is locked until the controller outputcurrent has fallen to allowed values again; during this time the warningE8028 is output.

Cause Remedy

Current loop incorrectly parameterized Check current loop setting (S-0-0106, Current loopproportional gain 1, S-0-0107, Current loop integralaction time 1) and, if necessary, correct it after havingcontacted our service department

In the case of Bosch Rexroth motors with encoderdata memory (MHD, MKD, MKE), values for currentloop parameterization do not correspond to valuesin encoder data memory

Check whether values in S-0-0106, Current loopproportional gain 1 and S-0-0107, Current loopintegral action time 1 correspond to values in encoderdata memory (P-0-2106, Current loop proportionalgain 1, encoder memory and P-0-2107, Current loopintegral-action time 1, encoder memory)

Attention: Calculation of S-0-0106, Current loopproportional gain 1 depends on P-0-0001, Switchingfrequency of the power output stage and P-0-0556,Control word of axis controller!

In the case of Rexroth motors without encoder datamemory, values for current loop parameterizationdo not correspond to manufacturer-sidespecifications

Check whether values in S-0-0106, Current loopproportional gain 1 and S-0-0107, Current loopintegral action time 1 correspond to manufacturer-sidespecifications (see DriveTop)

In the case of third-party motors, output data forcalculating parameter values are not correct

Check whether output data for calculating parametervalues are correct





E8029 Positive position limit exceededContained in 02VRS: «MPB» «MPD» «MPH»





Note: The travel range monitor has to be activated andparameterized via S-0-0049, Positive position limit value,S-0-0050, Negative position limit value and S-0-0055,Position polarities.The drive reaction (fatal warning or error) in case the travelrange is exceeded has to be parameterized in P-0-0090,Travel range limit parameter.

Cause Remedy

A command value was set for the drive that causesan axis position outside the positive travelrange/position limit value

Set command value that leads back to the allowed travelrange.Contact machine manufacturer in order to find out causeof incorrect command value

Positive travel range/position limit value incorrectlyparameterized

Check and, if necessary, correct parameterization ofS-0-0049, Positive position limit value







E8030 Negative position limit exceededContained in 02VRS: «MPB» «MPD» «MPH»





Note: The travel range monitor has to be activated andparameterized via S-0-0049, Positive position limit value,S-0-0050, Negative position limit value and S-0-0055,Position polarities.The drive reaction (fatal warning or error) in case the travelrange is exceeded has to be parameterized in P-0-0090,Travel range limit parameter.

Cause Remedy

A command value was set for the drive that causesan axis position outside the negative travelrange/position limit value

Set command value that leads back to the allowed travelrange.Contact machine manufacturer in order to find out causeof incorrect command value

Positive travel range/position limit value incorrectlyparameterized

Check and, if necessary, correct parameterization ofS-0-0050, Negative position limit value







E8034 Emergency-StopContained in 02VRS: «MPB» «MPD» «MPH»




The drive provides a function for monitoring an E-Stop input (connectionof an external hardware switch). This monitor has to be activated andparameterized via P-0-0008, Activation E-Stop function.

Note: When the warning E8034 occurs, the axis is shut down as fastas can with velocity command value reset.There isn't any message transmitted to the control unit.

Cause Remedy

E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered andclarify cause of triggering








See also Functional Description "E-Stop Function"


See also Functional Description "Velocity Command Value Reset"





E8035 Quick stop with probe detection is activeContained in 02VRS: «--» «--» «--»




Cause Remedy

Quick stop in the case of positive edge at probe 1has been activated. Positive edge was detected atprobe 1; drive is shut down with velocity commandvalue reset

Quick stop is deactivated by locking probe enable(S-0-0405, Probe 1 enable = "0") or by deactivatingprobe function (S-0-0170, Probing cycle procedurecommand = "0" or P-0-0226, Probe, extended controlword, bit 9 equal "0")



E8040 Torque/force actual value limit activeContained in 02VRS: «MPB» «MPD» «MPH»




The warning E8040 is generated when the "stall protection loop" takeseffect and changes the working point of the machine for its relief.

Cause Remedy

Load torque is too high Reduce load torque

Torque limit values incorrectly parameterized Check parameters S-0-0082, Torque/force limit valuepositive; S-0-0083, Torque/force limit value negative;S-0-0092, Bipolar torque/force limit value andP-0-0109, Torque/force peak limit and increase limits,if necessary

See also Functional Description "Voltage-Controlled Operation"





E8041 Current limit activeContained in 02VRS: «MPB» «MPD» «MPH»




The warning E8041 is generated when the current limitation loop takeseffect and reduces the output voltage due to overvoltage.

Cause Remedy

S-0-0109, Motor peak current incorrectlyparameterized

Check content of S-0-0109, Motor peak current andincrease it, if necessary

Short circuit at output of power output stage (e.g. inmotor cable or in motor)

Check motor connection and motor for short circuit andreplace cable or motor, if necessary

Power output stage in drive controller defective Replace drive controller

Note: The replacement of the drive controller is described in theProject Planning Manual for the power section.

See also Functional Description "Voltage-Controlled Operation"





E8042 Both travel range limit switches activatedContained in 02VRS: «MPB» «MPD» «MPH»




The compliance with the allowed travel range of linear axes is monitoredon the hardware side via two travel range limit switches. When the travelrange has been exceeded, one of the two limit switches is activated, if thelimit switches were correctly mounted.

The warning E8042 is generated, if

• the controller detects that both travel range limit switches have beensimultaneously activated and

• exceeding the travel range is handled as a fatal warning (setting inP-0-0090, Travel range limit parameter).

Note: Unless the cause of E8042 has not been removed thecontroller does not accept any command value!

Cause Remedy

Due to incorrect mounting, axis activates both travelrange limit switches simultaneously

Mount travel range limit switches in such a way that theyare activated shortly before axis end position is reached.Make sure the braking distance is sufficient

Travel range limit switches were incorrectlyconnected

Connect travel range limit switches correctly; checkcompliance with switching logic set in P-0-0090, Travelrange limit parameter

Switching logic of travel range limit switches doesnot correspond to realized wiring

Check switching logic with regard to realized wiring,adjust it in P-0-0090, Travel range limit parameter, ifnecessary





E8043 Positive travel range limit switch activatedContained in 02VRS: «MPB» «MPD» «MPH»




The drive provides a function for monitoring travel range limit switches(external hardware limit switches). This monitor has to be activated andparameterized via P-0-0090, Travel range limit parameter.

Note: When the warning E8043 occurs, the axis is shut down withvelocity command value reset.

Cause Remedy

Travel range limit switch situated in positivedirection (see Project Planning Manual for motor)was activated because axis is outside of travelrange that was defined by means of travel rangelimit switches

Set drive enable and input a command value leadingback to allowed travel range


Correct configuration of digital inputs/outputs oncontrol section and correct it, if necessary






See also Functional Description "Travel Range Limits"






E8044 Negative travel range limit switch activatedContained in 02VRS: «MPB» «MPD» «MPH»




The drive provides a function for monitoring travel range limit switches(external hardware limit switches). This monitor has to be activated andparameterized via P-0-0090, Travel range limit parameter.

Note: When the warning E8044 occurs, the axis is shut down withvelocity command value reset.

Cause Remedy

Travel range limit switch situated in negativedirection (see Project Planning Manual for motor)was activated because axis is outside of travel rangethat was defined by means of travel range limitswitches

Set drive enable and input a command value leadingback to allowed travel range








See also Functional Description "Travel Range Limits"






E8055 Motor overload, current limit activeContained in 02VRS: «MPB» «MPD» «MPH»




In order to protect the motors against thermal destruction in the case ofpeak loads occurring for a very short time, the thermal work load of themotor is continuously calculated in the controller by means of a motortemperature model.

If the maximum possible motor current is reduced, due to the currentthermal motor load, compared to the content of S-0-0109, Motor peakcurrent, the drive generated the warning E8055. As a consequencethereof the drive can no longer follow the command values preset by acontrol unit.

Note: When the E8055 warning is active, bit 0 (overload warning) isadditionally set in S-0-0012, Class 2 diagnostics.

Cause Remedy

Too high acceleration torque/too high accelerationforce demanded

Reduce acceleration by adjusted command value profile

Overload of drive by too high continuous load Reduce overload in the case of long machining phases

Too high process or machining force (e.g. infeed) Reduce process or machining force

Mechanical changes in axis (e.g. friction, loadconditions,...)

Check mechanical system and, if necessary, optimizeload conditions and/or friction conditions






E8057 Device overload, current limit activeContained in 02VRS: «MPB» «MPD» «MPH»




In order to protect the devices against thermal destruction, the thermalload of the output stage in devices with digital current control iscontinuously calculated by a temperature model, depending on themeasured current.

If the thermal load exceeds 97% (displayed in P-0-0141, Thermal driveload), the continuous current limitation is activated and the warningE8057 is generated. As a consequence thereof the drive can no longerfollow the command values preset by a control unit.

Note: When the E8057 warning is active, bit 0 (overload warning) isadditionally set in S-0-0012, Class 2 diagnostics.

When the thermal load has reached 100%, the continuous currentlimitation is activated and the warning E8057 is generated. As aconsequence thereof the available DC bus power is reduced andespecially drives that require high power can no longer follow the presetcommand values.

Cause Remedy

Device is not adjusted to requirements ofapplication or motor

Check dimensioning of drive and, if necessary, usemore powerful device

Too high acceleration torque/too high accelerationforce demanded

Reduce acceleration by adjusted command valueprofile

Overload of drive by too high continuous load Reduce overload in the case of long machining phases

Too high process or machining force (e.g. infeed) Reduce process or machining force

Mechanical changes in axis (e.g. friction, loadconditions,...)

Check mechanical system and, if necessary, optimizeload conditions and/or friction conditions




For HCS, HMS, HMD

For HMV01.1R



E8058 Drive system not ready for operationContained in 02VRS: «MPB» «MPD» «MPH»




This fatal warning can occur for drive controllers in operation that areinterconnected via the module bus. If one of these drive controllers inoperation signals an error via the module bus, the drives that are to reactto signaled errors ("package reaction") react with shutdown. The reactingdrives display the warning E8058, the supply unit displays E2810 Drivesystem not ready for operation.

The settings for error messages and error reactions for devices that areinterconnected via the DC bus and module bus are made in P-0-0118,Power supply, configuration.

Cause Remedy

Error message of one or several drives of a drivesystem

Identify drive or drives signaling an error. Removecause of error at respective drive or drives






E8260 Torque/force command value limit activeContained in 02VRS: «MPB» «MPD» «MPH»




Apart from the dynamic actual torque/force value limitation by means of amotor or amplifier temperature model, there are voltage-dependent(velocity-dependent), as well as parameterizable limitations of thetorque/force command value. At least one of these limits has beenreached.

Note: For the occurrence of warning E8260 there are differentcauses and remedies for "closed-loop operation" and "open-loop operation"!

Cause Remedy

"Closed-loop operation"Acceleration capacity of drive has been exceeded. Inoperating modes "position control" and "velocitycontrol" this means that there is an ever-increasingposition deviation (lag error) between commandvalue and actual value

Reduce preset maximum acceleration value to allowdrive to follow position or velocity command valuecharacteristic

"Closed-loop operation"Velocity command value is higher than maximumvelocity of drive. Drive limits output value of velocityloop (torque command value) so that output voltageof controller, depending on load, does not exceedvalue of P-0-0535, Motor voltage at no load orP-0-0536, Maximum motor voltage

Reduce maximum velocity command value in such away that values of P-0-0535 or P-0-0536 are notreached when accelerating or at maximum velocity.

If possible, use controlled supply unit (HMV-R); withuncontrolled supply unit increase supply voltage, ifnecessary

"Closed-loop operation"Torque/force limit values incorrectly set

Increase values of S-0-0082, Torque/force limit valuepositive; S-0-0083, Torque/force limit value negative;S-0-0092, Bipolar torque/force limit value andP-0-0109, Torque/force peak limit, if necessary

"Closed-loop operation"Current loop incorrectly parameterized for motorswithout feedback data memory (e.g. kit motors orthird-party motors)

Check contents of S-0-0106, Current loopproportional gain 1 and S-0-0107, Current loopintegral action time 1 and correct them, if necessary.See also Functional Description of firmware "AutomaticSetting of Motor Control Parameters"

"Open-loop operation"Acceleration capacity of controlled drive has beenexceeded (velocity command value ramp too steep)

Maximum change of velocity with which drive can followcommand values is determined by motor. This possiblyrequires adjustment of P-0-0569, Maximum statorfrequency change





E8819 Mains failureContained in 02VRS: «--» «--» «--»




A mains failure was detected. To maintain the DC bus, regenerativeoperation of the motor is still possible, motive operation of the motor isdisabled. The function depends on P-0-0118, Power supply,configuration (behavior in the case of undervoltage in DC bus).

Cause Remedy










8.2 Warnings of the Category E4xxx

E4008 Invalid addressing command value data container AContained in 02VRS: «--» «--» «--»




During the index check in the multiplex channel an error occurred. Duringthe cyclic data exchange the index for access to the lists Datacontainer A: configuration list command value-x is monitored to findout whether it is pointing to a non-initialized position in the list.

Cause Remedy

? Check Data container A: configuration list commandvalue-x

? Check low byte of S-0-0368, Data container A:addressing

See also Functional Description "Multiplex Channel"





E4009 Invalid addressing actual value data container AContained in 02VRS: «--» «--» «--»




During the index check in the multiplex channel an error occurred. Duringthe cyclic data exchange the index for access to the lists Datacontainer A: configuration list actual value-x is monitored to find outwhether it is pointing to a non-initialized position in the list.

Cause Remedy

? Check Data container A: configuration list actual value-x

? Check high byte of S-0-0368, Data container A:addressing




E4012 Maximum number of CCD slaves exceededContained in 02VRS: «--» «--» «--»




When switching to communication phase 2, too many CCD slaves(→ CCD: Cross Communication Drives) were detected to have beenconnected to the cross communication interface of the CCD master.

Note: This warning is always reset in phase 0.

Cause Remedy

More CCD slaves than allowed have beenconnected to CCD master

Reduce number of connected CCD slaves

Note: Maximum number of axes depends on CCD cycletime and data length






E4013 Incorrect CCD addressingContained in 02VRS: «--» «--» «--»




When switching to communication phase 1, a projected CCD slave(→ CCD: Cross Communication Drives) could not be found.

Cause Remedy

A CCD slave address has been used several times Correct slave address in the slave(s) (P-0-4025, Driveaddress of master communication)

In P-0-1601, CCD: addresses of projected drives,a CCD slave was projected which does not exist inCCD group

Correct P-0-1601, CCD: addresses of projecteddrives according to connected CCD slaves

In P-0-1601, CCD: addresses of projected drives,a CCD slave was projected which has not beencorrectly connected

Connect all projected CCD slaves correctly






E4014 Incorrect phase switch of CCD slavesContained in 02VRS: «--» «--» «--»




During the run-up of the CCD group to phase 0, 1 or 2, the correctreaction of the CCD slaves is monitored. If one or several slaves do notbehave correctly, the warning E4014 is generated. There are the followingpossible error symptoms:

• CCD slave ignores phase switch and does not stop transmitting

• CCD slave dose not transmit again after phase switch

• list of scanned CCD slaves is not stable (list must be 100% identicalfor phase 0)

• no communication on port1 or port2

• no CCD slave scanned (only if P-0-1601, CCD: addresses ofprojected drives is empty, otherwise E4013)

• transmitted MST is not received correctly

Cause Remedy

SERCOS III plug-in connections are loose ordefective

Check SERCOS III plug-in connections and replacethem, if necessary

One of CCD slaves is defective Replace CCD slave






8.3 Possible Warnings when Operating Safety Technology(E31xx)

Behavior in Case a Safety Technology Warning Occurs

Note: With activated safety technology, warnings of category E31xxonly occur in normal operation. When a safety relatedoperation is selected, the cause of the warning results in anerror being triggered.

The user can define the drive behavior for the case of non-fatal safetytechnology errors occurring via the setting in P-0-0119, Best possibledeceleration.


As soon as the axis has stopped, the axis signals safety; i.e. "safetytechnology status output of controller" was set in P-0-3214, Safetytechnology status word, channel 1 or the diagnosis input/output I/O10n(channel 2) was set depending on the parameterization in P-0-3210,Safety technology configuration.

E3100 Error when checking input signalsContained in 02VRS: «MPB» «MPD» «MPH»




When the safety technology has been activated, this warning only occursin normal operation. When a safety related operation status is selected,the cause of the error causes the error F3130 Error when checkinginput signals or F3141 Selection validation error to be triggered.

Cause Remedy

During "dynamization of safety function selection"not all input signals are zero. Cause can be error inwiring of input signals or short circuit of switchcontacts with positive supply voltage

Remove wiring error of input signals or replace switch.Note: Cause of error can be localized, for example, bymeans of internal oscilloscope function and one of thefollowing parameters:- P-0-3216, Active safetytechnology signals or- P-0-3212, Safety technology signal control word,channel 1 or- P-0-3217, I/O status channel 2 (optional safetytechnology module)

There are unequal channel states betweenchannel 1 and 2. Cause can be error in wiring ofinput signals or defective switch

Remove wiring error of input signals or replace switch.Note: Cause of error can be localized by means ofparameter P-0-3216, Active safety technology signals(of channel 1 and channel 2).

P-0-3221, Max. tolerance time for differentchannel states incorrectly parameterized

Change parameterization of P-0-3221, Max. tolerancetime for different channel states





E3101 Error when checking acknowledgment signalContained in 02VRS: «MPB» «MPD» «MPH»




All drives of a safety related protective zone have to be interconnected viathe acknowledgment signal I/O20. One of the drives of the safety relatedprotective zone has to be declared as master, the other ones as slaves(declaration in P-0-3210, Safety technology control word). The masteruses the acknowledgment signal to evaluate the axis status of theconnected slaves and to control a safety door via the diagnostic outputsO10, I/O10n. In order to detect errors in the connection, theacknowledgment signal is dynamized.

When the safety technology has been activated, this warning only occursin normal operation. When a safety related operating status is selected,the cause of the error causes the error F3131 Error when checkingacknowledgment signal to be triggered.

Cause Remedy

There is an error in wiring of acknowledgmentsignals (contact error, cable break, short circuit with0 V, missing connection to master)

Remove error in wiring of acknowledgment signals





E3102 Actual position values validation errorContained in 02VRS: «MPB» «MPD» «MPH»




When both safety technology channels have been homed (conferS-0-0403, Position feedback value status for channel 1 and P-0-3213,Safety technology operating status for channel 2), a validation check iscyclically carried out for their actual position values. The difference of theactual position values mustn't exceed an internally defined threshold.

When the safety technology has been activated, this warning only occursin normal operation. When a safety function is selected, the cause of theerror causes the error F3117 Actual position values validation error tobe triggered.

Cause Remedy

Implausible values on channel 1 and 2 resulted fromcyclic comparison of actual position values. Aninternally calculated tolerance threshold is used forthis comparison

Reestablish safety related reference





E3103 Dynamization failedContained in 02VRS: «MPB» «MPD» «MPH»




For dynamization of safety function selection a dynamic signal is appliedto the selection elements, in order to detect errors in the wiring of theinput signals. The signal shape of the dynamic signal is monitored, too.

The monitoring refers to the signal at the dynamization input I/O30 and, inthe case of separate dynamization (to be set via P-0-3210, Safetytechnology configuration), additionally to the dynamization input forchannel 1 (P-0-3212, Safety technology control word, channel 1).

When the safety technology has been activated, this warning only occursin normal operation. When a safety function is selected, the cause of theerror causes the error F3134 Dynamization time interval incorrect tobe triggered.

Cause Remedy

Within time P-0-3223, Time interval fordynamization of safety function selection therehasn't any dynamization pulse (low level) occurred atdynamization input I/O30 or "dynamization inputchannel 1"

Remove cause of error in wiring of dynamization input

- or -

In the case of internal dynamization, make sure that onlyone of involved axes has been configured as master fordynamization of safety function selection (P-0-3210,Safety technology configuration)- or -

In the case of external dynamization, use appropriatesignal source

- or -

Make sure that in involved slave axes values forP-0-3223, Time interval for dynamization of safetyfunction selection and P-0-3224, Duration ofdynamization pulse of safety function selection aregreater than or equal to values in master axis





E3104 Safety parameters validation errorContained in 02VRS: «MPB» «MPD» «MPH»




In the operating mode, a validation check is cyclically carried out for thesafety parameters of channel 1 and channel 2.

When the safety technology has been activated, this warning only occursin normal operation. When a safety function is selected, the cause of theerror causes the error F3140 Safety parameters validation error orF7040 Validation error parameterized - effective threshold to betriggered.

Cause Remedy

A comparison has shown that channel 1 andchannel 2 are not working with the same safetyparameters

Execute command P-0-3204, C3000 Synchronize andstore safety technology IDN command; channel 2thereby accepts parameters of channel 1



E3105 Validation error of safety related operating modeContained in 02VRS: «MPB» «MPD» «MPH»




The active safety technology operating states ("safety related operatingmodes") of channel 1 and channel 2 are cyclically and via two channelschecked for validity; they may differ for a maximum of 5 seconds.

The criteria for transition to a new safety technology operating statusselected have not been fulfilled in one channel. This channel remains inold the status - the other channel already went to the new status.

Note: When the safety technology has been activated, this warningonly occurs in normal operation. When a safety function isselected, the cause of the error causes the error F7042Validation error safety related operating mode to betriggered.

Cause Remedy

Time, velocity or position thresholds were incorrectlyparameterized

Check time, velocity or position thresholds relevant forrespective transition and adjust them, if necessary





E3106 System error channel 2Contained in 02VRS: «MPB» «MPD» «MPH»




When the safety technology has been activated, this warning only occursin normal operation. When a safety function is selected, the cause of theerror causes the error F3146 System error channel 2 to be triggered.

Cause Remedy

System error on channel 2 Via parameter mode switch to operating mode.Reset optional safety technology module by switchingcontrol voltage off and on.

If error occurs repeatedly, replace control section orentire drive controller; use hardware configuration ofsame type

Note: Only Rexroth service engineers or especially trained users areallowed to replace the control section. The replacement of theentire drive controller is described in the Project PlanningManual for the power section.Only Rexroth service engineers are allowed to replace optionalmodules of the control section (e.g. optional encoder module).





E3107 Safety related reference missingContained in 02VRS: «MPB» «MPD» «MPH»




A check showed that, when the special mode "safety related motion" withconfigured safety function "safety related limited absolute position" wasselected, there is no "safety related reference" existing.

Cause Remedy

Monitoring of safety related end positions has beenconfigured; requirement that channel 2 has beenhomed is missing (can also be recognized inP-0-3238, Extended safety technology status). Nosafety function has been selected (i.e. drive is innormal operation)

1. Set drive enable2a. For absolute measuring systems: Execute P-0-3228,C4000 Homing procedure command channel 2 inorder to establish "safety related reference" onchannel 22b. For all other measuring systems: Execute S-0-0148,C0600 Drive-controlled homing procedure command(C4000 for establishing safety related reference ofchannel 2 is integrated)

Description of error reaction: "Behavior in Case a Safety TechnologyWarning Occurs"

See documentation "Integrated Safety Technology", index entry "safetyrelated homing procedure"



E3110 Time interval of forced dynamization exceededContained in 02VRS: «MPB» «MPD» «MPH»




In parameter P-0-0103, Time interval of forced dynamization it ispossible to set a time interval within which the starting lockout has to beactivated. This time interval has been exceeded.

Cause Remedy

Setting of time interval in parameter P-0-0103, Timeinterval of forced dynamization does not complywith requirements

Set time interval in parameter P-0-0103, Time intervalof forced dynamization according to requirements

Starting lockout has not been activated within timeinterval that was set

Activate starting lockout with drive controller beingactive





E3115 Prewarning, end of brake check time intervalContained in 02VRS: «--» «--» «--»




When "time interval of holding brake check" was activated in P-0-0525,Holding brake control word, the controller measures the time that haspassed since the last holding brake check.

Cause Remedy

Drive was put into operation, then F3115 appeared.Error was only cleared, but brake check was notcarried out

Start brake check within 15 minutes aftercommissioning of drive (P-0-0541, C2100 Brake checkcommand)

Space of time since last holding brake check hasapproached time interval parameterized in P-0-0550,Time interval brake check up to 15 minutes or less

Start brake check within 15 minutes after occurrence ofE3115 (P-0-0541, C2100 Brake check command)






8.4 Non-Fatal Warning Diagnostic Messages (E2xxx)

Behavior in Case a Non-Fatal Warning OccursIn the case of warnings of category E2xx, the drive normally does notcarry out any drive reaction, unless the warning was generated due to amains or undervoltage error. In this case the behavior of the drive can bedetermined via the parameter P-0-0118, Power off on error.

A second group of warnings within this category signals that a limit valuedetermined (parameterized) by the user has been exceeded.

A warning cannot be cleared; it disappears automatically after its causewas removed.

E2010 Position control with encoder 2 not possibleContained in 02VRS: «--» «--» «--»




For operating modes using parameter S-0-0520, Control word of axiscontroller it is possible to switch the control encoder during operation.

If no second encoder has been defined as control encoder, this warning isgenerated when you try to switch to encoder 2.



E2011 PLC - Warning no. 1Contained in 02VRS: «--» «--» «MPH»




In conjunction with technology functions the drive-integrated PLC allowsthe user generating warnings (E2011 .. E2014) within the PLC program.

Cause and remedy of a PLC warning depend on the respective PLCproject (or the active Rexroth technology function) and are contained inthe respective description of the technology function.





E2021 Warning Motor temp. surveillance defectiveContained in 02VRS: «--» «--» «--»


Contained in 04VRS: «--» «MPD» «MPH»


The function of the temperature sensor used for motor temperaturemonitoring is cyclically monitored by the drive.

As a motor temperature equal to or less than -20 °C has been measured,the warning E2021 is output at first.

Note: When a temperature equal to or less than -20 °C has beenmeasured for 30 seconds, a defect is supposed to haveoccurred and the error F2021 is output.

Cause Remedy

Interruption or short circuit in line for motortemperature monitoring

Check motor connection and cable for interruption andshort circuit

Sensor in motor is defective Use replacement sensor or replace motor

Drive controller defective Replace drive controller or power section






E2026 Undervoltage in power sectionContained in 02VRS: «MPB» «MPD» «MPH»





If the DC bus voltage falls below the minimum value determined for thedrive (see value of P-0-0114, Undervoltage threshold) or it reacts to"DC bus not ok" of the module bus, the device generates the warningE2026 if "non-fatal warning" has been set with regard to the reaction toundervoltage in P-0-0118, Power supply, configuration.

Note: When drive enable is set without DC bus voltage (drive signals"bb"), the error message F2026 is generated in spite ofwarning having been parameterized.

If the DC bus voltage falls by 80 V below the command value of 750 Vdirect voltage (DC670 V), the warning E2026 is displayed at the deviceand "DC bus not ok" is signaled via the module bus. The circuit is notinterrupted yet!

Cause Remedy












E2040 Device overtemperature 2 prewarningContained in 02VRS: «MPB» «MPD» «MPH»




A switch-off value for the second temperature sensor is stored inelement 3 of parameter P-0-4059, Electric type data of power section.

If the parameter P-0-0816, Amplifier temperature 2 exceeds a value thatis 5 °C below this switch-off threshold, the warning E2040 is generated.

Before the switch-off threshold has been reached and the device isswitched off (F2040) it is possible to shut down the axis via the controlunit in accordance with the process (e.g. terminate processing, leavecollision area etc.) or to reduce the load of the drive controller.

Cause Remedy

Ambient temperature too high. Specifiedperformance data are valid up to an ambienttemperature of 40 C

Reduce ambient temperature, e.g. by cooling the controlcabinet




Blower of device is defective Replace device





E2047 Interpolation velocity = 0Contained in 02VRS: «MPB» «MPD» «MPH»




In operating states/ operating modes in which the drive-internal positioncommand value interpolator is active, the preset velocity effective in thedrive is monitored with regard to the value "0"; i.e. the monitor is active inthe following operating modes or operating states:

• drive-internal interpolation

• drive-controlled positioning

• positioning block mode

• Drive Halt

• position spindle

• drive-controlled homing

• automatic control loop setting

• ...

Cause Remedy

Incorrect velocity is preset (value = "0")(cf. S-0-0259, Positioning velocity, S-0-0041,Homing velocity, P-0-4007, Positioning blockvelocity[i], S-0-0222, Spindle positioning speed,S-0-0091, Bipolar velocity limit value, P-0-0143,Synchronization velocity, P-0-0686, Additiveposition command value, positioning velocity)

Check parameterization or cyclic command value ofcontrol unit and set value for preset velocity unequalzero

Analog input to which preset velocity was assignedis defective or not connected

Check wiring and function of analog input and, ifnecessary, replace cable or control section, or the entiredrive controller




Operating Modes

Commands



E2048 Interpolation acceleration = 0Contained in 02VRS: «MPB» «MPD» «MPH»




In operating states/ operating modes in which the drive-internal positioncommand value interpolator is active, the preset acceleration effective inthe drive is monitored with regard to the value "0" [without acceleration(deceleration) a preset velocity can never be reached; slowing down witha deceleration "0" isn't possible either].

Note: The input values of the parameters are converted to a drive-internal format. This is why input values > "0" can, internally,also cause an acceleration = "0". The parameter values whichdrive-internally still cause an acceleration > "0" can becalculated.

The monitor is active in the following operating modes or operating states:




• Drive Halt




• ...

Cause Remedy

Incorrect acceleration is preset (value = "0")(vgl. S-0-0260, Positioning acceleration, S-0-0042,Homing acceleration, S-0-0138, Bipolaracceleration limit value, S-0-0359, Positioningdeceleration, P-0-0142, Synchronizationacceleration, P-0-0687, Additive positioncommand value, positioning acceleration)

Check parameterization or cyclic command value ofcontrol unit and set value for preset acceleration > "0"



Operating Modes

Commands



E2049 Positioning velocity >= limit valueContained in 02VRS: «MPB» «MPD» «MPH»




In the operating modes in which the drive-internal position commandvalue interpolator is active, the velocity command value (positioningvelocity) effective in the drive is limited to the smallest valueparameterized velocity limit value.

This means that the monitor is active in the following operating modes oroperating states:




• Drive Halt




• ...

Cause Remedy

Incorrect velocity has been preset (parameterized orcyclically preset value is too high)(cf. S-0-0259, Positioning velocity, S-0-0041,Homing velocity, P-0-4007, Positioning blockvelocity[i], S-0-0222, Spindle positioning speed,S-0-0091, Bipolar velocity limit value, S-0-0038,Positive velocity limit value, S-0-0039, Negativevelocity limit value)

Check parameterization or cyclic command value ofcontrol unit and set value for used preset velocitysmaller than value from S-0-0091, Bipolar velocity limitvalue, S-0-0038, Positive velocity limit value orS-0-0039, Negative velocity limit value

S-0-0091, Bipolar velocity limit value, S-0-0038,Positive velocity limit value or S-0-0039, Negativevelocity limit value incorrectly parameterized

Check parameter contents of S-0-0091, Bipolarvelocity limit value, S-0-0038, Positive velocity limitvalue and S-0-0039, Negative velocity limit value.Check whether parameter possibly has been assignedto an analog input or is contained in cyclic data

Analog input to which S-0-0091, Bipolar velocitylimit value, S-0-0038, Positive velocity limit valueor S-0-0039, Negative velocity limit value wasassigned is defective or not connected

Check wiring and function of analog input and, ifnecessary, replace cable or control section, or the entiredrive controller


See also Functional Description "Velocity Limitation"



Operating Modes

Commands



E2050 Device overtemp. PrewarningContained in 02VRS: «MPB» «MPD» «MPH»




The heat sink temperature of the device is monitored by a temperaturesensor and a temperature model. When the heat sink has become toohot, the device is switched off in order to protect it against destruction.Before the error F2018 Device overtemperature shutdown is triggered,the warning E2050 Device overtemp. Prewarning is output.

Note: When the warning E2050 appears, it is possible to stop theaxis via the control unit in accordance with the process (e.g.terminate processing, leave collision area etc.) or to reducethe load of the drive controller.

Cause Remedy

Amplifier overtemperature (heat sink) due tooverload of drive (overcurrent)

Switch drive off and let it cool down, check mechanicalsystem as well as drive dimensioning (working powermustn't exceed, on average, continuous power of drive)

Ambient temperature too high. Specifiedperformance data are valid up to an ambienttemperature of 40 C

Reduce ambient temperature, e. g. by cooling thecontrol cabinet




Failure of internal blower If blower fails, replace device or power section

Failure of air conditioning for control cabinet Check air conditioning of control cabinet

Incorrect dimensioning of control cabinet with regardto heat discharge

Check dimensioning of control cabinet






E2051 Motor overtemp. prewarningContained in 02VRS: «MPB» «MPD» «MPH»




The motor temperature measured by the temperature sensor approachesthe limit value and has reached S-0-0201, Motor warning temperature.The controller outputs the warning E2051. The drive is only switched off(F2019) when the motor temperature has reached the limit value inS-0-0204, Motor shutdown temperature.

Cause Remedy

S-0-0201, Motor warning temperature incorrectlyparameterized

Check and correct parameterization of S-0-0201, Motorwarning temperature by means of motor ortemperature sensor data sheet

The motor is overloaded. Effective torque demandedby the motor has been above allowed torque for toolong

Check motor dimensioning and reduce motor load, e.g.by reduced infeed velocity in the case of metal-cuttingmachining. In the case of installations that have beenoperated for a long time, check whether drive conditionshave changed (with regard to dirt accumulation, friction,moved masses etc.)

Line interruption, ground fault or short circuit in linefor motor temperature monitoring

Check line for motor temperature monitoring for lineinterruption, ground fault or short circuit

Instability in speed control loop Check parameterization of speed control loop






E2053 Target position out of travel rangeContained in 02VRS: «MPB» «MPD» «MPH»




In operating modes with internal position command value generation acheck is run, before a movement is carried out, in order to find outwhether the preset target position (S-0-0258, Target position, S-0-0282,Positioning command value or P-0-4006, Positioning block targetposition[i]) is within the allowed travel range of the drive.

The allowed travel range of the drive is defined by

• S-0-0049, Positive position limit value

• S-0-0050, Negative position limit value

The position limit value monitor and thus the monitoring of the allowedtravel range is activated in S-0-0055, Position polarities.

Note: When the position limit value monitor has been activated andthe target position is outside the allowed travel range, the drivestops or it does not accept the target position or positioningblock. In parameter S-0-0012, Class 2 diagnostics a warningbit is set.

Cause Remedy

Position limit values (S-0-0049, Positive positionlimit value, S-0-0050, Negative position limitvalue) incorrectly parameterized

Check parameterization of position limit values andadjust it according to desired travel range (S-0-0049,Positive position limit value must be higher thanS-0-0050, Negative position limit value)

Position limit value monitor has been activatedalthough it is not needed

Deactivate position limit value monitor if it is not needed(e. g. in modulo operation)

In the case of relative interpolation, value for travelrange was set too high or several travel ranges thatare added cause effective target position (cf.P-0-0050, Effective target position) to be outsideof position limits

Check travel range (cf. S-0-0258, Target position) and,if necessary, adjust it in control unit program

In the case of absolute interpolation, preset targetposition is incorrect

Check preset target position (cf. S-0-0258, Targetposition or S-0-0282, Positioning command value)and, if necessary, adjust it in control unit program (onlyenter S-0-0258, Target position within position limitvalues)

In "positioning block mode" one or more targetpositions have been incorrectly parameterized orincorrect positioning block is selected

Check parameterized target positions in P-0-4006,Positioning block target position and block selection(P-0-4026, Positioning block selection). In addition,check block selection via respective mastercommunication (e. g. field bus or digital I/Os)

See also functional description "Position Limitation/Travel Range LimitSwitch"

For "relative interpolation" see functional description "drive-controlledpositioning"

For "absolute interpolation" see functional description "drive-internalinterpolation"





E2054 Not homedContained in 02VRS: «MPB» «MPD» «MPH»




Before a motion is carried out a check is run in the case of operatingmodes with drive-internal position command value generation (drive-internal interpolation, drive-controlled positioning and positioning blockmode) to find out whether, with absolute target position preset (S-0-0258,Target position or S-0-0282, Positioning command value, orP-0-4006, Positioning block target position), the measuring systemused for positioning (cf. operating mode selection) has been homed.

Note: When the warning E2054 appears, the drive stops or does notaccept the target position or the positioning block. Inparameter S-0-0012, Class 2 diagnostics a warning bit is set.

Cause Remedy

Absolute positioning was started although positiondata reference of drive had not yet been established[drive has not been homed (cf. S-0-0403, Positionfeedback value status)]

Establish absolute position data reference by startingcommand S-0-0148, C0600 Drive-controlled homingprocedure command or P-0-0012, C0300 CommandSet absolute measuring

See also Functional Description "Establishing the Position DataReference"





E2055 Feedrate override S-0-0108 = 0Contained in 02VRS: «MPB» «MPD» «MPH»




By means of the S-0-0108, Feedrate override it is possible to make aproportional scaling for the travel velocity of drive-controlled travelcommands (0..100 %).

A feedrate override of 0 % causes the effective travel velocity to become"0". In spite of velocity command value being present (e. g. S-0-0259,Positioning velocity), the drive remains stopped at the current positionor brakes down until reaching standstill.

Note: The function of the feedrate override can be switched off bysetting S-0-0108 = 100 %.If S-0-0108 has been cyclically configured or assigned to ananalog input, this configuration has to be changed.

Cause Remedy

Parameter S-0-0108, Feedrate override was set to"0"

Set feedrate override > "0" so that drive moves. Fullvelocity is reached with 100%.

For devices with analog inputs: feedrate override viaanalog input has been activated and voltage atanalog input is "0"

Apply voltage > "0" proportionally to desired velocity(+10 V corresponds to 100% of velocity)alternative: deactivate feedrate override

Infeed potentiometer of connected control unit wasset to "0" or is incorrectly evaluated

Carefully actuate infeed potentiometer, check analogsignal and evaluation

Analog input used for feedrate override orconnecting cable is defective

Check and if necessary replace cable and controlsection






E2056 Torque limit = 0Contained in 02VRS: «MPB» «MPD» «MPH»




To protect the drive or the connected mechanical system againstmechanical overload the maximum torque or the maximum force can belimited to allowed values.

Cause Remedy

One of the torque-/force-limiting parameters has thevalue "0"

Check parameters S-0-0082, Torque/force limit valuepositive; S-0-0083, Torque/force limit value negative;S-0-0092, Bipolar torque/force limit value andP-0-0109, Torque/force peak limit and enter "correct"limit value (unequal "0")

One of the torque-/force-limiting parameters hasbeen assigned to analog input and voltage at analoginput is "0"

Apply voltage > 0 proportionally to desired torque/forcelimit valueNote: Scaling of analog input defines scaling of analoginput voltage (see also Functional Description "AnalogInputs")

Potentiometer of connected control unit was set to"0" or is incorrectly evaluated

Carefully actuate potentiometer, check analog signaland evaluation

Cable connected at analog input for torque/forcelimitation is defective

Check and, if necessary, replace cable

Analog input used for torque/force limitation isdefective


You are using motor without encoder memory; itsmotor data haven't yet been set and max. allowedcurrents (S-0-0109, S-0-0111,...) therefore are still"0"

Load motor parameters via motor data base stored inIndraWorks D


See also Functional Description "Torque/Force Control"





E2058 Selected process block is not programmed.Contained in 02VRS: «MPB» «MPD» «MPH»




In the "positioning block mode" the selected positioning block is checkedso that only complete positioning blocks can be started.

Note: When the warning E2058 appears, the drive stops or does notaccept the selected positioning block. In parameter S-0-0012,Class 2 diagnostics a warning bit is set.

Cause Remedy

Positioning block data of currently selected blockare not available

Check positioning block data (P-0-4006, Positioningblock target position, P-0-4007, Positioning blockvelocity, P-0-4008, Positioning block acceleration,P-0-4009, Positioning block jerk, and P-0-4019,Positioning block mode) and correct respectiveparameters

Incorrect positioning block selection via field bus ordigital inputs

Check P-0-4026, Positioning block selection andcontrol. If necessary, also check wiring and connectionof digital I/Os

Incorrect configuration of digital inputs causesunwanted positioning block selection

Check configuration of digital inputs and correct itaccordingly





E2059 Velocity command value limit activeContained in 02VRS: «MPB» «MPD» «MPH»




The drive is constantly monitoring the effective velocity command value(sum of velocity command values at controller input) and is limiting it.

If the effective velocity command value exceeds S-0-0091, Bipolarvelocity limit value, the warning E2059 is output because for positioningtasks the lag error can be increased.

Cause Remedy

Cyclic command value preset by control unit isincorrect or too high

Control cyclic command value and, if necessary, adjustcontrol program

Velocity limit value parameterized too low Check and correct parameterization of S-0-0091,Bipolar velocity limit value






E2061 Device overload prewarningContained in 02VRS: «MPB» «MPD» «MPH»




The work load of the device has exceeded a threshold and a message isgenerated that warns against overload which will occur if the load is notreduced.

Devices with digital control are monitored by means of a permanentlyprocessed temperature model. If the thermal work load approaches100 % the continuous current limit is activated shortly after and thewarning E8057 Device overload, current limit active appears.

When the current is limited the torque/force is reduced which is notwanted for machines and installations and can cause problems. Awarning is therefore output before this situation occurs.

The threshold value for the overload prewarning can be set in P-0-0441,Overload warning. If the thermal work load exceeds this value theE2061 warning is output. Useful values for P-0-0441, Overload warningare at 80-90% so that there still is a little reserve capacity until the actualthermal work load is reached (100%).

Note: The warning can be deactivated by the value "100%" inP-0-0441, Overload warning because in this case the fatalwarning E8057 Device overload, current limit activewarning is immediately generated!

The threshold value for the overload prewarning is fixed to 90%. If thethermal work load exceeds this value the E2061 warning is output. Thisthreshold cannot be set and therefore the warning cannot be deactivated!

Cause Remedy

Incorrect value of P-0-0441, Overload warning Increase value of P-0-0441, Overload warning, ifnecessary

Overload of drive (e.g. due to too high infeed duringmachining or too high acceleration to high speed)

Switch drive off and let it cool down. Check drivedimensioning and command value profile

Changes in mechanical system with regard to frictionand moved masses

In the case of installations that have been run for a longtime, check drive conditions for changes in mechanicalsystem




For HCS, HMS, HMD

For HMV01.1R



E2063 Velocity command value > limit valueContained in 02VRS: «MPB» «MPD» «MPH»




The drive continuously monitors the S-0-0036, Velocity command value.

If the velocity command value exceeds the smallest parameterizedvelocity limit value, the lag error can be increased for positioning tasks.

Cause Remedy

Cyclic command value preset by control unit isincorrect or too high

Control cyclic command value and, if necessary, adjustcontrol program

Velocity limit value parameterized too low Check and correct parameterization of S-0-0091,Bipolar velocity limit value, S-0-0038, Positivevelocity limit value and S-0-0039, Negative velocitylimit value




E2064 Target position out of num. rangeContained in 02VRS: «MPB» «MPD» «MPH»




The operating mode "drive-internal interpolation" or "drive-controlledpositioning" was selected and the preset target position cannot bedisplayed in the internal position format.

Cause Remedy

Incorrect target position or positioning commandvalue was preset

Check target position (S-0-0258, Target position) orpositioning command value (S-0-0282, Positioningcommand value) preset by control unit (master) and, ifnecessary, correct control unit program

An "infinitely turning axis" is not operated in moduloformat

Check content of S-0-0076, Position data scaling typeand change to "modulo format"

Selected S-0-0278, Maximum travel range toosmall

Increase value of S-0-0278, Maximum travel range inorder to increase position that can be displayedinternally in absolute form


See also Functional Description "Drive-Internal Interpolation"





E2069 Brake torque too lowContained in 02VRS: «MPB» «MPD» «MPH»




When the drive enable was switched off the motor moved during theautomatic brake torque check (can be activated via P-0-0525, Holdingbrake control word). The motor holding brake therefore no longerprovides the required holding torque (see also P-0-0547, Test torquewith holding brake applied).

Note: The result of the brake check is displayed in P-0-0539,Holding brake status word.

Cause Remedy

Due to storage, brake is covered with oxide layer- or -Brake is wetted with oil or grease

If warning occurs when drive enable is switched off, start"brake check" command in order to abrade brake, if thissetting was made in P-0-0525, Holding brake controlword. Afterwards brake should be able to provide fulltorque again

Brake is worn (see service life of brake in ProjectPlanning Manual for motor)

If holding torque still isn't reached after repeated start of"brake check" command (abrasion cleaning processesof brake), motor holding brake or entire motor needs tobe replaced

Wiring or control error of brake(hardware defect on control section)

Check wiring and connection of brake (incl. brake relay).If brake control in controller (e.g. relay) is defective,entire drive controller or control section has to bereplaced






E2070 Acceleration limit activeContained in 02VRS: «--» «--» «--»




The acceleration in the velocity loop is limited to the value of S-0-0138,Bipolar acceleration limit value.

Note: The acceleration monitor can be switched off by means ofP-0-0556, Configuration of axis controller.

Cause Remedy

Value in S-0-0138, Bipolar acceleration limit valuetoo low

Check and, if necessary, correct parameterization ofS-0-0138, Bipolar acceleration limit value

Incorrect command value set by control unit Contact control unit manufacturer or programmer

Preset acceleration value was greater than valueparameterized in S-0-0138, Bipolar accelerationlimit value

Reduce acceleration value used- S-0-0042, Homing acceleration- S-0-0260, Positioning acceleration- P-0-0057, Return acceleration- P-0-1201, Ramp 1 pitch- P-0-1203, Ramp 2 pitch- P-0-1211, Deceleration ramp 1- P-0-1213, Deceleration ramp 2





E2074 Encoder 1: encoder signals disturbedContained in 02VRS: «MPB» «MPD» «MPH»




The hardware checks the signals of the measuring system (encoder 1) forinadmissible signal dips. If a signal (e.g. sin or cos) leaves the thresholdsmonitored by the hardware, the warning E2074 is generated.

In the case of major failures or several signal dips in series, the errorF8022 Enc. 1: enc. signals incorr. is generated and the drive is shutdown. The warning E2074 therefore points at disturbed encoder signalsbefore a breakdown occurs.

Note: The warning E2074 is only cleared by reinitialization of theencoder position; i. e. it is necessary to switch tocommunication phase 2.

Cause Remedy












E2075 Encoder 2: encoder signals disturbedContained in 02VRS: «MPB» «MPD» «MPH»




The hardware checks the signals of the measuring system (encoder 2) forinadmissible signal dips. If a signal (e.g. sin or cos) leaves the thresholdsmonitored by the hardware, the warning E2075 is generated.

In the case of major failures or several signal dips in series, the errorF2042 Encoder 2: encoder signals incorrect is generated and the driveis shut down. The warning E2075 therefore points at disturbed encodersignals before a breakdown occurs.


Cause Remedy












E2076 Measuring encoder: encoder signals disturbedContained in 02VRS: «MPB» «MPD» «MPH»




The hardware checks the signals of the measuring encoder forinadmissible signal dips. If a signal (e. g. sin or cos) leaves the thresholdsmonitored by the hardware, the warning E2076 is generated.

In the case of major failures or several signal dips in series, the errorF2043 Measuring encoder: encoder signals incorrect is generatedand the drive is shut down. The warning E2076 therefore points atdisturbed encoder signals before a breakdown occurs.


Cause Remedy












E2086 Prewarning supply module overloadContained in 02VRS: «MPB» «MPD» «MPH»




The supply signals a warning regarding imminent overload via the modulebus. The warning is displayed at the drive controllers and can beevaluated by the control master via the master communication. If there isno relief, the module bus message "error supply module" and power off(F2086) can occur.

Cause Remedy

Imminent overload of power supply Reduce required power by lower infeed velocity of tools.Check dimensioning of supply

Max. energy absorption capacity of braking resistoralmost reached

Check dimensioning of braking resistor and, ifnecessary, increase dimensioning




E2092 Internal synchronization defectiveContained in 02VRS: «--» «--» «--»




Note: The warning E2092 is used for internal purposes of diagnosis!

Cause: The command value input cycle for command value processinghas not been synchronized; i.e. the command value processing cycle issmaller than the command value input cycle.





E2100 Positioning velocity of master axis generator too highContained in 02VRS: «--» «--» «--»




Cause Remedy

Positioning velocity of master axis generator hasreached maximum allowed limit value (P-0-0770,Virtual master axis, positioning velocity)

Maximum velocity parameterized in P-0-0770, Virtualmaster axis, positioning velocity, with which masteraxis generator moves to new target position, has to beadjusted:- In the case of modulo scaling of master axisgenerator: half the modulo value (P-0-0757, Virtualmaster axis, modulo value) per 2 ms- In the case of absolute scaling of master axisgenerator: half the feed travel (P-0-0918, Feed travelinternal virtual master axis) per 2 ms



E2101 Acceleration of master axis generator is zeroContained in 02VRS: «--» «--» «--»




Cause Remedy

Preset positioning acceleration of master axisgenerator is "0"

Set positioning acceleration of master axis generatorunequal "0" in P-0-0771, Virtual master axis,positioning acceleration





E2270 Analog input 1 or 2, wire breakContained in 02VRS: «MPB» «--» «--»




Conditions under which this warning is triggered:

• The wire break monitor was activated in P-0-0218, Analog input,control parameter (by the setting for the measuring range of theanalog inputs) and

• a setting in P-0-0218, Analog input, control parameter causes awarning to be generated when the input value has fallen below theinput value at analog input 1 or 2 and

• the current/voltage value at analog input 1 or 2 is lower than theminimum value of the measuring range.

The warning persists until the condition has been fulfilled.

Note: The value range of the voltage or current source that isconnected to the analog input should be limited to the allowedvalue range of the analog input.

Cause Remedy

Input value at analog input 1 or 2 is lower thanminimum value of voltage measuring range (setting"voltage signals" in P-0-0218, Analog input, controlparameter)

Check wiring of analog input, reestablish contact tovoltage source, if necessary- or –Check value range of voltage source

Input value at analog input 1 or 2 is lower thanminimum value of current measuring range (setting"current signals" in P-0-0218, Analog input, controlparameter)

Check wiring of analog input, reestablish contact tocurrent source, if necessary- or –Check value range of current source

Note: This warning can only be displayed at a controller containing aCSB01.1N-FC-... (BASIC OPENLOOP) control section.





E2800 DC bus timeoutContained in 02VRS: «--» «--» «--»




After a DC bus short circuit was triggered the DC bus voltage has notfallen below 25 Volt within 10 seconds.

Cause Remedy

Braking energy of connected drives is too high Check application

Braking resistor defective Replace device



E2802 HW control of braking resistorContained in 02VRS: «MPB» «MPD» «MPH»




During the braking process the increasing DC bus voltage is reduced byswitching on the braking resistor. But when the regenerated brakingpower is too high the DC bus voltage keeps increasing. The warningE2802 is generated when the protective hardware circuit switches on thebraking resistor in the case of high voltages (>900 V).

Cause Remedy

DC bus voltage >900 V due to increasedregenerated braking energy

Check drive dimensioning and, if necessary, useadditional capacitance

Braking resistor defective or not correctly connected Check function of braking resistor (incl. cabling andconnection)

Hardware defect in brake control Replace power section or entire drive controller

Note: Only Rexroth service engineers or especially trained users areallowed to replace the power section. The replacement of theentire drive controller is described in the Project PlanningManual for the power section.






E2810 Drive system not ready for operationContained in 02VRS: «MPB» «MPD» «MPH»




One or several drives of a "drive system" (devices interconnected viadirect voltage DC bus)

• signal a drive error to the module bus (Fxxxx) with the supply unit notyet ready for power output

- or -

• are left in communication phase P0 by the master ("passive axis" or"deactivated axis") while other drives are in P4 ("bb").

Power on is impossible in these cases, the supply unit or the convertersignal E2810 on the display.

Cause Remedy

Error message of one or several drives of a drivesystem

Identify drive or drives signaling an error. Remove causeof error at respective drive or drives

One or several drives still are in communicationphase P2

Switch drives to communication phase P4 ["ready foroperation" (bb)]

"Passive axes" (communication phase P0) signaltheir "faulty" status to drive system via module bus.Supply unit refuses power on

For passive axes ("P0"), set bit 1=0 [no signaling, notriggering of "package reaction" in case of error("passive axis")] in P-0-0118, Power supply,configuration






E2814 Undervoltage in mainsContained in 02VRS: «MPB» «MPD» «MPH»




The crest value of the mains voltage during operation has fallen below theparameterized threshold value. The threshold value can be individually setby the user via P-0-0810, Minimum mains crest value.

Cause Remedy

Mains voltage falls under load Check dimensioning of mains connection, increase feedwire cross section or use matching transformer, ifnecessary

Mains voltage too low at power on Use matching transformer




E2815 Overvoltage in mainsContained in 02VRS: «--» «--» «--»




Cause Remedy

Due to mains failure, mains voltage is above allowedvalue

Check mains voltage conditions






E2816 Undervoltage in power sectionContained in 02VRS: «MPB» «MPD» «MPH»




The warning E2816 is generated with the respective setting in P-0-0118,Power supply, configuration when the DC bus voltage in operation fallsbelow the values parameterized in P-0-0114, Undervoltage threshold.

Note: The parameter P-0-0114, Undervoltage threshold is presetwith a default value and, if required, can be changed by theuser.

Cause Remedy

DC bus voltage drops due to temporary overload Check drive dimensioning incl. devices connected at DCbus

Required acceleration currents are too high Reduce command acceleration by adjusting travelprofile

Faulty mains connection (e.g. loose contact) Check mains connection

P-0-0114, Undervoltage threshold has not beenadjusted to conditions in mains

Check and, if necessary, correct content of P-0-0114,Undervoltage threshold






E2818 Phase failureContained in 02VRS: «--» «--» «--»




A single-phase mains failure was detected. Power is not switched offunless undervoltage occurs in the DC bus (F2026).

Cause Remedy





E2819 Mains failureContained in 02VRS: «MPB» «MPD» «MPH»




A two-phase or three-phase mains failure was detected. Power is notswitched off unless undervoltage occurs in the DC bus (F2026).

Cause Remedy







E2820 Braking resistor overload prewarningContained in 02VRS: «MPB» «MPD» «MPH»




90% of the energy absorption capacity of the braking resistor have beenreached.

Cause Remedy

Allowed deceleration of connected drives too high Reduce deceleration of connected drives

Energy absorption capacity of braking resistor isalmost exhausted

Switch power off with a delay in the case of OFF orE-STOP (for regenerative supplies)

Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum drive speed ofapplication

Continuous regenerative power and/or rotary driveenergy is too high

Check dimensioning of braking resistor and, ifnecessary, increase dimensioning



E2829 Not ready for power onContained in 02VRS: «MPB» «MPD» «MPH»




The mains voltage for power supply cannot yet be switched on for theHCS03 converter; the device is not yet ready for loading the DC buscapacitances.

Cause Remedy

Resistors for loading DC bus capacitances still arethermally loaded due to last loading process

Wait until converter clears warning E2829





Notes

Rexroth IndraDrive Command Diagnostic Messages 9-1


9 Command Diagnostic Messages

9.1 Commands

Note: Each command that was started by a control unit must beactively cleared again.

See also "Basic Functions of Master Communication, CommandProcessing"

C0100 Communication phase 3 transition checkContained in 02VRS: «MPB» «MPD» «MPH»




The S-0-0127, C0100 Communication phase 3 transition checkcommand was activated.

Note: This status is displayed on the control panel of the drive with"C01".

C0100 - AttributesDisplay: C01

Mess. no.: C0100 (hex)

C0200 Exit parameterization level procedure commandContained in 02VRS: «MPB» «MPD» «MPH»




The command S-0-0128, C0200 Communication phase 4 transitioncheck has been activated.

The command S-0-0422, C0200 Exit parameterization level procedurecommand has been activated.



02VRS / 03VRS

As of 04VRS

9-2 Command Diagnostic Messages Rexroth IndraDrive


C0300 Command Set absolute measuringContained in 02VRS: «MPB» «MPD» «MPH»




The command for setting the absolute measuring (P-0-0012, C0300Command Set absolute measuring) was activated.

See also Functional Description "Set Absolute Measuring"



C0400 Activate parameterization level 1 procedure commandContained in 02VRS: «MPB» «MPD» «MPH»




The command for switching to the parameter mode was started viaparameter P-0-4023, C0400 Communication phase 2 transition.

Note: This command has to be carried out before editing parametersthat can only be written in the parameter mode.

The command for switching to the parameter mode was started viaparameter S-0-0420, C0400 Activate parameterization level 1procedure command.



02VRS / 03VRS

As of 04VRS



C0500 Reset class 1 diagnostics, error resetContained in 02VRS: «MPB» «MPD» «MPH»




The command for clearing errors, S-0-0099, C0500 Reset class 1diagnostics, was activated. All drive-internal errors are cleared.

Note: Only those errors can be cleared that were removed! Errorsthat are still present after clearing will cause the errormessage to be generated again.

CAUTION

Damage to the internal memory (flash) causedby too many write accesses!⇒ During the execution of this command, data are

written to the internal memory (flash). As each flashonly allows a limited number of write accessesbefore its memory locations are destroyed, youshould make sure that such write accesses won't becarried out too often.



C0600 Drive-controlled homing procedure commandContained in 02VRS: «MPB» «MPD» «MPH»




The command for drive-controlled homing, S-0-0148, C0600 Drive-controlled homing procedure command, was activated.

See also Functional Description "Drive-Controlled Homing"





C07_0 Load defaults procedure com. (load controller param.)Contained in 02VRS: «MPB» «MPD» «MPH»




The message C07_0 on the display of the drive controller shows that thecommand C07_0 Load defaults procedure command (load controllerparameters) was activated.

The command can be started as follows:

• via the parameter S-0-0262, C07_x Load defaults procedurecommand or

• via the control panel of the drive controller or

• by starting the command S-0-0099, C0500 Reset class 1 diagnosticswhen the drive controller displays "RL" (occurs if parametersS-0-0141, Motor type and P-0-2141, Motor type, encoder memoryare different).

Note: With parameter S-0-0262 it is possible to start anothercommand, the C07_1 Load defaults procedure command(load basic parameters) command. In parameter P-0-4090,Index for C07 Load defaults procedure it is possible to setwhich of both commands is started.

The C07_0 Load defaults procedure command (load controllerparameters) can only be carried out in the case of motors of the MHD,MKD and MKE lines. In the case of these motors, the controllerparameters are loaded from the motor encoder data memory to the drivecontroller and some controller parameters are set to their default values.

CAUTION

The command C07_0 Load defaults procedurecommand (load controller parameters)overwrites user-defined controller settings!⇒ Only use this command if you want to load standard

controller parameter values. For saving and thenloading user-defined parameter values there arespecific commands available.

See also Functional Description "Loading, Storing and SavingParameters"

See also Functional Description "Control Panel of the IndraDriveControllers"



CAUTION



C0700 - AttributesDisplay: C07_0




C07_2 Load def. proc. com. (load def. pr. for safety techn.)Contained in 02VRS: «MPB» «MPD» «MPH»




The message C07_2 on the display of the drive controller shows that thecommand C07_2 Load def. proc. com. (load def. pr. for safety techn.)was activated.


1. Enter value 165 for "load defaults procedure for safety technology" inparameter P-0-4090, Index for C07 Load defaults procedure

2. Start S-0-0262, C07_x Load defaults procedure command

Note: It is possible to start further commands with parameterS-0-0262. In parameter P-0-4090, Index for C07 Loaddefaults procedure it is possible to set which command isstarted.

The command C07_2 Load def. proc. com. (load def. pr. for safetytechn.) deactivates the safety technology and sets all safety technologyparameters to their default value.

CAUTION

The command C07_2 Load def. proc. com. (loaddef. pr. for safety techn.) overwrites user-defined safety technology settings!⇒ Only use this command if you want to commission

safety technology again.

CAUTION







C07_1 Load defaults procedure com. (load basic parameters)Contained in 02VRS: «MPB» «MPD» «MPH»




The basic parameter set (firmware-specific default values for allparameters) stored in the firmware is loaded. All previous parametervalues are overwritten.

CAUTION





C0800 Load basic parameters commandContained in 02VRS: «--» «--» «--»




Note: This command is only available for manufacturer-side testingand developing purposes!





C0900 Position spindle commandContained in 02VRS: «MPB» «--» «MPH»




Via the control unit the S-0-0152, C0900 Position spindle commandparameter was activated.

See also Functional Description "Spindle Positioning"



C1200 Commutation offset setting commandContained in 02VRS: «MPB» «MPD» «MPH»




The command for setting the commutation offset, P-0-0524, C1200Commutation offset setting command, was activated.

Which one of the two methods with current (saturation or sine-wavemethod) is to be active has to be set in P-0-0522, Control word forcommutation setting before.

Note: Correctly set commutation offset is obligatory for operatingsynchronous kit motors and synchronous third-party motors!






C1300 Positive stop drive procedure commandContained in 02VRS: «MPB» «MPD» «MPH»




The command S-0-0149, C1300 Positive stop drive procedurecommand was activated.

See also Functional Description "Positive Stop Drive Procedure"



C1400 Command Get marker positionContained in 02VRS: «MPB» «MPD» «MPH»




The P-0-0014, C1400 Command Get marker position command wasstarted.

The "C14" display signals that the command is executed.

In the case of incremental measuring systems, the reference mark ischecked for correct detection.

See also Functional Description "Detect marker position"





C1500 Cancel reference point procedure commandContained in 02VRS: «--» «--» «--»




The command S-0-0191, C1500 Cancel reference point procedurecommand was started.


The reference of the encoder selected via S-0-0147, Homing parameteris cleared.




C1600 Parking axis commandContained in 02VRS: «--» «--» «--»




The command S-0-0139, C1600 Parking axis command has beenactivated.

See also Functional Description of firmware "Parking Axis"

C1600 - AttributesDisplay: PA




C1700 Command measuring wheel modeContained in 02VRS: «MPB» «MPD» «MPH»




The P-0-0240, C1700 Command measuring wheel mode was started.



C1800 Command automatic control loop settingContained in 02VRS: «MPB» «MPD» «MPH»




By starting the command P-0-0162, C1800 Command Automaticcontrol loop adjust automatic control loop setting is carried out in thedrive, if the drive is in control at the start of the command (i.e. driveenable must have been set).

WARNING

⇒ Starting the command C1800 can immediatelytrigger a motion, if drive enable and drive start areset at the drive.

⇒ The drive automatically (i.e. without externalcommand value input) carries out motions within thetravel range defined before with the two limits(P-0-0166, Lower limit for autom. control loopadjust and P-0-0167, Upper limit for autom.control loop adjust).

⇒ Check and make sure that the E-Stop circuit and thetravel range limit switches are working.

See also Functional Description "Safety Instructions"

See also Functional Description "Automatic Setting of Axis Control"





C2000 Command Release motor holding brakeContained in 02VRS: «MPB» «MPD» «MPH»




The P-0-0542, C2000 Command Release motor holding brakecommand was started.

While the command is executed the motor holding brake is released.





C2100 Brake check commandContained in 02VRS: «MPB» «MPD» «MPH»




The P-0-0541, C2100 Brake check command was activated.






C2200 Backup working memory procedure commandContained in 02VRS: «MPB» «MPD» «MPH»




The command S-0-0264, C2200 Backup working memory procedurecommand was activated.

CAUTION







C2300 Load working memory commandContained in 02VRS: «MPB» «MPD» «MPH»




The command S-0-0263, C2300 Load working memory procedurecommand was activated.

CAUTION





C2400 Selectively backup working memory procedure commandContained in 02VRS: «MPB» «MPD» «MPH»




The S-0-0293, C2400 Selectively backup working memory procedurecommand was activated.





C2500 Copy IDN from optional memory to internal memoryContained in 02VRS: «MPB» «MPD» «MPH»




The command P-0-4091, C2500 Copy IDN from optional memory tointernal memory was started.

All parameters are copied from the optional memory (MMC) to the internalmemory (flash).

The display "C25" signals that the command is executed and theparameters are loaded from the MMC to the drive.

Note: The MMC can only be used as an optional memory for controlsections with MMC slot.

CAUTION








C2600 Copy IDN from internal memory to optional memoryContained in 02VRS: «MPB» «MPD» «MPH»




The command P-0-4092, C2600 Copy IDN from internal memory tooptional memory was started.

All parameters are copied from the internal memory (flash) to the optionalmemory (MMC).

The display "C26" signals that the command is executed and theparameters are written from the drive to the MMC.


CAUTION








C2800 Analog input adjust commandContained in 02VRS: «MPB» «MPD» «MPH»




By executing the command P-0-0220, C2800 Analog input adjustcommand it is possible to carry out an automatic adjust (zero point andgain) of the analog input.

Note: The command is controlled by the settings in P-0-0218,Analog input, control parameter.

Execution of the command takes some time; the status of thecommand is shown in S-0-0135, Drive status word or can bepolled by a write command to parameter element 1 of thecommand parameter.

See also Functional Descriptions

• "Command Processing"

• "Analog Inputs"





C2900 Command Firmware update from MMCContained in 02VRS: «MPB» «MPD» «MPH»




The command P-0-4072, C2900 Command Firmware update fromMMC was started.

The firmware is copied from the MultiMediaCard (MMC) to the drive-internal memory.


Note: Upon successful firmware update the drive has to be rebootedby switching it off and on again so that the firmware copiedbefore becomes active. If you try to switch to the operatingmode without the drive having been rebooted, there will eitheroccur a switching command error or a system error (F8xxx)entered before the firmware update will be displayed again.

See also Functional Description "Firmware Update"





C3000 Synchronize and store safety technology IDNContained in 02VRS: «MPB» «MPD» «MPH»




By execution of the command P-0-3204, C3000 Synchronize and storesafety technology IDN command channel 2 accepts the safetyparameters of channel 1 and stores them in the safety memory.



C3100 Recalculate actual value cycleContained in 02VRS: «MPB» «MPD» «MPH»




When the command P-0-0071, C3100 Recalculate actual value cycle isexecuted, the modulo value for the actual value cycle is recalculated.





C3200 Command Calculate motor dataContained in 02VRS: «MPB» «MPD» «MPH»




The command is started via the command parameter P-0-4033, C3200Command Calculate motor data.

While the command is executed, the values in P-0-4032, Motor typeplate data are checked for validity and completeness. Then the motorparameters are calculated according to type plate data.

Note: To calculate the controller parameters the current settings isP-0-0001, Switching frequency of the power output stageand P-0-0556, Control word of axis controller (with regardto controller performance) are taken as basis. If one of theseparameters is changed after the command has been started,the controller settings may not be correct any more.





C3300 Set coordinate system procedure commandContained in 02VRS: «MPB» «MPD» «MPH»




The command for setting the coordinate system (S-0-0197, C3300 Setcoordinate system procedure command) was activated.

See also Functional Description "Shifting the Position Data Reference forRelative and Absolute Measuring Systems"



C3400 Shift coordinate system procedure commandContained in 02VRS: «MPB» «MPD» «MPH»




The command for shifting the coordinate system (S-0-0199, C3400 Shiftcoordinate system procedure command) was activated.

See also Functional Description "Shifting the Position Data Reference forRelative and Absolute Measuring Systems"





C3500 Command Determine encoder correction valuesContained in 02VRS: «MPB» «MPD» «MPH»




By executing the command P-0-0340, C3500 Command Determineencoder correction values signal shape errors of a measuring systemwith sinusoidal signals are determined and correction values are stored inP-0-0342, Correction value table for encoder correction.

The encoder the signal shape error of which is to be compensated has tobe selected in P-0-0341, Control word for encoder correction.



C3600 Command Motor data identificationContained in 02VRS: «--» «--» «--»




The command P-0-0565, C3600 Command Motor data identificationhas been activated.

See also Functional Description "Automatic adjustment of the MotorControl Parameters"





C3700 Manually unlocking the safety doorContained in 02VRS: «MPB» «MPD» «MPH»




In the case of an encoder error the safety technology can no longerguarantee dual-channel safety. It would then be impossible, for example,to detect a coasting spindle.

Note: Executing command C3700 is only allowed when there is asafety technology error in the drive.

DANGER

Lethal injury caused by moving parts in thesafety zone!⇒ The locking device of the safety door may only be

unlocked by command C3700 after an additionalvisual check.

After the execution of command C3700 (P-0-3218, C3700 Manuallyunlocking the safety door) the drive signals safety via I/O20 in spite ofthe encoder error. In the special mode "safety related stopping process"(selected via operating mode switch), the safety technology master canunlock the locking device of the safety door although an axis in the safetyzone has an encoder error.



Behavior



C3800 Command Apply motor holding brakeContained in 02VRS: «MPB» «MPD» «MPH»




The command P-0-0543, C3800 Command Apply motor holding brakewas started.

While the command is executed the motor holding brake is applied.




C3900 Command Abrasion of brakeContained in 02VRS: «MPB» «MPD» «MPH»




The command P-0-0544, C3900 Command Abrasion of brake wasactivated.




C4000 Homing procedure command channel 2Contained in 02VRS: «MPB» «MPD» «MPH»




The command P-0-3228, C4000 Homing procedure commandChannel 2 was started.

See also documentation "Integrated Safety Technology", keyword "SafetyRelated Homing Procedure"





C4100 Switch parameter set commandContained in 02VRS: «--» «--» «--»




The command S-0-0216, C4100 Switch parameter set command wasstarted.

See also Functional Description "Parameter Set Switching"



C4200 Drive-controlled oscillation commandContained in 02VRS: «--» «--» «--»




The command S-0-0190, C4200 Drive-controlled oscillation commandwas started.

See also Functional Description "Drive-Controlled Oscillation"





C4300 NC-controlled homing procedure commandContained in 02VRS: «--» «--» «--»




The command for NC-controlled homing (S-0-0146, C4300 NC-controlled homing procedure command) was activated. The masterinputs the command values for moving the axis to the reference point andcontrols the homing procedure via commands and the respectiveparameters.

Note: The control information for homing has to be defined inS-0-0147, Homing parameter.

See also Functional Description "Establishing Position Data Reference forRelative Measuring Systems"





C4400 Calculate displacement procedure commandContained in 02VRS: «--» «--» «--»




The command for calculating the displacement values (S-0-0171,Calculate displacement procedure command) was activated.

See also S-0-0175, Offset parameter 1 and S-0-0176, Offsetparameter 2




C4500 Displacement to referenced system procedure commandContained in 02VRS: «--» «--» «--»




The command S-0-0172, C4500 Displacement to referenced systemprocedure command was activated.






C4600 Command Calculate motor control parametersContained in 02VRS: «--» «--» «--»




The command P-0-0566, C4600 Command Calculate motor controlparameters has been activated.




C4700 Command Activate easy startup modeContained in 02VRS: «--» «--» «--»




The command for starting the "easy startup" mode (commissioning modefor SERCOS and field bus devices; P-0-4085, C4700 CommandActivate easy startup mode) was activated.

See also Functional Description "Initial Start in Easy Startup Mode"



C4900 PLC commandContained in 02VRS: «--» «--» «--»




The command P-0-1449, C4900 PLC command for controlling a PLCprogram was started.

See also Application Manual "Rexroth IndraMotion MLD-S"





C5200 Communication phase 4 transition checkContained in 02VRS: «--» «--» «--»




The command S-0-0128, C5200 Communication phase 4 transitioncheck has been activated.

Note: This status is displayed on the control panel of the drive with"C52".



C5400 Command Save PLC retain data on MMCContained in 02VRS: «--» «--» «--»




The command P-0-4054, C5400 Command Save PLC retain data onMMC was started.


When the command is executed, the PLC retain data (P-0-1359, PLCretain data) are copied from the internal memory (flash/memory oninterface option "MD1") to the optional memory [MulitMediaCard (MMC)].The data are stored in the folder "PLC" in the file "SPS-Retain.pbf".







C5500 Command Load PLC retain data from MMCContained in 02VRS: «--» «--» «--»




The command P-0-4055, C5500 Command Load PLC retain data fromMMC was started.


The PLC retain data (P-0-1359, PLC retain data) are loaded from theoptional memory [MulitMediaCard (MMC)] to the internal memory(flash/memory on interface option "MD1").







C5600 Command subsequent optimization of commutation offsetContained in 02VRS: «--» «--» «--»




The command for subsequent optimization of the commutation offsetsetting, P-0-0518, C5600 Command subsequent optimization ofcommutation offset, was activated.


See also Functional Description of firmware "Commutation Setting"



C6000 Command Set absolute measuringContained in 02VRS: «--» «--» «--»




The command for setting the absolute measuring (S-0-0447, C6000Command Set absolute measuring) was activated.






9.2 Command errors

Note: A command error can not be eliminated via "clear error", butonly by terminating the associated command.

C0101 Invalid parameters (-> S-0-0021)Contained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0127, C0100 Communication phase 3transition check is executed, internal variables are initialized and theavailable parameters are checked (e. g. for validity). An error wasdetected during the execution of the command.

Cause Remedy

Data block elements required in communicationphase 3 are missing or invalid

Write allowed operating data to the respectiveparameters(these parameters can be taken from the listS-0-0021, IDN list of invalid operating data forcommunication phase 2)

A change was made in P-0-2003, Selection offunctional packages. Then you failed to rebootbefore trying to switch to the operating mode.

Check the content of P-0-2003, Selection of functionalpackages and reboot (i. e. switch device off and onagain)

A change of functional packages was made inP-0-2003, Selection of functional packages whichhas an effect on customer- and application-specificparameter lists (i. e. S-0-0279)

Correct respective list parameters (these parameterscan be taken from the list S-0-0021, IDN list of invalidoperating data for communication phase 2).Problem can also be remedied by loading basicparameters (S-0-0262, C07_x Load defaultsprocedure command with respective setting inP-0-4090, Index for C07 Load defaults procedure).

Internal data memory defective Contact our service department

For removing command errors see "Command Errors"





C0102 Limit error in parameter (-> S-0-0021)Contained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0127, C0100 Communication phase 3transition check is executed, the limit values (minimum/maximum value)are checked for some parameters. An error was detected during theexecution of the command.

Cause Remedy

Parameter values required in communicationphase 3 are outside their allowed range of values(minimum or maximum value)

Write allowed values to parameters (cf.minimum/maximum value) (these parameters can betaken from list S-0-0021, IDN list of invalid operatingdata for communication phase 2)




C0103 Parameter conversion error (->S-0-0021)Contained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0127, C0100 Communication phase 3transition check is executed, the internal parameter formats arechecked in order to ensure the internal processing. An error was detectedduring the execution of the command.

Cause Remedy

Parameter values required in communicationphase 3 cannot be processed

Write allowed values to parameters (these parameterscan be taken from list S-0-0021, IDN list of invalidoperating data for communication phase 2)






C0104 Config. IDN for MDT not configurableContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to the telegramconfiguration of the master communication was detected.

Cause Remedy

in the S-0-0015, Telegram type parameter thetelegram type 7 (configured telegram) was set

set priority telegram (telegram type = 0..6) in S-0-0015,Telegram type parameter

in S-0-0024, Config. list of the master datatelegram there were some parameters entered thatare not contained in S-0-0188, List of configurabledata in the MDT

in S-0-0024, Config. list of the master data telegramthose parameters have to be entered that are containedin S-0-0188, List of configurable data in the MDT

Note: List parameters are only allowed in the multiplex channel.





C0105 Maximum length for MDT exceededContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error with regard to the telegramconfiguration of the master communication was detected.

Cause Remedy

In S-0-0015, Telegram type parameter telegramtype 7 (configured telegram) was set

Set priority telegram (telegram type = 0..6) in S-0-0015,Telegram type parameter

Length of configured data record in MDT that isdetermined by S-0-0024, Config. list of the masterdata telegram exceeds the maximum allowed valueentered in S-0-0186, Length of the configurabledata record in the MDT

Reduce number of configured parameters in MDT(S-0-0024, Config. list of the master data telegram)







C0106 Config. IDNs for AT not configurableContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy



in S-0-0016, Custom amplifier telegramconfiguration list there were some parametersentered that are not contained in S-0-0187, List ofconfigurable data in the AT

in S-0-0016, Custom amplifier telegram configurationlist those parameters have to be entered that arecontained in S-0-0187, List of configurable data in theAT




C0107 Maximum length for AT exceededContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy



the length of the configured data record in the ATthat is determined by S-0-0016, Custom amplifiertelegram configuration list, exceeds the maximumallowed value entered in S-0-0185, Length of theconfigurable data record in the AT

reduce the number of configured parameters in the ATin S-0-0016, Custom amplifier telegram configurationlist





C0108 Time slot parameter > Sercos cycle timeContained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0127, C0100 Communication phase 3transition check is executed, the timing setting for SERCOScommunication are checked. An error was detected during the executionof the command.

Cause Remedy

At least one of the following time slot parametersexceeds the SERCOS cycle time [S-0-0002,SERCOS Cycle time (Tscyc)]:• S-0-0006, AT Transmission starting time (T1)• S-0-0007, Feedb. acquisition starting time (T4)• S-0-0008, Command value valid time (T3)• S-0-0089, MDT Transmit starting time (T2)

Correct respective time slot parameter(s)Contact machine manufacturer or installationprogrammer

Note: The definition of the times for the time slot parameters is theresponsibility of the control unit manufacturer and is specifiedby SERCOS interface.






C0109 Position of data record in MDT (S-0-0009) evenContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error was detected.

Cause Remedy

Parameter S-0-0009, Position of data record inMDT contains an even value. This is not allowed.

Parameter S-0-0009, Position of data record in MDTmust be parameterized with an odd value

Note: The definition of the S-0-0009 parameter is the responsibilityof the control unit manufacturer and is specified by SERCOS.






C0110 Length of MDT (S-0-0010) oddContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Parameter S-0-0010, Length of master datatelegram contains an odd value. This is not allowed.

Parameter S-0-0010, Length of master data telegramhas to be parameterized with an even value







C0111 ID9 + Record length - 1 > length MDT (S-0-0010)Contained in 02VRS: «MPB» «MPD» «MPH»





The position of the data record in the master data telegram (MDT)(S-0-0009) plus the length of the data record in the MDT for the drive isgreater than the total length of the MDT (S-0-0010).

Ursache Abhilfe

Parameterization of S-0-0009, Position of datarecord in MDT and S-0-0010, Length of masterdata telegram is incorrect

Correct the parameterization of S-0-0009, Position ofdata record in MDT and S-0-0010, Length of masterdata telegram

Note: The definition of the S-0-0009 and S-0-0010 parameters is theresponsibility of the control unit manufacturer and is specifiedby SERCOS.





C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) errorContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error with regard to the SERCOS timingsettings was detected.

Cause Remedy

Setting of parameters S-0-0001, NC Cycle time(TNcyc) or S-0-0002, SERCOS Cycle time (TScyc)is incorrect

Correct parameters S-0-0001, NC Cycle time (TNcyc)and S-0-0002, SERCOS Cycle time (TScyc).There are settings of 500 µs for control sectionADVANCED (or 1 ms for control section BASIC) orintegral multiples of 1 ms allowed.







C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) errorContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Setting of parameters S-0-0001, NC Cycle time(TNcyc) or S-0-0002, SERCOS Cycle time (TScyc)is incorrect

Value of S-0-0001, NC Cycle time (TNcyc) can only beequal to or a multiple of S-0-0002, SERCOS Cycle time(TScyc).Correct parameters S-0-0001, NC Cycle time (TNcyc)and S-0-0002, SERCOS Cycle time (TScyc).







C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)Contained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Value for S-0-0007, Feedback acquisition startingtime (T4) is incorrect

Correct S-0-0007, Feedback acquisition starting time(T4).Maximum allowed value for S-0-0007, Feedbackacquisition starting time (T4) is calculated fromS-0-0002, SERCOS cycle time (TScyc) and S-0-0005,Minimum feedback acquisition time (T4min) asfollows:

S-0-0007 > S-0-0002 – S-0-0005







C0115 T2 too smallContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Value set for S-0-0089, MDT Transmit starting time(T2) is incorrect. Drive cannot run with this value

Correct S-0-0089, MDT Transmit starting time (T2)







C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010)Contained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Value for S-0-0008, Command valid time (T3) iswithin value for S-0-0089, MDT Transmit startingtime (T2). This could cause access problems inSERCOS communication

Check and if necessary correct setting of S-0-0089,MDT Transmit starting time (T2) and S-0-0008,Command valid time (T3)

Note: The definition of the SERCOS parameters is the responsibilityof the control unit manufacturer and is specified by SERCOS.






C0118 Order of cyclic command value configuration incorrectContained in 02VRS: «--» «--» «--»




The chronology of the processing of cyclical command value data in thedrive has the order in which the configured IDNs have been entered inparameter S-0-0024, Config. list of the master data telegram. Thefollowing parameters are available for using the multiplex mode in thecyclic command value telegram:

• S-0-0360, Data container A: command value 1,

• S-0-0362, Data container A: list index command values and

• S-0-0368, Data container A: addressing

If more than one of these parameters has been configured in the cycliccommand value telegram, their correct order is checked in the commandS-0-0127, C0100 Communication phase 3 transition check.

Cause Remedy

Incorrect order of relevant parameters in cycliccommand value telegram

Observe correct order of parameters in cyclic commandvalue telegram:Parameters S-0-0362, S-0-0366 and S-0-0368 in cycliccommand value telegram have to be located beforeparameters S-0-0360 and S-0-0450 to S-0-0456






C0119 Max. travel range too largeContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to the scaling of thedrive was detected.

Cause Remedy

S-0-0278, Maximum travel range incorrectlyparameterized The defined travel range is too large

Check and, if necessary, reduce parameterization ofS-0-0278. The value of S-0-0278, Maximum travelrange is to be selected in such a way that the resultinginternal position resolution guarantees a correctcommutation of the motor.

Inappropriate measuring system (resolution) formaximum travel range to be displayed

Check resolution of measuring system and, ifnecessary, use a different measuring system


See also Functional Description "Scaling of Physical Data"





C0120 Error when reading encoder data => motor encoderContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error during the reading of theencoder data from the data memory of the motor encoder was detected.

Note: Measuring systems with their own data memory are DSF/HSFand resolvers, as well as measuring systems with EnDatinterface (Heidenhain company) and HIPERFACE interface(Stegmann company).

Cause Remedy

Measuring system cable defective Check measuring system cable

Measuring system defective Replace measuring system

Encoder interface card defective Replace encoder interface card





C0121 Incorrect parameterization of motor encoder (hardware)Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to theparameterization of the motor encoder hardware was detected.

Cause Remedy

Parameterization P-0-0074, Encoder type 1 (motorencoder) does not match interface card (e.g. EN1with EnDat encoder)

Check whether parameterized encoder type matchesinterface card that has been plugged in

In the case of "current control with motor encoder"(see P-0-0045, Control word of currentcontroller), "operation without encoder" wasdetected to have been set in P-0-0074, Encodertype 1 (motor encoder)

Enter value appropriate for motor encoder in P-0-0074,Encoder type 1 (motor encoder)

Parameterization in P-0-0077, Assignment motorencoder->optional slot is incorrect

Correct assignment of motor encoder and optional slotin parameter P-0-0077, Assignment motorencoder->optional slot





C0122 Incorr. parameteriz. of motor enc. (mechanical system)Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error was detected with regard toscaling that was set and the selected motor encoder type (e.g. rotaryscaling with linear motor).

Cause Remedy

Incorrect encoder type (S-0-0277, Positionfeedback 1 type)

Check and, if necessary, correct S-0-0277, Positionfeedback 1 type

Parameterized scaling (S-0-0076, Position datascaling type) is incorrect

Check and, if necessary, correct S-0-0076, Positiondata scaling type






C0123 Modulo value for motor encoder cannot be displayedContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to the modulo valuefor the motor encoder was detected.

Cause Remedy

Parameterized value for S-0-0103, Modulo value isgreater than maximum travel range (cf. S-0-0278,Maximum travel range)

Correct the content of S-0-0103, Modulo value or thevalue of S-0-0278, Maximum travel range

Parameterized value for S-0-0103, Modulo valuecannot be internally displayed with the gear ratiosthat have been set (S-0-0121/S-0-0122,P-0-0121/P-0-0122)

Correct content of S-0-0103, Modulo value or the gearratios that have been set [S-0-0121, Input revolutionsof load gear/S-0-0122, Output revolutions of loadgear; P-0-0121, Gear 1 motor-side (motorencoder)/P-0-0122, Gear 1 encoder-side (motorencoder)]






C0124 Motor encoder unknownContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to the motorencoder was detected. The content of P-0-1000, Kind of encoder 1,encoder memory is invalid and therefore the parameterized motorencoder is not allowed (e.g. rotary scaling with linear encoder).

Cause Remedy

Encoder memory (feedback) is defective Encoder (or motor) must be replaced

Kind of motor encoder (P-0-1000, Kind ofencoder 1, encoder memory) is not supported bythe firmware

Check content of P-0-1000, Kind of encoder 1,encoder memory and contact our service department

Detected kind of encoder does not matchparameterized type of encoder

Check control section configuration and, if necessary,replace control section by a correctly configured controlsection or replace complete drive controller







C0125 Error when reading encoder data => optional encoderContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error during the reading of theencoder data from the data memory of the optional encoder wasdetected.


Cause Remedy








C0126 Incorrect parameterization of optional enc. (hardware)Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to theparameterization of the hardware of the optional encoder was detected.

Cause Remedy

The parameterization P-0-0075, Encoder type 2(optional encoder) does not match the interfacecard (e.g. EN1 with EnDat encoder)

Correct the parameterization of P-0-0075, Encodertype 2 (optional encoder)

P-0-0078, Assignment optional encoder->optionalslot incorrect

Correct the parameterization of P-0-0078, Assignmentoptional encoder->optional slot

See also Functional Description "Measurement Systems"





C0127 Incorr. parameteriz. of opt. enc. (mechanical system)Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error was detected with regard toscaling that was set and the selected motor encoder type (e.g. rotaryscaling with linear optional encoder).

Cause Remedy


Check and. if necessary, correct S-0-0115, Positionfeedback 2 type








C0128 Modulo value for optional encoder cannot be displayedContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to the modulo valuefor the optional encoder was detected.

Cause Remedy


Correct content of S-0-0103, Modulo value or value ofS-0-0278, Maximum travel range


Correct content of S-0-0103, Modulo value or the gearratios that have been set [S-0-0121, Input revolutionsof load gear/S-0-0122, Output revolutions of loadgear; P-0-0121, Gear 1 motor-side (motor encoder)/P-0-0122, Gear 1 encoder-side (motor encoder)]

Encoder resolution (S-0-0117, Feedback 2Resolution) incorrectly parameterized

Check and, if necessary, correct parameterization ofS-0-0117, Feedback 2 Resolution

Resolution of encoder does not match requiredmodulo range

Replace encoder







C0129 Optional encoder unknownContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to the optionalencoder was detected. The content of P-0-1010, Kind of encoder 2,encoder memory is invalid and therefore the parameterized optionalencoder is not allowed (e.g. rotary scaling with linear encoder).

Cause Remedy

Encoder memory (feedback) is defective Encoder must be replaced











C0130 Maximum travel range cannot be displayed internallyContained in 02VRS: «MPB» «MPD» «MPH»




In the case of absolute scaling, the maximum travel range represents theoverflow limit of the actual position values. If this travel range cannot bedisplayed correctly internally so that position generation without error isimpossible, this error is generated.

Cause Remedy

S-0-0278, Maximum travel range incorrectlyparameterized

Check and if necessary reduce S-0-0278, Maximumtravel range

S-0-0116 / S-0-0117 incorrectly set (e.g. value "0") Check and if necessary correct S-0-0116, Feedback 1Resolution / S-0-0117, Feedback 2 Resolution

Value for S-0-0278, Maximum travel range isinvalid although it might be within the respectiveabsolute encoder range

Check S-0-0278, Maximum travel range and ifnecessary change value (take respective absoluteencoder range into account!)

Position resolution of a pole pair or of pole pairdistance is too low. Commutation offset valueinternally cannot be displayed precisely enough

P-0-0018, Number of pole pairs/pole pair distancehas value "0" or a too small value (maybe incorrect unit).Check and if necessary correct P-0-0018, Number ofpole pairs/pole pair distance







C0131 Switching to phase 3 impossibleContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) a forbidden attempt to switch to phase 3was detected.

Cause Remedy

during a firmware download there was an attempt toswitch from communication phase 2 tocommunication phase 3

wait until the firmware download is completed beforeswitching to another communication phase

after a boot error (F81xx error) there was an attemptto switch from communication phase 2 tocommunication phase 3

clear the error, remove its cause and then boot up thedrive again





C0132 Invalid settings for controller cycle timesContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error in the parameterization of controllercycle times or PWM switching frequencies was detected.

P-0-0556, Control wordof axis controller, bit 2

P-0-0001,Switching frequency of thepower output stage

TA positionloop

TA velocity loop TA currentloop

0 (Basic) 16 kHz 500 µs 250 µs 62.5 µs

0 (Basic) 12 kHz 500 µs 250 µs 83.3 µs

0 (Basic) 8 kHz 500 µs 250 µs 125.0 µs

0 (Basic) 4 kHz 500 µs 250 µs 125.0 µs

0 (Basic) 2kHz 500 µs 250 µs 250,0 µs

1 (Advanced) 16 kHz 250 µµµµs 125 µµµµs 62.5 µµµµs



TA: sampling time

Fig. 9-1: Possible controller cycle times depending on controller performanceand switching frequency that have been set

Cause Remedy

Parameterization of P-0-0556, Control word of axiscontroller does not comply with switching frequencyof 12 kHz set in P-0-0001, Switching frequency ofthe power output stage

Select setting "Basic performance" (cf. bit 2) inP-0-0556, Control word of axis controller

Incorrect parameterization of selected switchingfrequency in P-0-0001, Switching frequency of thepower output stage with given controllerperformance (= sampling rate/time)

In P-0-0001, Switching frequency of the poweroutput stage select allowed switching frequency (seetable)

See also Functional Description "Features of the Control Loops"






C0134 Invalid motor data in encoder memory (->S-0-0021)Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error during the reading of the motordata from the data memory of the motor encoder was detected.

The respective parameters are entered in the S-0-0021, IDN list ofinvalid operating data for communication phase 2 parameter.

Cause Remedy



Encoder interface defective Replace control section or complete drive controller







C0135 Type of construction of motor P-0-4014 incorrectContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error in the parameterization of the kind ofmotor was detected.

In P-0-4014, Kind of motor a motor with encoder data memory wasparameterized but there wasn't any known motor type designationrecognized in the encoder.

Cause Remedy

A motor without encoder data memory wasconnected

Parameterize P-0-4014, Kind of motor correctly orconnect a motor with encoder data memory

Encoder defective Replace encoder






C0136 Several motor encoders connectedContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check two motor encoders were detected during theencoder configuration check.

Cause Remedy

Two encoders were detected; in their data memoriesa valid and known motor type string is contained inP-0-2141, Motor type, encoder memory

Replace one of encoders by encoder without valid motortype string

Encoder connectors of neighboring axes wereinterchanged

Check axis assignment of encoder connectors andassign to correct axis






C0137 Error during initialization of motor data (->S-0-0021)Contained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error during the initialization of motor datawas detected. The respective parameters are entered in the list S-0-0021,IDN list of invalid operating data for communication phase 2.

Cause Remedy

Invalid motor data stored in motor data memory Replace motor or contact service department forcorrection of motor data

Encoder cable defective or bad shielding Check encoder cable and shielding

Encoder memory or encoder electronics defective Replace encoder








C0138 Invalid control section data (->S-0-0021)Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error during the initialization of thecontrol section data was detected. The respective parameters are enteredin the list S-0-0021, IDN list of invalid operating data forcommunication phase 2.

Cause Remedy

Reading error from I2C-Prom due to hardware defect For detailed error diagnosis contact our servicedepartment




C0139 T2 (S-0-0089)+length MDT (S-0-0010)>TScyc (S-0-0002)Contained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error with regard to the timing setting of theSERCOS interface was detected. The phase switch to communicationphase 3 is prevented.

Cause Remedy

Sum of transmit starting time of master datatelegram set by master [S-0-0089, MDT Transmitstarting time (T2)] and length of data record ofmaster data telegram (S-0-0010, Length of masterdata telegram) exceeds SERCOS cycle time[S-0-0002, SERCOS Cycle time (TScyc)]. Thismeans that master data telegram overlaps themaster synchronization telegram (MST)

Parameterize smaller value for transmit starting time ofmaster data telegram [S-0-0089, MDT Transmitstarting time (T2)]






C0140 Rotary scaling not allowedContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error was detected with regard toscaling that was set and the selected motor type (e.g. rotary scalingalthough a linear motor is used). The phase switch to communicationphase 3 is prevented.

Cause Remedy

Although a linear motor is used, rotary scaling wasselected in at least one of the following parameters:S-0-0044, Velocity data scaling typeS-0-0076, Position data scaling typeS-0-0086, Torque/force data scaling typeS-0-0160, Acceleration data scaling type

Check and correct respective scaling parameter(s) oruse a linear encoder




C0151 IDN for command value data container not allowedContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error with regard to the command valueconfiguration list was detected. The phase switch to communicationphase 3 is prevented.

Cause Remedy

A command value configuration list (S-0-0370 andS-0-0490 to S-0-0496) contains one or several IDNsthat aren't existing or not contained in S-0-0188, Listof configurable data in the MDT

Check parameters S-0-0370, Data container A:configuration list command value-1 and S-0-0490,Data container A: configuration list commandvalue 2 to S-0-0496, Data container A: configurationlist command value 8 for incorrect IDNs and correctthem







C0152 IDN for actual value data container not allowedContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error with regard to the actual valueconfiguration list was detected. The phase switch to communicationphase 3 is prevented.

Cause Remedy

An actual value configuration list (S-0-0371 andS-0-0500 to S-0-0506) contains one or several IDNsthat aren't existing or not contained in S-0-0187, Listof configurable data in the AT

Check parameters S-0-0371, Data container A:configuration list feedback value-1 and S-0-0500,Data container A: configuration list feedback value 2to S-0-0506, Data container A: configuration listfeedback value 8 for incorrect IDNs and correct them







C0153 Error at init. of synchr. motor with reluctance torqueContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check a validation error was detected during theinitialization of a synchronous motor with reluctance torque.

Note: The initialization of a synchronous motor with reluctancetorque is only run when this has been set in parameterP-0-4014, Kind of motor.

The initialization of a synchronous motor implies the following parameters:

• S-0-0109, Motor peak current

• S-0-0110, Amplifier peak current

• S-0-0111, Motor current at standstill

• P-0-0018, Number of pole pairs/pole pair distance

• P-0-0051, Torque/force constant

• P-0-4002, Charact. of quadrature-axis induct. of motor,inductances

• P-0-4003, Charact. of quadrature-axis inductance of motor,currents

• P-0-4016, Direct-axis inductance of motor

• P-0-4017, Quadrature-axis inductance of motor

Cause Remedy

Incomplete or invalid entries in parameters forinitialization of synchronous motor

Check parameter contents and enter data supplied bymotor manufacturer in above parameters. If error isgenerated in spite of correct data, please contact ourservice department

Initialization for synchronous motor with reluctancetorque was run although synchronous motor withoutreluctance torque is used

Correct setting in P-0-4014, Kind of motor

See also Functional Description "Third-Party Motors at IndraDriveControllers"






C0154 Field bus: IDN for cycl. command val. not configurableContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

In operating data of P-0-4081, Field bus: config.list of cyclic command value data ch. there is anIDN that is not contained in S-0-0188, List ofconfigurable data in the MDT

In P-0-4081, Field bus: config. list of cyclic commandvalue data ch. enter allowed IDN (cf. S-0-0188, List ofconfigurable data in the MDT)




C0155 Field bus: max. length for cycl. command val. exceededContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Sum of data widths of all IDNs entered in P-0-4081,Field bus: config. list of cyclic command valuedata ch. is exceeding max. value of P-0-4071, Fieldbus: length of cyclic command value datachannel

Reduce number of IDNs entered in P-0-4081, Fieldbus: config. list of cyclic command value data ch.





C0156 Field bus: IDN for cycl. actual val. not configurableContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

In operating data of P-0-4080, Field bus: config.list of cyclic command value data ch. there is anIDN that is not contained in S-0-0187, List ofconfigurable data in the AT

In P-0-4080, Field bus: config. list of cyclic commandvalue data ch. enter allowed IDNs (cf. S-0-0187, List ofconfigurable data in the AT)





C0157 Field bus: length for cycl. actual values exceededContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Sum of data widths of all IDNs entered in P-0-4080,Field bus: config. list of cyclic actual value datach. is exceeding max. value of P-0-4082, Field bus:length of cyclic actual value data channel

Reduce number of IDNs entered in P-0-4080, Fieldbus: config. list of cyclic actual value data ch.





C0158 Field bus: Tcyc (P-0-4076) incorrectContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error with regard to the timing settings ofthe master communication was detected.

Cause Remedy

P-0-4076, Field bus: cycle time (Tcyc) is not anintegral multiple of the position loop clock

Adjust P-0-4076, Field bus: cycle time (Tcyc) toposition loop clock (control section ADVANCED:500 µs or 250 µs, control section BASIC: 500 µs)

Note: The minimum field bus cycle time [P-0-4076, Field bus: cycletime (Tcyc)] is 500 µs for control section ADVANCED and1000 µs for control section BASIC.




C0159 Field bus: P-0-4077 missing for cycl. command valuesContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

The operating data of P-0-4081, Field bus: config.list of cyclic command value data ch. containsneither P-0-4077, Field bus: control word norP-0-4068, Field bus: control word IO. At least onecontrol word has to be contained.

According to profile type configure one of both controlwords in P-0-4081, Field bus: config. list of cycliccommand value data ch.






C0160 Error when reading encoder data => measuring encoderContained in 02VRS: «MPB» «MPD» «MPH»




It was impossible to read the encoder data (P-0-1020, Kind ofencoder 3, encoder memory, P-0-1021, Encoder 3 resolution,encoder memory, P-0-1022, Absolute encoder offset 3, encodermemory) correctly from the encoder memory during the initialization ofthe control section.

Cause Remedy

Interference caused by incorrect shielding ordefective encoder cable

Check encoder cable (incl. shielding) and, if necessary,replace or run it correctly

Encoder defective Check encoder function and, if necessary, replaceencoder

Measuring encoder option on control section isdefective


Incorrect parameterization of P-0-0076, Encodertype 3 (measuring encoder)

Check content of P-0-0076, Encoder type 3(measuring encoder) and correct it in such a way thatmeasuring encoder is correctly assigned to optional slot







C0161 Incorr. prarmeterization of measuring enc. (hardware)Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to theparameterization of the hardware of the measuring encoder was detected.

Cause Remedy

Parameterization of P-0-0076, Encoder type 3(measuring encoder) does not match interface card(e.g. EN1 with EnDat encoder)

Correct parameterization of P-0-0076, Encoder type 3(measuring encoder)

P-0-0079, Assignment measuring encoder->optional slot incorrectly parameterized

Correct parameterization of P-0-0079, Assignmentmeasuring encoder ->optional slot or change controlsection configuration (replacement of control section ordrive controller)

In the case of double-axis device (CDB controlsection) P-0-0076, Encoder type 3 (measuringencoder) was parameterized unequal "0" for bothaxes

Only one measuring encoder can be connected perdouble-axis device (CDB control section). P-0-0076,Encoder type 3 (measuring encoder) may only beunequal "0" for one axis







C0162 Measuring encoder unknownContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to the measuringencoder was detected. The content of P-0-1020, Kind of encoder 3,encoder memory is invalid and the measuring encoder therefore is notallowed.

Cause Remedy


Kind of motor encoder (P-0-1020, Kind ofencoder 3, encoder memory) is not supported bythe software


Detected kind of encoder does not matchparameterized type of encoder (P-0-0079,Assignment measuring encoder ->optional slot)

Check P-0-0079, Assignment measuring encoder->optional slot and, if necessary, replace controlsection by correctly configured control section or replacecomplete drive controller






C0163 Modulo value for measuring encoder cannot be displayedContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error was detected.

Cause Remedy

Value parameterized for P-0-0765, Modulo factormeasuring encoder cannot be displayed internallywith gear that was set

Correct content of S-0-0103, Modulo value ormeasuring gear settings (P-0-0127, Input revolutionsof measuring gear and P-0-0128, Output revolutionsof measuring gear)

P-0-0327, Encoder resolution of measuringencoder incorrectly parameterized

Check and, if necessary, correct content of P-0-0327,Encoder resolution of measuring encoder




C0164 Incorrect measuring encoder configurationContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check an error with regard to the measuring encoderconfiguration was detected.

Cause Remedy

At least one of selected operating modes issynchronization mode (velocity synchronization,phase synchronization or electronic cam shaft) andcontrol encoder of synchronization mode hassimultaneously been configured as measuringencoder. This configuration is not useful.

Check and, if necessary, correct parameterization ofoperating mode parameters (S-0-0032, Primary modeof operation; S-0-0033, Secondary operation mode 1;S-0-0034, Secondary operation mode 2;...) ifsynchronization mode is not required.If synchronization mode is required, deactivatemeasuring encoder or use additional encoder asmeasuring encoder.






C0199 Functional package selection changed. RestartContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0127, C0100 Communicationphase 3 transition check, the drive detected that the functional packageselection was changed in communication phase 2 but the drive was notrebooted.

Cause Remedy

Parameter P-0-2003, Selection of functionalpackages contains functional package selection notcorresponding to active functional package selection(cf. P-0-2004, Active functional packages)

Switch drive off and on again in order to accept thefunctional package selection of P-0-2003, Selection offunctional packages in P-0-2004, Active functionalpackages

Incorrect functional package selection in P-0-2003,Selection of functional packages

Set value in P-0-2003, Selection of functionalpackages to value in P-0-2004, Active functionalpackages

See also Functional Description "Enabling of Functional Packages"






C0201 Invalid parameters (->S-0-0423)Contained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0128, C0200 Communication phase 4transition check is executed, internal variables are initialized and theavailable parameters are checked (e.g. for validity). An error was detectedduring the execution of the command.

Cause Remedy


Write allowed operating data to respective parameters.(Respective parameters can be taken from listS-0-0022, IDN list of invalid operating data forcommunication phase 3)

While the command S-0-0422, C0200 Exit parameterization levelprocedure command is executed, internal variables are initialized andthe available parameters are checked (e.g. for validity). An error wasdetected during the execution of the command.

Cause Remedy


Write allowed operating data to respective parameters.(Respective parameters can be taken from listS-0-0423, IDN-list of invalid op. data forparameterization level)




02VRS / 03VRS

As of 04VRS



C0202 Parameter limit error (->S-0-0423)Contained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0128, C0200 Communication phase 4transition check is executed, the limit values (minimum/maximum value)are checked for some parameters. An error was detected during theexecution of the command.

Cause Remedy


Write allowed values to parameters (cf. min./max.value). (Respective parameters can be taken from listS-0-0022, IDN list of invalid operating data forcommunication phase 3)

While the command S-0-0422, C0200 Exit parameterization levelprocedure command is executed, the limit values (minimum/maximumvalue) are checked for some parameters. An error was detected duringthe execution of the command.

Cause Remedy


Write allowed values to parameters (cf. min./max.value). (Respective parameters can be taken from listS-0-0423, IDN-list of invalid op. data forparameterization level)




02VRS / 03VRS

As of 04VRS



C0203 Parameter calculation error (->S-0-0423)Contained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0128, C0200 Communication phase 4transition check is executed, the internal parameter formats arechecked in order to ensure the internal processing. An error was detectedduring the execution of the command.

Cause Remedy


Write allowed values to parameters. (Respectiveparameters can be taken from list S-0-0022, IDN list ofinvalid operating data for communication phase 3)

While the command S-0-0422, C0200 Exit parameterization levelprocedure command is executed, the internal parameter formats arechecked in order to ensure the internal processing. An error was detectedduring the execution of the command.

Cause Remedy


Write allowed values to parameters. (Respectiveparameters can be taken from list S-0-0423, IDN-list ofinvalid op. data for parameterization level)




02VRS / 03VRS

As of 04VRS



C0210 Feedback 2 required (->S-0-0423)Contained in 02VRS: «--» «--» «--»




Incorrect parameter setting was detected during the execution ofcommand S-0-0422, C0200 Exit parameterization level procedurecommand.

Note: S-0-0423, IDN-list of invalid op. data for parameterizationlevel contains the data which were detected to be invalidduring the execution of command S-0-0422, C0200 Exitparameterization level procedure command.

Cause Remedy

Bit for measuring wheel mode has been set inP-0-0185, Control word of encoder 2 (optionalencoder). Measuring wheel mode requires secondencoder which has not been parameterized

Parameterize encoder 2 in P-0-0075, Encoder type 2(optional encoder)

- or -

Deselect function "measuring wheel mode" in P-0-0185,Control word of encoder 2 (optional encoder)

Bit for redundant motor encoder has been set inP-0-0185, Control word of encoder 2 (optionalencoder). Second encoder, however, has not beenparameterized

Parameterize encoder 2 in P-0-0075, Encoder type 2(optional encoder)

- or -

Deselect redundant motor encoder in P-0-0185, Controlword of encoder 2 (optional encoder)





C0212 Invalid control section data (->S-0-0423)Contained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command an error during theinitialization of the control section data was detected. The respectiveparameters are entered in the list S-0-0423, IDN-list of invalid op. datafor parameterization level.

During the initialization of the device data an error was detected.

Cause Remedy

Reading error from I2C-Prom due to hardware defect If possible, replace hardware; otherwise contact ourservice department




C0218 Double signal selection master axis format converterContained in 02VRS: «--» «--» «--»


Contained in 04VRS: «--» «MPD» «--»


During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command an error occurred.

Cause Remedy

In the case of a double-axis device, a parameter wasselected in both axes in parameter P-0-0916, Masteraxis format converter signal selection the value ofwhich is to be converted to master axis format;however, there is only one master axis formatconverter available for a double axis device

Set parameter P-0-0916, Master axis format convertersignal selection of one axis of double-axis device to"S-0-0000"



For HMS, HMD, HCS

For HMV



C0219 Max. travel range too largeContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error with regard to the scaling of thedrive was detected.

Cause Remedy

S-0-0278, Maximum travel range incorrectlyparameterized The defined travel range is too large

Check and, if necessary, reduce parameterization ofS-0-0278. The value of S-0-0278, Maximum travelrange is to be selected in such a way that the resultinginternal position resolution guarantees a correctcommutation of the motor.

Inappropriate measuring system (resolution) formaximum travel range to be displayed

Check resolution of measuring system and, ifnecessary, use a different measuring system







C0220 Error when initializing position of encoder 1Contained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0128, C0200 Communication phase 4transition check is executed, the following checks are carried out forinitializing encoder 1 (motor encoder).

• offset between high-resolution and low-resolution track

• communication with encoder

• generation of position of an initialization track

• reading of analog signals of an initialization track

If the motor encoder is an HSF encoder, the following checks areadditionally carried out

• access of angle correction data

• pointer length of analog signals of an initialization track

If one of the above checks fails, the transition command error C0220 isgenerated.

Cause Remedy

Motor encoder cable defective Check and if necessary replace motor encoder cable

Motor encoder defective or error in micro controllerof measuring system

Replace motor

Measuring system interface defective Have measuring system interface replaced by servicedepartment






C0221 Initialization velocity encoder 1 too highContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check an error in the initialization velocity ofencoder 1 (motor encoder) was detected.

Cause Remedy

Velocity for initialization of encoder 1 was too high Reduce velocity for encoder initialization




C0223 Invalid settings for controller cycle timesContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command an error in theparameterization of controller cycle times or PWM switching frequencieswas detected.

For cause and remedy see C0132 Invalid settings for controller cycletimes.





C0224 Error when initializing position of encoder 2Contained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0128, C0200 Communication phase 4transition check is executed, the following checks are carried out forinitializing encoder 2 (optional encoder).





If the optional encoder is an HSF encoder, the following checks areadditionally carried out




Cause Remedy

Encoder cable defective Check and if necessary replace encoder cable

Encoder defective or error in micro controller ofmeasuring system

Replace encoder







C0225 Initialization velocity encoder 2 too highContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check an error in the initialization velocity ofencoder 2 (optional encoder) was detected.

Cause Remedy

Velocity for initialization of encoder 2 was too high Reduce velocity for encoder initialization






C0227 Error when initializing position of measuring encoderContained in 02VRS: «MPB» «MPD» «MPH»




While the command S-0-0128, C0200 Communication phase 4transition check is executed, the following checks are carried out forinitializing the measuring encoder.





If the measuring encoder is an HSF encoder, the following checks areadditionally carried out:




Cause Remedy

Encoder cable defective Check and if necessary replace encoder cable

Interference caused by incorrect shielding Check and if necessary correct cable shielding

Encoder defective or error in micro controller ofmeasuring system

Replace encoder







C0228 Initialization velocity measuring encoder too highContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check an error in the initialization velocity of themeasuring encoder was detected.

Cause Remedy

Velocity for initialization of measuring encoder wastoo high

Reduce velocity for encoder initialization






C0229 Field bus: IDN for cycl. command val. not configurableContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command an error with regard to thetelegram configuration of master communication was detected.

Cause Remedy

In operating data of P-0-4081, Field bus: config.list of cyclic command value data ch. there is anIDN that is not contained in S-0-0188, List ofconfigurable data in the MDT

In P-0-4081, Field bus: config. list of cyclic commandvalue data ch. enter allowed IDN (cf. S-0-0188, List ofconfigurable data in the MDT)




C0230 Field bus: max. length for cycl. command val. ExceededContained in 02VRS: «--» «--» «--»





Cause Remedy

Sum of data widths of all IDNs entered in P-0-4081,Field bus: config. list of cyclic command valuedata ch. exceeds max. value of P-0-4071, Fieldbus: length of cyclic command value datachannel

Reduce number of IDNs entered in P-0-4081, Fieldbus: config. list of cyclic command value data ch.





C0231 Field bus: IDN for cycl. actual val. not configurableContained in 02VRS: «--» «--» «--»





Cause Remedy

In operating data of P-0-4080, Field bus: config.list of cyclic command value data ch. there is anIDN that is not contained in S-0-0187, List ofconfigurable data in the AT

In P-0-4080, Field bus: config. list of cyclic commandvalue data ch. enter allowed IDNs (cf. S-0-0187, List ofconfigurable data in the AT)





C0232 Field bus: length for cycl. actual values exceededContained in 02VRS: «--» «--» «--»





Cause Remedy

Sum of data widths of all IDNs entered in P-0-4080,Field bus: config. list of cyclic actual value datach. exceeds max. value of P-0-4082, Field bus:length of cyclic actual value data channel

Reduce number of IDNs entered in P-0-4080, Fieldbus: config. list of cyclic actual value data ch.





C0233 Field bus: Tcyc (P-0-4076) incorrectContained in 02VRS: «--» «--» «--»





Cause Remedy

P-0-4076, Field bus: cycle time (Tcyc) is not anintegral multiple of position loop clock

Adjust P-0-4076, Field bus: cycle time (Tcyc) toposition loop clock (control section ADVANCED: 500 µsor 250 µs, control section BASIC: 500 µs)

Note: The minimum field bus cycle time (P-0-4076, Field bus: cycletime (Tcyc)) is 500 µs for control section ADVANCED and1000 µs for control section BASIC.




C0234 Field bus: P-0-4077 missing for cycl. command valuesContained in 02VRS: «--» «--» «--»





Cause Remedy

Operating data of P-0-4081, Field bus: config. listof cyclic command value data ch. contains neitherP-0-4077, Field bus: control word nor P-0-4068,Field bus: control word IO. At least one controlword has to be contained

According to profile type configure one of both controlwords in P-0-4081, Field bus: config. list of cycliccommand value data ch.






C0238 Order of cyclic command value configuration incorrectContained in 02VRS: «--» «--» «--»




The chronology of the processing of cyclic command value data in thedrive has the order in which the configured IDNs have been entered inparameter S-0-0024, Config. list of the master data telegram. Thefollowing parameters are available for using the multiplex mode in thecyclic command value telegram:

• S-0-0360, Data container A: command value 1,

• S-0-0362, Data container A: list index command values and

• S-0-0368, Data container A: addressing

If more than one of these parameters has been configured in the cycliccommand value telegram, their correct order is checked in the commandS-0-0128, C0200 Communication phase 4 transition check (02VRS /03VRS) or S-0-0422, C0200 Exit parameterization level procedurecommand (as of 04VRS).

Cause Remedy

Incorrect order of relevant parameters in cycliccommand value telegram

Observe correct order of parameters in cyclic commandvalue telegram:Parameters S-0-0362, S-0-0366 and S-0-0368 in cycliccommand value telegram have to be located beforeparameters S-0-0360 and S-0-0450 to S-0-0456






C0239 IDN for command value data container not allowedContained in 02VRS: «--» «--» «--»




During the execution of command S-0-0128, C0200 Communicationphase 4 transition check (02VRS / 03VRS) or S-0-0422, C0200 Exitparameterization level procedure command (as of 04VRS), an errorwith regard to the command value configuration list was detected.

Cause Remedy

A command value configuration list (S-0-0370 andS-0-0490 to S-0-0496) contains one or several IDNsthat aren't existing or not contained in S-0-0188, Listof configurable data in the MDT

Check parameters S-0-0370, Data container A:configuration list command value-1 and S-0-0490,Data container A: configuration list commandvalue 2 to S-0-0496, Data container A: configurationlist command value 8 for incorrect IDNs and correctthem







C0240 IDN for actual value data container not allowedContained in 02VRS: «--» «--» «--»




During the execution of command S-0-0128, C0200 Communicationphase 4 transition check (02VRS / 03VRS) or S-0-0422, C0200 Exitparameterization level procedure command (as of 04VRS), an errorwith regard to the actual value configuration list was detected.

Cause Remedy

An actual value configuration list (S-0-0371 andS-0-0500 to S-0-0506) contains one or several IDNsthat aren't existing or not contained in S-0-0187, Listof configurable data in the AT

Check parameters S-0-0371, Data container A:configuration list feedback value-1 and S-0-0500,Data container A: configuration list feedback value 2to S-0-0506, Data container A: configuration listfeedback value 8 for incorrect IDNs and correct them







C0242 Multiple configuration of a parameter (->S-0-0423)Contained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

For a double-axis device, a device-specific functionhas been activated in both axes (e.g. position switchactivated in both axes or encoder emulationactivated in both axes)

Read IDNs entered in S-0-0022, IDN list of invalidoperating data for communication phase 3 to find outfunction activated in both axes. Then deactivate functionin one of both axes

For cyclic parameter write, a parameter wassimultaneously configured in different interfaces. It isimpossible, however, to simultaneously write data tosame parameter from different interfaces.

Note: "Interfaces" means as well analog and digitalinputs as complete bus systems.

Read IDNs entered in S-0-0022, IDN list of invalidoperating data for communication phase 3 to detectand remove multiple configuration.

Note: Each multiple configuration/each conflict is listed in parameterS-0-0022, IDN list of invalid operating data forcommunication phase 3 and displayed in the following form:

- The 1st entry contains the IDN of the parameter that wasconfigured in a multiple way.

- The subsequent entries contain the IDNs of the parametersin which the multiple-configuration parameter was configuredfor cyclic parameter write.

- Up to 5 entries are displayed.

- In the IDN list, each conflict is concluded by the IDNS-0-0000. If several conflicts occur at the same time, they arerepresented one after the other in S-0-0022, IDN list ofinvalid operating data for communication phase 3, beingseparated by the IDN S-0-0000.

For each conflict, the configurations of the involved interfaces have to bemodified in such a way that only one interface writes data to a parameter.

02VRS / 03VRS



During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command an error was detected.

Cause Remedy

For a double-axis device, a device-specific functionhas been activated in both axes (e.g. position switchactivated in both axes or encoder emulationactivated in both axes)

Read IDNs entered in S-0-0423, IDN-list of invalid op.data for parameterization level to find out functionactivated in both axes. Then deactivate function in oneof both axes

For cyclic parameter write, a parameter wassimultaneously configured in different interfaces. It isimpossible, however, to simultaneously write data tosame parameter from different interfaces.

Note: "Interfaces" means as well analog and digitalinputs as complete bus systems.

Read IDNs entered in S-0-0423, IDN-list of invalid op.data for parameterization level to detect and removemultiple configuration.

Note: Each multiple configuration/each conflict is listed in parameterS-0-0423, IDN-list of invalid op. data for parameterizationlevel and displayed in the following form:

- The 1st entry contains the IDN of the parameter that wasconfigured in a multiple way.

- The subsequent entries contain the IDNs of the parametersin which the multiple-configuration parameter was configuredfor cyclic parameter write.

- Up to 5 entries are displayed.

- In the IDN list, each conflict is concluded by the IDNS-0-0000. If several conflicts occur at the same time, they arerepresented one after the other in S-0-0423, IDN-list ofinvalid op. data for parameterization level, being separatedby the IDN S-0-0000.

For each conflict, the configurations of the involved interfaces have to bemodified in such a way that only one interface writes data to a parameter.




As of 04VRS



C0243 Brake check function not possibleContained in 02VRS: «MPB» «MPD» «MPH»




In the P-0-0525, Holding brake control word parameter the automaticbrake check was selected/activated. When initializing the function anerror occurred.

Cause Remedy

Holding brake is not controlled Activate control of holding brake in P-0-0525, Holdingbrake control word

P-0-0540, Torque of motor holding brake is 0 Parameterize P-0-0540, Torque of motor holdingbrake correctly by means of data sheet for brake ormotor




C0244 Act. modulo value cycle greater than max. travel rangeContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Calculated modulo value for actual value cycle isgreater than value parameterized in S-0-0278,Maximum travel range

Check parameterization of S-0-0278, Maximum travelrange and if necessary adjust it to modulo value foractual value cycle– or –Check parameterization of modulo value for actual valuecycle and adjust it to S-0-0278, Maximum travel range






C0245 Operating mode configuration (->S-0-0423) not allowedContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check an invalid operating mode configuration wasdetected.

In the operating mode parameters it is not allowed to parameterizesynchronization modes with outer position control loop (phasesynchronization or electronic cam shaft) with different control encoders.

Operating mode parameters:

• S-0-0032, Primary mode of operation,

• S-0-0033, Secondary operation mode 1,



• etc.

Cause Remedy

Operating mode configuration is invalid (phasesynchronization or electronic cam shaft with differentcontrol encoders)

Parameter contents of operating mode parameters haveto be changed is such a way that invalid operating modeconfiguration no longer occurs (respective operatingmode parameters are listed in S-0-0022, IDN list ofinvalid operating data for communication phase 3)

An operating mode was configured for control withencoder 2; but encoder 2 does not exist or interfacehas not been assigned

Select control with encoder 1 (motor encoder) orconnect encoder 2 and assign interface (P-0-0078,Assignment optional encoder->optional slot)

Note: If several operating modes are invalid, only the first operatingmode found is entered in S-0-0022, IDN list of invalidoperating data for communication phase 3.

02VRS / 03VRS



Invalid operating mode configuration was detected during the execution ofcommand S-0-0422, C0200 Exit parameterization level procedurecommand.

In the operating mode parameters it is not allowed to parameterizesynchronization modes with outer position control loop (phasesynchronization or electronic cam shaft) with different control encoders.

Operating mode parameters:

• S-0-0032, Primary mode of operation,




• etc.

Cause Remedy

Operating mode configuration is invalid (phasesynchronization or electronic cam shaft with differentcontrol encoders)

Parameter contents of operating mode parameters haveto be changed is such a way that invalid operating modeconfiguration no longer occurs (respective operatingmode parameters are listed in S-0-0422, C0200 Exitparameterization level procedure command)

An operating mode was configured for control withencoder 2; but encoder 2 does not exist or interfacehas not been assigned

Select control with encoder 1 (motor encoder) orconnect encoder 2 and assign interface (P-0-0078,Assignment optional encoder->optional slot)

Note: If several operating modes are invalid, only the first operatingmode found is entered in S-0-0422, C0200 Exitparameterization level procedure command.





As of 04VRS



C0246 Trav. range lim. switch not ass. to dig. inputContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) the configuration of the digital inputswith activated travel range limit switches is checked in order to ensure thefunction of the travel range limit switches that are relevant for machinesafety.

Cause Remedy

Travel range limit switches +/- have been activatedin P-0-0090, Travel range limit parameter but notassigned to any digital input

Assign travel range limit switches to digital inputs viaP-0-0300, Digital I/Os, assignment list

Travel range limit switches +/- have beenunintentionally activated in P-0-0090, Travel rangelimit parameter

Deactivate travel range limit switches +/- in P-0-0090,Travel range limit parameter








C0247 Dig. output already assigned to other axisContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) digital outputs were detected to havebeen configured more than once.

Cause Remedy

In the case of a double-axis device (HMD01.1), adigital output is used by both axes

Check parameterization of P-0-0300, Digital I/Os,assignment list in both axes and change it in at leastone axis







C0248 Dig. input assigned differently to axesContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) the configuration of the available digitalinputs is checked with regard to inconsistent double assignment.

Cause Remedy

In the case of a double-axis device (HMD01.1), adigital input was parameterized by both axes withdifferent IDN (P-0-0300, Digital I/Os, assignmentlist) or bit number (P-0-0301, Digital I/Os, bitnumbers)

Check parameterization of P-0-0300, Digital I/Os,assignment list or P-0-0301, Digital I/Os, bit numbersin both axes of double-axis device and change it in atleast one axis





C0249 Dig. I/Os: bit number too largeContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) the configuration of the digital I/Os ischecked with regard to the configured bit numbers.

Cause Remedy

Bit number (P-0-0301, Digital I/Os, bit numbers) foran assigned IDN (P-0-0300, Digital I/Os,assignment list) is not available (e.g. bit number 25but IDN only 2 bytes long)

Check parameterization of P-0-0300, Digital I/Os,assignment list and P-0-0301, Digital I/Os, bitnumbers and adjust P-0-0301, Digital I/Os, bitnumbers to data format of corresponding IDN






C0250 Probe inputs incorrectly configuredContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

At least one of both probes was activated inS-0-0169, Probe control parameter but notassigned to any digital input

Assign probes to digital inputs via P-0-0300, DigitalI/Os, assignment list, P-0-0301, Digital I/Os, bitnumbers and P-0-0302, Digital I/Os, direction

Probes were accidentally activated Deactivate probes in S-0-0169, Probe controlparameter


See also Functional Description "Probe Function"



C0251 Error during synchronization to master communicationContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) the drive checks whether the drivecontrol is synchronized to the bus interface (SERCOS, Profibus,Interbus,…) via two phase control loops. The synchronization processmust have been completed until the end of the communication phase 4transition check (C0200). If not, this error message is generated.

Cause Remedy









C0254 Configuration error PROFIsafeContained in 02VRS: «--» «--» «--»




When PROFIsafe was configured, a check is run in the transitioncommand to find out whether the conditions for successful operation havebeen fulfilled.

Cause Remedy

PROFIsafe was accidentally activated Deactivate PROFIsafe (write zero to P-0-3290,PROFIsafe: F_Destination_Address)

Control section doesn't have Profibus mastercommunication

Replace control section; use correct hardwareconfiguration

Due to hardware error, Profibus mastercommunication wasn't recognized during initializationof control section

Replace control section or entire drive controller; usehardware configuration of same type


Only Rexroth service engineers are allowed to replace optionalmodules of the control section (e.g. optional encoder module).






C0255 Safety command for system init. incorrectContained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) the optional safety technology module isinitialized and a timeout check is run for the module.

Cause Remedy

Sporadic timeout error Reset optional safety technology module and contactour service department


If command error occurs repeatedly, safety technologyfirmware has to be replaced


If command error occurs repeatedly, optional safetytechnology module has to be replaced



See also documentation "Integrated Safety Technology", keyword"Firmware Update"





C0256 Safety technology configuration errorContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error was detected during checks ofthe safety technology configuration.

Cause Remedy

"Safety related absolute position" and "motor-relatedscaling" have been simultaneously activated; this isnot allowed

Deselect "safety related absolute position" P-0-3240,Configuration of safety related motion 1 orP-0-Configuration of safety related motion 2

- or -

Deactivate "motor-related scaling" P-0-3210, Safetytechnology configuration






C0257 No encoder assigned to slot 1Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) a check is run in closed-loop operationin order to find out whether an optional encoder module is available inoptional slot 1.

Cause Remedy

Command error occurs sporadically Restart transition command and contact our servicedepartment

No optional encoder module available in controlsection

Replace control section with control sectionconfiguration containing optional encoder module

Optional encoder module with incorrect hardwarecode or defective hardware

Replace optional encoder module or entire drivecontroller and contact our service department


Only Rexroth service engineers are allowed to replace theoptional encoder module.






C0258 Error in relation TNcyc (S-0-0001) to fine interpol.Contained in 02VRS: «MPB» «MPD» «MPH»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) a check is run, when the cubic fineinterpolator or the interpolator according to contour (P-0-0187, Positioncommand processing mode = 1 or 2) is used, to find out whether theselected NC cycle time is supported by the respective fine interpolator.

Cause Remedy

S-0-0001, NC cycle time (TNcyc) incorrectlyparameterized

Select appropriate S-0-0001, NC cycle time (TNcyc).Allowed NC cycle times, when using cubic fineinterpolator or fine interpolator according to contour, are:1, 2, 3, 4, 5, 6, 7, 8 ms for S-0-0001 <= 8 ms10, 12, 14, 16 ms for S-0-0001 <= 16 ms20, 24, 28, 32 ms for S-0-0001 <= 32 ms

Cubic fine interpolation or fine interpolationaccording to contour cannot be used with presentNC cycle time (S-0-0001, NC cycle time (TNcyc))

Use linear fine interpolator (P-0-0187, Positioncommand processing mode = 0)






C0260 Incremental enc. emulator resol. cannot be displayedContained in 02VRS: «MPB» «MPD» «MPH»




In the case of incremental encoder emulation, inadmissible overflow canoccur for increment output. In order to avoid this overflow, P-0-0903,Encoder emulation resolution has to be parameterized accordingly.

In the case of modulo processing, the overflow takes place at the modulovalue entered in S-0-0103, Modulo value:

29201030S00790S

09030P ×−−−−=−−

S-0-0103: S-0-0103, Modulo value

P-0-0903: P-0-0903, Encoder emulation resolution

S-0-0079: S-0-0079, Rotational position resolution

Otherwise the overflow takes place at the value entered in S-0-0278,Maximum travel range:

29202780S00790S

09030P ×−−−−=−−

P-0-0903: P-0-0903, Encoder emulation resolution

S-0-0079: S-0-0079, Rotational position resolution

S-0-0278 S-0-0278, Maximum travel range

Cause Remedy

Resolution of emulated signal is not correct formodulo range / travel range

Reduce resolution entered in P-0-0903, Encoderemulation resolution- or -Reduce S-0-0278, Maximum travel range






C0261 Emulator (P-0-0902) activated for both axesContained in 02VRS: «--» «MPD» «--»




For double axis devices encoder emulation can only be activated in oneaxis. Device-related encoder emulation is thereby available.

Cause Remedy

Encoder emulation was activated in both axes Deactivate encoder emulation in one of both axes(P-0-0902, Encoder emulation control parameter)




C0265 Incorrect CCD address configurationContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command an error with regard to thedrive cross communication [CCD (Cross Communication Drives)] wasdetected.

Cause Remedy

P-0-1601, CCD: addresses of projected drives ofCCD master, contains address of a SERCOS-IIIslave which is not contained in P-0-4031, Overviewof device addresses

Check P-0-1601, CCD: addresses of projected drivesand addresses of connected slaves.

Note: When address of a slave has been changed,SERCOS-III phase progression via phase 0 has to becarried out. Connected slaves are scanned in phase 0.






C0266 Incorrect CCD phase switchContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command an error with regard to thedrive cross communication [CCD (Cross Communication Drives)] wasdetected.

Cause Remedy

After command C0200 Exit parameterization levelprocedure command has been started, CCDmaster tries to bring SERCOS-III slaves to phase 4;while this happens all required parameters of slavesare written (S-0-0015, S-0-0016, S-0-0024,S-0-1001, S-0-1002 etc.). In addition, switchingprocesses from communication phase 2 to 3 andfrom communication phase 3 to 4 are started. Anerror has occurred with one of these actions

Look at P-0-1630, CCD: diagnosis and, if necessary,correct rejected parameter.

- or -

Check configuration of CCD process data:- P-0-1621, CCD: configuration list mastercommunication cmd values- P-0-1622, CCD: configuration list mastercommunication actual values- P-0-1623, CCD: configuration list master cmdvalues- P-0-1624, CCD: configuration list actual mastervalues- P-0-1625, CCD: configuration list slave cmd values- P-0-1626, CCD: configuration list actual slavevalues






C0267 CCD timeout phase switchContained in 02VRS: «--» «--» «--»




The command S-0-0422, C0200 Exit parameterization level procedurecommand was executed without error in the SERCOS-III master. Themaster did not generate any error during phase switch (C0266).

The maximum delay of 60 seconds for switching the SERCOS-III slavesto phase 4 is over, but one or several slaves are not yet in phase 4.

Cause Remedy

One or several SERCOS-III slaves from P-0-1601,CCD: addresses of projected drives do not reactto service channel communication

Localize defective SERCOS-III slave(s) and removecause of error for this (these) slave(s)

Transition command S-0-0127, C0100Communication phase 3 transition check orS-0-0128, C5200 Communication phase 4transition check is not completed or terminated witherror for one or several SERCOS-III slaves

Localize defective SERCOS-III slave(s) and removecause of error for this (these) slave(s)






C0270 Error when reading encoder data => motor encoderContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 3 (C0200) an error during the reading of theencoder data from the data memory of the motor encoder was detected.


Cause Remedy








C0271 Incorrect parameterization of motor encoder (hardware)Contained in 02VRS: «--» «--» «--»




During the transition check from communication phase 2 tocommunication phase 3 (C0100) an error with regard to theparameterization of the motor encoder hardware was detected.

Cause Remedy

Parameterization P-0-0074, Encoder type 1 (motorencoder) does not match interface card (e.g. EN1with EnDat encoder)

Check whether parameterized encoder type matchesinterface card that has been plugged in

In the case of "current control with motor encoder"(see P-0-0045, Control word of currentcontroller), "operation without encoder" wasdetected to have been set in P-0-0074, Encodertype 1 (motor encoder)

Enter value appropriate for motor encoder in P-0-0074,Encoder type 1 (motor encoder)

Parameterization in P-0-0077, Assignment motorencoder->optional slot is incorrect

Correct assignment of motor encoder and optional slotin parameter P-0-0077, Assignment motorencoder->optional slot





C0272 Incorr. parameteriz. of motor enc. (mechanical system)Contained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error was detected with regard toscaling that was set and the selected motor encoder type (e.g. rotaryscaling with linear motor).

Cause Remedy


Check and, if necessary, correct S-0-0277, Positionfeedback 1 type








C0273 Modulo value for motor encoder cannot be displayedContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error with regard to the modulo valuefor the motor encoder was detected.

Cause Remedy


Correct the content of S-0-0103, Modulo value or thevalue of S-0-0278, Maximum travel range


Correct content of S-0-0103, Modulo value or the gearratios that have been set [S-0-0121, Input revolutionsof load gear/S-0-0122, Output revolutions of loadgear; P-0-0121, Gear 1 motor-side (motorencoder)/P-0-0122, Gear 1 encoder-side (motorencoder)]






C0274 Motor encoder unknownContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error with regard to the motorencoder was detected. The content of P-0-1000, Kind of encoder 1,encoder memory is invalid and therefore the parameterized motorencoder is not allowed (e.g. rotary scaling with linear encoder).

Cause Remedy

Encoder memory (feedback) is defective Encoder (or motor) must be replaced











C0275 Error when reading encoder data => optional encoderContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error during the reading of theencoder data from the data memory of the optional encoder wasdetected.


Cause Remedy








C0276 Incorrect parameterization of optional enc. (hardware)Contained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error with regard to theparameterization of the hardware of the optional encoder was detected.

Cause Remedy

The parameterization P-0-0075, Encoder type 2(optional encoder) does not match the interfacecard (e.g. EN1 with EnDat encoder)

Correct the parameterization of P-0-0075, Encodertype 2 (optional encoder)

P-0-0078, Assignment optional encoder->optionalslot incorrect

Correct the parameterization of P-0-0078, Assignmentoptional encoder->optional slot

See also Functional Description "Measurement Systems"



C0277 Incorr. parameteriz. of opt. enc. (mechanical system)Contained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error was detected with regard toscaling that was set and the selected motor encoder type (e.g. rotaryscaling with linear optional encoder).

Cause Remedy


Check and. if necessary, correct S-0-0115, Positionfeedback 2 type








C0278 Modulo value for optional encoder cannot be displayedContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error with regard to the modulo valuefor the optional encoder was detected.

Cause Remedy


Correct content of S-0-0103, Modulo value or value ofS-0-0278, Maximum travel range


Correct content of S-0-0103, Modulo value or the gearratios that have been set [S-0-0121, Input revolutionsof load gear/S-0-0122, Output revolutions of loadgear; P-0-0121, Gear 1 motor-side (motor encoder)/P-0-0122, Gear 1 encoder-side (motor encoder)]

Encoder resolution (S-0-0117, Feedback 2Resolution) incorrectly parameterized

Check and, if necessary, correct parameterization ofS-0-0117, Feedback 2 Resolution

Resolution of encoder does not match requiredmodulo range

Replace encoder







C0279 Optional encoder unknownContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error with regard to the optionalencoder was detected. The content of P-0-1010, Kind of encoder 2,encoder memory is invalid and therefore the parameterized optionalencoder is not allowed (e.g. rotary scaling with linear encoder).

Cause Remedy












C0280 Maximum travel range cannot be displayed internallyContained in 02VRS: «--» «--» «--»




In the case of absolute scaling, the maximum travel range represents theoverflow limit of the actual position values. If this travel range cannot bedisplayed correctly internally so that position generation without error isimpossible, this error is generated.

Cause Remedy

S-0-0278, Maximum travel range incorrectlyparameterized

Check and if necessary reduce S-0-0278, Maximumtravel range

S-0-0116 / S-0-0117 incorrectly set (e.g. value "0") Check and if necessary correct S-0-0116, Feedback 1Resolution / S-0-0117, Feedback 2 Resolution

Value for S-0-0278, Maximum travel range isinvalid although it might be within the respectiveabsolute encoder range

Check S-0-0278, Maximum travel range and ifnecessary change value (take respective absoluteencoder range into account!)

Position resolution of a pole pair or of pole pairdistance is too low. Commutation offset valueinternally cannot be displayed precisely enough

P-0-0018, Number of pole pairs/pole pair distancehas value "0" or a too small value (maybe incorrect unit).Check and if necessary correct P-0-0018, Number ofpole pairs/pole pair distance







C0281 Commutation via encoder-2 impossibleContained in 02VRS: «--» «--» «--»




Commutation or commutation initialization via encoder 2 is impossible.

Cause Remedy

Parameterized mechanical system does not allowunequivocal commutation via optional measuringsystem

- Reduce maximum travel range (S-0-0278, Maximumtravel range)- Adjust gear (S-0-0121, Input revolutions of loadgear; S-0-0122, Output revolutions of load gear; ...)- Use appropriate encoder (e.g. multi-turn)





C0284 Invalid motor data in encoder memory (->S-0-0423)Contained in 02VRS: «--» «--» «--»





The respective parameters are entered in parameter S-0-0022, IDN listof invalid operating data for communication phase 3.

Cause Remedy



Encoder interface defective Replace control section or entire drive controller



The respective parameters are entered in parameter S-0-0423, IDN-listof invalid op. data for parameterization level.

Cause Remedy



Encoder interface defective Replace control section or entire drive controller





02VRS / 03VRS

As of 04VRS



C0285 Type of construction of motor P-0-4014 incorrectContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check an error was detected in P-0-4014, Type ofconstruction of motor.

Note: The respective parameter is entered in S-0-0022, IDN list ofinvalid operating data for communication phase 3.

Cause Remedy


Parameterize P-x-4014, Type of construction of motorcorrectly or connect a motor with encoder data memoryNote: "x" in parameter number is a wild card forparameter set

A motor with encoder data memory was connected,but data stored in memory are incomplete orencoder line resp. encoder is defective

Check whether P-0-2141, Motor type, encodermemory contains correct type designation of connectedmotor. If not, contact our service departmentIf P-0-2141, Motor type, encoder memory cannot beread, replace encoder line or motor encoder


During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command or S-0-0128, C5200Communication phase 4 transition check an error in theparameterization of the type of construction of the motor was detected.

Note: The respective parameter is entered in S-0-0423, IDN-list ofinvalid op. data for parameterization level.

Cause Remedy


Parameterize P-x-4014, Type of construction of motorcorrectly or connect a motor with encoder data memoryNote: "x" in parameter number is a wild card forparameter set

A motor with encoder data memory was connected,but data stored in memory are incomplete orencoder line resp. encoder is defective

Check whether P-0-2141, Motor type, encodermemory contains correct type designation of connectedmotor. If not, contact our service departmentIf P-0-2141, Motor type, encoder memory cannot beread, replace encoder line or motor encoder


MPx02 / MPx03

MPx04





C0286 Several motor encoders connectedContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check two motor encoders were detected during theencoder configuration check.

Cause Remedy

Two encoders were detected; in their data memoriesa valid and known motor type string is contained inP-0-2141, Motor type, encoder memory

Replace one of encoders by encoder without valid motortype string

Encoder connectors of neighboring axes wereinterchanged

Check axis assignment of encoder connectors andassign to correct axis






C0287 Error during initialization of motor data (->S-0-0423)Contained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check an error was detected during the initializationof motor data. The respective parameters are entered in the list S-0-0022,IDN list of invalid operating data for communication phase 3.

Cause Remedy


Synchronous motor with motor encoder datamemory (MSK, MHD, MKD, MKE) was connected tocontroller which so far had controlled motor in open-loop operation

Check whether closed-loop operation required forsynchronous motors was set in P-0-0045, Control wordof current controller; set closed-loop operation, ifnecessary





02VRS / 03VRS



During the execution of the command S-0-0422, C0200 Exitparameterization level procedure command an error during theinitialization of motor data was detected. The respective parameters areentered in the list S-0-0423, IDN-list of invalid op. data forparameterization level.

Cause Remedy


Synchronous motor with motor encoder datamemory (MSK, MHD, MKD, MKE) was connected tocontroller which so far had controlled motor in open-loop operation

Check whether closed-loop operation required forsynchronous motors was set in P-0-0045, Control wordof current controller; set closed-loop operation, ifnecessary








As of 04VRS



C0288 Rotary scaling not allowedContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error was detected with regard toscaling that was set and the selected motor type (e.g. rotary scalingalthough a linear motor is used). The phase switch to communicationphase 4 is prevented.

Cause Remedy

Although a linear motor is used, rotary scaling wasselected in at least one of the following parameters:S-0-0044, Velocity data scaling typeS-0-0076, Position data scaling typeS-0-0086, Torque/force data scaling typeS-0-0160, Acceleration data scaling type

Check and correct respective scaling parameter(s) oruse a linear encoder






C0289 Error at init. of synchr. motor with reluctance torqueContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check a validation error was detected during theinitialization of a synchronous motor with reluctance torque.

Note: The initialization of a synchronous motor with reluctancetorque is only run when this has been set in parameterP-0-4014, Kind of motor.

The initialization of a synchronous motor implies the following parameters:

• S-0-0109, Motor peak current

• S-0-0110, Amplifier peak current

• S-0-0111, Motor current at standstill

• P-0-0018, Number of pole pairs/pole pair distance

• P-0-0051, Torque/force constant

• P-0-4002, Charact. of quadrature-axis induct. of motor,inductances

• P-0-4003, Charact. of quadrature-axis inductance of motor,currents

• P-0-4016, Direct-axis inductance of motor

• P-0-4017, Quadrature-axis inductance of motor

Cause Remedy

Incomplete or invalid entries in parameters forinitialization of synchronous motor

Check parameter contents and enter data supplied bymotor manufacturer in above parameters. If error isgenerated in spite of correct data, please contact ourservice department

Initialization for synchronous motor with reluctancetorque was run although synchronous motor withoutreluctance torque is used

Correct setting in P-0-4014, Kind of motor

See also Functional Description "Third-Party Motors at IndraDriveControllers"






C0290 Error when reading encoder data => measuring encoderContained in 02VRS: «--» «--» «--»




It was impossible to read the encoder data (P-0-1020, Kind ofencoder 3, encoder memory, P-0-1021, Encoder 3 resolution,encoder memory, P-0-1022, Absolute encoder offset 3, encodermemory) correctly from the encoder memory during the initialization ofthe control section.

Cause Remedy

Interference caused by incorrect shielding ordefective encoder cable

Check encoder cable (incl. shielding) and, if necessary,replace or run it correctly

Encoder defective Check encoder function and, if necessary, replaceencoder

Measuring encoder option on control section isdefective


Incorrect parameterization of P-0-0076, Encodertype 3 (measuring encoder)

Check content of P-0-0076, Encoder type 3(measuring encoder) and correct it in such a way thatmeasuring encoder is correctly assigned to optional slot







C0291 Incorr. prarmeterization of measuring enc. (hardware)Contained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error with regard to theparameterization of the hardware of the measuring encoder was detected.

Cause Remedy

Parameterization of P-0-0076, Encoder type 3(measuring encoder) does not match interface card(e.g. EN1 with EnDat encoder)

Correct parameterization of P-0-0076, Encoder type 3(measuring encoder)

P-0-0079, Assignment measuring encoder->optional slot incorrectly parameterized

Correct parameterization of P-0-0079, Assignmentmeasuring encoder ->optional slot or change controlsection configuration (replacement of control section ordrive controller)

In the case of double-axis device (CDB controlsection) P-0-0076, Encoder type 3 (measuringencoder) was parameterized unequal "0" for bothaxes

Only one measuring encoder can be connected perdouble-axis device (CDB control section). P-0-0076,Encoder type 3 (measuring encoder) may only beunequal "0" for one axis







C0292 Measuring encoder unknownContained in 02VRS: «--» «--» «--»




During the transition check from communication phase 3 tocommunication phase 4 (C0200) an error with regard to the measuringencoder was detected. The content of P-0-1020, Kind of encoder 3,encoder memory is invalid and the measuring encoder therefore is notallowed.

Cause Remedy


Kind of motor encoder (P-0-1020, Kind ofencoder 3, encoder memory) is not supported bythe software


Detected kind of encoder does not matchparameterized type of encoder (P-0-0079,Assignment measuring encoder ->optional slot)

Check P-0-0079, Assignment measuring encoder->optional slot and, if necessary, replace controlsection by correctly configured control section or replacecomplete drive controller






C0293 Modulo value for measuring encoder cannot be displayedContained in 02VRS: «--» «--» «--»





Cause Remedy

Value parameterized for P-0-0765, Modulo factormeasuring encoder cannot be displayed internallywith gear that was set

Correct content of S-0-0103, Modulo value ormeasuring gear settings (P-0-0127, Input revolutionsof measuring gear and P-0-0128, Output revolutionsof measuring gear)

P-0-0327, Encoder resolution of measuringencoder incorrectly parameterized

Check and, if necessary, correct content of P-0-0327,Encoder resolution of measuring encoder




C0294 Incorrect measuring encoder configurationContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0128, C0200 Communicationphase 4 transition check an error with regard to the measuring encoderconfiguration was detected.

Cause Remedy

At least one of selected operating modes issynchronization mode (velocity synchronization,phase synchronization or electronic cam shaft) andcontrol encoder of synchronization mode hassimultaneously been configured as measuringencoder. This configuration is not useful.

Check and, if necessary, correct parameterization ofoperating mode parameters (S-0-0032, Primary modeof operation; S-0-0033, Secondary operation mode 1;S-0-0034, Secondary operation mode 2;...) ifsynchronization mode is not required.If synchronization mode is required, deactivatemeasuring encoder or use additional encoder asmeasuring encoder.






C0298 Impossible to exit parameterization levelContained in 02VRS: «--» «--» «--»




The command S-0-0422, C0200 Exit parameterization level procedurecommand was started but cannot be executed.

Cause Remedy

During firmware download there was an attempt toswitch to operating mode

Wait until firmware download has been completedbefore switching to operating mode

After a boot error (F81xx error) there was an attemptto switch to operating mode

1. Complete command2. Clear boot error (F81xx error)3. Remove cause4. Reboot drive



C0299 Functional package selection changed. RestartContained in 02VRS: «--» «--» «--»




During the execution of command S-0-0422, C0200 Exitparameterization level procedure command the functional packageselection was detected to have been changed without the drive havingbeen rebooted.

Cause Remedy

P-0-2003, Selection of functional packagescontains functional package selection which doesnot correspond to active functional packageselection(cf. P-0-2004, Active functional packages)

Switch drive off and on again in order to apply functionalpackage selection of P-0-2003 to P-0-2004

Incorrect functional package selection in P-0-2003,Selection of functional packages

Set value in P-0-2003, Selection of functionalpackages to value in P-0-2004, Active functionalpackages

See also Functional Description of firmware "Enabling of FunctionalPackages"






C0301 Measuring system unavailableContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the "Set absolute measuring" command (C0300)the measuring system selected by parameter P-0-0612, Control wordfor setting absolute measuring was detected to be unavailable.

Cause Remedy

The command was activated by mistake Prevent the command from being activated

The measuring system has not been parameterized Parameterize the measuring system




C0302 Absolute evaluation of measuring system impossibleContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the "Set absolute measuring" command (C0300)it was detected that absolute evaluation of the selected measuring systemis impossible.

Note: The "Set absolute measuring" command can only be executedif there is an absolute measuring system available (seeS-0-0277, Position feedback 1 type respectively S-0-0115,Position feedback 2 type).

Cause Remedy

The command was activated by mistake Prevent the command from being activated

The motor encoder or the optional measuring systemhave not been designed as absolute encoders

Equip the motor or the optional measuring system withan absolute encoder function






C0303 Absolute encoder offset cannot be savedContained in 02VRS: «MPB» «MPD» «MPH»




When executing the command for setting absolute measuring (C0300)the offset of the encoder zero point with regard to the machine zero pointis determined and stored in the data memory of the encoder. It wasimpossible to store the offset correctly.

Cause Remedy

The communication between encoder and drive isdisturbed

check encoder cable and repair it, if necessary

- or -

replace encoder



C0401 Drive active, switching not allowedContained in 02VRS: «MPB» «MPD» «MPH»




When switching to communication phase 2 (C0400) an error wasdetected.

Cause Remedy

Command for switching to parameter mode wasstarted by means of parameter P-0-4023, C0400Communication phase 2 transition although driveenable had been activated

Terminate command and switch drive enable off, thencommand can be started again

When switching to parameterization level 1 (C0400) an error wasdetected.

Cause Remedy

Command for switching to parameterization level 1was started by means of parameter S-0-0420,C0400 Activate parameterization level 1procedure command although drive enable hadbeen activated

Terminate command and switch drive enable off, thencommand can be started again

02VRS / 03VRS

As of 04VRS





C0403 Switching to CCD phase 2 impossibleContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0420, C0400 Activateparameterization level 1 procedure command, an error with regard tothe CCD slaves (CCD: Cross Communication Drives) occurred.

Note: Parameterization level 1 is activated in spite of incorrectexecution of the command S-0-0420, C0400 Activateparameterization level 1 procedure command.

Cause Remedy

Attempt to bring CCD slaves to CCD phase 2,30 seconds after start of command S-0-0420, C0400Activate parameterization level 1 procedurecommand, has failed due to communicationproblem with CCD slaves

Check communication with CCD slaves






C0501 Error clearing only in parameter modeContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the error clearing command (C0500) an error wasdetected.

Cause:

There was an attempt to clear the F8022 Enc. 1 error: sign. amplitude(can be cleared in ph.2) error in communication phase 4 (operatingmode). This is only possible in communication phase 2 (parameterizationmode).

Remedy:

Switch the drive in communication phase 2 by means of the P-0-4023,C400 Communication phase 2 transition command and start the errorclearing command again.



C0601 Homing only possible with drive enableContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the "Drive-controlled homing procedure"command (C0600) an error was detected.

Cause:

The command was started without drive enable. This is not allowed.

Remedy:

Enable the drive and start the command again.






C0602 Distance home switch - reference mark erroneousContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command for drive-controlled homing (C0600)an error was detected.

Cause:

The evaluation of the home switch has been switched on (S-0-0147,Homing parameter). The distance between selected home switch edgeand reference mark to be evaluated is outside the allowed range.

Remedy:

Read the value from parameter S-0-0298, Reference cam shift and takeit over to parameter S-0-0299, Home switch offset

- or -

shift the reference cam.






C0604 Homing of absolute encoder not possibleContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command for drive-controlled homing (C0600)an error was detected.

Cause:

By the encoder selection in S-0-0147, Homing parameter an absolutemeasuring system was selected. The command for drive-controlledhoming can only be executed if the P-0-0012, C0300 Command Setabsolute measuring command had been activated before.

Remedy:

First activate the P-0-0012, C0300 Command Set absolute measuringcommand and then start the S-0-0148, C0600 Drive-controlled homingprocedure command. Doing this the absolute reference point isestablished.





C0606 Reference mark not detectedContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command for drive-controlled homing (C0600)an error with regard to the reference marks of the encoder was detected.

If the reference marks of the relative encoder to be homed (selected inS-0-0147, Homing parameter) occur cyclically over the travel range, theposition difference of the reference marks detected by the controller ismonitored. This requires the correct setting for P-0-0153, Optimumdistance home switch-reference mark.

Cause Remedy

Reference marks do not occur in expected positiondifference

Check measuring system to be homed andcorresponding wiring- or -

Check and, if necessary, correct setting of P-0-0153,Optimum distance home switch-reference mark

Value set in P-0-0153, Optimum distance homeswitch-reference mark does not match encoderthat is used

Correct setting of P-0-0153, Optimum distance homeswitch-reference mark






C0607 Home switch input not assignedContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the "Drive-controlled homing procedure"command (C0600) an error was detected.

Cause Remedy

Home switch hasn't been assigned to any digitalinput

Assign home switch (S-0-0400, Home switch) to adigital input via parameter P-0-0300, Digital I/Os,assignment list



C0608 Pos. stop a. HW lim. switch not allowed f. modulo axesContained in 02VRS: «--» «--» «--»




During the execution of the command for drive-controlled homing (C0600)an error was detected:

Cause Remedy

Drive-controlled homing at positive stop or travelrange limit switch with modulo axes isn't a usefulcombination and therefore not allowed!

Modify control information for homing in S-0-0147,Homing parameter in a useful way





C0609 Different travel directions parameterizedContained in 02VRS: «--» «--» «--»




When, in the case of modulo scaling, the homing direction parameterizedin S-0-0147, Homing parameter and the positioning direction set forspindle positioning in S-0-0393, Command value mode do not match,the command error C0609 is output during the execution of the commandfor drive-controlled homing (C0600).

Cause Remedy

Travel directions for homing and positioning weredifferently parameterized

Parameterize travel directions in S-0-0147, Homingparameter and S-0-0393, Command value mode insuch a way that they match



C0610 Absolute encoder offset could not be savedContained in 02VRS: «--» «--» «--»




During the execution of the command for drive-controlled homing (C0600)an error occurred: In the case of a measuring system with feedback datamemory evaluated in absolute form, the determined absolute encoderoffset could not be saved in the feedback data memory.

Cause Remedy

Cable defective Check connection between encoder and drive controller

Feedback data memory defective Replace encoder





C0702 Default parameters not availableContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the C07_0 Load defaults procedure com. (loadcontroller param.) command an error occurred.

Cause:

The control loops, in the case of motors of the MHD, MKD and MKEseries, are adjusted to the connected digital drive by activating thecontroller parameters stored in the motor encoder data memory. TheC0702 message on the display of the drive controller signals that thereisn't any data memory available at the connected motor.

Remedy:

Data sheets of Rexroth Indramat motors are made available by theservice department. Enter the controller parameters.


See also Functional Description "Rexroth Housing Motors with EncoderData Memory"



C0703 Default parameters invalidContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the C07_0 Load defaults procedure com. (loadcontroller param.) command an error occurred.

Cause:

The default parameters are read from the motor encoder data memory. Atleast one of these parameters is invalid.

Remedy:

Check the connection to the motor encoder. Replace the motor, ifnecessary.


See also Functional Description "Rexroth Housing Motors with EncoderData Memory"





C0704 Parameters not copyableContained in 02VRS: «MPB» «MPD» «MPH»




An error occurred during the execution of the command S-0-0262, C07_xLoad defaults procedure command (load controller parameters; seealso P-0-4090, Index for C07 Load defaults procedure).

Cause Remedy

It was impossible to load the default values for themotor-specific control loop parameters, available inthe encoder memory, to the respective parameters.Firmware version incompatible with motor or motorencoder

Load appropriate firmware version to controller; observemotor type and motor encoder type

Performance and switching frequency setting do notmatch

Correct performance setting in P-0-0556, Control wordof axis controller and switching frequency setting inP-0-0001, Switching frequency of the power outputstage




C0706 Error when reading the controller parametersContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the C07_0 Load defaults procedure com. (loadcontroller param.) command an error occurred when reading thecontroller parameters from the feedback.

Cause:

Feedback defective

Remedy:

Replace feedback





C0722 Parameter default value incorrect (-> S-0-0423)Contained in 02VRS: «MPB» «MPD» «MPH»




The command S-0-0262, C07_x Load defaults procedure commandwith the option "load defaults procedure for safety technology" wasstarted. An error occurred when a default value was written.

Note: The faulty parameter is recorded in parameter S-0-0423, IDN-list of invalid op. data for parameterization level.





C0723 Safety command for load defaults procedure incorrectContained in 02VRS: «MPB» «MPD» «MPH»




With the command C07_2 Load def. proc. com. (load def. pr. forsafety techn.) the safety parameters of channel 1 are set to defaultvalues and an internal command is started so that channel 2 accepts thedefault values. The safety technology is deactivated by the commandbecause valid safety parameters are no longer available. The safetytechnology is in its condition as supplied.

Cause Remedy

Internal command for channel 2 was incorrectlyexecuted

Clear command C07_2 Load def. proc. com. (load def.pr. for safety techn.) and then restart it.If error is signaled again, reset optional safetytechnology module (switch control voltage off and thenon again)

Channel 2 is executing another internal commandthat mustn't be interrupted

Complete internal command that is still running


Restart C07_2 Load def. proc. com. (load def. pr. forsafety techn.). If command error occurs repeatedly,replace control section or entire drive controller






C0724 Timeout of safety command for load defaults procedureContained in 02VRS: «MPB» «MPD» «MPH»




Within the command C07_2 Load def. proc. com. (load def. pr. forsafety techn.) an internal command for the safety technology channel 2was started. The internal command was aborted with timeout.

Note: The command C07_2 Load def. proc. com. (load def. pr. forsafety techn.) is started by parameter S-0-0262, C07_x Loaddefaults procedure command with the respective setting inP-0-4090, Index for C07 Load defaults procedure.

Cause Remedy

Sporadic timeout error Reset optional safety technology module (switch controlvoltage off and then on again). Restart C07_2 Load def.proc. com. (load def. pr. for safety techn.). If thecommand error occurs repeatedly, contact our servicedepartment


Restart C07_2 Load def. proc. com. (load def. pr. forsafety techn.). If command error occurs repeatedly,safety technology firmware has to be replaced


Restart C07_2 Load def. proc. com. (load def. pr. forsafety techn.). If command error occurs repeatedly,replace control section or entire drive controller


Only Rexroth service engineers or especially trained users areallowed to replace the control section. The replacement of theentire drive controller is described in the Project PlanningManual for the power section.





C07_3 Load def. proc. com. (load defaults procedure for PLC)Contained in 02VRS: «--» «--» «--»




The message C07_3 on the display of the drive controller shows that thecommand C07_3 Load def. proc. com. (load defaults procedure forPLC) was activated.


3. Enter value 2 for "load defaults procedure for PLC" in parameterP-0-4090, Index for C07 Load defaults procedure

4. Start S-0-0262, C07_x Load defaults procedure command

Note: It is possible to start further commands with parameterS-0-0262. In parameter P-0-4090, Index for C07 Loaddefaults procedure it is possible to set which command isstarted.

The command C07_3 Load def. proc. com. (load defaults procedurefor PLC) deactivates the drive PLC and sets all PLC parameters to theirdefault value.

CAUTION

The command C07_3 Load def. proc. com. (loaddefaults procedure for PLC) overwrites user-defined PLC settings!⇒ Only use this command if you want to delete the

complete PLC program and its parameters withoutprogramming system.

CAUTION







C0751 Parameter default value incorrect (-> S-0-0423)Contained in 02VRS: «MPB» «MPD» «MPH»




The command S-0-0262, C07_x Load defaults procedure commandwith the option "load basic parameters" was started. An error occurredwhen a default value was written.

Note: The faulty parameter is recorded in parameter S-0-0423, IDN-list of invalid op. data for parameterization level.



C0752 Locked with passwordContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the C07_1 Load defaults procedure com. (loadbasic parameters) command an error occurred.

Cause:

The drive parameters were write-protected by means of the S-0-0267,Password parameter. The C0752 diagnostic message signals that theC07_1 Load defaults procedure com. (load basic parameters)command was started without first deactivating the customer password.

Remedy:

Deactivate the write protection by entering the password. Start thecommand again.

See also Functional Description "Using a Password"





C0799 An invalid index was setContained in 02VRS: «MPB» «MPD» «MPH»




At the time the command S-0-0262, C07_x Load defaults procedurecommand was started no valid value had been entered in P-0-4090,Index for C07 Load defaults procedure.

Note: The function of the command S-0-0262, C07_x Load defaultsprocedure command can be set via P-0-4090, Index for C07Load defaults procedure.

After the command was cleared the value in P-0-4090, Indexfor C07 Load defaults procedure is automatically set to "0"again.



C0851 Parameter default value incorrect (-> S-0-0021)Contained in 02VRS: «--» «--» «--»




Note: This command error can only occur as a result of the C0800Load basic parameters command that can only be used bythe manufacturer!





C0852 Locked with passwordContained in 02VRS: «--» «--» «--»




Note: This command error can only occur as a result of the C0800Load basic parameters command that can only be used bythe manufacturer!





C0902 Spindle positioning requires drive enableContained in 02VRS: «MPB» «--» «MPH»




During the execution of the command for spindle positioning (C0900) anerror was detected.

Cause:

At the start of the S-0-0152, C0900 Position spindle command the drivewas not yet in drive enable.

Remedy:

Set drive enable before starting the command.



C0903 Error during initializationContained in 02VRS: «MPB» «--» «MPH»





Cause Remedy

At start of S-0-0152, C0900 Position spindlecommand, respective encoder had not yet beeninitialized (homed)

In the case of incremental measuring systems, checkwhether S-0-0400, Home switch was assigned to adigital input. Assignment, connection and function ofhome switch must have been realized (only when homeswitch is evaluated)!

In the case of absolute measuring systems, checkwhether drive is in reference. If this is not the case,establish absolute position data reference, e.g. byP-0-0012, C0300 Command Set absolute measuring





C0906 Error during search for zero pulseContained in 02VRS: «MPB» «--» «MPH»





Cause:

Homing procedure integrated in spindle positioning was not executedsuccessfully. Encoder zero mark was not found or it was impossible toassign it correctly.

Remedy:

• Check parameterization of spindle positioning and of drive-controlledhoming procedure, especially encoder and home switch combinationused.

• Check encoder parameterization.

• Check distance zero pulse - home switch.

• Carry out drive-controlled homing in order to check homing procedure.



C1204 Error in offset calculationContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command for commutation offsetdetermination (C1200) an error was detected.

Cause:

Due to incorrect measured values it was impossible to determine thecommutation offset correctly.





C1208 No adjustment with asynchronous motorContained in 02VRS: «MPB» «MPD» «MPH»





Cause:

There was an attempt to carry out a commutation offset determinationwith an asynchronous motor. For asynchronous motors it is impossible tocarry out a commutation offset determination.



C1209 Proceed to phase 4Contained in 02VRS: «MPB» «MPD» «MPH»





Cause:

The drive controller is not in phase 4 (ready for operation, display: bb);the P-0-0524, C1200 Commutation offset setting command can onlybe executed in phase 4.

Remedy:

Switch the drive controller to phase 4 and execute the commandP-0-0524, C1200 Commutation offset setting command again.





C1211 Commutation offset could not be determined.Contained in 02VRS: «MPB» «MPD» «MPH»




An error has occurred during the execution of the command P-0-0524,C1200 Commutation offset setting command (in this case: sine-wavemethod).

Note: Simultaneously output Fxxxx error messages allow moreprecise diagnosis.




C1212 Motion range exceeded during commutationContained in 02VRS: «--» «--» «--»




A range of +/- 1 distance between pole centers has been defined in whichthe axis may move during the automatic commutation setting. This rangewas exceeded during the execution of the command P-0-0524, C1200Commutation offset setting command.

Cause Remedy

Drive enable was set while the axis was still moving Wait until axis has come to standstill and set driveenable again

Axis was moved by mechanical force Exclude influence of mechanical force

Parameter values for P-0-0506, Amplitude forangle acquisition and P-0-0507, Test frequencyfor angle acquisition too high. Mechanicalconditions of the axis, such as friction and load dueto weight, have possibly changed

Reduce parameter values for P-0-0506, Amplitude forangle acquisition and P-0-0507, Test frequency forangle acquisition. Parameter values can also be set todefault values P-0-0506, Amplitude for angleacquisition=25 % and P-0-0507, Test frequency forangle acquisition=500 Hz

See also Functional Description of firmware "Determining theCommutation Offset"





C1214 Command only possible with linear synchronous motorContained in 02VRS: «MPB» «MPD» «MPH»




When executing the command for determining the commutation offset(C1200) with the currentless procedure (see P-0-0522,Control word forcommutation setting) the condition for the motor type was detected notto have been fulfilled.

Cause Remedy

The connected motor is not a synchronous linearmotor

-

The connected motor is a synchronous linearmotor, but the wrong motor type (P-0-4014) wasselected or the pole pair distance (P-0-0018)was set to "0"

If the connected motor is a synchronous linear motorwith absolute measuring system, check the motor typethat has been set (P-0-4014) and correct it, ifnecessary

The connected motor is a synchronous linear motor,the motor type (P-0-4014) was correctly set, butthere isn't any absolute encoder with EnDat interfaceavailable

If the connected motor is a synchronous linear motorwith incremental measuring system or a rotarysynchronous motor, then use the procedure with currentto determine the commutation offset (see P-0-0522,Control word for commutation setting)





C1215 Command only possible in 'bb'Contained in 02VRS: «MPB» «MPD» «MPH»




When executing the command for determining the commutation offset(C1200) with the currentless procedure (see P-0-0522, Control word forcommutation setting) the drive was detected not to be ready foroperation ("bb").

Cause:

The drive isn't yet ready for operation ("bb")

- or -

the drive is already in drive enable ("AF")

Remedy:

Bring the drive to the ready for operation status ("bb")



C1216 Commutation determination not selectedContained in 02VRS: «MPB» «MPD» «MPH»





Cause:

There wasn't any mode for commutation determination selected.

Remedy:

Set a mode for commutation determination in the P-0-0522,Commutation setting control word parameter.





C1217 Setting only possible in 'Ab'Contained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

The drive was not ready at the start of the command,the display did not read "Ab"

1. Switch drive to communication phase 4, if there isn'tany error present the display reads "bb"("betriebsbereit" = ready for operation)2. Switch power on, drive goes to operating mode, thedisplay reads "Ab" ("Antrieb bereit" = drive ready)3. Now start command C1200





C1218 Automatic commutation: current too lowContained in 02VRS: «MPB» «MPD» «MPH»




The actual current value amplitude resulting from commutation settingwith the saturation method is monitored. If it does not exceed a minimumthreshold when the command P-0-0524, C1200 Commutation offsetsetting command is executed, the command error C1218 is generated.

Cause Remedy

Actual current value amplitude is not sufficient forexact determination of commutation offset

Increase signal voltage (P-0-0506, Amplitude for angleacquisition) or reduce signal frequency (P-0-0507, Testfrequency for angle acquisition) and restartcommutation setting process- or -Enter value "0" in P-0-0506, Amplitude for angleacquisition. Appropriate value for P-0-0506 is therebyautomatically determined during commutation settingprocess- or -Reduce value of P-0-0517, Commutation: requiredharmonics component, if approx. 30 similar values aredetermined for P-0-0521, Effective commutationoffset with repeated commutation setting for differentmotor positions (drive remains in "Ab"). ReduceP-0-0517, Commutation: required harmonicscomponent until command error C1218 no longeroccurs; finally check function several times!







C1219 Automatic commutation: overcurrentContained in 02VRS: «MPB» «MPD» «MPH»





Cause:

The actual current is higher than the allowed maximum current.

Remedy:

Reduce the signal voltage (P-0-0506, Voltage amplitude for angleacquisition) or increase the signal frequency (P-0-0507, Test frequencyfor angle acquisition).

- or -

With P-0-0506 = 0 start the automatic determination of appropriatevalues.



C1220 Automatic commutation: timeoutContained in 02VRS: «MPB» «MPD» «MPH»





Cause:

An error occurred in the signal generator.

Remedy:

Switch the drive off and on again. If the error continues to be signaled,contact the service department.





C1221 Automatic commutation: iteration without resultContained in 02VRS: «MPB» «MPD» «MPH»




The commutation offset determination (P-0-0524, C1200 Commutationoffset setting command) was unsuccessful. It was impossible to findappropriate values for P-0-0506, Amplitude for angle acquisition andP-0-0507, Test frequency for angle acquisition with which it wouldhave been possible to obtain sufficient magnetic saturation effects in themotor. It was therefore impossible to determine a functioning value for thecommutation offset.

Cause Remedy

Type current of controller too low Use controller that can supply motor with sufficientlyhigh current (for Rexroth kit motors, required minimumcurrent for magnetic saturation effects is approx.2.0...2.5-fold continuous current at standstill).If without success, check whether sine-wave methodcan be used for commutation offset setting

Test current generated in motor is too low Manually increase value of P-0-0506, Amplitude forangle acquisition or reduce value of P-0-0507, Testfrequency for angle acquisition so that higher testcurrent is generated.If without success, check whether sine-wave methodcan be used for commutation offset setting






C1222 Error when writing offset parametersContained in 02VRS: «MPB» «MPD» «MPH»




When executing the command for determining the commutation offset(C1200) with the currentless procedure (see P-0-0522, Commutationsetting control word) the determined commutation offset value is writtento the P-0-0508, P-0-0521 and P-0-3008 parameters. When writing datato these parameters an error or a disorder occurred.

Cause:

For at least one of the parameters P-0-0508, P-0-0521 or P-0-3008 it wasimpossible to write the determined commutation offset value to it.

Remedy:

• execute the C1200 command again

• check wiring for noise immunity

• replace sensor of the encoder

• contact our service department, if necessary



C1301 Class 1 diagnostics error at command startContained in 02VRS: «MPB» «MPD» «MPH»




The command S-0-0149, C1300 Positive stop drive procedurecommand cannot be carried out as a class 1 diagnostics error hasoccurred.

See also Functional Description "Positive Stop Drive Procedure"





C1402 Faulty reference mark signalContained in 02VRS: «--» «--» «--»




During the execution of command P-0-0014, C1400 Command Getmarker position the reference mark signal is checked for its allowedsignal width and the assignment to the track signals. If the signal isoutside of the allowed specification or disturbed, this error is generated.

Cause Remedy

Encoder sensor not correctly mounted Correct mounting of encoder sensor

Reference mark signal disturbed Check / correct wiring and shielding of reference marksignal




C1701 Measuring wheel mode not possibleContained in 02VRS: «MPB» «MPD» «MPH»




The P-0-0240, C1700 Command measuring wheel mode cannot beexecuted.

Cause Remedy

There aren't two encoders available Connect measuring wheel encoder





C1801 Start requires drive enableContained in 02VRS: «MPB» «MPD» «MPH»




In order to make sure that the drive is in control when the commandP-0-0162, C1800 Command Automatic control loop adjust is started,this is queried at the start of the command.

Cause Remedy

Drive enable not set at start of command Set drive enable and restart command P-0-0162, C1800Command Automatic control loop adjust




C1802 Motor feedback data not validContained in 02VRS: «MPB» «MPD» «MPH»




At the beginning of the automatic control loop setting (P-0-0162, C1800Command Automatic control loop adjust) the motor parameters

• torque constant and

• device type current

are read from the encoder data memory.

Cause:

• One of above-mentioned data stored in encoder has a value equal toor less than zero (<= 0) which would cause incorrect calculation ofcontroller parameters.

• Motor without encoder data memory

Remedy:

If known, write correct values back to encoder data memory or contactRexroth service department in order to get data valid for respective motor.

If it is impossible to correct parameter values in encoder data memory,motor must be replaced!






C1803 Inertia detection failedContained in 02VRS: «MPB» «MPD» «MPH»




At the beginning of the automatic control loop setting the mass inertia isdetermined by a "pendulum test".

This means that the speed change and motor current during accelerationor deceleration have to exceed certain minimum values in order toguarantee useful and sufficiently exact calculation of the inertia.

Causes:

• drive acceleration too low

• load inertia too high

• motor speed too low

• not enough measured values for automatic control loop setting

Remedies:

• increase S-0-0260, Positioning acceleration

• increase S-0-0092, Bipolar torque/force limit value

• increase S-0-0259, Positioning Velocity

• increase S-0-0108, Feedrate override

See also Functional Description "Prerequisites for Starting the AutomaticControl Loop Setting"





C1804 Automatic controller setting failedContained in 02VRS: «MPB» «MPD» «MPH»




In exceptional cases difficulties can occur during automatic control loopsetting. This means that automatic setting is impossible and the default orstandard values are loaded to the drive again.

Causes:

• oscillating mechanical systems (resonances)

• highly noisy encoder signals

Remedy:

It is sometimes possible to achieve a satisfactory result by restarting thecommand P-0-0162, C1800 Command Automatic control loop adjustwith a high P-0-0163, Damping factor for autom. controller adjust, i.e.a low degree of dynamic response.

This value then can still be reduced until the desired control loop behavioroccurs.






C1805 Travel range invalidContained in 02VRS: «MPB» «MPD» «MPH»




Before beginning the automatic control loop setting it is necessary todefine both travel range limits (upper and lower).

When the command P-0-0162, C1800 Command Automatic controlloop adjust is started, the numeric values are checked for validity. Acheck is run to find out whether the travel distance is big enough.

Cause Remedy

Maximum travel distance (P-0-0169, Traveldistance for autom. controller adjust) defined withP-0-0166, Lower position limit for autom. controlloop adjust and P-0-0167, Upper position limit forautom. control loop adjust is smaller than 6 motorrevolutions and therefore too small in order to beable to start automatic control loop setting.

1. Clear command error by completing the command2. Define limits again so that defined travel range isbigger3. Restart command with useful travel range




C1806 Travel range exceededContained in 02VRS: «MPB» «MPD» «MPH»




During the automatic control loop setting the travel range limits P-0-0166,Lower limit for autom. control loop adjust and P-0-0167, Upper limitfor autom. control loop adjust are permanently monitored.

If one of these limits is exceeded, the command error C1806 is outputand the drive is shut down in a speed-controlled way.

Cause Remedy

Actual position is outside defined travel range- or –Limits were defined again after start of command

1. Clear command error by completing the command2. Define limits again so that actual position is withindefined travel range3. Restart command with useful travel range






C1807 Determining travel range only via travel distanceContained in 02VRS: «MPB» «MPD» «MPH»




When parameterizing the travel range for the automatic control loopsetting the modulo scaling was not taken into account.

Cause Remedy

There was an attempt to parameterize travel rangevia P-0-0166, Lower limit for autom. control loopadjust / P-0-0167, Upper limit for autom. controlloop adjust. In this case travel range can only beparameterized directly

Define travel range by parameterizing P-0-0169, Traveldistance for autom. controller adjust



C2001 Command not enabledContained in 02VRS: «MPB» «MPD» «MPH»




The execution of the "Release motor holding brake" command (C2000)was aborted by an error.

Cause:

The command can only be executed if it is allowed by bit 5 in theP-0-0525, Holding brake control word parameter.

Remedy:

Set bit 5 in parameter P-0-0525 to "allowed".






C2101 Brake check only possible with drive enableContained in 02VRS: «MPB» «MPD» «MPH»




It is impossible to execute the "Brake check" command (C2100).

Cause:

The P-0-0541, C2100 Brake check command was activated but driveenable ("AF") had not been set.

Remedy:

Switch drive to "AF" ("Antriebsfreigabe" = drive enable), then start theC2100 command.






C2103 Brake torque too lowContained in 02VRS: «MPB» «MPD» «MPH»




When executing the "brake check" command (C2100) the holding torqueof the brake was detected to be too low.

The command C2100 is aborted if the "abrasion" of the brake wasdeactivated via bit 4 in P-0-0525, Holding brake control word.Otherwise the drive tries to reestablish the brake torque by automaticallystarting the abrasion cleaning process and then checks the holding torqueagain.

Cause:

Due to storage brake is covered with an oxide layer.

- or -

Brake is wetted with oil or grease.

- or -

Brake is worn.

Remedy:

Start "Brake check" command again in order to reestablish full braketorque by repeated abrasion.

If brake torque is still too low after several attempts to reestablish it, brakeor motor must be replaced.






C2104 Command execution not possibleContained in 02VRS: «MPB» «MPD» «MPH»




It was impossible to start the "Brake check" command (C2100).

Cause Remedy

in the P-0-0525, Holding brake control wordparameter the brake has not been activated

activate the brake in the P-0-0525, Holding brakecontrol word parameter

the value in P-0-0540, Torque of motor brake is 0 enter the correct value for P-0-0540, Torque of motorbrake




C2105 Load of holding system > test torqueContained in 02VRS: «--» «--» «--»




The execution of the command P-0-0541, C2100 Brake checkcommand was aborted. The current load due to weight of the axis("holding system") was detected to be greater than the force or the torquewith which the blocking of the axis is checked on the drive side.

Note: To block the axis in a reliable way the holding torque or theholding force must be greater than the load due to weight ofthe axis. Therefore, the test torque or the test force must begreater than the load due to weight, too.



The test lasts for one second with regard to the 1.3-fold value of

• P-0-0547, Nominal load of holding system (if P-0-0547 is unequal"0") or

• P-0-0540, Torque of holding brake (if P-0-0547 = "0").

Cause Remedy

Load due to weight is greater than nominal loadwhich was input (if P-0-0547, Nominal load ofholding system is unequal "0")

Remedy during initial commissioning:Determine load due to weight of axis and compare it tovalue entered in P-0-0547, Nominal load of holdingsystem. Correct (increase) value, if necessary.

Remedy during operation of axis drive:

DANGERLoad due to weight of axis was increased comparedto initial commissioning! Check cause!

Reduce load due to weight- or -Determine load due to weight of axis and compare it tovalue entered in P-0-0547, Nominal load of holdingsystem. Increase value in P-0-0547, Nominal load ofholding system, if necessary. Check drivedimensioning!

Load due to weight is greater than holding torque orholding force of holding brake (if P-0-0547, Nominalload of holding system = "0")

Remedy during initial commissioning:Determine load due to weight of axis and compare it tovalue of P-0-0540, Torque of holding brake. Mountstronger holding brake, if necessary.


DANGERLoad due to weight of axis is higher than P-0-0540,Torque of holding brake! Check cause!

Reduce load due to weight- or -Determine load due to weight of axis and compare it tovalue of P-0-0540, Torque of holding brake. Mountstronger holding brake, if necessary. Check drivedimensioning!

See also Functional Description of firmware "Motor Holding Brake"





C2106 Test torque of holding system not reachedContained in 02VRS: «--» «--» «--»




The execution of the command P-0-0541, C2100 Brake checkcommand was aborted. The brake check detected that it is impossible togenerate the test torque required on the drive side with which the blockingof the axis is to be tested.

The test lasts for one second with regard to the 1.3-fold value of

• P-0-0547, Nominal load of holding system (if P-0-0547 is unequal"0") or

• P-0-0540, Torque of holding brake (if P-0-0547 = "0").

Cause Remedy

A static limitation of drive torque or drive force isactive

Check or increase static torque or force limit values sothat 1.3-fold value of P-0-0547, Nominal load ofholding system (if P-0-0547 is unequal "0") orP-0-0540, Torque of holding brake (if P-0-0547 = "0")is possible. By way of trial, set maximum values, ifnecessary:- S-0-0092, Bipolar torque/force limit value- S-0-0082, Torque/force limit value positive- S-0-0083, Torque/force limit value negative- P-0-0109, Torque/force peak limit

Dynamic limitation of drive torque or drive force isactive and P-0-0547, Nominal load of holdingsystem is unequal "0"

Check dynamic limitations (static limit values mustn't beeffective!).If value displayed in P-0-0444, Actual value peaktorque limit does not allow 1.3-fold of P-0-0547,Nominal load of holding system, drive isunderdimensioned! Check thermal load of motor andcontroller. Replace overloaded component(s) byappropriate component(s), if necessary.

Dynamic limitation of drive torque or drive force isactive and P-0-0547, Nominal load of holdingsystem = "0"

Check dynamic limitations (static limit values mustn't beeffective!).If value displayed in P-0-0444, Actual value peaktorque limit does not allow 1.3-fold of P-0-0540,Torque of holding brake, check whether valuedepending on axis load can be input in P-0-0547,Nominal load of holding system. If not, controller isunderdimensioned! Replace controller by an appropriateone, if necessary.



Cause Remedy

If value of P-0-0547, Nominal load of holdingsystem is unequal "0":

Input of nominal load of axis (P-0-0547, Nominalload of holding system) is greater than actual loaddue to weight.This means that load current demanded fromcontroller cannot be made available for test duration.Dynamic limitation of drive torque or drive force isactive

Remedy during initial commissioning:Determine load due to weight of axis and compare it tovalue entered in P-0-0547, Nominal load of holdingsystem. If P-0-0547, Nominal load of holding systemis greater and no check for "increased holding torque orholding force" is to be run, set (reduce) P-0-0547,Nominal load of holding system according to load dueto weight.If check is to be run for entered value, controller isunderdimensioned; see remedy for "Dynamic limitationof drive torque or drive force is active"


DANGERCheck is run for holding torque or holding force ofholding brake! Controller is underdimensioned!If possible, carry out remedy during initialcommissioning (see above)- or -Mount controller with sufficiently high continuouscurrent, see remedy for "Dynamic limitation of drivetorque or drive force is active"

If P-0-0547, Nominal load of holding system = "0":

Holding torque or holding force of holding brake isgreater than actual load due to weight of axis.This means that load current demanded fromcontroller cannot be made available for test duration.Dynamic limitation of drive torque or drive force isactive

Remedy during initial commissioning:Determine load due to weight of axis and compare it tovalue of P-0-0540, Torque of holding brake. If loaddue to weight requires less holding torque thanP-0-0540, Torque of holding brake displays and nocheck for "increased holding torque or holding force" isto be run, enter actual load due to weight in P-0-0547,Nominal load of holding system. In this way, actualaxis load is checked in the future. Otherwise, controlleris underdimensioned, see remedy for "Dynamiclimitation of drive torque or drive force is active"


DANGERCheck is run for holding torque or holding force ofholding brake! Controller is underdimensioned!If possible, carry out remedy during initialcommissioning (see above)- or -Mount controller with sufficiently high continuouscurrent, see remedy for "Dynamic limitation of drivetorque or drive force is active"






C2108 Error when releasing the holding systemContained in 02VRS: «--» «--» «--»




The execution of the command P-0-0541, C2100 Brake checkcommand was aborted. An error was detected when the redundantholding brake was released.

Cause Remedy

Incorrect control of holding system, holding systemdoes not release

Check wiring- or -If third-party brake was connected:Check parameter setting

Test torque for releasing holding system set too low Increase value in parameter P-0-0545, Test torque forreleasing motor holding brake

Increased breakaway torque of axis due to increasedfriction within installation, etc.

Remove malfunction in installation




C2202 Error when writing data to non-volatile memoryContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the S-0-0264, C2200 Backup working memoryprocedure command an error occurred.

Cause:

It was impossible to address the active, non-volatile memory (internalflash memory or MMC, if plugged in) without error.

Remedy:

• First start the command S-0-0264, C2200 Backup working memoryprocedure command again. If the error occurs again, then

• replace MMC (if plugged in) if necessary, then start the commandagain. If the error occurs again,

• contact the service department.





C2301 Error when reading non-volatile memoryContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the S-0-0263, C2300 Load working memoryprocedure command an error occurred.

Cause:

It was impossible to read the active, non-volatile memory [internal flashmemory or MMC (if plugged in)] without error.

Remedy:

Restart the command. If the error occurs again contact the servicedepartment. Have the control section checked for functional safety.



C2302 Error when converting parametersContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the S-0-0263, C2300 Load working memoryprocedure command an error occurred.

Cause:

When reading the parameters from the active, non-volatile memory anerror occurred.

Remedy:

Enter the faulty parameter values correctly by hand and save them againin the non-volatile memory.





C2402 Error when saving parametersContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the S-0-0293, C2400 Selectively backupworking memory procedure command an error occurred.

Cause:

It was impossible to address the active, non-volatile memory (internalflash memory or MMC, if plugged in) without error.

Remedy:

• Start the S-0-0293, C2400 Selectively backup working memoryprocedure command again. If the error occurs again, then

• replace MMC (if plugged in) if necessary, then start the commandagain. If the error occurs again,

• contact the service department.





C2502 Error when accessing the MMCContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of P-0-4091, C2500 Copy IDN from optionalmemory to internal memory an error occurred.


Cause Remedy

MMC had not been active before, there haven't beenany valid parameter contents stored on it

Write parameter contents of internal memory to MMC byexecuting command P-0-4092, C2600 Copy IDN frominternal memory to optional memory

MMC has not (or not completely) been plugged inthe MMC slot provided for this purpose

Put MMC into controller. Then restart commandP-0-4091, C2500 Copy IDN from optional memory tointernal memory

Error occurs sporadically due to voltage fluctuationsin device

Check power supply and then restart commandP-0-4091, C2500 Copy IDN from optional memory tointernal memory.If error occurs repeatedly, you should contact ourservice department

MMC was not or not correctly formatted Format MMC or contact our service department. Thenrestart command P-0-4091, C2500 Copy IDN fromoptional memory to internal memory

MMC is defective Check MMC and restart command P-0-4091, C2500Copy IDN from optional memory to internal memory.If diagnostic message appears repeatedly: replaceMMC

MMC slot in control section is defective Check MMC slot and, if necessary, replace controlsection or complete drive controller

Note: If the MMC must be replaced, the values stored on it are lost.








C2504 Error when writing data to internal memoryContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the P-0-4091, C2500 Copy IDN from optionalmemory to internal memory an error occurred.

Cause Remedy

Error when writing to the internal, non-volatile flashmemory

Start the P-0-4091, C2500 Copy IDN from optionalmemory to internal memory again.If the diagnostic message is displayed repeatedly:contact the service department









During the execution of the command P-0-4092, C2600 Copy IDN frominternal memory to optional memory a check is run in order to find outwhether a functioning MMC (MultiMediaCard) is available.


Cause Remedy

MMC has not (or not completely) been plugged inthe MMC slot provided for this purpose

Put MMC into controller. Then restart commandP-0-4092, C2600 Copy IDN from internal memory tooptional memory

MMC was not or not correctly formatted Format MMC or contact our service department. Thenrestart command P-0-4092, C2600 Copy IDN frominternal memory to optional memory

At least one of the required files is missing in"Parameters" folder on MMC

Check whether files with extension "....#1.pbf" or"....#1.rbf" are contained in "Parameters" folder onMMC. For double-axis devices, files with extension"....#2.pbf" or "....#2.rbf" have to be available!If diagnostic message appears repeatedly: replaceMMC

MMC is defective Check MMC and restart command P-0-4092, C2600Copy IDN from internal memory to optional memory.If diagnostic message appears repeatedly: replace MMC

MMC slot in control section is defective Check MMC slot and, if necessary, replace controlsection or entire drive controller


Note: If the MMC must be replaced, the values stored on it are lost.






C2604 Error when reading the internal memoryContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the P-0-4092, C2600 Copy IDN from internalmemory to optional memory an error occurred.

Cause Remedy

Error when reading the internal flash memory Start the P-0-4092, C2600 Copy IDN from internalmemory to optional memory again.If the diagnostic message is displayed repeatedly: savethe parameter values via the serial interface or theSERCOS interface, if required. In the medium term,have the control section checked for functional safety



C2801 Analog input not configuredContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command for adjusting the analog input(P-0-0220, C2800 Analog input adjust command) an error wasdetected. The execution of the command was aborted.

Cause Remedy

Command for automatic adjust of analog input wasstarted although there hadn't any analog input beenconfigured on drive controller

Check parameter P-0-0218, Analog input, controlparameter. In this parameter an analog input has to beassigned for selected analog input assignment

See also Functional Description "Analog Input"





C2802 Oscillations of input signal outside tolerance rangeContained in 02VRS: «MPB» «MPD» «MPH»




When the command P-0-0220, C2800 Analog input adjust command isexecuted, the quality of the reference signal used is checked.

Cause Remedy

During gain adjust, reference voltage was usedthat fluctuates by more that 1% of input voltagerange

Check input signal used for precision; if necessary, usedifferent calibration signal

During zero point adjust, input voltage is notexactly "0" and fluctuates by more than 1% ofinput voltage range

Short circuit analog inputs by means of wire bridge

See also Functional Description "Analog Inputs"



C2803 Measured values at zero point and max. value identicalContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command P-0-0220, C2800 Analog inputadjust command an error was detected. The execution of the commandwas aborted.

Cause Remedy

During zero point and gain adjust, the samevoltage value was provided at analog input

Voltage provided at input has to be modified betweentwo steps of adjust (voltage value for zero adjust: 0 V,voltage value for gain adjust: maximum input voltage)

See also Functional Description "Analog Inputs"





C2804 Automatic adjust failedContained in 02VRS: «MPB» «MPD» «MPH»




The command P-0-0220, C2800 Analog input adjust command wasaborted due to an unspecified error. Please contact our servicedepartment.







During the execution of P-0-4072, C2900 Command Firmware updatefrom MMC a check is run to find out whether the firmware was correctlyloaded.

Cause Remedy

A transmission error occurred during transmissionof firmware from MMC

Execute P-0-4072, C2900 Command Firmware updatefrom MMC again.If error occurs again, contact a Rexroth service engineer

Firmware file (ibf file) available on MMC is notcorrect (does not match control section)

Use different MMC with firmware file appropriate forcontrol section– control section CSH01.1C: firmware MPH– control section CSB01.1x: firmware MPB– control section CDB01.1x: firmware MPD

Note: If the command error occurs during the transmission of thefirmware to an optional module, the respective system error(F8xxx) is displayed in addition to the command error C2903.





C2904 Error when accessing the flashContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the P-0-4072, C2900 Command Firmwareupdate from MMC an error occurred.

Cause Remedy

Due to voltage fluctuations in device an activerequest was aborted

Execute P-0-4072, C2900 Command Firmware updatefrom MMC again








C2905 Programmed firmware defectiveContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the P-0-4072, C2900 Command Firmwareupdate from MMC an error occurred.

Cause Remedy

Firmware transfer from MMC was incorrect Execute P-0-4072, C2900 Command Firmware updatefrom MMC again

Firmware available on MMC is not correct Use a different MMC with the desired firmware

An error was detected during check of flash Execute P-0-4072, C2900 Command Firmware updatefrom MMC again.If error occurs repeatedly, replace control section orentire drive controller







C3001 Synchronization and storage failedContained in 02VRS: «MPB» «MPD» «MPH»




The command P-0-3204, C3000 Synchronize and store safetytechnology IDN command was not or incorrectly executed.

Cause Remedy

Hardware defect of optional module "safetytechnology I/O"

Reset optional module "safety technology I/O" by arestart. If command error occurs repeatedly, hardwarehas to be replaced

Firmware error Please contact our service department




C3101 Act. modulo value cycle greater than max. travel rangeContained in 02VRS: «MPB» «MPD» «MPH»




The command error C3101 is generated when the calculated modulovalue for the actual value cycle is greater than the maximum travel range(S-0-0278, Maximum travel range).





C3102 Drive is still in drive enableContained in 02VRS: «MPB» «MPD» «MPH»




Cause Remedy

Drive enable has been set and command P-0-0071,C3100 Recalculate actual value cycle was started

To be able to carry out the command, drive enable hasto be removed



C3201 Incorrect input for currentContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command P-0-4033, C3200 CommandCalculate data for asynchronous motor an error was detected.

Cause Remedy

List element 1 (rated current) in P-0-4032, Typeplate list asynchronous motor is outside of usefullimits

Value for rated current has to be inside of followinglimits:rated current > 0.01 * amplifier peak currentandrated current < 10 * amplifier peak current





C3203 Incorrect input for voltageContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

List element 2 (rated voltage) in P-0-4032, Typeplate list asynchronous motor is outside of usefullimits

Value for rated voltage has to be between 10 V and2000 V



C3202 Incorrect input for frequencyContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

List element 3 (rated frequency) in P-0-4032, Typeplate list asynchronous motor is outside of usefullimits

Value for rated frequency has to be between 5 Hz and3000 Hz





C3204 Incorrect input for speedContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

There is no useful relation between list element 4(rated speed) in P-0-4032, Type plate listasynchronous motor and rated frequency, i.e.number of pole pairs cannot be calculated

Correct list element 4 (rated speed) in P-0-4032, Typeplate list asynchronous motor



C3205 Incorrect input for power factorContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Power factor of motor is outside of useful limits List element 5 (power factor cos φ) in P-0-4032, Typeplate list asynchronous motor has to be between 0.5and 0.999





C3206 Incorrect input for powerContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

There is no useful relation between list element 6(rated power) in P-0-4032, Type plate listasynchronous motor and electric power that resultsfrom the other rated data.Mechanical power output has to be smaller thaneffective electric power of motor at rated pointbecause an efficiency of less than 1 is assumed.Furthermore a mechanical power output smaller than40% of effective electric power is not valid

Correct values in P-0-4032, Type plate listasynchronous motor and restart command P-0-4033,C3200 Command Calculate data for asynchronousmotor



C3207 Type plate list incompleteContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

List length of parameter P-0-4032, Type plate listasynchronous motor is shorter than 6 elements orat least one element has value "0"

Please check: To calculate motor and controllerparameters from type plate of an asynchronous motor,value higher than "0" has to be entered in all 6 listelements of P-0-4032, Type plate list asynchronousmotor





C3208 Error when writing parametersContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command P-0-4033, C3200 CommandCalculate data for asynchronous motor an error occurred (e.g.violation of limit values) when a parameter for motor control was written.

Cause Remedy

At least one list element in P-0-4032, Type plate listasynchronous motor has no useful value so thatat least one parameter is outside of allowed limitswhen motor data are calculated

Correct values in P-0-4032, Type plate listasynchronous motor and restart command P-0-4033,C3200 Command Calculate data for asynchronousmotor



C3501 Acquisition velocity not allowedContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command P-0-0340, C3500 CommandDetermine encoder correction values an error was detected.

To acquire the signal shape the axis has to be moved at constant velocity;the velocity command value has to be within an allowed range of values.The controller monitors the velocity command value and, if necessary,signals inadmissible acquisition velocity.

Cause Remedy

Acquisition velocity outside of allowed range ofvalues

Check range of values for acquisition velocity (range ofvalues relates to encoder shaft or sensor head)

"Acquisition velocity" see Functional Description "Encoder Correction"





C3502 Motor encoder not availableContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Motor encoder does not supply any signal or is notrecognized by controller

Check whether signals of motor encoder are reachingcontroller. If necessary, replace motor encoder or motorencoder cable

Motor encoder not available, not connected or notregistered ("open-loop" operation)

Connect motor encoder and register it in P-0-0074,Encoder type 1 (motor encoder)



C3503 Optional encoder not availableContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Optional encoder does not supply any signal or isnot recognized by controller

Check whether signals of optional encoder are reachingcontroller. If necessary, replace encoder or encodercable

Optional encoder not available, not connected or notregistered

Connect optional encoder and register it in P-0-0075,Encoder type 2 (optional encoder)





C3504 Measuring encoder not availableContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Measuring encoder does not supply any signal or isnot recognized by controller

Check whether signals of measuring encoder arereaching controller. If necessary, replace encoder orencoder cable

Measuring encoder not available, not connected ornot registered

Connect measuring encoder and register it in P-0-0076,Encoder type 3 (measuring encoder)



C3505 No encoder selectedContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

At start of command P-0-0340, C3500 CommandDetermine encoder correction values there hadn'tany encoder been selected in P-0-0341, Controlword for encoder correction

Select encoder in P-0-0341, Control word for encodercorrection





C3506 Correction value table cannot be storedContained in 02VRS: «MPB» «MPD» «MPH»





Cause Remedy

Determined correction value table (P-0-0342,Correction value table for encoder correction) isincomplete

Execute command P-0-0340, C3500 CommandDetermine encoder correction values again, selectdifferent acquisition velocity

Due to hardware problem, determined correctionvalue table (P-0-0342, Correction value table forencoder correction) cannot be stored in drive

Replace device



C3601 Motor not or not correctly connectedContained in 02VRS: «--» «--» «--»




When the command P-0-0565, C3600 Command Motor dataidentification is executed, test pulses are output to the motor. An errorwas detected during the execution of the command.

Cause Remedy

Motor not connected to drive controller Connect motor

Motor not correctly connected to drive controller Check and correct motor connection






C3602 Determined values invalidContained in 02VRS: «--» «--» «--»




When executing the command P-0-0565, C3600 Command Motor dataidentification the determined values were detected to be invalid.

Cause Remedy

Type plate data not entered correctly Check values, correct them if necessary, thensuccessively calculate C3200 Command Calculatedata for asynchronous motor and start C3600Command Motor data identification




C3603 Device current limit too lowContained in 02VRS: «--» «--» «--»




When executing the command P-0-0565, C3600 Command Motor dataidentification the drive detected that the required measuring currentcouldn't be generated.

Cause Remedy

Controller cannot make sufficient measuring currentavailable

If possible, reduce value in P-0-0001, Switchingfrequency of the power output stage- or -use controller with higher type current






C3604 Error when writing parametersContained in 02VRS: «--» «--» «--»




When the command P-0-0565, C3600 Command Motor dataidentification was executed, the writing of at least one of the calculatedparameters caused a limit error.

Cause Remedy

Type plate data not entered correctly Check values, correct them if necessary, thensuccessively start C3200 Command Calculate data forasynchronous motor and C3600 Command Motordata identification




C3605 Motor turning{Contained in 02VRS: «--» «--» «--»




The command P-0-0565, C3600 Command Motor data identificationmay only be started when the motor is not moving. Motor motion isdetected by the possibly available motor encoder.

Cause Remedy

Command C3600 had been started when motor wasstill moving

Start command C3600 when motor in standstill






C3606 Type of construction of motor not allowedContained in 02VRS: «--» «--» «--»




The command P-0-0565, C3600 Command Motor data identificationcan only be used for asynchronous motors! The functional principle of themotor is recognized by means of the setting of P-0-4014, Type ofconstruction of motor.

Cause Remedy

Command C3600 was started for a synchronousmotor

C3600 cannot be used! If required, use C4600Command Calculate motor control parameters




C3701 Error when manually unlocking the safety doorContained in 02VRS: «MPB» «MPD» «MPH»




The command C3700 Manually unlocking the safety door was not orincorrectly executed.

Cause Remedy

Drive still is in normal operation, there hasn't beenany safety function activated yet

- or -

Drive is not in operating mode

Clear command C3700 Manually unlocking the safetydoor. Select safety function via operating mode switch.Execute command again






C3901 Abrasion of brake only possible with drive enableContained in 02VRS: «MPB» «MPD» «MPH»




It is impossible to execute the command P-0-0544, C3900 CommandAbrasion of brake.

Cause Remedy

Command was activated without drive enable ("AF")having been set

Switch drive to "AF", then start command P-0-0544,C3900 Command Abrasion of brake




C3902 Error during abrasion of brakeContained in 02VRS: «MPB» «MPD» «MPH»




The execution of the command "abrasion of brake" (P-0-0544, C3900Command Abrasion of brake) was aborted by an error.

Cause Remedy

Torque of the amplifier is reduced Remove reduction

Axis is mechanically blocked Remove mechanical blocking

Axis is at end stop or runs towards it Choose axis position such that sufficient motion ispossible

Abrasion of brake is impossible because motorgenerates less torque than holding torque of brake

Check whether there are torque limitations active indrive or whether controller was sufficiently dimensioned

Sum of weight load and brake torque is greater thanmotor peak torque

Reduce weight load, if possible






C3903 Command execution impossibleContained in 02VRS: «MPB» «MPD» «MPH»




It was impossible to start the command "abrasion of brake" (P-0-0544,C3900 Command Abrasion of brake).

Cause Remedy

Brake control has not been activated in parameterP-0-0525, Holding brake control word

Activate brake control in parameter P-0-0525, Holdingbrake control word

Value in P-0-0540, Torque of motor holding brakeis 0

Enter correct value for P-0-0540, Torque of motorholding brake






C4001 Error during safety related homing procedureContained in 02VRS: «MPB» «MPD» «MPH»




During the execution of the command P-0-3228, C4000 Homingprocedure command channel 2 an error occurred.

Note: The command was not or incorrectly executed so that there isno safety related reference or position.

Cause Remedy

No home switch was configured for channel 2 Configure a home switch in P-0-3211, Safetytechnology I/O control word, channel 2

Actual position value difference between channel 1and channel 2 is greater than value entered inP-0-3229, Tolerance window for safety relatedhoming procedure

Check parameter setting of P-0-3229, Tolerancewindow for safety related homing procedure andP-0-3231, Safety related reference position channel 2

Failure on home switch input signal Check wiring of home switch; check signal quality

Note: In addition to trouble shooting, you have to reboot the drive; todo this switch control voltage off and then on again.






C4002 Incorrect distance of dedicated point channel 1-2Contained in 02VRS: «MPB» «MPD» «MPH»




For encoders which without home switch do not have unequivocalreference to the axis position, a check is run at the beginning of commandP-0-3228, C4000 Homing procedure command channel 2 to find outwhether the distance of the dedicated points of channel 1 and channel 2is greater than the tolerance window plus a tolerance of 10 percent:

(S-0-0052/S-0-0054 - S-0-0150/S-0-0151 - P-0-3231) > (P-0-3229 * 1,1)

S-0-0052, Reference distance 1

S-0-0054, Reference distance 2

S-0-0150, Reference offset 1

S-0-0151, Reference offset 2

P-0-3231, Safety related reference position channel 2

P-0-3229, Tolerance window for safety related homing procedure

Fig. 9-2: Checking the distance of dedicated points of channel 1 andchannel 2

This check allows detecting failures which are simultaneously takingeffect on both reference inputs; incorrect position data reference canthereby be excluded.

Cause Remedy

Distance of dedicated points of channel 1 andchannel 2 is smaller than P-0-3229, Tolerancewindow for safety related homing procedure (plustolerance of 10 percent)

Check parameter setting and change it, if necessary

- or -

Mount home switch appropriately

Then execute P-0-3228, C4000 Homing procedurecommand channel 2 again





C4101 Switching only possible without AFContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0216, C4100 Switchparameter set command an error occurred.

Cause Remedy

Parameter set switching with parameter group"encoder parameters" was started although axis stillis in "AF"

Remove drive enable ("AF") before starting command




C4102 Switching only possible in parameter modeContained in 02VRS: «--» «--» «--»




C4100 Switch parameter set command couldn't be executed.

Cause Remedy

Parameter set switching was activated in operatingmode although parameter group "motor parameters"has been included in switching process

Bring drive to parameter mode (P2) before startingcommand






C4103 Preselect parameter set forbidden valueContained in 02VRS: «--» «--» «--»





Cause Remedy

Value entered in parameter S-0-0217, Preselectparameter set command is greater than value inP-0-2217, Parameter set switching, preselectionrange

Before starting C4100 Switch parameter setcommand, set value in S-0-0217, Preselect parameterset command to valid value




C4104 Error during parameter set switching (->S-0-0423)Contained in 02VRS: «--» «--» «--»





Cause Remedy

An error occurred during parameter set switching IDN of parameter which caused error is displayed inS-0-0423, IDN-list of invalid op. data forparameterization level. Write valid value to displayedparameter






C4201 Oscillation requires drive enableContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0190, C4200 Drive-controlledoscillation command an error was detected.

Cause Remedy

At start of command, drive wasn't yet ready forpower output

Before starting C4200 switch power on and set driveenable




C4202 Oscillation command speed cannot be reachedContained in 02VRS: «--» «--» «--»




Five seconds after start of C4200 Drive-controlled oscillationcommand the deviation of the actual velocity value from the oscillationstart speed still is greater than or equal to the value of S-0-0157, Velocitywindow. There is no command value curve generated for oscillation, asC4200 cannot be acknowledged.

Cause Remedy

Value of S-0-0157, Velocity window is zero Set S-0-0157, Velocity window to valid valuegreater zero

Motor is blocked or due to high degree of frictionspeed is too low

Check mechanical drive system for blocking or stiffness






C4302 Distance home switch - reference mark erroneousContained in 02VRS: «--» «--» «--»




During the execution of the command for NC-controlled homing (C4300)an error was detected.

The axis is equipped with a home switch connected to the controller (seesettings for home switch and reference mark in S-0-0147, Homingparameter).

Cause Remedy

Distance between home switch edge and nextreference mark determined by controller is not insideallowed range

Read value from parameter S-0-0298, Reference camshift and take it over to parameter S-0-0299, Homeswitch offset

- or -

Shift reference cam by value of S-0-0299, Home switchoffset






C4304 Homing of absolute encoder not possibleContained in 02VRS: «--» «--» «--»




During the execution of the command for NC-controlled homing (C4300)an error was detected:

NC-controlled homing is impossible with absolute measuring system.



C4306 Reference mark not detectedContained in 02VRS: «--» «--» «--»




During the execution of the command for NC-controlled homing (C4300)an error with regard to the reference marks of the encoder was detected.

If the reference marks of the relative encoder to be homed (selected inS-0-0147, Homing parameter) occur cyclically over the travel range, theposition difference of the reference marks detected by the controller ismonitored. This requires the correct setting for P-0-0153, Optimumdistance home switch-reference mark.

Cause Remedy

Reference marks do not occur in expected positiondifference

Check measuring system to be homed andcorresponding wiring- or -

Check and, if necessary, correct setting of P-0-0153,Optimum distance home switch-reference mark

Value set in P-0-0153, Optimum distance homeswitch-reference mark does not match encoderthat is used

Correct setting of P-0-0153, Optimum distance homeswitch-reference mark






C4307 Reference cam input not assignedContained in 02VRS: «--» «--» «--»




During the execution of the command S-0-0146, C4300 NC-controlledhoming procedure command an error was detected.

Cause Remedy

Home switch hasn't been assigned to any digitalinput

Assign home switch (S-0-0400, Home switch) to adigital input via parameter P-0-0300, Digital I/Os,assignment list

Home switch was connected to NC but S-0-0147,Homing parameter was incorrectly parameterized

Correct setting of respective bit of S-0-0147, Homingparameter




C4308 Pos. stop a. HW lim. switch not allowed f. modulo axesContained in 02VRS: «--» «--» «--»




During the execution of the command for NC-controlled homing (C4300)an error was detected:

Cause Remedy

NC-controlled homing at positive stop or travel rangelimit switch with modulo axes isn't a usefulcombination and therefore not allowed!

Modify control information for homing in S-0-0147,Homing parameter in a useful way





C4601 Error when writing parametersContained in 02VRS: «--» «--» «--»




When the command P-0-0566, C4600 Command Calculate motorcontrol parameters was executed, the writing of at least one of thecalculated parameters caused a limit error.

Cause Remedy

Motor data weren't correctly entered in motorparameters

Check values, correct them if necessary, then startC4600 Command Calculate motor controlparameters again

Incorrect motor data Check motor data, if necessary consult motormanufacturer. After entering corrected values startC4600 Command Calculate motor controlparameters again




C4701 Drive active, activation of easy startup impossibleContained in 02VRS: «--» «--» «--»




The command P-0-4085, C4700 Command Activate easy startupmode was started, but could not be executed.

Cause Remedy

Drive had been active when command for activating"easy startup" mode was started

Remove drive enable before starting commandP-0-4085, C4700 Command Activate easy startupmode

See also Functional Description "Initial Start in Easy Startup Mode"





C4901 PLC command error no. 1Contained in 02VRS: «--» «--» «--»





Cause Remedy

PLC program has generated "PLC command errorno. 1"

See program description of PLC program for how toreact to C4901









Cause Remedy













Cause Remedy











Cause Remedy








C4910 PLC command timeoutContained in 02VRS: «--» «--» «--»




The command P-0-1449, C4900 PLC command for controlling a PLCprogram was started. The PLC did not acknowledge the command input.

Cause Remedy

PLC program was not started Start PLC program and then execute P-0-1449, C4900PLC command again

Loaded PLC program is not correct Correct PLC program, load it and then executeP-0-1449, C4900 PLC command again




C5401 PLC program not ready for retain data backupContained in 02VRS: «--» «--» «--»




During the execution of the command P-0-4054, C5400 Command SavePLC retain data on MMC an error occurred.

Cause Remedy

No PLC program has been loaded (cf. P-0-1351,PLC status word)

Check PLC programs (load them, if necessary) and thenstart P-0-4054, C5400 Command Save PLC retaindata on MMC

PLC program still is active (cf. P-0-1351, PLC statusword)

Stop PLC program and then start P-0-4054, C5400Command Save PLC retain data on MMC

Note: The MMC is an optional component of the control section.





C5402 Error when writing data to the MMCContained in 02VRS: «--» «--» «--»




During the execution of the command P-0-4054, C5400 Command SavePLC retain data on MMC an error occurred.

Cause Remedy

MMC (MultiMediaCard) has not been plugged Plug MMC into controller and then start P-0-4054,C5400 Command Save PLC retain data on MMC

MMC (MultiMediaCard) was not formatted correctly Start command P-0-4072, C2900 Command Firmwareupdate from MMC and then P-0-4054, C5400Command Save PLC retain data on MMC






C5501 PLC program not ready for loading retain dataContained in 02VRS: «--» «--» «--»




During the execution of the command P-0-4055, C5500 Command LoadPLC retain data from MMC an error occurred.

Cause Remedy

No PLC program has been loaded (cf. P-0-1351,PLC status word)

Check PLC programs (load them, if necessary) and thenstart P-0-4055, C5500 Command Load PLC retaindata from MMC

PLC program still is active (cf. P-0-1351, PLC statusword)

Stop PLC program and then start P-0-4055, C5500Command Load PLC retain data from MMC




C5502 MMC not available or not OKContained in 02VRS: «--» «--» «--»





Cause Remedy

MMC (MultiMediaCard) has not been plugged Plug MMC into controller and then start P-0-4055,C5500 Command Load PLC retain data from MMC

MMC (MultiMediaCard) was not formatted correctly Start command P-0-4072, C2900 Command Firmwareupdate from MMC and then P-0-4055, C5500Command Load PLC retain data from MMC






C5503 PLC retain data do not match PLC programContained in 02VRS: «--» «--» «--»





Cause Remedy

PLC retain data on MMC do not match currentlyrunning PLC program (see P-0-1360, PLC programidentifier)

Plug appropriate MMC into controller and then startP-0-4055, C5500 Command Load PLC retain datafrom MMC- or -

Load appropriate PLC program and then start P-0-4055,C5500 Command Load PLC retain data from MMC




C5504 Unknown format in PLC retain fileContained in 02VRS: «--» «--» «--»





Cause Remedy

File "SPS-Retain.pbf" has unknown format Load appropriate firmware to controller and then startP-0-4055, C5500 Command Load PLC retain datafrom MMC






C5505 Invalid PLC retain dataContained in 02VRS: «--» «--» «--»





Cause Remedy

Stored PLC retain data in file "SPS-Retain.pbf" areinvalid

Again generate file "SPS-Retain.pbf" with P-0-4054,C5400 Command Save PLC retain data on MMC andthen start P-0-4055, C5500 Command Load PLCretain data from MMC




C5601 Command requires drive enableContained in 02VRS: «--» «--» «--»




During the execution of the P-0-0518, C5600 Command subsequentoptimization of commutation offset an error occurred.

Cause Remedy

Command for subsequent optimization ofcommutation offset setting was started, but drive isnot in "AF"

Switch drive to "AF" and then restart commandP-0-0518, C5600 Command subsequent optimizationof commutation offset






C5602 Axis blockedContained in 02VRS: «--» «--» «--»




During the execution of the P-0-0518, C5600 Command subsequentoptimization of commutation offset an error occurred.

Cause Remedy

To successfully carry out command for subsequentoptimization of commutation offset setting,motor/axis must be able to freely move by somedegrees; this is not the case

Remove axis blocking and then restart commandP-0-0518, C5600 Command subsequent optimizationof commutation offset




C5603 Timeout: axis in motionContained in 02VRS: «--» «--» «--»




During the execution of the command P-0-0518, C5600 Commandsubsequent optimization of commutation offset, the axis must havestopped or after motion triggered by the execution of the command, theaxis must come to standstill again. If this is impossible, the command isaborted.

Cause Remedy

External motion mechanically coupled Remove external motion; uncouple motor, if necessary

Axis has very long post-pulse oscillation Reduce oscillation time of axis; provoke slight friction ofaxis, if necessary






C6001 Measuring system unavailableContained in 02VRS: «--» «--» «--»




During the execution of the "Set absolute measuring" command (C6000)the measuring system selected by parameter S-0-0448, Control wordfor setting absolute measuring was detected to be unavailable.

Cause Remedy

Command was activated by mistake Prevent command from being activated

Measuring system has not been parameterized Parameterize measuring system




C6002 Absolute evaluation of measuring system impossibleContained in 02VRS: «--» «--» «--»




During the execution of the "Set absolute measuring" command (C6000)it was detected that absolute evaluation of the selected measuring systemis impossible.

Note: The command "set absolute measuring" can only be executed,when an absolute measuring system is available (seeS-0-0277, Position feedback 1 type or S-0-0115, Positionfeedback 2 type.

Cause Remedy

Command was activated by mistake Prevent command from being activated

Motor encoder or optional measuring system havenot been designed as absolute encoders

Equip motor or optional measuring system with absoluteencoder function






C6003 Absolute encoder offset cannot be savedContained in 02VRS: «--» «--» «--»




When executing the command for setting absolute measuring (C6000)the offset of the encoder zero point with regard to the machine zero pointis determined and stored in the data memory of the encoder. It wasimpossible to store the offset correctly.

Cause Remedy

Communication between encoder and drive isdisturbed

Check encoder cable and repair it, if necessary

- or -

Replace encoder



C6004 Command cannot be executed under drive enableContained in 02VRS: «--» «--» «--»




Cause Remedy

Command C6000 Command Set absolutemeasuring was started with drive enable havingbeen activated; in first stage of expansion of function"set absolute measuring" according to SERCOSspecification, this is not supported

Reset drive enable, then clear command error andrestart command C6000 Command Set absolutemeasuring



Rexroth IndraDrive Handling, Diagnostic and Service Functions 10-1


10 Handling, Diagnostic and Service Functions

10.1 Firmware Update

See Functional Description "Firmware Update"

10.2 Firmware Download

The firmware download is carried out with the auxiliary "loader" program.The loader is either

• activated via the valid firmware available in the device if a firmwareupdate is to be carried out.

- or -

• activated directly via the control section if there isn't any valid firmwareavailable in the device.

The list below contains the causes of invalid firmware in the device:

Cause Remedy

Firmware download via IndraWorks or Dolfi aborted(e.g. computer crash or cable removed duringdownload)- or -

Firmware replacement via MMC aborted (MMC wasremoved)- or -

Voltage failure during firmware replacement

Firmware must be reloaded via serial connection(IndraWorks) [see Functional Description "FirmwareUpdate"]

Device-internal, non-volatile flash memory defective Replace drive controller

Messages During the Firmware DownloadThe active loader appears on the display. It precedes the download statusdisplay:

• LD: ?????: the loader of the control section is active

• FL: ?????: the loader of the firmware is active

Note: Explanation of the messages displayed during firmwaredownload: XX: ????? = active loader : download status

During error-free firmware download the following diagnostic messagesare displayed:

XX: DL

XX: ERASE

XX: PROG

XX: CKS

10-2 Handling, Diagnostic and Service Functions Rexroth IndraDrive


XX: DLBrief Description: Download -> Shutdown carried out successfully

A shutdown was carried out.

FL: DL: The firmware loader is active.

LD: DL: The loader in the control section is active.

Note: You can only exit the shutdown mode by rebooting (requestedvia the master communication or by switching the drive off).

XX:ERASEBrief Description: Clearing active

The loader (FL:ERASE = firmware loader, LD:ERASE = loader in controlsection) is in the clearing mode. The requested memory range / module isbeing cleared.

XX: PROGBrief Description: Programming active

The loader (FL:PROG = firmware loader, LD:PROG = loader in controlsection) is in the programming mode. The transmitted data are written tothe requested address in the memory range / module.

XX: CKSBrief Description: Checksum calculation active

The checksum calculation is active. Subsequent to the calculation acomparison with the stored checksums is run.

Note: "FL: CKS" means firmware loader and "LD: CKS" meansloader in control section.

XX:E ADRBrief Description: Warning: address error

Cause Remedy

Address read from IBF file is outside of allowedrange


Note: "FL:E ADR" means firmware loader and "LD:E ADR" meansloader in control section.



XX:E SECBrief Description: Warning: range error

Cause Remedy

Data in IBF concerning memory range (firmware,loader, boot kernel) are incorrect


Note: "FL: SEC" means firmware loader and "LD: SEC" meansloader in control section.

XX:E FWBrief Description: Warning: no valid firmware available

Cause Remedy

Firmware module contained in internal memory isdefective, therefore clearing of loader is impossible

Carry out firmware update (by means of "Dolfi" programor by starting command P-0-4072, C2900 CommandFirmware update from MMC)

Note: "FL:E FW" means firmware loader and "LD:E FW" meansloader in control section.

XX:E LDBrief Description: Warning: no valid loader available

Cause Remedy

Firmware module contained in internal memory isdefective, therefore clearing of loader is impossible

Carry out firmware update (by means of "Dolfi" programor by starting command P-0-4072, C2900 CommandFirmware update from MMC)

ATTENTION: If "Dolfi" is used for carrying out firmwareupdate, it is first necessary to program loader beforefirmware module can be programmed

Note: "FL:E LD" means firmware loader and "LD:E LD" meansloader in control section.



XX:E SEQBrief Description: Warning: sequence error

Cause Remedy

Command order was not complied with when drivefirmware was programmed

Use auxiliary program "Dolfi" or command P-0-4072,C2900 Command Firmware update from MMC forfirmware update– or –Carry out shutdown before clearing or programmingdrive firmware

You tried to write to a range with valid checksum Before writing, clear range to which data are to bewritten

Note: "FL:E SEQ" means firmware loader and "LD:E SEQ" meansloader in control section.

XX:F9002Brief Description: Error: operating system error

See F9002 Error internal RTOS function call

XX:F2100Brief Description: Error: internal memory defective

See F2100 Incorrect access to command value memory

XX:F CKSBrief Description: Error: checksum error

Cause Remedy

Checksums of programmed modules are calculatedafter firmware update. Calculated and enteredchecksums were detected to be different

Carry out firmware update again; should error occuragain, please contact our service department

Note: "FL:F CKS" means firmware loader and "LD:F CKS" meansloader in control section.



XX:F ACCBrief Description: Error: access error

Cause Remedy

Several possibilities of firmware update (serial andMMC) were used simultaneously. An accessconflict has occurred

Restart firmware update using only one possibility (serialor MMC)

Note: "FL:F ACC" means firmware loader and "LD:F ACC" meansloader in control section.

XX:F2101Brief Description: Error: MMC defective

See F2101 It was impossible to address MMC

XX:F8122Brief Description: Error: control section defective

An error occurred during firmware update.

Cause Remedy

Hardware of control section is defective Replace control section or entire drive controller; usehardware configuration of same type


Identical cause / remedy: F8122 Control section defective

XX:F8129Brief Description: Error: optional safety module 1 incorrectlyprogrammed

See F8129 Firmware of option 1 of safety technology defective

XX:F8130Brief Description: Error: optional safety module 2 incorrectlyprogrammed

See F8130 Firmware of option 2 of safety technology defective



XX:F8120Brief Description: Error: firmware does not support hardware

See F8120 Invalid control section/firmware combination

10.3 Replacing Devices, Cables and Motors

Supply UnitsThe concept of Rexroth supply units includes safe, quick anduncomplicated replacement of devices. This allows reducing productiondowntimes, caused by failures of these devices, to a minimum.

Failures in the supply unit are displayed by means of diagnosticmessages. According to the diagnostic error message, the measure"replacing the supply unit" can be indicated.

Note: The sequence of the replacement of devices is described inthe supply unit documentation.

Immediately after having replaced the device the drive is operationalagain because it is not required to repeat the adjustment of the drive tothe machine.

How to Replace Supply UnitsIdentify device to be replaced by means of type plate; procure supply unitof same type from Bosch Rexroth!

See also documentation of the respective supply unit

A fault report form to be copied can be found in the documentation of therespective supply unit. Please copy this fault report, fill it out carefully andcompletely and enclose it to the defective device! The fault report filledout completely supports quick handling of repair and helps recognizingapplication-related failure causes.

De-energize drive system; wait for DC bus to discharge!

DANGER

Live conductor bars (higher than 50 V), even if mainsvoltage switched off!

Electric shock when touching!

⇒ Wait for the DC bus (L+/L-) to discharge; beforetouching the conductor bar check whether below50 V!

Note: Notes on how to mount and dismount the supply unit seedocumentation of the respective supply unit

Put machine into operation again according to machine manufacturer'sinstructions!

Procure Replacement Device

Fill Out Fault Report

Replace Supply Unit

Put Drive System into OperationAgain



Drive ControllersThe concept of Rexroth controllers includes safe, quick anduncomplicated replacement of devices. This allows reducing productiondowntimes, caused by failures of these devices, to a minimum.

Failures in the drive controller are displayed by means of diagnosticmessages. According to the diagnostic error message, the measure"replacing the controller" can be indicated.

The sequence of the replacement of devices is described in thedocumentation "Project Planning Manual for Power Section".

Note: IndraDrive controllers are delivered completely with the controlsection and should be replaced completely, too. OnlyBosch Rexroth service engineers or especially trained usersare allowed to replace the control section separately. Onlyservice engineers are allowed to replace optional modules ofthe control section.

Immediately after the device has been replaced and

• the operating data saved before have been loaded

- or -

• the MultiMediaCard (MMC) possibly plugged in the defective devicehas been plugged in the replacement device

the drive is operational again because it is not required to repeat theadjustment of the drive to the machine.

Note: When using the drive-internal safety technology, particularinstructions have to be observed for replacing a device!

See documentation "Integrated Safety Technology"

How to Replace ControllersIdentify defective controller by means of type plates; procure controller ofsame type from Bosch Rexroth!

The following type designations have to match:

• type designation of power section

• type designation of control section

Note: Ideally the firmware type designation of the replacementdevice should also comply with that of the defective device.

If the available replacement device has a different firmwaretype designation (differences in version and release), thesame firmware as the one active in the defective device has tobe loaded to the replacement controller!

The type designations can be seen on the adhesive labels at the powersection and control section (see also documentation for the respectivedevice component).

The firmware type active in the device can be shown on the display of thecontrol panel.

Procure Replacement Device



A fault report form to be copied can be found in the documentation"Project Planning Manual for Power Section or Control Section". Pleasecopy this fault report, fill it out carefully and completely and enclose it tothe defective device! The fault report filled out completely supports quickhandling of repair and helps recognizing application-related failurecauses.

Replacing a Device with Stationarily Plugged MMCWhen the device having a stationarily plugged MMC is switched off (MMCused as "programming module"), the current parameter values areautomatically saved on the MMC.

Replace the controller in the following steps:

1. De-energize drive; wait for DC bus to discharge!

2. Take MMC out of device to be replaced and plug it in new device!

DANGER




Note: Notes on how to mount and dismount the controller seedocumentation "Project Planning Manual for Power Section".

Put machine into ready-for-operation status again according to machinemanufacturer's instructions; then switch on control voltage!

Depending on the previous configuration of the replacement device, thefollowing messages can appear during the booting phase:

• "Firmware update?"

Acknowledge this message by pressing the "Enter" button of the controlpanel. The firmware download is then running, the respective messagesare appearing.

The drive then is in the booting phase again and the display reads:

• "Load new Param.?"

Acknowledge the message by pressing the "Enter" button of the controlpanel. The drive then completes the booting phase and in communicationphase "P1" waits for further actions of the control master.

Note: The drive is now running again with the same firmware andthe same parameter values as before the device wasreplaced. The absolute position data reference of measuringsystems is maintained!

Fill Out Fault Report

Saving Parameter Values

Replace Controller

Put Controller Into Ready-For-Operation Status Again

Firmware Download

Loading Parameter Values



When the MMC was not plugged in the controller before the controlvoltage is switched on, the following message is displayed:

• "Load new Param.?".

In this case switch the control voltage off, plug the MMC of the defectivedevice in the replacement device and then switch the control voltage onagain.

Note: The message "Load new Param.?" does not always appearwhen the MMC hasn't been plugged (depending on theprevious configuration of the replacement device)!

Replacing a Device without Stationarily Plugged MMCAn MMC temporarily plugged in the controller can be used as updatemedium for firmware and as update and backup medium for parametervalues.

Before dismounting defective device save drive parameter values, ifpossible. To do this, switch drive off and on again, then save parametervalues in communication phase "P2".

Parameter values of defective device can be saved via:

• Control panel of the controller with temporarily plugged MMC("hot plug")By pressing the buttons on the control panel in a certain order C2600Copy data from flash to MMC command (P-0-4092) can be started.By doing this the active parameter values [according to S-0-0192, IDN-list of backup operation data and P-0-0195, IDN list of retain data(replacement of devices)] are copied from the controller-internalmemory to an MMC temporarily plugged in the controller.

Note: If the MMC does not remain stationarily (permanently) pluggedin the device, it may be temporarily plugged in the switched-on device after the booting phase and removed again ("hotplug" or "hot unplug").

• "DriveTop" commissioning toolBy selecting the respective menu item, the parameter valuesaccording to the list parameters S-0-0192 and P-0-0195 are stored onan external data carrier (hard disk, floppy disk or the like) [serialcommunication with the controller or via SYSDA/SERCOS interface].

• Control masterThe parameter values according to the list parameters S-0-0192 andP-0-0195 are stored on a master-side data carrier by the controlmaster.

Save Parameter Values



De-energize drive; wait for DC bus to discharge!

DANGER




Note: Notes on how to mount and dismount the controller seedocumentation "Project Planning Manual for Power Section".

Put machine into ready-for-operation status again according to machinemanufacturer's instructions; then switch on control voltage!

Depending on the previous configuration of the replacement device, thefollowing message can appear during the booting phase:

• "Load new Param.?"

Acknowledge this message by pressing the "Enter" button of the controlpanel. The drive then completes the booting phase and in communicationphase "P1" waits for further actions of the control master.

First load the same firmware as installed before replacing the device tothe replacement device (if it is not already available there). The firmwarecan be loaded via:

• Control panel of the controller with temporarily plugged MMC("hot plug")

Note: The MMC may only be plugged in its slot at the device whenthe booting process has been completed (communicationphase > "P1"). Otherwise it is possible that axis-specific driveparameters are overwritten with incorrect values!

By pressing the buttons on the control panel in a certain order thecommand C2900 Firmware update from MMC (P-0-4072) can bestarted. By doing this the firmware is loaded from the plugged MMC tothe controller. At the end of the loading process the display reads"End C29". Now switch the drive off and, after the MMC has beenremoved, switch it on again (without plugged MMC, see note)!

• Service program "Dolfi"By selecting the respective menu item, the firmware stored on anexternal data carrier (hard disk, floppy disk or the like) is loaded to thecontroller (serial communication with the controller).

Replace Controller

Put Controller Into Ready-For-Operation Status Again

Load Firmware



The axis-specific parameter values saved before replacing the device canbe loaded via:

• Control panel of controller with MMC plugged

Note: You have to make sure that the MMC folder "Firmware"contains the firmware required for the drive and the MMCfolder "Parameters" contains the parameters saved beforehaving replaced the device.

1. Disconnect replacement controller from control voltage.

2. Put MMC into replacement controller.

3. Supply device with control voltage again.

⇒ Device is booted.During the booting phase the following messages can appear on thecontrol panel:

• "Load new param.?"

Acknowledge this message by pressing "Enter" key of control panel. Thedrive parameters are now loaded from the MMC to the volatile memory ofthe device; the following message then possibly appears:

"Load new safety?".

Acknowledge this message by pressing "Enter" key of control panel, too.The safety technology parameters now are loaded from the MMC to thememory of the optional safety technology card (see documentation"Integrated Safety Technology").

4. Now store parameters from MMC to internal, non-volatile memory ofcontroller via control panel by activating command C2500 Copy IDNfrom optional memory to internal memory (P-0-4091) (storingaccording to parameters S-0-0192, IDN-list of backup operationdata and P-0-0195, IDN list of retain data (replacement ofdevices)).

Note: If safety technology is to be activated in the replacementdevice, the drive after loading the safety parameters has to beswitched to operating mode (communication phase 4) before itis switched off!

5. Then switch controller off and remove MMC from device.

See also "Control Panels of the IndraDrive Controllers" in chapter"Handling, Diagnostic and Service Functions"

• "DriveTop" commissioning toolBy selecting the respective menu item, the parameter values stored onan external data carrier (hard disk, floppy disk or the like), immediatelybefore the device was replaced, according to lists S-0-0192 andP-0-0195 are loaded to the controller (serial communication with thecontroller or via SYSDA/SERCOS interface).

• Control masterThe parameter values saved immediately before the replacement ofthe device on a master-side data carrier (according to list parametersS-0-0192 and P-0-0195) are loaded to the controller by the controlmaster.

Load Parameter Values(Saved Before Replacing Device)



If it should have been impossible to save the parameter values accordingto the list parameters S-0-0192 and P-0-0195 immediately beforereplacing the device (total breakdown of device), the parameter valuessaved after initial commissioning have to be loaded.

Note: In the case of drives with absolute value encoder and moduloformat, the position data reference has to be established againafter having loaded the parameter values saved after initialcommissioning, even if the actual position values are signaledto be valid via S-0-0403, Position feedback value status!

WARNING

The parameter values saved after initialcommissioning are not generally suited forreestablishing the operatability of the drive afterreplacement of devices!⇒ Check actual position values and active target

position before drive enable!

Reestablish ready-for-operation status of the machine:

• put machine into ready-for-operation status again according tomachine manufacturer's instructions

• check functions of drive

Control Section

CAUTION

Risk of damage to the control section byinappropriate handling!⇒ If you had an instruction by Bosch Rexroth for

service work on Rexroth IndraDrive devices, you canreplace the control section in the case of a defect.Otherwise you are only allowed to replace the entiredrive controller.

CAUTION

Risk of damage to the control section andinterference with its operational safety causedby electrostatic charges!⇒ Control sections may only be stored or dispatched in

conductive packaging.

⇒ Exposed conductive parts coming into contact withthe control section must be previously discharged bymeans of grounding; such exposed conductive partsinclude:- the human body (ground connection by touching aconductive, grounded object)- parts and tools (place them on a conductivesupport)- the copper bit when soldering

Load Parameter Values in Caseof Total Breakdown of Device

Put Machine Into Ready-For-Operation Status



CAUTION

Risk of damage to the control section or powersection by mounting and dismounting thecontrol section too often!⇒ For a drive controller the control section mustn't be

mounted and dismounted more than a maximum of20 times.

Optional ModulesOnly service engineers are allowed to replace optional modules of thecontrol section.

Replacing the Motor• Switch main switch off.

• Make sure main switch cannot be switched on again.

• Disconnect plug-in connectors.

Note: When replacing the motor, cap open connector endsparticularly if there might be the chance that they get in contactwith coolant/lubricant or dirt (allowed level of contamination is2 according to EN50178).

• Replace motor.

Note: To mechanically replace the AC servo motor, note theinstructions of the machine manufacturer.

• Connect plug-in connectors.

ATTENTION

Danger caused by unwanted axis motion!⇒ Servo axes with indirect path measuring system via

the motor encoder will loose the reference dimensionwhen the motor is replaced!This reference to the machine coordinate systemmust therefore be reestablished after replacement.

• Servo axes with absolute motor encoder: reestablish the referencedimension.



Replacing Cables

ATTENTION

Lethal electric shock caused by live parts withmore than 50 V!⇒ Power connectors of the cables may only be

separated or connected if the installation has beende-energized!

Note: When replacing cables, note the instructions of the machinemanufacturer.

If you do not use standard cables from Rexroth, then check toensure that the cables agree with the terminal diagram of themachine manufacturer!

• Switch main switch off.

• Make sure main switch cannot be switched on again.

• Disconnect plug-in connectors.

Note: When replacing cables, cap open connector ends particularlyif there might be the chance that they get in contact withcoolant/lubricant or dirt (allowed level of contamination is 2according to EN50178).

• Replace cables.

ATTENTION

Material damage caused by bad powerconnectors!⇒ Connect power connectors only when they are dry

and clean.

• Connect plug-in connectors.



10.4 Fault Report

Fault Reportfor Drive Systems

Date:Report No.:

Page 1 of 2

This fault report is intended to help eliminate problems that might possibly be related to drive systems.

Please fill it in carefully and send it, together with the parameter file with which the error occurred, to Bosch Rexroth.

Contact person:

Customer(machine manufacturer):

End customer:

Branch of industry:

Telephone:

Fax:

E-mail: @

System description:Firmware

Firmware version:

FWA- - - V -MS

Software:

DriveTop version: SWA-DTOP**-INB- V -MS

Operating system:

Service pack:

Language:

PC designation:

Hardware configuration (system RAM, harddisk memory,...):

Drive system

Power section:

Type code: - - - -

Serial number: SN

Hardware index:

Control section (only for IndraDrive):

Type code: - - - - - - -

Serial number: SN

Hardware index:

Supply module:

Type code: - - - -

Serial number:

Motor

Type designation:

Serial number: S.No.

Motor encoder:

Mounting position:

Additional components (e.g. control system involved, externalencoder, filter, cooling system in control cabinet,...):

Fault description (detailed description of situation before, during and after fault occurred):

To quickly resolve your problem we ask you to send us also the parameter set with which the error occurred.

Name of parameter set file:

Fig. 10-1: Fault Report (Page 1 of 2)



Fault Reportfor Drive Systems

Date:Report No.:

Page 2 of 2

General conditions:Mode at time fault occurred: Parameterization mode Operating mode Switch phase

Operating mode active at time fault occurred: , Encoder ,

7-segment display... ...before fault occurred: ...after fault occurred:

Fault status occurs permanently occurs during commissioning occurs sporadically occurs after approx. hours occurs with shocks depends on temperature

Causes unknown incorrect connection external cause mechanical damage loose cable connection moisture in unit foreign body in unit

Other defects problems in the mechanical system power section failure control system failure motor failure cable break defective blower defective feedback

Wiring / mechanical setup (e. g. length of cables, grounding, assembly,...):

Information on the machine (e. g. operating hours, type, serial number,...):

Mains conditions (e. g. frequency, voltage,...):

Ambient conditions (e. g. ambient temperature, humidity,...):

In case of problems with DriveTop

Name of the dialog in which the fault occurred:

Drive connection:

Note: In order to resolve your DriveTop problem quickly, we would like to ask you to send us the file "debug.log". Youcan find it in the DriveTop directory.

Fig. 10-2: Fault Report (Page 2 of 2)

Rexroth IndraDrive Notes for Machine Operators 11-1


11 Notes for Machine Operators

11.1 General Information

Time-consuming debugging attempts and repair of drive components atthe machine cannot be accepted due to the production downtimes thisimplicates.

The modularity of the Rexroth AC drives allows replacing individual drivecomponents. In case servicing becomes necessary, you can confineyourself to locating errors at the motor, at the drive controller or at thesupply unit and to replacing the respective component.

Note: Repeated adjustments are not required.

11.2 Diagnosing Failures and Removing Errors

The supply unit signals operating states, warnings or errors via the displayat the front of the device.

Prerequisites for diagnosing failures are that the control voltage +24 V iswithin tolerance and the processors in the supply unit and the drivecontrollers are working without error.

Stored error messages have to be reset before the device is ready foroperation again. An error can be reset by

• pressing the "ESC" button at the control panel for starting the RESETcommand (cf. S-0-0099, C0500 Reset class 1 diagnostics) or

• switching off the control voltage supply

• RESET command via the module bus (by drive)

CAUTION

Destruction of the supply unit when power isswitched on and a drive controller is defective!⇒ After having reset an overcurrent error and after

having replaced a defective supply unit, the errormemories of the drive controllers have to be readbefore the supply unit is switched on again.

If a defective components has to be replaced, the following aspects haveto be observed:

• Only Rexroth service engineers or especially trained users are allowedto replace the control section. The replacement of the entire drivecontroller is described in the Project Planning Manual for the powersection.

• Only Rexroth service engineers are allowed to replace optionalmodules of the control section.

• The replacement of the supply unit is described in the Project PlanningManual for the supply unit.

• In case devices fail within the warranty period, the defectivecomponents have to be returned to Bosch Rexroth; for addresses andtelephone numbers please see the printed documentation (chapter"Service & Support") or the Internet (http://www.boschrexroth.com).

If tests or repairs are required, the following applies:

Diagnosing Failures

Resetting an Error

Replacing Defective DriveComponents

Testing and Repairs

11-2 Notes for Machine Operators Rexroth IndraDrive


• Tests and repairs may only be carried out by the Rexroth servicedepartment or by especially trained staff.

• For tests at the installation the corresponding safety regulations haveto be complied with.

• Repair of drive components at the machine can be very time-consuming. For this reason, replace defective drive componentscompletely.

WARNING

Danger to persons and damage to machinescan arise from the removal of failures!⇒ Only have failures removed by especially trained

staff.⇒ Do not put protective devices out of operation.⇒ Observe the Safety Instructions for Electric Drives

and Controls in the homonymous chapter.

11.3 Contacting the Service Department

If you would like to contact our service department, we ask you to havethe following information ready in order to facilitate quick and purposefulhandling:

• type data and serial numbers of devices and motors,

• failure condition,

• diagnostic display, if available, and

• software versions, if necessary.

For addresses and telephone numbers please see the printeddocumentation (chapter "Service & Support") or the Internet(http://www.boschrexroth.com).

Rexroth IndraDrive Notes for Installation Programmers 12-1


12 Notes for Installation Programmers

12.1 How to Handle Command Errors

If an error occurs during the execution of a command, the respectivecommand error is generated by the drive.

The are several possibilities of diagnosing a command error:

• evaluating the command change bit in P-0-0115, Device control:status word

• evaluating S-0-0390, Diagnostic message number which containsthe error message as a number (e.g. C0201)

• evaluating S-0-0095, Diagnostic message which contains the errormessage as ASCII text (e.g. C0201 Invalid parameters (->S-0-0022))

• evaluating the command status (see Functional Description"Command Processing")

Note: A command error cannot be removed by "clearing errors", butonly by completing the corresponding command.

12-2 Notes for Installation Programmers Rexroth IndraDrive


evaluation S-0-0390, Diagnostic message number

query command change bit=1

No

evaluation S-0-0095, Diagnostic message

evaluation command status

continue in program

Yes

command completed without error

Yes

program sequence

start command

analysis of command error

complete command

No

DF000129v01_en.wmf

Fig. 12-1: Example of command handling



12.2 How to Handle Errors

If an error occurs while the drive is in operation, the corresponding errorreaction is carried out.

The are several possibilities of diagnosing a drive error:

• evaluating the collective error bit (class 1 diagnostics bit) in therespective master communication status word (e.g. S-0-0135, Drivestatus word; P-0-4078, Field bus: status word; P-0-4028, Devicecontrol word)

• evaluating S-0-0011, Class 1 diagnostics in order to obtain thedetailed information with regard to the cause of the error

• evaluating S-0-0390, Diagnostic message number which containsthe error message as a number (e.g. F6034)

• evaluating S-0-0095, Diagnostic message which contains the errormessage as ASCII text (e.g. F6034 Emergency-Stop activated)

Note: Before a drive error is cleared, the cause for the occurrence ofthe error should be investigated and permanently removed.




query collective error bit=1 from master

communication status word


evaluation S-0-0011, Class 1 diagnostics

continue in program

program sequence

Yes

No

analysis and fixing of error

clear error

DF000130v01_en.wmf

Fig. 12-2: Example of error handling



12.3 How to Handle Warnings

If a warning occurs while the drive is in operation, this diagnostic warningmessage is maintained as long as the condition for the warning has beenfulfilled.

The are several possibilities of diagnosing a drive warning:

• evaluating the collective warning bit (class 2 diagnostics bit) in therespective master communication status word (e.g. S-0-0135, Drivestatus word; P-0-4078, Field bus: status word; P-0-4028, Devicecontrol word)

• evaluating S-0-0012, Class 2 diagnostics in order to obtain thedetailed information with regard to the cause of the warning

• evaluating S-0-0390, Diagnostic message number which containsthe warning message as a number (e.g. E2054)

• evaluating S-0-0095, Diagnostic message which contains thewarning message as ASCII text (e.g. E2054 Not homed)

Note: Warnings cannot be cleared. They persist until the conditionthat activated the warning is no longer fulfilled. In order toremove the cause of the triggering of the warning, carry outthe remedy specified in the description of the respectivewarning.




query collective error bit=1 from

master communication status word


evaluation S-0-0012, Class 2 diagnostics

continue in program

program sequence

Yes

No

analysis of command error

DF000131v01_en.wmf

Fig. 12-3: Example of warning handling

Note: In the case of drives with SERCOS master communication, itis only possible to reset the collective warning bit (change bitof class 2 diagnostics) by read-accessing parameter S-0-0012,Class 2 diagnostics.

Rexroth IndraDrive Index 13-1


13 Index

++/-15Volt DC error 7-21+24Volt DC error 7-22

AAb 4-1Abrasion of brake only possible with drive enable 9-200Absolute encoder offset cannot be saved 9-137, 9-220Absolute encoder offset could not be saved 9-144Absolute evaluation of measuring system impossible 9-136, 9-219AC 4-1Acceleration limit active 8-47Acceleration of master axis generator is zero 8-52Acceleration threshold exceeded 7-40Acquisition velocity not allowed 9-193Act. modulo value cycle greater than max. travel range 9-97, 9-188Activate parameterization level 1 procedure command 9-2Activation time of enabling control exceeded 7-85Actual pos. value 1 outside absolute encoder window 7-133Actual pos. value 2 outside absolute encoder window 7-134Actual pos. value 3 outside absolute encoder window 7-135Actual position value validation error 7-45Actual position values validation error 7-76, 8-23administration commands 1-24AE 4-1AF 4-1AH 4-1An invalid index was set 9-152Analog input 1 or 2, wire break 7-154, 8-53Analog input adjust command 9-17Analog input not configured 9-183appropriate use 2-1AS 4-1ASP 4-1AU 4-1Autom. commutation

max. motion range 7-9max. motion range when moving back 7-7

Automatic adjust failed 9-185Automatic baud rate detection for SERCOS interface 6-5Automatic commutation

current too low 7-10, 9-161iteration without result 7-13, 9-163overcurrent 7-11, 9-162timeout 7-12, 9-162

Automatic controller setting failed 9-168Automatic drive check and adjustment 6-54Axis blocked 9-218

BBackup working memory procedure command 9-13bb 4-1best possible deceleration

drive error reactions 1-26BOOT 1.1 5-1Both travel range limit switches activated 7-57, 8-9Brake check command 9-12Brake check function not possible 9-97Brake check only possible with drive enable 9-171Brake torque too low 8-46, 9-172Braking resistor overload 7-160Braking resistor overload prewarning 8-59

13-2 Index Rexroth IndraDrive


Bus failure 7-66

CCable

replacing 10-14Calculate displacement procedure command 9-27Cam shaft invalid 7-97Cam shaft, encoder 1, real master axis 6-32Cam shaft, encoder 1, virtual master axis 6-31Cam shaft, encoder 2, real master axis 6-33Cam shaft, encoder 2, virtual master axis 6-32Cam shaft, lagless, encoder 1, real master axis 6-34Cam shaft, lagless, encoder 1, virt. master axis 6-33Cam shaft, lagless, encoder 2, real master axis 6-35Cam shaft, lagless, encoder 2, virt. master axis 6-34Cancel reference point procedure command 9-10CCD communication error 7-71CCD slave error 7-147CCD slave error (emergency halt) 7-60CCD timeout phase switch 9-112charg 4-2checksum of parameter values 1-22Class 1 diagnostics error at command start 9-164clearing error messages 1-26comfort control panel 1-12Command Abrasion of brake 9-24Command Activate easy startup mode 9-28Command Apply motor holding brake 9-24Command automatic control loop setting 9-11Command Calculate motor control parameters 9-28Command Calculate motor data 9-20Command cannot be executed under drive enable 9-220Command Determine encoder correction values 9-22Command Firmware update from MMC 9-18Command Get marker position 9-9Command Load PLC retain data from MMC 9-30Command measuring wheel mode 9-11Command Motor data identification 9-22Command not enabled 9-170Command only possible in 'bb' 9-159Command only possible with linear synchronous motor 9-158Command Release motor holding brake 9-12Command requires drive enable 9-217Command Save PLC retain data on MMC 9-29Command Set absolute measuring 9-2, 9-31Command subsequent optimization of commutation offset 9-31commands 1-23commissioning

after a fatal error (F8xxx errors) 7-5after a fatal system error (F9xxx or E-xxxx errors) 7-1after a interface error (F4xxx error) 7-61after a non-fatal error (F2xxx error) 7-95after a non-fatal safety technology error (F3xxx error) 7-72after a safety technology error (F7xxx-error) 7-37after a travel range error (F6xxx error) 7-51

Communication phase 0 6-1Communication phase 1 6-2Communication phase 2 6-3Communication phase 3 6-4Communication phase 3 transition check 9-1Communication phase 4 transition check 9-29Commutation determination not selected 9-159Commutation offset could not be determined 7-8Commutation offset could not be determined. 9-157Commutation offset invalid 7-143commutation offset setting 9-8Commutation offset setting command 9-8Commutation via encoder-2 impossible 9-123Config. IDN for MDT not configurable 9-34



Config. IDNs for AT not configurable 9-36Configuration error PROFIsafe 9-104Connection error mains choke 7-36Contactor control error 7-163Control and power sections ready for operation 6-7control panels 1-10control parameters 1-10Control section defective 7-29Copy IDN from internal memory to optional memory 9-16Copy IDN from optional memory to internal memory 9-15Correction value table cannot be stored 9-196Current limit active 8-8Current measurement trim wrong 7-136

Ddata storage 1-21DC bus balancing monitor error 7-164DC bus charging active 6-52DC bus quick discharge active 6-53DC bus timeout 8-54Default parameters invalid 9-145Default parameters not available 9-145definitions of terms 1-21Determined values invalid 9-197Determining travel range only via travel distance 9-170Device current limit too low 9-197Device overload prewarning 8-44Device overload shutdown 7-18Device overload, current limit active 8-13Device overtemp. Prewarning 8-37Device overtemperature 2 prewarning 8-33Device overtemperature 2 shutdown 7-117Device overtemperature shutdown 7-105Device temperature monitor defective 7-107diagnostic drive messages 1-1diagnostic message

display 1-3display text 1-4error number 1-4list of diagnostic numbers 1-4structure 1-3

diagnostic message number 1-4diagnostic messages in plain text 1-3diagnostic system 1-1Different travel directions parameterized 9-144Dig. I/Os

bit number too large 9-102Dig. output already assigned to other axis 9-101Displacement to referenced system procedure command 9-27displaying the diagnostic message number 1-3Distance home switch - reference mark erroneous 9-140, 9-207Double MDT failure shutdown 7-63Double MST failure shutdown 7-62Double signal selection master axis format converter 9-81Drive active, activation of easy startup impossible 9-210Drive active, switching not allowed 9-137drive control commands 1-24Drive controlled interpolation, encoder 1 6-24Drive controlled interpolation, encoder 2 6-25Drive controlled interpolation, lagless, encoder 1 6-25Drive controlled interpolation, lagless, encoder 2 6-26Drive deceleration to standstill 6-55Drive HALT 6-6Drive in automatic mode 6-55Drive interlock active 6-8Drive is still in drive enable 9-189Drive not ready for Control 7-108Drive system not ready for operation 8-14, 8-55Drive-controlled homing procedure command 9-3



Drive-controlled oscillation command 9-25Drive-controlled positioning 6-47Drive-controlled positioning, encoder 1 6-40Drive-controlled positioning, encoder 1, lagless 6-41Drive-controlled positioning, encoder 2 6-42Drive-controlled positioning, encoder 2, lagless 6-43Dynamization failed 8-24Dynamization pulse width incorrect 7-82Dynamization time interval incorrect 7-81

EEmergency-Stop 7-56, 7-70, 8-6Enc. 1

enc. signals incorr. (can be cleared in ph. 2) 7-14Encoder 1

encoder signals disturbed 8-48Encoder 1 error

signal amplitude incorrect 7-111Encoder 2

encoder signals disturbed 8-49encoder signals incorrect 7-118

Encoder 2 errorsignal amplitude incorrect 7-17

End C29 5-4Error at init. of synchr. motor with reluctance torque 9-68, 9-130error classes 1-25Error clearing only in parameter mode 9-139Error comfort control panel 7-146Error during abrasion of brake 9-200Error during initialization 9-154Error during initialization of motor data (->S-0-0021) 9-64Error during initialization of motor data (->S-0-0423) 9-127Error during parameter set switching (->S-0-0423) 9-205Error during phase progression 7-64Error during phase regression 7-65Error during safety related homing procedure 9-202Error during search for zero pulse 9-155Error during synchronization to master communication 9-103Error in control of braking resistor 7-161Error in motion profile 7-95Error in non-cyclical data communic. of power section 7-145Error in offset calculation 9-155Error in relation TNcyc (S-0-0001) to fine interpol. 9-108Error internal function call 7-3Error internal RTOS function call 7-3Error mechanical link of encoder or motor connection 7-15error memory 1-26error number 1-4Error of output stage interlock 7-47error reaction

drive error reactions 1-26Error supply module 7-137Error supply shutdown 7-164Error when accessing the flash 9-186Error when accessing the MMC 9-180, 9-182, 9-185Error when checking acknowledgment signal 7-78, 8-22Error when checking diagnostic output signal 7-79Error when checking input signals 7-77, 8-21Error when checking interrupting circuits 7-31, 7-80Error when converting parameters 9-178Error when initializing digital inputs/outputs 7-102Error when initializing position of encoder 1 9-83Error when initializing position of encoder 2 9-85Error when initializing position of measuring encoder 9-87Error when initializing power section 7-27Error when initializing the parameter handling 7-26Error when manually unlocking the safety door 9-199Error when reading encoder data => measuring encoder 9-72, 9-131Error when reading encoder data => motor encoder 9-48, 9-113



Error when reading encoder data => optional encoder 9-53, 9-118Error when reading non-volatile memory 9-178Error when reading the controller parameters 9-146Error when reading the internal memory 9-183Error when releasing the holding system 9-177Error when releasing the motor holding brake 7-132Error when saving parameters 9-179Error when unlocking the safety door 7-88Error when writing data to internal memory 9-181Error when writing data to non-volatile memory 9-177Error when writing data to the MMC 9-214Error when writing offset parameters 9-164Error when writing parameters 9-193, 9-198, 9-210Error, brake check time interval exceeded 7-75errors 1-25

drive error reactions 1-26Excessive deviation 7-110Excessive position command difference 7-115Excessive position feedback difference 7-114Exit parameterization level procedure command 9-1External power supply X10 error 7-113External power supply X15 error 7-120External power supply X31/X32 error 7-126E-xxxx errors

commissioning 7-1

FF2xxx error

commissioning 7-95F3xxx error




commissioning 7-37F8xxx errors

commissioning 7-5F9xxx errors

commissioning 7-1Fatal CCD error 7-32fatal errors

commissioning 7-5Fatal Hardware Error 7-6fatal system errors

commissioning 7-1fault report 10-6, 10-8Fault Report 10-15Faulty reference mark signal 9-165Feedback 2 required (->S-0-0423) 9-80Feedrate override S-0-0108 = 0 8-41Field bus

IDN for cycl. actual val. not configurable 9-70, 9-90IDN for cycl. command val. not configurable 9-69, 9-89length for cycl. actual values exceeded 9-70, 9-90max. length for cycl. command val. exceeded 9-69max. length for cycl. command val. Exceeded 9-89P-0-4077 missing for cycl. command values 9-71, 9-91Tcyc (P-0-4076) incorrect 9-71, 9-91

firmware download 10-1Firmware of option 2 of safety technology defective 7-30Firmware update ? 5-5Functional package selection changed. Restart 9-76, 9-135

Ggeneration of diagnostic messages, drive-internal 1-1Ground fault in motor line 7-162



HHardware trap 7-4Hardware variant not supported 7-166Home switch input not assigned 9-143Homing of absolute encoder not possible 9-141, 9-208Homing only possible with drive enable 9-139Homing procedure command channel 2 9-24HW control of braking resistor 8-54

IIBF not correct! 5-4ID9 + Record length - 1 > length MDT (S-0-0010) 9-40IDN for actual value data container not allowed 9-67, 9-94IDN for command value data container not allowed 9-66, 9-93Impossible to exit parameterization level 9-135inappropriate use 2-2Incorr. parameteriz. of motor enc. (mechanical system) 9-50, 9-115Incorr. parameteriz. of opt. enc. (mechanical system) 9-55, 9-119Incorr. prarmeterization of measuring enc. (hardware) 9-73, 9-132Incorrect access to command value memory 7-139Incorrect backup of safety technology data 7-93Incorrect CCD address configuration 9-110Incorrect CCD addressing 8-19Incorrect CCD phase switch 9-111Incorrect cmd value direction master axis generator 7-130Incorrect command value direction when positioning 7-129Incorrect direction of motion 7-43Incorrect distance of dedicated point channel 1-2 9-203Incorrect I/O length 7-66Incorrect input for current 9-189Incorrect input for frequency 9-190Incorrect input for power 9-192Incorrect input for power factor 9-191Incorrect input for speed 9-191Incorrect input for voltage 9-190Incorrect interrupt timing 7-166Incorrect measuring encoder configuration 9-75, 9-134Incorrect optional module firmware 7-29Incorrect parameterization of motor encoder (hardware) 9-49, 9-114Incorrect parameterization of optional enc. (hardware) 9-54, 9-119Incorrect phase switch of CCD slaves 8-20Incorrect safety configuration 7-87Incr. encoder emulator

hardware fault 7-125pulse frequency too high 7-124

Incremental enc. emulator resol. cannot be displayed 9-109Inertia detection failed 9-167Initialization velocity encoder 1 too high 9-84Initialization velocity encoder 2 too high 9-86Initialization velocity measuring encoder too high 9-88interface error

commissioning 7-61Internal overflow by positioning input 7-128Internal overflow master axis generator 7-130Internal synchronization defective 8-51Interpolation acceleration = 0 8-35Interpolation velocity = 0 8-34Interruption of motor phase 7-19Invalid addressing actual value data container A 8-18Invalid addressing command value data container A 8-17Invalid communication phase shutdown 7-64Invalid control section data (->S-0-0021) 9-65Invalid control section data (->S-0-0423) 9-81Invalid control section/firmware combination 7-28Invalid device code 7-165Invalid motor data in encoder memory (->S-0-0021) 9-61Invalid motor data in encoder memory (->S-0-0423) 9-124Invalid parameters (-> S-0-0021) 9-32



Invalid parameters (->S-0-0423) 9-77Invalid PLC retain data 9-217Invalid power section/firmware combination 7-28Invalid settings for controller cycle times 9-60, 9-84It was impossible to address EnDat memory 7-142It was impossible to address Hiperface memory 7-144It was impossible to address I2C memory 7-141It was impossible to address MMC 7-140

Kkinds of commands 1-24kinds of diagnostic messages 1-1

Llanguage selection 1-4LB 4-2Length of MDT (S-0-0010) odd 9-39Limit error in parameter (-> S-0-0021) 9-33list of diagnostic numbers 1-4Load basic parameters command 9-7Load def. proc. com. (load def. pr. for safety techn.) 9-6Load def. proc. com. (load defaults procedure for PLC) 9-150Load defaults procedure com. (load basic parameters) 9-7Load defaults procedure com. (load controller param.) 9-4Load new Param. ? 5-4Load New Safety ? 5-3Load of holding system > test torque 9-173Load working memory command 9-14LOAD x 5-1LOADER 5-1, 10-1loading parameter values, general 1-22Locked with password 9-151, 9-153Loss of measuring encoder reference 7-150Loss of motor encoder reference 7-148Loss of optional encoder reference 7-149Low battery voltage 7-121

MMains contactor wiring error 7-163Mains failure 7-159, 8-16, 8-58Manually unlocking the safety door 9-23Max. travel range too large 9-47, 9-82Maximum acceleration exceeded 7-116Maximum braking time exceeded 7-53Maximum length for AT exceeded 9-36Maximum length for MDT exceeded 9-35Maximum number of CCD slaves exceeded 8-18Maximum travel range cannot be displayed internally 9-58, 9-122Measured values at zero point and max. value identical 9-184Measuring encoder

encoder signals disturbed 8-50encoder signals incorrect 7-119

Measuring encoder not available 9-195Measuring encoder unknown 9-74, 9-133Measuring system unavailable 9-136, 9-219Measuring wheel mode not possible 9-165messages during the firmware download 10-1MMC not available or not OK 9-215MMC not correct! 5-4MMC was removed 7-98Module group communication error 7-138Modulo limitation error of measuring encoder 7-153Modulo limitation error of motor encoder 7-151Modulo limitation error of optional encoder 7-152Modulo value for measuring encoder cannot be displayed 9-75, 9-134Modulo value for motor encoder cannot be displayed 9-51, 9-116Modulo value for optional encoder cannot be displayed 9-56, 9-120



monitoring commands 1-24Motion profile lagless, encoder 1, real master axis 6-38Motion profile lagless, encoder 1, virtual master axis 6-37Motion profile lagless, encoder 2, real master axis 6-39Motion profile lagless, encoder 2, virtual master axis 6-38Motion profile, encoder 1, real master axis 6-37Motion profile, encoder 1, virtual master axis 6-35Motion profile, encoder 2, real master axis 6-36Motion profile, encoder 2, virtual master axis 6-36Motion range exceeded during commutation 9-157Motor

replacing 10-13Motor encoder not available 9-194Motor encoder unknown 9-52, 9-117Motor feedback data not valid 9-166Motor not or not correctly connected 9-196Motor overload, current limit active 8-12Motor overtemp. prewarning 8-38Motor overtemperature shutdown 7-106Motor temperature monitor defective 7-107Motor turning{ 9-198Multiple configuration of a parameter (->S-0-0423) 9-95

NNC-controlled homing procedure command 9-26Negative position limit exceeded 8-5Negative travel limit exceeded 7-55Negative travel range limit switch activated 7-59, 8-11No adjustment with asynchronous motor 9-156No encoder assigned to slot 1 9-107No encoder selected 9-195No IDN on MMC ! 5-3No sequential block in target position preset memory 7-123non-fatal error

commissioning 7-95non-fatal safety technology error

commissioning 7-72non-volatile data memories 1-21Not homed 8-40Not ready for power on 8-59

OOperating mode configuration (->S-0-0423) not allowed 9-98operating modes

basics 1-24operating states 4-1Optional encoder not available 9-194Optional encoder unknown 9-57, 9-121Order of cyclic command value configuration incorrect 9-46, 9-92Oscillation command speed cannot be reached 9-206Oscillation requires drive enable 9-206Oscillations of input signal outside tolerance range 9-184Overcurrent external braking resistor 7-36Overcurrent in mains-side power section 7-165Overcurrent in power section 7-18, 8-3Overflow of target position preset memory 7-122Overvoltage in mains 7-156, 8-56Overvoltage in power section 7-158, 8-1

PP0 4-2P1 4-2P2 4-2P3 4-2Parameter calculation error (->S-0-0423) 9-79Parameter conversion error (->S-0-0021) 9-33Parameter default value incorrect (-> S-0-0021) 9-152



Parameter default value incorrect (-> S-0-0423) 9-147, 9-151parameter handling, general 1-21Parameter limit error (->S-0-0423) 9-78Parameterization level 1 active 6-21parameters

definitions of terms 1-21Parameters not copyable 9-146Parking axis command 9-10Phase failure 7-158, 8-58Phase switching without ready signal 7-65Phase synchr. lagless, encoder 1, real master axis 6-30Phase synchr. lagless, encoder 1, virtual master axis 6-29Phase synchr. lagless, encoder 2, real master axis 6-31Phase synchr. lagless, encoder 2, virtual master axis 6-30Phase synchronization, encoder 1, real master axis 6-28Phase synchronization, encoder 1, virtual master axis 6-27Phase synchronization, encoder 2, real master axis 6-29Phase synchronization, encoder 2, virtual master axis 6-28PL 4-2PL Load parameter default values 7-101PLC - Error nr. 1 7-102PLC - Error nr. 2 7-103PLC - Error nr. 3 7-103PLC - Error nr. 4 7-104PLC - Warning no. 1 8-29PLC - Warning no. 2 8-30PLC - Warning no. 3 8-30PLC - Warning no. 4 8-30PLC ? 5-2PLC command 9-28PLC command error no. 1 9-211PLC command error no. 2 9-211PLC command error no. 3 9-212PLC command error no. 4 9-212PLC command timeout 9-213PLC double real-time channel failure 7-68PLC program not ready for loading retain data 9-215PLC program not ready for retain data backup 9-213PLC retain data do not match PLC program 9-216PLC Runtime Error 7-52PLC watchdog 7-67PLL is not synchronized 7-155PM 4-2Pos. window for safety rel. operational stop exceeded 7-42Position control with encoder 2 not possible 8-29Position mode drive controlled 6-46Position mode drive controlled, encoder 1 6-44Position mode drive controlled, encoder 2 6-44Position mode lagless, encoder 1 6-23Position mode lagless, encoder 1 drive controlled 6-45Position mode lagless, encoder 2 6-24Position mode lagless, encoder 2 drive controlled 6-45Position mode, encoder 1 6-22Position mode, encoder 2 6-23Position of data record in MDT (S-0-0009) even 9-38Position spindle command 9-8Position synchronization 6-49Positioning block mode 6-48Positioning block mode lagless, encoder 1 6-50Positioning block mode lagless, encoder 2 6-51Positioning block mode, encoder 1 6-50Positioning block mode, encoder 2 6-51Positioning velocity >= limit value 8-36Positioning velocity of master axis generator too high 8-52Positive position limit exceeded 8-4Positive stop drive procedure command 9-9Positive travel limit exceeded 7-54Positive travel range limit switch activated 7-58, 8-10Power section defective 7-25Preselect parameter set forbidden value 9-205



Prewarning supply module overload 8-51Prewarning, end of brake check time interval 8-28Probe inputs incorrectly configured 9-103Proceed to phase 4 9-156Processor exception error 7-2Programmed firmware defective 9-187

QQuick stop with probe detection is active 8-7

RReady for power on 6-7Recalculate actual value cycle 9-19Refer. missing when selecting safety related end pos. 7-73Reference cam input not assigned 9-209Reference mark not detected 9-142, 9-208Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error 9-42Replacing

cable 10-14motor 10-13

replacing devicesdrive controllers 10-7fault report 10-6, 10-8supply units 10-6

Reset class 1 diagnostics, error reset 9-3RL 4-2RL The motor type has changed. 7-100Rotary scaling not allowed 9-66, 9-129Run PLC 5-2

SSafety bus communication error 7-94Safety command for basic initialization incorrect 7-33Safety command for clearing errors incorrect 7-86Safety command for load defaults procedure incorrect 9-148Safety command for system halt incorrect 7-92Safety command for system init. incorrect 9-105Safety command for system start incorrect 7-91safety instructions for electric drives and controls 3-1Safety parameters validation error 7-83, 8-25Safety rel. position limit val., exc. in neg. dir. 7-39Safety rel. position limit val., exc. in pos. dir. 7-39Safety related deceleration exceeded 7-49Safety related end position exceeded 7-42Safety related limited increment exceeded 7-38Safety related maximum speed exceeded 7-41Safety related operational stop active 6-10Safety related reference missing 7-74, 8-27Safety related standstill active 6-9Safety related standstill while drive enabled 7-16Safety technology configuration error 9-106Safety technology configuration parameter invalid 7-34safety technology error

commissioning 7-37saving parameter values, general 1-22SBB 4-2SBB1 4-2SBB2 4-3SBB3 4-3SBB4 4-3SBH 4-3Selected process block is not programmed. 8-43Selection validation error 7-84Selectively backup working memory procedure command 9-14Set coordinate system procedure command 9-21Setting only possible in 'Ab' 9-160Several motor encoders connected 9-63, 9-126



SH 4-3Shift coordinate system procedure command 9-21S-III

incorrect sequence during phase switch 7-69Softstart fault power supply unit 7-157Special mode motion 1 active 6-13Special mode motion 2 active 6-15Special mode motion 3 active 6-17Special mode motion 4 active 6-19Special mode motion active 6-11Speed loop error 7-23Spindle positioning requires drive enable 9-154standard control panel 1-11, 1-13Start requires drive enable 9-166Starting lockout active 6-6status classes 1-5status displays 1-8Stop PLC 5-2structure of diagnostic message 1-3Supply module in operation 6-52Supply module in voltage control 6-52Switch parameter set command 9-25Switching only possible in parameter mode 9-204Switching only possible without AF 9-204Switching to CCD phase 2 impossible 9-138Switching to non-initialized operating mode 7-99Switching to phase 3 impossible 9-59Switch-on threshold braking resistor too low 7-162Synchronization and storage failed 9-188Synchronization PWM-Timer wrong 7-20Synchronization to master communication incorrect 7-131Synchronize and store safety technology IDN 9-19synchronous motor 9-8System error channel 1 7-90System error channel 2 7-89, 8-26

TT2 (S-0-0089)+length MDT (S-0-0010)>TScyc (S-0-0002) 9-65T2 too small 9-44T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010) 9-45T4 > TScyc (S-0-0002) - T4min (S-0-0005) 9-43Target position out of num. range 8-45Target position out of travel range 7-127, 8-39Test torque of holding system not reached 9-175Time for stopping process exceeded 7-48Time interval of forced dynamization exceeded 8-27Time slot parameter > Sercos cycle time 9-37Timeout

axis in motion 9-218Timeout during loading process 7-35Timeout of safety command for load defaults procedure 9-149TNcyc (S-0-0001) or TScyc (S-0-0002) error 9-41Torque control 6-21Torque limit = 0 8-42Torque/force actual value limit active 8-7Torque/force command value limit active 8-15Trav. range lim. switch not ass. to dig. input 9-100travel range error

commissioning 7-51Travel range exceeded 9-169Travel range invalid 9-169Type of construction of motor not allowed 9-199Type of construction of motor P-0-4014 incorrect 9-62, 9-125Type plate list incomplete 9-192

UUndervoltage in mains 7-155, 8-56Undervoltage in power section 7-109, 8-2, 8-32, 8-57



Unknown format in PLC retain file 9-216Unknown operating mode 6-53Update Error ! 5-5use

appropriate 2-1inappropriate 2-2

VValidation error during commutation fine adjust 7-112Validation error of safety related operating mode 7-46, 8-25Validation error parameterized - effective threshold 7-44Velocity command value > limit value 8-45Velocity command value limit active 8-43Velocity control 6-22Velocity limit value exceeded 7-24Velocity synchronization 6-49Velocity synchronization, real master axis 6-27Velocity synchronization, virtual master axis 6-26Velocity threshold exceeded 7-40

Wwarning classes 1-25warnings 1-24Watchdog 7-4

XXX

CKS 10-2DL 10-2E FW 10-3E LD 10-3E ADR 10-2E SEC 10-3E SEQ 10-4ERASE 10-2F ACC 10-5F CKS 10-4F2100 10-4F2101 10-5F8120 10-6F8122 10-5F8129 10-5F8130 10-5F9002 10-4PROG 10-2

ZZKS 4-3

Rexroth IndraDrive Service & Support 14-1


14 Service & Support

14.1 Helpdesk

Unser Kundendienst-Helpdesk im Hauptwerk Lohram Main steht Ihnen mit Rat und Tat zur Seite.Sie erreichen uns

Our service helpdesk at our headquarters in Lohr amMain, Germany can assist you in all kinds of inquiries.Contact us

- telefonisch - by phone: +49 (0) 9352 40 50 60über Service Call Entry Center Mo-Fr 07:00-18:00- via Service Call Entry Center Mo-Fr 7:00 am - 6:00 pm

- per Fax - by fax: +49 (0) 9352 40 49 41

- per e-Mail - by e-mail: [email protected]

14.2 Service-Hotline

Außerhalb der Helpdesk-Zeiten ist der Servicedirekt ansprechbar unter

After helpdesk hours, contact our servicedepartment directly at

+49 (0) 171 333 88 26

oder - or +49 (0) 172660 04 06

14.3 Internet

Unter www.boschrexroth.com finden Sieergänzende Hinweise zu Service, Reparatur undTraining sowie die aktuellen Adressen *) unsererauf den folgenden Seiten aufgeführten Vertriebs-und Servicebüros.

Verkaufsniederlassungen

Niederlassungen mit Kundendienst

Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mitunserem für Sie nächstgelegenen Ansprechpartner auf.

*) Die Angaben in der vorliegenden Dokumentation könnenseit Drucklegung überholt sein.

At www.boschrexroth.com you may findadditional notes about service, repairs and trainingin the Internet, as well as the actual addresses *) ofour sales- and service facilities figuring on thefollowing pages.

sales agencies

offices providing service

Please contact our sales / service office in your area first.

*) Data in the present documentation may have becomeobsolete since printing.

14.4 Vor der Kontaktaufnahme... - Before contacting us...

Wir können Ihnen schnell und effizient helfen wennSie folgende Informationen bereithalten:

1. detaillierte Beschreibung der Störung und derUmstände.

2. Angaben auf dem Typenschild derbetreffenden Produkte, insbesondereTypenschlüssel und Seriennummern.

3. Tel.-/Faxnummern und e-Mail-Adresse, unterdenen Sie für Rückfragen zu erreichen sind.

For quick and efficient help, please have thefollowing information ready:

1. Detailed description of the failure andcircumstances.

2. Information on the type plate of the affectedproducts, especially type codes and serialnumbers.

3. Your phone/fax numbers and e-mail address,so we can contact you in case of questions.

14-2 Service & Support Rexroth IndraDrive


14.5 Kundenbetreuungsstellen - Sales & Service Facilities

Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!from abroad: don’t dial (0) after country code!

Vertriebsgebiet Mitte Germany Centre

Bosch RexrothElectrice Drives and Controls GmbHBgm.-Dr.-Nebel-Str. 2 / Postf. 135797816 Lohr am Main / 97803 Lohr

Kompetenz-Zentrum Europa

Tel.: +49 (0)9352 40-0Fax: +49 (0)9352 40-4885

S E R V I C E A U T O M A T I O N

C A L L E N T R Y C E N T E RH e l p d e s kMO – FR

von 07:00 - 18:00 Uhrfrom 7 am – 6 pm

Tel. +49 (0) 9352 40 50 60Fax +49 (0) 9352 40 49 41

[email protected]


H OTLIN E 24 / 7 / 365

außerhalb der Helpdesk-Zeitout of helpdesk hours

Tel.: +49 (0)172 660 04 06o d e r / o r

Tel.: +49 (0)171 333 88 26


ERSATZTEILE / SPARESverlängerte Ansprechzeit- extended office time -

♦ nur an Werktagen- only on working days -

♦ von 07:00 - 18:00 Uhr- from 7 am - 6 pm -

Tel. +49 (0) 9352 40 42 22

Vertriebsgebiet Süd Germany South

Bosch Rexroth AGLandshuter Allee 8-1080637 München

Tel.: +49 (0)89 127 14-0Fax: +49 (0)89 127 14-490

Vertriebsgebiet West Germany West

Bosch Rexroth AGRegionalzentrum WestBorsigstrasse 1540880 Ratingen

Tel.: +49 (0)2102 409-0Fax: +49 (0)2102 409-406

+49 (0)2102 409-430

Gebiet Südwest Germany South-West

Bosch Rexroth AGService-Regionalzentrum Süd-WestSiemensstr. 170736 Fellbach

Tel.: +49 (0)711 51046–0Fax: +49 (0)711 51046–248

Vertriebsgebiet Nord Germany North

Bosch Rexroth AGWalsroder Str. 9330853 Langenhagen

Tel.: +49 (0) 511 72 66 57-0Service: +49 (0) 511 72 66 57-256Fax: +49 (0) 511 72 66 57-93Service: +49 (0) 511 72 66 57-783

Vertriebsgebiet Mitte Germany Centre

Bosch Rexroth AGRegionalzentrum MitteWaldecker Straße 1364546 Mörfelden-Walldorf

Tel.: +49 (0) 61 05 702-3Fax: +49 (0) 61 05 702-444

Vertriebsgebiet Ost Germany East

Bosch Rexroth AGBeckerstraße 3109120 Chemnitz

Tel.: +49 (0)371 35 55-0Fax: +49 (0)371 35 55-333

Vertriebsgebiet Ost Germany East

Bosch Rexroth AGRegionalzentrum OstWalter-Köhn-Str. 4d04356 Leipzig

Tel.: +49 (0)341 25 61-0Fax: +49 (0)341 25 61-111



Europa (West) - Europe (West)

vom Ausland: (0) nach Landeskennziffer weglassen, Italien: 0 nach Landeskennziffer mitwählenfrom abroad: don’t dial (0) after country code, Italy: dial 0 after country code

Austria - Österreich

Bosch Rexroth GmbHElectric Drives & ControlsStachegasse 131120 Wien

Tel.: +43 (0) 1 985 25 40Fax: +43 (0) 1 985 25 40-1459

Austria – Österreich

Bosch Rexroth GmbHElectric Drives & ControlsIndustriepark 184061 Pasching

Tel.: +43 (0)7221 605-0Fax: +43 (0)7221 605-1220

Belgium - Belgien

Bosch Rexroth NV/SAHenri Genessestraat 11070 Bruxelles

Tel: +32 (0) 2 451 26 08Fax: +32 (0) 2 451 27 90 [email protected] [email protected]

Denmark - Dänemark

BEC A/SZinkvej 68900 Randers

Tel.: +45 87 11 90 60Fax: +45 87 11 90 61

Denmark - Dänemark

Bosch Rexroth A/SEngelsholmvej 268900 Randers

Tel.: +45 36 77 44 66Fax: +45 70 10 03 20 [email protected]

Great Britain – Großbritannien

Bosch Rexroth Ltd.Electric Drives & ControlsBroadway Lane, South CerneyCirencester, Glos GL7 5UH

Tel.: +44 (0)1285 863-000Fax: +44 (0)1285 863-030 [email protected] [email protected]

Finland - Finnland

Bosch Rexroth OyElectric Drives & ControlsAnsatie 6017 40 Vantaa

Tel.: +358 (0)9 84 91-11Fax: +358 (0)9 84 91-13 60

France - Frankreich

Bosch Rexroth SASElectric Drives & ControlsAvenue de la Trentaine(BP. 74)77503 Chelles Cedex

Tel.: +33 (0)164 72-63 22Fax: +33 (0)164 72-63 20Hotline: +33 (0)608 33 43 28

France - Frankreich

Bosch Rexroth SASElectric Drives & ControlsZI de Thibaud, 20 bd. Thibaud(BP. 1751)31084 Toulouse

Tel.: +33 (0)5 61 43 61 87Fax: +33 (0)5 61 43 94 12

France – Frankreich

Bosch Rexroth SASElectric Drives & Controls91, Bd. Irène Joliot-Curie69634 Vénissieux – Cedex

Tel.: +33 (0)4 78 78 53 65Fax: +33 (0)4 78 78 53 62

France – Frankreich

Tightening & Press-fit:Globe Techniques Nouvelles143, Av. du Général de Gaulle92252 La Garenne Colombes

Tel.: +33 (0)1 41 19 33 33

Italy - Italien

Bosch Rexroth S.p.A.Strada Statale PadanaSuperiore 11, no. 4120063 Cernusco S/N.MI

Hotline: +39 02 92 365 563Tel.: +39 02 92 365 1Service: +39 02 92 365 300Fax: +39 02 92 365 500Service: +39 02 92 365 516

Italy - Italien

Bosch Rexroth S.p.A.Via Paolo Veronesi, 25010148 Torino

Tel.: +39 011 224 88 11Fax: +39 011 224 88 30

Italy - Italien

Bosch Rexroth S.p.A.Via Mascia, 180053 Castellamare di Stabia NA

Tel.: +39 081 8 71 57 00Fax: +39 081 8 71 68 85

Italy - Italien

Bosch Rexroth S.p.A.Via del Progresso, 16 (Zona Ind.)35020 Padova

Tel.: +39 049 8 70 13 70Fax: +39 049 8 70 13 77

Italy - Italien

Bosch Rexroth S.p.A.Via Isonzo, 6140033 Casalecchio di Reno (Bo)

Tel.: +39 051 29 86 430Fax: +39 051 29 86 490

Italy - Italien

Tightening & Press-fit:TEMA S.p.A. AutomazioneVia Juker, 2820025 Legnano

Tel.: +39 0 331 4671

Netherlands – Niederlande/Holland

Bosch Rexroth B.V.Kruisbroeksestraat 1(P.O. Box 32)5281 RV Boxtel

Tel.: +31 (0) 411 65 16 40Fax: +31 (0) 411 65 14 83 www.boschrexroth.nl

Netherlands - Niederlande/Holland

Bosch Rexroth Services B.V.Technical ServicesKruisbroeksestraat 1(P.O. Box 32)5281 RV Boxtel

Tel.: +31 (0) 411 65 19 51Fax: +31 (0) 411 67 78 14Hotline: +31 (0) 411 65 19 51 [email protected]

Norway - Norwegen

Bosch Rexroth ASElectric Drives & ControlsBerghagan 1 or: Box 30071405 Ski-Langhus 1402 Ski

Tel.: +47 64 86 41 00

Fax: +47 64 86 90 62

Hotline: +47 64 86 94 82 [email protected]

Spain – Spanien

Goimendi Automation S.L.Parque Empresarial ZuatzuC/ Francisco Grandmontagne no.220018 San Sebastian

Tel.: +34 9 43 31 84 21- service: +34 9 43 31 84 56Fax: +34 9 43 31 84 27- service: +34 9 43 31 84 60 [email protected]

Spain - Spanien

Bosch Rexroth S.A.Electric Drives & ControlsCentro Industrial SantigaObradors 14-1608130 Santa Perpetua de MogodaBarcelona

Tel.: +34 9 37 47 94-00Fax: +34 9 37 47 94-01

Spain - Spanien

Bosch Rexroth S.A.Electric Drives & Controlsc/ Almazara, 928760 Tres Cantos (Madrid)


Sweden - Schweden

Bosch Rexroth ABElectric Drives & Controls- Varuvägen 7(Service: Konsumentvägen 4, Älfsjö)125 81 Stockholm

Tel.: +46 (0) 8 727 92 00Fax: +46 (0) 8 647 32 77

Sweden - Schweden

Bosch Rexroth ABElectric Drives & ControlsEkvändan 7254 67 Helsingborg

Tel.: +46 (0) 4 238 88 -50Fax: +46 (0) 4 238 88 -74

Switzerland East - Schweiz Ost

Bosch Rexroth Schweiz AGElectric Drives & ControlsHemrietstrasse 28863 ButtikonTel. +41 (0) 55 46 46 111Fax +41 (0) 55 46 46 222

Switzerland West - Schweiz West

Bosch Rexroth Suisse SAAv. Général Guisan 261800 Vevey 1

Tel.: +41 (0)21 632 84 20Fax: +41 (0)21 632 84 21



Europa (Ost) - Europe (East)

vom Ausland: (0) nach Landeskennziffer weglassen from abroad: don’t dial (0) after country code

Czech Republic - Tschechien

Bosch -Rexroth, spol.s.r.o.Hviezdoslavova 5627 00 Brno

Tel.: +420 (0)5 48 126 358Fax: +420 (0)5 48 126 112


DEL a.s.Strojírenská 38591 01 Zdar nad SázavouTel.: +420 566 64 3144Fax: +420 566 62 1657


Tightening & Press-fit:Bosch -Rexroth, spol.s.r.o.Stetkova 18140 68 Praha 4

Tel.: +420 (0)241 406 675

Hungary - Ungarn

Bosch Rexroth Kft.Angol utca 341149 Budapest

Tel.: +36 (1) 422 3200Fax: +36 (1) 422 3201

Poland – Polen

Bosch Rexroth Sp.zo.o.Biuro Poznanul. Dabrowskiego 81/8560-529 Poznan

Tel.: +48 061 847 64 62 /-63Fax: +48 061 847 64 02

Poland – Polen

Bosch Rexroth Sp.zo.o.ul. Staszica 105-800 Pruszków

Tel.: +48 (0) 22 738 18 00– service: +48 (0) 22 738 18 46Fax: +48 (0) 22 758 87 35– service: +48 (0) 22 738 18 42

Romania - Rumänien

East Electric S.R.L.Bdul Basarabia no.250, sector 373429 Bucuresti

Tel./Fax:: +40 (0)21 255 35 07+40 (0)21 255 77 13

Fax: +40 (0)21 725 61 21 [email protected]

Romania - Rumänien

Bosch Rexroth Sp.zo.o.Str. Drobety nr. 4-10, app. 1470258 Bucuresti, Sector 2

Tel.: +40 (0)1 210 48 25+40 (0)1 210 29 50

Fax: +40 (0)1 210 29 52

Russia - Russland

Bosch Rexroth OOOWjatskaja ul. 27/15127015 Moskau

Tel.: +7-095-785 74 78+7-095 785 74 79

Fax: +7 095 785 74 77 [email protected]

Russia Belarus - Weissrussland

ELMIS10, Internationalnaya246640 Gomel, Belarus

Tel.: +375/ 232 53 42 70+375/ 232 53 21 69

Fax: +375/ 232 53 37 69 [email protected]

Turkey - Türkei

Bosch Rexroth OtomasyonSan & Tic. A..S.Fevzi Cakmak Cad No. 334295 Sefaköy Istanbul

Tel.: +90 212 411-13 00Fax: +90 212 411-13 17 www.boschrexroth.com.tr

Turkey - Türkei

Servo Kontrol Ltd. Sti.Perpa Ticaret Merkezi B BlokKat: 11 No: 160980270 Okmeydani-Istanbul

Tel: +90 212 320 30 80Fax: +90 212 320 30 81 [email protected] www.servokontrol.com

Slowakia - Slowakei

Tightening & Press-fit:

MTS, spol .s.r.o.02755 Kriva 53

Tel.: +421 43 5819 161

Slowenia - Slowenien

DOMELOtoki 2164 228 Zelezniki

Tel.: +386 5 5117 152Fax: +386 5 5117 225 [email protected]

Australien, Süd-Afrika - Australia, South AfricaAustralia - Australien

AIMS - Australian IndustrialMachinery Services Pty. Ltd.28 Westside DriveLaverton North Vic 3026Melbourne

Tel.: +61 3 93 14 3321Fax: +61 3 93 14 3329Hotlines: +61 3 93 14 3321

+61 4 19 369 195 [email protected]

Australia - Australien

Bosch Rexroth Pty.Ltd.No. 7, Endeavour WayBraeside Victoria, 3195Melbourne


South Africa - Südafrika

TECTRA Automation (Pty) Ltd.100 Newton Road, MeadowdaleEdenvale 1609

Tel.: +27 11 971 94 00Fax: +27 11 971 94 40Hotline: +27 82 903 29 23 [email protected]

South Africa - Südafrika

Tightening & Press-fit:Jendamark Automation76A York Road, North End6000 Port Elizabeth

Tel.: +27 41 391 4735



Asien - Asia (incl. Pacific Rim)China

Shanghai Bosch Rexroth

Hydraulics & Automation Ltd.

No.122, Fu Te Dong Yi Road

Waigaoqiao, Free Trade Zone

Shanghai 200131 - P.R.China

Tel.: +86 21 58 66 30 30Fax: +86 21 58 66 55 [email protected]

[email protected]

China

Shanghai Bosch Rexroth

Hydraulics & Automation Ltd.

4/f, Marine Tower

No.1, Pudong Avenue

Shanghai 200120 - P.R.China

Tel: +86 21 68 86 15 88Fax: +86 21 68 86 05 99

+86 21 58 40 65 77 [email protected]

China

Bosch Rexroth (China) Ltd.

Satellite Service Office

Changchun

Rm. 1910, Guangming Building

No.336 Xi’an Rd., Chao Yang

Distr.

Changchun 130061 - P.R.China

Tel.+Fax: +86 431 898 1129Mobile: +86 139 431 92 659 [email protected]

China

Bosch Rexroth (China) Ltd.

Satellite Service Office

Wuhan

No. 22, Pinglanju, Milanyuan,

Golden Harbor

No. 236 Longyang Avenue

Economic & Technology

Development Zone

Wuhan 430056 - P.R.China

Tel.+Fax: +86 27 84 23 23 92Mobile: +86 139 71 58 89 67 [email protected]

China

Bosch Rexroth (China) Ltd.Beijing Representative OfficeXi San Qi Dong, De Sheng Mei WaiHai Dian DistrictBeijing 100096, P.R.China

Tel.: +86 10 82 91 22 29Fax: +86 10 82 91 81 09 [email protected]

China

Bosch Rexroth (China) Ltd.Guangzhou Repres. OfficeRoom 3710-3716, Metro Plaza,Tian He District, 183 Tian He Bei RdGuangzhou 510075, P.R.China

Tel.: +86 20 87 55 00 30+86 20 87 55 00 11

Fax: +86 20 87 55 23 87 [email protected]

China

Bosch Rexroth (China) Ltd.Dalian Representative OfficeRoom 2005,Pearl River Int. BuildingNo.99 Xin Kai Rd., Xi Gang DistrictDalian, 116011, P.R.China

Tel.: +86 411 83 68 26 02Fax: +86 411 83 68 27 02 [email protected]

China

Tightening & Press-fit:C. Melchers GmbH & CoShanghai Representation 13 Floor Est Ocean CentreNo.588 Yanan Rd. East65 Yanan Rd. WestShanghai 200001Tel.: +86 21 63 52 88 48Fax: +86 21 63 51 31 38 [email protected]

Hongkong

Bosch Rexroth (China) Ltd.6th Floor,Yeung Yiu Chung No.6 Ind Bldg.19 Cheung Shun StreetCheung Sha Wan,Kowloon, Hongkong

Tel.: +852 27 86 46 32Fax: +852 27 42 60 [email protected]

India - Indien

Bosch Rexroth (India) Ltd.Electric Drives & ControlsPlot. No.96, Phase IIIPeenya Industrial AreaBangalore – 560058

Tel.: +91 80 51 17 0-211...-218Fax: +91 80 83 94 345

+91 80 83 97 374 [email protected]

India - Indien

Bosch Rexroth (India) Ltd.Electric Drives & ControlsAdvance House, II FloorArk Industrial CompoundNarol Naka, Makwana RoadAndheri (East), Mumbai - 400 059

Tel.: +91 22 28 56 32 90+91 22 28 56 33 18


India - Indien

Tightening & Press-fit:

MICOHosur Road Adugodi560 030 Bangalore Karnataki

Tel.: +91 80 22 99 28 86

India - Indien

Bosch Rexroth (India) Ltd.S-10, Green Park ExtensionNew Delhi – 110016

Tel.: +91 11 26 56 65 25+91 11 26 56 65 27


Indonesia - Indonesien

PT. Bosch RexrothBuilding # 202, Cilandak CommercialEstateJl. Cilandak KKO, Jakarta 12560

Tel.: +62 21 7891169 (5 lines)Fax: +62 21 7891170 - [email protected]

Japan

Bosch Rexroth Automation Corp.Service Center JapanYutakagaoka 1810, Meito-ku,NAGOYA 465-0035, Japan

Tel.: +81 52 777 88 41+81 52 777 88 53+81 52 777 88 79

Fax: +81 52 777 89 01

Japan

Bosch Rexroth Automation Corp.Electric Drives & Controls2F, I.R. BuildingNakamachidai 4-26-44, Tsuzuki-kuYOKOHAMA 224-0041, Japan

Tel.: +81 45 942 72 10Fax: +81 45 942 03 41

Korea

Bosch Rexroth-Korea Ltd.

Electric Drives & Controls

1515-14 Dadae-Dong, Saha-gu

Pusan Metropolitan City, 604-

050


Korea


Electric Drives and Controls

Bongwoo Bldg. 7FL, 31-7, 1Ga

Jangchoong-dong, Jung-gu

Seoul, 100-391

Tel.: +82 234 061 813Fax: +82 222 641 295

Korea


Electric Drives & Controls

1515-14 Dadae-Dong, Saha-gu

Ulsan, 680-010

Tel.: +82 52 256-0734Fax: +82 52 256-0738 [email protected]

Korea

Tightening & Press-fit:KVT Co., Ltd.901, Daeryung Techno Town 8481-11 Gasan-DongGeumcheon-GuSeoul, 153-775Tel.: +82 2 2163 0231 9

Malaysia

Bosch Rexroth Sdn.Bhd.

11, Jalan U8/82, Seksyen U8

40150 Shah Alam

Selangor, Malaysia

Tel.: +60 3 78 44 80 00Fax: +60 3 78 45 48 00 [email protected] [email protected]

Singapore - Singapur

Bosch Rexroth Pte Ltd15D Tuas RoadSingapore 638520


Taiwan

Bosch Rexroth Co., Ltd.Taichung Industrial AreaNo.19, 38 RoadTaichung, Taiwan 407, R.O.C.

Tel : +886 - 4 -235 08 383Fax: +886 - 4 -235 08 586 [email protected] [email protected]

Taiwan

Bosch Rexroth Co., Ltd.Tainan BranchNo. 17, Alley 24, Lane 737Chung Cheng N.Rd. YungkangTainan Hsien, Taiwan, R.O.C.

Tel : +886 - 6 –253 6565Fax: +886 - 6 –253 4754 [email protected]



Thailand

NC Advance Technology Co.

Ltd.

59/76 Moo 9

Ramintra road 34

Tharang, Bangkhen,

Bangkok 10230

Tel.: +66 2 943 70 62 +66 2 943 71 21Fax: +66 2 509 23 62Hotline +66 1 984 61 52 [email protected]



Nordamerika – North AmericaUSAHeadquarters - Hauptniederlassung

Bosch Rexroth CorporationElectric Drives & Controls5150 Prairie Stone ParkwayHoffman Estates, IL 60192-3707

Tel.: +1 847 645-3600Fax: +1 847 [email protected] [email protected]

USA Central Region - Mitte

Bosch Rexroth CorporationElectric Drives & Controls1701 Harmon RoadAuburn Hills, MI 48326

Tel.: +1 248 393-3330Fax: +1 248 393-2906

USA Southeast Region - Südost

Bosch Rexroth CorporationElectric Drives & Controls2810 Premiere Parkway, Suite 500Duluth, GA 30097

Tel.: +1 678 957-4050Fax: +1 678 417-6637

USA SERVICE-HOTLINE

- 7 days x 24hrs -

+1-800-REXROTH+1 800 739-7684

USA Northeast Region – Nordost

Bosch Rexroth CorporationElectric Drives & Controls99 Rainbow RoadEast Granby, CT 06026

Tel.: +1 860 844-8377Fax: +1 860 844-8595

USA West Region – West

Bosch Rexroth CorporationElectric Drives & Controls7901 Stoneridge Drive, Suite 220Pleasanton, CA 94588

Tel.: +1 925 227-1084Fax: +1 925 227-1081

Canada East - Kanada Ost

Tightening & Press-fit:Bosch Rexroth Canada Corp.5345 Outer Drive unit 5Windsor, OntarioCanada N9A 6J3

Tel.: +1 519 737 7393

Canada East - Kanada Ost

Bosch Rexroth Canada CorporationBurlington Division3426 Mainway DriveBurlington, OntarioCanada L7M 1A8

Tel.: +1 905 335 5511Fax: +1 905 335 4184

[email protected]

Canada West - Kanada West

Bosch Rexroth Canada Corporation5345 Goring St.Burnaby, British ColumbiaCanada V7J 1R1

Tel. +1 604 2055777Fax +1 604 2056944

[email protected]

Mexico

Bosch Rexroth Mexico S.A. de C.V.Calle Neptuno 72Unidad Ind. Vallejo07700 Mexico, D.F.

Tel.: +52 55 57 54 17 11Fax: +52 55 57 54 50 [email protected]

Mexico

Bosch Rexroth S.A. de C.V.Calle Argentina No 3913Fracc. las Torres64930 Monterrey, N.L.

Tel.: +52 81 83 49 80 91+52 81 83 49 80 92+52 81 83 49 80 93

Fax: +52 81 83 65 52 80

Südamerika – South AmericaArgentina - Argentinien

Bosch Rexroth S.A.I.C."The Drive & Control Company"Rosario 2302B1606DLD CarapachayProvincia de Buenos Aires

Tel.: +54 11 4756 01 40+54 11 4756 02 40+54 11 4756 03 40+54 11 4756 04 40

Fax: +54 11 4756 01 36+54 11 4721 91 53

[email protected]

Argentina - Argentinien

NAKASE SRLServicio Tecnico CNCCalle 49, No. 5764/66B1653AOX Villa BalesterProvincia de Buenos Aires

Tel.: +54 11 4768 36 43Fax: +54 11 4768 24 13Hotline: +54 11 155 307 6781 [email protected] [email protected] [email protected] (Service)

Brazil - Brasilien

Bosch Rexroth Ltda.Av. Tégula, 888Ponte Alta, Atibaia SPCEP 12942-440

Tel.: +55 11 4414 -56 92+55 11 4414 -56 84

Fax sales: +55 11 4414 -57 07Fax serv.: +55 11 4414 -56 86 [email protected]

Brazil - Brasilien

Bosch Rexroth Ltda.R. Dr.Humberto Pinheiro Vieira, 100Distrito Industrial [Caixa Postal 1273]89220-390 Joinville - SC

Tel./Fax: +55 47 473 58 33Mobil: +55 47 9974 6645

[email protected]

Columbia - Kolumbien

Reflutec de Colombia Ltda.Calle 37 No. 22-31Santafé de Bogotá, D.C.Colombia

Tel.: +57 1 208 65 55Fax: +57 1 269 97 [email protected]



Notizen

Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 (0)93 52-40-50 60Fax +49 (0)93 52-40-49 [email protected]

Printed in GermanyDOK-INDRV*-GEN-**VRS**-WA03-EN-PR911297319

R91129731 Edition Rexroth IndraDrive MPx02, MPx3, · PDF fileAbout this Documentation Rexroth...

Documents

Transcript of R91129731 Edition Rexroth IndraDrive MPx02, MPx3, · PDF fileAbout this Documentation Rexroth...