Lenze E94AxHE Servo Drives 9400 HighLine (Firmware 01-37) User Manual
L-force 9400 servo drives
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Table of contents
Document Outline
- 9400 HighLine V01.37
- Contents
- 1 About this Manual
- 2 Introduction
- 3 Commissioning
- 4 Drive interface
- 4.1 LED status displays
- 4.2 Parameter setting
- 4.3 Monitoring of external events
- 4.4 Set/remove controller inhibit
- 4.5 Device states
- 4.5.1 Status "initialisation active"
- 4.5.2 Status "Safe torque off active"
- 4.5.3 State "Device is ready to switch on"
- 4.5.4 State "Device is switched on"
- 4.5.5 State "Operation"
- 4.5.6 State "Warning active"
- 4.5.7 State "Warning locked active"
- 4.5.8 State "Quick stop by trouble"
- 4.5.9 Status"Trouble active"
- 4.5.10 State "Fault active"
- 4.5.11 State "System fault active"
- 4.6 Controller commands
- 4.7 System block "LS_DriveInterface"
- 5 Motor interface
- 5.1 Initial commissioning
- 5.1.1 Read the motor data out of the controller
- 5.1.2 Select motor in the »Engineer« motor catalog
- 5.1.3 Display/edit motor data in the »Engineer«
- 5.1.4 Accept/adapt route data
- 5.1.5 Parameterise motor encoder
- 5.1.6 Set rotor displacement angle
- 5.1.7 Optimise the switching performance of the inverter
- 5.1.8 Set motor parameters
- 5.1.9 Define currents and speed limits
- 5.1.10 Select switching frequency
- 5.1.11 Optimise current controller
- 5.2 Extended commissioning
- 5.3 Signal flow
- 5.4 Parameter setting
- 5.5 System block "LS_MotorInterface"
- 5.1 Initial commissioning
- 6 Encoder evaluation
- 7 I/O terminals
- 8 Safety engineering
- 9 Basic drive functions
- 9.1 General information
- 9.1.1 Conditions for the use of the basic functions
- 9.1.2 Internal state machine
- 9.1.2.1 "Initialisation" status
- 9.1.2.2 Status "Controller not ready"
- 9.1.2.3 Status "drive in standstill"
- 9.1.2.4 Status "Drive is stopped"
- 9.1.2.5 Status "Manual jog active"
- 9.1.2.6 Status "Homing active"
- 9.1.2.7 Status "Positioning active"
- 9.1.2.8 Status "Setpoint follower active"
- 9.1.2.9 Status "Quick stop active"
- 9.1.2.10 Status "Error"
- 9.1.2.11 Interrupting/replacing states
- 9.1.2.12 Priorities
- 9.1.3 Requesting control via a basic function
- 9.2 Standard stop
- 9.3 Quick stop
- 9.4 Manual jog
- 9.5 Homing
- 9.6 Positioning
- 9.7 Position follower
- 9.8 Speed follower
- 9.9 Torque follower
- 9.10 Limiter
- 9.11 Brake control
- 9.1 General information
- 10 Technology applications (TAs)
- 11 Standard TAs
- 11.1 Introduction
- 11.2 TA "Actuator - speed"
- 11.2.1 Basic signal flow
- 11.2.2 Assignment of the I/O terminals
- 11.2.3 Machine parameters
- 11.2.4 Speed setpoint conditioning
- 11.2.5 Speed follower
- 11.2.6 Manual jog
- 11.2.7 Quick stop
- 11.2.8 Limiter
- 11.2.9 Brake control
- 11.2.10 Signal configuration of drive and motor interface
- 11.2.11 Signal configuration of the output ports
- 11.2.12 Application error messages
- 11.3 TA "Actuator - torque"
- 11.3.1 Basic signal flow
- 11.3.2 Assignment of the I/O terminals
- 11.3.3 Machine parameters
- 11.3.4 Torque setpoint conditioning
- 11.3.5 Speed limit value conditioning
- 11.3.6 Torque follower
- 11.3.7 Manual jog
- 11.3.8 Quick stop
- 11.3.9 Limiter
- 11.3.10 Brake control
- 11.3.11 Signal configuration of drive and motor interface
- 11.3.12 Signal configuration of the output ports
- 11.3.13 Application error messages
- 12 TAs for interconnection via electrical shaft
- 12.1 Introduction
- 12.1.1 Synchronisation of the drives via a master angle
- 12.1.2 Virtual master/real master
- 12.1.3 Transmission of the master angle
- 12.1.4 Speed or angular synchronism?
- 12.1.5 Rail or cascade structure?
- 12.1.6 Master or actual value transfer?
- 12.1.7 Absolute or relative master angle processing?
- 12.1.8 Functions with synchronisation via the electrical shaft
- 12.1.9 Application examples
- 12.2 TA "Electronic gearbox"
- 12.2.1 Basic signal flow
- 12.2.2 Assignment of the I/O terminals
- 12.2.3 Machine parameters
- 12.2.4 Selection of master value source and output
- 12.2.5 Operating mode "Electronic gearbox"
- 12.2.6 "Homing" mode
- 12.2.7 "Manual jog" mode
- 12.2.8 "Positioning" mode"
- 12.2.9 Following error monitoring
- 12.2.10 Quick stop
- 12.2.11 Limiter
- 12.2.12 Brake control
- 12.2.13 Signal configuration of drive and motor interface
- 12.2.14 Signal configuration of the output ports
- 12.2.15 Application error messages
- 12.2.16 Step by step: Electrical shaft via system bus (CAN)
- 12.3 TA "Synchronism with mark synchronisation"
- 12.3.1 Basic signal flow
- 12.3.2 Assignment of the I/O terminals
- 12.3.3 Machine parameters
- 12.3.4 Selection of master value source and output
- 12.3.5 "Synchronism" mode"
- 12.3.6 "Homing" mode
- 12.3.7 "Manual jog" mode
- 12.3.8 "Positioning" mode"
- 12.3.9 Quick stop
- 12.3.10 Limiter
- 12.3.11 Brake control
- 12.3.12 Signal configuration of drive and motor interface
- 12.3.13 Signal configuration of the output ports
- 12.3.14 Application error messages
- 12.1 Introduction
- 13 TAs for positioning tasks
- 13.1 Introduction
- 13.2 TA "Multi-purpose positioning"
- 13.2.1 Basic signal flow
- 13.2.2 Assignment of the I/O terminals
- 13.2.3 Basic settings
- 13.2.4 Program flow
- 13.2.5 Profile data management
- 13.2.6 Speed/acceleration override
- 13.2.7 Following error monitoring
- 13.2.8 Manual jog
- 13.2.9 Quick stop
- 13.2.10 Limiter
- 13.2.11 Brake control
- 13.2.12 Signal configuration of drive and motor interface
- 13.2.13 Signal configuration of the output ports
- 13.2.14 Application error messages
- 13.3 TA "Table positioning"
- 14 Oscilloscope
- 15 Diagnostics & error analysis
- 15.1 Drive diagnostics with the »Engineer«
- 15.2 Drive diagnostics via keypad/bus system
- 15.3 Logbook
- 15.4 Monitoring
- 15.5 Maloperation of the drive
- 15.6 Error messages of the operating system
- 15.6.1 Format of the error numbers saved in the fault memory
- 15.6.2 Reset of error message
- 15.6.3 Error list
- Logbook: overflow [0x00650000]
- Logbook: reset (read error) [0x00650001]
- Logbook: reset (version error) [0x00650002]
- Memory module missing [0x00650003]
- Control card is defective [0x00680000]
- Power section is defective [0x00680001]
- Memory module is defective or missing [0x00680002]
- Safety module is defective or missing [0x00680003]
- MXI1: Module changed during operation [0x00680004]
- MXI2: Module changed during operation [0x00680005]
- Memory module has been removed [0x00680006]
- Safety module has been removed [0x00680007]
- Control card is defective [0x00680008]
- Power section is defective [0x00680009]
- MXI1: Module is defective or missing [0x0068000a]
- MXI2: Module is defective or missing [0x0068000b]
- Memory module is defective or missing [0x0068000c]
- Safety module is defective or missing [0x0068000d]
- Control card is not compatible [0x0068000e]
- Power section is not compatible [0x0068000f]
- MXI1: Wrong module [0x00680010]
- MXI2: Wrong module [0x00680011]
- Wrong memory module [0x00680012]
- Wrong safety module [0x00680013]
- Power section has been changed [0x00680014]
- MXI1: Module has been changed [0x00680015]
- MXI2: Module has been changed [0x00680016]
- Memory module has been changed [0x00680017]
- Safety module has been changed [0x00680018]
- Combination MXI1/MXI2 not possible [0x00680019]
- Firmware has been changed [0x0068001a]
- Electronic nameplate: Communication error [0x0068001b]
- Memory module: File system is faulty [0x0068001c]
- Electronic nameplate: Checksum error [0x0068001d]
- Firmware is not compatible [0x0068001e]
- Combination memory module/device not possible [0x0068001f]
- Combination module in MXI1/device not possible [0x00680020]
- Combination module in MXI2/device not possible [0x00680021]
- Internal error (CRC code - RAM) [0x00690000]
- Internal error (logbook memory area) [0x00690001]
- Internal error (LDS instance data) [0x00690002]
- Internal error (LDS tasks) [0x00690003]
- Internal error (storage blocks) [0x00690004]
- Internal error (task queue) [0x00690005]
- Internal error (message memory) [0x00690006]
- Internal error (message queue) [0x00690007]
- Internal error (name data base) [0x00690008]
- Internal error (event mechanism) [0x00690009]
- Internal error (event mechanism) [0x0069000a]
- Internal error (semaphores) [0x0069000b]
- Internal error (faulty binary semaphores) [0x0069000c]
- Internal error (file system) [0x0069000d]
- General application error [0x006a0000]
- Program download is faulty [0x006a0001]
- Error during input and output update [0x006a0002]
- New application loaded [0x006a0003]
- User task 1: Overflow [0x006a0004]
- User task 2: Overflow [0x006a0005]
- User task 3: Overflow [0x006a0006]
- User task 4: Overflow [0x006a0007]
- User task 5: Overflow [0x006a0008]
- User task 6: Overflow [0x006a0009]
- User task 7: Overflow [0x006a000a]
- User task 8: Overflow [0x006a000b]
- User task 9: Overflow [0x006a000c]
- Runtime error [0x006a000d]
- Application has been stopped [0x006a000e]
- Breakpoint has been reached [0x006a000f]
- Faulty application parameter [0x006a0010]
- Division by zero [0x006a0011]
- Pointer access in impermissible memory area [0x006a0012]
- Application has been started [0x006a0013]
- Application has been stopped [0x006a0014]
- PDO mapping (MXI1): Faulty configuration [0x006a0015]
- PDO mapping (MXI2): Faulty configuration [0x006a0016]
- Control card: Supply voltage (24 V DC) too low [0x006f0000]
- Read error - service register [0x00720000]
- External error [0x00750000]
- Controller is enabled [0x00750001]
- Controller has been initialised [0x00750002]
- Controller in STO state [0x00750003]
- Controller: Pulse inhibit is active [0x00750005]
- PLC configuration is invalid [0x00750006]
- Heatsink: Temperature > C00122 [0x00770000]
- Heatsink: Overtemperature [0x00770001]
- Motor: Temperature > C00121 [0x00770002]
- Motor: Overtemperature [0x00770003]
- DC-bus capacitor: Temperature > CXXXXX [0x00770004]
- DC-bus capacitor: overtemperature [0x00770005]
- Inside the device: Temperature > CXXXXX [0x00770006]
- Inside the device: Overtemperature [0x00770007]
- CPU: Temperature > C00126 [0x00770008]
- CPU: Overtemperature [0x00770009]
- Heatsink: Temperature sensor defective [0x0077000a]
- Inside the device: Temperature sensor defective [0x0077000b]
- Motor: Temperature sensor defective [0x0077000c]
- DC-bus capacitor: Temperature sensor defective [0x0077000d]
- CPU: Temperature sensor defective [0x0077000e]
- Motor: PTC has triggered [0x0077000f]
- Heatsink: Fan is defective [0x00770010]
- Inside the device: Fan is defective [0x00770011]
- Device utilisation Ixt > C00123 [0x00780000]
- Device utilisation Ixt > 100 % [0x00780001]
- Motor load I·xt > C00127 [0x00780002]
- Motor load I·xt > C00120 [0x00780003]
- Control card is defective (UB24) [0x00780004]
- Control card is defective (VCC15) [0x00780005]
- Control card is defective (UB8) [0x00780006]
- Control card is defective (VCC15 neg.) [0x00780007]
- Control card is defective (UB18 neg.) [0x00780008]
- Control card is defective (VCC5) [0x00780009]
- Electronic nameplate: Data incompatible [0x0078000a]
- Device command transmitted incorrectly [0x00790000]
- Time error - controller interface [0x00790001]
- Violation of the time dial [0x00790002]
- Motor: Calculated motor impedance unrealistic [0x007b0001]
- Motor: Calculated mutual inductance unrealistic [0x007b0002]
- Motor data is inconsistent [0x007b0003]
- Motor: Phase resistance is too high [0x007b0004]
- Motor: Device current is too low for rated magnetisation [0x007b0006]
- Motor: Rated current < rated magnetisation current [0x007b0007]
- Motor: Calculated rotor resistance unrealistic [0x007b0009]
- Motor: Calculated mutual inductance unrealistic [0x007b000a]
- Motor: Calculated electromotive force factor unrealistic [0x007b000b]
- Motor: Calculated rotor time constant unrealistic [0x007b000c]
- Motor: Calculated flux factor unrealistic [0x007b000d]
- DC-bus overvoltage [0x007b000e]
- DC-bus undervoltage [0x007b000f]
- Overcurrent detected [0x007b0010]
- Earth fault detected [0x007b0011]
- Actual speed value out of monitoring window C00576 [0x007b0012]
- Motor control: Task overflow [0x007b0013]
- Internal communication error (host MCTRL) [0x007b0014]
- Motor data is inconsistent [0x007b0017]
- Resolver: Open circuit [0x007b0018]
- Motor: Calculated leakage inductance unrealistic [0x007b0019]
- Absolute value encoder: Communication error [0x007b001a]
- Encoder: Open circuit [0x007b001b]
- Brake chopper: Ixt overload [0x007b001c]
- Brake resistor: I·xt overload [0x007b001d]
- Motor: Actual current value > C00620 [0x007b001e]
- Resolver: Calculated acceleration unrealistic [0x007b001f]
- Motor: Actual speed value > C00596 [0x007b0020]
- Brake chopper: Overcurrent [0x007b0021]
- Position encoder: Module selected under C00490 not available [0x007b0023]
- Motor encoder: Module selected under C00495 not available [0x007b0024]
- Motor temperature: Module selected under C01193 not available [0x007b0025]
- EnDat encoder: Lamp error [0x007b0026]
- EnDat encoder: Signal error [0x007b0027]
- EnDat encoder: Position error [0x007b0028]
- EnDat encoder: Overvoltage [0x007b0029]
- EnDat encoder: Undervoltage [0x007b002a]
- EnDat encoder: Overcurrent [0x007b002b]
- EnDat encoder: Flat battery [0x007b002c]
- Failure of motor phase U [0x007b002d]
- Failure of motor phase V [0x007b002e]
- Failure of motor phase W [0x007b002f]
- Electronic nameplate: Data loaded [0x007b0030]
- Electronic nameplate: Not found [0x007b0031]
- Electronic nameplate: Unknown encoder protocol [0x007b0032]
- Electronic nameplate: Unknown encoder signal [0x007b0033]
- Internal communication error (DMA) [0x007b0034]
- Internal communication error (MCTRL host) [0x007b0036]
- Invalid PLC configuration [0x007b0037]
- Motor parameter identification has been cancelled [0x007b0038]
- Electronic nameplate: Data out of parameter limits [0x007b0039]
- Memory module: File system has been formatted [0x007c0000]
- Memory module: File system has been restored [0x007c0001]
- Analog input 1: Master current < 4 mA [0x007d0000]
- Invalid PLC configuration [0x007d0001]
- Communication error between device and device module [0x007f0002]
- CAN on board: Bus-off [0x00830000]
- CAN on board: Invalid node address 0 [0x00830001]
- CAN on board: Invalid basic configuration [0x00830002]
- CAN on board: Heartbeat error index 1 [0x00840000]
- CAN on board: Heartbeat error index 2 [0x00840001]
- CAN on board: Heartbeat error index 3 [0x00840002]
- CAN on board: Heartbeat error index 4 [0x00840003]
- CAN on board: Heartbeat error index 5 [0x00840004]
- CAN on board: Heartbeat error index 6 [0x00840005]
- CAN on board: Heartbeat error index 7 [0x00840006]
- CAN on board: Heartbeat error index 8 [0x00840007]
- CAN on board: Heartbeat error index 9 [0x00840008]
- CAN on board: Heartbeat error index 10 [0x00840009]
- CAN on board: Heartbeat error index 11 [0x0084000a]
- CAN on board: Heartbeat error index 12 [0x0084000b]
- CAN on board: Heartbeat error index 13 [0x0084000c]
- CAN on board: Heartbeat error index 14 [0x0084000d]
- CAN on board: Heartbeat error index 15 [0x0084000e]
- CAN on board: Heartbeat error index 16 [0x0084000f]
- CAN on board: Heartbeat error index 17 [0x00840010]
- CAN on board: Heartbeat error index 18 [0x00840011]
- CAN on board: Heartbeat error index 19 [0x00840012]
- CAN on board: Heartbeat error index 20 [0x00840013]
- CAN on board: Heartbeat error index 21 [0x00840014]
- CAN on board: Heartbeat error index 22 [0x00840015]
- CAN on board: Heartbeat error index 23 [0x00840016]
- CAN on board: Heartbeat error index 24 [0x00840017]
- CAN on board: Heartbeat error index 25 [0x00840018]
- CAN on board: Heartbeat error index 26 [0x00840019]
- CAN on board: Heartbeat error index 27 [0x0084001a]
- CAN on board: Heartbeat error index 28 [0x0084001b]
- CAN on board: Heartbeat error index 29 [0x0084001c]
- CAN on board: Heartbeat error index 30 [0x0084001d]
- CAN on board: Heartbeat error index 31 [0x0084001e]
- CAN on board: Heartbeat error index 32 [0x0084001f]
- CAN on board: Life guarding error [0x00840020]
- CAN on board: Faulty NMT slave configuration [0x00840021]
- CAN on board: Faulty emergency configuration [0x00850000]
- CAN on board: Node guarding error 1 [0x00860000]
- CAN on board: Node guarding error 2 [0x00860001]
- CAN on board: Node guarding error 3 [0x00860002]
- CAN on board: Node guarding error 4 [0x00860003]
- CAN on board: Node guarding error 5 [0x00860004]
- CAN on board: Node guarding error 6 [0x00860005]
- CAN on board: Node guarding error 7 [0x00860006]
- CAN on board: Node guarding error 8 [0x00860007]
- CAN on board: Node guarding error 9 [0x00860008]
- CAN on board: Node guarding error 10 [0x00860009]
- CAN on board: Node guarding error 11 [0x0086000a]
- CAN on board: Node guarding error 12 [0x0086000b]
- CAN on board: Node guarding error 13 [0x0086000c]
- CAN on board: Node guarding error 14 [0x0086000d]
- CAN on board: Node guarding error 15 [0x0086000e]
- CAN on board: Node guarding error 16 [0x0086000f]
- CAN on board: Node guarding error 17 [0x00860010]
- CAN on board: Node guarding error 18 [0x00860011]
- CAN on board: Node guarding error 19 [0x00860012]
- CAN on board: Node guarding error 20 [0x00860013]
- CAN on board: Node guarding error 21 [0x00860014]
- CAN on board: Node guarding error 22 [0x00860015]
- CAN on board: Node guarding error 23 [0x00860016]
- CAN on board: Node guarding error 24 [0x00860017]
- CAN on board: Node guarding error 25 [0x00860018]
- CAN on board: Node guarding error 26 [0x00860019]
- CAN on board: Node guarding error 27 [0x0086001a]
- CAN on board: Node guarding error 28 [0x0086001b]
- CAN on board: Node guarding error 29 [0x0086001c]
- CAN on board: Node guarding error 30 [0x0086001d]
- CAN on board: Node guarding error 31 [0x0086001e]
- CAN on board: Node guarding error 32 [0x0086001f]
- CAN on board: Faulty NMT master configuration [0x00860020]
- CAN on board RPDO1: Telegram not received or faulty [0x00870000]
- CAN on board RPDO2: Telegram not received or faulty [0x00870001]
- CAN on board RPDO3: Telegram not received or faulty [0x00870002]
- CAN on board RPDO4: Telegram not received or faulty [0x00870003]
- CAN on board PDO manager: Faulty configuration [0x00870008]
- CAN on board SDO server: Faulty configuration [0x00880000]
- CAN on board SDO client: Faulty configuration [0x00890000]
- ProjectSelection.dat file faulty [0x008c0000]
- ProjectList.dat file faulty [0x008c0001]
- DeviceCFG.dat file faulty [0x008c0002]
- ProjectSelection.dat missing [0x008c0003]
- ProjectList.dat file missing [0x008c0004]
- DeviceCFG.dat file missing [0x008c0005]
- ProjectSelection.dat file invalid [0x008c0006]
- ProjectList.dat file invalid [0x008c0007]
- DeviceCFG.dat file invalid [0x008c0008]
- Project is not loaded [0x008c0009]
- Project is not available [0x008c000a]
- Required license missing [0x008c000b]
- MXI1: Module missing or incompatible [0x008c000d]
- MXI2: Module missing or incompatible [0x008c000e]
- MXI1: PROFIBUS module missing or incompatible [0x008c000f]
- MXI2: PROFIBUS module missing or incompatible [0x008c0010]
- MXI1: Ethernet module missing or incompatible [0x008c0011]
- MXI2: Ethernet module missing or incompatible [0x008c0012]
- MXI1: Digital frequency module missing or incompatible [0x008c0013]
- MXI2: Digital frequency module missing or incompatible [0x008c0014]
- MXI1: ICM module missing or incompatible [0x008c0015]
- MXI2: ICM module missing or incompatible [0x008c0016]
- MXI1: CAN module missing or incompatible [0x008c0017]
- MXI2: CAN module missing or incompatible [0x008c0018]
- Connection table in use [0x008c001a]
- Internal error (CRC application) [0x008c001d]
- Parameter set faulty [0x00900000]
- Lenze setting loaded [0x00900001]
- Parameter set saved [0x00900002]
- Parameter set loaded [0x00900003]
- Loading of Lenze setting failed [0x00900004]
- Parameter set restored [0x00900005]
- Saving of parameters failed [0x00900006]
- Parameter set: Version conflict [0x00900007]
- Code number assigned twice [0x00900008]
- Parameter set: Variant conflict [0x00900009]
- No parameters for module in MXI1 [0x0090000a]
- No parameters for module in MXI2 [0x0090000b]
- Mains voltage switched on [0x00910000]
- Mains voltage switched off [0x00910001]
- No heartbeat signal detected [0x00910002]
- Heartbeat not periodic [0x00910003]
- Internal error: See C00180 [0x00910004]
- Internal error: See C00180 [0x00910005]
- Internal error: See C00180 [0x00910006]
- Internal error: See C00180 [0x00910008]
- Internal error: See C00180 [0x00910009]
- System task 1: Task overflow [0x0091000a]
- System task 2: Task overflow [0x0091000b]
- System task 3: Task overflow [0x0091000c]
- System task: Task overflow [0x0091000d]
- Communication task: Standstill > 3 s [0x0091000e]
- Cyclic task: Standstill > 60 s [0x0091000f]
- Position value faulty [0x00910010]
- Error during initialisation [0x00910011]
- Blocking function in MEC task [0x00910012]
- Safety module: Incompatible to setting under C00214 [0x00920000]
- DFIN (MXI1): A-/A track error [0x00990000]
- DFIN (MXI1): B-/B track error [0x00990001]
- DFIN (MXI1): Z-/Z track error [0x00990002]
- DFIN (MXI1): Enable/lamp control signal error [0x00990003]
- DFIN (MXI1): Supply cannot be corrected anymore [0x00990004]
- DFOUT (MXI1): Maximum frequency reached [0x00990005]
- CAN module (MXI1): Bus-off [0x009d0000]
- CAN module (MXI1): Invalid node address 0 [0x009d0001]
- CAN module (MXI1): Basic configuration invalid [0x009d0002]
- CAN module (MXI1): Heartbeat error index 1 [0x009e0000]
- CAN module (MXI1): Heartbeat error index 2 [0x009e0001]
- CAN module (MXI1): Heartbeat error index 3 [0x009e0002]
- CAN module (MXI1): Heartbeat error index 4 [0x009e0003]
- CAN module (MXI1): Heartbeat error index 5 [0x009e0004]
- CAN module (MXI1): Heartbeat error index 6 [0x009e0005]
- CAN module (MXI1): Heartbeat error index 7 [0x009e0006]
- CAN module (MXI1): Heartbeat error index 8 [0x009e0007]
- CAN module (MXI1): Heartbeat error index 9 [0x009e0008]
- CAN module (MXI1): Heartbeat error index 10 [0x009e0009]
- CAN module (MXI1): Heartbeat error index 11 [0x009e000a]
- CAN module (MXI1): Heartbeat error index 12 [0x009e000b]
- CAN module (MXI1): Heartbeat error index 13 [0x009e000c]
- CAN module (MXI1): Heartbeat error index 14 [0x009e000d]
- CAN module (MXI1): Heartbeat error index 15 [0x009e000e]
- CAN module (MXI1): Heartbeat error index 16 [0x009e000f]
- CAN module (MXI1): Heartbeat error index 17 [0x009e0010]
- CAN module (MXI1): Heartbeat error index 18 [0x009e0011]
- CAN module (MXI1): Heartbeat error index 19 [0x009e0012]
- CAN module (MXI1): Heartbeat error index 20 [0x009e0013]
- CAN module (MXI1): Heartbeat error index 21 [0x009e0014]
- CAN module (MXI1): Heartbeat error index 22 [0x009e0015]
- CAN module (MXI1): Heartbeat error index 23 [0x009e0016]
- CAN module (MXI1): Heartbeat error index 24 [0x009e0017]
- CAN module (MXI1): Heartbeat error index 25 [0x009e0018]
- CAN module (MXI1): Heartbeat error index 26 [0x009e0019]
- CAN module (MXI1): Heartbeat error index 27 [0x009e001a]
- CAN module (MXI1): Heartbeat error index 28 [0x009e001b]
- CAN module (MXI1): Heartbeat error index 29 [0x009e001c]
- CAN module (MXI1): Heartbeat error index 30 [0x009e001d]
- CAN module (MXI1): Heartbeat error index 31 [0x009e001e]
- CAN module (MXI1): Heartbeat error index 32 [0x009e001f]
- CAN module (MXI1): Life guarding error [0x009e0020]
- CAN module (MXI1): Faulty NMT slave configuration [0x009e0021]
- CAN module (MXI1): Faulty emergency configuration [0x009f0000]
- CAN module (MXI1): Node guarding error 1 [0x00a00000]
- CAN module (MXI1): Node guarding error 2 [0x00a00001]
- CAN module (MXI1): Node guarding error 3 [0x00a00002]
- CAN module (MXI1): Node guarding error 4 [0x00a00003]
- CAN module (MXI1): Node guarding error 5 [0x00a00004]
- CAN module (MXI1): Node guarding error 6 [0x00a00005]
- CAN module (MXI1): Node guarding error 7 [0x00a00006]
- CAN module (MXI1): Node guarding error 8 [0x00a00007]
- CAN module (MXI1): Node guarding error 9 [0x00a00008]
- CAN module (MXI1): Node guarding error 10 [0x00a00009]
- CAN module (MXI1): Node guarding error 11 [0x00a0000a]
- CAN module (MXI1): Node guarding error 12 [0x00a0000b]
- CAN module (MXI1): Node guarding error 13 [0x00a0000c]
- CAN module (MXI1): Node guarding error 14 [0x00a0000d]
- CAN module (MXI1): Node guarding error 15 [0x00a0000e]
- CAN module (MXI1): Node guarding error 16 [0x00a0000f]
- CAN module (MXI1): Node guarding error 17 [0x00a00010]
- CAN module (MXI1): Node guarding error 18 [0x00a00011]
- CAN module (MXI1): Node guarding error 19 [0x00a00012]
- CAN module (MXI1): Node guarding error 20 [0x00a00013]
- CAN module (MXI1): Node guarding error 21 [0x00a00014]
- CAN module (MXI1): Node guarding error 22 [0x00a00015]
- CAN module (MXI1): Node guarding error 23 [0x00a00016]
- CAN module (MXI1): Node guarding error 24 [0x00a00017]
- CAN module (MXI1): Node guarding error 25 [0x00a00018]
- CAN module (MXI1): Node guarding error 26 [0x00a00019]
- CAN module (MXI1): Node guarding error 27 [0x00a0001a]
- CAN module (MXI1): Node guarding error 28 [0x00a0001b]
- CAN module (MXI1): Node guarding error 29 [0x00a0001c]
- CAN module (MXI1): Node guarding error 30 [0x00a0001d]
- CAN module (MXI1): Node guarding error 31 [0x00a0001e]
- CAN module (MXI1): Node guarding error 32 [0x00a0001f]
- CAN module (MXI1): Faulty NMT master configuration [0x00a00020]
- CAN module (MXI1) RPDO1: Telegram not received or faulty [0x00a10000]
- CAN module (MXI1) RPDO2: Telegram not received or faulty [0x00a10001]
- CAN module (MXI1) RPDO3: Telegram not received or faulty [0x00a10002]
- CAN module (MXI1) RPDO4: Telegram not received of faulty [0x00a10003]
- CAN module (MXI1) RPDO5: Telegram not received or faulty [0x00a10004]
- CAN module (MXI1) RPDO6: Telegram not received or faulty [0x00a10005]
- CAN module (MXI1) RPDO7: Telegram not received or faulty [0x00a10006]
- CAN module (MXI1) RPDO8: Telegram not received or faulty [0x00a10007]
- CAN module (MXI1) PDO manager: Faulty configuration [0x00a10008]
- CAN module (MXI1) SDO server: Faulty configuration [0x00a20000]
- CAN module (MXI1) SDO client: Faulty configuration [0x00a30000]
- DFIN (MXI2): A-/A track error [0x00aa0000]
- DFIN (MXI2): B-/B track error [0x00aa0001]
- DFIN (MXI2): Z-/Z track error [0x00aa0002]
- DFIN (MXI2): Enable/lamp control signal error [0x00aa0003]
- DFIN (MXI2): Supply cannot be corrected anymore [0x00aa0004]
- DFOUT (MXI2): Maximum frequency reached [0x00aa0005]
- CAN module (MXI2): Bus-off [0x00ac0000]
- CAN module (MXI2): Invalid node address 0 [0x00ac0001]
- CAN module (MXI2): Basic configuration invalid [0x00ac0002]
- CAN module (MXI2): Heartbeat error index 1 [0x00ad0000]
- CAN module (MXI2): Heartbeat error index 2 [0x00ad0001]
- CAN module (MXI2): Heartbeat error index 3 [0x00ad0002]
- CAN module (MXI2): Heartbeat error index 4 [0x00ad0003]
- CAN module (MXI2): Heartbeat error index 5 [0x00ad0004]
- CAN module (MXI2): Heartbeat error index 6 [0x00ad0005]
- CAN module (MXI2): Heartbeat error index 7 [0x00ad0006]
- CAN module (MXI2): Heartbeat error index 8 [0x00ad0007]
- CAN module (MXI2): Heartbeat error index 9 [0x00ad0008]
- CAN module (MXI2): Heartbeat error index 10 [0x00ad0009]
- CAN module (MXI2): Heartbeat error index 11 [0x00ad000a]
- CAN module (MXI2): Heartbeat error index 12 [0x00ad000b]
- CAN module (MXI2): Heartbeat error index 13 [0x00ad000c]
- CAN module (MXI2): Heartbeat error index 14 [0x00ad000d]
- CAN module (MXI2): Heartbeat error index 15 [0x00ad000e]
- CAN module (MXI2): Heartbeat error index 16 [0x00ad000f]
- CAN module (MXI2): Heartbeat error index 17 [0x00ad0010]
- CAN module (MXI2): Heartbeat error index 18 [0x00ad0011]
- CAN module (MXI2): Heartbeat error index 19 [0x00ad0012]
- CAN module (MXI2): Heartbeat error index 20 [0x00ad0013]
- CAN module (MXI2): Heartbeat error index 21 [0x00ad0014]
- CAN module (MXI2): Heartbeat error index 22 [0x00ad0015]
- CAN module (MXI2): Heartbeat error index 23 [0x00ad0016]
- CAN module (MXI2): Heartbeat error index 24 [0x00ad0017]
- CAN module (MXI2): Heartbeat error index 25 [0x00ad0018]
- CAN module (MXI2): Heartbeat error index 26 [0x00ad0019]
- CAN module (MXI2): Heartbeat error index 27 [0x00ad001a]
- CAN module (MXI2): Heartbeat error index 28 [0x00ad001b]
- CAN module (MXI2): Heartbeat error index 29 [0x00ad001c]
- CAN module (MXI2): Heartbeat error index 30 [0x00ad001d]
- CAN module (MXI2): Heartbeat error index 31 [0x00ad001e]
- CAN module (MXI2): Heartbeat error index 32 [0x00ad001f]
- CAN module (MXI2): Life guarding error [0x00ad0020]
- CAN module (MXI2): Faulty NMT slave configuration [0x00ad0021]
- CAN module (MXI2): Faulty emergency configuration [0x00ae0000]
- CAN module (MXI2): Node guarding error 1 [0x00af0000]
- CAN module (MXI2): Node guarding error 2 [0x00af0001]
- CAN module (MXI2): Node guarding error 3 [0x00af0002]
- CAN module (MXI2): Node guarding error 4 [0x00af0003]
- CAN module (MXI2): Node guarding error 5 [0x00af0004]
- CAN module (MXI2): Node guarding error 6 [0x00af0005]
- CAN module (MXI2): Node guarding error 7 [0x00af0006]
- CAN module (MXI2): Node guarding error 8 [0x00af0007]
- CAN module (MXI2): Node guarding error 9 [0x00af0008]
- CAN module (MXI2): Node guarding error 10 [0x00af0009]
- CAN module (MXI2): Node guarding error 11 [0x00af000a]
- CAN module (MXI2): Node guarding error 12 [0x00af000b]
- CAN module (MXI2): Node guarding error 13 [0x00af000c]
- CAN module (MXI2): Node guarding error 14 [0x00af000d]
- CAN module (MXI2): Node guarding error 15 [0x00af000e]
- CAN module (MXI2): Node guarding error 16 [0x00af000f]
- CAN module (MXI2): Node guarding error 17 [0x00af0010]
- CAN module (MXI2): Node guarding error 18 [0x00af0011]
- CAN module (MXI2): Node guarding error 19 [0x00af0012]
- CAN module (MXI2): Node guarding error 20 [0x00af0013]
- CAN module (MXI2): Node guarding error 21 [0x00af0014]
- CAN module (MXI2): Node guarding error 22 [0x00af0015]
- CAN module (MXI2): Node guarding error 23 [0x00af0016]
- CAN module (MXI2): Node guarding error 24 [0x00af0017]
- CAN module (MXI2): Node guarding error 25 [0x00af0018]
- CAN module (MXI2): Node guarding error 26 [0x00af0019]
- CAN module (MXI2): Node guarding error 27 [0x00af001a]
- CAN module (MXI2): Node guarding error 28 [0x00af001b]
- CAN module (MXI2): Node guarding error 29 [0x00af001c]
- CAN module (MXI2): Node guarding error 30 [0x00af001d]
- CAN module (MXI2): Node guarding error 31 [0x00af001e]
- CAN module (MXI2): Node guarding error 32 [0x00af001f]
- CAN module (MXI2): Faulty NMT master configuration [0x00af0020]
- CAN module (MXI2) RPDO1: Telegram not received or faulty [0x00b00000]
- CAN module (MXI2) RPDO2: Telegram not received or faulty [0x00b00001]
- CAN module (MXI2) RPDO3: Telegram not received or faulty [0x00b00002]
- CAN module (MXI2) RPDO4: Telegram not received or faulty [0x00b00003]
- CAN module (MXI2) RPDO5: Telegram not received or faulty [0x00b00004]
- CAN module (MXI2) RPDO6: Telegram not received or faulty [0x00b00005]
- CAN module (MXI2) RPDO7: Telegram not received or faulty [0x00b00006]
- CAN module (MXI2) RPDO8: Telegram not received or faulty [0x00b00007]
- CAN module (MXI2) PDO manager: Faulty configuration [0x00b00008]
- CAN module (MXI2) SDO server: Faulty configuration [0x00b10000]
- CAN module (MXI2) SDO client: Faulty configuration [0x00b20000]
- Invalid PLC configuration [0x00b80000]
- Positive limit switch has tripped [0x00b80001]
- Negative limit switch has tripped [0x00b80002]
- Motor brake: Angular drift with closed brake is too large [0x00b80003]
- Motor brake: Automatically activated when the waiting time has elapsed [0x00b80004]
- Motor brake: Status monitoring error [0x00b80005]
- Positive software limit switch has been overtravelled [0x00b80007]
- Negative software limit switch has been overtravelled [0x00b80008]
- Positive direction of rotation has been limited [0x00b80009]
- Negative direction of rotation has been limited [0x00b8000a]
- Speed has been limited [0x00b8000b]
- Acceleration has been limited [0x00b8000c]
- Deceleration has been limited [0x00b8000d]
- Jerk has been limited [0x00b8000e]
- Position target is outside software limit positions [0x00b8000f]
- Maximum speed has been exceeded [0x00b80010]
- Maximum acceleration has been exceeded [0x00b80011]
- 16 Parameter reference
- 16.1 Structure of the parameter descriptions
- 16.2 Abbreviations used in parameter & selection texts
- 16.3 Parameter list
- C00002
- C00003
- C00004
- C00005
- C00006
- C00007
- C00011
- C00018
- C00019
- C00022
- C00034
- C00050
- C00051
- C00052
- C00053
- C00054
- C00055
- C00056
- C00057
- C00058
- C00059
- C00060
- C00061
- C00062
- C00063
- C00064
- C00065
- C00066
- C00068
- C00069
- C00070
- C00071
- C00072
- C00074
- C00075
- C00076
- C00077
- C00078
- C00079
- C00080
- C00081
- C00082
- C00083
- C00084
- C00085
- C00087
- C00088
- C00089
- C00090
- C00091
- C00092
- C00099
- C00100
- C00105
- C00106
- C00107
- C00114
- C00118
- C00120
- C00121
- C00122
- C00123
- C00126
- C00127
- C00128
- C00129
- C00130
- C00131
- C00132
- C00142
- C00150
- C00155
- C00156
- C00158
- C00159
- C00166
- C00167
- C00168
- C00169
- C00171
- C00173
- C00174
- C00175
- C00176
- C00177
- C00178
- C00179
- C00180
- C00181
- C00183
- C00185
- C00186
- C00187
- C00188
- C00199
- C00200
- C00201
- C00203
- C00204
- C00205
- C00206
- C00208
- C00209
- C00210
- C00211
- C00212
- C00213
- C00214
- C00217
- C00218
- C00225
- C00254
- C00270
- C00271
- C00272
- C00273
- C00274
- C00275
- C00276
- C00280
- C00308
- C00309
- C00310
- C00311
- C00312
- C00313
- C00314
- C00320
- C00321
- C00322
- C00323
- C00324
- C00325
- C00326
- C00327
- C00328
- C00329
- C00330
- C00335
- C00336
- C00337
- C00338
- C00345
- C00346
- C00347
- C00348
- C00349
- C00350
- C00351
- C00352
- C00356
- C00357
- C00359
- C00360
- C00361
- C00367
- C00368
- C00369
- C00372
- C00373
- C00374
- C00375
- C00376
- C00377
- C00378
- C00379
- C00381
- C00382
- C00383
- C00385
- C00386
- C00387
- C00388
- C00390
- C00391
- C00392
- C00393
- C00395
- C00396
- C00397
- C00398
- C00399
- C00416
- C00420
- C00421
- C00422
- C00427
- C00443
- C00444
- C00465
- C00466
- C00467
- C00468
- C00469
- C00490
- C00494
- C00495
- C00497
- C00512
- C00513
- C00514
- C00515
- C00516
- C00573
- C00574
- C00576
- C00577
- C00578
- C00579
- C00580
- C00581
- C00582
- C00583
- C00584
- C00585
- C00586
- C00587
- C00588
- C00589
- C00591
- C00594
- C00595
- C00596
- C00597
- C00598
- C00599
- C00600
- C00601
- C00604
- C00606
- C00607
- C00610
- C00611
- C00612
- C00613
- C00614
- C00615
- C00618
- C00619
- C00620
- C00625
- C00635
- C00636
- C00637
- C00691
- C00692
- C00693
- C00694
- C00695
- C00696
- C00697
- C00698
- C00730
- C00731
- C00732
- C00733
- C00734
- C00735
- C00736
- C00737
- C00738
- C00739
- C00770
- C00771
- C00772
- C00773
- C00774
- C00775
- C00776
- C00777
- C00778
- C00779
- C00780
- C00781
- C00782
- C00783
- C00784
- C00786
- C00787
- C00788
- C00789
- C00790
- C00791
- C00792
- C00800
- C00802
- C00803
- C00804
- C00805
- C00806
- C00807
- C00808
- C00809
- C00810
- C00811
- C00812
- C00813
- C00814
- C00815
- C00816
- C00817
- C00854
- C00878
- C00909
- C01120
- C01121
- C01122
- C01123
- C01124
- C01190
- C01191
- C01192
- C01193
- C01194
- C01195
- C01196
- C01203
- C01204
- C01205
- C01206
- C01208
- C01209
- C01210
- C01211
- C01212
- C01213
- C01214
- C01501
- C01502
- C01510
- C01511
- C01902
- C01903
- C01905
- C02104
- C02108
- C02109
- C02113
- C02121
- C02122
- C02123
- C02520
- C02521
- C02522
- C02523
- C02524
- C02525
- C02526
- C02527
- C02528
- C02529
- C02530
- C02531
- C02532
- C02533
- C02534
- C02535
- C02536
- C02537
- C02538
- C02539
- C02540
- C02541
- C02542
- C02543
- C02547
- C02548
- C02549
- C02550
- C02552
- C02553
- C02554
- C02555
- C02556
- C02557
- C02558
- C02559
- C02560
- C02567
- C02568
- C02569
- C02570
- C02572
- C02573
- C02574
- C02575
- C02576
- C02577
- C02578
- C02579
- C02580
- C02581
- C02582
- C02583
- C02585
- C02586
- C02587
- C02588
- C02589
- C02590
- C02591
- C02593
- C02594
- C02595
- C02596
- C02597
- C02598
- C02599
- C02607
- C02608
- C02609
- C02610
- C02611
- C02612
- C02616
- C02617
- C02619
- C02620
- C02621
- C02622
- C02623
- C02624
- C02638
- C02639
- C02640
- C02642
- C02643
- C02644
- C02645
- C02646
- C02647
- C02648
- C02649
- C02650
- C02651
- C02652
- C02653
- C02656
- C02657
- C02658
- C02659
- C02674
- C02675
- C02676
- C02677
- C02678
- C02679
- C02680
- C02681
- C02685
- C02686
- C02687
- C02688
- C02689
- C02692
- C02693
- C02694
- C02695
- C02698
- C02699
- C02700
- C02701
- C02702
- C02703
- C02704
- C02705
- C02706
- C02707
- C02708
- C02709
- C02710
- C02711
- C02712
- C02713
- C02714
- C02715
- C02716
- C02717
- C02718
- C02719
- C02730
- C02731
- C02732
- C02733
- C02734
- C02800
- C02801
- C02802
- C02803
- C02810
- C02830
- C02850
- C02851
- C02852
- C02853
- C02854
- C02855
- C02856
- C02857
- C02858
- C02859
- C02860
- C02861
- C02996
- C02997
- C02998
- C02999
- 16.4 Attribute table
- 17 Index
- Your opinion is important to us