DIAX04 Troubleshooting Guide Compressed

engineering
mannesmann
Rexroth
DIAX 04
SSE-03VRS
HDS for
DANGE
High V oltage.
Danger of electrical shock.
Do not touch electrical
Read and follow "Safety

connec tions
5 minutes after switching power
Instructions for Electrical Drives"

manual,
DOK-GENERL-DRIVE******-SVS... HDD
DIAX04
Drive With Servo Function
Troubleshooting Guide SSE03VRS
7=78)1
Rexroth
DOK-DIAX04-SSE-03VRS**-WA01-EN-P Indramat
About this Documentation DIAX04 SSE-03VRS
Title DIAX04
Drive With Servo Function
Type of Documentation Troubleshooting Guide SSE 03VRS
Document Typecode DOK-DIAX04-SSE-03VRS**-WA01-EN-P
Internal File Reference • Box 61-03V-EN

• Based on SSE 03VRS
• 120-0800-B307-01/EN
Purpose of Documentation? This documentation is designed to assist maintenance personal in

identifying errors with the machinery.
• help in understanding error messages

• help in finding the causes of errors
• describe the procedure for trouble shooting
• simplify the process of establishing contact with the Rexroth Indramat
Customer service department
Record of Revisions Release

Description Date Notes
DOK-DIAX04-SSE-03VRS**-WA01-EN-P 10.99 First edition
Copyright  1999 Rexroth Indramat GmbH

Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages.
All rights are reserved in the event of the grant of a patent or the
registration of a utility model or design (DIN 34-1).
Validity All rights are reserved with respect to the content of this documentation
and the availability of the product.
Published by Rexroth Indramat GmbH

Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885
https://www.rexroth.com/indramat
Dept. ECD (sf/hp)
Note This document has been printed on chlorine-free bleached paper.
DOK-DIAX04-SSE-03VRS**-WA01-EN-P
DIAX04 SSE-03VRS About this Documentation
Summary of Documentation - Box

Functional Description:
Description of all implemented Function

based on SERCOS-Parameters
FK
Order designation:
DOK-DIAX04-SSE-03VRS**-FK01-EN-P
282801
Parameter Description:
A description of all parameters

used in the firmware
PA
Order designation:
282801
DOK-DIAX04-SSE-03VRS**-PA01-EN-P
Troubleshooting Guide:
-Explanation of the diagnostic states

-How to proceed when eliminating faults
WA
Order designation:
282801
Firmware Version Notes:
Description of new and changed functions

in terms of the derivatives:
-FWA-DIAX04-SSE02VRS-MS Order designation

FV DOK-DIAX04-SSE-03VRS**-6101-EN-P
Order designation:
282801
DOK-DIAX04-SSE-03VRS**-FV01-EN-P
Drive Configuration:
-Determining the motor type
-Choosing the motor – motor feedback combination
-Choosing the desired function of the
drive control device
IF
Order designation:
DOK-DIAX04-SSE-03VRS**-IF01-EN-P
282801
CD: DRIVEHELP
Win3.1 and
Win95&NT
(6-:),)04
epart
V282411
01
rsion:
number: Collection of Windows help systems which
contain documents on firmware derivatives
Order designation:
DOK-GENERL-DRIVEHELP**-GExx-MS-D0600
About this Documentation DIAX04 SSE-03VRS
Notes
DIAX04 SSE-03VRS Contents I
Contents
1 Diagnostic Message Descriptions ..................................................................... 1-1
1.1 Overview of the diagnostic message descriptions ............................................................................. 1-1
Diagnostic Message Types ................................................................................................................ 1-1
Construction of a diagnostic message ............................................................................................... 1-1
2 Safety Instructions for Electrical Equipment .................................................... 2-1

2.1 Introduction......................................................................................................................................... 2-1
2.2 Explanations....................................................................................................................................... 2-1
2.3 Hazards by inappropriate use ............................................................................................................ 2-2
2.4 General Information............................................................................................................................ 2-3
2.5 Protection against contact with electrical parts .................................................................................. 2-4
2.6 Protection by protective low voltage (PELV) against electrical shock ............................................... 2-5
2.7 Protection against dangerous movements......................................................................................... 2-6
2.8 Protection against magnetic and electromagnetic fields during operations and mounting................ 2-8
2.9 Protection against contact with hot parts ........................................................................................... 2-8
2.10...Protection during handling and installation ........................................................................................ 2-9
2.11...Battery safety ..................................................................................................................................... 2-9
3 Description of diagnostic letters F... and E... .................................................... 3-1

3.1 Error diagnostic messages F... .......................................................................................................... 3-1
F207 Switching to uninitialized operation mode................................................................................. 3-2
F208 UL The motor type has changed............................................................................................... 3-2
F209 PL Load parameter default values ............................................................................................ 3-3
F218 Amplifier overtemp. shutdown................................................................................................... 3-3
F219 Motor overtemp. shutdown ....................................................................................................... 3-4
F221 Motor temp. surveillance defective ........................................................................................... 3-4
F226 Undervoltage in power section.................................................................................................. 3-5
F228 Excessive deviation .................................................................................................................. 3-5
F229 Encoder 1 failure: quadrant error .............................................................................................. 3-5
F230 Max. signal frequency of encoder 1 exceeded ......................................................................... 3-6
F233 External power supply error ...................................................................................................... 3-6
F236 Excessive position feedback difference.................................................................................... 3-6
F237 Excessive position command difference................................................................................... 3-7
F242 Encoder 2 failure: signal too small ............................................................................................ 3-8
F245 Encoder 2 failure: quadrant error .............................................................................................. 3-9
F246 Max signal frequency of encoder 2 exceeded .......................................................................... 3-9
F248 Low battery voltage................................................................................................................... 3-9
F267 Erroneous internal hardware synchronization ........................................................................ 3-10
II Contents DIAX04 SSE-03VRS
F268 Brake fault ............................................................................................................................... 3-10

F270 Error power supply home switch............................................................................................. 3-11
F271 Error power supply travel limit switch...................................................................................... 3-11
F272 Error power supply probe input............................................................................................... 3-11
F273 Error power supply E-Stop...................................................................................................... 3-12
F276 Absolute encoder out of allowed window................................................................................ 3-12
F277 Current measurement trim wrong ........................................................................................... 3-12
F316 Softstart fault power supply unit.............................................................................................. 3-13
F318 Heatsink overtemp. fault power supply unit ............................................................................ 3-13
F320 Bleeder overload ..................................................................................................................... 3-13
F360 Overcurrent power supply unit ................................................................................................ 3-14
F369 +24V/+-15V/+5V fault power supply unit ................................................................................ 3-14
F380 Short to ground power supply unit .......................................................................................... 3-14
F381 Mains failure............................................................................................................................ 3-14
F382 Mains phase loss fault ............................................................................................................ 3-14
F383 Line voltage fault ..................................................................................................................... 3-15
F384 Connection error at power supply unit .................................................................................... 3-15
F385 Line frequency fault................................................................................................................. 3-15
F394 Checksum error power supply unit ......................................................................................... 3-15
F401 Double MST failure shutdown................................................................................................. 3-15
F402 Failure of 2 consecutive MDT signals ..................................................................................... 3-16
F403 Invalid communication phase shutdown ................................................................................. 3-16
F404 Error during phase progression .............................................................................................. 3-16
F405 Error during phase regression ................................................................................................ 3-17
F406 Phase switching without ready signal ..................................................................................... 3-17
F434 Emergency-Stop ..................................................................................................................... 3-17
F501 Monitoring Safe Halt ............................................................................................................... 3-17
F502 Monitoring Safe operating halt ................................................................................................ 3-18
F503 Monitoring safe reduced speed 1 + abs. pos. 1...................................................................... 3-18
F504 Monitoring safe reduced speed 2 + abs. pos. 2...................................................................... 3-19
F505 Activation of a safety function wrong ...................................................................................... 3-19
F506 Forced dynamization necessary ............................................................................................. 3-20
F507 Safety input signals wrong, checksum.................................................................................... 3-20
F508 Safety input signals wrong, counter ........................................................................................ 3-20
F509 Data crosscheck wrong........................................................................................................... 3-21
F510 Safe reference lost.................................................................................................................. 3-21
F511 Monitoring of safe reduced speed during switchover ............................................................. 3-21
F629 Positive travel limit exceeded.................................................................................................. 3-22
F630 Negative travel limit exceeded ................................................................................................ 3-22
F634 Emergency-Stop ..................................................................................................................... 3-23
F643 Positive travel limit switch detected ........................................................................................ 3-23
F644 Negative travel limit switch detected....................................................................................... 3-24
F811 Commutation offset could not be determined ......................................................................... 3-24
F812 Motion range exceeded during commutation.......................................................................... 3-24
F822 Encoder 1 failure: signal too small .......................................................................................... 3-25
F827 Drive interlock while drive activated........................................................................................ 3-26
DIAX04 SSE-03VRS Contents III
F860 Overcurrent: short in power stage........................................................................................... 3-26

F861 Overcurrent: short to ground................................................................................................... 3-26
F869 +/-15Volt DC error................................................................................................................... 3-27
F870 +24Volt DC error ..................................................................................................................... 3-27
F871 +10Volt DC error ..................................................................................................................... 3-27
F878 Velocity loop error ................................................................................................................... 3-28
F879 Velocity limit S-0-0091 exceeded............................................................................................ 3-28
3.2 Warning Diagnostic Messages......................................................................................................... 3-29
E219 Warning Drive temp. surveillance defective ........................................................................... 3-30
E221 Warning Motor temp. surveillance defective........................................................................... 3-30
E225 Motor overload ........................................................................................................................ 3-30
E226 Undervoltage in power section ............................................................................................... 3-31
E247 Interpolation velocity = 0 ......................................................................................................... 3-31
E248 Interpolation acceleration = 0 ................................................................................................. 3-31
E249 Positioning velocity >= S-0-0091 ............................................................................................ 3-32
E250 Drive overtemp. prewarning.................................................................................................... 3-32
E251 Motor overtemp. prewarning................................................................................................... 3-33
E253 Target position out of travel range .......................................................................................... 3-33
E255 Feedrate-override S-0-0108 = 0 ............................................................................................. 3-34
E257 Continuous current limit active................................................................................................ 3-34
E259 Command velocity limit active ................................................................................................ 3-35
E261 Continuous current limit prewarning ....................................................................................... 3-35
E263 Velocity command value > limit S-0-0091 .............................................................................. 3-35
E264 Target position out of num. range........................................................................................... 3-36
E324 Option module error power supply unit................................................................................... 3-36
E325 Recovery overload power supply unit..................................................................................... 3-36
E326 Bus power overload ................................................................................................................ 3-36
E350 Heat sink overtemp. warning power supply unit ..................................................................... 3-36
E352 Bleeder overload warning power supply unit.......................................................................... 3-37
E353 Diagnostic message power supply erroneous........................................................................ 3-37
E387 Control voltage supply fault power supply unit ....................................................................... 3-37
E408 Invalid addressing of MDT-data container A .......................................................................... 3-37
E409 Invalid addressing of AT-data container A.............................................................................. 3-38
E410 Slave not scanned or address 0 ............................................................................................. 3-38
E825 Overvoltage in power stage .................................................................................................... 3-38
E826 Undervoltage in power section ............................................................................................... 3-39
E829 Positive position limit exceeded.............................................................................................. 3-39
E830 Negative position limit exceeded ............................................................................................ 3-39
E834 Emergency-Stop ..................................................................................................................... 3-40
E843 Positive limit switch activated ................................................................................................. 3-40
E844 Negative limit switch activated................................................................................................ 3-40
4 Description of Diagnostic Letters B...,C..., D... and A....................................... 4-1

4.1 Command Diagnostic Messages B...,C... and D................................................................................ 4-1
B100 Command Release motor holding brake .................................................................................. 4-2
B101 Command not enabled ............................................................................................................. 4-2
IV Contents DIAX04 SSE-03VRS
C000 Command Check reference...................................................................................................... 4-2

C001 Safe reference not possible...................................................................................................... 4-2
C100 Communication phase 3 transition check................................................................................. 4-2
C101 Invalid communication parameter (S-0-0021) .......................................................................... 4-3
C104 Config. IDN for MDT not configurable ...................................................................................... 4-3
C105 Configurated length > max. length for MDT ............................................................................. 4-3
C106 Config. IDN for AT not configurable.......................................................................................... 4-4
C107 Configurated length > max. length for AT ................................................................................ 4-4
C108 Time slot parameter > Sercos cycle time ................................................................................. 4-4
C109 Position of data record in MDT (S-0-0009) even...................................................................... 4-5
C110 Length of MDT (S-0-0010) odd................................................................................................. 4-5
C111 ID9 + Record length - 1 > length MDT (S-0-0010) ................................................................... 4-5
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error ........................................................................... 4-6
C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error ............................................................. 4-6
C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005).............................................................................. 4-6
C115 T2 too small .............................................................................................................................. 4-7
C117 Timeout at command execution ............................................................................................... 4-7
C118 Order of MDT configuration wrong ........................................................................................... 4-7
C200 Communication phase 4 transition check................................................................................. 4-7
C201 Invalid parameter(s) (->S-0-0022) ............................................................................................ 4-8
C202 Parameter limit error (->S-0-0022) ........................................................................................... 4-8
C203 Parameter calculation error (->S-0-0022)................................................................................. 4-8
C204 Motor type P-0-4014 incorrect .................................................................................................. 4-8
C210 Feedback 2 required (->S-0-0022) ........................................................................................... 4-9
C211 Invalid feedback data (->S-0-0022) .......................................................................................... 4-9
C212 Invalid amplifier data (->S-0-0022) ........................................................................................... 4-9
C213 Position data scaling error ...................................................................................................... 4-10
C214 Velocity data scaling error ...................................................................................................... 4-10
C215 Acceleration data scaling error ............................................................................................... 4-11
C216 Torque/force data scaling error .............................................................................................. 4-11
C217 Feedback1 data reading error ................................................................................................ 4-12
C218 Feedback 2 data reading error ............................................................................................... 4-12
C220 Feedback 1 initializing error.................................................................................................... 4-13
C221 Feedback 2 initializing error.................................................................................................... 4-13
C223 Input value for max. range too high ........................................................................................ 4-14
C225 Coprocessor not ready for initialization .................................................................................. 4-14
C226 Coprocessor acknowledge failed............................................................................................ 4-14
C227 Modulo range error ................................................................................................................. 4-15
C228 Controller type S-0-0140 wrong.............................................................................................. 4-15
C231 Emulator not loadable............................................................................................................. 4-15
C232 Encoder 1 interface not present ............................................................................................. 4-15
C233 Encoder 2 interface not present ............................................................................................. 4-16
C234 Encoder combination not possible.......................................................................................... 4-16
C235 Load-side motor encoder with inductance motor only............................................................ 4-16
C236 Feedback 1 required (P-0-0074) ............................................................................................ 4-16
C300 Command Set absolute measuring ........................................................................................ 4-17
DIAX04 SSE-03VRS Contents V
C302 Absolute measuring system not installed ............................................................................... 4-17

C400 Switching to parameter mode................................................................................................. 4-17
C401 Drive active, switching not allowed......................................................................................... 4-17
C402 Only allowed without master................................................................................................... 4-18
C500 Reset class 1 diagnostic, error reset ...................................................................................... 4-18
C501 Error delete only in parameter mode...................................................................................... 4-18
C600 Drive controlled homing procedure command........................................................................ 4-18
C601 Homing only possible with drive enable ................................................................................. 4-18
C602 Distance home switch - reference mark erroneous................................................................ 4-19
C604 Homing of absolute encoder not possible .............................................................................. 4-19
C606 Reference mark not detected ................................................................................................. 4-19
C700 Basic load ............................................................................................................................... 4-20
C702 Default parameters not available............................................................................................ 4-20
C703 Default parameters invalid...................................................................................................... 4-20
C704 Parameters not copyable........................................................................................................ 4-20
C800 Default parameter load ........................................................................................................... 4-21
C801 Parameter default value erroneous (-> S-0-0021) ................................................................. 4-21
D300 Command adjust commutation............................................................................................... 4-21
D301 Drive not ready for commutation command ........................................................................... 4-21
D311 Commutation offset could not be determined......................................................................... 4-22
D312 Motion range exceeded during commutation ......................................................................... 4-22
D400 Positive stop drive procedure command ................................................................................ 4-22
D401 ZKL1-Error at command start ................................................................................................. 4-23
D500 Command Get mark position.................................................................................................. 4-23
D501 Incremental encoder required................................................................................................. 4-23
D600 Cancel reference point procedure command ......................................................................... 4-23
D700 Parking axis command ........................................................................................................... 4-24
4.2 Status Diagnostic Messages............................................................................................................ 4-25
A000 Communication phase 0 ......................................................................................................... 4-25
A010 Drive HALT ............................................................................................................................. 4-26
A011 Drive interlock open ................................................................................................................ 4-26
A012 Control and power sections ready for operation..................................................................... 4-27
A013 Ready for power on ................................................................................................................ 4-27
A100 Drive in TORQUE control ....................................................................................................... 4-27
A101 Drive in VELOCITY control ..................................................................................................... 4-27
A102 Position mode with encoder 1................................................................................................. 4-27
A103 Position mode with encoder 2................................................................................................. 4-27
A104 Position mode lagless, encoder 1........................................................................................... 4-28
A105 Position control lagless, feedback 2 ....................................................................................... 4-28
A106 Drive controlled interpolation, encoder 1 ................................................................................ 4-28
A107 Drive controlled interpolation, encoder 2 ................................................................................ 4-28
A108 Drive controlled interpolation, lagless, encoder 1................................................................... 4-29
A109 Drive controlled interpolation, lagless, encoder 2................................................................... 4-29
VI Contents DIAX04 SSE-03VRS
A800 Unknown operation mode....................................................................................................... 4-29

4.3 Diagnostic messages for basic initialization and after fatal System errors ...................................... 4-30
Diagnostic Message Display: -0....................................................................................................... 4-30
Diagnostic Message Display: Watchdog .................................................................................... 4-31
4.4 Operation Status .............................................................................................................................. 4-32
bb...................................................................................................................................................... 4-32
Ab ..................................................................................................................................................... 4-32
AF ..................................................................................................................................................... 4-32
AH..................................................................................................................................................... 4-32
AS..................................................................................................................................................... 4-32
P0 ..................................................................................................................................................... 4-32
P1 ..................................................................................................................................................... 4-32
P2 ..................................................................................................................................................... 4-32
P3 ..................................................................................................................................................... 4-32
PL ..................................................................................................................................................... 4-33
UL ..................................................................................................................................................... 4-33
5 Exchanging Drive Components ......................................................................... 5-1

5.1 Identifying the Drive Components ...................................................................................................... 5-1
Power Supply Module ........................................................................................................................ 5-1
Drive Controllers................................................................................................................................. 5-2
Motors ................................................................................................................................................ 5-3
Electrical connections......................................................................................................................... 5-4
5.2 Replacing Drive Components ............................................................................................................ 5-5
Power Supply Module ........................................................................................................................ 5-5
Drive Controllers................................................................................................................................. 5-6
Motors ................................................................................................................................................ 5-7
Electrical Connections........................................................................................................................ 5-9
Plug-in Modules................................................................................................................................ 5-10
Software Module .............................................................................................................................. 5-11
5.3 Fault Report...................................................................................................................................... 5-12
6 Index ..................................................................................................................... 6-1
7 Kundenbetreuungsstellen - Sales & Service Facilities .................................... 7-1
DIAX04 SSE-03VRS Diagnostic Message Descriptions 1-1
1 Diagnostic Message Descriptions
1.1 Overview of the diagnostic message descriptions
Diagnostic Message Types

Each operational state of the drive will be characterized with a diagnostic
message.
Differentiations will be made between:
• Error diagnostic messages
• Warning diagnostic messages
• Command diagnostic messages
• Drive Mode diagnostic messages
• Operation status
Construction of a diagnostic message

A diagnostic message consists of:
• A diagnostic number and a
• diagnostic text
F228 Excessive Control Deviation
Diagnostic message
Diagnostic message number
Fig. 1-1: Diagnostic message with a diagnostic number and text.
For the example in the graphic, "F2" and "28" are shown alternately on the
H1-Display.
The control system can read out the diagnostic number in hexadecimal
form with the S-0-0390, Diagnostic message number parameter.
In addition, the drive allocates to the control system the diagnostic
number and diagnostic text as a string F228 Excessive deviation with
the S-0-0095, Diagnostic message parameter.
1-2 Diagnostic Message Descriptions DIAX04 SSE-03VRS
Display
The H1-Display serves as an optical display of the diagnostic message on
the drive and for two-axis devices (HDD) additionally the H2-Display.
H1-Display
H2-Display
DANGE
High V oltage.
Danger of electrical shock.
Do not touch electrical connec tions
for
5 minutes after switching power
Read and follow "Safety
Instructions for Electrical Drives"
manual,
DOK-GENERL-DRIVE******-SVS...
HDD HDS
FA5012d1.fh7
Fig. 1-2: H1-/H2-Display on HDS- and HDD-Drive
The diagnostic number appears on this two-positional seven-segment

display. The image can be seen on the "Diagnostic Message Priority
Display".
This display quickly shows the current operation status without the use of
a communications interface.
The operating mode cannot be seen from the H1- ... H2 Display. If the
drive follows the operating mode and no command was activated, then
the symbol "AF" appears on the display.
DIAX04 SSE-03VRS Diagnostic Message Descriptions 1-3
Diagnostic Message Output If more than one diagnostic message is waiting, then the message with
Priority the highest priority will be displayed.
The following graphic classifies operation status in order of importance.
Error
P
R
Warning
I
O
R Command error
I
T Command active
Y
Ready to operate ?
yes no
Operation lock
active
Ready to Communicationphase
operate
Drive ready
Drive stop
Drive is
following
operating mode Da0001f1.fh5
Fig. 1-3: Diagnostic message priority diagram
Clear Coded Diagnostic Message

The clear coded diagnostic message contains the diagnostic number
followed by the diagnostic text, as shown in the example, "Excessive
Output Error" (Fig. 1-1). It can be read out with the S-0-0095, Diagnostic
message parameter and directly displays the operation status on an
operator surface.
The clear coded diagnostic message will be switched to the current
language.
1-4 Diagnostic Message Descriptions DIAX04 SSE-03VRS
Notes
DIAX04 SSE-03VRS Safety Instructions for Electrical Equipment 2-1
2 Safety Instructions for Electrical Equipment
2.1 Introduction
Read these instructions before the equipment is used and eliminate the
risk of personal injury or property damage. Follow these safety
instructions at all times.
Do not attempt to install, use or service this equipment without first
reading all documentation provided with the product. Read and
understand these safety instructions and all user documentation of the
equipment prior to working with the equipment at any time. If you do not
have the user documentation for your equipment contact your local
Rexroth Indramat representative to send this documentation immediately
to the person or persons responsible for the safe operation of this
equipment.
If the product is resold, rented or transferred or passed on to others, then
these safety instructions must be delivered with the product.
Inappropriate use of this equipment, failure to

follow the safety instructions in this document
or tampering with the product, including
WARNING disabling of safety devices, may result in
product damage, personal injury, severe
electrical shock or death !
2.2 Explanations
The safety warnings in this documentation describe individual classes of
danger and hazards:
Warning symbol with signal Danger class in compliance with ANSI

word in compliance with ANSI The danger class describes the
consequences resulting from non-
compliance with the safety guidelines.
Bodily harm or product damage will occur.
DANGER
Death or severe bodily harm may occur.
WARNING
Death or severe bodily harm may occur.
CAUTION
Fig. 2-1: Classes of danger
2-2 Safety Instructions for Electrical Equipment DIAX04 SSE-03VRS
2.3 Hazards by inappropriate use
High voltage and high discharge current !

Danger to life, risk of severe electrical shock
and risk of injury !
DANGER
Dangerous movements ! Danger to life and risk

of injury or equipment damage by unintentional
motor movements !
DANGER
High electrical voltage due to wrong

connections ! Danger to life, severe electrical
shock and severe bodily injury !
WARNING
Health hazard for persons with heart

pacemakers, metal implants and hearing aids in
proximity to electrical equipment !
WARNING
Surface of machine housing could be extremely

hot ! Danger of injury ! Danger of burns !
CAUTION
Risk of injury due to inappropriate handling !

Bodily injury caused by crushing, shearing,
cutting and mechanical shock !
CAUTION
Risk of injury due to inappropriate handling of

batteries !
CAUTION
2.4 General Information

• Rexroth Indramat GmbH is not liable for damages resulting from
failure to observe the warnings given in these documentation.
• Order operating, maintenance and safety instructions in your
language before starting up the machine.If you find that due to a
translation error you can not completely understand the
documentation for your product, please ask your supplier to clarify.
• Proper and correct transport, storage, assembly and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
• Trained and qualified personnel in electrical equipment :
Only trained and qualified personnel may work on this equipment or
within its proximity. Personnel are qualified if they have sufficient
knowledge of the assembly, installation and operation of the product
as well as an understanding of all warnings and precautionary
measures noted in these instructions.
Furthermore, they should be trained, instructed and qualified to switch
electrical circuits and equipment on and off, to ground them and to
mark them according to the requirements of safe work practices and
common sense. They must have adequate safety equipment and be
trained in first aid.
• Use only genuine spare parts approved by the manufacturer.
• Follow all safety regulations and requirements for the specific
application as practiced in the country of use.
• The equipment is designed for installation on commercial machinery.
• Start-up is only permitted once it is sure that the machine, in which
the product is installed, complies with the requirements of national
safety regulations and safety specifications of the application.
European countries: see directive 89/392/EEC (machine guideline).
• Operation is only permitted if the national EMC regulations for the

application are met.
The instructions for installation in accordance with EMC requirements
can be found in the INDRAMAT document "EMC in Drive and Control
Systems”.
The machine builder is responsible for compliance with the limiting
values as prescribed in the national regulations and specific EMC
regulations for the application.
European countries: see Directive 89/336/EEC (EMC Guideline).
U.S.A.: See National Electrical Codes (NEC), National Electrical
Manufacturers Association (NEMA), and local building codes. The user of
this equipment must consult the above noted items at all times.
• Technical data, connections and operational conditions are specified

in the product documentation and must be followed at all times.
2.5 Protection against contact with electrical parts
Note : This section refers to equipment with voltages above 50 Volts.
Making contact with parts conducting voltages above 50 volts could be

dangerous to personnel and cause an electrical shock. When operating
electrical equipment, it is unavoidable that some parts of the unit conduct
dangerous voltages.
High electrical voltage ! Danger to life, severe

electrical shock and severe bodily injury !
⇒ Only those trained and qualified to work with or on
DANGER electrical equipment are permitted to operate,
mainain or repair this equipment.
⇒ Follow general construction and safety regulations
when working on electrical installations.
⇒ Before switching on power the ground wire must be
permanently connected to all electrical units accor-
ding to the connection diagram.
⇒ Do not operate electrical equipment at any time if the
ground wire is not permanently connected, even for
brief measurements or tests.
⇒ Disconnect mains or the voltage source from the
equipment before beginning any work. Lock the
equipment against being switched on while work is
being performed.
⇒ Wait five (5) minutes after switching off power to
allow capacitors to discharge before beginning work.
Measure the voltage on the capacitors before
beginning work to make sure that the equipment is
safe to touch.
⇒ Never touch the electrical connection points of a
component while power is turned on.
⇒ Install the covers and guards provided with the
equipment properly before switching the equipment
on. Prevent contact with live parts at any time.
⇒ A residual-current-operated protective device (r.c.d.)
must not be used on an AC drive ! Indirect contact
must be prevented by other means, for example, by
an overcurrent protective device.
⇒ Equipment that is built into machines must be
secured against direct contact. Use appropriate
housings, for example a control cabinet.
European countries: according to EN 50178/1998,
section 5.3.2.3.
U.S.A: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA) and local
building codes. The user of this equipment must observe
the above noted instructions at all times.
High electrical voltage ! High leakage current !

Danger to life, danger of injury and bodily harm
from electrical shock !
DANGER ⇒ Before switching on power for electrical units, all
housings and motors must be permanently grounded
according to the connection diagram. This applies
even for brief tests.
⇒ Leakage current exceeds 3.5 mA. Therefore the
electrical equipment and units must always be firmly
connected to the supply network.
⇒ Use a copper conductor with at least 10 mm² cross
section over its entire course for this protective
connection !
⇒ Prior to startups, even for brief tests, always connect
the protective conductor or connect with ground wire.
High voltage levels can occur on the housing that
could lead to severe electrical shock and personal
injury.
European countries: EN 50178/1998, section 5.3.2.1.
USA: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and local
building codes. The user of this equipment must maintain
the above noted instructions at all times.
2.6 Protection by protective low voltage (PELV) against

electrical shock
All connections and terminals with voltages between 5 and 50 Volts on
INDRAMAT products are protective low voltages designed in accordance
with the following standards on contact safety :
• International: IEC 364-4-411.1.5
• EU countries: see EN 50178/1998, section 5.2.8.1.
High electrical voltage due to wrong

connections ! Danger to life, severe electrical
shock and severe bodily injury !
WARNING ⇒ Only equipment, electrical components and cables of
the protective low voltage type (PELV = Protective
Extra Low Voltage) may be connected to all
terminals and clamps with 0 to 50 Volts.
⇒ Only safely isolated voltages and electrical circuits
may be connected. Safe isolation is achieved, for
example, with an isolating transformer, an
optoelectronic coupler or when battery-operated.
2.7 Protection against dangerous movements

Dangerous movements can be caused by faulty control or the connected
motors. These causes are be various such as:
• unclean or wrong wiring of cable connections
• inappropriate or wrong operation of equipment
• malfunction of sensors, encoders and monitoring circuits
• defective components
• software errors
Dangerous movements can occur immediately after equipment is
switched on or even after an unspecified time of trouble-free operation.
The monitors in the drive components make faulty operation almost
impossible. Regarding personnel safety, especially the danger of bodily
harm and property damage, this alone should not be relied upon to
ensure complete safety. Until the built-in monitors become active and
effective, it must be assumed in any case that some faulty drive
movements will occur. The extent of these faulty drive movements
depends upon the type of control and the state of operation.
Dangerous movements ! Danger to life and risk

of injury or equipment damage !
⇒ Personnel protection must be secured for the above
DANGER listed reason by means of superordinate monitors or
measures.
These are instituted in accordance with the specific
situation of the facility and a danger and fault
analysis conducted by the manufacturer of the
facility. All the safety regulations that apply to this
facility are included therein. By switching off,
circumventing or if safety devices have simply not
been activated, then random machine movements or
other types of faults can occur.
Avoiding accidents, injury or property damage :
⇒ Keep free and clear of the machine’s range of

motion and moving parts. Prevent people from
accidentally entering the machine’s range of
movement:
- use protective fences
- use protective railings
- install protective coverings
- install light curtains or light barriers
⇒ Fences must be strong enough to withstand
maximum possible momentum.
⇒ Mount the emergency stop switch (E-stop) in the
immediate reach of the operator. Verify that the
emergency stop works before startup. Don´t operate
the machine if the emergency stop is not working.
⇒ Isolate the drive power connection by means of an
emergency stop circuit or use a start-inhibit system
to prevent unintentional start-up.
⇒ Make sure that the drives are brought to standstill
before accessing or entering the danger zone.
⇒ Disconnect electrical power to the equipment using a
master switch and secure the switch against
reconnection for :
- maintenance and repair work
- cleaning of equipment
- long periods of discontinued equipment use
⇒ Avoid operating high-frequency, remote control and
radio equipment near electronics circuits and supply
leads. If use of such equipment cannot be avoided,
verify the system and the plant for possible
malfunctions at all possible positions of normal use
before the first start-up. If necessary, perform a
special electromagnetic compatibility (EMC) test on
the plant.
2.8 Protection against magnetic and electromagnetic fields

during operations and mounting
Magnetic and electromagnetic fields generated by current-carrying
conductors and permanent magnets in motors represent a serious health
hazard to persons with heart pacemakers, metal implants and hearing
aids.
Health hazard for persons with heart

pacemakers, metal implants and hearing aids in
proximity to electrical equipment !
WARNING ⇒ Persons with pacemakers, metal implants and
hearing aids are not permitted to enter following
areas:
- Areas in which electrical equipment and parts are
mounted, being operated or started up.
- Areas in which parts of motors with permanent
magnets are being stored, operated, repaired or
mounted.
⇒ If it is necessary for a person with a pacemaker to
enter such an area, then a physician must be con-
sulted prior to doing so. Pacemaker, that are already
implanted or will be implanted in the future, have a
considerable deviation in their resistance to
interferences. Due to the unpredictable behaviour
there are no rules with general validity.
⇒ Persons with hearing aids, metal implants or metal
pieces must consult a doctor before they enter the
areas described above. Otherwise health hazards
will occur.
2.9 Protection against contact with hot parts
Housing surfaces could be extremely hot !

Danger of injury ! Danger of burns !
⇒ Do not touch surfaces near the source of heat !
CAUTION Danger of burns !
⇒ Wait ten (10) minutes before you access any hot
unit. Allow the unit to cool down.
⇒ Do not touch hot parts of the equipment, such as
housings, heatsinks or resistors. Danger of burns !
2.10 Protection during handling and installation

Under certain conditions unappropriate handling and installation of drive
components may cause injuries.
Risk of injury through incorrect handling !

Bodily harm caused by crushing, shearing,
cutting and mechanical shock !
CAUTION ⇒ Observe general instructions and safety regulations
during handling installation.
⇒ Use only appropriate lifting or moving equipment.
⇒ Take precautions to avoid pinching and crushing.
⇒ Use only appropriate tools. If specified by the product
documentation, special tools must be used.
⇒ Use lifting devices and tools correctly and safely.
⇒ Wear appropriate protective clothing, e.g. safety
glasses, safety shoes and safety gloves.
⇒ Never stay under suspended loads.
⇒ Clean up liquids from the floor immediately to
prevent personnel from slipping.
2.11 Battery safety

Batteries contain reactive chemicals in a solid housing. Inappropriate
handling may result in injuries or equipment damage.
Risk of injury through incorrect handling !

⇒ Construction and design according to the standards
⇒ Do not attempt to reactivate discharged batteries by
CAUTION heating or other methods (danger of explosion and
corrosion).
⇒ Never charge batteries (danger from leakage and
explosion).
⇒ Never throw batteries into a fire.
⇒ Do not dismantle batteries.
⇒ Handle with care. Incorrect extraction or installation
of a battery can damage equipment.
Note: Environmental protection and disposal! The batteries

contained in the product should be considered as hazardous
material for land, air and sea transport in the sense of the legal
requirements (danger of explosion). Dispose batteries
separately from other refuse. Observe the legal requirements
given in the country of installation.
Notes
DIAX04 SSE-03VRS Description of diagnostic letters F... and E... 3-1
3 Description of diagnostic letters F... and E...
3.1 Error diagnostic messages F...

Many areas are monitored in connection with operating modes and
parameter settings. An error message is generated if a condition is
discovered which no longer allows proper operation.
Error Classes The errors are separated into four different error classes. The error class
is evident from the diagnostic message. They are determined with the
drive’s error response.
Error class : Diagnostic Drive Reaction:

Message:
Fatal F8xx Torque free switching
Travel range F6xx Velocity command value to
zero
Communications F4xx In accordance with best
Interface possible deceleration
Non-fatal F2xx In accordance with best
possible deceleration
Fig. 3-1: Error Classes and Drive Reaction
Drive’s Error Reaction If an error state is detected in the drive then an automatic operation of the
drive’s error response will be started as long the drive is in control. The
H1 display blinks a Fx / xx.
The drive’s reaction can be parameterized by P-0-0119, Deceleration as
best as possible, with interface and non-fatal errors. At the end of each
error reaction the drive is switched off.
Reset the Error Errors will not be automatically deleted but must be:
• Reset from the control through the initialization of the command
S-0-0099, Reset Class 1 Diagnostics, or
• reset by pressing the "S1" button.
If the error state is still present then the error will be immediately detected
again.
A positive edge bit on the control enable signal is necessary in order to
turn on the drive again.
3-2 Description of diagnostic letters F... and E... DIAX04 SSE-03VRS
F207 Switching to uninitialized operation mode

Cause:
0 has been selected in at least one of the four Operating mode
parameters S-0-0032..35. This mode has been selected by the bits 8 and
9 in the master control word while the drive controller was on.
Remedy:
Enter the desired mode in the activated mode parameter.
Examples for possible modes are:

Bit list of the mode
Meaning: parameters:
Torque control 0000 0000 0000 0001
Velocity control 0000 0000 0000 0010
Position control with act. feedback val. 1 0000 0000 0000 x011
Position control with act. feedback val. 2 0000 0000 0000 x100
Drive-internal interpolation with actual 0000 0000 0001 x011
feedback value 1
Drive-internal interpolation with actual 0000 0000 0001 x100
feedback value 2
Relative drive-internal interpolation with 0000 0010 0001 x011
actual feedback value 1
Relative drive-internal interpolation with 0000 0010 0001 x100
actual feedback value 2
Fig. 3-2: Operation Modes
Which operation modes can be selected in a certain device is written in

the description for the operation mode parameters:
Parameter: Primary mode of operation S-0-0032
Secondary operation mode 1 S-0-0033
Check for input of the permissible interpolation method.
See also the functional description: "Setting the Operating Mode

Parameters"
F208 UL The motor type has changed.

This indication happens when you power up for the first time with a new
motor.
The regulator settings for the current, velocity and position loops are
stored in the feedback on the motor. After powering up, the drive
compares the motor type stored in the parameter with the connected
motor type. If the two do not match, basic control loop settings must be
adapted, too.
With the Basic Load command, the default control loop settings are
loaded from the feedback memory into the drive. The previous loop
settings are overwritten. By pressing the S1 key, the command Basic
Load is started.
Causes:
• The motor has been exchanged.
• A parameter file has been loaded, but the parameter S-0-0141, Motor
type contained a motor type different from the present one.
Remedy:
Command C700 Basic Load or press the S1 button.
See also the functional description: "Automatic Execution of the Load

Default Feature".
F209 PL Load parameter default values

After replacing the firmware version, the drive displays “PL”, if the
parameters have been changed in regards to the old product. By pressing
the S1 button on the drive controller or by starting the command “load
basic parameters”, all the parameters will be erased and restored with the
default (initial) values.
Cause:
The firmware has been exchanged; the number of parameters in
comparison to the old product has changed.
Remedy:
Press S1 button on the drive controller, and all the parameters will be
erased and restored with the factory preset default values
⇒ This overwrites all parameters and positioning blocks.
WARNING
See also the functional description: "Basic parameter block".
F218 Amplifier overtemp. shutdown

The temperature of the amplifier’s heatsink is monitored. If the heatsink is
too hot, the drive will power down in order to protect against damage.
Cause:
1. Ambient temperature is too high. The specified performance data
are valid up to an ambient temperature of 45°C.
2. The amplifier’s heatsink is dirty.
3. Air flow is prevented by other assembly parts or the control
cabinet assembly.
4. Blower defective
Remedy:
For 1. Reduce the ambient temperature, e.g. through cooling of the
control cabinet.
For 2. Remove obstructions or dirt from the heatsink.
For 3. Install the device vertically and clear a large enough area for
proper heatsink ventilation.
For 4. Exchange drive.
F219 Motor overtemp. shutdown

If the motor temperature exceeds the value in S-0-0204, Motor
shutdown temperature, the drive will generate this error message. The
value in S-0-0204 is fixed at 150°C for MHD-,MKD- and MKE motors. The
appropriate value must be entered from the motor's technical
specifications for all other types of motors.
For motors of series: 2AD, 1MB, LAF, LAR, and MBW, the current motor
temperature can be called up with parameter S-0-0383, Motor
temperature.
Cause:
1. The motor became overloaded. The effective torque demand on
the motor was above its permissible continuous torque level for
too long.
2. Short circuit or disconnection in the connection to
motor temperature monitoring.
3. Instability in the velocity control loop.
Remedy:
For 1. Check the layout of the motor. For motors which have been in
operation for longer periods of time, check to see if the operating
conditions have changed (in regards to cleanliness, friction,
moved components, etc.).
For 2. Check the wiring to the motor temperature monitor X6/1 and
X6/2 for disconnection or short circuits.
For 3. Check the velocity control loop parameters (see
the functional description).
See also the functional description: "Temperature monitoring"
F221 Motor temp. surveillance defective

Cause:
Wire break or interruption in the wires for the motor temperature
monitoring.
Remedy:
Check the wiring for the motor temperature monitoring (signals MT(emp)+
and MT(emp)-) for interruption and short circuit.
See also the functional description: "Temperature Monitoring".
F226 Undervoltage in power section

The level of the DC bus voltage is monitored by the drive controller. If the
DC bus voltage falls below a minimal threshold, the drive independently
shuts down according to the set error reaction.
Cause:
1. The power source has been interrupted without first switching off
the drive enable (RF).
2. Disturbance in the power supply
Remedy:
For 1. Check the logic regarding the activation of the drive within the
connected control.
For 2. Check the power supply.
The error can be cleared by removing the drive enable signal.
See also the functional description: "Drive enable"
F228 Excessive deviation

When the position loop is closed, the drive monitors whether it is able to follow
the specified command value. This is done by calculating a model position value
in the drive and comparing that value with the actual feedback value. If the
difference between theoretical and actual position value permanently exceeds
the value of the S-0-0159, Monitoring window parameter, the drive obviously
cannot follow the given command value. Then this error is generated.
Cause:
1. The drive’s acceleration capacity has been exceeded.
2. The axis is blocked.
3. Incorrect parameter values set in the drive parameters.
4. Incorrect parameter values in S-0-0159, Monitoring window.
Remedy:
Ref. 1. Check the S-0-0092, Bipolar torque/force limit value parameter
and set it to the maximum permissible value of the application.
Reduce the specified acceleration value from the controller (see
controller Manual).
Ref. 2. Check the mechanical system and eliminate jamming of the axis.
Ref. 3. Check the drive parameters (control loop tuning).
Ref. 4. Set the parameter values of S-0-0159, Monitoring window.
See also the functional description " Position Control Loop Monitoring".
F229 Encoder 1 failure: quadrant error

With wrong signals in the encoder evaluation, a hardware error has been
discovered in the encoder interface 1 being used.
Cause:
1. Defective encoder cable
2. Disruptive electro-magnetic interference on the encoder cable
3. Defective encoder interface
4. Defective drive controller
Remedy:
For 1. Exchange the encoder cable.
For 2. Keep the encoder cable well away from the power cables.
For 3. Exchange the encoder interface.
For 4. Exchange the drive controller.
F230 Max. signal frequency of encoder 1 exceeded

The signal frequency of the encoder 1 (motor encoder) is checked
whether the allowed max. frequency of the encoder interface is exceeded.
If the frequency is higher than allowed, the error F230, Max. signal
frequency of encoder 1 exceeded is generated. The position status of
the encoder 1 is cleared to 0.
Cause:
Maximum speed of the feedback device is lower than the maximum motor
speed.
Suggestion:
• Don’t allow the motor to run faster than the maximum allowed sensor
speed by reducing parameter S-0-0091, Bipolar Speed Limit.
• Change the sensor for a device with higher speed rating.
F233 External power supply error

Cause:
The DEA plug-in modules have isolated inputs and outputs. Proper
operation of those inputs and outputs requires an external 24-Volts to be
applied. The drive monitors that voltage as soon as a DEA plug-in module
has been installed.
Remedy:
Check the external 24-V power supply.
Name: Unit: min.: typ.: max.:

External operating V 18 24 32
voltage +UL
External current mA 100
consumption IL
Fig. 3-3: External power supply
See also the functional description: "Digital I/O Functional Principle"
F236 Excessive position feedback difference

Cause:
In the communication phase 4 transition check command, position
feedback value 1 and position feedback value 2 are set to the same
value, and the cyclic evaluation of both encoders is started. In cyclic
operation (phase 4), the position feedback difference of both encoders is
compared with S-0-0391, Monitoring window feedback 2. If the amount
of the difference exceeds the monitoring window, the error F236
Excessive position feedback difference is diagnosed, the parameter-
selected error response is performed, and the reference bits of both

encoders are cleared.
Note: The monitoring is off, when the parameter S-0-0391,

Monitoring window feedback 2 is set to the value 0.
Possible Causes :
1. Incorrect parameter for the encoder 2
(S-0-0115, Position feedback 2 type parameter,
S-0-0117, Resolution of feedback 2)
2. Incorrect parameter setting of mechanical system between motor shaft
and encoder 2:
(S-0-0121, Input revolutions of load gear,
S-0-0122, Output revolutions of load gear,
S-0-0123, Feed constant)
3. The mechanical system between motor shaft and encoder 2 is not
rigid (e.g. gear play, slip).
5. Maximum input frequency of the encoder interface exceeded
6. Encoder 2 (optional) is not mounted to the driven axis.
7. Incorrect reference measure of an absolute encoder
Remedy:
Ref. 1. Check S-0-0115, Position feedback 2 type parameter and
S-0-0117, Resolution of feedback 2.
Ref. 2. Check S-0-0121, S-0-0122, Input/Output revolutions of load
gear and S-0-0123, Feed constant.
Ref. 3. Increase S-0-0391, Monitoring window feedback 2; switch off
when using a gearbox with a large amount of slip.
Ref. 4. Replace encoder cable.
Ref. 5. Reduce the velocity.
Ref. 6. Set S-0-0391, Monitoring window feedback 2 to 0 (de-activate
monitoring function).
Ref. 7. Perform P-0-0012, C300 Command ’Set absolute
measurement’.
See also the functional description "Actual Feedback Value Monitoring".
F237 Excessive position command difference

Cause:
When the drive is operating in position control, incoming position
command values are monitored. If the velocity required of the drive by two
successive position command values is greater than or equal to the value
in S-0-0091, Bipolar velocity limit value, position command value
monitoring is initiated. The Excessive position command value is
stored in parameter P-0-0010. The last valid position command value
is stored in parameter P-0-0011.
If position data are to be processed in modulo format, then the
interpretation of the command is also dependent on the value set in S-0-
0393, Command value mode for modulo format. The parameter
should be set for the "shortest path" (0).
Remedy:
Compare S-0-0091, Bipolar velocity limit value with the velocity in the
program and adjust to match it, if necessary.
F242 Encoder 2 failure: signal too small

Cause:
The analog signals of an external measurement system are used for high
resolution analysis of that measurement system. These are monitored
according to two criteria:
1. The pointer length, which is calculated from the amplified sine
and cosine signals, must be at least 1 V.
2. The maximum pointer length resulting from the sine and cosine
signals must not exceed 11.8 V.
pointerlength = sin 2 + cos 2

Fig. 3-4: Pointer length
Fig. 3-5: Correct signal amplitude
Note: When an incremental encoder with squarewave signals is

used, the signal is not monitored.
Example:
Ucos = -6.5V
Usin = 6.5V
pointer length = (- 6.5V )2 + 6.5V 2 ≅ 9.2V

Remedy:
1. Check the measurement system cable.
2. Check the measurement system.
F245 Encoder 2 failure: quadrant error

The evaluation of the additional optional encoder (encoder 2) is active. In
the evaluation of the sinusoidal input signals of the optional encoder, a
plausibility check is performed between these signals and the counter fed
by these signals. Doing this, an error has been encountered.
Cause:
2. Disruptive electro-magnetic interference on the encoder cable
3. Defective encoder interface
Remedy:
For 1. Exchange the encoder cable.
For 2. Keep the encoder cable well away from power cables.
For 3. Exchange the encoder interface (DIAX) or the drive (Ecodrive).
F246 Max signal frequency of encoder 2 exceeded

The signal frequency of the encoder 2 (optional encoder) is checked
whether the allowed max. frequency of the encoder interface is exceeded.
Whether, in the case of an excessive frequency, the error F246, Max
signal frequency for encoder 2 exceeded is generated or not, depends on
the setting in the parameter P-0-0185, Function of encoder 2. If the
number 4 for spindle encoder is set there, only the position status of the
optional encoder is cleared to 0. In the other case, the warning F246 is
generated and the position status is cleared to 0.
F248 Low battery voltage

Cause:
For motors of series MKD and MKE, the absolute position information is
stored by a battery-powered electronic in the motor feedback. The battery
is designed for a 10-year life span. If the battery voltage falls below 3,1 V,
this message appears. The absolute encoder function will still be
preserved for about 2 weeks.
Malfunction in the control of motors and moving

elements
Possible damages: Mechanical injuries
CAUTION
⇒ Replace the battery as soon as possible.
Instructions for Exchanging Batteries
Have the following tools and accessories ready:
• Torx screwdriver size 10
• Needle-nose pliers, torque wrench
• New packaged battery (Part No. 257101)
Malfunction in the control of motors and moving

elements
Possible damages: Mechanical injuries
⇒ Turn off the power supply. Make sure it will not be
CAUTION turned back on. Exchange the battery while the
control voltage (24V) is turned on.
If the control voltage is turned off while the battery is taken out, the
absolute reference point will be lost. Then, the reference point must be
reestablished with the command "Set absolute measuring“.
Removing the Battery
• Unscrew torx screws with size 10 screwdriver.
• Pull out the resolver feedback (RSF) lid by hand.
• Pull off the battery connector.
• Loosen battery clamp and remove the battery.
• Place the prepared battery in the housing and screw on the clamp.
Attention! Do not kink or clamp the battery cable.
• Attach the connector of the battery.
Close the resolver feedback lid, screw in 4 torx screws and tighten to 1.8
Nm with the torque wrench.
F267 Erroneous internal hardware synchronization

Cause:
The drive control is synchronized on the bus interface (SERCOS,
Profibus, Interbus, ...). The correct function of the synchronization is
monitored. If the average value of the deviation exceeds 5 µs, this error is
generated.
Remedy:
Replace drive controller.
F268 Brake fault

The drive controller takes control of the brake for motors with an
integrated holding brake. The braking current is monitored.
If the braking current is outside of the permissible range between:

0.4 -1.6 * P-0-0511, Break current
this error message will be generated.
Cause:
1. The power supply for the brake is not
connected properly or is outside of the
(24 V +/- 10%) tolerance.
2. The motor cable is incorrectly connected
(wiring error).
3. Defective brake.
3. Defective drive controller.
Note: A connection between the 0V brake supply and the 0V of the

drive controller is required.
Remedy:
For 1. Check the power supply.
For 2. Check the motor cable.
For 3. Exchange the motor.
See also the functional description: "Current Limit"
F270 Error power supply home switch

To be able to monitor the home switch in drive-controlled homing, the
DSS2.1 plug-in module requires an external 24-V power supply. The drive
monitors the external 24-V power supply if homing with home switch has
been selected via S-0-0147, Homing parameter (bit 5).
Cause:
The external 24-V power supply of the DSS2.1 plug-in module is missing.
Remedy:
1. Set S-0-0147, Homing parameter to "Homing without home
switch" (bit 5 = 1).
2. Check the 24-V power supply at connector X12 of the DSS2.1
module.
Name: Unit: min.: typ.: max.:
External operating V 18 24 32
voltage +UL
External current mA 100
consumption IL
Fig. 3-6: External power supply
See also the functional description: "Configuration of the Home switch"
F271 Error power supply travel limit switch

To be able to monitor the travel limit switches, the DSS2.1 plug-in module
requires an external 24-V power supply. The drive monitors the external
24-V power supply if the travel limit switches have been activated via the
P-0-0090, Travel limit parameter.
Cause:
Remedy:
1. De-activate P-0-0090, Travel limit parameter.
2. Check the 24-V power supply at connector X12 of the DSS2.1
module.
See also the functional description: "Travel Zone Limit Switches -

Activation and Polarity"
F272 Error power supply probe input

The probe inputs of the DSS2.1 plug-in module require an external 24-V power
supply. The drive monitors the external 24-V power supply if the probes are
activated via the S-0-0170, Probing cycle procedure command.
Cause:
Remedy:
Connect the 24-V power supply to the connector X12 of the DSS2.1
module.
See also the functional description: "Connecting the Probe Inputs"
F273 Error power supply E-Stop

The emergency stop input of the DSS2.1 plug-in module requires an
external 24-V power supply. The drive monitors the external 24-V power
supply if the emergency stop function is activated via the P-0-0008,
Activation E-Stop-Function parameter.
Cause:
Remedy:
1. Connect 24-V power supply to the connector X12 of the DSS2.1
module.
2. Use the P-0-0008, Activation E-Stop-function parameter to de-
activate the emergency stop function.
See also the functional description: "Connection of the Emergency-Stop

Input"
F276 Absolute encoder out of allowed window

When turning off the drive controller with an absolute encoder, the actual
feedback position will be stored. When powered up, the absolute position
given by the encoder is compared with the stored position.
Cause:
1. Turning on for the first time (invalid stored position)
2. The motor has been moved further than allowed by the parameter
in the absolute encoder monitoring window, P-0-0097, while it was
turned off.
3. Incorrect position initialization
Remedy:
For 1. Press S1 to reset the error and set the absolute position.
For 2. The motor was moved while turned off and sits outside of its
permissible position. Check to see if the displayed position is
correct in relation to the machine zero point. Reset subsequent
errors.
For 3.
An accident may occur by accidental shaft

movement.
Check absolute position information. The feedback is
defective if the absolute position information is wrong.
WARNING The motor should be exchanged and sent to the
INDRAMAT Customer Service.
See also Functional Description "Absolute Encoder Monitoring".
F277 Current measurement trim wrong

The current reading in the drive controller is compensated for during
operation. The compensation values are stored in parameters P-0-4000
and P-0-4001. These values are queried to ensure they maintain the
tolerance of +/- 10 %. Should the values be greater, then this error is
generated.
Cause:
1. Hardware defective in the drive controller.
Remedy:
1. Replace hardware.
F316 Softstart fault power supply unit

The DC bus cannot be activated.
Cause:
1. Short-circuit in power supply or drive controller.
2. Too many additional capacitors have been connected.
3. Interrupt in DC bus choke (only applies to HVE)
Remedy:
1. Disconnect drive controllers and turn power back on. If Power
Supply is defective, replace it. Otherwise, reconnect the drives,
one at a time, until the defective one is found.
2. Number of additional capacitor must be reduced or a
separate loading device must be used.
3. DC bus choke and lines must be checked, possibly replaced.
F318 Heatsink overtemp. fault power supply unit

Power switched off due to excessive heatsink temperature.
Cause:
The unit is overloaded or ambient temperature is too high.
Remedy:
Check load and ambient temperature. Temperature pre-warning contact
of the unit must be checked.
F320 Bleeder overload

Power shutoff due to high bleeder load.
Cause:
1. In the HVR, too much regenerated drive energy even with
power off.
2. In the HVE, continuous regenerated power or drive
energy is too high.
3. Unit is defective.
Remedy:
On 1: Reduce drive speed. Delay power off in the case of Power Supply
switch off or emergency stop.
On 2: Increase cycle time, reduce the speed of the drive, install
additional bleeder.
On 3: Replace unit.
F360 Overcurrent power supply unit

With HVR only!
Cause:
Short-circuit in power supply unit, drive controller, motor or a cable.
Remedy:
Disconnect power supply lines on the drive controller one at a time.
Replace a unit if it is defective.
F369 +24V/+-15V/+5V fault power supply unit

Control voltage interference.
Cause:
1. Maximum permissible load has been exceeded
2. Short-circuit in wiring if control voltage is used outside
of drive system.
3. Unit is defective.
Remedy
On 1: Remove control voltage bus connections to drive controllers one
after the other.
On 2: Remove control voltage connections and check for short-circuits.
On 3: Replace unit.
F380 Short to ground power supply unit

Cause:
Ground short: in power supply unit
in drive controller
in motor or motor cable
Remedy:
Remove connections to motor and power supply unit one at a time.
Replace defective drive components.
F381 Mains failure

With HVR only !
Cause:
At least one phase of the 3 phase power supply input is missing.
Remedy:
Check mains fuses and replace, if necessary.
F382 Mains phase loss fault

With HVE only !
Cause:
At least one phase of the 3 phase power supply input is missing.
Remedy:
Check mains fuses and replace, if necessary.
F383 Line voltage fault

With HVR only !
Cause:
Mains voltage exceeds permissible tolerance (3x 380 ... 480V, ± 10 %).
Remedy:
Check mains voltage, use matching transformer, if necessary.
F384 Connection error at power supply unit

With HVR only !
Cause:
Power and control voltage connects are not in phase.
Remedy:
Check connection voltage. Terminals X5/U and X8/1, X5/V and X8/2,
X5/W and X8/3 may not conduct voltage to each other.
F385 Line frequency fault

With HVR only !
Cause:
Mains frequency exceeds permissible tolerance (± 2Hz).
F394 Checksum error power supply unit

With HVR only !
Cause:
Unit failure.
Remedy:
Replace unit.
F401 Double MST failure shutdown

The master sync telegram was not received in the drive controller in two
successive SERCOS cycles.
Cause:
1. Disruption in the Fiber Optic transmission line.
2. Too much attenuation of the light signal.
3. Malfunction in the SERCOS interface (general).
Remedy:
For 1. Check all Fiber Optic connections in the SERCOS ring.
For 2. Measure the attenuation in the Fiber Optic cable.
The maximum attenuation between TX and RX must not fall
below 12.5 dB.
For 3. Exchange the SERCOS interface module in the drive controller.
See also the functional description: "SERCOS interface Error"
F402 Failure of 2 consecutive MDT signals

The drive failed to receive the Master Date Telegram in 2 consecutive
SERCOS or fieldbus cycles .
Causes:
1. Fiber optic ring: Distortion in the fiber optic transmission.
2. Fiber optic ring: The attenuation of the optical signal is too high.
3. SERCO: Distortion in the SERCOS interface (general)
4. Fieldbus: The field bus communication was broken/stopped for
longer that the watchdog time.
5. The master has stopped sending cyclical telegrams to the drive.
Note: This error can only come if the drive is in Phase 4 (Operating
Mode).
Remedy:
1. Check all fiber optic connections in the SERCOS ring.
2. Measure the attenuation in the fiber optic cables. The maximum
attenuation between TX and RX is not allowed to exceed 12.5 dB.
3. Exchange the defective SERCOS interface.
4. Check the fieldbus connectors and cable connection.
5. Turn on the master control and start cyclic communications. See the
specific controller manual for more details.
F403 Invalid communication phase shutdown

An invalid communications phase was given by the SERCOS master
module (phase > 4).
Cause:
Error in the SERCOS master module of the control system.
Remedy:
Consult the control system manufacturer.
F404 Error during phase progression

The prescribed order was not maintained during phase progression.
Cause:
Remedy:
F405 Error during phase regression

Switching back from a communication phase did not switch to phase 0.
Cause:
Malfunction in the SERCOS master module of the controller.
Remedy:
Contact the controller manufacturer.
F406 Phase switching without ready signal

The SERCOS master attempted a phase switch without waiting for the
drive controller’s ready signal.
Cause:
Remedy:
F434 Emergency-Stop
Pressing the emergency stop switch (E-Stop) has caused the drive to
perform the emergency stop function that was selected in the P-0-0119,
Best possible deceleration parameter. Setting bit 15 of S-0-0011, Class
1 diagnostics causes an error message to be issued to the controller.
Cause:
The emergency stop switch has been pressed.
Remedy:
Eliminate the malfunction that has caused the emergency switch to be
actuated, and clear the error.
See also the functional description: " Emergency stop feature".
F501 Monitoring Safe Halt

The safety function Safe Halt is selected, and the drive interlock is not
active, or the control has given the drive enable.
Cause:
1. Error in the actuation of the drive interlock (DIAX: connector X3)
2. Malfunction of the control
Remedy:
For 1. Check the wiring of the drive interlock.
For 2. Contact the manufacturer of the control.
See also the functional description: "Intelligent Safety Technology IST".
F502 Monitoring Safe operating halt

The monitoring of the Safe operating Halt has been triggered. The
monitor is active in the following cases:
• When switching on a safety function, the monitoring of the Safe
operating Halt is active for 300 ms.
• The safety function Safe operating Halt is active.
• The safety function Safe reduced Speed 1/2 with safety limited
absolute position 1/2 is selected, and the confirmation key is not
pressed.
Cause:
1. During active operation mode position control, the control has
changed the position command value.
2. During active operation mode velocity control, the control has given a
velocity command value different from 0.
3. After switching on the monitor for the Safe operating Halt, the axis
has moved by more than the P-0-0267, Pos. monitoring window for
safe stop operation, drive.
Remedy:
Zu 1. Contact the manufacturer of the control.
Zu 2. Contact the manufacturer of the control.
Zu 3. Inhibit the motion of the axis, or increase the parameter P-0-0267,
Pos. monitoring window for safe stop operation, drive.
F503 Monitoring safe reduced speed 1 + abs. pos. 1

The monitor of the safety function Monitoring safe reduced speed 1 + abs.
pos. 1 has triggered. Either the drive has exceeded the P-0-0253, Max.
speed 1 for safety function, drive, or it has left the position range set by
the parameters P-0-0254, Upper position limit 1 for safety function,
drive and P-0-0255, Lower position limit 1 for safety function, drive.
If the parameters P-0-0254 and P-0-0255 are other than zero, the lack of
the Safe Reference leads to the same error.
Cause:
1. The abs. value of the actual velocity has become greater than the
Max. Velocity 1.
2. During active operation mode position control, the abs. value of the
position command difference has become greater than the Max.
Velocity 1.
3. During active operation mode velocity control, the abs. value of the
velocity command has become greater than the Max. Velocity 1.
4. The execution of the P-0-0272, C000 Command Check reference
has not been successful.
5. The actual position has left the Absolute Range 1.
6. During active operation mode position control, the position command
has left the Absolute Range 1.
Remedy:
For 1., 2., 3. Reduce the jog velocity or increase the Max. Velocity 1.
For 4. Home the axis with subsequent command "Check Reference".
For 5, 6. Move the axis into the permitted range. Check the
position limits P-0-0254 and P-0-0255.
F504 Monitoring safe reduced speed 2 + abs. pos. 2

The monitor of the safety function Monitoring safe reduced speed 2 + abs.
pos. 2 has triggered. Either the drive has exceeded the P-0-0256, Max.
speed 2 for safety function, drive, or it has left the position range set by
the parameters P-0-0257, Upper position limit 2 for safety function,
drive and P-0-0258, Lower position limit 2 for safety function, drive.
If the parameters P-0-0257 and P-0-0258 are other than zero, the lack of
the Safe Reference leads to the same error.
Cause:
Max. Velocity 2.
position command difference has become greater than the Max.
Velocity 2.
velocity command has become greater than the Max. Velocity 2.
4. The execution of the P-0-0272, C000 Command Check reference
has not been successful.
5. The actual position has left the Absolute Range 2.
6. During active operation mode position control, the position command
has left the Absolute Range 2.
Remedy:
For 1., 2., 3. Reduce the jog velocity or increase the Max. Velocity 2.
For 4. Home the axis with subsequent command "Check Reference".
For 5, 6. Move the axis into the permitted range. Check the
position limits P-0-0257 and P-0-0258.
F505 Activation of a safety function wrong

300 ms after switching on a safety function, there is a check whether the
acknowledge bits for the input signals in the status words of drive and
control (parameters P-0-0252 and P-0-0276) are identical. Furthermore,
the difference of the monitored actual positions (parameters P-0-0273
and P-0-0296) must be smaller than the Monitoring Window for the Safe
operating Halt (parameter P-0-0267).
Cause:
1. The safety function was activated in only one channel (the drive).
2. The monitored actual position in the control is wrong.
Remedy:
For 1. Check the wiring of the safety I/O modules.
For 2. Contact the manufacturer of the control.
F506 Forced dynamization necessary

The time elapsed since the last forced dynamic monitoring is greater than
set in the parameter P-0-0271, Time interval for forced dynamization,
drive.
After switching on, before activating a safety function, a forced
dynamization must always be done.
The error is set only when the power is switched on.
Cause:
1. A safety function has been activated without prior performing a forced
dynamization.
2. During active safety function, the time interval for the forced
dynamization has elapsed.
Remedy:
For 1. Perform a forced dynamization.
For 2. Perform a forced dynamization. Increase parameter P-0-0271,
Time interval for forced dynamization, drive.
F507 Safety input signals wrong, checksum

The 8 bit CRC checksum transferred to the drive with the safety input
signals (P-0-0250) is wrong.
Cause:
1. Error in the assignment of I/O module and drive.
2. Error in the safety I/O module.
Remedy:
For 1. Check the address settings.
For 2. Replace the safety I/O module.
F508 Safety input signals wrong, counter

The 8 bit counters, which are incremented in the drive and in the safety
I/O module every 100 ms, differ by more than 3.
Cause:
Error in the safety I/O module.
Remedy:
Replace the safety I/O module.
F509 Data crosscheck wrong

When comparing parameters from the drive with the respective ones in
the control, a discrepancy has been detected.
The error is only set when the power is switched on.
Cause:
1. Static safety parameters are different.
2. The acknowledge bits for the input signals in the status words of drive
(P-0-0252) and control (P-0-0276) differ longer than 300 ms.
3. The difference of the monitored actual positions of drive and control
(parameters P-0-0273 and P-0-0296) are, 300 ms after standstill has
been detected, greater than the position monitoring window for the
safe operating halt (P-0-0267).
Remedy:
For 1. The values of the parameters P-0-0248, P-0-0253...P-0-0271 of the
drive must be equal to the corresponding ones in the control, P-0-0297,
P-0-0277...P-0-0295.
For 2. Check the wiring of the safety I/O modules.
For 3. Check the standstill detection. Standstill is detected, when the
actual velocity becomes smaller than the value in the parameter
S-0-0124, Standstill window. Increase the position monitoring window
for the safe operating halt (P-0-0267).
F510 Safe reference lost

The signal for the Safe Reference cam is set in the input signals of the
drive (bit 21, P-0-0250), although the actual position of the axis is more
than 10° or 0.1 m away from the reference position for the Safe Homing
(P-0-0268).
The precondition for the position comparison is that the Safe Reference is
present and that the axis is at standstill ( |act. velocity| < S-0-0124,
Standstill window).
Cause:
Erroneous activation of the input signal for the Safe Reference Cam.
Remedy:
Check the input signal. Make the cam shorter if required.
F511 Monitoring of safe reduced speed during switchover

When switching on a safety function while another is already active, it
may be that the new safety function allows only a smaller speed than the
previous one. In this case, the active velocity limit is reduced by means of
a ramp during the parametrized transition time for the switchover
(P-0-0270).
The error is set when the active velocity limit is exceeded.
Cause:
active velocity limit.
position command difference velocity has become greater than the
active velocity limit.
velocity command has become greater than the active velocity limit.
Remedy:
Increase the parameter P-0-0270, Changeover time for safety function,
drive.
F629 Positive travel limit exceeded

The drive has received a command value which has led to an axis
position outside the positive travel range. The axis has been brought to a
standstill with the error response "Set velocity command value to zero".
Bit 2 of paramater P-0-0090, Travel limit parameter is set for "Exceeding
travel range is an error", or after exceeding the position limit a drive
control command has been started (such as the drive-controlled homing
procedure).
Cause:
S-0-0049, Positive position limit value exceeded.
Remedy:
1. Check S-0-0049, Positive position limit value
2. Check the software limits of the control system
3. Activate the axis after the error response
Procedure:
• Clear the error.
• If the power supply was turned off, turn it back on.
• Move the axis into the permissible working range.
Note: Only command values which lead back into the allowed working
range will be accepted. With other command values, the drive
will stop again. - The parameter S-0-0057, Position window
defines a tolerance for the travel limits.
See also the functional description: "Axis Limit Values ".
F630 Negative travel limit exceeded

The drive has received a command value which has led to an axis
position outside the negative travel range. The axis has been brought to a
standstill with the error response "Set velocity command value to zero".
Bit 2 of paramater P-0-0090, Travel limit parameter is set for "Exceeding
travel range is an error", or after exceeding the position limit a drive
control command has been started (such as the drive-controlled homing
procedure).
Cause:
S-0-0050, Negative travel limit value exceeded.
Remedy:
1. Check S-0-0050, Negative travel limit value.
2. Check the software limits of the control system.
3. Activate the axis after the error response.
Procedure:
• Clear the error.
• If the power supply was turned off, turn it back on.
• Move the axis into the permissible working range.
Note: Only command values which lead back into the allowed working
range will be accepted. With other command values, the drive
will stop again. - The parameter S-0-0057, Position window
defines a tolerance for the travel limits.
See also the functional description: "Travel Range Limits".
F634 Emergency-Stop
Pressing the emergency stop (E-Stop) switch has caused the drive to
stop by setting the velocity command value to zero. An error is reported in
the S-0-0011, Class 1 diagnostics parameter.
Cause:
The emergency stop switch has been pressed.
Remedy:
Eliminate the malfunction that has caused the emergency switch to be
actuated, and clear the error.
F643 Positive travel limit switch detected

The positive travel range limit switch has been activated. The axis was
brought to a standstill with error reaction "Velocity command value to
zero".
In P-0-0090, Travel limit parameter bit 2 has been set as "travel range
overrun treated as error" or a drive control command was started after the
end switch had been actuated (e.g., drive-controlled homing).
Cause:
The positive travel range limit switch has been activated.
Remedy:
1. clear error
2. turn power source back on
3. move axis into the allowed travel range
Note: The drive will not accept command values which lead out of
the permissible travel range. Entering these command values
in the drive controller will result in this error.
F644 Negative travel limit switch detected

The negative travel limit switch has been activated. The axis has been
brought to a standstill with the "Set velocity command value to zero" error
response.
Bit 2 of parameter P-0-0090, Travel limit parameter is set for "Exceeding
travel range as error", or a drive control command has been started (such
as the drive-controlled homing procedure). with the limit switch already
actuated.
Cause:
The negative travel limit switch has been activated.
Remedy:
1. Reset the error.
2. Turn the power supply on again.
3. Move the axis into the permissible travel range.
Note: The drive will not accept command values which lead out of the
permissible travel range. Entering these command values in the
drive controller will result in this error.
F811 Commutation offset could not be determined

The Automatic Commutation Adjustment has tried to determine the
commutation offset. That has failed.
Cause:
The motor could not move freely enough.
Remedy:
Check whether the motor is blocked.
See also the functional description: "Determining commutation offset".
F812 Motion range exceeded during commutation

A range of +/- 1 pole pair distance is defined, within which the axis may
move during the Automatic Commutation adjustment. If this range is
exceeded, this error message appears.
Cause:
1. The drive enable has been set while the axis was still in motion.
2. The axis has been moved by a mechanical force.
3. Parameters P-0-0560 Commutation adjustment current and P-0-0562
Commutation adjustment cycle time are set too high. Possibly the
mechanical properties of the axis, like friction or weight load, have
changed.
Remedy:
1. Wait until the axis motion stops and set the drive enable once again.
2. Inhibit the influence of the mechanical force.
3. Reduce the parameter values for P-0-0560 Commutation adjustment
current and P-0-0562 Commutation adjustment cycle time. You can
also set them to the default values P-0-0560 Commutation
adjustment current = 25 % and P-0-0562 Commutation adjustment
cycle time = 4 milliseconds. Afterwards, start the command D300
Commutation adjustment to evaluate once again the optimal
parameters.
See also the functional description: "Synchronous Motors".
F822 Encoder 1 failure: signal too small

The analog signals of a motor measurement system are used for high
resolution analysis of that measurement system. These are monitored
according to two criteria:
1. The pointer length, which is calculated from the amplified sine
and cosine signals, must be at least 1 V.
2. The maximum pointer length resulting from the sine and cosine
signals must not exceed 11.8 V.
pointer length = sin2 + cos2
Fig. 3-7: Pointer length
Fig. 3-8: Correct signal amplitude
Example:
Ucos = -6,5V
Usin = 6,5V
pointer length = (- 6.5V)2 + 6.5V 2 ≈ 9.2V
Note: The error cannot be cleared in communications phase 4. Before

clearing the error, switch to communications phase 2.
Note: When an incremental encoder with squarewave signals is

used, the signal is not monitored.
Remedy:
• Check the measurement system cable.
• Lay the feedback cable well away from the motor power cable. The
cover must be placed over the drive controller (see drive controller
project specifications.)
• Check the measurement system and exchange, if necessary.
F827 Drive interlock while drive activated

Cause:
The drive Starting Lockout was activated while controller enable was set.
The drive controller switches to torque-free state immediately.
Remedy:
The drive interlock should not be activated when controller enable is set.
Check the control system of the drive interlock input.
F860 Overcurrent: short in power stage

The transistor (IGBT) current has exceeded the allowed maximum peak
value. The drive is immediately disabled, the motor freewheels to a stop.
Cause:
1. Short circuit in the motor or motor cable.
2. Defective power section of the drive controller
3. The current regulator was parameterized with wrong values.
Remedy:
For 1. Check the motor cable for a short.
For 3. Check that the current controller parameters are as given in the
motor data sheet; if they differ, input the correct values.
F861 Overcurrent: short to ground

The phase current sum is monitored. Sum = 0 in normal mode. The
ground-fault fuse responds if the current sum exceeds 0.5 x IN.
Cause:
1. Defective motor cable.
2. Ground fault in the motor.
Remedy:
Check motor cable and motor for ground fault; replace if necessary.
F869 +/-15Volt DC error

The drive controller found a malfunction in the ± 15 V power supply.
Cause:
1. Defective control voltage bus cable.
2. Defective control voltage supply module.
Remedy:
For 1. Check the control voltage bus cable or plug connection and
exchange if necessary.
For 2. Check control voltage supply module (see supply module
instructions for use).
F870 +24Volt DC error

The drive controller requires a 24-V control voltage. The drive's torque is
released immediately when the maximum permissible tolerance of
+-20% is exceeded. If an optional electrically released motor holding
brake is present, then it is activated.
Cause:
1. Defective cable for the control voltages.
2. 24-V power supply overload.
3. Defective power supply unit.
4. Short-circuit in the emergency stop circuit.
Remedy:
Ref. 1. Check and, if necessary, replace the cable and connections of the
control voltages.
Ref. 2. Check the 24-V power at the power supply unit.
Ref. 3. Check the power supply unit.
Ref. 4. Check the emergency stop circuit for a short-circuit.
Note: This error can only be cleared in parameter mode (phase 2).
As a result of this error, the encoder emulation is switched off.
F871 +10Volt DC error

The power supply voltage for the current sensors has been disrupted.
Cause:
A defect in the drive controller.
Remedy:
Exchange the drive controller.
F878 Velocity loop error

The velocity loop monitor will appear when the following conditions occur
simultaneously:
• The current command value is at the peak current limit.
• The difference between the actual velocity and the command velocity
is greater than 2,5 % of the maximum motor velocity.
• actual speed > 1.25 % of maximum speed
• Command and actual acceleration have different qualifying (+/-) signs.
Cause:
1. Motor cable is connected incorrectly.
2. Defective controller section of the drive
3. Defective feedback
4. Velocity loop paramaterized incorrectly
5. Incorrect commutation offset
Remedy:
For 1. Check the motor cable connection.
For 4. Check the velocity controller to see whether it is within operational
parameters.
See also the functional description: "Determining the Velocity Controller

Setting".
F879 Velocity limit S-0-0091 exceeded

In torque control, the actual velocity is monitored. This error is generated
if the programmed velocity in the S-0-0091, Bipolar velocity limit value
parameter is exceeded by the 1.125-fold value or a minimum of 100 rpm
(rotary motor) or by 100 mm/min (linear motor).
Cause:
The torque command value was for too long a time greater than the load
torque. This causes the actual speed to increase up to the maximum
possible motor speed.
Remedy:
Assign the correct torque command value for the required task. Reduce
the S-0-0092, Bipolar torque/force limit value parameter value.
See also the functional description "Limiting to Bipolar Velocity Limit

Value".
3.2 Warning Diagnostic Messages
Many areas are monitored in connection with operating modes and

Warnings do not lead to an parameter settings. As a result, if a state is discovered which is still
automatic shutdown allowed by the order of operation, but in continuous operation generates
an error and thereafter leads to shutdown of the drive, a warning will be
generated in the case where this state appears again.
Warning Classes
Warnings can be separated into 2 classes. They differentiate if the drive
The warning class is will perform an automatic response with the appearance of a warning.
evident from the diagnostic
message
Warning Class: Diagnostic Drive Reaction:

Message:
with Drive Response E8xx Drive Stop
without Drive E2xx --
Response
Fig. 3-9: Division of the Warning Classes
Warnings can not be externally deleted.
E219 Warning Drive temp. surveillance defective

Temperature monitoring checks to see if the measured drive controller
temperature is within reasonable bounds. If it determines that it is lower
than -10°C, then it is assumed the measuring unit is defective. Warning
E219 Warning Drive temp. surveillance defective will appear for 30
seconds. Afterwards the drive will be brought to a standstill according to
the selected error response and message F220 Bleeder overload
shutdown will be generated.
Cause:
Broken cable in the drive controller, or defective sensor.
Remedy:
Exchange or repair the drive controller.
E221 Warning Motor temp. surveillance defective

Temperature monitoring checks to see if the measured motor
temperature is within reasonable bounds. If it determines that it is lower
than -10°C, then it is assumed the measuring unit is defective. Warning
E221 Warning Motor temp. surveillance defective will appear for 30
seconds. Afterwards the drive controller will be brought to a standstill
according to the selected error response and message F221 Error Motor
temp. surveillance defective will be generated.
Cause:
1. Motor temperature sensor not connected.
2. Broken cable.
3. Defective sensor.
4. Broken cable in drive controller.
Remedy:
For 1. Connect the sensor to the drive controller and to the motor
(see project planning specifications for the motor).
For 2. Exchange the wiring between the drive controller and the motor.
See also the functional description: "Temperature Monitoring".
E225 Motor overload

The maximum possible motor current is reduced in order to protect the
motor from being destroyed.
If a current flows in the that is greater than 2.2 times the motor current at
standstill S-0-0111, the maximum possible motor current (S-0-0109,
Motor peak current) is reduced. With 4-fold motor current at standstill,
the reduction starts after 400 ms. With 5-fold current it starts earlier, and
with 3-fold current later.
The E225 Motor overload warning is issued when the motor peak
current is reduced by the limitation.
The reduction also has an effect on the P-0-4045, Active permanent
current.
E226 Undervoltage in power section

If bit 5 of the P-0-0118, Power off on error parameter has been set, an
undervoltage condition will be handled as a nonfatal warning. The drive
issues this warning if the drive enabling signal is present and the DC bus
voltage message disappears.
Cause:
Power supply unit is switched off or mains failure occurs while the drive
enabling signal is set.
Remedy:
Switch off the drive enabling signal before you switch off the power supply
unit.
E247 Interpolation velocity = 0

The drive-internal position command value interpolator is active if
• the "drive-internal interpolation" mode,
• drive-controlled homing,
• Jog
• drive halt
The E247 warning is issued if the employed velocity specification is 0.
Possible velocity specifications are:
• S-0-0259, Positioning velocity
• S-0-0041, Homing velocity
• S-0-0091, Bipolar velocity limit value
• P-0-4030, Jog velocity
See also the functional description: "Operating Mode: Drive Internal

Interpolation"
E248 Interpolation acceleration = 0

Cause:
The drive internal position command interpolator (profile generator) is
active. It has been given the acceleration = 0. Without acceleration, it can
never reach a given speed.
Note: Input parameter values are converted into a drive internal

format, so an input acceleration word > 0 can, when
converted, result in an acceleration = 0. The parameter values
which, internaly, result in an acceleration > 0, can be
calculated using the formulas found in the chapter entitled
"Drive-internal format of position data"
Operation modes with drive internal position command generation:

1. Drive-internal interpolation
2. Drive-controlled homing
3. Drive Halt
4. jog
Remedy:
Input a reasonable value > 0 for the employed acceleration. Possible
acceleration specifications, depending from the operation mode, are:
For 1 and 4: S-0-0260, Positioning acceleration >0
For 2.: S-0-0042, Homing acceleration >0
For 3.: S-0-0138, Bipolar acceleration limit value >0

Interpolation"
E249 Positioning velocity >= S-0-0091

Cause:
Operating modes with internal interpolation limit the positioning speed to
that set in S-0-0091, Bipolar velocity limit value.
This applies to the following modes:
1. Drive Internal Interpolation
2. Jogging
Remedy:
S-0-0259, Positioning Velocity or
P-0-4030, Jog velocity
must be reduced

Interpolation".
E250 Drive overtemp. prewarning

The temperature of the heatsink in the drive controller has reached the
maximum permissible temperature. The drive controller follows the
command value input for a period of 30 seconds. This makes it possible
to bring the axis to a standstill with the control system while keeping true
to the process (for example, close the operation, leave the collision area,
etc.).
After 30 seconds, the response set in parameter P-0-0119, Best
possible deceleration will be performed by the drive controller.
Cause:
1. Failure of the drive’s internal blower.
2. Failure of the control cabinet’s climate control.
3. Incorrect control cabinet sizing in regards to
heat dissipation.
Remedy:
For 1. If the blower fails, exchange the drive controller.
For 2. Install climate control features in the cabinet.
For 3. Check the sizing of the control cabinet.
See also the functional description "Current Limit"
E251 Motor overtemp. prewarning

The motor is too hot. If the motor temperature, which is displayed in
parameter S-0-0383, Motor temperature, has exceeded the value in S-0-
0201, Motor warning temperature Warning E251 is generated. If the
temperature increases above the value in S-0-0204, Motor shutdown
temperature, error F219 Motor overtemp. shutdown will be generated.
The values for parameters S-0-0201, Motor warning temperature and
S-0-0204, Motor shutdown temperature are set at 140°C and 150°C ,
respectively, for MKD and MHD motors.
Cause:
1. The motor became overloaded. The effective torque required of the
motor was above the permissible continuous standstill torque for too
long.
2. Failure or contamination of motor cooling unit.
Remedy:
1. Check the layout of the motor. For systems which have been in use
for a long time, check to see if the drive controller conditions have
changed (in regards to pollution, friction, components which have
been moved, etc.).
2. Check operation of cooling system, clean air ways.
See also the functional description: "Temperature Monitoring"
E253 Target position out of travel range

In operation modes with drive controlles interpolation, the drive checks
before the move whether the specified S-0-0258, Target position, is
within the possible travel range of the drive. This range is defined by the
parameters S-0-0049, Positive position limit value and S-0-0050,
Negative position limit value. The position limit check is activated in the
parameter S-0-0055, Position polarities with bit 4.
Cause:
The target position lies beyond the position limits, and the position limit
check is activated.. The motion profile results in a target position greater
than the maximum allowed position.
Results:
• This warning message, E253, appears.
• The drive stops.
• The drive does not accept the target position.
• In S-0-0012, Class 2 diagnostic warning bit 13 is set.
Remedy:
1. For the Drive controlled interpolation mode, input the S-0-0258,
Target position only within the position limits.
2. Check the position limit values. Moreover, the positive position limit
value must be greater than the negative position limit value.
3. If you don’t need the position limit check, de-activate it, e.g. in modulo
mode.

Interpolation".
E255 Feedrate-override S-0-0108 = 0

With the parameter S-0-0108, Feedrate override, the travel velocity of all
drive-controlled travel commands can be changed proportionally
(in %).
If the value of this parameter is 0, the travel velocity is also 0. With
velocity = 0, the motor remains stationary despite having a commanded
value.
Causes:
1. The parameter S-0-0108, Feedrate override is 0.
2. For devices with analog inputs: Feedrate override via analog input is
activated, and the voltage at the analog input is 0.
3. The feed potentiometer of the connected control system is at 0 or is
being evaluated incorrectly.
Remedies:
For 1.: Set Feedrate override > 0, so that the drive moves. Full speed is
attained with 100% .
For 2.: Apply a voltage > 0 proportional to the desired speed,
+10V corresponds to 100 % (full) speed.
Alternative: De-activate Feedrate override.
For 3.: Turn the feed potentiometer cautiously, check the analog signal
and the evaluation for it.
See also the functional description: "Sequence control "Drive-Controlled

Homing"".
E257 Continuous current limit active

The thermal controller load is monitored. If a rated current profile is
demanded of the drive controller which would require too high a power
transistor load over time (too much warming of the power output stage),
the drive controller will react by dynamically reducing the effective peak
current. This warning will be given at the same time. Parameter P-0-4046,
Active peak current is reduced. Before the peak current is actually
limited, the advance warning message E261 Continuous current
limitation prewarning should have been generated.
Cause:
The drive controller was overloaded.
Remedy:
1. Check the drive set-up.
2. Reduce acceleration.
With systems which have been used for longer periods of time,
check to see if drive controller conditions have changed
in regards to:
- Friction
- Movement of the load.
E259 Command velocity limit active

In the position control and velocity control operating modes, the effective
velocity command value is limited to the value in parameter S-0-0091,
Bipolar velocity limit value. The warning is given if the resulting velocity
command value reaches this limit.
Cause:
Parameter S-0-0091, Bipolar velocity limit value was set too low.
Remedy:
In normal operating conditions, set parameter S-0-0091, Bipolar velocity
limit value to a value 10% greater than the NC maximum velocity.
See also the functional description: "Limiting to Bipolar Velocity Limit

Value".
E261 Continuous current limit prewarning

Digital drives are monitored by a continually operating temperature model.
If the thermal load reaches 100%, the continuous current limit will be
activated shortly thereafter and warning E257 Continuous Current Limit
Active, is displayed.
Before the torque is reduced, a continuous current limit early warning is
given via a switching threshold, which is determined by parameter P-0-
0127, Overload warning.
To deactivate the warning, enter P-0-0127 = 100% into the parameter.
Cause:
The drive controller was overloaded.
Remedy:
1. Check the drive layout.
2. Reduce acceleration.
3. Increase the switching threshold in parameter
P-0-0127, Overload warning
4. With systems which have been used for longer periods of time,
check to see if drive controller conditions have changed
in regards to:
- Friction
- Movement of the load
- Feed during processing.
E263 Velocity command value > limit S-0-0091

Cause:
The value given to the drive for S-0-0036, Velocity command value was
greater than permissible.
Remedy:
It is limited to S-0-0091, Bipolar velocity limit value.
See also the functional description: "Operating Mode: Velocity Control"
E264 Target position out of num. range

Cause:
In drive-internal interpolation mode, the previous target position in the
internal position format cannot be reached.
Recover:
1. Check the given target position and correct, if necessary.
2. With infinitely turning axes it is necessary that the position data be
illustrated in modulo format.
3. The absolute internally illustrable position can be enlarged by
enlarging the maximum travel range.
E324 Option module error power supply unit

Cause:
A component that is connected to the HVE or HVR power supply unit
reports a malfunction.
Remedy:
Check the option module, and replace it if necessary.
E325 Recovery overload power supply unit

Cause:
The regenerated load of the drives is excessive.
Remedy:
Reduce allowable deceleration. Use a drive controller with a smaller peak
current.
E326 Bus power overload

Error will be stored for no more than 500 ms!
Cause:
The input power required by the drives is excessive.
Remedy:
Reduce the allowable acceleration. Use a drive controller with a smaller
peak current.
E350 Heat sink overtemp. warning power supply unit

The permissible heatsink temperature has been reached. The
temperature pre-warning contact is open. Power will be switched off after
30 s.
Cause:
1. Load too high
2. Ambient temperature too high
3. Cooling air is blocked
4. Blower in unit is defective
Remedy:
1. Reduce load
2. reduce control cabinet temperature
3. check cooling air ducts
4. replace unit.
E352 Bleeder overload warning power supply unit

Cause:
75% of the permissible bleeder ON time has been reached due to
excessive regenerated power.
Remedy:
• allowable acceleration / deceleration must be reduced
• reduce drive speed
• reduce peak current of the drive
E353 Diagnostic message power supply erroneous

The power supply unit HVE or HVR cyclically sends status and error
messages via a serial connection to the connected controller. If the
controllers do not receive several sequential messages, then this warning
is generated.
Cause:
1. serial interface of power supply unit is defective
2. break in serial connection lines
3. serial interface of controller is defective
Remedy:
On 1. replace power supply unit.
On 2. check and replace bus cable, if necessary
On 3. replace controller, if necessary
E387 Control voltage supply fault power supply unit

With HVE only !
Cause:
The power voltage supply in the HVE exceeds permissible tolerance (3x
380 ... 480V, ± 10 % ).
Remedy:
Check mains fuse in control cabinet and replace, if necessary.
E408 Invalid addressing of MDT-data container A

This warning indicates an error during the index check in the multiplex
channel. During the cyclical data exchange, the index for the access to
the list S-0-0370, Configuration list for MDT data container is
monitored as to whether it points to a non-initialized field in the list. If it
does, this warning is generated.
E409 Invalid addressing of AT-data container A

This warning indicates an error during the index check in the multiplex
channel. During the cyclical data exchange, the index for the access to
the list S-0-0371, Configuration list for the AT data container is
monitored as to whether it points to a non-initialized field in the list. If it
does, this warning is generated.
See also the functional description: "Checking the Indices"
E410 Slave not scanned or address 0

While the SERCOS ring is being initialized in communications phase 1,
each slave which is to participate in the additional phase uptake must be
addressed by the SERCOS master. Slaves which are not addressed or
which have been set to drive address "0" indicate this by generating
warning E410. Communication with these slaves in higher
communications phases is not possible. They work only in pass through
mode (i.e. they do not have an AT of their own, rather they serve only as a
“pass through” for the SERCOS communication).
Cause:
The slave was not scanned in phase 1, or address 0 is set.
Remedy:
• Set the correct slave address.
• Check the SERCOS master configuration.
See also the functional description: "Adjustments of the SERCOS Interface"
E825 Overvoltage in power stage

The DC bus voltage is too high.
Cause:
1. During braking (decelerating): the energy regenerated from the
mechanical system via the motor was so high for a moment that it
could not be sufficiently dissipated to heat by the bleeder resistor. The
regenerated current could not be dissipated and therefore charged the
DC bus, so that the voltage has become too high.
2. The mains voltage (AC input) is too high.
Result:
In case of overvoltage, the motor is switched to torque-free operation. As
soon as the DC Bus voltage falls again below the maximum allowable
value, the controller will be turned on again.
Remedy:
For 1. Reduce the acceleration values.
Check the drive controller layout, if necessary.
Install an auxiliary bleeder, if necessary.
For 2. Check the mains supply voltage (AC/3phase).
⇒ Danger of high-voltage shock!

Care for protection against accidental touch.
WARNING
E826 Undervoltage in power section

If the bit 3 is set in the parameter P-0-0118, Power off on error, the
undervoltage is treated as "fatal warning“ with shutdown of the drive
operation. If the drive enable is on at the same time, and the DC bus
voltage indication goes down, the drive displays this warning.
Cause:
Switching off the power supply or a loss of mains while the drive enable is
on.
Remedy:
Switch off the drive enable before switching off the supply unit.
E829 Positive position limit exceeded

The drive has received a command value which resulted in an axis
standstill by setting the velocity command to zero. A class 1 diagnostic
error is not generated. The drive will automatically follow command values
that lead back into the allowed range. "Handle travel range exceeded as
warning" is set in bit 2 of parameter P-0-0090, Command value transmit
time (TMTSG).
Cause:
S-0-0049, Positive position limit value exceeded.
Remedy:
Enter command values which lead back into the allowed range.
Note: Only such command values will be accepted that lead back into
the allowed working range. With other command values, the
drive will stop again. - The parameter S-0-0057, Position
window defines a tolerance for the travel limits.
E830 Negative position limit exceeded

which lead into the allowed range. "Handle travel range exceeded as
warning" is set in bit 2 of parameter P-0-0090, Travel limit parameter.
Cause:
S-0-0050, Negative travel limit value exceeded.
Remedy:
Note: Only such command values will be accepted that lead back into
the allowed working range. With other command values, the
drive will stop again. - The parameter S-0-0057, Position
window defines a tolerance for the travel limits.
E834 Emergency-Stop
Pressing the emergency stop switch has caused the drive to perform the
error reaction that had been selected via the P-0-0119, Best possible
deceleration parameter. There is no error message issued to the
controller.
Cause:
The emergency stop switch was pressed.
Remedy:
Eliminate the malfunction that led to the activation of the emergency stop
switch. The warning will then disappear.
E843 Positive limit switch activated

that lead back into the allowed range. Bit 2 of P-0-0090, Travel limit
parameter is set to "Overtravelling is handled as a warning".
Cause:
The positive limit switch has been activated.
Remedy:
Enter command values that lead back into the allowed range.
See also the functional description: "Travel Zone Limit Switch Monitoring".
E844 Negative limit switch activated

that lead back into the allowed range. Bit 2 of P-0-0090, Travel limit
parameter is set to "Overtravelling is handled as a warning".
Cause:
The negative limit switch has been activated.
Remedy:
See also the functional description: "Travel Zone Limit Switch Monitoring".
DIAX04 SSE-03VRS Description of Diagnostic Letters B...,C..., D... and A... 4-1
4 Description of Diagnostic Letters B...,C..., D... and

A...
4.1 Command Diagnostic Messages B...,C... and D
The commands are used for control of complex features in the drive.
For example, the features "drive controlled homing procedure" or
"Communication Phase 4 Transition Check" are defined as commands.
Commands can start, interrupt or erase a primary control.
A parameter belongs to each command whereby the command can be
controlled by the parameter.
During the command operation, the diagnostic message "Cx" appears in
the H1 display where the x stands for the number of the command.
It can distinguish between 3 types of commands.
• Drive Commands
Command Types - Lead to an eventual automatic drive movement
- Can be started only through an inputted control enable
- Deactivates the active operating mode during its operation
• Monitor Commands
Activation or deactivation of monitors or features
• Management Commands
- Lead management tasks that are not interruptible
4-2 Description of Diagnostic Letters B...,C..., D... and A... DIAX04 SSE-03VRS
B100 Command Release motor holding brake

The command P-0-0542, Command Release motor holding brake has
been activated.
See also the functional description: "Motor Holding Brake".
B101 Command not enabled

The command P-0-0542, Command Release motor holding brake has
been activated without prior enabling via the parameter P-0-0538, Bit 8.
See also the functional description: "Motor Holding Brake".
C000 Command Check reference

Meaning:
The P-0-0272, C000 Command Check reference is active. With this
command, the drive checks whether the following conditions are met:
- The axis has been homed (S-0-0403, Position status = 1).
- The actual position differs by less than the P-0-0267, Pos.
monitoring window for safe stop operation, drive from the P-0-
0268, Reference position for safe homing.
- The signal for the safe reference cam is set.
C001 Safe reference not possible

Meaning :
The P-0-0272, C000 Command Check reference has been started. This
command could not be acknowledged positively, because at least one of
the following conditions is not met :
- The axis has been homed (S-0-0403, Position status = 1).
- The actual position differs by less than the P-0-0267, Pos.
monitoring window for safe stop operation, drive from the P-0-
0268, Reference position for safe homing.
- The signal for the safe reference cam is set.
C100 Communication phase 3 transition check

The command S-0-0127, C1 Communication phase 3 transition check
has been activated.
See also the functional description: "S-0-0127, C100 Communication

phase 3 transition check"
C101 Invalid communication parameter (S-0-0021)

Cause:
Communications parameters which are needed to operate the drive in
communication phase 3 are invalid.
Remedy:
A list of the invalid parameters can be seen in parameter S-0-0021, List
of invalid op. data for comm. ph. 2. The invalid parameters must be
rewritten so they are correct.

Phase 3 Transition Check".
C104 Config. IDN for MDT not configurable

Cause:
Telegram type 7 was set in parameter S-0-0015, Telegram type
parameter.
Parameters which are missing in S-0-0188, List of configurable data in
MDT are kept in S-0-0024, Configuration list for the master data
telegram.
Remedy:
• set preferred telegram (telegram type = 0..6 )
• You must either set a priority telegram (Telegram type = 0..6) or
provide S-0-0024, Config. list of master data telegram with
parameters. These parameters are also contained in S-0-0188, List of
configurable data in the MDT.
See also the functional description: "Configuration of Telegram Contents"
C105 Configurated length > max. length for MDT

Cause:
parameter.
The length of the configured data in the MDT, which is determined by S-0-
0024, Configurations list of the master data telegram, exceeds the
maximum permissible length S-0-0186, Length of the configurable data
record in the MDT.
Remedy:
• number of configured parameters in MDT (S-0-0024) must be
decreased
See also the functional description: "Configuration of Telegram Contents"
C106 Config. IDN for AT not configurable

Cause:
parameter.
Parameters which are not contained in S-0-0187, List of configurable
data in AT can be seen in S-0-0016, Custom amplifier telegram
configuration list.
Remedy:
• S-0-0016, Configuration list of drive telegrams must have
parameters that are also in S-0-0187, , List of configurable data in
ATListe der konfigurierbaren Daten im AT.
See also the functional description: "Configuration of telegram contents"
C107 Configurated length > max. length for AT

Cause:
Message frame type 7 has been selected in S-0-0015, Telegram Type
Parameter.
The length of the configured data record in the AT, that is defined via
S-0-0016, Custom amplifier telegram configuration list,
exceeds the maximum permissible S-0-0185, Length of the
configurable data record in the AT.
Remedy:
• number of configurated parameters in the AT (S-0-0016) must be
decreased
See also the functional description: "Configuration of telegram contents"
C108 Time slot parameter > Sercos cycle time

Cause:
One of the time slot parameters:
• S-0-0006, AT transmission starting time (T1)
• S-0-0089, MDT transmission starting time (T2)
• S-0-0007, Feedback acquisition starting time (T4)
• S-0-0008, Command valid time (T3)
exceeds S-0-0002, SERCOS Cycle time (Tscyc).
Remedy:
Correct the appropriate parameter(s). These times are determined by the
manufacturer of the control system and are specified by the SERCOS
interface.
See also the functional description: "Configuration of the Telegram Send

and Receive Times"
C109 Position of data record in MDT (S-0-0009) even

Cause:
Parameter S-0-0009, Beginning address in master data telegram
contains an even value. This is not permitted.
Remedy:
Parameter S-0-0009, Beginning address in master data telegram must
be set to an odd value. These parameters are determined by the
manufacturer of the control system, and are specified by the SERCOS
interface.

and Receive Times"
C110 Length of MDT (S-0-0010) odd

Cause:
Parameter S-0-0010, Length of master data telegram contains an odd
value. This is not permitted.
Remedy:
Parameter S-0-0010, Length of master data telegram must be set to an
even value. These parameters are determined by the manufacturer of the
control system, and are specified by the SERCOS interface.

and Receive Times"
C111 ID9 + Record length - 1 > length MDT (S-0-0010)

Cause:
Parameter(s) are set incorrectly for S-0-0009, Beginning address in
master data telegram and S-0-0010, Length of master data telegram.
The length of the record in MDT for the drive plus the starting address in
MDT is greater than the total length of the MDT.
Remedy:
The parameters for S-0-0009, Beginning address in master data
telegram and S-0-0010, Length of master data telegram must be
corrected. Those parameters are determined by the manufacturer of the
control system and are specified by the SERCOS interface.

and Receive Times"
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error

Cause:
Only multiples of 1ms are permitted as valid values for S-0-0001, NC
Cycle time (TNcyc) and S-0-0002, SERCOS Cycle time (Tscyc). Here,
this is not the case.
Remedy:
S-0-0001, NC Cycle time (TNcyc) and S-0-0002, SERCOS Cycle time
(Tscyc) must be corrected. These parameters are determined by the
interface.

and Receive Times"
C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error

Cause:
The value of S-0-0001, NC Cycle time (TNcyc) can only be equal to or
be a multiple of S-0-0002, SERCOS Cycle time (Tscyc). Here this is not
the case.
Remedy:
S-0-0001, NC Cycle time (Tncyc) and S-0-0002, SERCOS Cycle time
(Tscyc) must be corrected. These parameters are determined by the
interface.

and Receive Times"
C114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)

Cause:
The maximum allowable value for S-0-0007, Feedback acquisition
starting time (T4) is
S-0-0002, SERCOS Cycle time (Tscyc) -
S-0-0005, Minimum feedback acquisition time(T4min)
The value for S-0-0007, Feedback acquisition starting time (T4) is
incorrect.
Remedy:
Correct S-0-0007, Feedback acquisition starting time (T4). These
parameters are determined by the manufacturer of the control system and
are specified by the SERCOS interface.

and Receive Times"
C115 T2 too small

Cause:
The value set for S-0-0089, MDT Transmit starting time (T2) is
incorrect. The drive cannot work with this value.
Remedy:
Correct S-0-0089, MDT Transmit starting time (T2).
These parameters are determined by the manufacturer of the control
system, and are specified by the SERCOS interface.

and Receive Times"
C117 Timeout at command execution

A system error has occurred.
Please contact Rexroth Indramat.
C118 Order of MDT configuration wrong

The chronological order of processing the cyclical MDT data in the drive is
the same order in which the configurated ident numbers (IDN) are placed
in the parameter S-0-0024, Config. list of the master-data-telegram.
For the usage of the multiplex mode in the MDT, there are the parameters
• S-0-0360, MDT Data container A
• S-0-0368, Addressing for data container A
• S-0-0362, List index, MDT data container A
If more than one of these parameters is configured in the MDT, their
correct order is checked in the command S-0-0127, C100
Communication phase 3 transition check. The following rules must be
obeyed:
• S-0-0368, Addressing for data container A must be configured as
the first of the 3 parameters above.
• S-0-0360, MDT Data container A must be configured as the last of
the 3 parameters above.
If this is not the case, the drive generates the command error C118 Order
of MDT configuration wrong.
C200 Communication phase 4 transition check

Meaning:
The command S-0-0128, C200 Communication phase 4 transition
check has been activated.
See also the functional description "S-0-0128, C200 Communication

C201 Invalid parameter(s) (->S-0-0022)

Cause:
Parameters which will be necessary to operate the drive in
communications phase 4 are invalid. The invalid parameters can be seen
in S-0-0022, IDN list of invalid op. data for comm. ph. 3.
Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph.
3 must be rewritten so they are correct.

C202 Parameter limit error (->S-0-0022)

Cause:
Parameters which are necessary to operate the drive in communications
phase 4 are outside of their minimum or maximum input values, or the
entered value can’t be processed (for bit bars). The incorrect parameters
are listed in S-0-0022, IDN list of invalid op. data for comm. ph. 3.
Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph.
3 must be rewritten with correct values.

C203 Parameter calculation error (->S-0-0022)

Cause:
Parameters that are required for phase-4 operation (operating mode)
cannot be processed in that way. The incorrect parameters are listed in S-
0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.
Remedy:
Write correct values to the parameters in S-0-0022, IDN List of Invalid
Op. Data for Comm. Ph. 3.

C204 Motor type P-0-4014 incorrect

An MHD-, MKD or MKE motor (value 1 or 5) is entered into parameter
P-0-4014, Motor type. The appropriate abbreviation "MHD", "MKD", or
"MKE" however, was not found in parameter S-7-0141, Motor type in the
motor feedback data memory.
Cause:
1. Incorrect parameter set for type of motor.
2. The motor feedback memory cannot be read.
3 motor feedback - not connected
Remedy:
For 1. Enter the type of motor used in parameter P-0-4014, Motor type
For 2 and 3 Check feedback connection.
If feedback is defective, exchange motor.
See also the functional description: "Automatic Setting of the Motor Type
for Motors with Feedback Memory".
C210 Feedback 2 required (->S-0-0022)

Cause:
Values that require an optional encoder have been entered in S-0-0147,
Homing parameter or in the S-0-0032...35, Mode of Operation
parameters. However, 0 (not available) has been entered in the P-0-0075,
Interface Feedback 2, optional parameter.
The ident number of the parameter that requires the optional encoder is
entered in S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.
Remedy:
Modify S-0-0147, Homing parameter or the S-0-0032...35, Mode of
Operation parameters to utilization of the motor encoder instead of
optional encoder or set P-0-0075, Interface Feedback 2, optional to a
value different from 0 to activate the optional measuring system.

C211 Invalid feedback data (->S-0-0022)

Invalid data has been encountered when the parameters stored in the
motor feedback were read, or an error has occurred when the data was
read.
Causes:
1. Motor feedback cable not connected or defective
2. Motor feedback defective
3. Drive controller defective
Remedy:
Ref. 1. Check motor feedback cable; connect both sides
Ref. 2. Replace motor
Ref. 3. Replace amplifier

Phase 4 Transition Check"".
C212 Invalid amplifier data (->S-0-0022)

During drive initialization, the operating software accesses data from an
EEPROM in the drive controller. This error message is generated if the
attempt to read the data has failed.
Causes:
Defective hardware in the drive controller.
Remedy:
Replace drive controller.

C213 Position data scaling error

Cause:
The scaling parameters for position data permit the position data display
format to be selected. The drive-internal position data format depends on
the employed motor encoder and the encoder resolution.
The factor used for converting the position data from the drive-internal
format into the display format or vice versa is outside the allowable range,
because either
• linear motor and rotary position scaling with motor reference, or
• rotary motor and linear position scaling with motor reference, or
• linear motor with modulo scaling has been selected; or
• the determined factor used for converting the position data from the
display format to the internal format, and vice versa, cannot be
represented.
Remedy:
Checking and correcting the relevant parameters, such as
• S-0-0076, Position data scaling type
• S-0-0077, Linear position data scaling factor
• S-0-0078, Linear position data scaling exponent
• S-0-0079, Rotational position resolution
• S-0-0116, Resolution of motor feedback
• S-0-0121, Input revolutions of load gear
• S-0-0122, Output revolutions of load gear
• S-0-0123, Feed constant
• P-0-0074, Interface feedback 1
• S-0-0277, Position feedback 1 type parameter

C214 Velocity data scaling error

Cause:
The scaling parameters for velocity data permit the velocity data display
format to be selected. The drive-internal velocity data format depends on
the employed motor encoder and the encoder resolution.
The factor used for converting the velocity data from the drive-internal
format into the display format or vice versa is outside the allowable range.
Remedy:
Checking and correcting the relevant parameters, such as
• S-0-0044, Velocity data scaling type
• S-0-0045, Velocity data scaling factor
• S-0-0046, Velocity data scaling exponent

C215 Acceleration data scaling error

Cause:
The display format of the acceleration data can be set using acceleration
scaling parameters. The drive-controlled format of the acceleration data is
dependent on what motor encoder and encoder resolution are used. The
factor for converting acceleration data from internal drive format to display
format (or vice-versa) is outside the allowable range.
Remedy:
Check and set the relevant parameters correctly as follows:
• S-0-0160, Acceleration data scaling type
• S-0-0161, Acceleration data scaling factor
• S-0-0162, Acceleration data scaling exponent

C216 Torque/force data scaling error

Cause:
The display format of the torque/force data can be set using torque/force
scaling parameters. The factor for converting torque data from drive-
controlled format to display format (or vice-versa) is outside the allowable
area.
Remedy:
Check and set the relevant parameters correctly as follows:
• S-0-0086, Torque/force data scaling type
• S-0-0093, Torque/force data scaling factor
• S-0-0094, Torque/force data scaling exponent
• S-0-0110, Amplifier peak current
• S-0-0111, Motor current at standstill

C217 Feedback1 data reading error

If you have entered these values into P-0-0074, Interface feedback 1:
• "1" for standard interface,
• "4" for DFF module, or
• "8" for DAG module (EnDat)
then the attached encoder must have a feedback data memory. The
values for the encoder resolution and the feedback type are taken from
there. An error was discovered while reading these values.
Cause:
1. Defective motor feedback cable.
2. Defective motor feedback.
Remedy:
For 1. Check the motor feedback cable.

C218 Feedback 2 data reading error

The initialization of the measuring systems is done in the command S-0-
0128, C200 Communication phase 4 transition check. If the measuring
system to initialize has an intrinsic data memory, this memory is read.
The error C218 Feedback 2 data reading error is generated, if an
additional optional encoder (encoder 2) is present and being evaluated
(P-0-0075 Feedback 2 type other than 0) and if an error is discovered
while reading the data.
Measuring systems with intrinsic data memory are :
• DSF/HSF/LSF and resolver, as well as
• measuring systems with Endat interface (from Heidenhain)
Cause:
1. Defective measurement system cable
2. Defective measurement system
Remedy:
For 1. Check the measurement system cable.
For 2. Exchange the measurement system.

C220 Feedback 1 initializing error

A number of tests are performed when the motor encoder is initialized. An
error was detected during this process. This error may be:
• Error while reading the angle rectification data
• Error while copying the angle rectification data
• Interruption of communication with the encoder
• Assembly error with the position of an initialization track
• Error while reading the analog signal of an initialization track
• Error in the pointer length of the analog signal of an initialization track
• Invalid offset between the high and low resolution track
• Error in the measuring system micro-controller
Cause:
1. Defective motor feedback cable
2. Defective motor feedback
3. Defective measurement system interface
Remedy:
For 1. Check the motor feedback cable.
For 3. Exchange the measuring system interface, if it is a module, or the
complete drive controller.

C221 Feedback 2 initializing error

Several checks are performed during the initialization of an optional
encoder. An error has been detected during this process. This error may
be:
• Error while reading the angle rectification data
• Error while copying the angle rectification data
• Interruption of communication with the encoder
• Assembly error with the position of an initialization track
• Error while reading the analog signal of an initialization track
• Error in the pointer length of the analog signal of an initialization track
• Invalid offset between the high and low resolution track
• Error in the measuring system micro-controller
• With DAG 1.2: external 24V set for SSI interface
Cause:
1. External encoder cable defective.
2. Defective feedback.
3. Defective measurement system interface.
Remedy:
For 1. Check the optional feedback cable.
For 2. Exchange feedback.
For 3. Exchange the measuring system interface (module).

C223 Input value for max. range too high

Cause:
An internal position resolution has been selected via the S-0-0278,
Maximum travel range parameter that no longer guarantees a correct
commutation of the motor.
Remedy:
Select a smaller value for the S-0-0278, Maximum travel range
parameter.

C225 Coprocessor not ready for initialization

The drive controller has a coprocessor. This coprocessor is initialized
during the transfer command. The coprocessor signals that it is ready for
initialization. If it is not ready, this error is generated.
Cause:
Coprocessor failed.
Remedy:

C226 Coprocessor acknowledge failed

The drive controller has a coprocessor. This coprocessor is initialized
during the transfer command. If the coprocessor does not confirm the
initialization by the master processor, this error will be generated.
Cause:
The coprocessor failed.
Remedy:

C227 Modulo range error

Cause:
The marginal conditions for modulo processing were not maintained.
See functional description: "Modulo Processing-Limiting Conditions".
C228 Controller type S-0-0140 wrong

Several internal software settings are made based on parameter S-0-
0140, Controller type. If the content of this parameter cannot be used,
then this error will be generated.
Cause:
1. The controller type cannot be processed by this software.
2. Amplifier EEProm defective.
Remedy:
For 1. Contact Indramat.
For 2. Exchange/repair the control device.

C231 Emulator not loadable

Cause:
The position emulator on the DAE02.1 interface is loaded from a ROM
module according to the selection made in P-0-4020. With ELS firmware,
the incremental encoder firmware is always loaded; P-0-4020 does not
exist in this case. The loading process is monitored; this error message is
generated in the event of a malfunction. The cause is a hardware defect
on the DAE02.1 interface.
Remedial action:
Replace the DAE02.1 interface.
C232 Encoder 1 interface not present

Cause:
The encoder interface that was selected in the P-0-0074, Interface
feedback 1 parameter has not been installed or cannot be found by the
drive, due to a defect.
Remedy:
Install or replace the selected encoder interface.

Phase 3 Transition Check"
C233 Encoder 2 interface not present

Cause:
The encoder interface that has been selected in the P-0-0075, Interface
Feedback 2, external parameter has not been installed or is defective
and can therefore not be recognized by the drive.
Remedy:
Install or replace the selected encoder interface.

Phase 3 Transition Check"
C234 Encoder combination not possible

Cause:
The encoder interface that has been selected in the P-0-0075, Interface
Feedback 2, optional parameter cannot be supported by the drive; it has
already been allocated to the motor encoder.
Remedy:
Select another optional encoder.
See also the functional description: "Determining the Encoder Interface of

the Optional Encoder"
C235 Load-side motor encoder with inductance motor only

Cause:
The functionality of the optional encoder can be defined in the P-0-0185,
Function of opt. encoder parameter. If ’load-side motor encoder’ has
been selected as the function of the optional encoder, that function will
only be supported for asynchronous motors.
Remedy:
Set the P-0-4014, Motor type parameter according to the employed
motor type.
Check the P-0-0185, Function of opt. encoder parameter.

C236 Feedback 1 required (P-0-0074)

Cause:
A motor encoder is not required (P-0-0074 = 0) if a load-sided motor
encoder has been selected via the P-0-0185, Function of opt. encoder
parameter. However, S-0-0147, Homing parameter or the S-0-0032...35,
Mode of Operation parameters contain values that require a motor
encoder.
Remedy:
Change S-0-0147, Homing parameter or the S-0-0032...35, Mode of
Operation parameters such that they are suitable for using an optional
encoder.
Enter a value ≠ 0 in the P-0-0074, Interface feedback 1 parameter to

activate the motor encoder.

C300 Command Set absolute measuring

Command P-0-0012, C300 Command ’Set absolute measurement’ was
activated by the control system in use.
See also the functional description: " Set Absolute Measuring"
C302 Absolute measuring system not installed

Command P-0-0012, C300 Command ’Set absolute measurement’ was
started without an absolute measuring system being present.
The command cannot be processed because no absolute measuring
system is available.
Cause:
1. The command should not have been activated.
2. The contacted motor or the external measurement system was
not executed as an absolute encoder.
Remedy:
For 1. Stop execution of the command.
For 2. Equip the motor or external measurement system with an
absolute encoder function.
See also the functional description: "Set Absolute Measuring"
C400 Switching to parameter mode

The command for transition into parameter mode. Before editing
parameters that can be edited only in parameter mode, this command
must be processed.
See also the functional description: "Parameter Mode - Operation Mode"
C401 Drive active, switching not allowed

Cause:
The command C400 Command: Switch to parameter mode has been
started, although the drive enable is on.
Remedy:
End the command and turn off the drive enable, then the command can
be started again.
See also the functional description: "Parameter Mode - Operation Mode"
C402 Only allowed without master

Cause:
The command P-0-4023, C400 Communication phase 2 transition was
started even though the command communications interface (SERCOS
or fieldbus) is active (P-0-4086 = 00b).
The command can only be executed if the command communications
interface (SERCOS or fieldbus ) is inactive (P-0-4086 = xx1b).
The command communications interface is active if
• signals are pending at the SERCOS interface Signal receiver
Remedy:
Phase progression via SERCOS interface must be executed or SERCOS
interface deactivated prior to command start.
C500 Reset class 1 diagnostic, error reset

The command for clearing errors, S-0-0099, C500 Reset class 1
diagnostic was activated by the control system in use. All drive internal
errors are cleared. But before that happens, the cause of the error must
have been cleared.
See also the functional description: "Clearing Errors"
C501 Error delete only in parameter mode

Cause:
An attempt has been made of clearing the error F822 Motor encoder
failure: signal too small in communication phase 4 (operating mode).
This is only possible in communication phases < 4 (parameter setting
mode).
Remedy:
1. Switch back the communication phase.
2. Activate the command again.
C600 Drive controlled homing procedure command

Command S-0-0148, C600 Drive controlled homing procedure
command has been activated by the control system in use.
See also the functional description: " Drive-Controlled Homing"
C601 Homing only possible with drive enable

Cause:
The controller enabling signal was not active when the program was
started. This is not permitted.
Remedy:
1. Switch on the controller enable signal.
2. Start the command again.
See also the functional description: "Functions of the Control During
"Drive-Controlled Homing""
C602 Distance home switch - reference mark erroneous

Cause:
The evaluation of the homing switch has been activated. The distance
between the positive homing switch edge and the reference mark that
shall be interpreted is outside the valid range.
Remedy:
Read the value from the S-0-0298, Reference cam shift by ... parameter
and enter it in the S-0-0299, Home switch offset parameter.
See also the functional description: "Connection of the Home switch"
C604 Homing of absolute encoder not possible

Command S-0-0148, C600 Drive controlled homing procedure
command was activated. An absolute measuring system was selected
using the encoder selection in S-0-0147, Homing parameter. This
command can only run if command P-0-0012, C300 Command ’Set
absolute measurement’ has been previously activated.
Remedy:
First activate command P-0-0012, C300 Command ’Set absolute
measurement’, and then start command S-0-0148, C600 Drive
controlled homing procedure command. This procedure will define the
absolute reference point.
See also the functional description: "Possible Error Messages During

"Drive-Controlled Homing""
C606 Reference mark not detected

Cause:
If
• a distance-coded or
• an incremental measuring system with zero switch
are referenced, then the maximum travel distance during the referencing
procedure is known. If no reference mark is detected over the course of
this path, then error message C606, Reference mark not detected is
generated and referencing is aborted with the generation of an error.
Note: The traversing path of linear non-distance coded measuring system
with zero switch evaluation is not known if „0“ is entered in
parameter P-0-0153, Optimal distance home switch -
reference mark. This is generally the case if the linear scale has
no reference marks at equal and known distances.
Remedy:
• Check the measuring system to be referenced as well as all cabling.
• Check for correct parametrization.
• Check the correction reference mark detection using command P-0-
0014, D500 Command determine marker position
C700 Basic load

With motors of the MHD, MKD and MKE series, the controller parameters
for the connected motor that are stored in the controller are set to their
default values by activating the controller parameters that are stored in
the motor feedback. The drive controller issues the C7 message to
indicate that the C700 Basic load command has been activated via the
command parameter S-0-0262, C700 Command basic load.
Cause:
The command C700 Basic load has been activated.
See also the functional description: " Load Default"
C702 Default parameters not available

With motors of the MHD, MKD and MKE series, adapting the control
loops to the connected digital drive is done by activating the speed
controller parameters that are stored in the motor feedback. The drive
controller employs the C702 Default parameters not available message
to signal that the S-0-0262, C700 Command basic load command has
been activated, but that there is no data memory at the connected motor.
Remedy:
Order the parameter sheet of the employed motor from the INDRAMAT
Service, and enter the parameters.
See also the functional description: "Error Conditions of the Load Default
Settings Procedure"
C703 Default parameters invalid

Cause:
The default parameters are read from the motor feedback data memory.
At least one of these parameters is invalid.
Remedy:
Check the connection to the motor feedback. Exchange the motor if
necessary.
Settings Procedure"
C704 Parameters not copyable

Cause:
The default parameters in use are not compatible with this software
version.
Remedy:
Please contact Indramat. Explain, which software version, which device
and which motor type you have.
Settings Procedure"
C800 Default parameter load

How to start the command:
This command can be started in 2 ways:
1. When "PL" is displayed on the drive controller (appears after a change
in firmware version), by pressing the S1 button beneath the display.
2. By starting the P-0-4094, C8 Default parameter load
What the command does:
All the parameters are cleared and preset with their default (initial) value.
Process blocks and control loop settings are overwritten, too.
Default parameters:
Default values are stored in the drive for all parameters which are listed in
S-0-0192, IDN-list of backup operation data. They define a basic state
of the drive that permits the drive to be switched "ready for operation"
(display "bb“). Mechanical components like gear and load as well as the
control loop settings therefore are not taken into consideration.
See also the functional description: "Basic parameter block".
C801 Parameter default value erroneous (-> S-0-0021)

Cause:
During the execution of P-0-4094, C800 Command Base-parameter
load, a default value that has been stored in the drive was recognized as
incorrect. The related parameter is entered in the S-0-0021, IDN-list of
invalid op. data for comm. Ph. 2.
See also the functional description: "Basic parameter block"
D300 Command adjust commutation

A correctly adjusted commutation offset is mandatory for the operation of
synchronous motors. The "D3“ message indicates that the command has
been activated, that is used for determining the commutation offset.
Cause:
The commutation setting command has been activated.
See also the functional description: "Determining commutation offset"
D301 Drive not ready for commutation command

Meaning:
The drive must be in torque control mode when the "D3“ command is started.
Cause::
Activate torque control and start the command again.
D311 Commutation offset could not be determined.

The Automatic Commutation Adjustment has tried to determine the
commutation offset. That has failed.
Cause:
The motor could not move freely enough.
Remedy:
Check whether the motor is blocked.
D312 Motion range exceeded during commutation

A range of +/- 1 pole pair distance is defined, within which the axis may
move during the Automatic Commutation adjustment. If this range is
exceeded, this error message appears.
Cause:
1. The drive enable has been set while the axis was still in motion.
2. The axis has been moved by a mechanical force.
3. Parameters P-0-0560 Commutation adjustment current and P-0-0562
Commutation adjustment cycle time are set too high. Possibly the
mechanical properties of the axis, like friction or weight load, have
changed.
Remedy:
1. Wait until the axis stands still and set the drive enable once again.
2. Inhibit the influence of the mechanical force.
3. Reduce the parameter values for P-0-0560 Commutation adjustment
current and P-0-0562 Commutation adjustment cycle time. You can
also set them to the default values P-0-0560 Commutation
adjustment current = 25 % and P-0-0562 Commutation adjustment
cycle time = 4 milliseconds. Afterwards, start the command D300
commutation adjustment to evaluate once again the optimal
parameters.
See also the functional description: "Asynchronous Motors".
D400 Positive stop drive procedure command

When the positive stop drive procedure command is activated, all
controller monitoring which would result in an error message for class 1
diagnostic caused by blocking the drive with a positive stop is turned off.
Cause:
Command D400 Positive stop drive procedure command was
activated.
See also the functional description: "Positive stop drive procedure"
D401 ZKL1-Error at command start

Cause:
A class 1 diagnostic error was discovered while starting the command
"Positive stop drive procedure" As a result, the command could not be
executed.
Remedy:
Eliminate the cause of the error, clear the error, and start the command
again.
See also the functional description: "Positive stop drive procedure"
D500 Command Get mark position

The P-0-0014, D500 Command determine marker position command
can be used for checking the correct acquisition and position of the
reference marker of an incremental measuring system. The "d5“ display
shows that the command has been activated.
Cause:
The Determine marker position command has been activated.
See also the functional description: "Functional principle of command

detect marker position"
D501 Incremental encoder required

Cause:
The command has been started for a measuring system that does not
possess real reference markers. These include measuring systems such
as DSF, EnDat, SSI or resolver measuring systems.
Remedy:
Check whether the correct encoder has been selected in S-0-0147,
Homing parameter.
Employ an encoder system with real reference markers.
See also the functional description: "Functional principle of command

detect marker position"
D600 Cancel reference point procedure command

Meaning:
The reference of the encoder that has been selected via S-0-0147,
Homing parameter is canceled.
Cause:
The D600 Cancel reference point procedure command has been
activated.
See also the functional description: " Drive-Controlled Homing"
D700 Parking axis command

The command permits one or more drives of a drive package to be
stopped without error messages being issued to the controller and/or the
power supply module. The remaining drives of the package can be
handled without any restrictions.
Cause:
The S-0-0139, D700 Command parking axis command has been
activated.
See also the functional description: "Command Parking Axis"
4.2 Status Diagnostic Messages
A000 Communication phase 0

The communication process is divided into four communication phases:
Phases 0 and 1 are used to recognize the participants. Phase 2 is used to
prepare the time and data protocols for communication phases 3 and 4.
Initialization is performed in ascending order of the sequence. The
defaults of the communication phase are set by the control system. When
the switch to communication phase 4 takes place, initialization is
completed and input power is enabled.
If the phase switch is interrupted, the status display remains in the
communications phase which has already been reached.
If diagnostic message A000 Communication phase 0 is active, the drive
is in phase 0 and is waiting for a phase transfer to 1 by the control
system.
See also the functional description: "Parameter Mode - Operation Mode".

The communication process is divided into four communication phases:
Phases 0 and 1 are used to recognize the participants. Phase 2 is used to
prepare the time and data protocols for communication phases 3 and 4.
Initialization is performed in ascending order of the sequence. The
defaults of the communications phase are set by the control system.
When the switch to communications phase 4 takes place, initialization is
completed and input power is enabled.
If the phase switch is interrupted, the status display remains in the
communications phase which has already been reached.
If diagnostic message A001 Communication phase 1 is active, the drive
is in phase 1, and transfer from phase 1 to 2 has not yet been initiated by
the control system.

For field bus and SERCOS devices, the control demands via the master
communication "communication phase 2", or the drive has been switched
to phase 2 by the command P-0-4023, C400 Communication phase 2
transition. Therefore, the drive is in the "parameter mode". In this mode,
many parameters are editable, which can not be edited in "communication
phase 4" ("operation mode").
In this phase, usually
• for field bus and SERCOS devices, the communication parameters
are transferred from the control to the drive and
• the functions Load and Save parameters ("file services“) are
performed when needed.
Before switching to communication phase 3 is possible, the command

S-0-0127, C100 Communication phase 3 transition check must be
done. In this command, the drive checks the validity of the parameters
needed for the communication phase 3.
After successful execution of the command, the control switches the drive
to comm. phase 3 (with field bus and SERCOS devices), or the drive
switches by itself to phase 3 at the end of the command.

For field bus and SERCOS devices, the control selects via the master
communication "communication phase 3", or the drive has been switched
to phase 3 by the command S-0-0127, C100 Communication phase 3
transition check. The drive is in the "restricted parameter mode". In this
mode, many parameters are still editable which can not be edited in
"communication phase 4" ("operation mode").
Before switching to communication phase 4 is possible, the command
S-0-0128, C200 Communication phase 4 transition check must be
done. In this command, the drive checks. the validity of the parameters
needed for the communication phase 4 ("operation mode").
After successful execution of the command, the control switches the drive
to comm. phase 4 (with field bus and SERCOS devices), or the drive
switches by itself to phase 4 at the end of the command.
A010 Drive HALT

The feature Drive-Halt ( = opposite of Drive-Start) is activated by the
control via the communication interface through clearing the /Drive-Halt
bit (bit 13) in the master control word or by interrupting a drive control
command (i.e. drive-controlled homing).
The Drive-Halt feature is for decelerating the axis to standstill at defined
acceleration and defined jerk.
In Jog mode S-0-0260, Positioning Acceleration is used for
accelerationand S-0-0193, Positioning Jerk is used for jerk .
In Velocity control and in Torque control mode, the drive is decelerated
to standstill by setting the velocity command to 0 and using the max.
torque.
See also the functional description: "The Functional Principle of Drive

Halt".
A011 Drive interlock open

Digital drive controllers are equipped with a starting lockout device that
prevents an unwanted start of a servo axis. Activating the starting lockout
device separates the power stage control electronics from the power
stage via a relay contact.
+24 V is applied across the AS+/AS– terminals of the X3 connector.
A012 Control and power sections ready for operation

The drive is supplied with control voltage, and the power is switched on.
The drive is ready to deliver power.
A013 Ready for power on

The drive is supplied with a control voltage, and there are no errors in the
drive controller.
The drive is ready to be turned on with power.
A100 Drive in TORQUE control

The drive is in the torque control operating mode. It follows the torque
command value sequence set by the control system.
See also the functional description: "Operating Mode: Torque Control".
A101 Drive in VELOCITY control

The drive is in the velocity control operating mode. It follows the velocity
command value sequence set by the control system. The velocity control
loop is closed in the drive.
See also the functional description: "Operating Mode: Velocity Control".
A102 Position mode with encoder 1

The drive is in position control mode. The position loop is closed in the
drive by a position encoder. The control system only sets the position
command value sequence; the drive follows the command value with a
systematical lag (following error).
Encoder 1 indicates that the position encoder is installed on the motor
shaft (indirect measurement of the axis position).
See also the functional description: "Operating Mode: Position Control".
A103 Position mode with encoder 2

command value sequence; the drive follows the command value with a
systematical lag (following error).
Encoder 2 indicates that the position encoder is installed on the machine
axis (direct axis position measurement).
A104 Position mode lagless, encoder 1

command value sequence; the drive follows the command value without
following error (lagless).
shaft (indirect measurement of axis position).
A105 Position control lagless, feedback 2

command value sequence; the drive follows the command value without
following error (lagless).
A106 Drive controlled interpolation, encoder 1

The drive receives a position command value from the control system
which is identical to the target position of the travel path. Then the drive
generates (interpolates) an internal position command value sequence,
which uses the control system to maintain maximum values for jerk,
velocity and acceleration sequences.
The drive moves with a systematical lag (following error) to the target
position.

Interpolation".
A107 Drive controlled interpolation, encoder 2

The drive moves with a systematical lag (following error) to the target
position.

Interpolation"
A108 Drive controlled interpolation, lagless, encoder 1

The drive moves without following error (lagless) to the target position.

Interpolation".
A109 Drive controlled interpolation, lagless, encoder 2

The drive moves without following error (lagless) to the target position.

Interpolation".
A800 Unknown operation mode

There is no diagnosis for the activated Operating Mode.
4.3 Diagnostic messages for basic initialization and after fatal

System errors
Diagnostic Message Display: -0

Cause:
The data storage for the controller is tested for its functional capability.
If an error is detected, this display will remain.
Remedy:
The drive controller is defective and must be exchanged.

Cause:
The data storage for the DSS 2.1 Module is tested for its functional
capability.
If an error is detected, this display will remain.
Remedy:
The DSS Module or the connection to the main device is defective.
• If DSS module is defective Å exchange
• If drive controller is defective Å exchange

Cause:
Makeup of the parameter structure.
If the EPROMS are exchanged for another version of the firmware, the
parameter memory on the programming module is erased (duration appx.
5 sec.).

Cause:
The motor type and the type of the motor feedback are determined by
reading their parameter storage areas.

During basic initialization, an error was reported by the coprocessor.
Cause:
1. Control voltage error (+24 V or +/-15 V).
2. +/-10 V - error.
Remedy:
For 1. Check the control voltage supply.
For 2. Replace the drive.

Cause:
A fatal processor or program error was encountered.
Remedy:
The error in question is a system error. Please contact the appropriate
software development company.
Diagnostic Message Display: Watchdog

Cause:
A fatal processor or program error (Watchdog) was encountered.
Remedy:
Replace the drive.
4.4 Operation Status

Hereafter, the possible states of operation are listed alphabetically. These
are shown on the H1 display of the device.
bb
"Ready for operation"
Refer to description A013 Ready for power on.
Ab
"Drive is ready"
Refer to description A012 Control and power sections ready for
operation.
AF
"Drive enable"
According to the operation mode in use, you will find a more exact
description of the display "AF" under the respective state diagnosis
A101..A800.
AH
"Drive Halt"
Refer to description A010 Drive HALT.
AS
"Drive interlock"
Refer to description: A011 Drive interlock open
P0
"Phase 0" (only with SERCOS communication)
Refer to description A000 Communication phase 0.
P1
"Phase 1"
P2
"Phase 2"
P3
"Phase 3"
PL
"Basic Parameter Load"
See also: F209 PL Load parameter default values
UL
"Basic Load"
See also: F208 UL The motor type has changed
Notes
DIAX04 SSE-03VRS Exchanging Drive Components 5-1
5 Exchanging Drive Components
5.1 Identifying the Drive Components
Power Supply Module

• The type plate of the power supply module is on the upper side of the
machine at the front edge of the housing.
Rating plate of supply module
Type designations
Part
number of
basic unit
HVE02.1-W025N
272144 K39/97 Production
week/year
SN247368-08751 A07
Type
Barcode
Coded
X1
L+
serial number Change index
L-
Serial number
DX4_ID_1.FH7
Fig. 5-1: Type plate on the power supply module (Example)
Servicing When contacting Customer Service at Indramat, it is important to know

• type designation and
• serial number
of the power supply module.
Procuring a replacement unit Use the type deisgnations when ordering replacement units from
INDRAMAT.
5-2 Exchanging Drive Components DIAX04 SSE-03VRS
Drive Controllers
Three type plates are mounted to the unit to identify hardware and firmware.
Basic unit rating plate Firmware rating plate
Type code of Firmware type FWA-DIAX04-_ _ _-_ _VRS-MS

basic unit HDS_ _.1-W _ _ _N-H code
______ K_ _/_
Coded serial Coded serial
no. no.
SN______ -______ A_ _ SN______ -______ __
Serial no. Int. code Serial no. Int. code
Configuration rating
SYSTEMCONFIGURATION
Type code of the
H1 HDS0 _.1-W __ _N-_ _ _-01-FW configured
drive contoller
HDS0 _.1-W_ _ _N-H Type code of the
basic unit
display H1
(record display at time problem U _________________
1
occured)
U
2 _________________ Type code of the
U plug- in module
_________________
U _________________
U Type code of the

_________________ software module
K_ _/_ _ Production week/
year
Dx4_ID_2.fh7
Fig. 5-2: Type plates for HDS / HDD controllers (Example)

• the type designation of the configured drive controller,
• the serial number of the basic unit and
• the firmware type designation.
Procuring a configured Replacement units can be purchased from Indramat in the form of
replacement unit completely configured drive controllers, provided that
• the type designation of the configured drive controller and the
• firmware type designation
are known. The drive controller is then supplied with plug-in modules
(U1...U4) and the software module (U5) including firmware.
Putting a replacement unit The replacement unit can be put together with a basic unit and the
together necessary plug-in modules. When orderingor when the customer uses
parts from his own stock, it is necessary to know:
• the type designation of the basic unit and the
• type designation of the plug-in module.
If the customer puts the replacement unit together himself, then it is not
necessary to order either software or firmware as the software module
(including firmware) can be removed from the defective unit and re-used.
This means that the replacement unit requires no adjustments in the
machine.
Procuring a new software It only makes sense to replace a software module if the drive firmware
module has an error significant to the application or the new functionality of a new
firmware release is required.
Note: The software module of the drive controller contains the

machine-specific parameters which can be lost when
replacing the software module. This means that the module
should only be replaced in very specific cases!
When ordering, note the
• type designation of the software module as well as the

• firmware type designation.
The latest firmware is automatically delivered.
Motors
A type plate is mounted to each motor in the vicinity of the junction box or
power connector. If this type plate is in any way covered by the contours
of the machine, then an additional type plate can be mounted to a more
visible spot on the motor or machine. (An additional type plate is supplied
with each motor, it is attached over the motor type plate with tape.)

• the type designation and the
• serial number
of the motor.
Procuring a replacmenet motor Replacement motors must be ordered from INDRAMAT specifying the
complete type designation.
Electrical connections
Standard cables
164871-96064849 Internal code
Type code of IKS 374 15.00m Length in meter
ready-made cable
19.08.96 230
Date of Internal code

performance test
DX3_ID_5.FH5
Fig. 5-3: Type plate of standard INDRAMAT cables (Example)
Servicing If cables are damaged it is advisable to replace them with standard and
tested Indramat cables.
Procuring a standard cable When ordering, specify

• type designations of the cables and their
• lengths.
The type plate is situated near the end of the cable.
Making a replacement cable The replacement cable can be made of various parts, i.e., plug-in
connectors, ferrules and connector sleeves. The power connectors in
particular require special tools to mount the components. When obtaining
the components, note
• type designation of the plug-in connector and
• type designation of the cable.
Information about special tools and assembly guidelines can be obtained

from INDRAMAT upon request!
5.2 Replacing Drive Components
Power Supply Module

To avoid machine downtime it makes sense to replace defective drive
controllers by simply exchanging the unit.
INDRAMAT power supply modules have been designed to ensure a safe,
quick and uncomplicated replacement to keep production downtime to an
absolute minimum.
Problems in the supply unit are diagnosed, and the steps to take when
"Replacing the Power Supply Unit" are outlined in terms of the error
diagnoses listed in the relevant document, i.e. DIAX04 - ....; Fault
Clearance Guidelines".
Production can be resumed immediately after the unit is replaced
because it is not necessary to adjust the drive to the machine.
Exchanging a Unit
Procuring a replacement • To achieve the greatest functionality, it is recommended to obtain a
configured drive controller for the replacement. See section "on page
5-1.
Filling out a fault report • A fault report form is incorporated into this document in section "Fault
Report" on page 5-12, where it can be copied and used. The Fault
Report must be completely filled out! This information ensures that
the repair will be quickly and efficiently completed and also helps
locate the cause of the problem!
Disconnecting the voltage • Switch the main switch of the machine off and secure it against being
switched back on.
• Remove the cover of the power connection of the defective unit and
all adjacent units.
Voltage-conducting bus bars (exceeding 50V), even

with supply voltage off!
Electrical shock could result if touched!
⇒ Wait discharge time of DC bus (L+/L-) before
DANGER checking that it has dropped below 50 volts!
• All electrical and mechanical connections (with the exception of the
unit mounting) on the front of the unit, top and underside must be
released and removed.
Removing the supply module Release the screws on the underside of the unit. Lift unit up with both
hands and remove it.
Mounting the module • Grip the supply module at the bottom and top and hang it into the
mounting bars. Now screw into place!
Connecting the supply module
• Re-connect all electrical connections of the supply module as
specified by the machine manufacturer!
• Re-mount the power connection covers!
Starting up the drive package • Start the machine up as specified by the machine manufacturer.
Drive Controllers
To avoid machine downtimes, it makes sense to replace defective drive
controllers by simply replacing them.
INDRAMAT drive controllers have been designed to quickly and simply
replace the units and to keep production downtimes low.
Drive system faults are diagnosed by the drive controllers in terms of
"Replacing the controller" and as dependent on the fault diagnosis found
in the relevant document, "DIAX04 - ....; Fault Clearance Guidelines"
Production can be immediately started up after the unit is replaced as the
drive does not have to be adjusted to the machine.
Exchanging a Unit
Procuring a replacment unit • To achieve the greatest functionality, it is recommended to obtain a
configured drive controller for the replacement. See section "on page
5-1".
Filling out a fault report • A fault report form is incorporated into this document in section "Fault
Disconnecting the voltage • Switch the main switch of machine off and secure against being
switched back on.
• Remove the cover of the power connection of the defective unit and
all adjacent units.

• All electrical and mechanical connections (with the exception of the

unit mounting) on the front of the unit, top and underside must be
released and removed.
Removing the drive controller
• Release the screws on the underside of the unit. Lift unit up with both
hands and remove it.
• Release the software module (slot U5) by pressing the button,
remove it from the defective unit and plug into the replacement unit.
Note: The software module contains the machine-specific

parameters!
If the original software module is used, then no adjustments
of the drive to the machine need be made!
Mounting a HDDS/HDS • Grip the controller at the top and bottom and hang into the mounting
bars. Tighten the screws!
Connecting the controller • Reconnect all electrical connections as per the specifications of the
machine manufacturer!
• Remount the cover of the power connections!
Starting up the controller • Start the machine up as specified by the machine manufacturer.
• Check controller functions!
Motors
Procuring a replacement motor See section. "Identifying the Drive Components" on page 5-1.
Filling Out a Fault Report • A fault report form is incorporated into this document in section "Fault
High voltage at motor lead terminal if not completely

powered down and return of drive enable or if
motor is still turning!
Electrical shock could result from contact!
DANGER
⇒ Check to make sure that the supply connections for
power and control electronics and DC bus are not
conducting voltage!
⇒ Make sure that the motor is standing still!
Removing motor
Error when handling and mounting
Injuries, damage to machine!
⇒ Note the specs of the machine manufacturer for
removing a defective motor!
CAUTION
⇒ Secure hanging machine axes against falling!
• Remove defective motor as specified by machine manufacturer.
Note: Make sure that the open ends of the connectors are not
contaminated! Maximum allowable degree of contamination is
V2! The operating safety is not guaranteed if contamination
exceeds this level!
V2
Contamination level Immediate ambient conditions
Dirt that is capable of conducting cannot occur

V2 during operation (IP65), but non-conductive
contamination can occur during installation or
during replacement of drive components. Some
condense water could also form for short periods.
DX3_AT_2.FH5
Fig. 5-4: Allowable degree of contamination on plug-in connectors of motor
Mounting motor • Mount replacement motor as specified by manufacturer.

•
Connecting the motor • Re-connect all electrical and liquid (if motor is liquid cooled)
connections as specified by the machine manufacturer!
•
Note: Insert the connectors only if they are dry and clean!
Re-starting the machine • Start up the machine as specified by the machine manufacturer. If
may be necessary to re-establish the reference dimension if the
measuring system of the motor supplies the feedback position for
position control.
• Check motor blower function, if necessary. The rotational direction of
the blower wheel must agree with that of the direction of the arrow on
the blower housing!
• With liquid-cooled motors, check coolant level in tank!
Electrical Connections
Procuring a replacement cable To ensure the highest degree of safety, it is recommended to use a
standard INDRAMAT cable for replacement. See section "Identifying the
Drive Components" on page 5-1.
Switching voltage off • Switch main switch of machine off and secure it against being
switched back on.
High voltage at power terminals if not completely

powered down!
Electrical shock upon contact!
⇒ Check to make sure that the supply connections for
DANGER power and control electronics and DC bus are not
conducting current (voltage potential = 0 )!
Replacing and mounting • Remove defective cable. Possibly connect new cable to defective one
thus when pulling out one, the new one is simultaneously pulled in.
Note: Make sure that the open ends of the connectors are not
contaminated! Maximum allowable degree of contamination is
V2! The operating safety is not guaranteed if contamination
exceeds this level!
Contamination level Immediate ambient conditions
Conductive contamination cannot occur during

V2 operation of the drive (IP65) but non-conductive
dirt contamination can occur during installation or
replacement of the drive components. Some
condense water could also form.
Machine housing Control cabinet
X1
V2 V2 V2 V2 V2 L+
L-
A1 A2 A3
DX4_AT_3.FH7
Fig. 5-5: Permissible degree of contamination of plug-in connectors
Connecting a cable • In the case of cables without plug-in connectors, connect the
individual cores as per the specifications of the machine
manufacturer. Ferrules and connectors sleeves must be used! Note
correct phases with motor power and motor blower connections.
• Make sure cables with plug-in connectors have clean surfaces!
Note: Plug connectors in only if these are clean and dry!
Starting machine up • Start the machine up as specified by the machine manufacturer. It

may be necessary to check the motor blower. The rotational direction
of the blower wheel must agree with the direction of the arrow o the
blower housing!
Dispose of defective cable properly!
Plug-in Modules
Procuring a plug-in module See section "Identifying the Drive Components" on page 5-2.
Disconnecting voltage • Remove the HDD/HDS from the mains. Make sure that the power and
control power source are switched off. The displays on the power
supply module and controller must not be illuminated.
• All electrical and optical connections on the front plate of the plug-in
module must be removed.
Replacing plug-in modules

Danger when handling!
Controller and plug-in module could be damaged if plug-
in module replaced with power applied!
⇒ Plug-in modules may not be removed or inserted with
CAUTION power on!
• Release screws at top and bottom of defective plug-in module. Pull

module out and label it as "defective"!
• Insert new module and tighten screws.
• All electrical and optical connections must be reconnected.
Starting controller up • Make sure that the cause for the defective plug-in module has been
eliminated (e.g., defect in external measuring system, etc.).
• Start machine up as specified by machine manufacturer. The
HDD/HDS drive package is started up simultaneously.
Software Module
Procuring a software module
Note: The software module contains all machine-specific
parameters. Prior to mounting a new software module, secure
the parameters on an external medium and re-load after
replacing the module.
See sec. "IIdentifying the Drive Components" on page 5-1.
Disconnecting the voltage Disconnect drive controller with HDD/HDSS from mains. Make sure that
power and control voltage power sources are shut down. The displays
on module and controller must not be illuminated.

Replacing the software module

Danger when handling!
Danger to hardware and firmware if plug-in module
replaced with voltage applied!
⇒ Do not remove software module or insert it if voltage
CAUTION is applied!
• Remove software module (slot U5) and label it as defective.

• Insert new software module and click it into place!
Starting up controller • Software module replacement necessitates a restart of the drive as
drive behavior could be altered by error corrections or functional
firmware expansion. The data which was previously secured on an
external medium can then be reloaded.
5.3 Fault Report
Fault Report
for DIAX04
This fault report supports clarification of problems and their causes. It is absolutely necessary for
finding and eliminating even hidden, sporadic or applications-specific problems.
- Always include a fault report when sending in a repair.
- In any other case, send the fault report to the respective INDRAMAT Customer Service office, or send
it into
office with the address found on the back for the INDRAMAT Quality Assurance Department.
INDRAMAT will process the matter quickly and efficiently.
Co: Loc: Date:

Fault report
from: Dept.: Name: Tele.:
Information on the defective drive:
Rating plate basic unit data:

DSS2.1
DSS2.1
M
HDD - _ _ _ _ - _
H3 ERR H3 ERR
X11 RX S2 LOW S3 HIGH
X11 RX S2 LOW S3 HIGH
2 3 2 3
4
4
1
1
0
5 6
5 6
9
8 7 8 7
2 3 2 3
4
4
1
1
0
5 6
5 6
9
8 7 8 7
Serial no:
X12 X12
E1 E1
E2 E2
E3 E3
E4 E4
E5 E5
E6 E6
+U +U
OV OV
Software module information: Software module information:

FWC-HSM _._ - _ _ _-_ _V_ _-MS FWC-HSM _._ - _ _ _-_ _V_ _-MS
S.No.: _ _ _ _ _ _ - H1 H1 S.No.: _ _ _ _ _ _ -
Display at Display at
time problem time problem
occurred occurred
Motor data: Motor data:
Motortype: Motortype:
Serial no: Serial no:
Information on the problem:

HDS - _ _ _ _ - _
Serial no:
Software module information:

FWC-HSM _._ - _ _ _-_ _V_ _-MS Motor data:
S.No.: _ _ _ _ _ _ -
H1
Motortype:
Status display H1 Serial no:

(Record display info at time of
problem) Please look at the back
Pi6003f1.FH7
Rexroth Indramat GmbH • Bgm.-Dr.-Nebel-Straße 2 • D-97816 Lohr • Telefon 09352 / 404-0 • Tx 689 421 • Fax 09352 / 404-885
Fault report page 2

for DIAX04
Information about HVE or HVR:

HVE _._ - _ _ _ _ - _ H1
Serial no.:
Display H1
or at time problem
Type
Barcode
occurred
HVR _._ - _ _ _ _ - _ X1
L+
Serial no.: L-
Information about the machine on which problem occurred:

Manufacturer: Type: Operating hrs.:
Machine number: Startup date:
Number of drives: Manuf. of and machine controller type:
Designation of machine axis at which problem occurred: X Y Z A C Q __ -axis
Please explain the problem:
Additional information:
Defective state: Cause: Accompanying effects:
is constantly present unknown mechanical problems Have there been problems with
during startups connection error mains section failed this axis before ?
occurs sporadically external causes control failed
occurs after hours mechanical damage motor failed How often:
occurs with vibrations loose connetions cable break
is temperature-dependent moisture in unit defective blower Do the problems always occur on specific
extrinsic object in unit defective feedback data or at specific times of the day ?
Pi6004f1.fh7
Indramat GmbH • Bgm.-Dr.-Nebel-Straße 2 • D-97816 Lohr • Telefon 09352 / 404-0 • Tx 689 421 • Fax 09352 / 404-885
Fig. 5-6: Fault Report for AC drives with HDD/HDS
Notes
DIAX04 SSE-03VRS Index 6-1
6 Index
+
+/-15Volt DC error 3-27
+10Volt DC error 3-27
+24V/+-15V/+5V fault power supply unit 3-14
+24Volt DC error 3-27
A
Ab 4-32
Absolute encoder out of allowed window 3-12
Absolute measuring system not installed 4-17
Acceleration data scaling error 4-11
Activation of a safety function wrong 3-19
AF 4-32
AH 4-32
Amplifier overtemp. shutdown 3-3
AS 4-32
B
Basic load 4-20
bb 4-32
Bleeder overload 3-13
Bleeder overload warning power supply unit 3-37
Brake fault 3-10
C
Cable damage 5-4
Cancel reference point procedure command 4-23
Checksum error power supply unit 3-15
Clear Coded Diagnostic Message 1-3
Command adjust commutation 4-21
Command Check reference 4-2
Command Get mark position 4-23
Command not enabled 4-2
Command Release motor holding brake 4-2
Command Set absolute measuring 4-17
Command velocity limit active 3-35
Communication phase 0 4-25
Communication phase 3 transition check 4-2
Communication phase 4 transition check 4-7
Commutation offset could not be determined 3-24
Commutation offset could not be determined. 4-22
Config. IDN for AT not configurable 4-4
Config. IDN for MDT not configurable 4-3
Configurated length > max. length for AT 4-4
Configurated length > max. length for MDT 4-3
configured drive controllers 5-2
Connection error at power supply unit 3-15
Construction of a diagnostic message 1-1
Continuous current limit active 3-34
Continuous current limit prewarning 3-35
Control and power sections ready for operation 4-27
Control voltage supply fault power supply unit 3-37
Controller type S-0-0140 wrong 4-15
Coprocessor acknowledge failed 4-14
Coprocessor not ready for initialization 4-14
Current measurement trim wrong 3-12
6-2 Index DIAX04 SSE-03VRS
D
Data crosscheck wrong 3-21
Default parameter load 4-21
Default parameters invalid 4-20
Default parameters not available 4-20
Diagnostic Message Descriptions 1-1
Diagnostic Message Display
-0 4-30
-1 4-30
-2 4-30
-3 4-30
-5 4-30
-6 4-30
Watchdog 4-31
Diagnostic message power supply erroneous 3-37
Diagnostic Message Types 1-1
Distance home switch - reference mark erroneous 4-19
Double MST failure shutdown 3-15
Drive active, switching not allowed 4-17
Drive controlled homing procedure command 4-18
Drive controlled interpolation, encoder 1 4-28
Drive controlled interpolation, encoder 2 4-28
Drive controlled interpolation, lagless, encoder 1 4-29
Drive controlled interpolation, lagless, encoder 2 4-29
Drive HALT 4-26
Drive in TORQUE control 4-27
Drive in VELOCITY control 4-27
Drive interlock open 4-26
Drive interlock while drive activated 3-26
Drive not ready for commutation command 4-21
Drive overtemp. prewarning 3-32
E
Emergency-Stop 3-17, 3-23, 3-40
Emulator not loadable 4-15
Encoder 1 failure
quadrant error 3-5
signal too small 3-25
Encoder 1 interface not present 4-15
Encoder 2 failure
quadrant error 3-9
signal too small 3-8
Encoder 2 interface not present 4-16
Encoder combination not possible 4-16
Erroneous internal hardware synchronization 3-10
Error delete only in parameter mode 4-18
Error power supply E-Stop 3-12
Error power supply home switch 3-11
Error power supply probe input 3-11
Error power supply travel limit switch 3-11
Excessive deviation 3-5
Excessive position command difference 3-7
Excessive position feedback difference 3-6
Exchanging a DDS02.2/DDS03.2 5-5, 5-6
External power supply error 3-6
F
Fault Report 5-12
Feedback 1 initializing error 4-13
Feedback 1 required (P-0-0074) 4-16
Feedback 2 data reading error 4-12
Feedback 2 initializing error 4-13
Feedback 2 required (->S-0-0022) 4-9
Feedback1 data reading error 4-12
Feedrate-override S-0-0108 = 0 3-34
Firmware release state 5-3
Forced dynamization necessary 3-20
H
H1-Display 1-2
Heat sink overtemp. warning power supply unit 3-36
Heatsink overtemp. fault power supply unit 3-13
Homing of absolute encoder not possible 4-19
Homing only possible with drive enable 4-18
I
ID9 + Record length - 1 > length MDT (S-0-0010) 4-5
Incremental encoder required 4-23
Input value for max. range too high 4-14
Interpolation acceleration = 0 3-31
Interpolation velocity = 0 3-31
Invalid addressing of AT-data container A 3-38
Invalid addressing of MDT-data container A 3-37
Invalid amplifier data (->S-0-0022) 4-9
Invalid communication parameter (S-0-0021) 4-3
Invalid communication phase shutdown 3-16
Invalid feedback data (->S-0-0022) 4-9
Invalid parameter(s) (->S-0-0022) 4-8
L
Length of MDT (S-0-0010) odd 4-5
Line frequency fault 3-15
Line voltage fault 3-15
Load-side motor encoder with inductance motor only 4-16
Low battery voltage 3-9
M
Mains failure 3-14
Mains phase loss fault 3-14
Max signal frequency of encoder 2 exceeded 3-9
Max. signal frequency of encoder 1 exceeded 3-6
Modulo range error 4-15
Monitoring of safe reduced speed during switchover 3-21
Monitoring Safe Halt 3-17
Monitoring Safe operating halt 3-18
Monitoring safe reduced speed 1 + abs. pos. 1 3-18
Monitoring safe reduced speed 2 + abs. pos. 2 3-19
Motion range exceeded during commutation 3-24, 4-22
Motor overload 3-30
Motor overtemp. prewarning 3-33
Motor overtemp. shutdown 3-4
Motor temp. surveillance defective 3-4
Motor type P-0-4014 incorrect 4-8
Motor type plate 5-3
N
Negative limit switch activated 3-40
Negative position limit exceeded 3-39
Negative travel limit exceeded 3-22
Negative travel limit switch detected 3-24
O
Only allowed without master 4-18
Operation Status 4-32
Option module error power supply unit 3-36
Order of MDT configuration wrong 4-7
Overcurrent
short in power stage 3-26
short to ground 3-26
Overcurrent power supply unit 3-14
Overview of the diagnostic message descriptions 1-1
P
P0 4-32
P1 4-32
P2 4-32
P3 4-32
Parameter calculation error (->S-0-0022) 4-8
Parameter default value erroneous (-> S-0-0021) 4-21
Parameter limit error (->S-0-0022) 4-8
Parameters not copyable 4-20
Parking axis command 4-24
Phase switching without ready signal 3-17
PL 4-33
PL Load parameter default values 3-3
Position control lagless, feedback 2 4-28
Position data scaling error 4-10
Position mode lagless, encoder 1 4-28
Position mode with encoder 1 4-27
Position mode with encoder 2 4-27
Position of data record in MDT (S-0-0009) even 4-5
Positioning velocity >= S-0-0091 3-32
Positive limit switch activated 3-40
Positive position limit exceeded 3-39
Positive stop drive procedure command 4-22
Positive travel limit exceeded 3-22
Positive travel limit switch detected 3-23
Power supply module 5-1
R
Ready for power on 4-27
Recovery overload power supply unit 3-36
Reference mark not detected 4-19
Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error 4-6
Release state of the firmware 5-3
Removing motor 5-7
Replacement cable 5-4
Replacement motors 5-3
Replacing a software module 5-3
Replacing cables 5-9
Replacing plug-in modules 5-10
Replacing the software module 5-11
Reset class 1 diagnostic, error reset 4-18
S
Safe reference lost 3-21
Safe reference not possible 4-2
Safety input signals wrong, checksum 3-20
Safety input signals wrong, counter 3-20
Safety Instructions 2-1
Short to ground power supply unit 3-14
Slave not scanned or address 0 3-38
Standard cables 5-4
Switching to parameter mode 4-17
Switching to uninitialized operation mode 3-2
T
T2 too small 4-7
T4 > TScyc (S-0-0002) - T4min (S-0-0005) 4-6
Target position out of travel range 3-33
Time slot parameter > Sercos cycle time 4-4
TNcyc (S-0-0001) or TScyc (S-0-0002) error 4-6
Torque/force data scaling error 4-11
Type plate on the power supply module 5-1
Type plates of stanard INDRAMAT cables 5-4
U
UL 4-33
UL The motor type has changed. 3-2
Undervoltage in power section 3-5, 3-31, 3-39
Unknown operation mode 4-29
V
Velocity command value > limit S-0-0091 3-35
Velocity data scaling error 4-10
Velocity limit S-0-0091 exceeded 3-28
Velocity loop error 3-28
W
Warning Drive temp. surveillance defective 3-30
Warning Motor temp. surveillance defective 3-30
Z
ZKL1-Error at command start 4-23
Notes
DIAX04 SSE-03VRS Kundenbetreuungsstellen - Sales & Service Facilities 7-1
7 Kundenbetreuungsstellen - Sales & Service

Facilities
Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!!
from abroad: don’t dial (0) after country code!
Vertriebsgebiet Mitte SALES Vertriebsgebiet Mitte SALES Vertriebsgebiet Ost SALES Vertriebsgebiet Ost SALES
Germany Centre Service Germany Centre Service Germany East Service Germany East Service
Rexroth Indramat GmbH Mannesmann Rexroth AG Rexroth Indramat GmbH Mannesmann Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 Gesch.ber. Rexroth Indramat Beckerstraße 31 GB Rexroth Indramat GmbH
97816 Lohr am Main Lilistraße 14-18 09120 Chemnitz Holzhäuser Str. 122
63067 Offenbach 04299 Leipzig
Telefon: +49 (0)9352/40-0 Telefon: +49 (0)371/35 55-0
Telefax: +49 (0)9352/40-4885 Telefon: +49 (0) 69/82 00 90-0 Telefax: +49 (0)371/35 55-333 Telefon: +49 (0)341/86 77-0
Telefax: +49 (0) 69/82 00 90-80 Telefax: +49 (0)341/86 77-219
Vertriebsgebiet Süd SALES Gebiet Südwest SALES Vertriebsgebiet Nord SALES Vertriebsgebiet Nord SALES
Germany South Service Germany South-West Service Germany North Service Germany North Service
Rexroth Indramat GmbH Mannesmann Rexroth AG Rexroth Indramat GmbH Mannesmann Rexroth AG
Ridlerstraße 75 Vertrieb Deutschland – VD-BI Kieler Straße 212 Vertriebsniederlassung Region Nord
80339 München Geschäftsbereich Rexroth Indramat 22525 Hamburg Gesch.ber. Rexroth Indramat
Regionalzentrum Südwest Walsroder Str. 93
Telefon: +49 (0)89/540138-30 Ringstrasse 70 / Postfach 1144 Telefon: +49 (0)40/85 31 57-0
30853 Langenhagen
Telefax: +49 (0)89/540138-10 70736 Fellbach / 70701 Fellbach Telefax: +49 (0)40/85 31 57-15
[email protected] Telefon: +49 (0) 511/72 66 57-0
Tel.: +49 (0)711/57 61–100 Telefax: +49 (0) 511/72 66 57-93
Fax: +49 (0)711/57 61–125
Vertriebsgebiet West SALES SERVICE - Hotline - 7 Tage / 24h - ERSATZTEIL - Hotline

Germany West Service
HELPDESK
Mannesmann Rexroth AG MO – FR - von 7 – 17 Uhr
Telefax +49 (0)9352/40-4941 ♦ nur an Werktagen
Vertrieb Deutschland
Regionalzentrum West Telefon +49 (0)9352/40- ♦ von 15 -18 Uhr
Borsigstrasse 15 Bernard A. -4894
D - 40880 Ratingen Kolb R. -4922
Pfeffermann O. -4808 Tel. +49 (0) 93 52/40 42 22
Telefon: +49 (0)2102/409-0 Roeper P. -4359
Telefax: +49 (0)2102/409-406 Scheiner W. -4921
A U S S E R H A L B dieser Zeit:
Telefon: +49 (0)172/660 04 06
oder/or
Telefon: +49 (0)171/333 88 26
Kundenbetreuungsstellen in Deutschland - Service agencies in Germany
7-2 Kundenbetreuungsstellen - Sales & Service Facilities DIAX04 SSE-03VRS
Europa – Europe vom Ausland: (0) nach Landeskennziffer weglassen, 0 nach Landeskennziffer mitwählen!
from abroad: don’t dial (0) after country code, dial 0 after country code!
Austria SALES Service Austria SALES Service Belgium SALES Service Denmark SALES Service
Mannesmann Rexroth Ges.m.b.H. Mannesmann Rexroth G.m.b.H. Mannesmann Rexroth N.V.-S.A. BEC AS
Gesch.ber. Rexroth Indramat Gesch.ber. Rexroth Indramat Gesch.ber. Rexroth Indramat Zinkvej 6
Hägelingasse 3 Industriepark 18 Industrielaan 8 DK-8900 Randers
A - 1140 Wien A - 4061 Pasching B-1740 Ternat
Telefon: +43 (0)1/9852540-400 Telefon: +43 (0)7221/605-0 Telefon: +32 (0)2/5830719 Telefon: +45 (0)87/11 90 60
Telefax: +43 (0)1/9852540-93 Telefax: +43 (0)7221/605-21 Telefax: +32 (0)2/5830731 Telefax: +45 (0)87/11 90 61
England SALES Service Finland SALES Service France SALES Service France SALES Service
Mannesmann Rexroth Ltd. Rexroth Mecman Oy Mannesmann Rexroth S.A. Mannesmann Rexroth S.A.
Rexroth Indramat Division Rexroth Indramat division Division Rexroth Indramat Division Rexroth Indramat
Broadway Lane, South Cerney Ansatie 6 Parc des Barbanniers 270, Avenue de Lardenne
GB - Cirencester, Glos GL7 5UH SF-017 40 Vantaa 4, Place du Village F - 31100 Toulouse
F-92632 Gennevilliers Cedex
Telefon: +44 (0)1285/863000 Telefon: +358 (0)9/84 91-11 Telefon: +33 (0)5 61 49 95 19
Telefax: +44 (0)1285/863030 Telefax: +358 (0)9/84 91-13 60 Telefon: +33 (0)141 47 54 30 Telefax: +33 (0)5 61 31 00 41
Telefax: +33 (0)147 94 69 41
Hotline: +33 (0)6 08 33 43 28
France SALES Service Italy SALES Service Italy SALES Service Italy SALES Service
Mannesmann Rexroth S.A. Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A.
Division Rexroth Indramat Divisione Rexroth Indramat Divisione Rexroth Indramat Divisione Rexroth Indramat
91, Bd. Irène Joliot-Curie Via G. Di Vittoria, 1 Via Borgomanero, 11 Via del Progresso, 16 (Zona Ind.)
F - 69634 Vénissieux – Cedex I - 20063 Cernusco S/N.MI I - 10145 Torino I - 35020 Padova
Telefon: +33 (0)4 78 78 53 65 Telefon: +39 02/92 36 52 70 Telefon: +39 011/7 50 38 11 Telefon: +39 049/8 70 13 70
Telefax: +33 (0)4 78 78 53 62 Telefax: +39 02/92 36 55 12 Telefax: +39 011/7 71 01 90 Telefax: +39 049/8 70 13 77
Italy SALES Service Italy SALES Service Netherlands SALES Service Netherlands SALES Service
Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A. Hydraudyne Hydrauliek B.V. Hydrocare B.V.
Divisione Rexroth Indramat Divisione Rexroth Indramat Kruisbroeksestraat 1 Kruisbroeksestraat 1
Via Mascia, 1 Viale Oriani, 38/A (P.O. Box 32) (P.O. Box 32)
I - 80053 Castellamare di Stabia NA I - 40137 Bologna NL - 5281 RV Boxtel NL - 5281 RV Boxtel
Telefon: +39 081/8 71 57 00 Telefon: +39 051/34 14 14 Telefon: +31 (0)411/65 19 51 Telefon: +31 (0)411/65 19 51
Telefax: +39 081/8 71 68 86 Telefax: +39 051/34 14 22 Telefax: +31 (0)411/65 14 83 Telefax: +31 (0)411/67 78 14
e-mail: [email protected]
Norway SALES Service Poland SALES Service Russia SALES Service Spain SALES Service
Rexroth Mecman AS Mannesmann Rexroth Sp.zo.o. Tschudnenko E.B. Mannesmann Rexroth S.A.
Rexroth Indramat Division Biuro Poznan Arsenia 22 Divisiòn Rexroth Indramat
Berghagan 1 or: Box 3007 ul. Dabrowskiego 81/85 RUS - 153000 Ivanovo Centro Industrial Santiga
N -1405 Ski-Langhus N -1402 Ski PL - 60-529 Poznan Rußland Obradors s/n
E-08130 Santa Perpetua de Mogoda
Telefon: +47 (0)64 86 41 00 Telefon: +48 061/847 67 99 Telefon: +7 093/223 96 33
Barcelona
Telefax: +47 (0)64 86 90 62 Telefax: +48 061/847 64 02 oder/or +7 093/223 95 48
Telefax: +7 093/223 46 01 Telefon: +34 937 47 94 00
Telefax: +34 937 47 94 01
Spain SALES Service Sweden SALES Service Slowenia SALES Service Turkey SALES Service
Goimendi S.A. Rexroth Mecman Svenska AB Rexroth Indramat Mannesmann Rexroth Hidropar A..S.
División Rexroth Indramat Rexroth Indramat Division elektromotorji d.o.o. Fevzi Cakmak Cad No. 3
Jolastokieta (Herrera) Varuvägen 7 Otoki 21 TR - 34630 Sefaköy Istanbul
Apartado 11 37 S - 125 81 Stockholm SLO - 64 228 Zelezniki
Telefon: +90 212/541 60 70
E - 20017 San Sebastian
Telefon: +46 (0)8/727 92 00 Telefon: +386 64/61 73 32 Telefax: +90 212/599 34 07
Telefon: +34 9 43/40 01 63 Telefax: +46 (0)8/647 32 77 Telefax: +386 64/64 71 50
Telefax: +34 9 43/39 17 99
Switzerland Switzerland
SALES SALES
-East- Service -West- Service
Mannesmann Rexroth Schweiz AG Mannesmann Rexroth Suisse SA

Gesch.ber. Rexroth Indramat Département Rexroth Indramat
Gewerbestraße 3 Rue du village 1
CH - 8500 Frauenfeld CH - 1020 Renens
Telefon: +41 (0)52/720 21 00 Telefon: +41 (0)21/632 84 20
Telefax: +41 (0)52/720 21 11 Telefax: +41 (0)21/632 84 21
Europäische Kundenbetreuungsstellen (ohne Deutschland)

European Service agencies (without Germany)
DIAX04 SSE-03VRS Kundenbetreuungsstellen - Sales & Service Facilities 7-3
Außerhalb Europa - outside Europe vom Ausland: (0) nach Landeskennziffer weglassen!
from abroad: don’t dial (0) after country code!
Argentina SALES Service Argentina SALES Service Australia SALES Service Australia SALES Service
Mannesmann Rexroth S.A.I.C. NAKASE AIMS - Australian Industrial Mannesmann Rexroth Pty. Ltd.
Division Rexroth Indramat Servicio Tecnico CNC Machinery Services Pty. Ltd. No. 7, Endeavour Way
Acassusso 48 41/7 Calle 49, No. 5764/66 Unit 3/45 Horne ST Braeside Victoria, 31 95
RA - 1605 Munro (Buenos Aires) RA - 1653 Villa Balester Campbellfield , VIC 3061 AUS – Melbourne
Prov. - Buenos Aires AUS - Melbourne
Telefon: +54 (0)11/4756 01 40
Telefax: +54 (0)11/4762 6862 Telefon: +54 (0) 11/4768 36 43 Telefon: +61 (0)3/93 59 02 28
Telefon: +61 (0)3/95 80 39 33
e-mail:[email protected] Telefax: +54 (0) 11/4768 24 13 Telefax: +61 (0)3/93 59 02 86
Telefax: +61 (0)3/95 80 17 33
Email: [email protected]
[email protected]
Brazil SALES Service Brazil SALES Service Canada SALES Service China SALES Service
Mannesmann Rexroth Mannesmann Rexroth Basic Technologies Corporation Mannesmann Rexroth (China) Ldt.
Automação Ltda. Automação Ltda. Burlington Division Shanghai Parts & Service Center
Divisão Rexroth Indramat Divisão Rexroth Indramat 3426 Mainway Drive 199 Wu Cao Road, Hua Cao
Rua Georg Rexroth, 609 R. Dr.Humberto Pinheiro Vieira, 100 Burlington, Ontario Minhang District
Vila Padre Anchieta Distrito Industrial Canada L7M 1A8 PRC - Shanghai 201 103
BR - 09951-270 Diadema-SP BR - 89220-390 Joinville - SC
Telefon: +1 905/335 55 11 Telefon: +86 21/62 20 00 58
[ Caixa Postal 377 ] [ Caixa Postal 1273 ]
[ BR-09901-970 Diadema-SP ]
Telefax: +1 905/335-41 84 Telefax: +86 21/62 20 00 68
Tel./Fax: +55 (0)47/473 58 33
Telefon: +55 (0)11/745 90 60 Mobil: +55 (0)47 974 66 45
+55 (0)11/745 90 70 e-mail: [email protected]
Telefax: +55 (0)11/745 90 50
China SALES Service China SALES Service Hongkong SALES Service India SALES Service
Mannesmann Rexroth (China) Ldt. Mannesmann Rexroth (China) Ldt. Rexroth (China) Ldt. Mannesmann Rexroth (India) Ltd.
15/F China World Trade Center A-5F., 123 Lian Shan Street 1/F., 19 Cheung Shun Street Rexroth Indramat Division
1, Jianguomenwai Avenue Sha He Kou District Cheung Sha Wan, Plot. 96, Phase III
PRC - Beijing 100004 PRC - Dalian 116 023 Kowloon, Hongkong Peenya Industrial Area
IND - Bangalore - 560058
Telefon: +86 10/65 05 03 80 Telefon: +86 411/46 78 930 Telefon: +852 22 62 51 00
Telefax: +86 10/65 05 03 79 Telefax: +86 411/46 78 932 Telefax: +852 27 44 02 78 Telefon: +91 (0)80/8 39 73 74
Telefax: +91 (0)80/8 39 43 45
India SALES Service Indonesia SALES Service Japan SALES Service Japan SALES Service
Mannesmann Rexroth (India) Ltd. PT. Rexroth Wijayakusuma Rexroth Automation Co., Ltd. Rexroth Automation Co., Ltd.
Rexroth Indramat Division Jl. Raya Bekasi Km 21 Service Center Japan Rexroth Indramat Division
Plot. A-58, TTC Industrial Area Pulogadung Yutakagaoka 1810, Meito-ku, 1F, I.R. Building
Thane Turbhe Midc Road RI - Jakarta Timur 13920 NAGOYA 465-0035, Japan Nakamachidai 4-26-44, Tsuzuki-ku
Mahape Village YOKOHAMA 224-0041, Japan
Telefon: +62 21/4 61 04 87 Telefon: +81 (0)52/777 88 41
IND - Navi Mumbai - 400 701
+62 21/4 61 04 88 +81 (0)52/777 88 53 Telefon: +81 (0)45/942 72 10
Telefon: +91 (0)22/7 61 46 22 Telefax: +62 21/4 60 01 52 +81 (0)52/777 88 79 Telefax: +81 (0)45/942 03 41
Telefax: +91 (0)22/7 68 15 31 Telefax: +81 (0)52/777 89 01
Mexico SALES Service Korea SALES Service Korea SALES Service South Africa SALES Service
Mannesmann Rexroth Mexico S.A. Mannesmann Rexroth-Seki Co Ltd. Seo Chang Corporation Ltd. TECTRA Automation (Pty) Ltd.
de C.V. 1500-12 Da-Dae-Dong Room 903, Jeail Building 28 Banfield Road,Industria North
Calle Neptuno 72 ROK - Saha-Ku, Pusan, 604-050 44-35 Yeouido-Dong RSA - Maraisburg 1700
Unidad Ind. Vallejo Yeoungdeungpo-Ku
Telefon: +82 (0)51/2 60 06 18 Telefon: +27 (0)11/673 20 80
MEX - 07700 Mexico, D.F. C.P.O.Box 97 56
Telefax: +82 (0)51/2 60 06 19 Telefax: +27 (0)11/673 72 69
ROK - Seoul
Telefon: +52 5 754 17 11
+52 5 754 36 84 Telefon: +82 (0)2/7 80 82 08
+52 5 754 12 60 +82 (0)2/7 80 82 09
Telefax: +52 5 754 50 73 Telefax: +82 (0)2/7 84 54 08
+52 5 752 59 43
Taiwan SALES Service
Rexroth Uchida Co., Ltd.

No.1, Tsu Chiang Street
Tu Cheng Ind. Estate
Taipei Hsien, Taiwan, R.O.C.
Telefon: +886 2/2 68 13 47
Telefax: +886 2/2 68 53 88
Kundenbetreuungsstellen außerhalb Europa - Service agencies outside Europe
7-4 Kundenbetreuungsstellen - Sales & Service Facilities DIAX04 SSE-03VRS
Außerhalb Europa / USA - outside Europe / USA

USA SALES Service USA SALES Service USA SALES Service USA SALES Service
Mannesmann Rexroth Corporation Mannesmann Rexroth Corporation Mannesmann Rexroth Corporation Mannesmann Rexroth Corporation
Rexroth Indramat Division Rexroth Indramat Division Rexroth Indramat Division Rexroth Indramat Division
5150 Prairie Stone Parkway Central Region Technical Center Southeastern Technical Center Northeastern Technical Center
USA -Hoffman Estates, IL 60192-3707 USA - Auburn Hills, MI 48326 3625 Swiftwater Park Drive 99 Rainbow Road
USA - Suwanee USA - East Granby,
Telefon: +1 847/6 45 36 00 Telefon: +1 248/3 93 33 30
Georgia 30174 Connecticut 06026
Telefax: +1 847/6 45 62 01 Telefax: +1 248/3 93 29 06
[email protected] Telefon: +1 770/9 32 32 00 Telefon: +1 860/8 44 83 77
+1 770/9 32 19 03 +1 860/8 44 85 95
USA SALES Service USA Service HOTLINE
Mannesmann Rexroth Corporation

Rexroth Indramat Division
+1-800-860-1055
Charlotte Regional Sales Office
14001 South Lakes Drive
USA - Charlotte, - 7 days / 24hrs -
North Carolina 28273
Telefon: +1 704/5 83 97 62
+1 704/5 83 14 86
Kundenbetreuungsstellen außerhalb Europa / USA

Service agencies outside Europe / USA
Printed in Germany
284052
Rexroth
Indramat

DIAX04 Troubleshooting Guide Compressed

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engineering

Read and follow "Safety

5 minutes after switching power

Instructions for Electrical Drives"

Document Typecode DOK-DIAX04-SSE-03VRS**-WA01-EN-P

Internal File Reference • Box 61-03V-EN

Purpose of Documentation? This documentation is designed to assist maintenance personal in

• help in understanding error messages

Record of Revisions Release

Copyright  1999 Rexroth Indramat GmbH

Published by Rexroth Indramat GmbH

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

Summary of Documentation - Box

Description of all implemented Function

A description of all parameters

-Explanation of the diagnostic states

Firmware Version Notes:

Description of new and changed functions

-FWA-DIAX04-SSE02VRS-MS Order designation

2 Safety Instructions for Electrical Equipment .................................................... 2-1

3 Description of diagnostic letters F... and E... .................................................... 3-1

F268 Brake fault ............................................................................................................................... 3-10

F860 Overcurrent: short in power stage........................................................................................... 3-26

4 Description of Diagnostic Letters B...,C..., D... and A....................................... 4-1

C000 Command Check reference...................................................................................................... 4-2

C302 Absolute measuring system not installed ............................................................................... 4-17

A800 Unknown operation mode....................................................................................................... 4-29

5 Exchanging Drive Components ......................................................................... 5-1

6 Index ..................................................................................................................... 6-1

7 Kundenbetreuungsstellen - Sales & Service Facilities .................................... 7-1

1 Diagnostic Message Descriptions

1.1 Overview of the diagnostic message descriptions

Diagnostic Message Types

Construction of a diagnostic message

F228 Excessive Control Deviation

Diagnostic message number

Fig. 1-1: Diagnostic message with a diagnostic number and text.

Fig. 1-2: H1-/H2-Display on HDS- and HDD-Drive

The diagnostic number appears on this two-positional seven-segment

Fig. 1-3: Diagnostic message priority diagram

Clear Coded Diagnostic Message

2 Safety Instructions for Electrical Equipment

Inappropriate use of this equipment, failure to

Warning symbol with signal Danger class in compliance with ANSI

Bodily harm or product damage will occur.

Death or severe bodily harm may occur.

Death or severe bodily harm may occur.

2.3 Hazards by inappropriate use

High voltage and high discharge current !

Dangerous movements ! Danger to life and risk

High electrical voltage due to wrong

Health hazard for persons with heart

Surface of machine housing could be extremely

Risk of injury due to inappropriate handling !

Risk of injury due to inappropriate handling of

2.4 General Information

• Operation is only permitted if the national EMC regulations for the

• Technical data, connections and operational conditions are specified

2.5 Protection against contact with electrical parts

Note : This section refers to equipment with voltages above 50 Volts.