Witam, Prawdopodobnie to błąd F2820 Braking resistor overload - na stronie 270 znajdziesz Kolego jego opis. Prawdopodobnie uszkodzenie jest w obwodzie chopper'a a nie stopnia wyjściowego
Electric Drives
and Controls
Hydraulics
Linear Motion and
Assembly Technologies
Rexroth IndraDrive
MPx-02 to MPx-08
and HMV
Troubleshooting Guide
Pneumatics
Service
R911297319
Edition 08
Bosch Rexroth AG
Title
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Rexroth IndraDrive
MPx-02 to MPx-08
and HMV
Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation
Troubleshooting Guide
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
RS-2dcf592b198e544c0a6846a000d977c5-3-en-US-6
This documentation contains the descriptions of all diagnostic messages im‐
plemented in the following firmware versions:
●
Drive controller firmware versions MPx-02 to MPx-08 and
●
Firmware versions of supply units of type " HMV " .
It assists machine operators and installation programmers with troubleshoot‐
ing.
Record of Revision
Edition
Release Date
DOK-INDRV*-GEN-**VRS**-WA01-EN-P 2004-03-17 to
to DOK-INDRV*-GEN-**VRS**-WA082012-01-10
EN-P
Copyright
Notes
See chapter " About This
Documentation " , mar‐
ginal note " Editions of
This Documentation "
© Bosch Rexroth AG 2012
This document, as well as the data, specifications and other information set
forth in it, are the exclusive property of Bosch Rexroth AG. It may not be re‐
produced or given to third parties without its consent.
Liability
Published by
The specified data is intended for product description purposes only and shall
not be deemed to be a guaranteed characteristic unless expressly stipulated
in the contract. All rights are reserved with respect to the content of this docu‐
mentation and the availability of the product.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 ■ 97816 Lohr a. Main, Germany
Telephone +49 (0)93 52/ 40-0 ■ Fax +49 (0)93 52/ 40-48 85
http://www.boschrexroth.com/
Dept. DC-IA/EDY1 (SA, BB)
Note
This document has been printed on chlorine-free bleached paper.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
I/619
Table of Contents
Table of Contents
Page
1
1.1
1.2
1.2.1
1.2.2
1.2.3
1.2.4
2
2.1
2.1.1
2.1.2
2.2
3
3.1
3.2
3.2.1
3.2.2
3.2.3
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.3.7
3.3.8
3.4
4
4.1
4.1.1
4.2
4.2.1
4.2.2
Introduction.................................................................................................................. 23
About This Documentation................................................................................................................... 23
Reference Documentations.................................................................................................................. 24
Drive Systems, System Components................................................................................................ 24
Motors................................................................................................................................................ 24
Cables............................................................................................................................................... 25
Firmware............................................................................................................................................ 25
Important Directions for Use ....................................................................................... 27
Appropriate Use ................................................................................................................................... 27
Introduction........................................................................................................................................ 27
Areas of Use and Application............................................................................................................ 27
Inappropriate Use................................................................................................................................. 28
Safety Instructions for Electric Drives and Controls..................................................... 29
Definitions of Terms.............................................................................................................................. 29
General Information.............................................................................................................................. 30
Using the Safety Instructions and Passing Them on to Others......................................................... 30
Requirements for Safe Use............................................................................................................... 30
Hazards by Improper Use.................................................................................................................. 31
Instructions with Regard to Specific Dangers....................................................................................... 33
Protection Against Contact With Electrical Parts and Housings........................................................ 33
Protective Extra-Low Voltage as Protection Against Electric Shock ................................................ 34
Protection Against Dangerous Movements....................................................................................... 35
Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting.............. 36
Protection Against Contact With Hot Parts........................................................................................ 36
Protection During Handling and Mounting......................................................................................... 37
Battery Safety.................................................................................................................................... 37
Protection Against Pressurized Systems........................................................................................... 38
Explanation of Signal Words and the Safety Alert Symbol................................................................... 38
Basics on Device Diagnosis......................................................................................... 41
Diagnostic System................................................................................................................................ 41
Coded Diagnostic Messages of the Drive......................................................................................... 41
Brief Description............................................................................................................................. 41
Drive-Internal Generation of Diagnostic Messages........................................................................ 41
Structure of a Diagnostic Message................................................................................................. 42
Language Selection........................................................................................................................ 44
Status Classes, Status Displays, Control Parameters.......................................................................... 44
General Information........................................................................................................................... 44
Status Classes................................................................................................................................... 44
Brief Description............................................................................................................................. 44
Functional Description.................................................................................................................... 45
II/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
4.2.3
4.2.4
4.3
4.3.1
4.4
4.4.1
4.4.2
4.5
4.5.1
4.5.2
4.5.3
4.5.4
4.5.5
4.5.6
4.5.7
5
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
5.12
5.13
5.14
5.15
5.16
5.17
5.18
5.19
5.20
5.21
5.22
5.23
5.24
5.25
Notes on Commissioning................................................................................................................ 46
Fixed Status Displays........................................................................................................................ 47
Function-Related Status Parameters............................................................................................. 47
Status Parameters for Real-Time Status Bits................................................................................. 48
Control Parameters........................................................................................................................... 49
Control Panels of the IndraDrive Controllers........................................................................................ 49
General Information on the Operation Options ................................................................................. 49
Control Panel Variants.................................................................................................................... 49
Control Panel........................................................................................................................................ 50
Brief Description................................................................................................................................ 50
Functional Description....................................................................................................................... 51
Terms, Basic Principles........................................................................................................................ 69
Parameters........................................................................................................................................ 69
Data Storage and Parameter Handling............................................................................................. 69
Password........................................................................................................................................... 70
Commands........................................................................................................................................ 71
Operation Modes............................................................................................................................... 71
Warnings........................................................................................................................................... 72
Errors................................................................................................................................................. 72
Operating States.......................................................................................................... 75
General Information.............................................................................................................................. 75
Ab / VM Bb............................................................................................................................................ 75
AC......................................................................................................................................................... 75
AE......................................................................................................................................................... 75
AF......................................................................................................................................................... 75
AH......................................................................................................................................................... 75
AR......................................................................................................................................................... 75
AS......................................................................................................................................................... 75
ASP....................................................................................................................................................... 75
AU......................................................................................................................................................... 75
bb / VM bb............................................................................................................................................ 75
charg / VM charg.................................................................................................................................. 76
CM........................................................................................................................................................ 76
OM........................................................................................................................................................ 76
P0 / VM P0............................................................................................................................................ 76
P-1........................................................................................................................................................ 76
P1 / VM P1............................................................................................................................................ 76
P2 / VM P2............................................................................................................................................ 76
P3 / VM P3............................................................................................................................................ 76
PM........................................................................................................................................................ 76
PL......................................................................................................................................................... 76
RL......................................................................................................................................................... 76
SBB....................................................................................................................................................... 76
SBB1..................................................................................................................................................... 77
SBB2..................................................................................................................................................... 77
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
III/619
Table of Contents
Page
5.26
5.27
5.28
5.29
5.30
5.31
5.32
5.33
5.34
5.35
5.36
5.37
5.38
5.39
5.40
6
6.1
6.2
6.3
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
6.3.6
6.3.7
6.3.8
6.3.9
6.3.10
6.3.11
6.3.12
6.3.13
6.3.14
6.3.15
6.3.16
6.3.17
6.3.18
6.3.19
6.3.20
6.3.21
6.3.22
6.3.23
6.3.24
6.3.25
SBB3..................................................................................................................................................... 77
SBB4..................................................................................................................................................... 77
SBH...................................................................................................................................................... 77
SH......................................................................................................................................................... 77
SMM1................................................................................................................................................... 77
SMM2................................................................................................................................................... 77
SMM3................................................................................................................................................... 77
SMM4................................................................................................................................................... 77
SS1....................................................................................................................................................... 77
SS1 ES................................................................................................................................................. 77
SS2....................................................................................................................................................... 77
STO...................................................................................................................................................... 77
VM Lb................................................................................................................................................... 78
VM LB................................................................................................................................................... 78
VM ZKS................................................................................................................................................ 78
Diagnostic Messages when Booting the Devices........................................................ 79
Devices With Valid Firmware................................................................................................................ 79
Devices Without Valid Firmware........................................................................................................... 79
Error Messages When Booting the Devices......................................................................................... 79
PLC ? ................................................................................................................................................ 79
Stop PLC .......................................................................................................................................... 80
Run PLC ........................................................................................................................................... 80
Load New Safety ?............................................................................................................................ 80
No IDN on MMC !.............................................................................................................................. 80
Load Par from MMC.......................................................................................................................... 81
End C29 ............................................................................................................................................ 81
new MMC activate............................................................................................................................. 81
MMC not correct!............................................................................................................................... 81
IBF not correct!.................................................................................................................................. 82
Firmware update ?............................................................................................................................. 82
Update Error !.................................................................................................................................... 82
XXX Upd ........................................................................................................................................... 82
ActLW Up ......................................................................................................................................... 83
E FIP nf ............................................................................................................................................. 83
E FIP CS ........................................................................................................................................... 83
E Pge Sz ........................................................................................................................................... 83
E MMC op ......................................................................................................................................... 84
E MMC cl .......................................................................................................................................... 84
E Adress ........................................................................................................................................... 84
E Length ........................................................................................................................................... 84
E ET SW ........................................................................................................................................... 85
E MMC cp ......................................................................................................................................... 85
E HW nok ......................................................................................................................................... 85
E SW-VER ........................................................................................................................................ 86
IV/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
7
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11
7.12
7.13
7.14
7.15
7.16
7.17
7.18
7.19
7.20
7.21
7.22
7.23
7.24
7.25
7.26
7.27
7.28
7.29
7.30
7.31
7.32
7.33
7.34
7.35
7.36
7.37
7.38
7.39
7.40
7.41
7.42
7.43
7.44
7.45
Diagnostic Status Messages........................................................................................ 87
A0000 Communication phase 0............................................................................................................ 87
A0001 Communication phase 1............................................................................................................ 87
A0002 Communication phase 2............................................................................................................ 88
A0003 Communication phase 3............................................................................................................ 89
A0009 Automatic baud rate detection for SERCOS interface.............................................................. 89
A0010 Drive HALT................................................................................................................................ 90
A0011 Safe torque off active................................................................................................................ 90
A0012 Control and power sections ready for operation........................................................................ 91
A0013 Ready for power on................................................................................................................... 91
A0014 Safe stop 1 (Emergency stop) active........................................................................................ 92
A0015 Safe stop 1 active...................................................................................................................... 93
A0016 Safe stop 2 active...................................................................................................................... 93
A0017 Special mode motion active...................................................................................................... 94
A0018 Special mode safe motion 1 active............................................................................................ 95
A0019 Special mode safe motion 2 active............................................................................................ 96
A0020 Special mode safe motion 3 active............................................................................................ 97
A0021 Special mode safe motion 4 active............................................................................................ 99
A0050 Parameterization level 1 active............................................................................................... 100
A0051 Operating mode....................................................................................................................... 100
A0100 Torque control......................................................................................................................... 100
A0101 Velocity control........................................................................................................................ 101
A0102 Position mode, encoder 1........................................................................................................ 101
A0103 Position mode, encoder 2........................................................................................................ 101
A0104 Position mode lagless, encoder 1........................................................................................... 102
A0105 Position mode lagless, encoder 2........................................................................................... 102
A0106 Drive-internal interpolation, encoder 1.................................................................................... 103
A0107 Drive-internal interpolation, encoder 2.................................................................................... 103
A0108 Drive controlled interpolation, lagless, encoder 1.................................................................... 103
A0109 Drive controlled interpolation, lagless, encoder 2.................................................................... 104
A0110 Velocity synchronization, virtual master axis........................................................................... 104
A0111 Velocity synchronization, real master axis.............................................................................. 105
A0112 Phase synchronization, encoder 1, virtual master axis........................................................... 105
A0113 Phase synchronization, encoder 2, virtual master axis........................................................... 105
A0114 Phase synchronization, encoder 1, real master axis............................................................... 106
A0115 Phase synchronization, encoder 2, real master axis............................................................... 106
A0116 Phase synchr. lagless, encoder 1, virtual master axis............................................................ 107
A0117 Phase synchr. lagless, encoder 2, virtual master axis............................................................ 107
A0118 Phase synchr. lagless, encoder 1, real master axis................................................................ 107
A0119 Phase synchr. lagless, encoder 2, real master axis................................................................ 108
A0128 Cam, encoder 1, virtual master axis........................................................................................ 108
A0129 Cam, encoder 2, virtual master axis........................................................................................ 109
A0130 Cam, encoder 1, real master axis........................................................................................... 109
A0131 Cam, encoder 2, real master axis........................................................................................... 109
A0132 Cam, lagless, encoder 1, virt. master axis.............................................................................. 110
A0133 Cam, lagless, encoder 2, virt. master axis.............................................................................. 110
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
V/619
Table of Contents
Page
7.46
7.47
7.48
7.49
7.50
7.51
7.52
7.53
7.54
7.55
7.56
7.57
7.58
7.59
7.60
7.61
7.62
7.63
7.64
7.65
7.66
7.67
7.68
7.69
7.70
7.71
7.72
7.73
7.74
7.75
7.76
7.77
7.78
7.79
7.80
7.81
7.82
8
8.1
8.1.1
8.1.2
8.1.3
8.1.4
8.1.5
8.1.6
A0134 Cam, lagless, encoder 1, real master axis.............................................................................. 111
A0135 Cam, lagless, encoder 2, real master axis.............................................................................. 111
A0136 MotionProfile, encoder 1, virtual master axis.......................................................................... 112
A0137 MotionProfile, encoder 2, virtual master axis.......................................................................... 112
A0138 MotionProfile, encoder 2, real master axis.............................................................................. 113
A0139 MotionProfile, encoder 1, real master axis.............................................................................. 113
A0140 MotionProfile lagless, encoder 1, virtual master axis.............................................................. 114
A0141 MotionProfile lagless, encoder 2, virtual master axis.............................................................. 114
A0142 MotionProfile lagless, encoder 1, real master axis.................................................................. 115
A0143 MotionProfile lagless, encoder 2, real master axis.................................................................. 115
A0150 Drive-controlled positioning, encoder 1................................................................................... 116
A0151 Drive-controlled positioning, encoder 1, lagless...................................................................... 116
A0152 Drive-controlled positioning, encoder 2................................................................................... 117
A0153 Drive-controlled positioning, encoder 2, lagless...................................................................... 117
A0154 Position mode drive controlled, encoder 1.............................................................................. 118
A0155 Position mode drive controlled, encoder 2.............................................................................. 118
A0156 Position mode lagless, encoder 1 drive controlled.................................................................. 119
A0157 Position mode lagless, encoder 2 drive controlled.................................................................. 119
A0160 Position mode drive controlled................................................................................................ 120
A0161 Drive-controlled positioning..................................................................................................... 120
A0162 Positioning block mode........................................................................................................... 121
A0163 Position synchronization.......................................................................................................... 121
A0164 Velocity synchronization.......................................................................................................... 122
A0206 Positioning block mode, encoder 1......................................................................................... 122
A0207 Positioning block mode lagless, encoder 1............................................................................. 122
A0210 Positioning block mode, encoder 2......................................................................................... 123
A0211 Positioning block mode lagless, encoder 2............................................................................. 123
A0403 Quick stop with probe detection is active................................................................................ 123
A0500 Supply module in voltage control............................................................................................ 124
A0502 Supply module in operation..................................................................................................... 124
A0503 DC bus charging active........................................................................................................... 124
A0520 DC bus quick discharge active................................................................................................ 125
A0800 Unknown operating mode....................................................................................................... 125
A4000 Automatic drive check and adjustment.................................................................................... 126
A4001 Drive deceleration to standstill................................................................................................ 126
A4002 Drive in automatic mode.......................................................................................................... 127
A4003 Setting-up mode is active........................................................................................................ 127
Error Messages.......................................................................................................... 129
Fatal System Errors (F9xxx and E-0000)........................................................................................... 129
Behavior in the Case of Fatal System Errors.................................................................................. 129
E0000 E-0000 Processor exception error....................................................................................... 129
F9001 Error internal function call..................................................................................................... 130
F9002 Error internal RTOS function call.......................................................................................... 131
F9003 Watchdog............................................................................................................................. 131
F9004 Hardware trap....................................................................................................................... 131
VI/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
8.2
8.2.1
8.2.2
8.2.3
8.2.4
8.2.5
8.2.6
8.2.7
8.2.8
8.2.9
8.2.10
8.2.11
8.2.12
8.2.13
8.2.14
8.2.15
8.2.16
8.2.17
8.2.18
8.2.19
8.2.20
8.2.21
8.2.22
8.2.23
8.2.24
8.2.25
8.2.26
8.2.27
8.2.28
8.2.29
8.2.30
8.2.31
8.2.32
8.2.33
8.2.34
8.2.35
8.2.36
8.2.37
8.2.38
8.2.39
8.2.40
8.2.41
8.2.42
8.2.43
8.2.44
8.3
Fatal Errors (F8xxx)............................................................................................................................ 131
Behavior in Case of Fatal Errors (F8xxx)........................................................................................ 131
F8000 Fatal hardware error............................................................................................................. 132
F8010 Autom. commutation: Max. motion range when moving back.............................................. 133
F8011 Commutation offset could not be determined....................................................................... 134
F8012 Autom. commutation: Max. motion range............................................................................. 135
F8013 Automatic commutation: Current too low............................................................................. 135
F8014 Automatic commutation: Overcurrent................................................................................... 136
F8015 Automatic commutation: Timeout......................................................................................... 137
F8016 Automatic commutation: Iteration without result................................................................... 137
F8017 Automatic commutation: Incorrect commutation adjustment................................................ 138
F8018 Device overtemperature shutdown....................................................................................... 139
F8022 Enc. 1: Enc. signals incorr. (can be cleared in ph. 2)........................................................... 140
F8023 Error mechanical link of encoder or motor connection......................................................... 141
F8025 Overvoltage in power section............................................................................................... 141
F8027 Safe torque off while drive enabled...................................................................................... 142
F8028 Overcurrent in power section............................................................................................... 143
F8030 Safe stop 1 while drive enabled........................................................................................... 143
F8042 Encoder 2 error: Signal amplitude incorrect......................................................................... 144
F8057 Device overload shutdown................................................................................................... 145
F8060 Overcurrent in power section............................................................................................... 145
F8064 Interruption of motor phase.................................................................................................. 146
F8067 Synchronization PWM-Timer wrong..................................................................................... 147
F8069 +/-15Volt DC error................................................................................................................ 147
F8070 +24Volt DC error.................................................................................................................. 148
F8076 Error in error angle loop....................................................................................................... 148
F8078 Speed loop error................................................................................................................... 149
F8079 Velocity limit value exceeded............................................................................................... 150
F8091 Power section defective....................................................................................................... 150
F8100 Error when initializing the parameter handling..................................................................... 151
F8102 Error when initializing power section.................................................................................... 152
F8118 Invalid power section/firmware combination......................................................................... 152
F8120 Invalid control section/firmware combination........................................................................ 153
F8122 Control section defective...................................................................................................... 153
F8129 Incorrect optional module firmware...................................................................................... 153
F8130 Firmware of option 2 of safety technology defective............................................................ 154
F8133 Error when checking interrupting circuits............................................................................. 154
F8134 SBS: Fatal error.................................................................................................................... 155
F8135 SMD: Velocity exceeded...................................................................................................... 156
F8140 Fatal CCD error.................................................................................................................... 156
F8201 Safety technology basic initialization incorrect..................................................................... 156
F8203 Safety technology configuration parameter invalid............................................................... 157
F8813 Connection error mains choke............................................................................................. 158
F8830 Power section error.............................................................................................................. 159
F8838 Overcurrent external braking resistor................................................................................... 159
Safety Technology Errors (F7xxx)...................................................................................................... 160
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
VII/619
Table of Contents
Page
8.3.1
8.3.2
8.3.3
8.3.4
8.3.5
8.3.6
8.3.7
8.3.8
8.3.9
8.3.10
8.3.11
8.3.12
8.3.13
8.3.14
8.3.15
8.3.16
8.4
8.4.1
8.4.2
8.4.3
8.4.4
8.4.5
8.4.6
8.4.7
8.4.8
8.4.9
8.4.10
8.4.11
8.4.12
8.5
8.5.1
8.5.2
8.5.3
8.5.4
8.5.5
8.5.6
8.5.7
8.5.8
8.5.9
8.5.10
8.5.11
8.5.12
8.5.13
8.5.14
8.6
8.6.1
Behavior in Case of Safety Technology Errors................................................................................ 160
F7010 Safely-limited increment exceeded...................................................................................... 161
F7011 Safely-monitored position, exceeded in pos. direction......................................................... 162
F7012 Safely-monitored position, exceeded in neg. direction......................................................... 162
F7013 Safely-limited speed exceeded............................................................................................ 163
F7014 Timeout safely-monitored transient oscillation..................................................................... 163
F7020 Safe maximum speed exceeded.......................................................................................... 164
F7021 Safely-limited position exceeded.......................................................................................... 165
F7030 Position window Safe stop 2 exceeded................................................................................ 165
F7031 Incorrect direction of motion................................................................................................. 166
F7040 Validation error parameterized - effective threshold............................................................. 166
F7041 Actual position value validation error.................................................................................... 167
F7042 Validation error of safe operation mode............................................................................... 168
F7043 Error of output stage interlock.............................................................................................. 168
F7050 Time for stopping process exceeded................................................................................... 169
F7051 Safely-monitored deceleration exceeded............................................................................. 169
Errors of Category F6xxx.................................................................................................................... 170
Behavior in Case of Errors of Category F6xxx................................................................................ 170
F6006 Incorrect initialization of effective master axis position......................................................... 171
F6010 PLC runtime error................................................................................................................. 172
F6024 Maximum braking time exceeded......................................................................................... 173
F6028 Position limit value exceeded (overflow).............................................................................. 174
F6029 Positive position limit exceeded........................................................................................... 175
F6030 Negative position limit exceeded.......................................................................................... 176
F6034 Emergency-Stop activated................................................................................................... 176
F6042 Both travel range limit switches activated............................................................................ 177
F6043 Positive travel range limit switch activated........................................................................... 178
F6044 Negative travel range limit switch activated......................................................................... 179
F6140 CCD slave error (emergency halt)........................................................................................ 179
Interface Errors (F4xxx)...................................................................................................................... 180
Behavior in Case of Interface Errors .............................................................................................. 180
F4001 Sync telegram failure............................................................................................................ 180
F4002 RTD telegram failure............................................................................................................ 181
F4003 Invalid communication phase shutdown............................................................................... 183
F4004 Error during phase progression............................................................................................ 183
F4005 Error during phase regression.............................................................................................. 183
F4006 Phase switching without ready signal................................................................................... 184
F4009 Bus failure............................................................................................................................ 184
F4011 Communication watchdog: Overload of cyclic communication............................................ 186
F4012 Incorrect I/O length............................................................................................................... 187
F4016 PLC double real-time channel failure................................................................................... 187
F4017 S-III: Incorrect sequence during phase switch..................................................................... 188
F4034 Emergency-Stop activated................................................................................................... 188
F4140 CCD communication error.................................................................................................... 189
Non-Fatal Safety Technology Errors (F3xxx)..................................................................................... 190
Behavior in Case of Non-Fatal Safety Technology Errors............................................................... 190
VIII/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
8.6.2
8.6.3
8.6.4
8.6.5
8.6.6
8.6.7
8.6.8
8.6.9
8.6.10
8.6.11
8.6.12
8.6.13
8.6.14
8.6.15
8.6.16
8.6.17
8.6.18
8.6.19
8.6.20
8.6.21
8.6.22
8.6.23
8.6.24
8.6.25
8.6.26
8.7
8.7.1
8.7.2
8.7.3
8.7.4
8.7.5
8.7.6
8.7.7
8.7.8
8.7.9
8.7.10
8.7.11
8.7.12
8.7.13
8.7.14
8.7.15
8.7.16
8.7.17
8.7.18
8.7.19
8.7.20
F3111 Refer. missing when selecting safety related end pos......................................................... 190
F3112 Safe reference missing......................................................................................................... 191
F3115 Brake check time interval exceeded..................................................................................... 193
F3116 Nominal load torque of holding system exceeded................................................................ 194
F3117 Actual position values validation error.................................................................................. 195
F3122 SBS: System error................................................................................................................ 196
F3123 SBS: Brake check missing................................................................................................... 196
F3130 Error when checking input signals........................................................................................ 197
F3131 Error when checking acknowledgment signal...................................................................... 198
F3132 Error when checking diagnostic output signal...................................................................... 199
F3133 Error when checking interrupting circuits............................................................................. 200
F3134 Dynamization time interval incorrect.................................................................................... 201
F3135 Dynamization pulse width incorrect...................................................................................... 203
F3140 Safety parameters validation error....................................................................................... 205
F3141 Selection validation error...................................................................................................... 206
F3142 Activation time of enabling control exceeded....................................................................... 206
F3143 Safety command for clearing errors incorrect...................................................................... 208
F3144 Incorrect safety configuration............................................................................................... 209
F3145 Error when unlocking the safety door................................................................................... 210
F3146 System error channel 2........................................................................................................ 211
F3147 System error channel 1........................................................................................................ 212
F3150 Safety command for system start incorrect.......................................................................... 213
F3151 Safety command for system halt incorrect........................................................................... 214
F3152 Incorrect backup of safety technology data.......................................................................... 214
F3160 Communication error of safe communication....................................................................... 215
Non-Fatal Errors (F2xxx).................................................................................................................... 216
Behavior in the Case of Non-Fatal Errors........................................................................................ 216
F2002 Assignment of encoder for synchronization is not allowed................................................... 216
F2003 Motion step skipped............................................................................................................. 217
F2004 Error in MotionProfile............................................................................................................ 218
F2005 Cam table invalid.................................................................................................................. 219
F2006 MMC was removed.............................................................................................................. 220
F2007 Switching to non-initialized operation mode......................................................................... 220
F2008 RL The motor type has changed.......................................................................................... 221
F2009 PL Load parameter default values....................................................................................... 222
F2010 Error when initializing digital I/O (- & gt; S-0-0423)..................................................................... 223
F2011 PLC - Error no. 1.................................................................................................................. 224
F2012 PLC - Error no. 2.................................................................................................................. 225
F2013 PLC - Error no. 3.................................................................................................................. 225
F2014 PLC - Error no. 4.................................................................................................................. 225
F2015 PLC - Error no. 5.................................................................................................................. 226
F2016 PLC - Error no. 6.................................................................................................................. 226
F2017 PLC - Error no. 7.................................................................................................................. 227
F2018 Device overtemperature shutdown....................................................................................... 227
F2019 Motor overtemperature shutdown........................................................................................ 228
F2021 Motor temperature monitor defective................................................................................... 229
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
IX/619
Table of Contents
Page
8.7.21
8.7.22
8.7.23
8.7.24
8.7.25
8.7.26
8.7.27
8.7.28
8.7.29
8.7.30
8.7.31
8.7.32
8.7.33
8.7.34
8.7.35
8.7.36
8.7.37
8.7.38
8.7.39
8.7.40
8.7.41
8.7.42
8.7.43
8.7.44
8.7.45
8.7.46
8.7.47
8.7.48
8.7.49
8.7.50
8.7.51
8.7.52
8.7.53
8.7.54
8.7.55
8.7.56
8.7.57
8.7.58
8.7.59
8.7.60
8.7.61
8.7.62
8.7.63
8.7.64
8.7.65
8.7.66
F2022 Device temperature monitor defective.................................................................................. 230
F2025 Drive not ready for control.................................................................................................... 230
F2026 Undervoltage in power section............................................................................................. 231
F2027 Excessive oscillation in DC bus............................................................................................ 231
F2028 Excessive deviation.............................................................................................................. 232
F2031 Encoder 1 error: Signal amplitude incorrect......................................................................... 232
F2032 Validation error during commutation fine adjustment........................................................... 233
F2033 External power supply X10 error.......................................................................................... 234
F2036 Excessive position feedback difference............................................................................... 234
F2037 Excessive position command difference.............................................................................. 235
F2039 Maximum acceleration exceeded......................................................................................... 236
F2040 Device overtemperature 2 shutdown.................................................................................... 236
F2042 Encoder 2: Encoder signals incorrect................................................................................... 237
F2043 Measuring encoder: Encoder signals incorrect.................................................................... 238
F2044 External power supply X15 error.......................................................................................... 239
F2048 Low battery voltage.............................................................................................................. 239
F2050 Overflow of target position preset memory........................................................................... 240
F2051 No sequential block in target position preset memory.......................................................... 241
F2053 Incr. encoder emulator: Pulse frequency too high................................................................ 241
F2054 Incr. encoder emulator: Hardware error............................................................................... 242
F2055 External power supply dig. I/O error..................................................................................... 243
F2057 Target position out of travel range........................................................................................ 243
F2058 Internal overflow by positioning input................................................................................... 244
F2059 Incorrect command value direction when positioning........................................................... 245
F2063 Internal overflow master axis generator............................................................................... 246
F2064 Incorrect cmd value direction master axis generator............................................................ 246
F2067 Synchronization to master communication incorrect............................................................ 247
F2068 Brake error........................................................................................................................... 247
F2069 Error when releasing the motor holding brake..................................................................... 248
F2074 Actual pos. value 1 outside absolute encoder window......................................................... 249
F2075 Actual pos. value 2 outside absolute encoder window......................................................... 249
F2076 Actual pos. value 3 outside absolute encoder window......................................................... 250
F2077 Current measurement trim wrong......................................................................................... 251
F2086 Error supply module............................................................................................................. 252
F2087 Module group communication error...................................................................................... 252
F2100 Incorrect access to command value memory....................................................................... 253
F2101 It was impossible to address MMC....................................................................................... 253
F2102 It was impossible to address I2C memory............................................................................ 254
F2103 It was impossible to address EnDat memory....................................................................... 254
F2104 Commutation offset invalid................................................................................................... 255
F2105 It was impossible to address Hiperface memory.................................................................. 255
F2110 Error in non-cyclical data communic. of power section........................................................ 256
F2120 MMC: Defective or missing, replace..................................................................................... 256
F2121 MMC: Incorrect data or file, create correctly........................................................................ 257
F2122 MMC: Incorrect IBF file, correct it......................................................................................... 257
F2123 Retain data backup impossible............................................................................................ 258
X/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
8.7.67
8.7.68
8.7.69
8.7.70
8.7.71
8.7.72
8.7.73
8.7.74
8.7.75
8.7.76
8.7.77
8.7.78
8.7.79
8.7.80
8.7.81
8.7.82
8.7.83
8.7.84
8.7.85
8.7.86
8.7.87
8.7.88
8.7.89
8.7.90
8.7.91
8.7.92
8.7.93
8.7.94
8.7.95
8.7.96
8.7.97
8.7.98
8.7.99
8.8
9
9.1
9.1.1
9.1.2
9.1.3
9.1.4
9.1.5
9.1.6
9.1.7
9.1.8
9.1.9
F2124 MMC: Saving too slowly, replace......................................................................................... 259
F2130 Error comfort control panel................................................................................................... 259
F2140 CCD slave error.................................................................................................................... 260
F2150 MLD motion function block error.......................................................................................... 260
F2174 Loss of motor encoder reference......................................................................................... 261
F2175 Loss of optional encoder reference...................................................................................... 261
F2176 Loss of measuring encoder reference.................................................................................. 262
F2177 Modulo limitation error of motor encoder.............................................................................. 263
F2178 Modulo limitation error of optional encoder.......................................................................... 263
F2179 Modulo limitation error of measuring encoder...................................................................... 264
F2190 Incorrect Ethernet configuration........................................................................................... 264
F2260 Command current limit shutoff............................................................................................. 265
F2270 Analog input 1 or 2, wire break............................................................................................. 266
F2802 PLL is not synchronized....................................................................................................... 267
F2814 Undervoltage in mains.......................................................................................................... 267
F2815 Overvoltage in mains............................................................................................................ 267
F2816 Softstart fault power supply unit........................................................................................... 268
F2817 Overvoltage in power section............................................................................................... 268
F2818 Phase failure........................................................................................................................ 269
F2819 Mains failure......................................................................................................................... 270
F2820 Braking resistor overload...................................................................................................... 270
F2821 Error in control of braking resistor........................................................................................ 271
F2825 Switch-on threshold braking resistor too low........................................................................ 272
F2833 Ground fault in motor line..................................................................................................... 272
F2834 Contactor control error......................................................................................................... 273
F2835 Mains contactor wiring error................................................................................................. 273
F2836 DC bus balancing monitor error........................................................................................... 274
F2837 Contactor monitoring error................................................................................................... 274
F2840 Error supply shutdown.......................................................................................................... 274
F2860 Overcurrent in mains-side power section............................................................................. 275
F2890 Invalid device code............................................................................................................... 276
F2891 Incorrect interrupt timing....................................................................................................... 276
F2892 Hardware variant not supported........................................................................................... 276
SERCOS Service Channel Error Codes / Error Messages of Serial Communication........................ 276
Warnings (Exxxx)....................................................................................................... 279
Fatal Warnings (E8xxx)...................................................................................................................... 279
Behavior in the Case of Fatal Warnings.......................................................................................... 279
E8025 Overvoltage in power section............................................................................................... 279
E8026 Undervoltage in power section............................................................................................. 280
E8027 Safe torque off while drive enabled...................................................................................... 281
E8028 Overcurrent in power section............................................................................................... 281
E8029 Positive position limit exceeded........................................................................................... 282
E8030 Negative position limit exceeded.......................................................................................... 283
E8034 Emergency-Stop activated................................................................................................... 284
E8040 Torque/force actual value limit active................................................................................... 284
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
XI/619
Table of Contents
Page
9.1.10
9.1.11
9.1.12
9.1.13
9.1.14
9.1.15
9.1.16
9.1.17
9.1.18
9.1.19
9.1.20
9.1.21
9.1.22
9.2
9.2.1
9.2.2
9.2.3
9.2.4
9.2.5
9.2.6
9.2.7
9.2.8
9.2.9
9.2.10
9.2.11
9.2.12
9.2.13
9.2.14
9.3
9.3.1
9.3.2
9.3.3
9.3.4
9.3.5
9.3.6
9.3.7
9.3.8
9.3.9
9.3.10
9.3.11
9.3.12
9.3.13
9.4
9.4.1
9.4.2
9.4.3
E8041 Current limit active............................................................................................................... 285
E8042 Both travel range limit switches activated............................................................................ 285
E8043 Positive travel range limit switch activated........................................................................... 286
E8044 Negative travel range limit switch activated......................................................................... 287
E8055 Motor overload, current limit active...................................................................................... 287
E8057 Device overload, current limit active.................................................................................... 288
E8058 Drive system not ready for operation................................................................................... 289
E8260 Torque/force command value limit active............................................................................. 289
E8802 PLL is not synchronized....................................................................................................... 290
E8814 Undervoltage in mains......................................................................................................... 291
E8815 Overvoltage in mains........................................................................................................... 292
E8818 Phase failure........................................................................................................................ 292
E8819 Mains failure......................................................................................................................... 293
Warnings of Category E4xxx.............................................................................................................. 294
E4001 Double MST failure shutdown.............................................................................................. 294
E4002 Double MDT failure shutdown.............................................................................................. 295
E4005 No command value input via master communication........................................................... 296
E4006 Communication module overload......................................................................................... 297
E4007 SERCOS III: Consumer connection failed........................................................................... 297
E4008 Invalid addressing command value data container A........................................................... 297
E4009 Invalid addressing actual value data container A................................................................. 298
E4010 Slave not scanned or address 0........................................................................................... 298
E4011 Communication watchdog: Overload of cyclic communication............................................ 299
E4012 Maximum number of CCD slaves exceeded........................................................................ 299
E4013 Incorrect CCD addressing.................................................................................................... 299
E4014 Incorrect phase switch of CCD slaves................................................................................. 300
E4016 CCD: Topology error............................................................................................................ 301
E4017 CCD: Unknown I/O configuration......................................................................................... 301
Possible Warnings When Operating Safety Technology (E3xxx)....................................................... 302
Behavior in Case a Safety Technology Warning Occurs................................................................. 302
E3100 Error when checking input signals....................................................................................... 302
E3101 Error when checking acknowledgment signal...................................................................... 303
E3102 Actual position values validation error.................................................................................. 304
E3103 Dynamization failed.............................................................................................................. 304
E3104 Safety parameters validation error....................................................................................... 305
E3105 Validation error of safe operation mode............................................................................... 305
E3106 System error safety technology............................................................................................ 306
E3107 Safe reference missing........................................................................................................ 307
E3108 Safely-monitored deceleration exceeded............................................................................. 307
E3110 Time interval of forced dynamization exceeded................................................................... 308
E3115 Prewarning, end of brake check time interval...................................................................... 309
E3116 Nominal load torque of holding system reached.................................................................. 309
Non-Fatal Warnings (E2xxx)............................................................................................................... 310
Behavior in Case a Non-Fatal Warning Occurs............................................................................... 310
E2010 Position control with encoder 2 not possible........................................................................ 310
E2011 PLC - Warning no. 1............................................................................................................. 310
XII/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
9.4.4
9.4.5
9.4.6
9.4.7
9.4.8
9.4.9
9.4.10
9.4.11
9.4.12
9.4.13
9.4.14
9.4.15
9.4.16
9.4.17
9.4.18
9.4.19
9.4.20
9.4.21
9.4.22
9.4.23
9.4.24
9.4.25
9.4.26
9.4.27
9.4.28
9.4.29
9.4.30
9.4.31
9.4.32
9.4.33
9.4.34
9.4.35
9.4.36
9.4.37
9.4.38
9.4.39
9.4.40
9.4.41
9.4.42
9.4.43
9.4.44
9.4.45
9.4.46
9.4.47
9.4.48
E2012 PLC - Warning no. 2............................................................................................................. 311
E2013 PLC - Warning no. 3............................................................................................................. 311
E2014 PLC - Warning no. 4............................................................................................................. 311
E2015 PLC - Warning no. 5............................................................................................................. 312
E2016 PLC - Warning no. 6............................................................................................................. 312
E2017 PLC - Warning no. 7............................................................................................................. 312
E2021 Motor temperature outside of measuring range................................................................... 313
E2026 Undervoltage in power section............................................................................................. 314
E2040 Device overtemperature 2 prewarning................................................................................. 315
E2047 Interpolation velocity = 0...................................................................................................... 315
E2048 Interpolation acceleration = 0............................................................................................... 316
E2049 Positioning velocity & gt; = limit value........................................................................................ 317
E2050 Device overtemp. prewarning.............................................................................................. 318
E2051 Motor overtemp. prewarning................................................................................................ 319
E2053 Target position out of travel range....................................................................................... 319
E2054 Not homed............................................................................................................................ 321
E2055 Feedrate override S-0-0108 = 0........................................................................................... 321
E2056 Torque limit = 0.................................................................................................................... 322
E2058 Selected positioning block has not been programmed........................................................ 323
E2059 Velocity command value limit active.................................................................................... 324
E2061 Device overload prewarning................................................................................................. 324
E2063 Velocity command value & gt; limit value.................................................................................. 325
E2064 Target position out of num. range........................................................................................ 326
E2069 Holding brake torque too low............................................................................................... 326
E2070 Acceleration limit active........................................................................................................ 327
E2074 Encoder 1: Encoder signals disturbed................................................................................. 328
E2075 Encoder 2: Encoder signals disturbed................................................................................. 328
E2076 Measuring encoder: Encoder signals disturbed................................................................... 329
E2077 Absolute encoder monitoring, motor encoder (encoder alarm)............................................ 330
E2078 Absolute encoder monitoring, opt. encoder (encoder alarm)............................................... 331
E2079 Absolute enc. monitoring, measuring encoder (encoder alarm).......................................... 331
E2086 Prewarning supply module overload.................................................................................... 332
E2092 Internal synchronization defective........................................................................................ 332
E2100 Positioning velocity of master axis generator too high......................................................... 333
E2101 Acceleration of master axis generator is zero...................................................................... 334
E2140 CCD error at node................................................................................................................ 334
E2270 Analog input 1 or 2, wire break............................................................................................ 334
E2802 HW control of braking resistor.............................................................................................. 335
E2810 Drive system not ready for operation................................................................................... 336
E2814 Undervoltage in mains......................................................................................................... 336
E2816 Undervoltage in power section............................................................................................. 337
E2818 Phase failure........................................................................................................................ 337
E2819 Mains failure......................................................................................................................... 338
E2820 Braking resistor overload prewarning................................................................................... 338
E2829 Not ready for power on......................................................................................................... 339
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
XIII/619
Table of Contents
Page
10
Diagnostic Command Messages............................................................................... 341
10.1
Commands......................................................................................................................................... 341
10.1.1
C0100 Communication phase 3 transition check............................................................................ 341
10.1.2
C0200 Exit parameterization level procedure command................................................................. 341
10.1.3
C0300 Set absolute position procedure command.......................................................................... 341
10.1.4
C0400 Activate parameterization level 1 procedure command....................................................... 342
10.1.5
C0500 Reset class 1 diagnostics, error reset.................................................................................. 342
10.1.6
C0600 Drive-controlled homing procedure command..................................................................... 342
10.1.7
C0700 Load defaults proced. command (motor-spec. controller val.)............................................. 343
10.1.8
C0720 Load defaults procedure command (safety technology)...................................................... 344
10.1.9
C0730 Load defaults procedure command (MLD).......................................................................... 345
10.1.10
C0740 Command Activate field bus profile settings........................................................................ 345
10.1.11
C0750 Load defaults procedure command (factory settings).......................................................... 346
10.1.12
C0800 Load basic parameters command........................................................................................ 346
10.1.13
C0900 Position spindle command................................................................................................... 347
10.1.14
C1200 Commutation offset setting command................................................................................. 347
10.1.15
C1300 Positive stop drive procedure command.............................................................................. 347
10.1.16
C1400 Command Get marker position............................................................................................ 348
10.1.17
C1500 Cancel reference point procedure command....................................................................... 348
10.1.18
C1600 Parking axis command......................................................................................................... 348
10.1.19
C1700 Command measuring wheel mode...................................................................................... 349
10.1.20
C1800 Command Drive optimization / command value box............................................................ 349
10.1.21
C2000 Command Release motor holding brake............................................................................. 349
10.1.22
C2100 Command Holding system check........................................................................................ 350
10.1.23
C2200 Backup working memory procedure command.................................................................... 350
10.1.24
C2300 Load working memory procedure command........................................................................ 350
10.1.25
C2400 Selectively backup working memory procedure command.................................................. 351
10.1.26
C2500 Copy IDN from optional memory to internal memory........................................................... 351
10.1.27
C2600 Copy IDN from internal memory to optional memory........................................................... 352
10.1.28
C2800 Analog input adjustment command...................................................................................... 352
10.1.29
C2900 Command Firmware update from MMC............................................................................... 353
10.1.30
C3000 Synchronize and store safety technology IDN..................................................................... 353
10.1.31
C3100 Recalculate actual value cycle............................................................................................. 354
10.1.32
C3200 Command Calculate motor data.......................................................................................... 354
10.1.33
C3300 Set coordinate system procedure command....................................................................... 354
10.1.34
C3400 Shift coordinate system procedure command...................................................................... 355
10.1.35
C3500 Command Determine encoder correction values................................................................. 355
10.1.36
C3600 Command Motor data identification..................................................................................... 355
10.1.37
C3700 Manually unlocking the safety door...................................................................................... 356
10.1.38
C3800 Command Apply motor holding brake.................................................................................. 356
10.1.39
C3900 Command Holding brake resurfacing.................................................................................. 357
10.1.40
C4000 Homing procedure command channel 2.............................................................................. 357
10.1.41
C4100 Switch parameter set command.......................................................................................... 357
10.1.42
C4200 Drive-controlled oscillation command.................................................................................. 357
10.1.43
C4300 NC-controlled homing procedure command........................................................................ 358
10.1.44
C4400 Calculate displacement procedure command...................................................................... 358
XIV/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
10.1.45
C4500 Displacement to referenced system procedure command................................................... 358
10.1.46
C4600 Command Calculate motor control parameters................................................................... 359
10.1.47
C4700 Command Activate easy startup mode................................................................................ 359
10.1.48
C4800 Command Determine cogging torque compensation table.................................................. 359
10.1.49
C4900 PLC command..................................................................................................................... 360
10.1.50
C5200 Communication phase 4 transition check............................................................................ 360
10.1.51
C5300 SERCOS III: Command SYNC delay measurement............................................................ 360
10.1.52
C5400 Command Save PLC retain data on MMC........................................................................... 361
10.1.53
C5500 Command Load PLC retain data from MMC........................................................................ 361
10.1.54
C5600 Command subsequent optimization of commutation offset................................................. 362
10.1.55
C5800 Command Apply redundant holding brake........................................................................... 362
10.1.56
C5900 Command Resurfacing of redundant holding brake............................................................ 362
10.1.57
C6000 Set absolute position procedure command.......................................................................... 363
10.1.58
C6100 Command Activate IP settings............................................................................................. 363
10.1.59
C6200 Command Enabling SM without valid brake status.............................................................. 364
10.1.60
C6400 Reboot command................................................................................................................. 365
10.1.61
C6500 Save operating data on backup memory............................................................................. 365
10.1.62
C6600 Restore operating data from backup memory...................................................................... 365
10.1.63
C7000 CCD: Command adjust slave addresses............................................................................. 366
10.1.64
C7100 CCD: Command Close ring................................................................................................. 366
10.1.65
C7200 CCD: Command Apply I/O configuration............................................................................. 366
10.1.66
C7400 CCD: Switching to phase 2.................................................................................................. 367
10.1.67
C7500 CCD: Switching to phase 4.................................................................................................. 367
10.1.68
C7600 Command Create parameter image.................................................................................... 367
10.2
Command Errors................................................................................................................................ 368
10.2.1
Clearing Command Errors............................................................................................................... 368
10.2.2
C0101 Invalid parameters (- & gt; S-0-0021)......................................................................................... 368
10.2.3
C0102 Limit error in parameter (- & gt; S-0-0021)................................................................................. 368
10.2.4
C0103 Parameter conversion error (- & gt; S-0-0021)............................................................................ 369
10.2.5
C0104 Config. IDN for MDT not configurable.................................................................................. 369
10.2.6
C0105 Maximum length for MDT exceeded.................................................................................... 370
10.2.7
C0106 Config. IDNs for AT not configurable................................................................................... 370
10.2.8
C0107 Maximum length for AT exceeded....................................................................................... 371
10.2.9
C0108 Time slot parameter & gt; Sercos cycle time............................................................................. 371
10.2.10
C0109 Telegram offset unsuitable................................................................................................... 372
10.2.11
C0110 Length of MDT (S-0-0010) odd............................................................................................ 373
10.2.12
C0111 ID9 + Record length - 1 & gt; length MDT (S-0-0010)............................................................... 374
10.2.13
C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error....................................................................... 374
10.2.14
C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error......................................................... 375
10.2.15
C0114 T4 & gt; TScyc (S-0-0002) - T4min (S-0-0005)......................................................................... 375
10.2.16
C0115 T2 too small......................................................................................................................... 376
10.2.17
C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010)............................................................... 376
10.2.18
C0118 Order of cyclic command value configuration incorrect....................................................... 377
10.2.19
C0119 Max. travel range too large.................................................................................................. 377
10.2.20
C0120 Error when reading encoder data = & gt; motor encoder........................................................... 378
10.2.21
C0121 Incorrect parameterization of motor encoder (hardware)..................................................... 378
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
XV/619
Table of Contents
Page
10.2.22
10.2.23
10.2.24
10.2.25
10.2.26
10.2.27
10.2.28
10.2.29
10.2.30
10.2.31
10.2.32
10.2.33
10.2.34
10.2.35
10.2.36
10.2.37
10.2.38
10.2.39
10.2.40
10.2.41
10.2.42
10.2.43
10.2.44
10.2.45
10.2.46
10.2.47
10.2.48
10.2.49
10.2.50
10.2.51
10.2.52
10.2.53
10.2.54
10.2.55
10.2.56
10.2.57
10.2.58
10.2.59
10.2.60
10.2.61
10.2.62
10.2.63
10.2.64
10.2.65
10.2.66
10.2.67
C0122 Incorr. parameteriz. of motor enc. (mechanical system)...................................................... 379
C0123 Modulo value for motor encoder cannot be displayed......................................................... 379
C0124 Motor encoder unknown...................................................................................................... 380
C0125 Error when reading encoder data = & gt; optional encoder........................................................ 381
C0126 Incorrect parameterization of optional enc. (hardware)....................................................... 381
C0127 Incorr. parameteriz. of opt. enc. (mechanical system)......................................................... 382
C0128 Modulo value for optional encoder cannot be displayed...................................................... 382
C0129 Optional encoder unknown.................................................................................................. 383
C0130 Maximum travel range cannot be displayed internally......................................................... 383
C0131 Switching to phase 3 impossible.......................................................................................... 384
C0132 Invalid settings for controller cycle times............................................................................. 384
C0134 Invalid motor data in encoder memory (- & gt; S-0-0021)........................................................... 385
C0135 Type of construction of motor P-0-4014 incorrect................................................................ 386
C0136 Several motor encoders connected..................................................................................... 386
C0137 Error during initialization of motor data (- & gt; S-0-0021)........................................................... 387
C0138 Invalid control section data (- & gt; S-0-0021)............................................................................. 387
C0139 T2 (S-0-0089)+length MDT (S-0-0010) & gt; TScyc (S-0-0002)................................................. 388
C0140 Rotary scaling not allowed................................................................................................... 388
C0151 IDN for command value data container not allowed............................................................ 389
C0152 IDN for actual value data container not allowed.................................................................. 389
C0153 Error at init. of synchr. motor with reluctance torque........................................................... 390
C0154 Field bus: IDN for cycl. command val. not configurable....................................................... 390
C0155 Field bus: Max. length for cycl. command val. exceeded.................................................... 391
C0156 Field bus: IDN for cycl. actual val. not configurable............................................................. 391
C0157 Field bus: Length for cycl. actual values exceeded............................................................. 392
C0158 Field bus: Tcyc (P-0-4076) incorrect.................................................................................... 392
C0159 Field bus: P-0-4077 missing for cycl. command values....................................................... 393
C0160 Error when reading encoder data = & gt; measuring encoder................................................... 393
C0161 Incorr. parameterization of measuring enc. (hardware)....................................................... 394
C0162 Measuring encoder unknown............................................................................................... 394
C0163 Modulo value for measuring encoder cannot be displayed.................................................. 395
C0164 Incorrect measuring encoder configuration.......................................................................... 395
C0170 Config. IDNs for connection not configurable...................................................................... 396
C0171 Maximum length for connections exceeded......................................................................... 396
C0172 Delay measurement (S-0-1024) not carried out................................................................... 397
C0173 Connections (number) not configurable............................................................................... 397
C0174 Connection configuration not allowed.................................................................................. 397
C0175 Producer cycle time of a connection not correct.................................................................. 398
C0199 Functional package selection changed. Restart.................................................................. 398
C0201 Invalid parameters (- & gt; S-0-0423).......................................................................................... 399
C0202 Parameter limit error (- & gt; S-0-0423)....................................................................................... 399
C0203 Parameter conversion error (- & gt; S-0-0423)............................................................................ 400
C0210 Feedback 2 required (- & gt; S-0-0423)....................................................................................... 401
C0212 Invalid control section data (- & gt; S-0-0423)............................................................................. 401
C0218 Double signal selection master axis format converter......................................................... 402
C0219 Max. travel range too large.................................................................................................. 402
XVI/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
10.2.68
10.2.69
10.2.70
10.2.71
10.2.72
10.2.73
10.2.74
10.2.75
10.2.76
10.2.77
10.2.78
10.2.79
10.2.80
10.2.81
10.2.82
10.2.83
10.2.84
10.2.85
10.2.86
10.2.87
10.2.88
10.2.89
10.2.90
10.2.91
10.2.92
10.2.93
10.2.94
10.2.95
10.2.96
10.2.97
10.2.98
10.2.99
10.2.100
10.2.101
10.2.102
10.2.103
10.2.104
10.2.105
10.2.106
10.2.107
10.2.108
10.2.109
10.2.110
10.2.111
10.2.112
10.2.113
C0220 Error when initializing position of encoder 1........................................................................ 403
C0221 Initialization velocity encoder 1 too high.............................................................................. 404
C0223 Invalid settings for controller cycle times............................................................................. 404
C0224 Error when initializing position of encoder 2........................................................................ 404
C0225 Initialization velocity encoder 2 too high.............................................................................. 405
C0227 Error when initializing position of measuring encoder.......................................................... 405
C0228 Initialization velocity measuring encoder too high................................................................ 406
C0229 Field bus: IDN for cycl. command val. not configurable....................................................... 407
C0230 Field bus: Max. length for cycl. command val. exceeded.................................................... 407
C0231 Field bus: IDN for cycl. actual val. not configurable............................................................. 407
C0232 Field bus: Length for cycl. actual values exceeded............................................................. 408
C0233 Field bus: Tcyc (P-0-4076) incorrect.................................................................................... 408
C0234 Field bus: P-0-4077 missing for cycl. command values....................................................... 409
C0238 Order of cyclic command value configuration incorrect....................................................... 409
C0239 IDN for command value data container not allowed............................................................ 410
C0240 IDN for actual value data container not allowed.................................................................. 410
C0241 Incorrect parameterization of motion task............................................................................ 411
C0242 Multiple configuration of a parameter (- & gt; S-0-0423)............................................................. 411
C0243 Brake check function not possible....................................................................................... 413
C0244 Act. modulo value cycle greater than max. travel range...................................................... 414
C0245 Operation mode configuration (- & gt; S-0-0423) not allowed..................................................... 415
C0246 Trav. range lim. switch not ass. to dig. input........................................................................ 416
C0247 Dig. output already assigned to other axis........................................................................... 417
C0248 Dig. input assigned differently to axes................................................................................. 417
C0249 Dig. I/Os: Bit number too large............................................................................................. 418
C0250 Probe inputs incorrectly configured...................................................................................... 418
C0251 Error during synchronization to master communication....................................................... 419
C0252 Incorrect MLD initialization (write access- & gt; S-0-0423).......................................................... 419
C0253 Error in combination operation mode - encoder (- & gt; S-0-0423)............................................. 420
C0254 Configuration error PROFIsafe............................................................................................ 420
C0255 Safety command for system init. incorrect........................................................................... 421
C0256 Safety technology configuration error.................................................................................. 421
C0257 Error in safety technology encoder initialization................................................................... 422
C0258 Error in relation TNcyc (S-0-0001) to fine interpol............................................................... 423
C0259 MLD configuration error (- & gt; S-0-0423).................................................................................. 423
C0260 Incremental enc. emulator resol. cannot be displayed......................................................... 424
C0261 Emulator (P-0-0902) activated for both axes....................................................................... 425
C0265 Incorrect CCD address configuration................................................................................... 425
C0266 Incorrect CCD phase switch................................................................................................ 426
C0267 CCD timeout phase switch................................................................................................... 426
C0270 Error when reading encoder data = & gt; motor encoder........................................................... 427
C0271 Incorrect parameterization of motor encoder (hardware)..................................................... 428
C0272 Incorr. parameteriz. of motor enc. (mechanical system)...................................................... 428
C0273 Modulo value for motor encoder cannot be displayed......................................................... 429
C0274 Motor encoder unknown...................................................................................................... 429
C0275 Error when reading encoder data = & gt; optional encoder........................................................ 430
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
XVII/619
Table of Contents
Page
10.2.114
10.2.115
10.2.116
10.2.117
10.2.118
10.2.119
10.2.120
10.2.121
10.2.122
10.2.123
10.2.124
10.2.125
10.2.126
10.2.127
10.2.128
10.2.129
10.2.130
10.2.131
10.2.132
10.2.133
10.2.134
10.2.135
10.2.136
10.2.137
10.2.138
10.2.139
10.2.140
10.2.141
10.2.142
10.2.143
10.2.144
10.2.145
10.2.146
10.2.147
10.2.148
10.2.149
10.2.150
10.2.151
10.2.152
10.2.153
10.2.154
10.2.155
10.2.156
10.2.157
10.2.158
10.2.159
C0276 Incorrect parameterization of optional enc. (hardware)....................................................... 430
C0277 Incorr. parameteriz. of opt. enc. (mechanical system)......................................................... 431
C0278 Modulo value for optional encoder cannot be displayed...................................................... 431
C0279 Optional encoder unknown.................................................................................................. 432
C0280 Maximum travel range cannot be displayed internally......................................................... 433
C0281 Commutation via encoder-2 impossible............................................................................... 433
C0282 Sensorless posit. of synchr. motors, invalid ctrl parameters................................................ 434
C0283 Error during initialization of motor control (- & gt; S-0-0423)....................................................... 434
C0284 Invalid motor data in encoder memory (- & gt; S-0-0423)........................................................... 435
C0285 Type of construction of motor P-0-4014 incorrect................................................................ 436
C0286 Several motor encoders connected..................................................................................... 437
C0287 Error during initialization of motor data (- & gt; S-0-0423)........................................................... 437
C0288 Rotary scaling not allowed................................................................................................... 439
C0289 Error at init. of synchr. motor with reluctance torque........................................................... 439
C0290 Error when reading encoder data = & gt; measuring encoder................................................... 440
C0291 Incorr. parameterization of measuring enc. (hardware)....................................................... 441
C0292 Measuring encoder unknown............................................................................................... 442
C0293 Modulo value for measuring encoder cannot be displayed.................................................. 442
C0294 Incorrect measuring encoder configuration.......................................................................... 443
C0298 Impossible to exit parameterization level............................................................................. 443
C0299 Configuration changed. Restart........................................................................................... 444
C0301 Measuring system unavailable............................................................................................. 444
C0302 Absolute evaluation of measuring system impossible......................................................... 445
C0303 Absolute encoder offset cannot be saved............................................................................ 445
C0401 Switching not allowed.......................................................................................................... 446
C0403 Switching to CCD phase 2 impossible................................................................................. 446
C0501 Error clearing only in parameter mode................................................................................. 447
C0601 Homing only possible with drive enable............................................................................... 447
C0602 Distance home switch - reference mark erroneous............................................................. 448
C0603 Homing impossible with optional encoder............................................................................ 448
C0604 Homing impossible with absolute encoder........................................................................... 449
C0606 Reference mark not detected............................................................................................... 449
C0607 Reference cam input not assigned...................................................................................... 450
C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes...................................................... 450
C0609 Different travel directions parameterized............................................................................. 450
C0610 Absolute encoder offset could not be saved........................................................................ 451
C0702 Default parameters not available......................................................................................... 451
C0703 Default parameters invalid................................................................................................... 452
C0704 Parameters not copyable..................................................................................................... 452
C0706 Error when reading the controller parameters..................................................................... 453
C0722 Parameter default value incorrect (- & gt; S-0-0423).................................................................. 453
C0723 Safety command for load defaults procedure incorrect....................................................... 454
C0724 Timeout of safety command for load defaults procedure..................................................... 454
C0751 Parameter default value incorrect (- & gt; S-0-0423).................................................................. 455
C0752 Locked with password.......................................................................................................... 456
C0799 An invalid index was set....................................................................................................... 456
XVIII/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
10.2.160
10.2.161
10.2.162
10.2.163
10.2.164
10.2.165
10.2.166
10.2.167
10.2.168
10.2.169
10.2.170
10.2.171
10.2.172
10.2.173
10.2.174
10.2.175
10.2.176
10.2.177
10.2.178
10.2.179
10.2.180
10.2.181
10.2.182
10.2.183
10.2.184
10.2.185
10.2.186
10.2.187
10.2.188
10.2.189
10.2.190
10.2.191
10.2.192
10.2.193
10.2.194
10.2.195
10.2.196
10.2.197
10.2.198
10.2.199
10.2.200
10.2.201
10.2.202
10.2.203
10.2.204
10.2.205
C0851 Parameter default value incorrect (- & gt; S-0-0021).................................................................. 457
C0852 Locked with password.......................................................................................................... 457
C0902 Spindle positioning requires drive enable............................................................................ 457
C0903 Error during initialization...................................................................................................... 458
C0906 Error during search for zero pulse....................................................................................... 458
C1204 Error in offset calculation..................................................................................................... 459
C1208 No adjustment with asynchronous motor............................................................................. 459
C1209 Proceed to phase 4.............................................................................................................. 459
C1211 Commutation offset could not be determined...................................................................... 460
C1212 Motion range exceeded during commutation....................................................................... 460
C1214 Command only possible with linear synchronous motor...................................................... 461
C1215 Command only possible in 'bb'............................................................................................ 461
C1216 Commutation determination not selected............................................................................ 462
C1217 Setting only possible in 'Ab'................................................................................................. 462
C1218 Automatic commutation: Current too low............................................................................. 462
C1219 Automatic commutation: Overcurrent.................................................................................. 463
C1220 Automatic commutation: Timeout........................................................................................ 464
C1221 Automatic commutation: Iteration without result.................................................................. 464
C1222 Error when writing offset parameters................................................................................... 465
C1223 Command execution impossible.......................................................................................... 465
C1301 Class 1 diagnostics error at command start......................................................................... 466
C1402 Faulty reference mark signal................................................................................................ 466
C1701 Measuring wheel mode not possible.................................................................................... 466
C1801 Start requires drive enable................................................................................................... 467
C1802 Motor feedback data not valid.............................................................................................. 467
C1803 Inertia detection failed.......................................................................................................... 468
C1804 Automatic controller setting failed........................................................................................ 469
C1805 Travel range invalid.............................................................................................................. 469
C1806 Travel range exceeded........................................................................................................ 470
C1807 Determining travel range only via travel distance................................................................ 471
C1808 Drive not homed................................................................................................................... 471
C2001 Command not enabled......................................................................................................... 471
C2101 Holding system check only possible with drive enable........................................................ 472
C2103 Holding brake: Torque too low............................................................................................. 472
C2104 Command execution impossible.......................................................................................... 473
C2105 Load of holding system greater than test torque.................................................................. 473
C2106 Test torque of holding system not reached.......................................................................... 474
C2107 Redundant holding brake: Torque too low........................................................................... 477
C2108 Error when releasing the holding system............................................................................. 477
C2109 SBS: Test torque invalid...................................................................................................... 478
C2202 Error when writing data to non-volatile memory................................................................... 479
C2301 Error when reading non-volatile memory............................................................................. 479
C2302 Error when converting parameters....................................................................................... 479
C2402 Error when saving parameters............................................................................................. 480
C2502 Error when accessing the MMC........................................................................................... 480
C2504 Error when writing data to internal memory......................................................................... 481
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
XIX/619
Table of Contents
Page
10.2.206
10.2.207
10.2.208
10.2.209
10.2.210
10.2.211
10.2.212
10.2.213
10.2.214
10.2.215
10.2.216
10.2.217
10.2.218
10.2.219
10.2.220
10.2.221
10.2.222
10.2.223
10.2.224
10.2.225
10.2.226
10.2.227
10.2.228
10.2.229
10.2.230
10.2.231
10.2.232
10.2.233
10.2.234
10.2.235
10.2.236
10.2.237
10.2.238
10.2.239
10.2.240
10.2.241
10.2.242
10.2.243
10.2.244
10.2.245
10.2.246
10.2.247
10.2.248
10.2.249
10.2.250
10.2.251
C2602 Error when accessing the MMC........................................................................................... 482
C2604 Error when reading the internal memory.............................................................................. 483
C2801 Analog input not configured................................................................................................. 483
C2802 Oscillations of input signal outside tolerance range............................................................. 484
C2803 Measured values at zero point and max. value identical..................................................... 484
C2804 Automatic adjustment failed................................................................................................. 485
C2903 Error when accessing the MMC........................................................................................... 485
C2904 Error when accessing the flash............................................................................................ 486
C2905 Programmed firmware defective.......................................................................................... 486
C3001 Synchronization and storage failed...................................................................................... 487
C3101 Act. modulo value cycle greater than max. travel range...................................................... 488
C3102 Drive is still in drive enable.................................................................................................. 488
C3201 Incorrect input for current..................................................................................................... 488
C3202 Incorrect input for voltage.................................................................................................... 489
C3203 Incorrect input for frequency................................................................................................ 489
C3204 Incorrect input for speed...................................................................................................... 489
C3205 Incorrect input for power factor............................................................................................ 490
C3206 Incorrect input for power...................................................................................................... 490
C3207 Type plate list incomplete.................................................................................................... 491
C3208 Error when writing parameters (- & gt; S-0-0423)....................................................................... 491
C3209 Command execution impossible.......................................................................................... 491
C3501 Acquisition velocity not allowed........................................................................................... 492
C3502 Motor encoder not available................................................................................................. 492
C3503 Optional encoder not available............................................................................................ 493
C3504 Measuring encoder not available......................................................................................... 493
C3505 No encoder selected............................................................................................................ 494
C3506 Correction value table cannot be stored.............................................................................. 494
C3601 Motor not or not correctly connected................................................................................... 495
C3602 Determined values invalid.................................................................................................... 495
C3603 Device current limit too low.................................................................................................. 496
C3604 Error when writing parameters (- & gt; S-0-0423)....................................................................... 496
C3605 Motor turning........................................................................................................................ 497
C3606 Type of construction of motor not allowed........................................................................... 497
C3607 Motor revolution/motion impeded......................................................................................... 498
C3608 Incorrect motor phases or rotational direction of encoder.................................................... 498
C3609 Incorrect number of pole pairs or number of encoder lines................................................. 499
C3610 No encoder: Validation check impossible............................................................................ 499
C3611 Test velocity not reached..................................................................................................... 500
C3701 Error when manually unlocking the safety door................................................................... 500
C3901 Resurfacing of holding brake only possible with drive enable............................................. 501
C3902 Error during resurfacing of holding brake............................................................................. 501
C3903 Command execution impossible.......................................................................................... 502
C4001 Error during safe homing procedure.................................................................................... 502
C4002 Incorrect distance of dedicated point channel 1-2............................................................... 503
C4101 Switching only possible without AF...................................................................................... 504
C4102 Switching only possible in parameter mode......................................................................... 504
XX/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
10.2.252
10.2.253
10.2.254
10.2.255
10.2.256
10.2.257
10.2.258
10.2.259
10.2.260
10.2.261
10.2.262
10.2.263
10.2.264
10.2.265
10.2.266
10.2.267
10.2.268
10.2.269
10.2.270
10.2.271
10.2.272
10.2.273
10.2.274
10.2.275
10.2.276
10.2.277
10.2.278
10.2.279
10.2.280
10.2.281
10.2.282
10.2.283
10.2.284
10.2.285
10.2.286
10.2.287
10.2.288
10.2.289
10.2.290
10.2.291
10.2.292
10.2.293
10.2.294
10.2.295
10.2.296
10.2.297
C4103 Preselect parameter set forbidden value............................................................................. 505
C4104 Error during parameter set switching (- & gt; S-0-0423).............................................................. 505
C4201 Oscillation requires drive enable.......................................................................................... 505
C4202 Oscillation command speed cannot be reached.................................................................. 506
C4302 Distance home switch - reference mark erroneous............................................................. 506
C4304 Homing impossible with absolute encoder........................................................................... 507
C4306 Reference mark not detected............................................................................................... 507
C4307 Reference cam input not assigned...................................................................................... 508
C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes...................................................... 508
C4601 Error when writing parameters (- & gt; S-0-0423)....................................................................... 508
C4701 Drive active, activation of easy startup impossible.............................................................. 509
C4801 Cogging torque compensation: Measuring vel. too high...................................................... 509
C4802 Cogging torque compensation: Measuring vel. too low....................................................... 510
C4803 Cogging torque compensation: Inadmissible acceleration................................................... 510
C4804 Cogging torque comp.: Err. when storing corr. val table...................................................... 511
C4805 Cogging torque comp.: Motor measuring system not homed.............................................. 511
C4901 PLC command error no. 1.................................................................................................... 512
C4902 PLC command error no. 2.................................................................................................... 512
C4903 PLC command error no. 3.................................................................................................... 512
C4904 PLC command error no. 4.................................................................................................... 513
C4910 PLC command timeout........................................................................................................ 513
C5301 SERCOS III: Delay measurement failed.............................................................................. 514
C5401 PLC program not ready for retain data backup.................................................................... 514
C5402 Error when writing data to the MMC.................................................................................... 515
C5501 PLC program not ready for loading retain data.................................................................... 515
C5502 MMC not available or not OK............................................................................................... 516
C5503 PLC retain data do not match PLC program........................................................................ 516
C5504 Unknown format in PLC retain file....................................................................................... 517
C5505 Invalid PLC retain data......................................................................................................... 517
C5601 Command requires drive enable.......................................................................................... 518
C5602 Axis blocked......................................................................................................................... 518
C5603 Timeout: Axis in motion........................................................................................................ 518
C5801 Command Apply redundant holding brake not possible...................................................... 519
C5901 Comm. Resurfacing of red. holding brake only possible AF................................................ 519
C5902 Error when resurfacing redundant holding brake................................................................. 520
C5903 Command execution impossible.......................................................................................... 520
C6001 Measuring system unavailable............................................................................................. 521
C6002 Absolute evaluation of measuring system impossible......................................................... 521
C6003 Absolute encoder offset cannot be saved............................................................................ 522
C6004 Command cannot be executed under drive enable............................................................. 522
C6101 Incorrect IP settings............................................................................................................. 522
C6201 Command execution impossible.......................................................................................... 523
C6401 reboot command impossible................................................................................................ 524
C6501 Error when writing backup data (backup memory).............................................................. 524
C6502 Error when reading backup data (device)............................................................................ 525
C6503 Error when checking backup data (comparison).................................................................. 526
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
XXI/619
Table of Contents
Page
10.2.298
10.2.299
10.2.300
10.2.301
10.2.302
10.2.303
10.2.304
10.2.305
10.2.306
10.2.307
10.2.308
10.2.309
11
11.1
11.2
11.3
11.4
11.5
11.6
11.7
11.8
11.9
11.10
11.11
11.12
11.13
11.14
12
12.1
12.2
12.3
12.4
12.5
12.6
12.7
12.8
12.9
12.10
12.11
12.12
12.13
12.14
C6601 Error when reading backup data (backup memory)............................................................. 526
C6602 Error when writing backup data (device).............................................................................. 527
C6603 Error when writing comparative data (backup memory)...................................................... 528
C6604 Error when reading comparative data (device).................................................................... 529
C6605 Warning, restoration incomplete (device)............................................................................ 529
C7001 CCD: Impossible to adjust slave addresses........................................................................ 530
C7101 CCD: Impossible to close ring.............................................................................................. 531
C7201 CCD: Impossible to apply I/O configuration......................................................................... 531
C7401 CCD: Impossible to switch to phase 2................................................................................. 532
C7501 CCD: Impossible to switch to phase 4................................................................................. 532
C7601 Memory access impossible.................................................................................................. 533
C7602 Slave access impossible...................................................................................................... 533
Extended Diagnosis (P-0-3219)................................................................................. 535
Displays C0254 to C0265................................................................................................................... 535
Displays C0723 to C2109................................................................................................................... 537
Displays C4001, C4002 and C6201................................................................................................... 538
Displays Exxx, E3107 and E3115....................................................................................................... 539
Displays F3112 to F3135.................................................................................................................... 539
Display F3140..................................................................................................................................... 544
Displays F3141 and F3142................................................................................................................. 547
Displays F3144 to F3152.................................................................................................................... 548
Displays F7010 to F7022.................................................................................................................... 551
Displays F7030 to F7031.................................................................................................................... 552
Displays F7040 to F7043.................................................................................................................... 553
Displays F7050 to F7051.................................................................................................................... 554
Displays F8027 to F8135.................................................................................................................... 556
Display F8201..................................................................................................................................... 557
Extended Diagnosis (P-0-3219) as of MPx07............................................................ 559
Displays C0254 to C0265................................................................................................................... 559
Displays C0723 to C2109................................................................................................................... 561
Displays C4001, C4002 and C6201................................................................................................... 563
Displays Exxx, E3107 and E3115....................................................................................................... 563
Displays F3112 to F3135.................................................................................................................... 564
Display F3140..................................................................................................................................... 570
Displays F3141 and F3142................................................................................................................. 573
Displays F3144 to F3152.................................................................................................................... 574
Displays F7010 to F7022.................................................................................................................... 576
Displays F7030 to F7031.................................................................................................................... 577
Displays F7040 to F7043.................................................................................................................... 579
Displays F7050 to F7051.................................................................................................................... 581
Displays F8030 to F8135.................................................................................................................... 583
Display F8201..................................................................................................................................... 584
XXII/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Table of Contents
Page
13
13.1
13.1.1
13.1.2
13.1.3
13.2
14
14.1
14.2
14.3
14.4
14.5
14.6
14.7
14.8
14.9
14.10
14.11
14.12
14.13
14.14
14.15
14.16
14.17
14.18
14.19
14.20
14.21
15
15.1
15.2
15.3
16
16.1
16.2
16.3
17
Rexroth IndraDrive Mi Diagnostic Display................................................................. 585
KSM Distributed Servo Drive / KMS Distributed Drive Controller....................................................... 585
LED H14.......................................................................................................................................... 585
Diagnostic Display as of MPB-07V12 / MPx-08VRS....................................................................... 585
Diagnostic Display up to MPB-07V10.............................................................................................. 586
Electronic Control System KCU.......................................................................................................... 587
Handling, Diagnostic and Service Functions............................................................. 589
Firmware Replacement....................................................................................................................... 589
Firmware Download............................................................................................................................ 589
Messages During Firmware Download............................................................................................... 589
FL: DL ................................................................................................................................................ 589
FL:ERASE ......................................................................................................................................... 590
FL: PROG .......................................................................................................................................... 590
FL: CKS ............................................................................................................................................. 590
FL:E ADR ........................................................................................................................................... 590
FL:E SEC ........................................................................................................................................... 590
FL:E FW ............................................................................................................................................. 590
FL:E LD .............................................................................................................................................. 591
FL:E SEQ ........................................................................................................................................... 591
FL:F9002 ........................................................................................................................................... 591
FL:F2100 ........................................................................................................................................... 591
FL:F CKS ........................................................................................................................................... 591
FL:F ACC ........................................................................................................................................... 592
FL:F2101 ........................................................................................................................................... 592
FL:F8122 ........................................................................................................................................... 592
FL:F8129 ........................................................................................................................................... 592
FL:F8130 ........................................................................................................................................... 592
FL:F8120 ........................................................................................................................................... 593
Notes for Machine Operators..................................................................................... 595
General Information............................................................................................................................ 595
Diagnosing Malfunction and Removing Errors................................................................................... 595
Contacting the Service Department ................................................................................................... 596
Notes for Installation Programmers........................................................................... 597
How to Handle Command Errors........................................................................................................ 597
How to Handle Errors......................................................................................................................... 599
How to Handle Warnings.................................................................................................................... 601
Service and Support.................................................................................................. 603
Index.......................................................................................................................... 605
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
23/619
Introduction
1
Introduction
1.1
About This Documentation
Editions of This Documentation
Edition
Release date
Notes
DOK-INDRV*-GEN-**VRS**-WA01-EN-P
2004-03-17
First edition
DOK-INDRV*-GEN-**VRS**-WA02-EN-P
2004-11-26
Also valid for MPx03 firmware
DOK-INDRV*-GEN-**VRS**-WA03-EN-P
2005-12-23
Also valid for MPx04 firmware
DOK-INDRV*-GEN-**VRS**-WA04-EN-P
2007-10-05
Also valid for MPx05 firmware
DOK-INDRV*-GEN-**VRS**-WA05-EN-P
2009-05-07
Also valid for MPx06 firmware
DOK-INDRV*-GEN-**VRS**-WA06-EN-P
2009-09-11
Also valid for MPx07 firmware
DOK-INDRV*-GEN-**VRS**-WA07-EN-P
2011-01-14
Also valid for MPx08 firmware
2012-01-10
" Rexroth IndraDrive Mi Diagnostic Display " in‐
cluded
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Corrections and improvements
Fig.1-1:
Means of Representation in This
Documentation
What?
Record of Revisions
To make the reading of this documentation easier for you, the table below
contains the means of representation and notations of recurring terms.
How?
For example...
Important facts which are to be
Boldface
highlighted in the body text
With the safety function " Safe parking axis " , the following
monitoring functions are deactivated: ...
Parameter names, diagnostic mes‐
Quotation marks
sage names, function designations
The missing speed information can be replaced via the con‐
trol bit " defined safety with parked axis " in
" P‑0‑3210, Safety technology configuration " .
Fig.1-2:
Conventions of Notation
Notes and tips are highlighted. A symbol tells you whether a note or a tip is
used in the text:
This box contains important information which you should take in‐
to consideration.
This symbol highlights useful tips and tricks.
The reader's attention is drawn to hazards in accordance with
ANSI Z535.6-2011 (see " Explanation of Signal Words and the Safety Alert
Symbol " ).
Your Feedback
Your experience is important for our improvement processes of products and
documentations.
If you discover mistakes in this documentation or suggest changes, you can
send your feedback to the following e-mail address:
Dokusupport@boschrexroth.de
We need the following information to handle your feedback:
24/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Introduction
●
The number indicated under " Internal File Reference " .
●
The page number.
1.2
Reference Documentations
1.2.1
Drive Systems, System Components
Title
Kind of documentation
Document typecode1)
Part number
DOK-INDRV*-…
R911…
Project Planning Manual
SYSTEM*****-PRxx-EN-P
309636
Mi Drive Systems
Project Planning Manual
KCU+KSM****-PRxx-EN-P
320924
Supply Units, Power Sections
Project Planning Manual
HMV-S-D+HCS-PRxx-EN-P
318790
Project Planning Manual
CSH********-PRxx-EN-P
295012
Project Planning Manual
ADDCOMP****-PRxx-EN-P
306140
Operating Instructions
FU**********-IBxx-EN-P
314905
Rexroth IndraDrive …
Drive Systems With HMV01/02
HMS01/02, HMD01, HCS02/03
HMV, HMS, HMD, HCS02, HCS03
Drive Controllers
Control Sections CSB01, CSH01,
CDB01
Additional Components and Accesso‐
ries
C Drive Controllers
HCS02.1, HCS03.1
1)
Fig.1-3:
Title
In the document typecodes, " xx " is a wild card for the current edition of
the documentation (example: PR01 is the first edition of a Project
Planning Manual)
Documentations – Overview
Kind of documentation
Document typecode1)
Part number
R911…
Automation Terminals
Application Manual
Of The Rexroth Inline
DOK-CONTRL-ILSYSINS***AWxx-EN-P
317021
Product Range
1)
Fig.1-4:
1.2.2
In the document typecodes, " xx " is a wild card for the current edition of
the documentation (example: AW01 is the first edition of an Applica‐
tion Manual)
Documentations – Overview
Motors
Title
Kind of documentation
Part number
DOK-MOTOR*-…
Rexroth IndraDyn …
Document typecode1)
R911…
A Asynchronous Motors MAD / MAF
Project Planning Manual
MAD/MAF****-PRxx-EN-P
295781
H Synchronous Kit Spindle Motors
Project Planning Manual
MBS-H******-PRxx-EN-P
297895
L Synchronous Linear Motors
Project Planning Manual
MLF********-PRxx-EN-P
293635
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
25/619
Introduction
Title
Kind of documentation
Part number
DOK-MOTOR*-…
Rexroth IndraDyn …
Document typecode1)
R911…
S MSK Synchronous Motors
Project Planning Manual
MSK********-PRxx-EN-P
296289
T Synchronous Torque Motors
Project Planning Manual
MBT********-PRxx-EN-P
298798
1)
Fig.1-5:
1.2.3
In the document typecodes, " xx " is a wild card for the current edition of
the documentation (example: PR01 is the first edition of a Project
Planning Manual)
Documentations – Overview
Cables
Title
Kind of documentation
Selection Data
IndraDrive and IndraDyn
1)
Fig.1-6:
1.2.4
Part number
DOK-…
Rexroth Connection Cables
Document typecode1)
R911…
CONNEC-CABLE*INDRV-CAxxEN-P
322949
In the document typecodes, " xx " is a wild card for the current edition of
the documentation (example: CA02 is the second edition of the docu‐
mentation " Selection Data " )
Documentations – Overview
Firmware
Title
Kind of documentation
Document typecode1)
Part number
DOK-INDRV*-…
R911…
Functional Description
MP*-08VRS**-APxx-EN-P
332643
Functional Description
MP*-07VRS**-FKxx-EN-P
328670
Functional Description
MP*-06VRS**-FKxx-EN-P
326766
Functional Description
MP*-05VRS**-FKxx-EN-P
320182
Functional Description
MP*-04VRS**-FKxx-EN-P
315485
Functional Description
MP*-03VRS**-FKxx-EN-P
308329
Functional Description
MP*-02VRS**-FKxx-EN-P
299223
Parameter Description
GEN-**VRS**-PAxx-EN-P
297317
Troubleshooting Guide
GEN-**VRS**-WAxx-EN-P
297319
Functional and Application
Description
SI*-**VRS**-FKxx-EN-P
297838
Rexroth IndraDrive …
Firmware for Drive Controllers
MPH-08, MPB-08, MPD-08, MPC-08
Firmware for Drive Controllers
MPH-07, MPB-07, MPD-07, MPC-07
Firmware for Drive Controllers
MPH-06, MPB-06, MPD-06, MPC-06
Firmware for Drive Controllers
MPH-05, MPB-05, MPD-05
Firmware for Drive Controllers
MPH-04, MPB-04, MPD-04
Firmware for Drive Controllers
MPH-03, MPB-03, MPD-03
Firmware for Drive Controllers
MPH-02, MPB-02, MPD-02
Drive Controllers
MPx-02 to MPx-08
MPx-02 to MPx-08
and HMV
Integrated Safety Technology
26/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Introduction
Title
Kind of documentation
Document typecode1)
Part number
DOK-INDRV*-…
R911…
Functional Description
SI2-**VRS**-FKxx-EN-P
327664
Rexroth IndraMotion MLD
Application Manual
MLD-**VRS**-AWxx-EN-P
306084
Rexroth IndraMotion MLD
Library Description
MLD-SYSLIB*-FKxx-EN-P
309224
Rexroth IndraDrive …
Integrated Safety Technology
According to IEC61508
Library
1)
Fig.1-7:
Title
In the document typecodes, " xx " is a wild card for the current edition of
the documentation (example: FK02 is the second edition of a Func‐
tional Description)
Documentations – Overview
Kind of documentation
Document typecode1)
Part number
R911…
Productivity Agent
Application Manual
Extended Diagnostic Functions With
Rexroth IndraDrive
1)
Fig.1-8:
DOK-INDRV*-MLD-PAGENT*AWxx-EN-P
323947
In the document typecodes, " xx " is a wild card for the current edition of
the documentation (example: AW01 is the first edition of an Applica‐
tion Manual)
Documentations – Overview
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
27/619
Important Directions for Use
2
Important Directions for Use
2.1
Appropriate Use
2.1.1
Introduction
Rexroth products represent state-of-the-art developments and manufacturing.
They are tested prior to delivery to ensure operating safety and reliability.
WARNING
Personal injury and property damage caused
by incorrect use of the products!
The products have been designed for use in the industrial environment and
may only be used in the appropriate way. If they are not used in the appropri‐
ate way, situations resulting in property damage and personal injury can oc‐
cur.
Rexroth as manufacturer is not liable for any damages resulting
from inappropriate use. In such cases, the guarantee and the
right to payment of damages resulting from inappropriate use are
forfeited. The user alone carries all responsibility of the risks.
Before using Rexroth products, make sure that all the pre-requisites for an
appropriate use of the products are satisfied:
●
●
If the products take the form of hardware, then they must remain in their
original state, in other words, no structural changes are permitted. It is
not permitted to decompile software products or alter source codes.
●
Do not mount damaged or faulty products or use them in operation.
●
2.1.2
Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar with
appropriate use.
Make sure that the products have been installed in the manner descri‐
bed in the relevant documentation.
Areas of Use and Application
Drive controllers made by Rexroth are designed to control electrical motors
and monitor their operation.
Control and monitoring of the Drive controllers may require additional sensors
and actors.
The drive controllers may only be used with the accessories and
parts specified in this documentation. If a component has not
been specifically named, then it may neither be mounted nor con‐
nected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware as
specified in the relevant Functional Descriptions.
Drive controllers have to be programmed before commissioning, making it
possible for the motor to execute the specific functions of an application.
Drive controllers of the Rexroth IndraDrive line have been developed for use
in single- and multi-axis drive and control tasks.
28/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Important Directions for Use
To ensure application-specific use of Drive controllers, device types of differ‐
ent drive power and different interfaces are available.
Typical applications include, for example:
●
Handling and mounting systems,
●
Packaging and food machines,
●
Printing and paper processing machines and
●
Machine tools.
Drive controllers may only be operated under the assembly and installation
conditions described in this documentation, in the specified position of normal
use and under the ambient conditions as described (temperature, degree of
protection, humidity, EMC, etc.).
2.2
Inappropriate Use
Using the Drive controllers outside of the operating conditions described in
this documentation and outside of the indicated technical data and specifica‐
tions is defined as " inappropriate use " .
Drive controllers must not be used, if ...
●
they are subject to operating conditions that do not meet the specified
ambient conditions. This includes, for example, operation under water,
under extreme temperature fluctuations or extremely high maximum
temperatures.
●
Furthermore, Drive controllers must not be used in applications which
have not been expressly authorized by Rexroth. Please carefully follow
the specifications outlined in the general Safety Instructions!
Components of the drive system Rexroth IndraDrive are products
of category C3 (with restricted distribution) according to
IEC 61800‑3. These components are not provided for use in a
public low-voltage mains supplying residential areas. If these
components are used in such a mains, high-frequency interfer‐
ence is to be expected. This can require additional measures of
radio interference suppression.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
29/619
Safety Instructions for Electric Drives and Controls
3
Safety Instructions for Electric Drives and Controls
3.1
Definitions of Terms
Application Documentation
Application documentation comprises the entire documentation used to in‐
form the user of the product about the use and safety-relevant features for
configuring, integrating, installing, mounting, commissioning, operating, main‐
taining, repairing and decommissioning the product. The following terms are
also used for this kind of documentation: User Guide, Operation Manual,
Commissioning Manual, Instruction Manual, Project Planning Manual, Appli‐
cation Manual, etc.
Component
A component is a combination of elements with a specified function, which
are part of a piece of equipment, device or system. Components of the elec‐
tric drive and control system are, for example, supply units, drive controllers,
mains choke, mains filter, motors, cables, etc.
Control System
A control system comprises several interconnected control components
placed on the market as a single functional unit.
Device
A device is a finished product with a defined function, intended for users and
placed on the market as an individual piece of merchandise.
Electrical Equipment
Electrical equipment encompasses all devices used to generate, convert,
transmit, distribute or apply electrical energy, such as electric motors, trans‐
formers, switching devices, cables, lines, power-consuming devices, circuit
board assemblies, plug-in units, control cabinets, etc.
Electric Drive System
An electric drive system comprises all components from mains supply to mo‐
tor shaft; this includes, for example, electric motor(s), motor encoder(s), sup‐
ply units and drive controllers, as well as auxiliary and additional compo‐
nents, such as mains filter, mains choke and the corresponding lines and ca‐
bles.
Installation
An installation consists of several devices or systems interconnected for a
defined purpose and on a defined site which, however, are not intended to be
placed on the market as a single functional unit.
Machine
A machine is the entirety of interconnected parts or units at least one of
which is movable. Thus, a machine consists of the appropriate machine drive
elements, as well as control and power circuits, which have been assembled
for a specific application. A machine is, for example, intended for processing,
treatment, movement or packaging of a material. The term " machine " also
covers a combination of machines which are arranged and controlled in such
a way that they function as a unified whole.
Manufacturer
The manufacturer is an individual or legal entity bearing responsibility for the
design and manufacture of a product which is placed on the market in the in‐
dividual's or legal entity's name. The manufacturer can use finished products,
finished parts or finished elements, or contract out work to subcontractors.
However, the manufacturer must always have overall control and possess
the required authority to take responsibility for the product.
Product
Examples of a product: Device, component, part, system, software, firmware,
among other things.
Project Planning Manual
A project planning manual is part of the application documentation used to
support the sizing and planning of systems, machines or installations.
Qualified Persons
In terms of this application documentation, qualified persons are those per‐
sons who are familiar with the installation, mounting, commissioning and op‐
eration of the components of the electric drive and control system, as well as
with the hazards this implies, and who possess the qualifications their work
30/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Safety Instructions for Electric Drives and Controls
requires. To comply with these qualifications, it is necessary, among other
things,
1) to be trained, instructed or authorized to switch electric circuits and devi‐
ces safely on and off, to ground them and to mark them
2) to be trained or instructed to maintain and use adequate safety equipment
3) to attend a course of instruction in first aid
User
A user is a person installing, commissioning or using a product which has
been placed on the market.
3.2
General Information
3.2.1
Using the Safety Instructions and Passing Them on to Others
Do not attempt to install and operate the components of the electric drive and
control system without first reading all documentation provided with the prod‐
uct. Read and understand these safety instructions and all user documenta‐
tion prior to working with these components. If you do not have the user doc‐
umentation for the components, contact your responsible Rexroth sales part‐
ner. Ask for these documents to be sent immediately to the person or per‐
sons responsible for the safe operation of the components.
If the component is resold, rented and/or passed on to others in any other
form, these safety instructions must be delivered with the component in the
official language of the user's country.
Improper use of these components, failure to follow the safety instructions in
this document or tampering with the product, including disabling of safety de‐
vices, could result in property damage, injury, electric shock or even death.
3.2.2
Requirements for Safe Use
Read the following instructions before initial commissioning of the compo‐
nents of the electric drive and control system in order to eliminate the risk of
injury and/or property damage. You must follow these safety instructions.
●
Rexroth is not liable for damages resulting from failure to observe the
safety instructions.
●
Read the operating, maintenance and safety instructions in your lan‐
guage before commissioning. If you find that you cannot completely un‐
derstand the application documentation in the available language,
please ask your supplier to clarify.
●
Proper and correct transport, storage, mounting and installation, as well
as care in operation and maintenance, are prerequisites for optimal and
safe operation of the component.
●
Only qualified persons may work with components of the electric drive
and control system or within its proximity.
●
Only use accessories and spare parts approved by Rexroth.
●
Follow the safety regulations and requirements of the country in which
the components of the electric drive and control system are operated.
●
Only use the components of the electric drive and control system in the
manner that is defined as appropriate. See chapter " Appropriate Use " .
●
The ambient and operating conditions given in the available application
documentation must be observed.
●
Applications for functional safety are only allowed if clearly and explicitly
specified in the application documentation " Integrated Safety Technolo‐
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
31/619
Safety Instructions for Electric Drives and Controls
gy " . If this is not the case, they are excluded. Functional safety is a safe‐
ty concept in which measures of risk reduction for personal safety de‐
pend on electrical, electronic or programmable control systems.
●
The information given in the application documentation with regard to
the use of the delivered components contains only examples of applica‐
tions and suggestions.
The machine and installation manufacturers must
–
make sure that the delivered components are suited for their indi‐
vidual application and check the information given in this applica‐
tion documentation with regard to the use of the components,
–
make sure that their individual application complies with the appli‐
cable safety regulations and standards and carry out the required
measures, modifications and complements.
●
Commissioning of the delivered components is only allowed once it is
sure that the machine or installation in which the components are instal‐
led complies with the national regulations, safety specifications and
standards of the application.
●
Operation is only allowed if the national EMC regulations for the applica‐
tion are met.
●
The instructions for installation in accordance with EMC requirements
can be found in the section on EMC in the respective application docu‐
mentation.
The machine or installation manufacturer is responsible for compliance
with the limit values as prescribed in the national regulations.
●
The technical data, connection and installation conditions of the compo‐
nents are specified in the respective application documentations and
must be followed at all times.
National regulations which the user must take into account
●
European countries: In accordance with European EN standards
●
United States of America (USA):
–
National Electrical Code (NEC)
–
National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
–
Regulations of the National Fire Protection Association (NFPA)
●
Canada: Canadian Standards Association (CSA)
●
Other countries:
–
International Organization for Standardization (ISO)
–
International Electrotechnical Commission (IEC)
3.2.3
Hazards by Improper Use
●
High electrical voltage and high working current! Danger to life or seri‐
ous injury by electric shock!
●
High electrical voltage by incorrect connection! Danger to life or injury by
electric shock!
●
Dangerous movements! Danger to life, serious injury or property dam‐
age by unintended motor movements!
●
Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric drive systems!
32/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Safety Instructions for Electric Drives and Controls
●
Risk of burns by hot housing surfaces!
●
Risk of injury by improper handling! Injury by crushing, shearing, cutting,
hitting!
●
Risk of injury by improper handling of batteries!
●
Risk of injury by improper handling of pressurized lines!
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
33/619
Safety Instructions for Electric Drives and Controls
3.3
Instructions with Regard to Specific Dangers
3.3.1
Protection Against Contact With Electrical Parts and Housings
This section concerns components of the electric drive and con‐
trol system with voltages of more than 50 volts.
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the electric drive
and control system, it is unavoidable that some parts of these components
conduct dangerous voltage.
High electrical voltage! Danger to life, risk of injury by electric shock or seri‐
ous injury!
●
Only qualified persons are allowed to operate, maintain and/or repair the
components of the electric drive and control system.
●
Follow the general installation and safety regulations when working on
power installations.
●
Before switching on, the equipment grounding conductor must have
been permanently connected to all electric components in accordance
with the connection diagram.
●
Even for brief measurements or tests, operation is only allowed if the
equipment grounding conductor has been permanently connected to the
points of the components provided for this purpose.
●
Before accessing electrical parts with voltage potentials higher than
50 V, you must disconnect electric components from the mains or from
the power supply unit. Secure the electric component from reconnec‐
tion.
●
With electric components, observe the following aspects:
Always wait 30 minutes after switching off power to allow live capacitors
to discharge before accessing an electric component. Measure the elec‐
trical voltage of live parts before beginning to work to make sure that the
equipment is safe to touch.
●
Install the covers and guards provided for this purpose before switching
on.
●
Never touch electrical connection points of the components while power
is turned on.
●
Do not remove or plug in connectors when the component has been
powered.
●
Under specific conditions, electric drive systems can be operated at
mains protected by residual-current-operated circuit-breakers sensitive
to universal current (RCDs/RCMs).
●
Secure built-in devices from penetrating foreign objects and water, as
well as from direct contact, by providing an external housing, for exam‐
ple a control cabinet.
High housing voltage and high leakage current! Danger to life, risk of injury
by electric shock!
●
Before switching on and before commissioning, ground or connect the
components of the electric drive and control system to the equipment
grounding conductor at the grounding points.
34/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Safety Instructions for Electric Drives and Controls
●
Connect the equipment grounding conductor of the components of the
electric drive and control system permanently to the main power supply
at all times. The leakage current is greater than 3.5 mA.
●
Establish an equipment grounding connection with a minimum cross
section according to the table below. With an outer conductor cross sec‐
tion smaller than 10 mm2 (8 AWG), the alternative connection of two
equipment grounding conductors is allowed, each having the same
cross section as the outer conductors.
Cross section outer con‐
ductor
Minimum cross section equipment grounding conductor
Leakage current ≥ 3.5 mA
1 equipment grounding
conductor
2 equipment grounding
conductors
1,5 mm2 (AWG 16)
2 × 1,5 mm2 (AWG 16)
2,5 mm2 (AWG 14)
2 × 2,5 mm2 (AWG 14)
4 mm2 (AWG 12)
10 mm2 (AWG 8)
2 × 4 mm2 (AWG 12)
6 mm2 (AWG 10)
2 × 6 mm2 (AWG 10)
10 mm2 (AWG 8)
-
16 mm2 (AWG 6)
-
25 mm2 (AWG 4)
16 mm2 (AWG 6)
-
35 mm2 (AWG 2)
50 mm2 (AWG 1/0)
25 mm2 (AWG 4)
-
70 mm2 (AWG 2/0)
35 mm2 (AWG 2)
-
...
...
...
Fig.3-1:
3.3.2
Minimum Cross Section of the Equipment Grounding Connection
Protective Extra-Low Voltage as Protection Against Electric Shock
Protective extra-low voltage is used to allow connecting devices with basic in‐
sulation to extra-low voltage circuits.
On components of an electric drive and control system provided by Rexroth,
all connections and terminals with voltages between 5 and 50 volts are PELV
( " Protective Extra-Low Voltage " ) systems. It is allowed to connect devices
equipped with basic insulation (such as programming devices, PCs, note‐
books, display units) to these connections.
Danger to life, risk of injury by electric shock! High electrical voltage by incor‐
rect connection!
If extra-low voltage circuits of devices containing voltages and circuits of
more than 50 volts (e.g., the mains connection) are connected to Rexroth
products, the connected extra-low voltage circuits must comply with the re‐
quirements for PELV ( " Protective Extra-Low Voltage " ).
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Safety Instructions for Electric Drives and Controls
3.3.3
Protection Against Dangerous Movements
Dangerous movements can be caused by faulty control of connected motors.
Some common examples are:
●
Improper or wrong wiring or cable connection
●
Operator errors
●
Wrong input of parameters before commissioning
●
Malfunction of sensors and encoders
●
Defective components
●
Software or firmware errors
These errors can occur immediately after equipment is switched on or even
after an unspecified time of trouble-free operation.
The monitoring functions in the components of the electric drive and control
system will normally be sufficient to avoid malfunction in the connected
drives. Regarding personal safety, especially the danger of injury and/or
property damage, this alone cannot be relied upon to ensure complete safety.
Until the integrated monitoring functions become effective, it must be as‐
sumed in any case that faulty drive movements will occur. The extent of faulty
drive movements depends upon the type of control and the state of opera‐
tion.
Dangerous movements! Danger to life, risk of injury, serious injury or property
damage!
A risk assessment must be prepared for the installation or machine, with its
specific conditions, in which the components of the electric drive and control
system are installed.
As a result of the risk assessment, the user must provide for monitoring func‐
tions and higher-level measures on the installation side for personal safety.
The safety regulations applicable to the installation or machine must be taken
into consideration. Unintended machine movements or other malfunctions
are possible if safety devices are disabled, bypassed or not activated.
To avoid accidents, injury and/or property damage:
●
Keep free and clear of the machine’s range of motion and moving ma‐
chine parts. Prevent personnel from accidentally entering the machine’s
range of motion by using, for example:
–
Safety fences
–
Safety guards
–
Protective coverings
–
Light barriers
●
Make sure the safety fences and protective coverings are strong enough
to resist maximum possible kinetic energy.
●
Mount emergency stopping switches in the immediate reach of the oper‐
ator. Before commissioning, verify that the emergency stopping equip‐
ment works. Do not operate the machine if the emergency stopping
switch is not working.
●
Prevent unintended start-up. Isolate the drive power connection by
means of OFF switches/OFF buttons or use a safe starting lockout.
●
Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
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Safety Instructions for Electric Drives and Controls
●
Additionally secure vertical axes against falling or dropping after switch‐
ing off the motor power by, for example,
–
mechanically securing the vertical axes,
–
adding an external braking/arrester/clamping mechanism or
–
ensuring sufficient counterbalancing of the vertical axes.
●
The standard equipment motor holding brake or an external holding
brake controlled by the drive controller is not sufficient to guarantee per‐
sonal safety!
●
Disconnect electrical power to the components of the electric drive and
control system using the master switch and secure them from reconnec‐
tion ( " lock out " ) for:
–
–
3.3.4
Cleaning of equipment
–
●
Maintenance and repair work
Long periods of discontinued equipment use
Prevent the operation of high-frequency, remote control and radio equip‐
ment near components of the electric drive and control system and their
supply leads. If the use of these devices cannot be avoided, check the
machine or installation, at initial commissioning of the electric drive and
control system, for possible malfunctions when operating such high-fre‐
quency, remote control and radio equipment in its possible positions of
normal use. It might possibly be necessary to perform a special electro‐
magnetic compatibility (EMC) test.
Protection Against Magnetic and Electromagnetic Fields During Oper‐
ation and Mounting
Magnetic and electromagnetic fields generated by current-carrying conduc‐
tors or permanent magnets of electric motors represent a serious danger to
persons with heart pacemakers, metal implants and hearing aids.
Health hazard for persons with heart pacemakers, metal implants and hear‐
ing aids in proximity to electric components!
●
Persons with heart pacemakers and metal implants are not allowed to
enter the following areas:
–
Areas in which components of the electric drive and control sys‐
tems are mounted, commissioned and operated.
–
Areas in which parts of motors with permanent magnets are stored,
repaired or mounted.
●
●
3.3.5
If it is necessary for somebody with a heart pacemaker to enter such an
area, a doctor must be consulted prior to doing so. The noise immunity
of implanted heart pacemakers differs so greatly that no general rules
can be given.
Those with metal implants or metal pieces, as well as with hearing aids,
must consult a doctor before they enter the areas described above.
Protection Against Contact With Hot Parts
Hot surfaces of components of the electric drive and control system. Risk of
burns!
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Safety Instructions for Electric Drives and Controls
●
●
According to the operating conditions, temperatures of the surfaces can
be higher than 60 °C (140 °F) during or after operation.
●
Before touching motors after having switched them off, let them cool
down for a sufficient period of time. Cooling down can require up to 140
minutes! The time required for cooling down is approximately five times
the thermal time constant specified in the technical data.
●
After switching chokes, supply units and drive controllers off, wait 15 mi‐
nutes to allow them to cool down before touching them.
●
Wear safety gloves or do not work at hot surfaces.
●
3.3.6
Do not touch hot surfaces of, for example, braking resistors, heat sinks,
supply units and drive controllers, motors, windings and laminated
cores!
For certain applications, and in accordance with the respective safety
regulations, the manufacturer of the machine or installation must take
measures to avoid injuries caused by burns in the final application.
These measures can be, for example: Warnings at the machine or in‐
stallation, guards (shieldings or barriers) or safety instructions in the ap‐
plication documentation.
Protection During Handling and Mounting
Risk of injury by improper handling! Injury by crushing, shearing, cutting, hit‐
ting!
●
●
Use suitable equipment for mounting and transport.
●
Avoid jamming and crushing by appropriate measures.
●
Always use suitable tools. Use special tools if specified.
●
Use lifting equipment and tools in the correct manner.
●
Use suitable protective equipment (hard hat, safety goggles, safety
shoes, safety gloves, for example).
●
Do not stand under hanging loads.
●
3.3.7
Observe the relevant statutory regulations of accident prevention.
Immediately clean up any spilled liquids from the floor due to the risk of
falling!
Battery Safety
Batteries consist of active chemicals in a solid housing. Therefore, improper
handling can cause injury or property damage.
Risk of injury by improper handling!
●
Do not attempt to reactivate low batteries by heating or other methods
(risk of explosion and cauterization).
●
Do not attempt to recharge the batteries as this may cause leakage or
explosion.
●
Do not throw batteries into open flames.
●
Do not dismantle batteries.
●
When replacing the battery/batteries, do not damage the electrical parts
installed in the devices.
●
Only use the battery types specified for the product.
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Safety Instructions for Electric Drives and Controls
Environmental protection and disposal! The batteries contained in
the product are considered dangerous goods during land, air, and
sea transport (risk of explosion) in the sense of the legal regula‐
tions. Dispose of used batteries separately from other waste. Ob‐
serve the national regulations of your country.
3.3.8
Protection Against Pressurized Systems
According to the information given in the Project Planning Manuals, motors
and components cooled with liquids and compressed air can be partially sup‐
plied with externally fed, pressurized media, such as compressed air, hy‐
draulics oil, cooling liquids and cooling lubricants. Improper handling of the
connected supply systems, supply lines or connections can cause injuries or
property damage.
Risk of injury by improper handling of pressurized lines!
●
Do not attempt to disconnect, open or cut pressurized lines (risk of ex‐
plosion).
●
Observe the respective manufacturer's operating instructions.
●
Before dismounting lines, relieve pressure and empty medium.
●
Use suitable protective equipment (safety goggles, safety shoes, safety
gloves, for example).
●
Immediately clean up any spilled liquids from the floor due to the risk of
falling!
Environmental protection and disposal! The agents (e.g., fluids)
used to operate the product might not be environmentally friendly.
Dispose of agents harmful to the environment separately from
other waste. Observe the national regulations of your country.
3.4
Explanation of Signal Words and the Safety Alert Symbol
The Safety Instructions in the available application documentation contain
specific signal words (DANGER, WARNING, CAUTION or NOTICE) and,
where required, a safety alert symbol (in accordance with
ANSI Z535.6-2011).
The signal word is meant to draw the reader's attention to the safety instruc‐
tion and identifies the hazard severity.
The safety alert symbol (a triangle with an exclamation point), which pre‐
cedes the signal words DANGER, WARNING and CAUTION, is used to alert
the reader to personal injury hazards.
DANGER
In case of non-compliance with this safety instruction, death or serious injury
will occur.
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Safety Instructions for Electric Drives and Controls
WARNING
In case of non-compliance with this safety instruction, death or serious injury
could occur.
CAUTION
In case of non-compliance with this safety instruction, minor or moderate in‐
jury could occur.
NOTICE
In case of non-compliance with this safety instruction, property damage could
occur.
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Basics on Device Diagnosis
4
Basics on Device Diagnosis
4.1
Diagnostic System
4.1.1
Coded Diagnostic Messages of the Drive
Brief Description
The drive provides a diagnostic system including different options that are ba‐
sically divided into two groups:
●
Recognizing and displaying the current drive status by means of driveinternal, priority-dependent generation of diagnostic messages
●
Collective messages for various status messages
Additionally, there are parameters for all important operating data the values
of which can be transmitted both via master communication (e.g., SERCOS)
and a parameterization interface (RS-232/485 in the ASCII protocol or SIS
protocol; see " Serial Communication " ).
●
S‑0‑0030, Manufacturer version
●
S‑0‑0095, Diagnostic message
●
S‑0‑0140, Controller type
●
S‑0‑0142, Application type
●
S‑0‑0375, Diagnostic numbers list
●
S‑0‑0390, Diagnostic message number
●
P‑0‑0007, Display text of diagnostic message
●
P‑0‑0009, Error number
●
P‑0‑0478, Logbook event
●
P‑0‑0479, Logbook time stamp
●
Pertinent Parameters
P‑0‑3219, Extended safety technology diagnosis
For integrated safety technology, an extended diagnosis option is
provided in the form of a safety technology error code. When cer‐
tain safety technology errors occur, this error code can be read
from parameter " P‑0‑3219, Extended safety technology
diagnosis " which allows quick error diagnosis.
Drive-Internal Generation of Diagnostic Messages
Operating states, activities and reactions of the drive controller are detected
by drive-internal generation of diagnostic messages and appear in coded
form on the display of the control panel. In addition, these diagnostic messag‐
es can be transferred to a master (control) and displayed and evaluated in
service and commissioning software (e.g., " IndraWorks Ds/D/MLD " ).
We distinguish the following categories of diagnostic messages (kinds of di‐
agnostic messages):
●
Errors
●
Warnings
●
Commands/command errors
●
Status displays/operating states
Generally, the current diagnostic message with the highest priority is dis‐
played or stored at the following locations in the drive:
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●
Display of the control panel and parameter " P‑0‑0007, Display text of
diagnostic message "
→ The diagnostic message number or, if applicable, text appears on the
8-digit display of the standard control panel. The current display is stor‐
ed in parameter P‑0‑0007.
●
Parameter " S‑0‑0095, Diagnostic message "
→ This parameter, in the form of plain text, contains the operating status
of the drive at present relevant. Preceding the text is the respective con‐
tent of parameter S‑0‑0390.
●
Parameter " S‑0‑0390, Diagnostic message number "
→ The diagnostic message number shown on the display is stored in
this parameter.
When a diagnostic message of the " error " category occurs, the correspond‐
ing diagnostic message number is stored in parameter " P‑0‑0009, Error
number " . When there isn't any error present, the value of parameter
P‑0‑0009 equals zero.
In parameter " S‑0‑0375, Diagnostic numbers list " , the last 50 diagnostic mes‐
sage numbers of parameter S‑0‑0390 are recorded in chronological order.
When reading this list, the number of the diagnostic message that last occur‐
red is displayed as parameter element 1.
Priorities of Display
The following priorities apply for displaying the current diagnostic message:
Fig.4-1:
Priorities of Displays (with Example Displays)
The documentation " Troubleshooting Guide (description of diagnostic mes‐
sages) " contains an overview of all diagnostic messages and their meanings.
Structure of a Diagnostic Message
General Information
Every diagnostic message consists of
●
Diagnostic message number
- and -
●
diagnostic text.
The diagnostic message for the non-fatal error " F2028, Excessive deviation " ,
for example, has the following structure:
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Fig.4-2:
Structure of a Diagnostic Message
" F2028 " flashes on the display of the control panel. The display " F2028 " is al‐
so output via parameter " P‑0‑0007, Display text of diagnostic message " , too.
The diagnostic message number is contained in parameter
" S‑0‑0390Diagnostic message number " in hexadecimal form (for this exam‐
ple: 0x00F2028). Parameter " S‑0‑0095, Diagnostic message " contains the di‐
agnostic message number and the diagnostic text as string " F2028
Excessive deviation " . " 2028 " (dec) is written to parameter " P‑0‑0009, Error
number " , because it is an error diagnosis.
Diagnostic message on the control panel display
The diagnostic message number appears on the 8-digit display of the stand‐
ard control panel. This allows recognizing the current operating status of the
drive quickly and without using a communication interface.
As a matter of principle, the following applies:
●
Status displays (P0, Ab, AF …) are displayed in right-aligned form
●
Warnings, command errors and other error messages are flashing
Kind of diagnostic message
Diagnostic message
number
Display
Error
F2xxx
F2xxx
Command
C0200
C02
Command error
C02xx
C02xx
Warning
E2xxx
E2xxx
e.g. communication phase 1
A0001
P1
Drive ready for operation
A0012
Ab
A0101
AF
communication phase
Operation mode
e.g. velocity control
Fig.4-3:
Overview of Diagnostic Messages Displayed
The current operation mode is not shown on the display. When the drive fol‐
lows the preset operating mode and no command was activated, the display
reads " AF " .
Diagnostic message in plain text
The diagnostic message in plain text contains the diagnostic message num‐
ber followed by the diagnostic message text. It can be read via parameter
" S‑0‑0095, Diagnostic message " and directly displayed on an operator inter‐
face as a language-dependent description of the drive status.
The diagnostic message in plain text is switched to the selected language via
parameter " S‑0‑0265, Language selection " .
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Diagnostic message number
The diagnostic message number contains only the diagnostic number without
the diagnostic text. It can be read via parameter " S‑0‑0390, Diagnostic
message number " and is a language-independent possibility of determining
and displaying the drive status on an operator interface.
Display text of diagnostic message
The display text of a diagnostic message is the text appearing on the display
of the control panel. It can be read via parameter " P‑0‑0007, Display text of
diagnostic message " which allows an operator interface to determine the
drive status and display it in a language-independent way.
Error number
The error number contains only the error number without the display text of
the diagnostic message. It can be read via parameter " P‑0‑0009, Error
number " and is a language-independent possibility of determining and dis‐
playing an error condition on an operator interface. This parameter only con‐
tains a value unequal to zero when an error is present in the drive.
The error number is generated from the lowest 4 digits of the diagnostic mes‐
sage number. For example, error " F2028 Excessive deviation " with diagnos‐
tic message number " (0x)F2028 " results in error number " 2028 " .
List of diagnostic numbers
The last 50 diagnostic message numbers displayed are stored in chronologi‐
cal order in parameter " S‑0‑0375, Diagnostic numbers list " . Every change in
the content of " S‑0‑0390, Diagnostic message number " means that the old
content is applied to S‑0‑0375. When reading parameter S‑0‑0375, the last
transferred diagnostic message number appears in the first element of the
parameter, the diagnostic message number transferred before from S‑0‑0390
in the second element, etc.
Language Selection
Via parameter " S‑0‑0265Language selection " , it is possible to define or
change the language of diagnostic message texts.
See also Parameter Description " S‑0‑0265, Language selection "
4.2
Status Classes, Status Displays, Control Parameters
4.2.1
General Information
In the drive there are many parameters with important status information (bit
lists). Some of the bits contained in these lists can be used for configuring re‐
al-time status bits and additionally can be assigned to digital outputs or to the
configurable signal status word.
See " Digital Inputs/Outputs "
See " Configurable Signal Status Word "
4.2.2
Status Classes
Brief Description
The drive differentiates between 3 states (error, warning and message) for
which there is status information. To make the status information available,
there are so-called class diagnostics parameters (S‑0‑0011, S‑0‑0012,
S‑0‑0013) which contain the respective status bits.
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In addition to these class diagnostics parameters, there are change bits con‐
tained in the status word of the field bus (e.g. S‑0‑0135 in the case of
SERCOS) which display changes in one of the above-mentioned class diag‐
nostics parameters (collective information).
Class diagnostics parameter for errors (cf. S‑0‑0011)
Class diagnostics parameter for warnings (cf. S‑0‑0012)
●
Class diagnostics parameter for messages (cf. S‑0‑0013)
●
Change bits in status word of master communication (e.g. S‑0‑0135 in
case of SERCOS)
●
Change bits of class 2 and 3 diagnostics (S‑0‑0097 and S‑0‑0098) can
be masked in the status word of master communication (e.g. S‑0‑0135
in case of SERCOS) to suppress individual bits or status messages
●
S‑0‑0011, Class 1 diagnostics
●
S‑0‑0012, Class 2 diagnostics
●
S‑0‑0013, Class 3 diagnostics
●
S‑0‑0097, Mask class 2 diagnostics
●
S‑0‑0098, Mask class 3 diagnostics
●
Pertinent Parameters
●
●
Features
S‑0‑0135, Drive status word
●
S‑0‑0011, Class 1 diagnostics (status parameter for drive errors)
Functional Description
Status Class Parameters
–
In case a drive error occurs, the bit assigned to the error is set in
parameter S‑0‑0011. A separate bit is assigned in S‑0‑0011 to er‐
rors defined according to SERCOS.
Manufacturer-specific errors cause bit 15 to be set in parameter
S‑0‑0011 (see also Parameter Description " S‑0‑0011, Class 1
diagnostics " ).
–
In case a drive error occurs, bit 13 (drive interlock; error in class 1
diagnostics) is simultaneously set in the status word of the field bus
(S‑0‑0135 in case of SERCOS).
All bits in class 1 diagnostics are cleared by executing the com‐
mand C0500 (reset class 1 diagnostics).
See also Parameter Description " S‑0‑0099, C0500 Reset class 1
diagnostics "
●
S‑0‑0012, Class 2 diagnostics (status parameter for drive warnings)
–
In case a drive warning occurs, the bit assigned to the warning is
set in parameter S‑0‑0012. A separate bit is assigned in S‑0‑0012
to warnings defined according to SERCOS.
Manufacturer-specific warnings cause bit 15 to be set in parameter
S‑0‑0012 (see also Parameter Description " S‑0‑0012, Class 2
diagnostics " ).
–
In case a drive warning occurs, bit 12 (change bit class 2 diagnos‐
tics) is simultaneously set in the status word of the field bus
(S‑0‑0135 in case of SERCOS), when the content of S‑0‑0012
changes (i.e. at least one bit toggles).
–
The bits in parameter S‑0‑0012 are automatically cleared when the
warning disappears. The change bit in the status word of the mas‐
ter communication (S‑0‑0135 in case of SERCOS) remains set,
however, until parameter S‑0‑0012 has been read once.
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Via parameter " S‑0‑0097, Mask class 2 diagnostics " , warnings
can be masked in terms of their effect on the change bit.
●
S‑0‑0013, Class 3 diagnostics (status parameter for drive messages)
–
Messages of the drive are listed in parameter S‑0‑0013. A sepa‐
rate bit is assigned in S‑0‑0013 to messages defined according to
SERCOS (see also Parameter Description " S‑0‑0013, Class 3
diagnostics " ).
–
If a drive message occurs, bit 11 (change bit class 3 diagnostics) is
simultaneously set in the status word of the field bus (S‑0‑0135 in
case of SERCOS).
–
The bits in parameter S‑0‑0013 are automatically cleared when the
message disappears. The change bit in the status word of the
master communication (S‑0‑0135 in case of SERCOS) remains
set, however, until parameter S‑0‑0013 has at least been read
once.
Each of these messages is stored in a separate parameter
(S‑0‑0330 to S‑0‑0342).
Change Bits in Drive Status Word
If the status of a bit in " S‑0‑0012, Class 2 diagnostics " or " S‑0‑0013, Class 3
diagnostics " changes, the change bit for class 2 or 3 diagnostics is set in the
field bus status word (e.g., S‑0‑0135 in case of SERCOS). A change bit in the
status word (bit 11 or 12) is always set due to a change of the parameter con‐
tent of S‑0‑0012 or S‑0‑0013. This enables the master to recognize very
quickly whether a change occurred in S‑0‑0012 or S‑0‑0013.
A read access to one of the two parameters clears the respective change bit
again.
Masking the Change Bits
By means of the parameters " S‑0‑0097, Mask class 2 diagnostics " and
" S‑0‑0098, Mask class 3 diagnostics " , it is possible to mask certain bits in
terms of their effect on the change bit of the status word (bit 12 or bit 11).
The figure below illustrates the principle of masking by means of an example:
Fig.4-4:
Generating the Change Bit of Class 2 Diagnostics
Notes on Commissioning
The figure below illustrates the handling of the change bits in the status word
and of the status class parameters:
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Fig.4-5:
4.2.3
Handling the Change Bits and Status Class Parameters
Fixed Status Displays
Function-Related Status Parameters
In the drive there are parameters the content of which has a direct relation to
the status of the sequence of different drive functions. These parameters are
used to display the current status information of the assigned function.
The following parameters are available for function-related status display:
●
S‑0‑0014, Interface status
This parameter displays the status of the communication phase transi‐
tion and the cyclic communication.
●
S‑0‑0135, Drive status word
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This is the status word of the master communication (SERCOS) and
contains all essential status information for the master.
●
S‑0‑0403, Position feedback value status
This parameter contains status bits for the position data reference of the
individual measuring systems.
●
S‑0‑0419, Positioning command acknowledge
This status information is used for acknowledgment in " drive-controlled
positioning " mode.
●
P‑0‑0046, Status word of current controller
This parameter contains status bits of the internal motor control (e.g.
overvoltage in DC bus).
●
P‑0‑0115, Device control: status word
This parameter contains status bits of device control (see also " Device
Control and State Machines " ).
●
P‑0‑0222, Travel range limit switch inputs
This parameter displays the status of the travel range limit switch inputs
(see also " Limitations: Travel Range Limit Switches " ).
●
P‑0‑0223, E-Stop input
This parameter displays the status of the E-Stop input (see also
" E-Stop Function " ).
●
P‑0‑0455, Acceleration feedforward actual value
This parameter contains status bits to display the activation of torque/
current limitation (see also " Limitations: Current and Torque/Force Limi‐
tation " ).
●
P‑0‑0539, Holding brake status word
This parameter contains status bits for the status of the motor holding
brake (see also " Motor Holding Brake " ).
●
P‑0‑0555, axis controller messages
This parameter displays messages with regard to velocity and limits that
have been reached.
●
P‑0‑4029, Diagnostic report SCSB module
Parameter for reading master communication settings and states (with
SERCOS interface).
●
P‑0‑4086, Master communication status
This parameter displays control information of the master communica‐
tion for handling phase switch, drive enable etc., defined during initiali‐
zation.
Status Parameters for Real-Time Status Bits
The following list contains status parameters that only contain one bit and
can therefore be used for configuring real-time status bits (see " SERCOS in‐
terface " ):
●
S‑0‑0330, Status " n_feedback = n_command "
●
S‑0‑0331, Status " n_feedback = 0 "
●
S‑0‑0332, Status " n_feedback & lt; nx "
●
S‑0‑0333, Status " T & gt; = Tx "
●
S‑0‑0334, Status " T & gt; = Tlimit "
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●
●
S‑0‑0336, Status " In position "
●
S‑0‑0337, Status " P & gt; = Px "
●
S‑0‑0341, Status " In coarse position "
●
S‑0‑0342, Status " Target position attained "
●
S‑0‑0343, Status " Interpolator halted "
●
S‑0‑0409, Probe 1 positive latched
●
S‑0‑0410, Probe 1 negative latched
●
S‑0‑0411, Probe 2 positive latched
●
4.2.4
S‑0‑0335, Status " n_command & gt; n_limit "
S‑0‑0412, Probe 2 negative latched
Control Parameters
Apart from the parameters for status display, there are parameters available
in the drive that are used to control the drive functions (see also description
of corresponding parameter):
●
P‑0‑0045, Control word of current controller
●
P‑0‑0427, Control parameter of analog output
●
P‑0‑0522, Control word for commutation setting
●
P‑0‑0556, Config word of axis controller
●
P‑0‑0612, Set absolute position control
●
P‑0‑4028, Device control word
4.3
Control Panels of the IndraDrive Controllers
4.3.1
General Information on the Operation Options
Control Panel Variants
IndraDrive controllers are equipped with a " control panel " ; its front consists of
a display with keys located underneath it. The display shows operating
states, command and error diagnostics, as well as any pending warnings.
The keys are used to enter settings, call information and trigger some com‐
mands.
Fig.4-6:
Standard control panel
Via the serial interface of the controller, it is additionally possible to connect
an independent VCP operator terminal that can, for example, be integrated in
the front of the control cabinet.
VCP operator terminals are separate components (terminals) that can be
used in addition to the standard or comfort control panel. They are connected
to the serial interface of the controller via a separate line. This allows integrat‐
ing a VCP operator terminal in the front of the control cabinet, for example.
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By means of a configuration tool it is additionally possible to configure other
application-dependent settings, displays and command functions.
4.4
Control Panel
4.4.1
Brief Description
IndraDrive controllers are equipped with a control panel, the front of which,
the so-called " control panel " , consists of a display and 4 keys located under‐
neath it. The four keys can be used to display extended diagnostic messages
and trigger simple commands (in addition to master communication,
IndraWorks or NC control).
Fig.4-7:
Control panel display options
Schematic diagram of the control panel (sample display)
The display of the IndraDrive controller automatically shows:
●
●
Operating status
●
Commands and diagnostic command messages
●
Warnings and diagnostic error messages
●
Setting options using the control
panel
Status of the master communication
Extended displays such as contents of error memories, diagnostic mes‐
sage memory, operating hours counter of control section, operating
hours counter of power section, type designation of firmware active in
the device, safety technology code (if safety technology option availa‐
ble)
The following settings can be performed using the control panel:
Setting the drive address (drive number in the bus system of the master
communication)
●
Setting the length of the fiber optic cable
●
Activating " Easy startup " mode for initial commissioning
●
Setting the master communication protocol
●
Activating commands via the con‐
trol panel
●
Setting IP addresses for Engineering
The following commands can be activated using the control panel:
●
Activating " S‑0‑0262, C07_x Load defaults procedure command " (load‐
ing controller parameters or basic parameters)
●
Activating other commands, such as:
–
C0200 Exit parameterization level procedure command
–
C0300 Set absolute position procedure command
–
C0400 Activate parameterization level 1 procedure command
–
C2000 Command Release motor holding brake
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–
–
C2300 Load working memory procedure command
–
C2800 Analog input adjustment command
–
VCP control terminal
C2200 Backup working memory procedure command
C2900 Command Firmware update from MMC
It is also possible to connect a stand-alone VCP control terminal that can, for
example, be integrated into the front of the control cabinet, to the controller
via an Engineering interface.
VCP control terminals are separate components (terminals) that can be used
in addition to the control panel. They are connected to the controller serially
or by Ethernet.
VCPs are programmable by the user and it is possible to access all the
drive's parameters and the MLD's variables.
4.4.2
Functional Description
Standard displays
The displays have priorities, because it is impossible to display several mes‐
sages simultaneously.
Fig.4-8:
Displays during phase progression of the master communication
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Fig.4-9:
Fig.4-10:
Explanation of command error displays
Fig.4-11:
Priorities of display
Displays during phase progression of the master communication
Explanation of error and warning displays
The current drive status is displayed with highest priority.
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Fig.4-12:
Priorities of displays (with sample displays)
With error messages, warnings and command errors, the diagnostic mes‐
sage text is displayed on the standard display in the form of a marquee text in
the standard operating panel, in addition to the flashing diagnostic message
number (see also Parameter Description " S‑0‑0095, Diagnostic message " ).
Activating extended display, Com‐
mand menu, Service menu and
Easy menu
The easy menu can always (without unlocking) be accessed by pressing the
" Enter " key.
Simultaneously pressing the " Esc " and the " Enter " keys in the standard dis‐
play (for 8 s when activated for the first time) accesses the extended menu.
Fig.4-13:
Easy menu
Activating the extended display, the command menu and the easy
menu
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Fig.4-14:
Easy menu
Control panel text:
Comment / note:
" Comm.___ "
This submenu shows the current field bus protocol and
can be changed, if required.
" Protocol "
" Slave___ "
" _Address "
" Ethernet "
" Ethernet "
" Device__ "
" ____Info "
This submenu shows the current drive address. It can be
changed, if required.
In this menu the Ethernet connection can be viewed or
set. The menu structure below " Ethernet " may vary, de‐
pending on the hardware (see " Easy menu " on page 53).
This submenu shows the information on the hardware to
be used, e.g. firmware string ( S‑0‑0030). No settings can
be made in this submenu.
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Fig.4-15:
Submenu of " Comm.___ " " Protocol "
Fig.4-16:
Submenu of " Slave___ " " _Address "
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Fig.4-17:
Submenu of " Ethernet " " Ethernet "
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Fig.4-18:
Example for setting the IP address for " Master Communication Eng. "
" X22-X23 "
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Fig.4-19:
Easy Menu, Structure Under " Device__ " " ____Info "
Assignment of the Entries in the " Device__ " " ____Info " Menu to the Parame‐
ters Used
Menu
Entry
Parameters used
-
Application
Text in " S‑0‑0142, Application type "
-
FW version
Text in " S‑0‑0030, Manufacturer version "
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Menu
Entry
Parameters used
PowerSec
Type
Text in " S‑0‑0140, Controller type "
Serial number
" P‑0‑1519, Module code of power section " ,
5th element
HW index
" P‑0‑1519, Module code of power section " ,
7th element
Type
Text in " P‑0‑1520, Control section type "
Serial number
" P‑0‑1518, Module code of control section " ,
5th element
HW index
" P‑0‑1518, Module code of control section " ,
7th element
Type
Text in " S‑0‑0141, Motor type "
Serial number
" P‑0‑3000, Module code of motor, encoder
memory " , 5th element
HW index
" P‑0‑3000, Module code of motor, encoder
memory " , 7th element
Change counter
" P‑0‑3201, Change counter of safety
technology memory "
Hours at last change
" P‑0‑3202, Operating hours at last change of
memory "
Application
" P‑0‑3205, Safety technology device
identifier "
Control.
MotorSec
SI info
Extended display
By means of the extended displays, it is possible to additionally call up the
contents of certain parameters:
●
Error memory
●
Diagnostic message memory
●
Operating hours counter control section
●
Operating hours counter power section
●
Type designation of the firmware active in the device
●
Safety technology code, change counter of safety technology and ope‐
rating hours counter since last change (if safety technology option avail‐
able)
●
Diagnostic field bus message (P‑0‑4073)
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Fig.4-20:
Activating the extended displays
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For more details on diagnostic messages, error messages and operating
hours counters, see the respective sections of this document.
Command menu
Starting from the extended display, the command menu is activated by press‐
ing the " Up " key. This menu is used to enter different settings:
●
Setting the drive address (drive number in the bus system of the master
communication)
●
Additional communication settings (IP address, gateway addresses and
subnet mask)
●
Activating the easy master communication mode " easy startup "
●
Activating " S‑0‑0262, C07_x Load defaults procedure command " (load
controller parameters or basic parameters)
●
Switching the communication phases between operation mode (OM)
and parameter mode (PM)
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Fig.4-21:
Activating commands/settings that can be accessed via the control
panel (commands 2.1 to 2.6)
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Fig.4-22:
Settings for the " Load Defaults
Procedure " Command
Activating commands/settings that can be accessed via the control
panel (commands 2.7 to 2.12)
The parameter " S‑0‑0262, C07_x Load defaults procedure command " can be
activated via the standard control panel, too. Depending on the configuration
in parameter " P‑0‑4090, Configuration for loading default values " , different
basic parameter sets are loaded internally. The following configurations in pa‐
rameter P‑0‑4090 are possible via the standard control panel, the last two
digits of the hexadecimal parameter value being displayed on the standard
display:
●
Loading motor-specific control loop parameter values → 0x0000
●
Loading basic parameter values, without exception → 0x0001
●
Loading basic parameter values, except for master communication pa‐
rameters → 0x0011
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After the command C07_x has been executed, the parameter
P‑0‑4090 is automatically reset to its default value (0x0000)!
Fig.4-23:
Switching the communication pha‐
ses
Setting parameter P‑0‑4090 for " load defaults procedure " via the
standard control panel
Switching the communication phases between operating mode (OM) and pa‐
rameter mode (PM) via the control panel is possible with all master communi‐
cations, except for sercos interface. With sercos interface, phase switch con‐
trolled via the control panel can only be carried out with " Easy startup " mode
active!
In order to execute " C07_1 Load defaults procedure com. (load
basic parameters) " , the parameter mode (PM) has to be activa‐
ted.
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Fig.4-24:
Fig.4-25:
Defining MMC storage mode
Activating parameter mode via the control panel
Switching back from parameter mode to operation mode via the con‐
trol panel
Parameter " P‑0‑4070, Parameter storage configuration " defines how the con‐
troller handles the (optional) MMC memory card. This setting can be defined
directly via the command menu of the control panel (2.10). The following stor‐
age modes are possible for operating the MMC:
●
●
MMC as update medium
●
MMC as programming module
MMC as programming module
MMC as backup medium
If the MMC has been defined as " programming module " , all parameters are
stored on the MMC. With an active controller, the MMC must be permanently
plugged into the control section. If the controller is switched on without MMC
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or the MMC is removed from the active controller, the controller signals an
error.
MMC as update medium
When the MMC has been defined as " update medium " , the control section
checks during the booting process whether an MMC was plugged in or not.
The display asks whether the parameters are to be loaded from the MMC. If
there is a newer firmware on the MMC, a request is issued as to whether this
firmware is to be loaded. The parameters are not stored on the MMC, but in
the onboard flash memory.
MMC as backup medium
When the MMC has been defined as " backup medium " , it is used as a de‐
mand-dependent storage location for parameter settings. The parameter val‐
ues are stored via a command, via the FTP server or file services (MLD).
When the MMC operation has been defined as " update medium " or as " back‐
up medium " , it is not necessary to have the MMC permanently plugged into
the control section. The MMC can be plugged in or removed with the drive
active. Loading and storing parameter sets, however, is only possible with the
MMC plugged in!
The options for using the MMC in the IndraDrive controller are de‐
scribed in detail in the section " MultiMediaCard (MMC) " .
Fig.4-26:
Service menu
Setting the MMC Storage Mode With the Control Panel
Starting from the command menu, activate the service menu by pressing the
" Up " key. It supports the following actions:
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●
Firmware update with previous saving of the parameter values on the in‐
ternal memory (flash), if the optional memory (MMC) is the active mem‐
ory (MMC as " programming module " ). After the update, the parameter
values can be loaded to the MMC again from the internal memory
(flash).
Note: If the internal memory (flash) is the active storage medium ( " hot
plug " of the MMC), the parameter values are already available in the de‐
vice and do not need to be saved before the MMC-based firmware up‐
date. In this case, pressing the " Enter " key with the display " Save data "
has no effect!
●
Replacement of device with saving of parameter values on MMC, if the
internal memory (flash) is the active memory. After the device has been
replaced, firmware and values of the drive parameters, as well as PLC
retain data, can be loaded from this MMC to the replacement controller.
Note: If the control section has been equipped with the optional module
" MDx " , the retain data of the PLC is saved on the MMC in addition to the
values of the drive parameters, when " Save data " is executed! When
the MMC is the active memory, the drive parameters are not saved, be‐
cause they have already been stored on the MMC, but the PLC data is
stored on the MMC.
●
Copying parameters:
–
Storing the parameter values and, if necessary, the PLC retain da‐
ta from the device-internal, non-volatile memories (onboard flash
and, if available, memory of optional module " MDx " ) on the MMC
–
Loading the parameter values stored on the MMC to the non-vola‐
tile memories of the controller
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Fig.4-27:
Activating the functions of the service menu
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4.5
Terms, Basic Principles
4.5.1
Parameters
Communication between master and drive takes place, with a few excep‐
tions, by means of parameters.
Parameters are used for:
●
Determining the configuration
●
Parameterizing the control loop
●
Triggering and controlling drive functions and commands
●
Transmitting command values and actual values (according to require‐
ments, cyclically or acyclically)
All operating data are mapped to parameters!
The operating data stored in parameters can be identified by means of the
IDN. They can be read and transferred, if required. The user write access to
parameters depends on the properties of the respective parameter and the
current communication phase. Specific parameter values (operating data) are
checked for validity by the drive firmware.
4.5.2
Data Storage and Parameter Handling
Data Memory
Several non-volatile data memories are available in an IndraDrive device:
●
In the controller
●
In the motor encoder (depending on motor type)
●
As a MultiMediaCard (MMC), optional
In addition, a volatile data memory (working memory) is available in the con‐
troller.
Condition as Supplied
Condition as supplied of the Rexroth drive components:
●
The controller memory contains the drive firmware and the controllerspecific parameter values.
●
The motor encoder memory contains the encoder-specific and, depend‐
ing on the motor type, the motor-specific parameter values.
●
The MMC contains the drive firmware and the basic parameter sets.
Storing the Application-Specific
Parameter Values
The application-specific parameter values are stored in the controller. Due to
the limited number of writing cycles of non-volatile storage media, applica‐
tion-specific parameter values can be stored in the working memory (volatile
memory), too.
Saving Parameter Values
Saving application-specific parameter values is required in the following ca‐
ses:
●
After initial commissioning of the machine axis or the motor
●
Before replacing the controller for servicing (if possible)
Application-specific parameter values can be saved via:
●
●
" IndraWorks Ds/D/MLD " commissioning tool → Saving the parameter
values on external data carrier
●
Parameter IDN Lists
MMC → Copying the parameter values by command
Control master → Saving the parameter values on master-side data car‐
rier
The drive supports master-side saving of parameter values by listing parame‐
ter identification numbers (IDNs). Using these lists guarantees complete stor‐
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age of the application-specific parameter values. It is also possible to deter‐
mine IDN lists defined by the customer.
Loading Parameter Values
Loading parameter values is required in the following cases:
●
Initial commissioning of the motor (loading basic parameter values and
motor-specific parameter values)
●
Serial commissioning of machine axes at series machines (loading the
values saved after initial commissioning)
●
Reestablishing a defined initial status (repeated loading of the values
saved after initial commissioning)
●
Replacing the controller for servicing (loading the current parameter val‐
ues saved before servicing)
Options for loading parameter values to the controller:
●
●
" IndraWorks Ds/D/MLD " commissioning tool → Loading the parameter
values from external data carrier
●
4.5.3
MMC → Loading the parameter values by command
●
Checksum of Parameter Values
Motor encoder data memory → Loading the parameter values by com‐
mand or via the control panel during initial motor commissioning
Control master → Loading the parameter values from master-side data
carrier
By means of checksum comparison, the control master can determine wheth‐
er the values of the application-specific parameter values currently active in
the drive correspond to the values saved on the master side.
Password
IndraDrive controllers provide the possibility to protect parameter values
against accidental or unauthorized change by means of a password. With re‐
gard to write protection, there are 3 groups of parameters that can be written:
●
●
Parameters the customer can combine in groups and protect them with
a so-called customer password. This allows protecting parameter values
that are used for adjusting the drive to the axis, after having determined
them.
●
Types of Passwords
Parameters that are write-protected as a standard, such as motor pa‐
rameters, hardware code parameters, encoder parameters, error memo‐
ry, etc. ( " administration parameters " ). The values of these parameters
guarantee the correct function and performance of the drive.
All other parameters that can be written and are not contained in the
above-mentioned groups. They are not write-protected.
The drive firmware allows activating and deactivating the write protection for
parameter values by means of three hierarchically different passwords:
●
Customer Password
The parameter values of a parameter group combined by the customer
can be protected.
●
Control Password
Parameters protected by a customer password can be written; " adminis‐
tration parameters " remain write-protected.
●
Master Password
All parameters that can be written, including " administration parameters "
and parameters protected by a customer password, can be changed.
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4.5.4
Commands
Commands are used to activate and control complex functions or monitoring
features in the drive. The higher-level master can start, interrupt or clear com‐
mands.
Each command is assigned to a parameter by means of which the execution
of the command can be controlled. During the execution of the command the
display of the control panel reads " Cx " , " C " representing the diagnostic com‐
mand message and " x " representing the number of the command.
Each command that was started must be actively cleared again.
All commands available in the drive are stored in the parameter " S‑0‑0025,
IDN-list of all procedure commands " .
Types of Commands
We distinguish 3 different types of commands:
●
Drive control commands
–
Can cause automatic drive motion
–
Can only be started when drive enable has been set
–
Deactivate the active operation mode during its execution
●
Monitor commands
●
Administration commands
–
Activate or deactivate monitorings or functions in the drive
–
Carry out administration tasks
–
Cannot be interrupted
See also section " Command Processing "
4.5.5
Operation Modes
The selection of operation modes defines which command values will be pro‐
cessed in which way, in order to lead to the desired drive motion. The opera‐
tion mode does not determine how these command values are transmitted
from the master to the slave.
One of the eight (for SERCOS) operation modes that are defined in parame‐
ters is always active if the following conditions have been fulfilled:
●
Control section and power section are ready for operation
●
Drive enable signal sees a positive edge
●
Drive follows command value input
●
" Drive Halt " function has not been activated
●
No drive control command is active
●
No error reaction is carried out
The display of the control panel reads " AF " when an operation mode was ac‐
tivated.
All implemented operation modes are stored in the parameter
" S‑0‑0292, List of supported operation modes " .
See also chapter " Operation Modes "
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4.5.6
Warnings
Depending on the active operation mode and the parameter settings, many
monitoring functions are carried out. If a state is detected that still allows cor‐
rect operation but in case this state persists will cause an error to occur and
therefore cause the drive to be automatically switched off, the drive firmware
generates a warning message.
Warnings do not cause automatic shutdown (exception: fatal
warnings).
Warning Classes
Warnings are classified in different warning classes which determine whether
the drive, when the warning is generated, carries out an automatic reaction or
not.
The warning class can be recognized by the diagnostic message.
We distinguish the following warning classes:
●
Without drive reaction → Diagnostic message number E2xxx, E3xxx,
E4xxx
●
With drive reaction → Diagnostic message number E8xxx
Warnings cannot be cleared. They persist until the condition that
activated the warning is no longer fulfilled.
4.5.7
Errors
Depending on the active operation mode and the parameter settings, many
monitoring functions are carried out. If a state is detected that affects or pre‐
vents correct operation, the drive firmware generates an error message.
Error Classes
Errors are assigned to different error classes which are distinguished by dif‐
ferent error reactions of the drive.
The error class can be recognized by the diagnostic message
number.
Diagnostic message
number
Error class
F2xxx
F3xxx
Non-fatal safety technology error
F4xxx
Interface error
F6xxx
Travel range error
F7xxx
Safety technology error
F8xxx
Fatal error
F9xxx
Fatal system error
E-xxxx
Fig.4-28:
Non-fatal error
Fatal system error " Processor exception "
Overview of Error Classes
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Apart from the mentioned error classes that can occur during op‐
eration, errors can occur when the devices are booted and during
firmware download. These errors are not displayed at the control
panel with a diagnostic message number of the " Fxxxx " pattern,
but with a short text. Booting and firmware download errors are
described in the separate documentation " Troubleshooting Guide "
(description of diagnostic messages).
Error Reactions of the Drive
If the drive controller is in control and an error status is detected, the execu‐
tion of a drive error reaction is automatically started. The diagnostic message
number " Fxxxx " flashes on the display of the control panel.
The drive reaction in the case of interface errors and non-fatal errors is deter‐
mined in parameter " P‑0‑0119, Best possible deceleration " . At the end of
each error reaction, the drive goes torque-free.
See also " Error Reactions "
Clearing an Error Message
Error messages are not cleared automatically, but by means of a procedure
depending on the severity of the error, see separate documentation " Trouble‐
shooting Guide " (description of diagnostic messages).
If the error status persists, the error message is immediately generated
again.
Clearing Error Messages when
Drive Enable was set
If a drive error occurs while operating with drive enable having been set, the
drive carries out an error reaction. The drive automatically deactivates itself
at the end of each error reaction; in other words, the output stage is switched
off and the drive switches from an energized to a de-energized state.
To reactivate the drive:
●
Error Memory
Clear the error message and
●
Input a positive edge for drive enable again
The diagnostic message numbers of occurring errors are written to an error
memory. This memory contains the diagnostic message numbers of the last
50 errors that occurred and the time when they occurred. Errors caused by a
shutdown of the control voltage (e.g. " F8070 +24Volt DC error " ) are not stor‐
ed in the error memory.
The diagnostic message numbers in the error memory are mapped to the pa‐
rameter " P‑0‑0192, Error memory of diagnostic numbers " and can be dis‐
played by means of the control panel. By means of the " IndraWorks Ds/D/
MLD " commissioning tool, it is possible to display the diagnostic message
numbers and the respective times at which the errors occurred.
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Operating States
5
Operating States
5.1
General Information
The possible operating states are listed below in alphabetical order. The ope‐
rating states are displayed on the control panel of the device.
5.2
Ab / VM Bb
" Drive ready "
See also: A0012 Control and power sections ready for operation
5.3
AC
See also: A4000 Automatic drive check and adjustment
5.4
AE
See also: A4001 Drive deceleration to standstill
5.5
AF
" Drive enable "
Depending on the operation mode used, you can find a detailed description
of the " AF " display under the respective diagnostic status message.
5.6
AH
" Drive Halt "
See also: A0010 Drive HALT
5.7
AR
" Automatic drive reaction "
The drive can carry out an automatic drive reaction depending on the drive
function used.
As of firmware MPx05, the function " quick stop via probe input " (A0403 Quick
stop with probe detection is active) activates the operating status " AR " (see
also Functional Description of firmware " Quick Stop via Probe Input " ).
5.8
AS
See also: A0011 Starting lockout active
5.9
ASP
See also: A0014 Drive interlock active
5.10
AU
See also: A4002 Drive in automatic mode
5.11
bb / VM bb
" Ready for operation "
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Operating States
See also: A0013 Ready for power on
5.12
charg / VM charg
See also: A0503 DC bus charging active
5.13
CM
See also: A4003 Setting-up mode is active
5.14
OM
See also: A0051 Operating mode
5.15
P0 / VM P0
" Phase 0 " (only with SERCOS master communication)
See also: A0000 Communication phase 0
5.16
P-1
" Phase -1 "
See also: A0009 Automatic baud rate detection for SERCOS interface
5.17
P1 / VM P1
" Phase 1 "
See also: A0001 Communication phase 1
5.18
P2 / VM P2
" Phase 2 "
See also: A0002 Communication phase 2
5.19
P3 / VM P3
" Phase 3 "
See also: A0003 Communication phase 3
5.20
PM
See also: A0050 Parameterization level 1 active
5.21
PL
" Parameter load with basic values "
See also: F2009 PL Load parameter default values
5.22
RL
See also: F2008 RL The motor type has changed.
5.23
SBB
See also: A0017 Special mode motion active
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Operating States
5.24
SBB1
See also: A0018
5.25
SBB2
See also: A0019
5.26
SBB3
See also: A0020
5.27
SBB4
See also: A0021
5.28
SBH
See also: A0016
5.29
SH
See also: A0015
5.30
SMM1
See also: A0018 Special mode safe motion 1 active
5.31
SMM2
See also: A0019 Special mode safe motion 2 active
5.32
SMM3
See also: A0020 Special mode safe motion 3 active
5.33
SMM4
See also: A0021 Special mode safe motion 4 active
5.34
SS1
See also: A0015 Safe stop 1 active
5.35
SS1 ES
See also: A0014 Safe stop 1 (Emergency stop) active
5.36
SS2
See also: A0016 Safe stop 2 active
5.37
STO
See also: A0011 Safe torque off active
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Operating States
5.38
VM Lb
See also: A0500 Supply module in voltage control
5.39
VM LB
See also: A0502 Supply module in operation
5.40
VM ZKS
See also: A0520 DC bus quick discharge active
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Diagnostic Messages when Booting the Devices
6
Diagnostic Messages when Booting the Devices
6.1
Devices With Valid Firmware
When a valid firmware is available in the control section, the texts
BOOT 1.1
BOOT 1.2
BOOT 1.3
are displayed on the control section display of the devices after the control
voltage is switched on ( " booting " ). The controller first goes through the boot‐
ing phases in which the basic initialization of the processor takes place.
In the following booting phases, the basic initialization of the hardware config‐
uration, the peripherals, the parameters, the master communication, etc.
takes place:
BOOT 2.1
BOOT 2.2
...
BOOT 2.9
In the final booting phases, the initialization results are checked.
BOOT 3.0
BOOT 3.1
If errors have occurred during initialization, they are output via the display. If
not, the device can be operated.
6.2
Devices Without Valid Firmware
In case the device does not detect any valid firmware, neither in the non-vola‐
tile memory (flash) nor on the MultiMediaCard (MMC), the so-called " loader "
is started. The " loader " is an auxiliary program used to load firmware to the
flash memory. When the " loader " is activated, the controller goes through
several initialization phases:
LOAD 1
LOAD 2
LOAD 3
LOAD 4
The LOADER display signals indicating that the auxiliary program for loading
( " download " ) firmware is ready for operation.
In this status, the controller is not ready for normal operation; it is first neces‐
sary to load valid firmware.
Firmware replacement is possible in this state with IndraWorks
(menu item Tools ▶ Drive ▶ Firmware Management) via the serial
interface or the MMC.
6.3
Error Messages When Booting the Devices
6.3.1
PLC ?
Brief Description: PLC start dialog
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Diagnostic Messages when Booting the Devices
Before " Boot 2.9 " was displayed on the control panel the buttons " ESC " and
" ENTER " had been simultaneously pressed and kept pressed on the control
panel.
As the functional package " Motion Logic " (drive PLC and technology func‐
tions) has been enabled, the display reads " PLC ? " . The automatic start of a
PLC boot project was prevented.
By pressing the arrow buttons (arrow down or arrow up) the display changes
between " Run PLC " and " Stop PLC " .
6.3.2
Stop PLC
Brief Description: Do not start PLC after booting
Pressing the " ENTER " button on the control panel prevents the start of a PLC
boot project.
6.3.3
Run PLC
Brief Description: Start PLC after booting
When the " ENTER " button is pressed on the control panel, the drive PLC and
a possibly available boot project are started after the booting process.
6.3.4
Load New Safety ?
Brief Description: Query: Load safety technology parameters from MMC?
MMC plugged or changed indicates that the control section was
replaced. In this case it is possible to activate safety technology
with the parameter file backed up during safety technology com‐
missioning, but without repeated safety technology commission‐
ing (see " Replacing the Control Section " ).
Cause
Remedy
Drive controller is equipped with optional safety technology
module and active, non-volatile memory ( " P‑0‑4065, Nonvolatile memory active " ) has changed while controller was
switched off, because
Confirm diagnostic message with " ENTER " in order to ini‐
tiate loading of safety technology parameters from parame‐
ter file of MMC.
●
MMC was plugged (before switching off, device-inter‐
nal memory was active) or
●
MultiMediaCard (MMC) was replaced (different MMC
was active) or
●
MMC was removed (before switching off, MMC was
active)
ATTENTION!: Safety technology parameters already exist‐
ing on control section will get lost.
In parameter mode, parameters are first accepted in safety
technology channel 1. They are only accepted by channel 2
when switching to operating mode, without restart in the
meantime. If " P‑0‑3206, Safety technology password " in loa‐
ded parameter file is unequal default value " INDRASAVE " ,
safety technology has been activated. For further steps see
" Replacing the Control Section "
– or –
Confirm diagnostic message with " ESC " and safety technol‐
ogy parameters won't be accepted
6.3.5
No IDN on MMC !
Brief Description: MMC was not formatted correctly
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Diagnostic Messages when Booting the Devices
Cause
Remedy
Content of MMC is incorrect. Parameter (*.pbf) or retain file
(*.rbf) is missing
Switch drive off and plug in MMC with correct content
MMC was not formatted correctly
Switch drive off and plug in appropriate MMC
– or –
Switch drive off and format MMC again on PC and plug it in
again
6.3.6
Load Par from MMC
Brief Description: MMC plugged, changed or removed = & gt; different parameter
file
Cause
Remedy
Active, non-volatile memory ( " P‑0‑4065, Non-volatile memo‐ Confirm diagnostic message with " ENTER " and start loading
ry active " ) has changed while drive was switched off, be‐
of new parameters
cause
– or –
●
an MMC was plugged (before switching drive off, de‐
Switch drive off and insert active, non-volatile memory again
vice-internal memory had been active) or
that was used before drive was switched off, by either plug‐
●
MultiMediaCard (MMC) was replaced (other MMC was ging in MMC / old MMC or removing MMC again (device-in‐
active) or
ternal memory was active). Then switch drive on again
●
MMC was removed (before switching drive off, MMC
was active)
6.3.7
End C29
Brief Description: Command C29 successfully completed
The command " C2900 Command Firmware update from MMC " was success‐
fully completed. The firmware was copied from the MultiMediaCard (MMC) to
the drive-internal memory.
6.3.8
new MMC activate
Brief Description: MMC is active memory
" Programming module mode " was set in " P-0-4070, Parameter storage con‐
figuration " . The MMC check during the booting process showed that this
MMC had not been operated at the last switch-off [the CID (card IDN) of the
MMC has changed].
Cause
Remedy
MMC was replaced with device switched off
To activate plugged MMC as programming module, press
& lt; Enter & gt; on control panel
‑ or ‑
To ignore plugged MMC and load parameters from on-board
memory, press & lt; ESC & gt; on control panel. As " programming
module mode " was set in " P-0-4070, Parameter storage
configuration " , error message " F2120 MMC: defective or
missing, replace " is displayed after booting process.
6.3.9
MMC not correct!
Brief Description: MMC incorrectly formatted
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Diagnostic Messages when Booting the Devices
Cause
Remedy
MMC was not formatted correctly
Switch drive off and plug in appropriate MMC
– or –
Switch drive off and format MMC again on PC and plug it in
again
No IBF file or several IBF files on MMC
Switch drive off and plug in appropriate MMC
No appropriate parameter file and retain data file on MMC
Switch drive off and plug in appropriate MMC
6.3.10
IBF not correct!
Brief Description: Content of IBF file not correct
Cause
Remedy
IBF file on MMC is not okay
Switch drive off and install MMC with appropriate IBF file in
drive
– or –
On PC copy appropriate IBF file to MMC
6.3.11
Firmware update ?
Brief Description: Different firmware in device and on MMC
During the booting process with the MMC plugged in, a check is run by
means of the release version to find out whether the firmware (FW) on the
flash is identical to the one on the MMC.
Cause
Remedy
Check showed that firmware on flash and on MMC are not
identical
Switch drive off and install MMC in drive with the same re‐
lease version as on flash
– or –
Confirm diagnostic message with " ENTER " and start firm‐
ware update
6.3.12
Update Error !
Brief Description: Firmware update error during booting process
Cause
Remedy
Firmware not updated properly
Reboot device and start firmware update
‑ or ‑
Switch off drive, remove MMC and update firmware using
" IndraWorks " on the PC
6.3.13
XXX Upd
Brief Description: Copy firmware or logicware XXX from MMC to ET
During the XXX Upd diagnostic messages, ( " XXX " is a placeholder for the
Logicware or the firmware), the Logicware or the firmware of the MMC is cop‐
ied to the SPI-Flash of the optional module " ET " (multi-Ethernet).
During the copying processes that can take up to 90 seconds, the following
diagnostic messages are displayed:
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Diagnostic Messages when Booting the Devices
●
EPL Upd: Ethernet/IP-Logicware is copied
●
EPF Upd: Ethernet/IP firmware is copied
●
ECL Upd: EtherCat-Logicware is copied
●
S3L Upd: sercos Logicware is copied
Please wait until the copy processes are completed. If the drive is
switched off during copying, the copy processes are restarted the
next time the drive is booted.
6.3.14
ActLW Up
Brief Description: Copies active logicware within ET to address 0
The selected master communication protocol (P-0-4089.0.1) was changed af‐
ter the last restart of the drive. The logicware required for the master commu‐
nication protocol is copied within the optional module " ET " (Multi-Ethernet).
This diagnostic message is displayed for the duration of the copy process
(approx. 10 seconds).
6.3.15
E FIP nf
Brief Description: ET error: Flash Info Page not found
At the first access to the SPI flash of the optional module " ET " (MultiEthernet), there is an attempt to read the " Flash Info Page " (FIP). An error
occurred during this access.
Cause
Remedy
SPI flash of optional module " ET " is empty, was incorrectly
written or, if drive worked correctly before, was overwritten
Switch drive controller off and then on again.
‑ or ‑
If error occurs again, please contact our service department
Optional module " ET " is defective
6.3.16
E FIP CS
Brief Description: ET error: Flash Info Page checksum incorrect
The " Flash Info Page " (FIP) was found; this means that the optional module
" ET " (Multi-Ethernet) is alright as far as the hardware is concerned, and the
module has full contact to the drive controller.
However, a check showed that the checksum of the " FIP " is incorrect.
Cause
Remedy
Checksum calculated by means of " Flash Info Page " (FIP)
Switch drive controller off and then on again.
does not correspond to command checksum stored in " FIP " . If error occurs again, please contact our service department
If optional module " ET " (Multi-Ethernet) previously worked
correctly, parts of " FIP " were most likely overwritten in an
impermissible way.
If optional module " ET " previously did not work either, a
problem occurred when " FIP " had been programmed.
6.3.17
E Pge Sz
Brief Description: ET error: Flash geometry outside of defined size
Access to optional module " ET " (Multi-Ethernet) works correctly, but an error
in size of " SPI Flash Page " was detected.
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Diagnostic Messages when Booting the Devices
Cause
Remedy
Page size of SPI flash on optional module " ET " (MultiEthernet) read from " Flash Info Page " (FIP) is not supported
by drive firmware.
Update of drive firmware is required. Please contact our
service department.
(Error message is displayed to avoid system crash.)
6.3.18
E MMC op
Brief Description: ET error: MMC could not be opened for reading
Content of MMC which has been plugged cannot be read.
Cause
Remedy
Name and/or path of firmware file (IBF file) are wrong
Replace faulty MMC by MMC with correct content
‑ or ‑
‑ or ‑
An error occurred when IBF file had been copied
Copy IBF file to MMC again on PC
Afterwards, restart drive
MMC is defective
6.3.19
Replace MMC
E MMC cl
Brief Description: ET error: MMC could not be closed after reading
After the read access to the MMC, the MMC could not be closed.
Cause
Remedy
Directory structure of MMC is not correct
Check directory structure of MMC and correct it, if necessary
MMC is defective
Replace defective MMC by MMC which works
6.3.20
E Adress
Brief Description: ET error: Trying to read invalid address
This error can only occur when the MMC has been plugged and
the MMC is basically alright.
There was an attempt to read ET software [software for the optional module
" ET " (Multi Ethernet)] from the MMC address " 0 " ; at this address, there can‐
not be any ET software.
Cause
Remedy
IBF firmware file does not contain ET software which is the
case when file is smaller than 9MBytes
Copy correct IBF file and restart drive
‑ or ‑
An error occurred when IBF file had been copied
6.3.21
E Length
Brief Description: ET error: Reading number greater than maximum file size
This error can only occur with the MMC plugged in.
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Diagnostic Messages when Booting the Devices
There was an attempt to read a number of bytes from the MMC and to write
them to the SPI flash of the optional module " ET " (Multi-Ethernet); this num‐
ber exceeds the maximum number of bytes of an ET logicware or firmware.
[In the ET file (ET logicware or firmware), the actual length has been stored
as an additional information.]
Cause
Remedy
Probably, a problem occurred when file had been transmit‐
ted
Copy IBF file to MMC again
‑ or ‑
Use MMC which works and restart drive
6.3.22
E ET SW
Brief Description: ET error: Error when copying from MMC to ET flash
This error can only occur with the MMC plugged in.
At least one of the ET softwares to be found, according to " Flash Info Page " ,
on the SPI flash of the optional module " ET " (Multi-Ethernet) does not begin
with " FWC_MEP " ; this means that it is not a valid ET software.
Cause
Remedy
If no other error had been displayed before this error occur‐
red, SPI flash on optional module " ET " (Multi-Ethernet) had
only been written with " Flash Info Page " .
Plug MMC with correct IBF file in drive and restart drive.
Drive then copies all ET software modules, which were de‐
tected to be wrong or missing, from MMC to SPI flash of op‐
tional module " ET " .
If another error had been displayed before this error occur‐
red, IBF file is faulty
Plug MMC with correct IBF file in drive and restart drive
6.3.23
E MMC cp
Brief Description: ET error: Error when copying from MMC
This error can only occur with the MMC plugged in, and only if the MMC con‐
tains a different ET software than the one contained in the SPI flash of the
optional module " ET " (Multi-Ethernet). (This means only when an update is to
be made.) In this case, another error always occurs before; this error is dis‐
played and specifies the problem in greater detail.
This error means that the transmission from the MMC to the SPI flash of the
optional module " ET " could not be carried out successfully.
Cause
Remedy
Software structure on MMC is not alright
Check and correct MMC or use different MMC which works
and restart drive
6.3.24
E HW nok
Brief Description: ET error: ET hardware signals not ready
The drive queries the FPGA on the optional module " ET " (Multi-Ethernet) for
readiness for operation; readiness for operation was not signaled.
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Diagnostic Messages when Booting the Devices
Cause
Remedy
Logicware file is defective
Restart drive with MMC plugged; drive gets logicware from
MMC
A programming error is present
Please contact our service department to get new drive firm‐
ware / logicware and transmit it via MMC to drive / optional
module " ET "
Optional module " ET " is defective
Please contact our service department
6.3.25
E SW-VER
Brief Description: ET error: Active LW or FW not supported version
When the drive had been booted, an error was detected with regard to the
versions of the drive firmware and the software (logicware and firmware) on
the optional module " ET " (Multi-Ethernet).
Cause
Remedy
Exactly on version of ET software (logicware and firmware)
has been stored in each drive firmware.
By means of an MMC, ET software supported by drive firm‐
ware must be copied to optional module " ET " .
When drive had been booted, it was detected that version of ‑ or ‑
drive firmware and one or several versions of software (log‐ Drive firmware update must be carried out so that drive firm‐
icware and firmware) on optional module " ET " (Multiware and ET software match again.
Ethernet) did not match.
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Diagnostic Status Messages
7
Diagnostic Status Messages
7.1
A0000 Communication phase 0
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The communication between master and slaves via SERCOS interface is es‐
tablished in four communication phases:
The communication phases 0 and 1 are used to recognize the bus nodes. In
the communication phase 2 the time and data build-up of the protocols are
prepared for the communication phases 3 and 4.
The phase progression takes place in ascending order. The communication
phase is set by the master. Switching to communication phase 4 completes
the initialization and allows power input.
If the phase progression is interrupted, the status display remains in the com‐
munication phase that has been reached.
When the " A0000 Communication phase 0 " diagnostic message is active the
drive is in phase 0 and waits for the master's phase switch from communica‐
tion phase 0 to 1.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0000 - Attributes
7.2
Display:
Ident N°:
P0
A0000
A0001 Communication phase 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The communication between master and slaves via SERCOS interface is es‐
tablished in four communication phases:
The communication phases 0 and 1 are used to recognize the bus nodes. In
the communication phase 2 the time and data build-up of the protocols are
prepared for the communication phases 3 and 4.
The phase progression takes place in ascending order. The communication
phase is set by the master. Switching to communication phase 4 completes
the initialization and allows power input.
If the phase progression is interrupted, the status display remains in the com‐
munication phase that has been reached.
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Diagnostic Status Messages
When the " A0001 Communication phase 1 " diagnostic message is active the
drive is in phase 1, the master has not yet activated the phase switch form
phase 1 to 2.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0001 - Attributes
7.3
Display:
Ident N°:
P1
A0001
A0002 Communication phase 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Communication phase 2 means that the drive is in the parameterization
mode. In this mode many parameters can be written that cannot be written
any more in communication phase 4 (operating mode).
In communication phase 2
●
the communication parameters are usually transmitted from the master
to the drive (in the case of field bus and SERCOS devices) and
●
the " Load drive parameters " and " Save drive parameters " ( " file service " )
functions are carried out, if required.
In order to get to communication phase 2 the master, in the case of drives
with field bus and SERCOS interfaces, sets " communication phase 2 " via the
master communication interface. Another possibility to switch to communica‐
tion phase 2 is to execute the " P‑0‑4023, C0400 Communication phase 2
transition " command.
Communication Phase 3
Before it is possible to switch to communication phase 3 it is necessary to
execute the " S‑0‑0127, C0100 Communication phase 3 transition check "
command. Among other things the drive, during the transition check, checks
the parameters required for communication phase 3 for validity.
After successful execution of the transition check command the master
switches the drive to communication phase 3 (in the case of field bus and
SERCOS devices) or the drive automatically switches to phase 3 at the end
of the transition check command.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0002 - Attributes
Display:
Ident N°:
P2
A0002
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89/619
Diagnostic Status Messages
7.4
A0003 Communication phase 3
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Communication phase 3 means that the drive is in the restricted parameteri‐
zation mode. In this mode, as in the parameterization mode (phase 2), many
parameters can still be written that cannot be written any more in communi‐
cation phase 4 (operating mode). Communication parameters cannot be writ‐
ten in phase 3.
In order to get to communication phase 3 the master, in the case of drives
with field bus and SERCOS interfaces, sets " communication phase 3 " via the
master communication interface. Another possibility to switch to communica‐
tion phase 3 is to execute the " S‑0‑0127, C0100 Communication phase 3
transition check " command.
Communication Phase 4
Before it is possible to switch to communication phase 4 it is necessary to
execute the " S‑0‑0128, C0200 Communication phase 4 transition check "
command. Among other things the drive, during the transition check, checks
the parameters required for communication phase 4 for validity.
After successful execution of the transition check command the master
switches the drive to communication phase 4 (in the case of field bus and
SERCOS devices) or the drive automatically switches to phase 4 at the end
of the transition check command.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0003 - Attributes
7.5
Display:
Ident N°:
P3
A0003
A0009 Automatic baud rate detection for SERCOS interface
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The communication between master and slaves via SERCOS interface is es‐
tablished in four communication phases:
The communication phases 0 and 1 are used to recognize the bus nodes. In
the communication phase 2 the time and data build-up of the protocols are
prepared for the communication phases 3 and 4.
The phase progression takes place in ascending order. The communication
phase is set by the master. Switching to communication phase 4 completes
the initialization and allows power input.
If the phase progression is interrupted, the status display remains in the com‐
munication phase that has been reached.
90/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
If the " A0009 Automatic baud rate detection for SERCOS interface " diagnos‐
tic message is active, the drive is in phase 0 ‑ 1, the progression to phase 0
is carried out at the moment when the correct baud rate is detected.
A0009 - Attributes
7.6
Display:
Ident N°:
P -1
A0009
A0010 Drive HALT
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Function " Drive Halt " is indirectly activated by the master via the master com‐
munication interface by deleting the Drive Halt bit in parameter " S‑0‑0134,
Master control word " or by interrupting a drive control command (e.g., drivecontrolled homing procedure).
The " Drive Halt " function is used to shut down an axis with defined accelera‐
tion and defined jerk.
Function " Drive Halt " can be executed as quick stop in position control or ve‐
locity control mode or as operational stop in the active operation mode with
velocity command value reset [see configuration " Drive Halt " (P‑0‑0558)].
See also Functional Description of firmware " Drive Halt "
A0010 - Attributes
7.7
Display:
Ident N°:
AH
A0010
A0011 Safe torque off active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " A0011
Starting lockout active " .
Up to MPx06
As an option, certain digital drive controllers can be equipped with a starting
lockout. The starting lockout prevents the unintended start of a servo axis.
This is realized by separating the electronic control system of the power out‐
put stage from the power output stage by means of a relay contact.
See also Project Planning Manual for Control Section, index entry " Starting
lockout L1 "
As of MPx07
As an option, certain digital drive controllers can be equipped with the option‐
al safety technology module " Safe Torque Off " . The optional safety technolo‐
gy module prevents the unintended start of a servo axis. This is realized by
separating the electronic control system of the power output stage from the
power output stage by means of a relay contact.
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Diagnostic Status Messages
See also Project Planning Manual for Control Section, index entry " Safe
Torque Off, L2 "
Up to MPx06, the display showed " AS " .
A0011 - Attributes
7.8
Display:
Ident N°:
STO
A0011
A0012 Control and power sections ready for operation
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
For HMS, HMD, HCS
The diagnostic message " A0012 Control and power sections ready for
operation " signals that the drive has been supplied with control voltage and
power has been switched on. The drive is ready for power output.
For HMV
The diagnostic message " A0012 Control and power sections ready for
operation " signals that the supply unit is ready to switch on the mains contac‐
tor.
Mains contactor cannot be switched on in spite of " VM bb " !
In spite of the display " VM Bb " or " VM bb " , it can sometimes be
impossible to switch the mains contactor on.
Possible cause:
This can be caused by a defective external mains contactor with,
for example, contacts stuck together. The error message " F2837
Contactor monitoring error " cannot be diagnosed in such cases.
With contacts of the main circuit stuck together, the N/C contact
(X40.1/2) remains open in the position of rest and the switch-on
circuit is thereby interrupted.
Remedy:
Check and, if necessary, replace the external mains contactor.
A0012 - Attributes
7.9
Display:
Ident N°:
Ab
A0012
A0013 Ready for power on
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The diagnostic message " A0013 Ready for power on " signals that the drive
or supply unit has been provided with control voltage and that there isn't any
error present in the drive/supply unit.
The drive or the supply unit is ready for power on.
92/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
Mains contactor cannot be switched on in spite of " VM bb " !
In spite of the display " VM Bb " or " VM bb " , it can sometimes be
impossible to switch the mains contactor on.
Possible cause:
This can be caused by a defective external mains contactor with,
for example, contacts stuck together. The error message " F2837
Contactor monitoring error " cannot be diagnosed in such cases.
With contacts of the main circuit stuck together, the N/C contact
(X40.1/2) remains open in the position of rest and the switch-on
circuit is thereby interrupted.
Remedy:
Check and, if necessary, replace the external mains contactor.
A0013 - Attributes
7.10
Display:
Ident N°:
bb
A0013
A0014 Safe stop 1 (Emergency stop) active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " A0014
Drive interlock active " .
The drive is in the special mode " safe standstill " . The active safety function is
" safety related drive interlock " (up to MPx06) or " Safe stop 1 (Emergency
stop) " (as of MPx07).
When the safety function " safety related drive interlock " / " Safe
stop 1 (Emergency stop) " is active, bit 1 is set in " P‑0‑3213,
Safety technology operating status " .
The drive has come to standstill, the power supply has been interrupted via
two channels (output stage locked).
DANGER
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
After the output stage has been locked, standstill monitoring is not active. If
external force influences are to be expected, e.g. in the case of a vertical ax‐
is, this motion has to be safely prevented by additional measures, e.g. a me‐
chanical brake or weight compensation.
The safety function " safety related drive interlock " / " Safe stop 1 (Emergency
stop) " cannot be deselected by the enabling control, but only by resetting the
selection.
Up to MPx06, the display showed " ASP " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
93/619
Diagnostic Status Messages
A0014 - Attributes
7.11
Display:
Ident N°:
SS1ES
A0014
A0015 Safe stop 1 active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " A0015
Safety related standstill active " .
The drive is in the special mode " safe standstill " . The active safety function is
" safety related standstill " (up to MPx06) or " Safe stop 1 " (as of MPx07).
When the safety function " safety related standstill " / " Safe stop 1 "
is active, bit 2 is set in " P‑0‑3213, Safety technology operating
status " .
The drive has come to standstill, the power supply has been interrupted via
two channels (output stage locked).
If the drive is still in motion when " safety related standstill " / " Safe stop 1 " is se‐
lected, there first is a stopping process, then the power supply is interrupted
via two channels (output stage locked).
DANGER
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
After the output stage has been locked, standstill monitoring is not active. If
external force influences are to be expected, e.g. in the case of a vertical ax‐
is, this motion has to be safely prevented by additional measures, e.g. a me‐
chanical brake or weight compensation.
Up to MPx06, the display showed " SH " .
A0015 - Attributes
7.12
Display:
Ident N°:
SS1
A0015
A0016 Safe stop 2 active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " A0016
Safety related operational stop active " .
94/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
The drive is in the special mode " safe standstill " . The active safety function is
" safety related operational stop " (up to MPx06) or " Safe stop 2 " (as of
MPx07).
When the safety function " safety related operational stop " / " Safe
stop 2 " is active, bit 2 is set in " P‑0‑3213, Safety technology
operating status " .
The drive has come to standstill, the power supply has not been interrupted,
all control loops are active, the standstill monitors are active.
If the drive is still in motion when " safety related operational stop " / " Safe stop
2 " is selected, there first is a stopping process, then the standstill monitors
become active (axis/spindle cannot be moved). When the drive leaves the
standstill position, the output stage is locked via two channels.
DANGER
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
After the output stage has been locked, standstill monitoring is not active. If
external force influences are to be expected, e.g. in the case of a vertical ax‐
is, this motion has to be safely prevented by additional measures, e.g. a me‐
chanical brake or weight compensation.
Up to MPx06, the display showed " SBH " .
A0016 - Attributes
7.13
Display:
Ident N°:
SS2
A0016
A0017 Special mode motion active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The drive is in one of up to four special " safe motion " operating states that
can be differently configured and selected.
By means of parameters
●
" P‑0‑3240, Configuration of safe motion 1 " ,
●
" P‑0‑3250, Configuration of safe motion 2 " ,
●
" P‑0‑3260, Configuration of safe motion 3 " , and
●
" P‑0‑3270, Configuration of safe motion 4 "
it is possible to configure different characteristics of the special mode " safe
motion " .
When a limit value of the configured and selected safety functions has been
exceeded, the drive system is brought to standstill in a safe way, then the
power supply is interrupted via two channels (output stage locked).
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
95/619
Diagnostic Status Messages
DANGER
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
After the output stage has been locked, standstill monitoring is not active. If
external force influences are to be expected, e.g. in the case of a vertical ax‐
is, this motion has to be safely prevented by additional measures, e.g. a me‐
chanical brake or weight compensation.
According to selection, bit 3, 4, 5 or 6 is set in parameter
" P‑0‑3213, Safety technology status " (or " P03213, Safety technol‐
ogy operating status " ).
Safety related reduced speed
With the safety function " safety related reduced speed " , the
drive can only be moved with reduced speed. The speed
monitors are active.
Safe direction
With the safety function " safe direction " , the drive can only
move in a determined direction with reduced speed. The
speed monitors are active.
Safely-limited increment
With the safety function " safely-limited increment " , the drive
may only travel a maximum of one fixed increment after the
special mode was selected. The drive moves at reduced
speed. The speed and position monitors are active.
With the safety function " safety related limited absolute posi‐
tion " , absolute position monitors are active. The drive may
only move within the range limits.
Safety related limited absolute position
A0017 - Attributes
7.14
Display:
Ident N°:
NOTE: Before the safety function " safety related limited ab‐
solute position " is selected, the " safety related homing pro‐
cedure " has to be carried out.
SBB
A0017
A0018 Special mode safe motion 1 active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " A0018
Special mode motion 1 active " .
The drive is in the special mode " safe motion 1 " that can be configured and
selected.
By means of parameter " P‑0‑3240, Configuration of safe motion 1 " , it is pos‐
sible to configure different characteristics of the special mode " safe
motion 1 " .
When a limit value of the configured and selected safety functions has been
exceeded, the drive system is brought to standstill in a safe way, then the
power supply is interrupted via two channels (output stage locked).
96/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
DANGER
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
After the output stage has been locked, standstill monitoring is not active. If
external force influences are to be expected, e.g., in the case of a vertical ax‐
is, this motion has to be safely prevented by additional measures, e.g., a me‐
chanical brake or weight compensation.
Bit 3 is set in " P‑0‑3213, Safety technology operating status " .
Name of the safety Name of the safety
Limit value monitoring
function up to MPx06
function as of MPx07
Safety related reduced
Safely-limited speed
speed
With the safety function " safety related reduced speed " / " safely-limited
speed " , the drive can only be moved with reduced/limited speed. The
speed monitors are active.
Safe direction
Safe direction
With the safety function " safety related direction of motion " , the drive can
only move in a determined direction with reduced/limited speed. The
speed monitors are active.
Safely-limited
ment
incre‐ Safely-limited
ment
With the safety function " safety-limited increment " , the drive may only
incre‐ travel a maximum of one fixed increment after the special mode was se‐
lected. The drive moves at reduced/limited speed. The speed and posi‐
tion monitors are active.
With the safety function " safety-limited absolute position " / " Safelymonitored position " , position monitors are active. The drive may only
Safety-limited absolute Safely-monitored posi‐ move within the range limits.
position
tion
NOTE: Before the safety function " safety related limited absolute
position " / " Safely-monitored position " is selected, the safe homing proce‐
dure has to be carried out.
Up to MPx06, the display showed " SBB1 " .
A0018 - Attributes
7.15
Display:
Ident N°:
SMM1
A0018
A0019 Special mode safe motion 2 active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " A0019
Special mode motion 2 active " .
The drive is in the special mode " safe motion 2 " that can be configured and
selected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
97/619
Diagnostic Status Messages
By means of parameter " P‑0‑3250, Configuration of safe motion 2 " , it is pos‐
sible to configure different characteristics of the special mode " safe
motion 2 " .
When a limit value of the configured and selected safety functions has been
exceeded, the drive system is brought to standstill in a safe way, then the
power supply is interrupted via two channels (output stage locked).
DANGER
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
After the output stage has been locked, standstill monitoring is not active. If
external force influences are to be expected, e.g., in the case of a vertical ax‐
is, this motion has to be safely prevented by additional measures, e.g., a me‐
chanical brake or weight compensation.
Bit 4 is set in parameter " P‑0‑3213, Safety technology operating
status " .
Name of the safety Name of the safety
Limit value monitoring
function up to MPx06
function as of MPx07
Safety related reduced
Safely-limited speed
speed
With the safety function " safety related reduced speed " / " safely-limited
speed " , the drive can only be moved with reduced/limited speed. The
speed monitors are active.
Safe direction
Safe direction
With the safety function " safety related direction of motion " , the drive can
only move in a determined direction with reduced/limited speed. The
speed monitors are active.
Safely-limited
ment
incre‐ Safely-limited
ment
With the safety function " safety-limited increment " , the drive may only
incre‐ travel a maximum of one fixed increment after the special mode was se‐
lected. The drive moves at reduced/limited speed. The speed and posi‐
tion monitors are active.
With the safety function " safety-limited absolute position " / " Safelymonitored position " , position monitors are active. The drive may only
Safety-limited absolute Safely-monitored posi‐ move within the range limits.
position
tion
NOTE: Before the safety function " safety related limited absolute
position " / " Safely-monitored position " is selected, the safe homing proce‐
dure has to be carried out.
Up to MPx06, the display showed " SBB2 " .
A0019 - Attributes
7.16
Display:
Ident N°:
SMM2
A0019
A0020 Special mode safe motion 3 active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
98/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
Up to MPx06, the name of this diagnostic message was " A0020
Special mode motion 3 active " .
The drive is in the special mode " safe motion 3 " that can be configured and
selected.
By means of parameter " P‑0‑3260, Configuration of safe motion 3 " , it is pos‐
sible to configure different characteristics of the special mode " safe
motion 3 " .
When a limit value of the configured and selected safety functions has been
exceeded, the drive system is brought to standstill in a safe way, then the
power supply is interrupted via two channels (output stage locked).
DANGER
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
After the output stage has been locked, standstill monitoring is not active. If
external force influences are to be expected, e.g., in the case of a vertical ax‐
is, this motion has to be safely prevented by additional measures, e.g., a me‐
chanical brake or weight compensation.
Bit 5 is set in parameter " P‑0‑3213, Safety technology operating
status " .
Name of the safety Name of the safety
Limit value monitoring
function up to MPx06
function as of MPx07
Safety related reduced
Safely-limited speed
speed
With the safety function " safety related reduced speed " / " safely-limited
speed " , the drive can only be moved with reduced/limited speed. The
speed monitors are active.
Safe direction
Safe direction
With the safety function " safety related direction of motion " , the drive can
only move in a determined direction with reduced/limited speed. The
speed monitors are active.
Safely-limited
ment
incre‐ Safely-limited
ment
With the safety function " safety-limited increment " , the drive may only
incre‐ travel a maximum of one fixed increment after the special mode was se‐
lected. The drive moves at reduced/limited speed. The speed and posi‐
tion monitors are active.
With the safety function " safety-limited absolute position " / " Safelymonitored position " , position monitors are active. The drive may only
Safety-limited absolute Safely-monitored posi‐ move within the range limits.
position
tion
NOTE: Before the safety function " safety related limited absolute
position " / " Safely-monitored position " is selected, the safe homing proce‐
dure has to be carried out.
Up to MPx06, the display showed " SBB3 " .
A0020 - Attributes
Display:
Ident N°:
SMM3
A0020
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
99/619
Diagnostic Status Messages
7.17
A0021 Special mode safe motion 4 active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " A0021
Special mode motion 4 active " .
The drive is in the special mode " safe motion 4 " that can be configured and
selected.
By means of parameter " P‑0‑3270, Configuration of safe motion 4 " , it is pos‐
sible to configure different characteristics of the special mode " safe
motion 4 " .
When a limit value of the configured and selected safety function has been
exceeded, the drive system is brought to standstill in a safe way, then the
power supply is interrupted via two channels (output stage locked).
DANGER
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage!
After the output stage has been locked, standstill monitoring is not active. If
external force influences are to be expected, e.g., in the case of a vertical ax‐
is, this motion has to be safely prevented by additional measures, e.g., a me‐
chanical brake or weight compensation.
Bit 6 is set in parameter " P‑0‑3213, Safety technology operating
status " .
Name of the safety Name of the safety
Limit value monitoring
function up to MPx06
function as of MPx07
Safety related reduced
Safely-limited speed
speed
With the safety function " safety related reduced speed " / " safely-limited
speed " , the drive can only be moved with reduced/limited speed. The
speed monitors are active.
Safe direction
Safe direction
With the safety function " safety related direction of motion " , the drive can
only move in a determined direction with reduced/limited speed. The
speed monitors are active.
Safely-limited
ment
incre‐ Safely-limited
ment
With the safety function " safety-limited increment " , the drive may only
incre‐ travel a maximum of one fixed increment after the special mode was se‐
lected. The drive moves at reduced/limited speed. The speed and posi‐
tion monitors are active.
With the safety function " safety-limited absolute position " / " Safelymonitored position " , position monitors are active. The drive may only
Safety-limited absolute Safely-monitored posi‐ move within the range limits.
position
tion
NOTE: Before the safety function " safety related limited absolute
position " / " Safely-monitored position " is selected, the safe homing proce‐
dure has to be carried out.
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
Up to MPx06, the display showed " SBB4 " .
A0021 - Attributes
7.18
Display:
Ident N°:
SMM4
A0021
A0050 Parameterization level 1 active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " Parameterization level 1 " mode. In this status, the moni‐
toring functions of the position encoders and the motor temperature sensor
are deactivated. Although the master communication is in communication
phase 4, the drive can be parameterized as in communication phase 3.
This status is displayed on the control panel of the drive with
" PM " .
See also Functional Description of firmware " Parking Axis "
See also Parameter Description " S‑0‑0420, C0400 Activate parameterization
level 1 procedure command "
A0050 - Attributes
7.19
Display:
Ident N°:
PM
A0050
A0051 Operating mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The axis was switched to operating mode, but the master communication is
not yet in cyclic data exchange. Axis control is not yet possible in this status.
A0051 - Attributes
7.20
Display:
Ident N°:
OM
A0051
A0100 Torque control
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " Torque control " mode. It follows the torque command val‐
ue characteristic set by the master.
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Diagnostic Status Messages
See also Functional Description of firmware " Torque/Force Control "
A0100 - Attributes
7.21
Display:
Ident N°:
AF
A0100
A0101 Velocity control
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " Velocity control " mode. It follows the speed command val‐
ue characteristic set by the master. The speed control loop is closed in the
drive.
See also Functional Description of firmware " Velocity Control "
A0101 - Attributes
7.22
Display:
Ident N°:
AF
A0101
A0102 Position mode, encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position com‐
mand value characteristic, the drive follows the command value with a lag
error.
" Encoder 1 " means that the encoder assigned by means of " P‑0‑0077, As‐
signment motor encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Position Control with Cyclic
Command Value Input "
A0102 - Attributes
7.23
Display:
Ident N°:
AF
A0102
A0103 Position mode, encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position com‐
mand value characteristic, the drive follows the command value with a lag
error.
102/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
" Encoder 2 " means that the encoder assigned by means of " P‑0‑0078, As‐
signment optional encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Position Control with Cyclic
Command Value Input "
A0103 - Attributes
7.24
Display:
Ident N°:
AF
A0103
A0104 Position mode lagless, encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position com‐
mand value characteristic, the drive follows the command value laglessly
(prerequisite: " P‑0‑0040, Velocity feedforward evaluation " =100%).
" Encoder 1 " means that the encoder assigned by means of " P‑0‑0077, As‐
signment motor encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Position Control with Cyclic
Command Value Input "
A0104 - Attributes
7.25
Display:
Ident N°:
AF
A0104
A0105 Position mode lagless, encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position com‐
mand value characteristic, the drive follows the command value laglessly
(prerequisite: " P‑0‑0040, Velocity feedforward evaluation " =100%).
" Encoder 2 " means that the encoder assigned by means of " P‑0‑0078, As‐
signment optional encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Position Control with Cyclic
Command Value Input "
A0105 - Attributes
Display:
Ident N°:
AF
A0105
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
103/619
Diagnostic Status Messages
7.26
A0106 Drive-internal interpolation, encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the control unit the drive receives a position command value identical to
the target position of the distance to be traveled. The drive then generates
(interpolates) an internal position command value characteristic that complies
with the maximum values for the jerk, acceleration and velocity characteristic
determined by the master.
With a lag error the drive moves to the target position.
" Encoder 1 " means that the encoder assigned by means of " P‑0‑0077, As‐
signment motor encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Drive Internal Interpolation "
A0106 - Attributes
7.27
Display:
Ident N°:
AF
A0106
A0107 Drive-internal interpolation, encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the master the drive receives a position command value identical to the
target position of the distance to be traveled. The drive then generates (inter‐
polates) an internal position command value characteristic that complies with
the maximum values for the jerk, acceleration and velocity characteristic de‐
termined by the master.
With a lag error the drive moves to the target position.
" Encoder 2 " means that the encoder assigned by means of " P‑0‑0078, As‐
signment optional encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Drive Internal Interpolation "
A0107 - Attributes
7.28
Display:
Ident N°:
AF
A0107
A0108 Drive controlled interpolation, lagless, encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the master the drive receives a position command value identical to the
target position of the distance to be traveled. The drive then generates (inter‐
104/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
polates) an internal position command value characteristic that complies with
the maximum values for the jerk, acceleration and velocity characteristic de‐
termined by the master.
The drive laglessly moves to the target position (prerequisite: " P‑0‑0040, Ve‐
locity feedforward evaluation " =100%).
" Encoder 1 " means that the encoder assigned by means of " P‑0‑0077, As‐
signment motor encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Drive Internal Interpolation "
A0108 - Attributes
7.29
Display:
Ident N°:
AF
A0108
A0109 Drive controlled interpolation, lagless, encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the master the drive receives a position command value identical to the
target position of the distance to be traveled. The drive then generates (inter‐
polates) an internal position command value characteristic that complies with
the maximum values for the jerk, acceleration and velocity characteristic de‐
termined by the master.
The drive laglessly moves to the target position (prerequisite: " P‑0‑0040, Ve‐
locity feedforward evaluation " =100%).
" Encoder 2 " means that the encoder assigned by means of " P‑0‑0078, As‐
signment optional encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Drive Internal Interpolation "
A0109 - Attributes
7.30
Display:
Ident N°:
AF
A0109
A0110 Velocity synchronization, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in velocity control. Taking the gear ratio and the master axis posi‐
tion into account, the command velocity is determined in the drive.
" Virtual master axis " means that the master axis position is calculated by the
control unit.
See also Functional Description of firmware " Velocity Synchronization with
Real/Virtual Master Axis "
A0110 - Attributes
Display:
Ident N°:
AF
A0110
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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105/619
Diagnostic Status Messages
7.31
A0111 Velocity synchronization, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in velocity control. The velocitiy command value is derived from
the master axis position. The master axis position is generated by the meas‐
uring encoder.
See also Functional Description of firmware " Velocity Synchronization with
Real/Virtual Master Axis "
A0111 - Attributes
7.32
Display:
Ident N°:
AF
A0111
A0112 Phase synchronization, encoder 1, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measuring of the axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " Phase Synchronization with Re‐
al/Virtual Master Axis "
A0112 - Attributes
7.33
Display:
Ident N°:
AF
A0112
A0113 Phase synchronization, encoder 2, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
106/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measuring of the axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " Phase Synchronization with Re‐
al/Virtual Master Axis "
A0113 - Attributes
7.34
Display:
Ident N°:
AF
A0113
A0114 Phase synchronization, encoder 1, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measuring of the axis position). " Real master axis " means that the
master axis position is derived from the incremental encoder signals.
See also Functional Description of firmware " Phase Synchronization with Re‐
al/Virtual Master Axis "
A0114 - Attributes
7.35
Display:
Ident N°:
AF
A0114
A0115 Phase synchronization, encoder 2, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measuring of the axis position). " Real master axis " means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware " Phase Synchronization with Re‐
al/Virtual Master Axis "
A0115 - Attributes
Display:
Ident N°:
AF
A0115
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
107/619
Diagnostic Status Messages
7.36
A0116 Phase synchr. lagless, encoder 1, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value without any lag error.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measuring of the axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " Phase Synchronization with Re‐
al/Virtual Master Axis "
A0116 - Attributes
7.37
Display:
Ident N°:
AF
A0116
A0117 Phase synchr. lagless, encoder 2, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value without any lag error.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measuring of the axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " Phase Synchronization with Re‐
al/Virtual Master Axis "
A0117 - Attributes
7.38
Display:
Ident N°:
AF
A0117
A0118 Phase synchr. lagless, encoder 1, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
108/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
The drive is in lagless position control. The position command value is calcu‐
lated by the master axis position. The master axis position is derived from the
measuring encoder.
See also Functional Description of firmware " Phase Synchronization with Re‐
al/Virtual Master Axis "
A0118 - Attributes
7.39
Display:
Ident N°:
AF
A0118
A0119 Phase synchr. lagless, encoder 2, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in lagless position control. The position command value is calcu‐
lated by the master axis position. The master axis position is derived from the
measuring encoder.
See also Functional Description of firmware " Phase Synchronization with Re‐
al/Virtual Master Axis "
A0119 - Attributes
7.40
Display:
Ident N°:
AF
A0119
A0128 Cam, encoder 1, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " cam " mode. The function has been derived from the prin‐
ciple of the mechanical cam. There is a fixed position relation between mas‐
ter axis and slave axis. The position command values are taken from a table
that is accessed by means of the master axis position.
The drive follows the command value with a lag distance.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
A0128 - Attributes
Display:
Ident N°:
AF
A0128
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
109/619
Diagnostic Status Messages
7.41
A0129 Cam, encoder 2, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " cam " mode. The function has been derived from the prin‐
ciple of the mechanical cam. There is a fixed position relation between mas‐
ter axis and slave axis. The position command values are taken from a table
that is accessed by means of the master axis position.
The drive follows the command value with a lag distance.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measurement of axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
A0129 - Attributes
7.42
Display:
Ident N°:
AF
A0129
A0130 Cam, encoder 1, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " cam " mode. The function has been derived from the prin‐
ciple of the mechanical cam. There is a fixed position relation between mas‐
ter axis and slave axis. The position command values are taken from a table
that is accessed by means of the master axis position.
The drive follows the command value with a lag distance.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). " Real master axis " means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
A0130 - Attributes
7.43
Display:
Ident N°:
AF
A0130
A0131 Cam, encoder 2, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
110/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
The drive is in the " cam " mode. The function has been derived from the prin‐
ciple of the mechanical cam. There is a fixed position relation between mas‐
ter axis and slave axis. The position command values are taken from a table
that is accessed by means of the master axis position.
The drive follows the command value with a lag distance.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measurement of axis position). " Real master axis " means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
A0131 - Attributes
7.44
Display:
Ident N°:
AF
A0131
A0132 Cam, lagless, encoder 1, virt. master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " cam " mode. The function has been derived from the prin‐
ciple of the mechanical cam. There is a fixed position relation between mas‐
ter axis and slave axis. The position command values are taken from a table
that is accessed by means of the master axis position.
The drive follows the command value without any lag error.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
A0132 - Attributes
7.45
Display:
Ident N°:
AF
A0132
A0133 Cam, lagless, encoder 2, virt. master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " cam " mode. The function has been derived from the prin‐
ciple of the mechanical cam. There is a fixed position relation between mas‐
ter axis and slave axis. The position command values are taken from a table
that is accessed by means of the master axis position.
The drive follows the command value without any lag error.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measurement of axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
111/619
Diagnostic Status Messages
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
A0133 - Attributes
7.46
Display:
Ident N°:
AF
A0133
A0134 Cam, lagless, encoder 1, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " cam " mode. The function has been derived from the prin‐
ciple of the mechanical cam. There is a fixed position relation between mas‐
ter axis and slave axis. The position command values are taken from a table
that is accessed by means of the master axis position.
The drive follows the command value without any lag error.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). " Real master axis " means that the
master axis position is derived from the incremental encoder signals.
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
A0134 - Attributes
7.47
Display:
Ident N°:
AF
A0134
A0135 Cam, lagless, encoder 2, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " cam " mode. The function has been derived from the prin‐
ciple of the mechanical cam. There is a fixed position relation between mas‐
ter axis and slave axis. The position command values are taken from a table
that is accessed by means of the master axis position.
The drive follows the command value without any lag error.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measurement of axis position). " Real master axis " means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
A0135 - Attributes
Display:
Ident N°:
AF
A0135
112/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
7.48
A0136 MotionProfile, encoder 1, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this diagnostic status
message was " A0136 Motion profile, encoder 1, virtual master ax‐
is " .
The drive is in the " MotionProfile " mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation be‐
tween master axis and slave axis. Depending on the master axis position, the
position command values are generated from a given motion profile.
The drive follows the command value with a lag distance.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " MotionProfile With Real/Virtual
Master Axis "
A0136 - Attributes
7.49
Display:
Ident N°:
AF
A0136
A0137 MotionProfile, encoder 2, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this diagnostic status
message was " A0137 Motion profile, encoder 2, virtual master ax‐
is " .
The drive is in the " MotionProfile " mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation be‐
tween master axis and slave axis. Depending on the master axis position, the
position command values are generated from a given motion profile.
The drive follows the command value with a lag distance.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measurement of axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " MotionProfile With Real/Virtual
Master Axis "
A0137 - Attributes
Display:
Ident N°:
AF
A0137
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
113/619
Diagnostic Status Messages
7.50
A0138 MotionProfile, encoder 2, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this diagnostic status
message was " A0138 Motion profile, encoder 2, real master axis " .
The drive is in the " MotionProfile " mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation be‐
tween master axis and slave axis. Depending on the master axis position, the
position command values are generated from a given motion profile.
The drive follows the command value with a lag distance.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measurement of axis position). " Real master axis " means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware " MotionProfile With Real/Virtual
Master Axis "
A0138 - Attributes
7.51
Display:
Ident N°:
AF
A0138
A0139 MotionProfile, encoder 1, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this diagnostic status
message was " A0139 Motion profile, encoder 1, real master axis " .
The drive is in the " MotionProfile " mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation be‐
tween master axis and slave axis. Depending on the master axis position, the
position command values are generated from a given motion profile.
The drive follows the command value with a lag distance.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). " Real master axis " means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware " MotionProfile With Real/Virtual
Master Axis "
A0139 - Attributes
Display:
Ident N°:
AF
A0139
114/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
7.52
A0140 MotionProfile lagless, encoder 1, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this diagnostic status
message was " A0140 Motion profile lagless, encoder 1, virtual
master axis " .
The drive is in the " MotionProfile " mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation be‐
tween master axis and slave axis. Depending on the master axis position, the
position command values are generated from a given motion profile.
The drive follows the command value without any lag error.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " MotionProfile With Real/Virtual
Master Axis "
A0140 - Attributes
7.53
Display:
Ident N°:
AF
A0140
A0141 MotionProfile lagless, encoder 2, virtual master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this diagnostic status
message was " A0141 Motion profile lagless, encoder 2, virtual
master axis " .
The drive is in the " MotionProfile " mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation be‐
tween master axis and slave axis. Depending on the master axis position, the
position command values are generated from a given motion profile.
The drive follows the command value without any lag error.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measurement of axis position). " Virtual master axis " means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware " MotionProfile With Real/Virtual
Master Axis "
A0141 - Attributes
Display:
Ident N°:
AF
A0141
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
115/619
Diagnostic Status Messages
7.54
A0142 MotionProfile lagless, encoder 1, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this diagnostic status
message was " A0142 Motion profile lagless, encoder 1, real mas‐
ter axis " .
The drive is in the " MotionProfile " mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation be‐
tween master axis and slave axis. Depending on the master axis position, the
position command values are generated from a given motion profile.
The drive follows the command value without any lag error.
" Encoder 1 " means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). " Real master axis " means that the
master axis position is derived from the incremental encoder signals.
See also Functional Description of firmware " MotionProfile With Real/Virtual
Master Axis "
A0142 - Attributes
7.55
Display:
Ident N°:
AF
A0142
A0143 MotionProfile lagless, encoder 2, real master axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this diagnostic status
message was " Motion profile lagless, encoder 2, real master ax‐
is " .
The drive is in the " MotionProfile " mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation be‐
tween master axis and slave axis. Depending on the master axis position, the
position command values are generated from a given motion profile.
The drive follows the command value without any lag error.
" Encoder 2 " means that the position encoder is mounted to the machine axis
(direct measurement of axis position). " Real master axis " means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware " MotionProfile With Real/Virtual
Master Axis "
A0143 - Attributes
Display:
Ident N°:
AF
A0143
116/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
7.56
A0150 Drive-controlled positioning, encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the master the drive receives a position command value in the
" S‑0‑0282, Positioning command value " parameter. This position/distance,
when the status of bit 0 of parameter " S‑0‑0346, Positioning command
strobe " changes, is copied to " S‑0‑0258, Target position " or, in the case of a
relative input, added to the value in " S‑0‑0430, Effective target position " . The
drive then generates (interpolates) an internal position command value char‐
acteristic in order to get from the current position to this target position. This
is done considering the limit values for velocity, acceleration and jerk in the
following parameters:
●
" S‑0‑0193, Positioning Jerk " ,
●
" S‑0‑0259, Positioning Velocity " ,
●
" S‑0‑0260, Positioning Acceleration " and
●
" S‑0‑0359, Positioning Deceleration " .
With a lag error proportional to the velocity the drive moves to the target posi‐
tion.
" Encoder 1 " means that the encoder assigned by means of " P‑0‑0077, As‐
signment motor encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Drive Controlled Positioning "
A0150 - Attributes
7.57
Display:
Ident N°:
AF
A0150
A0151 Drive-controlled positioning, encoder 1, lagless
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the master the drive receives a position command value in the
" S‑0‑0282, Positioning command value " parameter. This distance, when the
status of bit 0 of parameter " S‑0‑0346, Positioning command strobe "
changes, is copied to " S‑0‑0430, Effective target position " or, in the case of a
relative input, added to the value in S‑0‑0430, Effective target position " . The
drive then generates (interpolates) an internal position command value char‐
acteristic in order to get from the current position to this target position. This
is done considering the limit values for velocity, acceleration and jerk in the
following parameters:
●
" S‑0‑0259, Positioning Velocity " ,
●
" S‑0‑0260, Positioning Acceleration " ,
●
" S‑0‑0359, Positioning Deceleration " and
●
" S‑0‑0193, Positioning Jerk " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
117/619
Diagnostic Status Messages
The drive laglessly moves to the target position (prerequisite: " P‑0‑0040, Ve‐
locity feedforward evaluation " =100%).
" Encoder 1 " means that the encoder assigned by means of " P‑0‑0077, As‐
signment motor encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Drive Controlled Positioning "
A0151 - Attributes
7.58
Display:
Ident N°:
AF
A0151
A0152 Drive-controlled positioning, encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the master the drive receives a position command value in the
" S‑0‑0282, Positioning command value " parameter. This distance, when the
status of bit 0 of parameter " S‑0‑0346, Positioning command strobe "
changes, is copied to " S‑0‑0430, Effective target position " or, in the case of a
relative input, added to the value in " S‑0‑0430, Effective target position " . The
drive then generates (interpolates) an internal position command value char‐
acteristic in order to get from the current position to this target position. This
is done considering the limit values for velocity, acceleration and jerk in the
following parameters:
●
" S‑0‑0259, Positioning Velocity " ,
●
" S‑0‑0260, Positioning Acceleration " ,
●
" S‑0‑0359, Positioning Deceleration " and
●
" S‑0‑0193, Positioning Jerk " .
With a lag error proportional to the velocity the drive moves to the target posi‐
tion.
" Encoder 2 " means that the encoder assigned by means of " P‑0‑0078, As‐
signment optional encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Drive Controlled Positioning "
A0152 - Attributes
7.59
Display:
Ident N°:
AF
A0152
A0153 Drive-controlled positioning, encoder 2, lagless
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the master the drive receives a position command value in the
" S‑0‑0282, Positioning command value " parameter. This distance, when the
status of bit 0 of parameter " S‑0‑0346, Positioning command strobe "
changes, is copied to " S‑0‑0430, Effective target position " or, in the case of a
relative input, added to the value in " S‑0‑0430, Effective target position " . The
118/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
drive then generates (interpolates) an internal position command value char‐
acteristic in order to get from the current position to this target position. This
is done considering the limit values for velocity, acceleration and jerk in the
following parameters:
●
" S‑0‑0259, Positioning Velocity " ,
●
" S‑0‑0260, Positioning Acceleration " ,
●
" S‑0‑0359, Positioning Deceleration " and
●
" S‑0‑0193, Positioning Jerk " .
The drive laglessly moves to the target position (prerequisite: " P‑0‑0040, Ve‐
locity feedforward evaluation " =100%).
" Encoder 2 " means that the encoder assigned by means of " P‑0‑0078, As‐
signment optional encoder‑ & gt; optional slot " is used as a control encoder.
See also Functional Description of firmware " Drive Controlled Positioning "
A0153 - Attributes
7.60
Display:
Ident N°:
AF
A0153
A0154 Position mode drive controlled, encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position com‐
mand value characteristic.
When the operation mode is activated, any possible difference between cur‐
rent actual position value and transmitted position command value is traveled
in drive-controlled form with a lag error.
" Encoder 1 " means that the encoder assigned via " P‑0‑0077, Assignment
motor encoder‑ & gt; optional slot " is used as control encoder.
See also Functional Description of firmware " Position Control With Cyclic
Command Value Input "
A0154 - Attributes
7.61
Display:
Ident N°:
AF
A0154
A0155 Position mode drive controlled, encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position com‐
mand value characteristic.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
119/619
Diagnostic Status Messages
When the operation mode is activated, any possible difference between cur‐
rent actual position value and transmitted position command value is traveled
in drive-controlled form with a lag error.
" Encoder 2 " means that the encoder assigned via " P‑0‑0078, Assignment
optional encoder‑ & gt; optional slot " is used as control encoder.
See also Functional Description of firmware " Position Control With Cyclic
Command Value Input "
A0155 - Attributes
7.62
Display:
Ident N°:
AF
A0155
A0156 Position mode lagless, encoder 1 drive controlled
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position com‐
mand value characteristic.
When the operation mode is activated, any possible difference between cur‐
rent actual position value and transmitted position command value is traveled
in drive-controlled form without lag error.
" Encoder 1 " means that the encoder assigned via " P‑0‑0077, Assignment
motor encoder‑ & gt; optional slot " is used as control encoder.
See also Functional Description of firmware " Position Control With Cyclic
Command Value Input "
A0156 - Attributes
7.63
Display:
Ident N°:
AF
A0156
A0157 Position mode lagless, encoder 2 drive controlled
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position com‐
mand value characteristic.
When the operation mode is activated, any possible difference between cur‐
rent actual position value and transmitted position command value is traveled
in drive-controlled form without lag error.
" Encoder 2 " means that the encoder assigned via " P‑0‑0078, Assignment
optional encoder‑ & gt; optional slot " is used as control encoder.
See also Functional Description of firmware " Position Control With Cyclic
Command Value Input "
120/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
A0157 - Attributes
7.64
Display:
Ident N°:
AF
A0157
A0160 Position mode drive controlled
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position com‐
mand value characteristic.
When the operation mode is activated, any possible difference between cur‐
rent actual position value and transmitted position command value is traveled
in drive-controlled form.
According to the axis controller control word (S-0-0520), the drive controls
with encoder 1 or encoder 2, laglessly or with lag error, with regard to the tar‐
get position to be approached (prerequisite: " P‑0‑0040, Velocity feedforward
evaluation " =100%).
Control with encoder 2 can only take place if encoder 2 is availa‐
ble.
See also Functional Description of firmware " Position Control With Cyclic
Command Value Input "
A0160 - Attributes
7.65
Display:
Ident N°:
AF
A0160
A0161 Drive-controlled positioning
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
From the master the drive receives a position command value in parameter
" S‑0‑0282, Positioning command value " . This distance, when the status of
bit 0 of parameter " S‑0‑0346, Positioning command strobe " changes, is cop‐
ied to the value in " S‑0‑0430, Effective target position " or, in the case of rela‐
tive input, added to this value. The drive then generates (interpolates) an in‐
ternal position command value characteristic in order to get from the current
position to this target position. This is done considering the parameterized
values for velocity, acceleration and jerk in the parameters
●
" S‑0‑0259, Positioning Velocity " ,
●
" S‑0‑0260, Positioning Acceleration " ,
●
" S‑0‑0359, Positioning Deceleration " and
●
" S‑0‑0193, Positioning Jerk " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
121/619
Diagnostic Status Messages
According to the axis controller control word, the drive controls with encod‐
er 1 or encoder 2, laglessly or with lag error, with regard to the target position
to be approached (prerequisite: " P‑0‑0040, Velocity feedforward evalua‐
tion " =100%).
Control with encoder 2 can only take place if encoder 2 is availa‐
ble.
See also Functional Description of firmware " Drive-Controlled Positioning "
A0161 - Attributes
7.66
Display:
Ident N°:
AF
A0161
A0162 Positioning block mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command value profile is generated in the drive. Target position, veloci‐
ty, acceleration and jerk are determined by a programmed positioning block.
According to the parameterization of " P‑0‑4019, Positioning block mode " , the
target position is understood as an absolute or relative distance.
According to the axis controller control word, the drive controls with encod‐
er 1 or encoder 2, laglessly or with lag error, with regard to the target position
to be approached (prerequisite: " P‑0‑0040, Velocity feedforward evalua‐
tion " =100%).
Control with encoder 2 can only take place if encoder 2 is availa‐
ble.
See also Functional Description of firmware " Positioning Block Mode "
A0162 - Attributes
7.67
Display:
Ident N°:
AF
A0162
A0163 Position synchronization
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " Position synchronization " mode. This means that the drive
is in position control and the position command values are derived from mas‐
ter axis positions.
See also Functional Description of firmware " Synchronization Modes "
A0163 - Attributes
Display:
Ident N°:
AF
A0163
122/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
7.68
A0164 Velocity synchronization
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in the " Velocity synchronization " mode. This means that the drive
is in velocity control and the velocity command values are derived from mas‐
ter axis positions.
See also Functional Description of firmware " Synchronization Modes "
A0164 - Attributes
7.69
Display:
Ident N°:
AF
A0164
A0206 Positioning block mode, encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control with systematic lag distance. Encoder 1 (motor
encoder) provides the actual value. The command value profile is generated
in the drive. Target position, velocity, acceleration and jerk are determined by
a previously programmed positioning block According to the parameterization
of " P‑0‑4019, Positioning block mode " , the target position shall be understood
as being absolute or as relative distance.
See also Functional Description of firmware " Positioning Block Mode "
A0206 - Attributes
7.70
Display:
Ident N°:
AF
A0206
A0207 Positioning block mode lagless, encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control without lag distance. Encoder 1 (motor encod‐
er) provides the actual value. The command value profile is generated in the
drive. Target position, velocity, acceleration and jerk are determined by a pre‐
viously programmed positioning block According to the parameterization of
" P‑0‑4019, Positioning block mode " , the target position shall be understood
as being absolute or as relative distance.
See also Functional Description of firmware " Positioning Block Mode "
A0207 - Attributes
Display:
Ident N°:
AF
A0207
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
123/619
Diagnostic Status Messages
7.71
A0210 Positioning block mode, encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control with systematic lag distance. Encoder 2 pro‐
vides the actual value. The command value profile is generated in the drive.
Target position, velocity, acceleration and jerk are determined by a previously
programmed positioning block According to the parameterization of
" P‑0‑4019, Positioning block mode " , the target position shall be understood
as being absolute or as relative distance.
See also Functional Description of firmware " Positioning Block Mode "
A0210 - Attributes
7.72
Display:
Ident N°:
AF
A0210
A0211 Positioning block mode lagless, encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is in position control without lag distance. Encoder 2 provides the
actual value. The command value profile is generated in the drive. Target po‐
sition, velocity, acceleration and jerk are determined by a previously program‐
med positioning block. According to the parameterization of " P‑0‑4019, Posi‐
tioning block mode " , the target position shall be understood as being abso‐
lute or as relative distance.
See also Functional Description of firmware " Positioning Block Mode "
A0211 - Attributes
7.73
Display:
Ident N°:
AF
A0211
A0403 Quick stop with probe detection is active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The readiness for quick stop and the detection of the quick stop signal inter‐
nally trigger the speed command value reset which causes the axis to be
shut down. This happens taking the following values into account:
●
the current torque/force limit value for drives in closed-loop operation
●
the maximum stator frequency change (P-0-0569) for drives in openloop operation
124/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
In the case of quick stop, the drive ignores the setting of command values by
the control master, decelerates in a drive-controlled way and remains in a
drive-internal operating mode until the readiness for quick stop is reset.
See also Functional Description of firmware " Quick Stop via Probe Input "
A0403 - Attributes
7.74
Display:
Ident N°:
AR
A0403
A0500 Supply module in voltage control
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The mains contactor has been switched in, the DC bus has been charged,
the DC bus voltage is regulated to 750 V direct voltage.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0500 - Attributes
7.75
Display:
Ident N°:
A0500
A0502 Supply module in operation
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The mains contactor has been switched in, the DC bus has been charged
and is ready for power output.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0502 - Attributes
7.76
Display:
Ident N°:
A0502
A0503 DC bus charging active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
125/619
Diagnostic Status Messages
The DC bus is presently charged to the crest value of the mains voltage ( " soft
start " ). When the voltage in the DC bus has reached the crest value of the
mains voltage, the mains contactor is switched in.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0503 - Attributes
7.77
Display:
Ident N°:
A0503
A0520 DC bus quick discharge active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The braking resistor is presently short-circuiting the DC bus in order to re‐
duce the DC bus voltage as quickly as possible.
The " DC bus short circuit " function (ZKS) was activated via the
terminal strip X32 at the HMV.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0520 - Attributes
7.78
Display:
Ident N°:
A0520
A0800 Unknown operating mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
There isn't any diagnostic message existing for the activated operating mode.
On the display of Rexroth IndraDrive supply units, the text " VM "
( " Versorgungs-Modul " = supply module) precedes the diagnostic
message.
A0800 - Attributes
Display:
Ident N°:
A0800
126/619
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DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Status Messages
7.79
A4000 Automatic drive check and adjustment
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The A4000 diagnostic message is a collective diagnostic message for differ‐
ent system states. It is used for drive check and adjustment. When enabling
and disabling the drive enable this diagnosis is automatically activated. The
following system states that are processed independent of the parameteriza‐
tion are counted among the drive checks and adjustments:
●
the holding brake delay times ( " S‑0‑0206, Drive on delay time " ,
" S‑0‑0207, Drive off delay time " )
●
build-up of the air-gap field (in the case of asynchronous motors)
●
automatic determination of the commutation offset (in the case of syn‐
chronous motors with incremental measuring system)
Depending on the parameterization the automatic brake check is displayed
with the A4000 diagnostic message, too (see " P‑0‑0525, Holding brake con‐
trol word " ).
A4000 - Attributes
7.80
Display:
Ident N°:
AC
A4000
A4001 Drive deceleration to standstill
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive
●
is decelerated to standstill as set in the " P‑0‑0119, Best possible decel‐
eration " parameter
- or ●
conducts a speed command value reset.
This status is displayed on the control panel of the drive with
" AE " .
See also Functional Description of firmware " Error "
A4001 - Attributes
Display:
Ident N°:
AE
A4001
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
127/619
Diagnostic Status Messages
7.81
A4002 Drive in automatic mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The drive-integrated PLC (MLD) has permanent (or temporary) control over
the drive; this means that the drive is controlled by the drive-integrated PLC.
See also Application Manual " Rexroth IndraMotion MLD "
A4002 - Attributes
7.82
Display:
Ident N°:
AU
A4002
A4003 Setting-up mode is active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The " easy startup " mode is provided for controlling the drive manually.
When the " easy startup " mode has been activated, the display
switches between the drive address and the message " CM "
(Commissioning Mode).
In the " easy startup " mode, all motion commands of the PLC that is integra‐
ted in the drive (IndraMotion MLD) or the master communication are ignored.
The drive is in velocity control mode; command values are specified via
" P‑0‑1460, PLC/setting-up mode, velocity command value " .
A4003 - Attributes
Display:
Ident N°:
AF
A4003
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
129/619
Error Messages
8
Error Messages
8.1
Fatal System Errors (F9xxx and E-0000)
8.1.1
Behavior in the Case of Fatal System Errors
In the case of fatal system errors, there is a grave problem in the drive sys‐
tem (e.g. watchdog error, processor crash, ...) which does no longer allow
regular operation of the drive. Due to a hardware or firmware error, the drive
firmware is no longer operable; clearing an error is no longer possible.
In this case the drive reacts automatically as follows:
Drive Behavior
●
All digital outputs are set to " 0 " .
Safety technology: Safe feedback is deactivated!
●
The " ready for operation " relay opens, this also switches power off in
case the wiring is correct.
●
The output stage is locked, this disables the drive torque.
●
The brake output is deactivated; if a self-holding brake is used, it is ap‐
plied!
●
One of the following diagnostic messages is output at the display:
–
–
E8xxx (exceptions)
–
Putting the Drive Into Operation
F9xxx (fatal system errors)
or E-xxxx (processor error), e.g. E-0800 (detailed information in the
English language is output via the serial interface)
After a fatal system error has occurred, the drive can only be put into opera‐
tion again when:
1.
The 24V supply is completely switched off and on so that a restart of the
drive is carried out (incl. booting process and initialization).
2.
The drive is run up to the operating mode again.
3.
Power is switched on again.
In case fatal system errors are occurring repeatedly, contact our
service department as operating the drive then is no longer possi‐
ble.
8.1.2
E0000 E-0000 Processor exception error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause:
A fatal processor error (processor exception) occurred. The drive was switch‐
ed off by the firmware (torque-free).
" 0000 " is a wild card for hexadecimal error codes by means of which the
Rexroth service department can recognize the exact cause of the occurrence
of the error.
Example
" E-0220 " means that an unauthorized (incorrect) interrupt call occurred.
130/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
E-0000
E-0220
E-0460
E-06C0
E-0020
E-0240
E-0480
E-0700
E-0040
E-0260
E-04A0
E-0720
E-0060
E-0280
E-04C0
E-0740
E-0080
E-02A0
E-04E0
E-0760
E-00A0
E-02C0
E-0500
E-0800
E-00C0
E-02E0
E-0520
E-0820
E-00E0
E-0300
E-0540
E-0A00
E-0100
E-0320
E-0560
E-0A20
E-0120
E-0340
E-0580
E-0A40
E-0140
E-0360
E-05A0
E-0A60
E-0160
E-0380
E-0600
E-0A80
E-0180
E-03A0
E-0620
E-0AA0
E-01A0
E-03C0
E-0640
E-0AC0
E-01C0
E-0400
E-0660
E-0AE0
E-01E0
E-0420
E-0680
E-0B00
E-0200
E-0440
E-06A0
E-0B80
Fig.8-1:
Hexadecimal Error Codes of a Processor Error
Remedy:
Switch drive off and then on again. If the processor error is still displayed,
please contact our service department.
E0000 - Attributes
8.1.3
Display:
Ident N°:
E-XXXX
E0000
F9001 Error internal function call
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The device was switched off by the firmware.
Cause
Remedy
Undefined cause
Switch device off/on. If error persists, replace device
An error occurred in firmware (general software error)
Please contact our service department
F9001 - Attributes
Display:
Ident N°:
F9001
F9001
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
131/619
Error Messages
8.1.4
F9002 Error internal RTOS function call
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
Cause
«MPC»
«MPC»
«MPC»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Remedy
An error occurred in the firmware (general software error).
The drive was switched off by the firmware.
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
Please contact our service department.
F9002 - Attributes
8.1.5
Display:
Ident N°:
F9002
F9002
F9003 Watchdog
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
Cause
Remedy
Firmware-side watchdog timer was triggered (general firm‐
ware error). Drive was switched off by firmware.
Replace device, contact our service department
F9003 - Attributes
8.1.6
Display:
Ident N°:
F9003
F9003
F9004 Hardware trap
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
An internal firmware error has occurred. The device was switched off by the
firmware.
Cause
Remedy
An error occurred in firmware
Please contact our service department
F9004 - Attributes
Display:
Ident N°:
F9004
8.2
Fatal Errors (F8xxx)
8.2.1
Behavior in Case of Fatal Errors (F8xxx)
Generally, there are 2 types of fatal errors (F8 errors):
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
●
●
Fatal Errors During Initialization
(Initialization Errors)
Fatal errors during initialization (e.g. F8118, F8120,...)
Fatal errors during operation (e.g. F8060, F8022,...)
Fatal initialization errors cannot be cleared, they require that the drive be re‐
started.
Fatal errors in conjunction with safety technology do not only re‐
quire that the drive be restarted, but additionally require that the
safety technology be completely recommissioned.
The drive can restarted by the removing the 24 V supply or (as of
MPx08) by starting the " Reboot command " (C6400).
Fatal Errors During Operation
When a fatal error occurs during operation, control (or U/f control) of the drive
is no longer ensured; therefore, drive enable is immediately removed in case
of these errors and the holding brake ‑ if available ‑ is switched on. Depend‐
ing on the setting in " P‑0‑0119, Best possible deceleration " , bit 8, D.C. brak‐
ing can be additionally activated.
With the corresponding setting in " P‑0‑0118, Power supply,
configuration " , the power supply is disconnected in case of fatal
errors.
See also Application Manual " Error Reactions "
Commissioning Steps
After a fatal error has occurred, the drive can only be put into operation again
after the following steps were carried out:
1.
The error message must be cleared by the error clearing command (cf.
" S‑0‑0099, C0500 Reset class 1 diagnostics " ) (for this purpose, it might
possibly be necessary to switch to parameter mode or to switch the
drive off completely).
2.
The cause of the error must be recognized and removed; this possibly
means that an entire component (e.g. motor or drive controller) must be
replaced.
3.
The drive must be in operating mode again and power must be switched
on again ( " Ab " ).
4.
Drive enable must be switched on again (0‑1 edge).
In case fatal errors are occurring repeatedly, contact our service
department as operating the drive then is no longer possible.
8.2.2
F8000 Fatal hardware error
Allocation
Cause
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
" F8000 " is a collective diagnostic message for the following fatal hardware er‐
rors:
●
" F8060 Overcurrent in power section " and
●
" F8069 +/-15-volt DC error "
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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133/619
Error Messages
Normally, " F8000 " is not visible on the display of the drive controller because
" F8060 Overcurrent in power section " or " F8069 +/-15-volt DC error " will be
displayed shortly afterwards.
Reading the Exact Cause of an
Error at an External Control Unit
An external control unit cannot recognize the exact cause of the error; the ex‐
act cause of the error, however, can be detected via the service channel by
re-reading " S‑0‑0390, Diagnostic message number " and " S‑0‑0095,
Diagnostic message " .
Remedy
The particular cause of the error can be found in the diagnostic message
which follows error F8000 ( " F8060 Overcurrent in power section " or " F8069
+/-15-volt error " ).
Error Reaction
F8000 - Attributes
8.2.3
The error reaction defined for fatal errors (F8xxx) is executed on the spot.
Display:
Ident N°:
F8000
F8000
F8010 Autom. commutation: Max. motion range when moving back
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The axis moved away from its initial position during the commutation setting
process.
With the saturation method, this error is generated when the maximum mo‐
tion range was exceeded and " moving back to start position " had been set.
With the sine-wave method, this error is generated independent of the setting
" moving back to start position " .
Cause
Remedy
Positive feedback of motor; commutation offset determina‐
tion generated incorrect value for " P‑0‑0521, Effective com‐
mutation offset " .
Check motor encoder signals. To do this, move motor know‐
ing manufacturer-side setting for sense of rotation or velocity
polarity and check actual position values with regard to po‐
larity and validation.
If necessary, invert polarity of motor encoder or invert two
motor phases. Carry out commutation setting again.
Positive feedback of motor after motor replacement (servic‐
ing) due to connection error.
Check whether direction of motion (sense of rotation) of mo‐
tor complies with that of motor encoder. If not, invert direc‐
tion of motion of motor (invert phases) or of motor encoder.
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
During commutation setting process, axis got into reso‐
nance.
Set " search direction for sine-wave method " to " increase of
amplitude with priority " in " P‑0‑0522, Control word for com‐
mutation setting "
‑ or ‑
Reduce value in " P‑0‑0507, Test frequency for angle acquis‐
ition " in order modify excitation frequency for sine-wave
method compared to resonance frequency of axis.
Due to low friction of mechanical system, axis moved away
from its initial position at start of commutation offset setting.
With saturation method, switch off " moving back to start po‐
sition " , if possible on axis-side!
With sine-wave method, determine new start values for
P-0-0506 and P-0-0507! To do this, set P-0-0506 to " 0 " and
start command C1200!
F8010 - Attributes
8.2.4
Display:
Ident N°:
F8010
F8010
F8011 Commutation offset could not be determined
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The sine-wave method for commutation setting could not determine any val‐
ue for the commutation offset.
Cause
Remedy
Axis could not carry out required motion
Check axis for stiffness or blocking; if necessary, reduce fric‐
tion (lubrication, guiding device of trailing cable installation)
or remove blocking
‑ or ‑
Set " search direction for sine-wave method " to " increase of
amplitude with priority " in " P‑0‑0522, Control word for com‐
mutation setting "
‑ or ‑
Increase value in " P‑0‑0506, Amplitude for angle acquisition "
in order to increase excitation amplitude for sine-wave meth‐
od compared to frictional force of axis.
During commutation setting process, axis got into resonance Set " search direction for sine-wave method " to " increase of
frequency with priority " in " P‑0‑0522, Control word for com‐
mutation setting "
‑ or ‑
Reduce value in " P‑0‑0507, Test frequency for angle acquis‐
ition " in order modify excitation frequency for sine-wave
method compared to resonance frequency of axis
Motor has not been supplied with current
Check motor connection
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135/619
Error Messages
Cause
Remedy
Sine-wave method without success, although axis has re‐
quired freedom of motion and doesn't show any resonance
phenomena
Try with manually input values if automatic search for motorspecific values for " P‑0‑0506, Amplitude for angle acquisi‐
tion " and " P‑0‑0507, Test frequency for angle acquisition "
doesn't provide any result in spite of several repetitions.
Signals of motor encoder do not reflect motion process of
axis; encoder cables of 2 drives possibly mixed up
Check motor encoder signals. To do this move motor know‐
ing manufacturer-side setting for sense of rotation or velocity
polarity and check actual position values with regard to po‐
larity and validation.
‑ or ‑
Incorrect polarity of encoder signals
F8011 - Attributes
8.2.5
Display:
Ident N°:
F8011
F8011
F8012 Autom. commutation: Max. motion range
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During commutation setting (sine-wave method) the axis left the allowed ac‐
tual position value range.
Cause
Remedy
Heavy axis motion due to too high drive torque or force gen‐ Reduce value contained in " P‑0‑0506, Amplitude for angle
eration during commutation setting
acquisition "
‑ and / or ‑
Increase value contained in " P‑0‑0507, Test frequency for
angle acquisition "
External forces or torques cause axis to move out of allowed Check mechanical axis system for occurrence of external
actual position value range
forces, e.g. due to trailing cable installation, vertical load etc.
Cogging force or torque causes axis to move out of allowed
actual position value range
F8012 - Attributes
8.2.6
Display:
Ident N°:
Make sure that, during commutation setting by means of
sine-wave method, cogging forces of motor do not cause po‐
sition limits to be exceeded near limits of actual position val‐
ue range
F8012
F8012
F8013 Automatic commutation: Current too low
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The actual current value amplitude resulting from commutation setting with
the saturation method is monitored. When it does not exceed a minimum
threshold, the error F8013 is generated.
136/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Actual current value amplitude is not sufficient for exact de‐
termination of commutation offset
Increase signal voltage ( " P‑0‑0506, Amplitude for angle ac‐
quisition " or reduce signal frequency ( " P‑0‑0507, Test fre‐
quency for angle acquisition " and restart commutation set‐
ting process.
‑ or ‑
Enter value " 0 " in " P‑0‑0506, Amplitude for angle acquisi‐
tion " Appropriate value for P‑0‑0506 is thereby automatically
determined during commutation setting process.
‑ or ‑
Reduce value of " P‑0‑0517, Commutation: required harmon‐
ics component " , if approx. 30 similar values are determined
for " P‑0‑0521, Effective commutation offset " with repeated
commutation setting for different motor positions (drive re‐
mains in " Ab " ). Reduce " P‑0‑0517, Commutation: required
harmonics component " until command error F8013 no lon‐
ger occurs; finally check function several times!
If error occurs repeatedly, please contact our service department.
F8013 - Attributes
8.2.7
Display:
Ident N°:
F8013
F8013
F8014 Automatic commutation: Overcurrent
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The actual current value amplitude resulting from automatic commutation off‐
set determination is monitored. When a maximum value is exceeded, the
error F8014 is generated.
Cause
Remedy
Amplitude of actual current value is higher than allowed
maximum current
Reduce signal voltage ( " P‑0‑0506, Voltage amplitude for an‐
gle acquisition " ) or increase signal frequency ( " P‑0‑0507,
Test frequency for angle acquisition " ).
‑ or ‑
With " P‑0‑0506, Voltage amplitude for angle acquisition " =0
start automatic determination of appropriate values.
If error occurs repeatedly, please contact our service department.
F8014 - Attributes
Display:
Ident N°:
F8014
F8014
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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137/619
Error Messages
8.2.8
F8015 Automatic commutation: Timeout
Allocation
Saturation Method
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the automatic commutation offset determination (after
drive enable) an error was detected.
Cause
Remedy
An error occurred in internal signal generator used for deter‐ Switch drive off and on again. If error continues to be sig‐
mining commutation offset.
naled, contact our service department.
Sine-Wave Method
The commutation setting with motion by means of the sine-wave method is
completed when the axis, after commutation offset determination, has been
moved back to the initial position at which it was before the start. If this is im‐
possible, the error F8015 is generated.
Cause
Remedy
Axis cannot be moved back to position at which it was at be‐ Check mechanical axis system, remove blocking or stiff‐
ginning of commutation determination.
ness.
F8015 - Attributes
8.2.9
Display:
Ident N°:
F8015
F8015
F8016 Automatic commutation: Iteration without result
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the automatic commutation offset determination (after drive enable) it
has been impossible to find appropriate values for " P‑0‑0506, Voltage ampli‐
tude for angle acquisition " and " P‑0‑0507, Test frequency for angle acquisi‐
tion " with which it would be possible to determine a useful commutation offset
of the connected motor.
138/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Current generated during automatic commutation offset de‐ Check whether controller can supply motor with sufficiently
termination could not produce any saturation effect in motor. high current (cf. " S‑0‑0111, Motor current at standstill " and
" S‑0‑0110, Amplifier peak current " ). If maximum controller
Required maximum current is approx. 1.5-fold continuous
current at standstill ( " S‑0‑0111, Motor current at standstill " ). current is too low, drive controller has to be replaced by a
bigger one.
‑ or ‑
Change position of movable part of motor with regard to its
rigid part restart command " P‑0‑0524, C1200 Commutation
offset setting command " .
‑ or ‑
Contact our service department and, if necessary, use an
absolute measuring system, because motor characteristics
do not allow automatic commutation.
See also Functional Description of firmware " Commutation Setting "
F8016 - Attributes
8.2.10
Display:
Ident N°:
F8016
F8016
F8017 Automatic commutation: Incorrect commutation adjustment
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
This error only occurs during sensorless positioning of synchro‐
nous motors.
An error occurred during commutation adjust of the carrier-signal-based rotor
position detection. It was impossible to determine the alignment of the rotor.
Cause
Remedy
It was impossible to determine initial position of rotor.
Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
Rotor was moving during transient oscillation of rotor posi‐
tion estimation.
Make sure that rotor does not turn during commutation proc‐
ess.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
139/619
Error Messages
Cause
Remedy
An error occurred when rotor angles determined before and
after commutation adjust were compared.
Make sure that rotor does not turn during commutation proc‐
ess.
‑ and/or ‑
Adjust parameter values of " P-0-0506, Amplitude for angle
acquisition " , " P-0-0507, Test frequency for angle acquisition "
and " P-0-0517, Commutation: required harmonics compo‐
nent " or start search mode.
‑ and/or ‑
Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
Determined commutation offset is wrong.
Adjust parameter values of " P-0-0506, Amplitude for angle
acquisition " , " P-0-0507, Test frequency for angle acquisition "
and " P-0-0517, Commutation: required harmonics compo‐
nent " or start search mode.
‑ and/or ‑
Rotor was moving during saturation method.
If error occurs repeatedly, please contact our service department.
F8017 - Attributes
8.2.11
Display:
Ident N°:
F8017
F8017
F8018 Device overtemperature shutdown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The heat sink temperature of the device is monitored by a temperature sen‐
sor and a temperature model. When the heat sink temperature exceeds the
maximum value set for the device and when the load determined by the tem‐
perature model has reached the absolute limit value set for the device, the
device goes torque-free in order to protect it against destruction.
The error can only be cleared when the device has cooled down.
Cause
Remedy
Overtemperature (heat sink) due to overload of device
Switch drive off and let it cool down. Check mechanical sys‐
tem and drive sizing (on average, working power may not
exceed continuous power of drive)
For liquid-cooled devices: Check dimensioning of cooling
system (see documentation with part number R911309636)
Ambient temperature too high. Specified performance data
is valid up to an ambient temperature of 40 °C
Reduce ambient temperature, e.g. by cooling the control
cabinet
Heat sink of device is dirty
Clean heat sink
Convection is prevented by other components or mounting
position in control cabinet
Mount device vertically and provide sufficient space for ven‐
tilating heat sink
140/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Device-internal blower failed
If blower fails, replace device or power section
Failure of air conditioning for control cabinet
Check air conditioning of control cabinet
Incorrect dimensioning of control cabinet with regard to heat
dissipation
Check dimensioning of control cabinet
For liquid-cooled devices:
Connect cooling system
No cooling system connected
For liquid-cooled devices:
Check cooling system and remove error
Error in cooling system, e.g. coolant pump defective or filter
clogged; thereby flow rate too small / inlet temperature of
coolant too high
See also Functional Description of firmware " Current Limitation Loop " .
F8018 - Attributes
8.2.12
Display:
Ident N°:
F8018
F8018
F8022 Enc. 1: Enc. signals incorr. (can be cleared in ph. 2)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signals of the measuring system (encoder 1) are monitored with regard
to their amplitudes and signal shape. If a signal (e.g. sin or cos) leaves the
thresholds monitored by the hardware or if the signals are disturbed in such a
way that a position error occurs, the error F8022 is generated.
As the position of the measuring system is no longer generated
correctly when the error F8022 is detected, it is necessary to initi‐
alize the encoder again.
The error can only be cleared in communication phase 2 (param‐
eter mode).
Cause
Remedy
Defective encoder cable or cable shielding.
Check cable to measuring system and replace it, if necessa‐
ry.
Measuring system defective.
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems.
Check mounting of measuring head and correct it, if neces‐
sary.
Measuring system dirty
Clean or replace measuring system
Hardware defect on control section of drive.
Replace control section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
141/619
Error Messages
See also " E2074 Encoder 1: encoder signals disturbed " .
F8022 - Attributes
8.2.13
Display:
Ident N°:
F8022
F8022
F8023 Error mechanical link of encoder or motor connection
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The controller monitors the motor using model calculation and other means.
The input variables required for model calculation are checked for validity.
Unless the check is passed, this error message is generated.
Cause
Remedy
Mechanical connection between motor rotor and motor en‐
coder loose or broken
Check and restore or repair connection
Phase failure in motor supply line
●
Check motor supply line for continuity. Take potential
" loose contacts " into account.
●
Check connection of motor supply line to controller.
●
Check connection of motor supply line to motor.
●
Line break in motor. Replace motor.
●
Line break in controller. Replace controller.
Monitoring signal for encoder validity (P-0-0620) not within
Re-determine commutation offset (see Functional Descrip‐
limits of P-0-0621 and P-0-0622 (upper and lower monitoring tion of firmware " Commutation Setting " )
thresholds of encoder validity monitoring) because of incor‐
rectly set commutation offset
Monitoring signal for encoder validity (P-0-0620) not within
Using P-0-0520, parameterize encoder validity monitoring
limits of P-0-0621 and P-0-0622 (upper and lower monitoring limits such that monitoring range in working point of motor is
thresholds of encoder validity monitoring) despite correctly
not left (initiate oscilloscope measurement if necessary)
set commutation offset
Synchronous motor: Commutation offset is inaccurate
Re-determine commutation offset or start fine adjustment
Motor parameters are inaccurate
Check motor parameters; increase " P‑0‑0520, Encoder
validation error threshold factor " if necessary
F8023 - Attributes
8.2.14
Display:
Ident N°:
F8023
F8023
F8025 Overvoltage in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The DC bus voltage is monitored. When the allowed maximum value is ex‐
ceeded, the error F8025 is triggered in the case of carrier-signal-based deter‐
mination of the rotor position.
142/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Energy regenerated to DC bus by mechanical machine sys‐
tem during braking process was so high that supply unit
couldn't dissipate it during regeneration time. This caused
DC bus voltage to rise to inadmissible value.
Reduce regenerative power by lower acceleration values.
– or –
Correct sizing of drive.
– or –
Sufficiently dimension supply unit as regards braking energy
requirements; if necessary, use additional braking resistor if
existing braking resistor has been under-dimensioned.
Mains supply voltage (alternating input voltage) too high.
Check mains supply voltage (alternating voltage/3‑phase).
No braking resistor connected or connection or cable defec‐
tive.
Connect braking resistor or check connection.
F8xxx error at high speed (field weakening range) of a syn‐
chronous motor.
Check whether braking resistance value in DC bus exceeds
maximum value allowed for motor; if necessary, reduce
braking resistance value to or below allowed value.
Incorrect parameterization of sensorless positioning of syn‐
chronous motors.
Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
If the error occurs repeatedly, please contact our service depart‐
ment.
F8025 - Attributes
8.2.15
Display:
Ident N°:
F8025
F8025
F8027 Safe torque off while drive enabled
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " F8027
Safety related standstill while drive enabled " .
When the error occurs, the drive immediately goes torque-free!
Optional Module " Starting
Lockout " (up to MPx06) or " Safe
Torque Off " (as of MPx07)
Cause
Remedy
Up to MPx06: " Starting lockout " was set with active control
or drive enable was set with active " starting lockout "
Check control and connection of inputs " AS A " , " AS B " and
" AS n "
As of MPx07: Safety function " Safe torque off " was set with Check control and connection of inputs " STO A " , " STO B "
active control or drive enable was set with active safety func‐ and " STO n "
tion " Safe torque off "
Optional Module " Safety
Technology I/O " (up to MPx06) or
" Safe Motion " (as of MPx07)
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Bosch Rexroth AG
143/619
Error Messages
Cause
Remedy
Up to MPx06: Drive enable was set while " drive interlock " or
" safety related standstill " had been active
Do not set drive enable while drive is in one of the described
states
‑ or ‑
Drive enable was set while drive was in error status " safety
related standstill error " due to internal safety technology
error
F8027 - Attributes
8.2.16
Display:
Ident N°:
F8027
F8027
F8028 Overcurrent in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The controller monitors the motor current (= controller output current) sup‐
plied by the power section. When the controller output current is greater than
the 1.2-fold value of " S‑0‑0110, Amplifier peak current " , the output stage of
the power section is locked.
Cause
Remedy
Incorrect parameterization of sensorless positioning of syn‐
chronous motors.
Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
Rotor position incorrectly determined.
Check whether preset limit values are complied with.
Possible causes:
●
Acceleration outside of specification
●
Maximum speed exceeded
●
Error in control loop
If the error occurs repeatedly, please contact our service depart‐
ment.
F8028 - Attributes
8.2.17
Display:
Ident N°:
8028
F8028
F8030 Safe stop 1 while drive enabled
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«MPC»
«MPC»
When the error occurs, the drive immediately goes torque-free!
144/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
In one of the following safety technology operating states or Before drive enable, make sure by means of P-0-3213 that
in internal error status, drive enable was set with safe torque drive no longer is in one of the mentioned safety technology
off:
operating states or in internal error status
●
" Safe stop 1 " or
●
" Safe stop 1 (Emergency stop) " or
●
" Safe parking axis "
F8030 - Attributes
8.2.18
Display:
Ident N°:
F8030
F8030
F8042 Encoder 2 error: Signal amplitude incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signals of the measuring system (encoder 2) are monitored on hardware
and software level with regard to their amplitudes and signal shape. If a sig‐
nal (sin or cos) leaves the allowed range or if the signals are disturbed in
such a way that a position error occurs, this error is generated. The error only
occurs in conjunction with the function " redundant motor encoder " !
As the position is no longer generated correctly when this error is
detected, it is necessary to initialize the encoder again.
When using an incremental encoder with square-wave signals,
monitoring is carried out with regard to an inadmissible edge.
On the software level, the signals of a resolver are monitored for
their levels.
Cause
Remedy
Defective encoder cable or cable shielding
Check cable to measuring system and replace it, if necessa‐
ry.
Encoder defective
Check measuring system and replace it, if necessary.
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary.
Measuring system dirty
Replace measuring system
Hardware defect on control section of drive
Replace control section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F8042 - Attributes
Display:
Ident N°:
F8042
F8042
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145/619
Error Messages
8.2.19
F8057 Device overload shutdown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The device was switched off due to overload.
Cause
Remedy
Power demanded by drives is too high
Use drives with lower peak current
Power demanded by drives is too high
Reduce allowed acceleration of axis or reduce final velocity
to which acceleration takes place
F8057 - Attributes
8.2.20
Display:
Ident N°:
F8057
F8060 Overcurrent in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The current in the power transistors has exceeded the maximum allowed de‐
vice peak current (cf. " S‑0‑0110, Amplifier peak current " ).
In the case of an internal signal voltage error (15 V) in the power
section, this error message is generated, even without power, di‐
rectly when the device is switched on, before power is demanded
from the power section.
Cause
Remedy
External 24 V supply is not sufficiently overload-proof
Check overload withstand capability of external 24 V power
supply unit and replace it, if necessary
Short circuit in motor or motor cable
Check motor cable and motor for short circuit
Power section of drive controller is defective
Replace drive controller
Current loop parameterized differently
Check current loop parameterization (cf. motor data sheet)
and correct it if necessary after having contacted our service
department
Voltage fluctuations in DC bus too high because system im‐
pedance too high
Reduce system impedance, e.g. increase feed wire cross
sections
F8060 - Attributes
Display:
Ident N°:
F8060
F8060
146/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.2.21
F8064 Interruption of motor phase
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During voltage-controlled U/f operation for asynchronous motors, the drive
monitors the motor current in the individual line phases.
The drive has detected that the current is " 0 " in at least one phase.
Lethal injury caused by coasting axis (torque
disable)!
DANGER
⇒ Additional measures might be necessary to stop the axis.
●
Safe monitoring of individual phases is only possible with a speed com‐
mand value of & gt; 10 U/min.
●
Restrictions of Correct Monitoring
Function
The monitoring function also triggers if the motor has been incorrectly
parameterized (e.g. the value parameterized for " P‑0‑4004, Magnetizing
current " is much higher than the actually available magnetizing current).
Lethal electric shock by live parts with more
than 50 V!
DANGER
⇒ Observe the safety regulations when working / conducting checks at the
drive controller / motor.
Cause
Remedy
At least one line phase of motor has not been connected to
drive controller or line break has occurred
Check motor cable connection (check assignment motor
connection↔axis).
Check individual motor phases from connection at drive con‐
troller for line break and high ohmic resistance
For a double-axis device, the two motor power connections
were interchanged or generally incorrect axis assignment
was made between motor and controller
Check whether assignment of motor connections is correct
for the axes
Motor winding (U, V, W) has burned out
Check motor winding by means of ohmmeter and replace
motor, if necessary
Voltage boost too low in U/f operation
Adjust P‑0‑0568 until magnetizing current flows at standstill
(P‑0‑0440 corresponds to P‑0‑4004)
Motor incorrectly parameterized
Compare motor data in drive to actual motor data (see also
Functional Description of firmware " Rexroth Motors " and
" Determining the Parameter Values of Third-Party Motors " )
Power section defective
Replace drive controller
The sequence of the replacement of drive controllers is described
in the documentation " Project Planning Manual for Power
Section " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Bosch Rexroth AG
147/619
Error Messages
F8064 - Attributes
8.2.22
Display:
Ident N°:
F8064
F8064
F8067 Synchronization PWM-Timer wrong
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Digital drive control requires absolutely synchronous data processing (e.g.
sampling of actual current values); if this is not guaranteed, controlled opera‐
tion is impossible and the error F8067 is generated.
Cause
Remedy
Synchronization clock of bus master oscillates very much
due to software or hardware error [e.g. jitter of MST with
SERCOS (F2067 and F8067)].
Check external bus master and make sure synchronization
clock is error-free and constant.
Control section defective
Replace control section or entire drive controller.
Internal timing problem in drive firmware
Contact our service department for firmware update.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Master Communication " .
F8067 - Attributes
8.2.23
Display:
Ident N°:
F8067
F8067
F8069 +/-15Volt DC error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error has occurred in the internal +/‑15 V supply of the device.
The error cannot be cleared via the command " S‑0‑0099, C0500
Reset class 1 diagnostics " .
Cause
Remedy
Error in external DC24 V power supply
Check external power supply
Power section defective
Replace device
F8069 - Attributes
Display:
Ident N°:
F8069
F8069
148/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.2.24
F8070 +24Volt DC error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Rexroth IndraDrive devices need an external 24 V control voltage supply for
operation. This voltage is monitored with regard to the allowed tolerance.
When the error F8070 occurs, the motors within the drive system
immediately go torque-free. Apply possibly existing self-holding
motor holding brakes.
The error F8070 cannot be cleared by the error clearing com‐
mand (cf. " S‑0‑0099, C0500 Reset class 1 diagnostics " ). To clear
the error, the drive must be switched off completely!
Cause
Remedy
Supply cable for control voltages defective
Check and, if necessary, replace supply cable for control
voltages and connector
Overload of 24 V power supply unit
Check 24 V supply voltage at power supply unit
Power supply unit defective
Check and, if necessary, replace power supply unit
Short circuit in 24 V supply wiring
Check 24 V supply wiring for short circuit
F8070 - Attributes
8.2.25
Display:
Ident N°:
F8070
F8070
F8076 Error in error angle loop
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
This error only occurs with sensorless positioning of synchronous
motors.
An error in the position detection has occurred with sensorless positioning of
synchronous motors. For reasons of safety, the output stage is locked.
DANGER
Lethal injury caused by coasting axis (torque
disable)!
⇒ Additional measures might be necessary to stop the axis.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
149/619
Error Messages
Cause
Remedy
Incorrect parameterization of sensorless positioning of syn‐
chronous motors.
Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
Rotor position incorrectly determined.
Check whether preset limit values are complied with.
Possible causes:
●
Acceleration too high
●
Speed too high
●
Instability in speed control loop
●
Power line defective
If the error occurs repeatedly, please contact our service depart‐
ment.
F8076 - Attributes
8.2.26
Display:
Ident N°:
F8076
F8076
F8078 Speed loop error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The velocity loop monitor is activated if the following conditions occur simulta‐
neously:
●
" P‑0‑0049, Effective torque/force command value " is at the torque/force
limit.
●
" P‑0‑0049, Effective torque/force command value " and actual velocity
have different signs.
●
The actual velocity at the motor shaft is greater than 20 rpm (or
20 mm/min for linear motors).
●
Actual acceleration and control deviation have different signs.
Cause
Remedy
Motor phases (U, V, W) interchanged so that commutation
of motor is incorrect
Check motor cable connection and correct phase assign‐
ment, if necessary
Incorrect encoder arrangement
Correct encoder arrangement (inverting rotational direction
of encoder can possibly resolve problem)
Velocity loop setting incorrect
Check velocity loop setting according to Functional Descrip‐
tion/Application Manual
Commutation offset incorrect
Replace motor (in the case of MHD, MKD, MKE motors); in
the case of kit motors, make commutation settings
Drive is operated in voltage-controlled form (without encod‐ Deactivate velocity loop monitoring in P‑0‑0556
er; U/f control); with this drive function, velocity loop monitor‐
ing does not make sense
Motor encoder defective
Replace motor encoder (or motor)
150/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
F8078 - Attributes
8.2.27
Display:
Ident N°:
F8078
F8078
F8079 Velocity limit value exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause
Remedy
" S‑0‑0040, Velocity feedback value " has exceeded the
1.125- fold value of one of parameterized velocity limit val‐
ues
Check and, if necessary, correct parameterization of
" S‑0‑0091, Bipolar velocity limit value " , " S‑0‑0038, Positive
velocity limit value " and " S‑0‑0039, Negative velocity limit
value " .
As of MPx06: Within parameterized standstill window
(S‑0‑0124), actual velocity is not monitored for resulting lim‐
its from S‑0‑0091, S‑0‑0038 and S‑0‑0039.
Velocity control loop unstable or too heavily oscillating due
to incorrect parameterization
Check and, if necessary, correct parameterization of velocity
loop
Preset velocity command value too high (cf.
P‑0‑0048 = " S‑0‑0036, Velocity command
value " + " S‑0‑0037, Additive velocity command value " )
Reduce " P‑0‑0048, Effective velocity command value " by
adjusting " S‑0‑0036, Velocity command value " or " S‑0‑0037,
Additive velocity command value "
See also Functional Description of firmware " Control Loop Structure "
F8079 - Attributes
8.2.28
Display:
Ident N°:
F8079
F8079
F8091 Power section defective
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the initialization of the power section, the drive tries to access the
power section parameters.
These are the following parameters:
●
S-0-0140, Controller type
●
P-0-0809, Properties of charging circuit
●
P-0-0859, Data of internal braking resistor
●
P-0-1510, Circuit board code power section
●
P-0-1519, Module code of power section
●
P-0-3902, Command values for power section adjust
●
P-0-3903, Adjust values of power section
●
P-0-4058, Amplifier type data
●
P-0-4059, Electric type data of power section
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Error Messages
Cause
Remedy
One of power section parameters is invalid (e.g. checksum
error) or contains inadmissible value.
Check content of list " S‑0‑0021, IDN list of invalid operating
data for communication phase 2 " , write down IDNs it con‐
tains (IDNs/parameters) and then please contact Rexroth
service department.
As of MPx04VRS:
Incorrect parameter setting when using device " HAC01 "
(SERCOS analog converter).
Check/correct settings in " P‑0‑0860, Converter configura‐
tion " (bit 15);
reboot device " HAC01 " after having changed parameter set‐
ting.
Control section and/or power section defective.
Replace drive controller
The replacement of the entire drive controller is described in the
Project Planning Manual for the power section.
F8091 - Attributes
8.2.29
Display:
Ident N°:
F8091
F8091
F8100 Error when initializing the parameter handling
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the initialization of the drive the control section is checked for correct
function. An error was detected during this check.
Cause
Remedy
Control section configuration not allowed because an option‐ Switch drive off and on again. If error occurs again, replace
al module (e.g. optional module 1...4, master communica‐
control section (e.g. CSH01.1 or CDB01.1) by different con‐
tion,...) is not supported by firmware.
trol section with appropriate configuration.
If necessary, contact our service department.
Firmware used is not suitable (e.g. MPH02VRS for doubleaxis control section), i.e. hardware and software do not
match.
Select suitable firmware by means of Functional Description
or Version Notes/Release Notes (see " supported control
section configurations " ).
Hardware defect on control section
Switch drive off and on again. If error still occurs, contact our
service department and, if necessary, replace control sec‐
tion or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " System Overview " .
See also Project Planning Manual for control section, keyword " Type Code " .
F8100 - Attributes
Display:
Ident N°:
F8100
F8100
152/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.2.30
F8102 Error when initializing power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the initialization of the drive the power section is checked for correct
function. An error was detected during this check.
Cause
Remedy
Hardware and firmware do not match
Check Firmware Release Notes or Firmware Version Notes
and, if necessary, use latest firmware release.
Parameter " P‑0‑1510, Circuit board code power section "
stored on power section is invalid or was incorrectly written.
Switch drive off and on again. If error occurs again, check
content of " P‑0‑1510, Circuit board code power section " and
contact our service department!
Maybe you have to replace power section or entire drive
controller.
Hardware defect on power section
Replace power section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F8102 - Attributes
8.2.31
Display:
Ident N°:
F8102
F8102
F8118 Invalid power section/firmware combination
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
The power section is incompatible with the firmware used.
Cause
Remedy
Inappropriate firmware
Use firmware that matches power section
Inappropriate power section
Use power section that matches firmware
Operation without power section has been set, but firmware
recognizes a power section
Check bit 15 in P-0-0860
F8118 - Attributes
Display:
Ident N°:
F8118
F8118
«MPC»
«MPC»
«MPC»
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Error Messages
8.2.32
F8120 Invalid control section/firmware combination
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The control section is incompatible with the firmware used.
Cause
Remedy
During firmware replacement, there is an attempt to copy
firmware to controller which does not match
Use firmware that matches control section
Inappropriate control section
Use control section that matches firmware
Safety technology incorrectly configured for double-axis de‐
vice
Check control section configuration
F8120 - Attributes
8.2.33
Display:
Ident N°:
F8120
F8120
F8122 Control section defective
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the initialization of the control section an error occurred.
Cause
Remedy
Hardware of control section is defective
Replace control section or entire drive controller; use hard‐
ware configuration of same type
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F8122 - Attributes
8.2.34
Display:
Ident N°:
F8122
F8122
F8129 Incorrect optional module firmware
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
The firmware of an optional module is defective.
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
154/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Firmware of an optional module programmed in invalid form
Carry out firmware update (again). If error occurs repeated‐
ly, it is necessary to replace control section or drive control‐
ler
– or ‑
An error occurred during firmware update
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F8129 - Attributes
8.2.35
Display:
Ident N°:
F8129
F8129
F8130 Firmware of option 2 of safety technology defective
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The firmware of the optional safety technology module is defective.
Cause
Remedy
Programming of firmware for optional safety technology
module is invalid
Make firmware update
An error occurred during firmware update
Restart firmware update.
If error message is displayed again, replace control section
with control section of same type, if you are authorized to do
this! Otherwise entire drive controller has to be replaced.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F8130 - Attributes
8.2.36
Display:
Ident N°:
F8130
F8130
F8133 Error when checking interrupting circuits
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In order to lock the output stage in a safe way when the safety technology
has detected an error, the correct functioning of the interrupting circuit is cy‐
clically checked. This is done on the one hand during the actions " release
output stage " and " lock output stage " , on the other hand statically while the
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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155/619
Error Messages
output stage is being released or locked. The corresponding hardware reali‐
zation ensures that this is possible without repercussion on the PWM control
signals.
The drive immediately goes torque-free. Automatic switching to " safety
related standstill " (up to MPx06) or " Safe stop 1 " (as of MPx07) takes place
and the output stage is switched off via one channel. All poles of the mains
contactor are switched off.
Safety is not acknowledged; i.e., " safety technology status output
controller " in " P‑0‑3214, Safety technology status word, channel
1 " was cleared/reset or the diagnostic input/output EA10n (chan‐
nel 2) was set depending on the parameterization in " P‑0‑3210,
Safety technology configuration " .
Cause
Remedy
An error was detected during check of interrupting circuit
Switch power supply off and on again.
If error occurs repeatedly, replace control section or entire
drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F8133 - Attributes
8.2.37
Display:
Ident N°:
F8133
F8133
F8134 SBS: Fatal error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " F8134
Safety related holding system: Fatal error " .
A check detected that the motor holding brake or the redundant holding
brake, with the drive torque-free, has not been controlled for the purpose of
applying it or has not been applied.
Cause
Remedy
Error in wiring between control section, control module and
redundant holding brake
Check wiring
Hardware error of control module or error in mechanical sys‐ Replace hardware
tem of redundant holding brake
Error in parameterization
F8134 - Attributes
Check parameterization
Display:
Ident N°:
F8134
F8134
156/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.2.38
F8135 SMD: Velocity exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " F8135
Velocity exceeded with trend monitoring " .
During the stopping process, the drive is not able to come to standstill within
the parameterized limits.
Ursache
Abhilfe
In the case of drive-controlled transition to standstill from
normal operation, special mode motion or in the case of
error, drive is not able to reach standstill with deceleration
parameterized in " P-0-3282, Safely-monitored deceleration " .
Select useful value for parameter " P-0-3282, Safelymonitored deceleration "
F8135 - Attributes
8.2.39
Display:
Ident N°:
F8135
F8135
F8140 Fatal CCD error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
Cause
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
Remedy
" Error reaction active " has been set in " P‑0‑1600, CCD: con‐ Localize faulty slave and remove cause of error for this
figuration " and an F8 error occurred in a slave.
slave.
The CCD master reacts with torque disable.
See also Functional Description of firmware " Cross Communication (CCD) " .
F8140 - Attributes
8.2.40
Display:
Ident N°:
F8140
F8140
F8201 Safety technology basic initialization incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the booting phase of the drive, a basic initialization is carried out on both
safety technology channels.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Error Messages
Cause
Remedy
Basic initialization on channel 2 is incorrect or internal com‐
mand was aborted with timeout
Execute command " C0720 Load defaults procedure
command (safety technology) " and reset optional safety
technology module (switch control voltage off and then on
again)
- or Error in safety memory
Up to MPx03: Error in parameterization, i.e. double assign‐
ment of inputs at channel 2 (e.g. mode selector parameter‐
ized twice)
Check assignment of inputs in " P‑0‑3211, Safety technology
I/O control word, channel 2 "
As of MPx07: Incompatible logicware versions were detec‐
ted
Replace firmware
As of MPx07: Hardware version is insufficient
Integrated safety technology, based on the standard
IEC61508, can only be operated with sufficient hardware
version: In P-0-1520, " S2 " must have been entered as safety
option.
Error was generated because hardware version is insuffi‐
cient.
⇒ Replace hardware.
Hardware error
Replace hardware
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P‑0‑3219) " .
As of MPx07: See " Extended Diagnosis (P‑0‑3219) as of MPx07 " .
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
Only Rexroth service engineers are allowed to replace options of
the control section.
F8201 - Attributes
8.2.41
Display:
Ident N°:
F8201
F8201
F8203 Safety technology configuration parameter invalid
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
All safety technology parameters are protected against incorrect input ‑ which
is similar to the use of a password ‑ because they have to be input twice.
158/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
The time and control word parameters required for initialization are read from
their parameter memory after the drive has been switched on and the two
double elements are compared.
●
P‑0‑3210, Safety technology configuration
●
P‑0‑3211, Safety technology I/O configuration list, channel 2
●
P‑0‑3220, Tolerance time transition from normal operation
●
P‑0‑3221, Max. tolerance time for different channel states
●
P‑0‑3222, Max. activation time of enabling control
●
P‑0‑3223, Time interval for dynamization of safety function selection
●
P‑0‑3224, Duration of dynamization pulse of safety function selection
●
P‑0‑3225, Tolerance time transition from safe operation
●
P‑0‑3240, Configuration of safe motion 1
●
P‑0‑3250, Configuration of safe motion 2
●
P‑0‑3260, Configuration of safe motion 3
●
P‑0‑3270, Configuration of safe motion 4
●
" P‑0‑3290, PROFIsafe: F_Destination_Address " (not MPx02VRS!)
●
" P‑0‑3291, PROFIsafe: F_Source_Address " (not MPx02VRS!)
The comparison showed that not all of the double elements are identical.
Switching to operating mode is impossible.
Cause
Remedy
A memory cell was overwritten by mistake
Reset command " C0720 Load defaults procedure command
(safety technology) " and optional safety technology module
(switch control voltage off and then on again)
Note: Command " C0720 Load defaults procedure command
(safety technology) " overwrites user-defined safety technolo‐
gy settings! Only use this command if you want to commis‐
sion safety technology again
Firmware defect on optional safety technology module
If command error occurs repeatedly, safety technology firm‐
ware has to be replaced
Hardware defect on optional safety technology module
If command error occurs repeatedly, optional safety technol‐
ogy module has to be replaced
F8203 - Attributes
8.2.42
Display:
Ident N°:
F8203
F8203
F8813 Connection error mains choke
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
After the power supply had been switched on, a wiring error of the mains
choke (e.g. incorrect phase sequence of the mains phases) was detected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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159/619
Error Messages
Cause
Remedy
Mains choke was incorrectly connected
Check and correct connection of mains choke; connections
to mains choke must be as short as possible and twisted
→ See also documentation " Drive System, Project Planning
Manual " , chapter " Connection to Mains Choke and Mains
Filter " (for an overview of reference documentations on the
drive system and the system components, see: " Reference
Documentations " )
F8813 - Attributes
8.2.43
Display:
Ident N°:
F8813
F8830 Power section error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
Cause
«MPC»
«MPC»
«MPC»
Remedy
Hardware error in power section
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
Switch device off and then on again.
If error occurs repeatedly, replace device
F8830 - Attributes
8.2.44
Display:
Ident N°:
F8830
F8830
F8838 Overcurrent external braking resistor
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
The error F8838 is generated when the current in the braking resistor circuit
is rising in an inadmissible way.
Cause
Remedy
Resistance value of connected braking resistor is too low.
Connect braking resistor unit with higher resistance value
(take specification into account!).
Short circuit at braking resistor connection.
Remove short circuit
See also Functional Description of firmware " Power Supply " .
F8838 - Attributes
Display:
Ident N°:
F8838
F8838
160/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.3
Safety Technology Errors (F7xxx)
8.3.1
Behavior in Case of Safety Technology Errors
NC-controlled stopping is not possible in case of safety technology errors
(F7xxx) ( " P‑0‑0117, Activation of control unit reaction on error " is ineffective).
The behavior of the drive (error reaction) in case of safety tech‐
nology errors was extended and can be set as of firmware
MPx03V20.
Up to MPx-03V18
Up to the firmware MPx-03V18, the drive is shut down as quickly as possible
in case of safety technology errors (F7xxx), i.e., independently of the settings
in " P‑0‑0119, Best possible deceleration " ; the drive is brought to a standstill
by a velocity command value reset (see also MPx02 and MPx03 Functional
Descriptions, index entry " Error reaction " ).
As of Firmware MPx-03V20
As of firmware MPx-03V20, the error reaction in case of safety technology er‐
rors (F7xxx) can be parameterized via the configuration bit " reaction to F7
error " in " P‑0‑3210, Safety technology configuration " ; the error reaction
" velocity command value reset " is activated by default but can be deactivated
so that the drive immediately goes torque-free when an F7 error occurs.
The F7 error reaction " torque disable " should only be used when
forced deceleration by a velocity command value reset generally
causes problems, e.g. in case of mechanically coupled axes.
The machine manufacturer is responsible for the F7 error reaction
" torque disable " and his risk analysis has to show this responsibil‐
ity.
As of Firmware MPx-05
As of firmware MPx-05, " P‑0‑3210, Safety technology configuration " and
" P‑0‑0119, Best possible deceleration " can be used to configure the error re‐
action " Velocity command value reset while maintaining the emergency halt
deceleration (S‑0‑0429) " .
At the end of each F7 error reaction, the drive goes torque-free and the out‐
put stage is locked via two channels after the time entered in " P‑0‑3220,
Tolerance time transition from normal operation " or " P‑0‑3225, Tolerance
time transition from safe operation " is over.
Commissioning Steps
After a safety technology error (F7xxx) has occurred, the drive can only be
put into operation again when:
1.
The actual cause of the error was recognized and removed (e.g. incor‐
rect parameterization of velocity thresholds or time windows).
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P‑0‑3219) " .
As of MPx07: See " Extended Diagnosis (P‑0‑3219) as of MPx07 " .
2.
The error message was cleared by the error clearing command (cf.
" S‑0‑0099, C0500 Reset class 1 diagnostics " ).
3.
The drive is in the operating mode again and power was switched on
again ( " Ab " ).
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
161/619
Error Messages
4.
Drive enable was switched on again (0‑1 edge).
In case safety technology errors are occurring repeatedly, contact
our service department as operating the drive then is no longer al‐
lowed.
8.3.2
F7010 Safely-limited increment exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " F7010
Safety related limited increment exceeded " .
In the special mode " safe motion " with configured safety function " Safelylimited increment " , the monitoring function makes sure that the values do not
leave the parameterized position window (increment).
The bipolar position window is activated with the start of the special mode.
For the duration of the special mode, the drive can freely move within the lim‐
its of the position window.
Cause
Remedy
At least one of the position windows relevant for special
mode " safe motion " has been incorrectly parameterized
Check parameterization of position windows and adjust it to
desired travel targets.
Position window:
●
" P‑0‑3243, Safely-limited increment 1 " or
●
" P‑0‑3253, Safely-limited increment 2 " or
●
" P‑0‑3263, Safely-limited increment 3 " or
●
" P‑0‑3273, Safety related limited increment 4 "
After troubleshooting, start command " S‑0‑0099, C0500
Reset class 1 diagnostics " in order to clear error an then set
drive enable again
Command value input is incorrect; i.e. drive moves to invalid Check command value input in control unit and adjust target
target positions
positions according to travel range or required target posi‐
tions.
After troubleshooting, start command " S‑0‑0099, C0500
Reset class 1 diagnostics " in order to clear error an then set
drive enable again
See also documentation
●
F7010 - Attributes
Up to MPx06: " Integrated Safety Technology "
●
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
F7010
F7010
162/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.3.3
F7011 Safely-monitored position, exceeded in pos. direction
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " F7011
Safety rel. position limit val., exc. in pos. dir. " .
In special mode " safe motion " with configured safety function " safety related
limited absolute position " (up to MPx06) or " Safely-monitored position " (as of
MPx07), the parameterized position limit value was exceeded in positive di‐
rection.
Cause
Remedy
In safety function " special mode motion " , value parameter‐
ized in parameter
Check command value input and adjust it according to para‐
meterized position limit values
●
" P‑0‑3241, Safely-monitored position 1, positive " or
– or –
●
" P‑0‑3251, Safely-monitored position 2, positive " was
exceeded
Check parameter setting and change it, if necessary.
F7011 - Attributes
8.3.4
Display:
Ident N°:
Afterwards start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again.
F7011
F7011
F7012 Safely-monitored position, exceeded in neg. direction
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " F7012
Safety rel. position limit val., exc. in neg. dir. " .
In the special mode " safe motion " with configured safety function " safety
related limited absolute position " (up to MPx06) or " Safely-monitored
position " (as of MPx07), the parameterized position limit value was exceeded
in negative direction.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
163/619
Error Messages
Cause
Remedy
In special mode " safe motion " , value parameterized in
Check command value input and adjust it according to para‐
meterized position limit values
●
" P‑0‑3242, Safely-monitored position 1, negative " or
●
" P‑0‑3252, Safely-monitored position 2, negative "
Check parameter setting and change it, if necessary.
was exceeded.
Then start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again.
F7012 - Attributes
8.3.5
– or –
Display:
Ident N°:
F7012
F7012
F7013 Safely-limited speed exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " F7013
Velocity threshold exceeded " .
In the special mode " safe motion " , a parameterized velocity threshold was
exceeded.
Cause
Remedy
In special mode " safe motion " , velocity threshold parameter‐ Check command value input and adjust it according to pa‐
ized in
rameter setting
●
‑ or ‑
or
●
" P‑0‑3244, Safely-limited speed 1 "
Check parameter setting and change it, if necessary.
" P‑0‑3254, Safely-limited speed 2 "
Afterwards start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again
or
●
" P‑0‑3264, Safely-limited speed 3 "
or
●
" P‑0‑3274, Safely-limited speed 4 "
was exceeded
F7013 - Attributes
8.3.6
Display:
Ident N°:
F7013
F7013
F7014 Timeout safely-monitored transient oscillation
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
164/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
In special mode " safe motion " (with activated safety func‐
tion " Safely-monitored transient oscillation " ) the " Safelylimited speed " (P‑0‑3247, P‑0‑3257, P‑0‑3267 or
P‑0‑3277) was exceeded longer than the tolerance time
set (P‑0‑3248, P‑0‑3258, P‑0‑3268 or P‑0‑3278).
Check command value input and adjust it according to param‐
eter setting
F7014 - Attributes
8.3.7
Display:
Ident N°:
‑ or ‑
Check parameter setting and change it, if necessary.
Afterwards start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again
F7014
F7014
F7020 Safe maximum speed exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When monitoring of the safe maximum speed has been configured (see
" P‑0‑3239, Configuration of global safety technology functions " ), the drive in
normal operation and in special mode monitors the current actual velocity.
When the velocity threshold parameterized in " P‑0‑3234, Safe maximum
speed " is exceeded, the error F7020 is generated.
Cause
Remedy
Velocity threshold was incorrectly parameterized
Check and, if necessary, increase parameter setting of
" P‑0‑3234, Safe maximum speed "
Incorrect command value input; i.e. velocity command value
too high
Check command value input in control unit or, for drive-inter‐
nal interpolation, check parameterized positioning data (cf.
" S‑0‑0259, Positioning velocity " or " P‑0‑4007, Positioning
block velocity " )
With active safety function " Safely-limited position " , axis was Home axis safely
moved without safe reference faster than 20 % of safe maxi‐ ‑ or ‑
mum speed
Do not exceed allowed speed
Description of error reaction: " Behavior in the Case of Safety Technology
Errors "
See also documentation
●
●
F7020 - Attributes
Up to MPx06: " Integrated Safety Technology "
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
F7020
F7020
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
165/619
Error Messages
8.3.8
F7021 Safely-limited position exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
With active safety technology, the drive in normal operation and in special
mode monitors the current position in a safe way, when the safety function
" safety related limited absolute end position " (up to MPx06) or " Safely-limited
position " (as of MPx07) has been parameterized.
Cause
Remedy
Position parameterized in " P‑0‑3235, Safely-limited position, Start command " S‑0‑0099, C0500 Reset class 1
positive " or " P‑0‑3236, Safely-limited position, negative " has diagnostics " in order to clear error. Then set drive enable
been exceeded
again and move axis to allowed position range.
F7021 - Attributes
8.3.9
Display:
Ident N°:
F7021
F7021
F7030 Position window Safe stop 2 exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " F7030
Pos. window for safety rel. operational stop exceeded " .
In the safety function " safety related operational stop " (up to MPx06) or " Safe
stop 2 " (as of MPx07), the axis is monitored for standstill. The bipolar position
window used for this purpose is activated with the start of the safety related
operational stop/Safe stop 2.
Cause
Remedy
" P‑0‑3230, Monitoring window for safe stop 2 " incorrectly
parameterized
Change parameterization of " P‑0‑3230, Monitoring window
for safe stop 2 " in useful way
" P-0-3233, Velocity threshold for safe standstill " incorrectly
parameterized
Change parameterization of " P-0-3233, Velocity threshold
for safe standstill " in useful way
Incorrect command values are preset by drive or external
control unit
Check command value input and adjust it according to pa‐
rameter setting
See also documentation
●
F7030 - Attributes
Up to MPx06: " Integrated Safety Technology "
●
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
F7030
F7030
166/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.3.10
F7031 Incorrect direction of motion
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While safety function " Safe direction " is executed, the drive is monitored with
regard to whether it inadmissibly moves against the parameterized direction
of motion by more than the distance parameterized in " P‑0‑3232, Standstill
window for safe direction " . If yes, error F7031 is generated.
Cause
Remedy
Incorrect command value input
Adjust command value input according to parameterized di‐
rection of motion and monitoring window " P‑0‑3232,
Standstill window for safe direction "
Incorrect parameterization of direction of motion
Check parameter setting for direction of motion and change
it, if necessary.
●
" P‑0‑3239, Configuration of global safety technology
functions "
or
●
" P‑0‑3240, Configuration of safe motion 1 "
or
●
" P‑0‑3250, Configuration of safe motion 2 "
or
●
" P‑0‑3260, Configuration of safe motion 3 "
or
●
Incorrect parameterization of " P‑0‑3232, Standstill window
for safe direction "
F7031 - Attributes
8.3.11
Display:
Ident N°:
" P‑0‑3270, Configuration of safe motion 4 "
Check parameterization of " P‑0‑3232, Standstill window for
safe direction " and change it, if necessary
F7031
F7031
F7040 Validation error parameterized - effective threshold
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
A cyclic check is run in order to find out whether the thresholds in the internal
monitoring functions comply with the values parameterized in the safety
memory. The check detects errors that can occur due to subsequent change
of scaling or accidental overwriting. The values are required for all safety
monitoring functions and are of fundamental importance for the functioning of
safety technology.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
167/619
Error Messages
Cause
Remedy
Safety parameters were changed without afterwards having
been synchronized
Execute " P‑0‑3204, C3000 Synchronize and store safety
technology IDN command " (channel 2 applies parameters of
channel 1; internal values are recalculated and loaded).
Note:
Executing the command " C3000 Synchronize and store
safety technology IDN " increases the change counter of the
safety technology memory (P-0-3201). It is therefore neces‐
sary to carry out the acceptance test again.
Start command " S‑0‑0099, C0500 Reset class 1 diagnos‐
tics " in order to clear error an then set drive enable again.
Hardware defect causes incorrect parameter contents
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F7040 - Attributes
8.3.12
Display:
Ident N°:
F7040
F7040
F7041 Actual position value validation error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Cause
Remedy
Actual position values determined on channel 1 and chan‐
nel 2 are differing
Start command " S‑0‑0099, C0500 Reset class 1 diagnos‐
tics " in order to clear error and then set drive enable again.
If error occurs repeatedly, replace control section or entire
drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F7041 - Attributes
Display:
Ident N°:
F7041
F7041
168/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.3.13
F7042 Validation error of safe operation mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The active safety technology operating states of channel 1 and channel 2 are
cyclically and via two channels checked for validity.
If the two channels differ for more than 5 seconds, the error F7042 is gener‐
ated.
Cause
Remedy
Criteria for transition to new safety technology operating sta‐ Check time, velocity or position thresholds relevant for re‐
tus selected have not been fulfilled in one channel; this
spective transition and adjust them, if necessary.
channel remains in old status ‑ the other channel already
went to new safety technology operating status.
Control section is defective
Replace control section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F7042 - Attributes
8.3.14
Display:
Ident N°:
F7042
F7042
F7043 Error of output stage interlock
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the output stage is activated, the correct functioning of the output stage
incl. control is checked. If an error is detected during the function check, the
error F7043 is generated.
Cause
Remedy
Faulty output stage
Replace control section or entire drive controller
Incorrect control of output stage or error in feedback
Replace power section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section or the power section. The re‐
placement of the entire drive controller is described in the Project
Planning Manual for the power section.
F7043 - Attributes
Display:
Ident N°:
F7043
F7043
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
169/619
Error Messages
8.3.15
F7050 Time for stopping process exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the transition of the drive from normal operation to a special mode
" safe standstill " [or to " drive interlock " (up to MPx06)/to " Safe stop 1
(Emergency stop) " (as of MPx07)], the following check is run:
After the duration entered in
●
" P‑0‑3220, Tolerance time transition from normal operation " or
●
" P‑0‑3225, Tolerance time transition from safe operation "
is over, the actual velocity is checked with regard to the velocity threshold en‐
tered in " P‑0‑3233, Velocity threshold for safe standstill " .
The drive can also be shut down in an NC-controlled way (cf.
" P‑0‑3210, Safety technology configuration " ).
Cause
Remedy
Parameter setting in P‑0‑3220 or
P‑0‑3225 for NC-controlled transition is incorrect
Check parameter setting of " P‑0‑3220, Tolerance time
transition from normal operation " or " P‑0‑3225, Tolerance
time transition from safe operation " and correct it accordingly
Drive enable is still set
Make sure that drive enable is removed
" NC-controlled stopping process " was activated by mistake
Check parameter setting of " P‑0‑3210, SI-Konfiguration " and
correct it accordingly; i.e. activate " drive-controlled stopping
process "
Parameterized deceleration is too low or not adjusted to par‐ For drive-controlled transition, stopping process takes place
ameterized tolerance time
via " P‑0‑0119, Best possible deceleration " so that error reac‐
tion parameterized in drive has to be checked.
For NC-controlled transition, check deceleration parameter‐
ized in control unit.
See also documentation
●
●
F7050 - Attributes
8.3.16
Up to MPx06: " Integrated Safety Technology "
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
F7050
F7050
F7051 Safely-monitored deceleration exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
170/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Up to MPx06, the name of this diagnostic message was " F7051
Safety related deceleration exceeded " .
Safety function " Safely-monitored stopping process " is active (P‑0‑3210,
bit 13= " 1 " ). The drive generated error F7051 because a new safety technolo‐
gy operating status was selected or an error of category F3xxx occurred and
the drive is not able to reach the new target velocity/standstill within the moni‐
toring time configured.
Cause
Remedy
If transitions between safety technology operating states are Adjust command value input (deceleration caused by NC) to
NC-controlled (P‑0‑3210, bit 4= " 0 " ), deceleration caused by values parameterized in P‑0‑3220/P‑0‑3225
NC is insufficient
Adjust P‑0‑3226
If transitions between safety technology operating states are Check parameterization of drive deceleration (P‑0‑0119)
drive-controlled (P‑0‑3210, bit 4= " 1 " ), deceleration caused
Check torque limitation
by drive is insufficient
If " drive reaction to errors of category F3 " is set, deceleration Check parameterization of drive deceleration (P‑0‑0119)
caused by drive is insufficient
Check torque limitation
Actual velocity overshooting
●
Check controller setting and adjust if necessary
●
As of MPx05: Check parameterization of P‑0‑3226 and
P‑0‑3230
Selection of safety technology operating states during accel‐ ●
eration procedures
●
Incorrect parameterization
If possible avoid selecting safety technology operating
states during acceleration procedures
As of MPx07V10: Activate monitoring variant " Safelymonitored transient oscillation " (P‑0‑3210, bit 6= " 1 " ).
Check parameter settings and change them, if necessary:
●
●
" P‑0‑3226, Delay Safely-monitored deceleration " (as of
MPx05)
●
Display:
Ident N°:
" P‑0‑3220, Tolerance time transition from normal
operation " or " P‑0‑3225, Tolerance time transition from
safe operation "
●
F7051 - Attributes
P‑0‑3282, Safely-monitored deceleration
" P‑0‑3210, Safety technology configuration " , bit 6 (as
of MPx07V10)
F7051
F7051
8.4
Errors of Category F6xxx
8.4.1
Behavior in Case of Errors of Category F6xxx
Category F6xxx errors are as follows:
●
●
Fatal PLC errors
●
Up to Firmware MPx04
Errors associated with an excess of a travel range that was defined be‐
forehand via hardware or software switches (travel range errors).
CCD errors
Up to firmware MPx04, the drive is brought to a standstill as quickly as possi‐
ble, independently of the settings in " P‑0‑0119, Best possible deceleration "
and " P‑0‑0117, Activation of control unit reaction on error " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
171/619
Error Messages
The deceleration type depends on the control type:
●
Closed loop: Velocity command value reset
●
Open loop: Subject to " P‑0‑0569, Maximum stator frequency slope " )
The settings in " P‑0‑0118, Power supply, configuration " are still
taken into account for travel range errors.
As of Firmware MPx05
As of firmware MPx05, the following error reactions may occur according to
the settings in " P‑0‑0119, Best possible deceleration " :
●
Torque disable
●
Velocity command value reset (emergency halt)
●
Velocity command value reset while maintaining the emergency halt de‐
celeration (S-0-0429)
At the end of the error reaction, the drive goes torque-free.
See also Functional Description of firmware " Error Reaction " .
Commissioning Steps
The drive can only be put into operation again when:
1.
2.
The error message was cleared by the error clearing command (cf.
" S‑0‑0099, C0500 Reset class 1 diagnostics " ).
3.
The cause of the error was removed.
4.
The drive is in operating mode again and power was switched on ( " Ab " ).
5.
8.4.2
The error reaction has been completed, i.e. the drive has stopped
(v=0!).
Drive enable was switched on again (0‑1 edge).
F6006 Incorrect initialization of effective master axis position
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«MPC»
«MPC»
Absolute initialization of the effective master axis position (P‑0‑0776) was not
possible with activated operation mode " Position synchronization " .
Cause
Remedy
When operation mode " Position synchronization " is activa‐
ted, the resulting master axis position (P-0-0775) is multi‐
plied by the electronic gear and the fine adjustments and is
then limited to 2P‑0‑0084 increments (one revolution of the
master axis). If the amount of the result that is not yet limited
to 2P‑0‑0084 increments exceeds a value of 231-1 increments,
the effective master axis position (P‑0‑0776) is initialized in‐
correctly. In this case, the drive generates error F6006.
Adjust " P‑0‑0084, Number of bits per master axis revolution "
F6006 - Attributes
Display:
Ident N°:
F6006
F6006
‑ or ‑
Select P‑0‑0775 with activated operation mode " Position
synchronization " such that the requirement described under
" Cause " is met
(See also Functional Description " Master Axis Adjustment " /
index entry " Gear function, electronic " )
172/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.4.3
F6010 PLC runtime error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The PLC integrated in the drive (Rexroth IndraMotion MLD) triggers the error
F6010 in the case of runtime errors or task watchdog.
Error Reaction
All tasks of the PLC are stopped. The drive is always shut down with velocity
command value reset; i.e. the error reaction cannot be parameterized by the
user.
Cause
Remedy (*1)
Runtime error in PLC program. Runtime monitor (watchdog)
for a task has been activated. In this task, processing was
not completed in the preset time.
Remove error by modifying program (correct a possibly ex‐
isting infinite loop)
The following actions according to application:
●
Increase task cycle time or
●
Increase watchdog time or reduce watchdog sensitivity
(higher number)
●
Optimize program structure
●
Deactivate compilation option " Debugging " (increases
processing velocity of PLC program)
Division by " 0 "
Modify PLC program: Remove division by " 0 "
Array limits exceeded
Modify PLC program: Check and correct array access
A subrange type has been exceeded
Modify PLC program: Eliminate incorrect assignment
Invalid access with a pointer in PLC program. As of MPx05,
every access with pointer is monitored. Access outside of
PLC data ranges cause this error
Modify PLC program: Eliminate incorrect assignment
Error in system event
Modify PLC program: Modify incorrect use or programming –
on this topic, see notes in task configuration
PLC project too big for memory
Reduce project size or use control section with bigger code
memory
Boot project could not be loaded, as it is incompatible with
firmware
Recreate project with corresponding target
As of MPx05V08: Corrupt retain data were detected
Save P-0-1359 again and reload project. If error occurs re‐
peatedly, replace control section or drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
(*1) Additional Notes on Trouble‐
shooting
We distinguish the following cases of troubleshooting:
●
For removing the error in a freely programmed application, it is necessa‐
ry to modify the PLC program or the task configuration with the pro‐
gramming system IndraLogic.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
173/619
Error Messages
When connecting the programming system IndraLogic to the
drive-internal PLC or when starting the simulation (IndraLogic:
" Online " - " Login " ), the message window appears; it displays mes‐
sages from the last compilation, check or comparison process.
●
For a technology function made available by Bosch Rexroth, please see
the corresponding documentation for instructions on troubleshooting.
●
An extended diagnosis for determining the cause of the error is dis‐
played in parameter " P‑0‑1365, PLC error message " .
See also IndraLogic Online Help
See also documentation on error handling of IndraMotion MLD " Rexroth
IndraMotion MLD "
F6010 - Attributes
8.4.4
Display:
Ident N°:
F6010
F6010
F6024 Maximum braking time exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive checks automatically whether the motor, after drive enable has
been switched off or when an error event occurs, was shut down within the
delay time parameterized in " S‑0‑0273, Maximum drive off delay time " .
If not, error F6024 is generated.
Closed-Loop
Open-Loop
" Shut down " means that the velocity of the motor is smaller than 10 rpm (ro‐
tary)/10 mm/min (linear) or the velocity of the motor is smaller than the stand‐
still window (S‑0‑0124), when S‑0‑0124 is smaller than 10 rpm (rotary)/
10 mm/min (linear).
●
D.C. braking is deactivated: (P‑0‑0579 = " 0 " ):
" Shut down " means that the calculated actual velocity of the motor is
smaller than 10 rpm (rotary)/10 mm/min (linear).
●
D.C. braking is activated: (P‑0‑0579 & gt; " 0 " ):
" Shut down " means that
–
the calculated actual velocity of the motor is smaller than 10 rpm
(rotary)/10 mm/min (linear) and
–
the torque-producing current has fallen to 20% of its nominal value,
or
the D.C. braking time has elapsed (P‑0‑0579 = " 0 " ).
The error reaction of the drive depends on the brake type (see P‑0‑0525):
●
Servo brake
–
–
●
The drive internally presets a velocity command value of " 0 " and
the holding brake applies.
After the time preset in " S‑0‑0207, Drive off delay time " is over, the
drive is torque- or force-free.
Main spindle brake
174/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
–
The drive goes torque- or force-free, the drive enable signal is
switched off internally.
–
The brake applies, when the velocity is smaller than 10 rpm (rota‐
ry)/10 mm/min (linear).
Cause
Remedy
Incorrect parameterization of " S‑0‑0273, Maximum drive off
delay time " or " S‑0‑0372, Drive Halt acceleration bipolar "
Adjust delay time (S‑0‑0273) or acceleration (S‑0‑0372) to
acceleration capacity of drive
Torque/force limitation incorrectly parameterized or current
limitation active due to thermal overload
Check torque/force limitation and current limitation (see also
Functional Description of firmware " Current and Torque/
Force Limitation " )
Incorrect motor connection
Check and, if necessary, correct motor connection
Hardware defect on power section
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Motor Holding Brake "
F6024 - Attributes
8.4.5
Display:
Ident N°:
F6024
F6024
F6028 Position limit value exceeded (overflow)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring an allowed travel range by
means of software limit switches that can be parameterized.
The travel range monitor has to be activated and parameterized
via " S‑0‑0049, Positive position limit value " , " S‑0‑0050,Negative
position limit value " and " S‑0‑0055, Position polarities " .
The drive reaction (fatal warning or error) in case the travel range
is exceeded has to be parameterized in " P‑0‑0090, Travel range
limit parameter " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
175/619
Error Messages
Cause
Remedy
Command value set for drive causes axis position outside of
positive travel range/position limit value ( " S‑0‑0049, Positive
position limit value " or " S‑0‑0050, Negative position limit val‐
ue " ).
1. Clear error and switch power on.
2. Set drive enable and input a command value leading
back to allowed travel range.
Contact machine manufacturer in order to find out
cause of incorrect command value.
" S‑0‑0049, Positive position limit value " or " S‑0‑0050, Nega‐
tive position limit value " incorrectly parameterized
Check and, if necessary, correct parameter setting of
" S‑0‑0049, Positive position limit value " or " S‑0‑0050, Nega‐
tive position limit value " .
When the position limit values are at the end of possible
travel range (+/- " S‑0‑0278, Maximum travel range " ), ex‐
ceeding of travel range can no longer be unequivocally de‐
tected by means of actual position values. Therefore, over‐
flow monitoring is carried out which generates error
Increase " S‑0‑0278, Maximum travel range "
‑ or ‑
Reduce position limit values so that defined deceleration is
still possible within defined travel range.
The parameter " S‑0‑0057, Position window " is used to realize a
hysteresis function for evaluating the position limit values.
See also Functional Description of firmware " Position Limitation/Travel
Range Limit Switch " .
F6028 - Attributes
8.4.6
Display:
Ident N°:
F6028
F6028
F6029 Positive position limit exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring an allowed travel range by
means of software limit switches that can be parameterized.
The travel range monitor has to be activated and parameterized
via " S‑0‑0049, Positive position limit value " , " S‑0‑0050, Negative
position limit value " and " S‑0‑0055, Position polarities " .
The drive reaction (fatal warning or error) in case the travel range
is exceeded has to be parameterized in " P‑0‑0090, Travel range
limit parameter " .
Cause
Command value set for drive causes axis position outside of
positive travel range/position limit value ( " S‑0‑0049, Positive
position limit value " ).
Remedy
1. Clear error and switch power on.
2. Set drive enable and preset command value that leads
back to the allowed travel range.
Contact machine manufacturer in order to clarify cause
of incorrect command value.
" S‑0‑0049, Positive position limit value " incorrectly parame‐
terized.
Check and, if necessary, correct parameterization of
" S‑0‑0049, Positive position limit value " .
176/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
The " S‑0‑0057, Position window " parameter is used to realize a
hysteresis function for evaluating the position limit values.
See also Functional Description of firmware " Position Limitation/Travel
Range Limit Switch " .
F6029 - Attributes
8.4.7
Display:
Ident N°:
F6029
F6029
F6030 Negative position limit exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring an allowed travel range by
means of software limit switches that can be parameterized.
The travel range monitor has to be activated and parameterized
via " S‑0‑0049, Positive position limit value " , " S‑0‑0050, Negative
position limit value " and " S‑0‑0055, Position polarities " .
The drive reaction (fatal warning or error) in case the travel range
is exceeded has to be parameterized in " P‑0‑0090, Travel range
limit parameter " .
Cause
Remedy
Command value set for drive causes axis position outside of
negative travel range/position limit value ( " S‑0‑0050, Nega‐
tive position limit value " ).
1. Clear error and switch power on
2. Set drive enable and preset command value that leads
back to the allowed travel range.
Contact machine manufacturer in order to clarify cause
of incorrect command value.
" S‑0‑0050, Negative position limit value " incorrectly parame‐ Check and, if necessary, correct parameterization of
terized
" S‑0‑0050, Negative position limit value " .
The " S‑0‑0057, Position window " parameter is used to realize a
hysteresis function for evaluating the position limit values.
See also Functional Description of firmware " Position Limitation/Travel
Range Limit Switch " .
F6030 - Attributes
8.4.8
Display:
Ident N°:
F6030
F6030
F6034 Emergency-Stop activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
177/619
Error Messages
The drive provides a function for monitoring an E-Stop input (connection of
an external hardware switch).
IndraDrive Mi: If " IndraDrive Mi " is used and the E-stop input is connected to
the " KCU " electronic control system and parameter " P‑0‑0223, E-Stop input "
is assigned to none of the digital inputs, the E-stop input of the " KCU " is
monitored.
This monitor has to be activated and parameterized via
" P‑0‑0008, Activation E-Stop function " .
The error can only be cleared, when the selection of E-Stop is re‐
moved or the evaluation of E-Stop was switched off.
Cause
Remedy
E-Stop input was controlled (0 V at digital input)
Remove failure that caused E-Stop to be triggered and clari‐
fy cause of triggering
Incorrect parameterization of digital inputs and outputs on
control section
Check configuration of digital inputs/outputs and correct it, if
necessary
E-Stop switch or cable connection defective or incorrectly
wired
Check function and wiring of E-Stop switch
Control section or digital inputs on control section defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware:
●
●
8.4.9
" Digital Inputs/Outputs "
●
F6034 - Attributes
" E-Stop Function "
" Velocity Command Value Reset "
Display:
Ident N°:
F6034
F6034
F6042 Both travel range limit switches activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The compliance with the allowed travel range is monitored on the hardware
side via two travel range limit switches. When the travel range has been ex‐
ceeded, one of the two limit switches is activated, if the limit switches were
correctly mounted.
The error F6042 is generated, if
●
the controller detects that both travel range limit switches have been si‐
multaneously activated and
●
exceeding the travel range is handled as an error (setting in " P‑0‑0090,
Travel range limit parameter " )
178/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Due to incorrect mounting, axis simultaneously activates
both travel range limit switches
Mount travel range limit switches in such a way that they are
activated shortly before axis end position is reached. Make
sure the braking distance is sufficient.
Travel range limit switches were incorrectly connected
Connect travel range limit switches correctly; check compli‐
ance with switching logic set in " P‑0‑0090, Travel range limit
parameter "
Switching logic of travel range limit switches does not corre‐
spond to realized wiring
Check switching logic with regard to realized wiring, adjust it
in " P‑0‑0090, Travel range limit parameter " if necessary
F6042 - Attributes
8.4.10
Display:
Ident N°:
F6042
F6042
F6043 Positive travel range limit switch activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring travel range limit switches (exter‐
nal hardware limit switches).
This monitor has to be activated and parameterized via
" P‑0‑0090, Travel range limit parameter " .
When the error F6043 occurs, the axis is shut down with velocity
command value reset.
Cause
Remedy
Travel range limit switch situated in positive direction (see
Project Planning Manual for motor) was activated because
axis is outside of travel range that was defined by means of
travel range limit switches.
1. Clear error (reset button or error clearing command)
and switch power on.
2. Set drive enable and preset command value that leads
back to the allowed travel range.
Incorrect parameterization of digital inputs and outputs on
control section
Correct configuration of digital inputs/outputs and correct it,
if necessary.
Travel range limit switch or cable is defective or incorrectly
wired
Check function and wiring of travel range limit switch.
Control section or digital inputs on control section defective
Replace control section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also " E8043 Positive travel range limit switch activated " .
See also Functional Description of firmware:
●
" Position Limitation/Travel Range Limit Switch "
●
" Digital Inputs/Outputs " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
179/619
Error Messages
F6043 - Attributes
8.4.11
Display:
Ident N°:
F6043
F6043
F6044 Negative travel range limit switch activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring travel range limit switches (exter‐
nal hardware limit switches).
This monitor has to be activated and parameterized via
" P‑0‑0090, Travel range limit parameter " .
When the error F6044 occurs, the axis is shut down with velocity
command value reset.
Cause
Remedy
Travel range limit switch situated in negative direction (see
Project Planning Manual for motor) was activated because
axis is outside of travel range that was defined by means of
travel range limit switches.
1. Clear error (reset button or error clearing command)
and switch power on.
2. Set drive enable and preset command value that leads
back to the allowed travel range.
Incorrect parameterization of digital inputs and outputs on
control section.
Check configuration of digital inputs/outputs and correct it, if
necessary.
Travel range limit switch or cable is defective or incorrectly
wired.
Check function and wiring of travel range limit switch.
Control section or digital inputs on control section defective.
Replace control section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware:
●
●
F6044 - Attributes
8.4.12
" Position Limitation/Travel Range Limit Switch "
" Digital Inputs/Outputs " .
Display:
Ident N°:
F6044
F6044
F6140 CCD slave error (emergency halt)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
180/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
" Error reaction active " has been set in " P‑0‑1600, CCD: con‐ Localize faulty slave and remove cause of error for this
figuration " and an F6 or F7 error occurred in a slave; CCD
slave.
master reacts with emergency halt (velocity command value
reset).
See also Functional Description of firmware " Cross Communication (CCD) " .
F6140 - Attributes
Display:
Ident N°:
F6140
F6140
8.5
Interface Errors (F4xxx)
8.5.1
Behavior in Case of Interface Errors
The user can influence the behavior of the drive in case of interface errors by
means of the parameterization of " P‑0‑0119, Best possible deceleration " (see
Functional Description " Error Reaction " ).
As of MPx04, an MLD error reaction is possible (see P‑0‑0117).
At the end of the error reaction, the drive goes torque-free.
Commissioning Steps
The drive can only be put into operation again when:
1.
2.
The error message was cleared by the error clearing command (cf.
" S‑0‑0099, C0500 Reset class 1 diagnostics " ).
3.
The cause of the error was removed.
4.
The drive is in the operating mode again and power was switched on
( " Ab " ).
5.
8.5.2
The error reaction has been completed, i.e. the drive has stopped
(v=0!).
Drive enable was switched on again (0‑1 edge).
F4001 Sync telegram failure
Allocation
Master Communication
SERCOS II
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The master synchronization telegram (MST) was not received in the drive in
two successive SERCOS cycles.
Cause
Remedy
Disturbance in fiber optic transmission line
Check all fiber optic cable connections in SERCOS ring and
replace them, if necessary
Attenuation of light signals too high
Measure attenuation of fiber optic cable again (if necessary,
increase transmission power via P-0-4027).
Maximum attenuation between TX and RX mustn't exceed
12.5 dB!
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181/619
Error Messages
Cause
Remedy
Different SERCOS cycle times in master and slave
Check SERCOS cycle times in master and slave and adjust
them, if necessary
Disturbance in SERCOS interface (general)
Replace control section or entire drive
Master Communication SERCOS
III
The master synchronization telegram (MST) was not received in the drive in
several successive SERCOS cycles. The number of allowed losses is set in
S-0-1003.
Cause
Remedy
Different SERCOS cycle times in master and slave
Check SERCOS cycle times in master and slave and adjust
them, if necessary
Disturbance in SERCOS interface (general)
Replace control section or entire drive
Master Communication CANopen
The synchronization telegram was not received in the drive in two successive
cycles.
Cause
Remedy
Sync master does not transmit Sync telegram
Check whether a bus node was configured as Sync master.
Check Sync master to see whether it is in an error state
CAN bus interrupted
Check bus line
Disturbance in CANopen interface (general)
Replace control section or entire drive
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Interface Errors and Diagnostic
Possibilities "
F4001 - Attributes
8.5.3
Display:
Ident N°:
F4001
F4001
F4002 RTD telegram failure
Allocation
Master Communication
SERCOS II
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The master data telegram (MDT) was not received in the drive in two succes‐
sive SERCOS or field bus cycles. The drive falls back to communication
phase 0.
182/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Bus master does not send any more cyclic telegrams to
drive. These, however, are expected in communication
phase 4
Switch master on and start cyclic communication; see man‐
ual for control unit
Fiber optic cable bus: Disturbance in fiber optic transmission Check all fiber optic cable connections in SERCOS ring
line
Fiber optic cable bus: Input power of light signals too low.
Light power to be measured at receiver (with test mode:
continuous light) must be between ‑20 dBm (10 μW) and ‑5
dBm (320 μW)
Adjust transmission power or check attenuation of fiber optic
cable. Maximum attenuation between TX and RX may not ex‐
ceed 12.5 dB
Different transmission times of master data telegrams in
master and slave
Synchronize transmission times of master data telegrams in
master and slave
Disturbance in SERCOS interface (general)
Replace control section or entire drive controller
Master Communication
SERCOS III
A consumer connection violates the selected monitoring criterion.
Cause
Remedy
Synchronous monitoring has been preset for a connection
and NewData bit of connection does not toggle in preset cy‐
cle
Producer of connection (can be bus master or another
slave) does not work correctly
Too many telegrams fail due to disturbances
Check bus line and connector
Master Communication CANopen
The real-time data telegram (RDT) was not received in the drive in two suc‐
cessive field bus cycles.
Cause
Remedy
PDO master does not send any more cyclic telegrams to
drive
Switch master on and start cyclic communication; see man‐
ual for control unit
Bus line disturbed
Check bus line and connector
Disturbance in CANopen interface (general)
Replace control section or entire drive controller
Master Communication EtherCAT
In status " Operational " (OP), the (command value) telegram was not received
in the drive in two successive bus cycles.
In status " Operational " (OP), but without drive enable, the drive
generates warning E4005.
Cause
Remedy
Incorrect timing settings
Check settings in master
Incorrect settings of " distributed clocks "
Check settings in master
Stop of cyclic telegrams in master while drive still is in AF
Remove drive enable before cyclic telegrams are stopped
Telegrams fail due to disturbances
Check bus line and connector
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
183/619
Error Messages
See also Functional Description of firmware " Interface Errors and Diagnostic
Possibilities "
F4002 - Attributes
8.5.4
Display:
Ident N°:
F4002
F4002
F4003 Invalid communication phase shutdown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An invalid communication phase (phase & gt; 4) was set by the SERCOS master
module.
Cause
Remedy
Error in SERCOS master module of control unit
Error can only be corrected after consultation with control
unit manufacturer
See also Functional Description of firmware " Interface Errors and Diagnostic
Possibilities " .
F4003 - Attributes
8.5.5
Display:
Ident N°:
F4003
F4003
F4004 Error during phase progression
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The compulsory order was not followed during the phase progression.
Cause
Remedy
Error in SERCOS master module of control unit
Error can only be corrected after consultation with control
unit manufacturer.
See also Functional Description of firmware " Interface Errors and Diagnostic
Possibilities " .
F4004 - Attributes
8.5.6
Display:
Ident N°:
F4004
F4004
F4005 Error during phase regression
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
184/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
When regressing from a communication phase the drive wasn't switched to
communication phase 0.
Cause
Remedy
Error in SERCOS master module of control unit
Error can only be corrected after consultation with control
unit manufacturer.
See also Functional Description of firmware " Interface Errors and Diagnostic
Possibilities " .
F4005 - Attributes
8.5.7
Display:
Ident N°:
F4005
F4005
F4006 Phase switching without ready signal
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The SERCOS master tried to carry out a phase switch without waiting for the
ready signal from the drive.
Cause
Remedy
Error in SERCOS master module of control unit
Error can only be corrected after consultation with control
unit manufacturer.
See also Functional Description of firmware " Interface Errors and Diagnostic
Possibilities " .
F4006 - Attributes
8.5.8
Display:
Ident N°:
F4006
F4006
F4009 Bus failure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The cyclic communication via the master communication interface failed after
the master communication interface had been initialized and commissioned.
The drive generates this error in the following cases:
●
Within the monitoring time stored in P-0-4075, there hasn't any telegram
with command values or heartbeat been received.
‑ or ‑
●
The control unit was switched to " Stop " and the drive is with torque.
‑ or ‑
●
The control unit took the drive out of the master communication group
and the drive is with torque.
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Error Messages
F4009 can be suppressed via P-0-4088 (bit 2,1= " 00 " ); in this
case, E4005 is generated.
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage by
automatic restart after bus failure!
DANGER
In the case of bus failure (message " F4009 " or " E4005 " ), an error reaction
must be carried out in the control unit, too, to prevent automatic restart after
the bus has been reestablished. This means that the bits " Drive Halt " , " drive
enable " and " drive ON " (e.g. bits 13, 14 and 15 in parameter " P‑0‑4077, Field
bus: Control word " ) should be reset in the control unit in the case of bus fail‐
ure.
Causes and remedies of the triggering of the monitoring time stored in
P-0-4075:
EtherNet/IP
Only Class1 connections are monitored which means that, within the watch‐
dog time, there haven't any new output data been received from the master.
Cause
Remedy
Master does not exchange any cyclic output data
Check master status
Ethernet connection aborted
Check Ethernet cable and, if necessary, switch
EMC problems at transmission line
Check shielding and routing
Network load too high
Switch off unnecessary Ethernet communication; if necessa‐
ry, establish separate network for EtherNet/IP
DeviceNet
Only the " Implicite Message " is monitored which means that, within the
watchdog time, there haven't any new output data been received from the
master.
Cause
Remedy
Master does not exchange any cyclic output data
Check master status
Bus connection interrupted
Check cable and interface
EMC problems at transmission line
Check shielding and routing
Bus load too high
Check communication settings (or communication load) ( " In‐
terscan Delay " setting at DeviceNet master)
Faulty bus terminator
Check whether bus terminating resistors have been installed
at most distant bus nodes
CANopen
According to the kind of node monitoring which has been set, the " Node
Guarding request " (cyclic node monitoring) or the " heartbeat telegram " is
monitored.
Cause
Remedy
Master does not transmit any node monitoring telegram
Check master status
Bus connection interrupted
Check cable and interface
EMC problems at transmission line
Check shielding and routing
186/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Bus load too high
Check communication settings (or communication load)
Faulty bus terminator
Check whether bus terminating resistors have been installed
at most distant bus nodes
PROFIBUS
The master must address the slave within the monitoring time.
Cause
Remedy
Master does not exchange any cyclic output data
Check master status
Bus connection interrupted
Check cable and interface
EMC problems at transmission line
Check shielding and routing
Faulty bus terminator
Check whether bus terminating resistors have been installed
at most distant bus nodes. At all other nodes, bus terminat‐
ing resistors must not have been installed
PROFINET
The consumer (drive) monitors the reception of the cyclic data from the pro‐
vider (control unit) by means of a monitoring interval.
Cause
Remedy
Master does not exchange any cyclic output data
Check master status
Ethernet connection aborted
Check Ethernet cable and, if necessary, switch
EMC problems at transmission line
Check shielding and routing
Network load too high
Switch off unnecessary Ethernet communication; if necessa‐
ry, establish separate network for PROFINET
SERCOS
Cause
Remedy
Communication phase 0 was set, although drive enable had
been set.
First remove drive enable and then set communication
phase 0.
F4009 - Attributes
8.5.9
Display:
Ident N°:
F4009
F4009
F4011 Communication watchdog: Overload of cyclic communication
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
Cause
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
Remedy
MultiEthernet interface is overloaded; I/O data of cyclic com‐ Please contact our service department
munication cannot be transmitted to drive
F4011 - Attributes
Display:
Ident N°:
F4011
F4011
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
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Error Messages
8.5.10
F4012 Incorrect I/O length
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The master tries to establish communication with an I/O length that does not
correspond to the I/O length parameterized in the drive.
Cause
Remedy
Different length for input data or output data than drive ex‐
pects in " P‑0‑4071, Field bus: length of cyclic command val‐
ue data channel " and " P‑0‑4082, Field bus: length of cyclic
actual value data channel " was configured in master
●
Check parameter set in drive
●
Adjust master configuration
CCD system mode:
Take cyclic CCD data between master communication mas‐
ter and CCD slaves (correctly) into account
In master communication master, different length for cyclic
CCD data ( " P‑0‑1621, CCD: Configuration list master com‐
munication cmd values " and " P‑0‑1622, CCD: Configuration
list master communication actual values " ) than drive expects
for CCD slaves was configured.
CCD system mode:
(Virtual) field bus control word / field bus status word for
CCD slaves not (or not correctly) taken into account
F4012 - Attributes
8.5.11
Display:
Ident N°:
Take (virtual) field bus control word / field bus status word
for CCD slaves into account (or correctly into account) (see
also Functional Description of firmware " CCD System
Mode " .
F4012
F4012
F4016 PLC double real-time channel failure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
Writing of the " RtcW " variable of the integrated PLC to the corresponding pa‐
rameters failed twice in succession / didn't take place in time.
Cause
Remedy
Function block " MX_SynchronControl " is used:
Increase interval time of RTC task
Interval time of RTC task (task that uses real-time channel)
is too short. Processing task code takes more time than one
interval time.
Function block " MX_SynchronControl " is not used:
Increase interval time of RTC task
At time of controlled transmission of " RtcW " variable, pro‐
gram code of RTC task hadn't yet been processed.
‑ or ‑
See also:
increase value at input " CmdDelay " of function block
" MX_SynchronControl " .
188/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
●
●
F4016 - Attributes
8.5.12
Rexroth IndraMotion MLD, Application Manual " Real-Time Channel "
Rexroth IndraMotion MLD, Library Description " MX_SynchronControl "
Display:
Ident N°:
F4016
F4016
F4017 S-III: Incorrect sequence during phase switch
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Error in SERCOS‑III master module of the control unit; the SERCOS‑III mas‐
ter tried to make a phase switch, the drive detected that the sequence of this
phase switch was incorrect.
Cause
Remedy
Timeout occurred in drive during phase switch (individual
switching periods took too long)
Error can only be corrected after consultation with control
unit manufacturer
‑ or ‑
Master changed phase without prior notice (new phase in
MST without CPS bit set)
‑ or ‑
Drive was switched on while SERCOS III already was in
higher phase
F4017 - Attributes
8.5.13
Display:
Ident N°:
F4017
F4017
F4034 Emergency-Stop activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring an E-Stop input (connection of
an external hardware switch).
IndraDrive Mi: If " IndraDrive Mi " is used and the E-stop input is connected to
the " KCU " electronic control system and parameter " P‑0‑0223, E-Stop input "
is assigned to none of the digital inputs, the E-stop input of the " KCU " is
monitored.
This monitor has to be activated and parameterized via
" P‑0‑0008, Activation E-Stop function " .
The axis is shut down as parameterized in " P‑0‑0119, Best possi‐
ble deceleration " .
The error can only be cleared, when the selection of E-Stop is re‐
moved or the evaluation of E-Stop was switched off.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
189/619
Error Messages
Cause
Remedy
E-Stop input was controlled (0 V at digital input)
Remove failure that caused E-Stop to be triggered and clear
error (reset key or error clearing command). Afterwards
switch power on again and clarify cause of triggering of EStop
Incorrect parameterization of digital inputs and outputs on
control section
Check configuration of digital inputs/outputs on control sec‐
tion and correct it, if necessary
E-Stop switch or cable connection defective or incorrectly
wired
Check function and wiring of E-Stop switch
Control section or digital inputs on control section defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware:
●
8.5.14
" Digital Inputs/Outputs "
●
F4034 - Attributes
" E-Stop Function "
●
" Best Possible Deceleration "
Display:
Ident N°:
F4034
F4034
F4140 CCD communication error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
Cause
«MPC»
«MPC»
«MPC»
Remedy
CCD master detected double telegram failure of cyclic tele‐
grams
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Remove error in transmission line.
–or–
" Error reaction active " has been set in " P‑0‑1600, CCD: con‐
figuration " and slave has signaled communication error.
The CCD master is decelerated as set in " P‑0‑0119, Best possi‐
ble deceleration " .
See also Functional Description of firmware " Cross Communication (CCD) " .
F4140 - Attributes
Display:
Ident N°:
F4140
F4140
190/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.6
Non-Fatal Safety Technology Errors (F3xxx)
8.6.1
Behavior in Case of Non-Fatal Safety Technology Errors
Non-fatal safety technology errors are errors which still allow carrying out a
freely definable, variable error reaction.
Via the setting in " P-0-0119, Best possible deceleration " , the user can define
the behavior of the drive taking place when non-fatal safety technology errors
occur.
Behavior When Using the Optional
Safety Technology Module " S1 " or
" S2 "
The drive automatically switches to safety related standstill or " Safe stop 1 "
(S2) and the output stage is switched off via two channels.
As soon as the axis has stopped, the axis signals safety; i.e., " safety technol‐
ogy status output controller " in " P-0-3214, Safety technology status word,
channel 1 " was set or the diagnosis input/output EA10n (channel 2) was set
depending on the parameterization in " P-0-3210, Safety technology configu‐
ration " .
An NC-controlled stopping process activated via " P-0-0117, Acti‐
vation of control unit reaction on error " or an error reaction set via
" P-0-0119, Best possible deceleration " is only possible for the du‐
ration entered in " P-0-3220, Tolerance time transition from normal
operation " or " P-0-3225, Tolerance time transition from safe oper‐
ation " ! In case of timeout, the error " F7050 Time for stopping
process exceeded " is generated.
At the end of the error reaction, the drive goes torque-free.
Commissioning Steps
Therefore, the drive can only be put into operation again when:
1.
The error reaction has been completed, i.e. the drive has stopped (ve‐
locity = 0!).
2.
The error message was cleared by the error clearing command (cf.
" S‑0‑0099, C0500 Reset class 1 diagnostics " ).
3.
The cause of the error was removed.
4.
The drive is in the operating mode again and power was switched on
( " Ab " ).
5.
Drive enable was switched on again (0‑1 edge).
In case non-fatal safety technology errors are occurring repeated‐
ly, contact our service department as operating the drive then is
no longer allowed.
8.6.2
F3111 Refer. missing when selecting safety related end pos.
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " .
The drive automatically switches to safety related standstill or " Safe stop 1 "
(S2) and the output stage is switched off via two channels.
As soon as the axis has stopped, the safety door can be opened.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
191/619
Error Messages
Cause
Remedy
The acceleration threshold parameterized in parameter
" P‑0‑3245, Safe deceleration/acceleration ramp 1 " was ex‐
ceeded
Start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again.
If necessary, increase value for parameter " P‑0‑3245, Safe
deceleration/acceleration ramp 1 "
F3111 - Attributes
8.6.3
Display:
Ident N°:
F3111
F3111
F3112 Safe reference missing
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06: It was impossible to carry out the safety function " safety related
limited absolute position " / " safety related limited absolute end position " .
As of MPx07: It was impossible to carry out the safety function " Safely-moni‐
tored position " / " Safely-limited position " .
192/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Up to MPx06:
1. Undo selection.
Monitoring of safety related limited absolute end position has
been configured ( " P‑0‑3239, Configuration of global safety
technology functions " ); prerequisite of channel 2 having
been homed is missing and drive is in special mode.
2. Start command " S‑0‑0099, C0500 Reset class 1 diag‐
nostics " , in order to clear error.
‑ or ‑
Monitoring of safety related limited absolute end position has
been configured ( " P‑0‑3239, Configuration of global safety
technology functions " ); prerequisite of channel 2 having
been homed is missing and warning E3107 had been pres‐
ent for 15 minutes in normal operation.
‑ or ‑
3. Set drive enable
4. a: For absolute measuring systems: Execute
" P‑0‑3228, C4000 Homing procedure command chan‐
nel 2 " in order to establish " safety related reference "
on channel 2.
b: For all other measuring systems: Execute
" S‑0‑0148, C0600 Drive-controlled homing procedure
command " (C4000 for establishing safety related refer‐
ence of channel 2 is integrated).
Safety function " safety related limited absolute position " was
selected and prerequisite of channel 2 having been homed
is missing
Note: Status of safe reference can be seen in " P‑0‑3238, Ex‐
tended safety technology status " .
As of MPx07:
Monitoring of safely-limited position has been configured
( " P‑0‑3239, Configuration of global safety technology func‐
tions " ); prerequisite of channel 2 having been homed is
missing and drive is in special mode.
‑ or ‑
Monitoring of safely-limited position has been configured
( " P‑0‑3239, Configuration of global safety technology func‐
tions " ); prerequisite of channel 2 having been homed is
missing and warning E3107 had been present for 15 mi‐
nutes in normal operation.
‑ or ‑
Safety function " Safely-monitored position " was selected
and prerequisite of channel 2 having been homed is missing
Note: Status of safe reference can be seen in " P‑0‑3238, Ex‐
tended safety technology status " .
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P‑0‑3219) " .
As of MPx07: See " Extended Diagnosis (P‑0‑3219) as of MPx07 " .
Description of error reaction: " Behavior in Case of Non-Fatal Safety
Technology Errors "
See documentation " Integrated Safety Technology " , chapter " Safe Homing
Procedure "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
193/619
Error Messages
F3112 - Attributes
8.6.4
Display:
Ident N°:
F3112
F3112
F3115 Brake check time interval exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When " time interval of holding brake check " was activated in " P‑0‑0525,
Holding brake control word " or the function " safe braking and holding system "
is used, the drive monitors the time which has passed since the last holding
brake check.
The space of time set in " P‑0‑0550, Time interval holding system check " or
" P‑0‑3302, SBS: Time interval brake check " , within which the holding brake
check has to be carried out again, was exceeded.
Error Reaction
The drive reacts with the error reaction that has been set. The " status of
holding brake check " is set to " 0 " in " P‑0‑0539, Holding brake status word " .
If the " safe braking and holding system " is used as of MPx05, the " status of
holding brake check " is additionally set to " 0 " in " P‑0‑3301, Redundant
holding brake: Status word " .
Cause
Remedy
Drive had been put into operation and drive enable was set;
after 15 minutes, drive generates error F3115
Brake check (P‑0‑0541, C2100 Holding system check com‐
mand) must be carried out within 15 minutes after drive was
put into operation and drive enable was set
Time set in " P‑0‑0550, Time interval holding system check "
or " P‑0‑3302, SBS: Time interval brake check " has elapsed
since last brake check
Clear error; drive is operational again. Brake check must be
carried out within 15 minutes (with drive enable) (P‑0‑0541,
C2100 Holding system check command)
Repeated brake check is required due to defined errors in
" safe braking and holding system " .
Clear error; drive is operational again. Brake check must be
carried out within 15 minutes (with drive enable) (P‑0‑0541,
C2100 Holding system check command)
●
Signal " HAT-Diagnose " is zero (control module " HAT "
signals error or connection to control module has been
interrupted) or
●
Signal " HAT-Diagnose " does not correspond to ex‐
pectations from control status of redundant holding
brake or
●
In case of error, redundant holding brake had to be ap‐
plied with " actual velocity value & gt; standstill " or
●
" C3000 Synchronize and store safety technology IDN "
was executed
194/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P‑0‑3219) " .
As of MPx07: See " Extended Diagnosis (P‑0‑3219) as of MPx07 " .
See also Functional Description of firmware " Motor Holding Brake "
See also documentation
●
●
F3115 - Attributes
8.6.5
Up to MPx06: " Integrated Safety Technology "
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
F3115
F3115
F3116 Nominal load torque of holding system exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The current nominal load torque (P‑0‑0551) has exceeded the nominal load
of the holding system (P‑0‑3303) by a factor of at least 1.3 (up to MPx07) or
the factor parameterized in P‑0‑3316 (as of MPx08).
Cause
Remedy
The axis is overloaded
Avoid overload
Parameterization incorrect
Correct parameter setting
●
" P‑0‑0547, Nominal load of holding system " or
●
" P‑0‑3303, SBS: Nominal load "
●
" P‑0‑3316, SBS: Test torque factor motor holding
brake " (as of MPx08)
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3116 - Attributes
Display:
Ident N°:
F3116
F3116
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
195/619
Error Messages
8.6.6
F3117 Actual position values validation error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The two safety technology channels (channel 1 and channel 2) cyclically
compare their actual position values crosswise for plausibility. The difference
of the actual position values between channel 1 and channel 2 may not ex‐
ceed an internal measuring-system-dependent threshold.
Error reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " .
In " P‑0‑3213, Safety technology operating status " , the status " safely homed "
is removed.
Automatic switching to " safety related standstill " (up to MPx06) or " Safe stop
1 " (as of MPx07) takes place and the output stage is switched off via two
channels.
Cause
Remedy
Only after safe homing
Check connection of homing input at optional module " safety
technology I/O " (up to MPx06) or " Safe Motion " (as of
MPx07).
Short circuit of home switch input of channel 2 with 24 V
Note: For the configuration " homing procedure channel 2 via
static signal " , the signal at the homing input of channel 2
may only be 24 V when the axis is within " P‑0‑3231,
Reference position for safe reference " +/‑ " P‑0‑3229,
Tolerance window for safe homing procedure " .
Other causes or subsequent errors
After troubleshooting, start command " S‑0‑0099, C0500
Reset class 1 diagnostics " in order to clear error an then set
drive enable again.
Then reestablish the safe reference (see also Documenta‐
tion " Integrated safety technology " , keyword " Safe homing
procedure " ).
Read out the parameter " P‑0‑0192, Error memory of
diagnostic numbers " . If other errors occur before F3117,
remedy these errors first and then the cause for the occur‐
rence of F3117.
Switch to " PM " or " P2 " and start the command C0500 to
clear the error. Then switch back to " bb " or " OM " ; the actual
position value comparison is reinitialized.
If the error occurs again, please save all current parameter
values using (S‑0‑0264, save RAM memory C2200
command) immediately after the error occurs. Please con‐
tact customer service to analyze the parameter backup.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
196/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
F3117 - Attributes
8.6.7
Display:
Ident N°:
F3117
F3117
F3122 SBS: System error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Monitoring functions of the safe braking and holding system have detected
errors in the control or feedback circuit of the redundant holding brake.
Cause
Remedy
Brake server for controlling redundant holding brake is no
longer active. Lifecounter brake server has not been incre‐
mented.
Replace hardware
Replace firmware
No acknowledgment when releasing/applying redundant
Check wiring
holding brake. Check takes place by means of feedback sig‐
nal of control module.
Error during static check of control and feedback signal of
control module
Check wiring
Requirements for releasing redundant holding brake have
not been complied with. Output stage is not active
Replace hardware
Check control module
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3122 - Attributes
8.6.8
Display:
Ident N°:
F3122
F3122
F3123 SBS: Brake check missing
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
197/619
Error Messages
Cause
Remedy
At selection of a safety technology operating status, a check Deselect safety technology operating status and execute
has detected that states of holding brake monitoring of mo‐ " C2100 Brake check command "
tor holding brake ((P-0-0539) and/or redundant holding
brake (P-0-3301) have not been set to " carried out success‐
fully "
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3123 - Attributes
8.6.9
Display:
Ident N°:
F3123
F3123
F3130 Error when checking input signals
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
A validity check is run for the inputs for channel 1 and channel 2 of the safety
technology so that several errors can be detected.
Up to MPx06
For the optional module " starting lockout " , the selection signals " AS_A " or
" AS_B " and " ASn " are monitored for states that are not allowed.
For the optional module " safety technology I/O " , a check is run during dynam‐
ization to find out whether all input signals of safety function selection are
zero.
As of MPx07
For the optional module " Safe Torque Off " , the selection signals " STO A " or
" STO B " and " STO n " are monitored for states that are not allowed.
For the optional module " Safe Motion " , a check is run during dynamization to
find out whether all input signals of safety function selection are zero.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " .
Automatic switching to " safety related standstill " (up to MPx06) or " Safe stop
1 " (as of MPx07) takes place and the output stage is switched off via two
channels.
Cause
Remedy
Error in wiring of input signals or contact error resp. cable
break
Remove cause of error in wiring of inputs or replace switch.
Then start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again.
198/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3130 - Attributes
8.6.10
Display:
Ident N°:
F3130
F3130
F3131 Error when checking acknowledgment signal
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " .
Automatic switching to " safety related standstill " (up to MPx06) or " Safe stop
1 " (as of MPx07) takes place and the output stage is switched off via two
channels.
As soon as the axis has stopped, the safety door can be opened.
When using optional module " starting lockout " (up to MPx06) or " Safe Torque
Off " (as of MPx07):
Cause
Remedy
Channel 1 monitors status of acknowledgment relay. If nor‐
mal condition of relay is detected in spite of activated
" starting lockout " or " Safe Torque Off " function, or if operat‐
ed condition of the relay is detected with starting lockout not
active, error message F3131 is generated.
Reset module by switching control voltage off and on. If
error occurs repeatedly, replace hardware
If error F3130 is generated in addition to error F3131 (see
" P‑0‑0192, Error memory of diagnostic numbers " ), an error
in wiring of input signals or contact error resp. cable break
might be present
See F3130
When using optional module " safety technology I/O " (up to MPx06) or " Safe
Motion " (as of MPx07):
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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199/619
Error Messages
Cause
Remedy
During check of acknowledgment signal EA20, a static high
level (short circuit with V+) or a static low level (short circuit
to GND, cable break resp. loose / missing connection) was
detected
Remove cause of error in wiring of acknowledgment signal
EA20.
Then start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again.
Note: If only diagnostic safety technology slave signals
F3131, this is a sign of missing connection of signal EA20
between master and slave
During check of acknowledgment signal EA20, a static high
level was detected,
Remove cause of error in the parameterization of the securi‐
ty zone:
●
because the safety technology for an axis in the secur‐ ●
ity zone is not activated or
activate security technology: " P‑0‑3207, parameterize
safety technology password level " unequal to " 0 "
●
an axis was parameterized with a single acknowledge‐ ●
ment
parameterize zone acknowledgement: " P‑0‑3210,
Safety technology configuration " , bit 8= " 0 "
Error during check of acknowledgment signal EA20, be‐
cause two diagnostic acknowledgement masters were para‐
meterized in the security zone
Remove cause of error in the parameterization of the securi‐
ty zone:
After a restart, the diagnostic acknowledgement master/
slave is in " OM " and a diagnostic acknowledgement slave/
master is in the booting phase
Start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again
Only one axis may be parameterized as a diagnostic ac‐
knowledgement master in the security zone ( " P‑0‑3210,
Safety technology configuration " , bit 2= " 1 " )
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3131 - Attributes
8.6.11
Display:
Ident N°:
F3131
F3131
F3132 Error when checking diagnostic output signal
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
With control of a safety door configured ( " P‑0‑3210, Safety technology
configuration " , bit 2=1), the safety technology master for diagnosis and ac‐
knowledgment ( " P‑0‑3210, Safety technology configuration " , bit 1=1) checks
whether...:
200/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
●
●
Error Reaction
...a feedback is present at the diagnostic input of channel 1 (E10)
( " P‑9‑3212, Safety technology control word, channel 1 " , bit 99) after
transition to a safety function.
...feedback is no longer present at the diagnostic input of channel 1
(E10) ( " P‑9‑3212, Safety technology control word, channel 1 " , bit 99) af‐
ter transition to normal operation.
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
Error in wiring of diagnostic output / check input (A10, E10
or EA10n)
Remove error in wiring of diagnostic output / check input
Error in parameterization of diagnostic output / check input
Check bit 1=1 (control of a safety door) and bit 2=1 (safety
technology master for diagnosis and acknowledgment) in
parameter " P‑0‑3210, Safety technology configuration " .
Check status of A10 ( " P‑0‑3214, Safety technology status
word, channel 1 " , bit 0) and E10 ( " P‑0‑3212, Safety
technology control word, channel 1 " , bit 9) for corresponding
digital inputs/outputs.
Internal relay on channel 2 defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3132 - Attributes
8.6.12
Display:
Ident N°:
F3132
F3132
F3133 Error when checking interrupting circuits
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In order to lock the output stage in a safe way when the safety technology
has detected an error, the correct functioning of the interrupting circuit is cy‐
clically checked. This is done on the one hand during the actions " release
output stage " and " lock output stage " , on the other hand statically while the
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
201/619
Error Messages
output stage is being released or locked. The corresponding hardware reali‐
zation ensures that this is possible without repercussion on the PWM control
signals.
When the safety technology has been activated, the error F3133
only occurs in normal operation. When a safety function is selec‐
ted, the cause of the error causes the error " F8133 Error when
checking interrupting circuit " to be triggered.
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Safety is not acknowledged; i.e., " safety technology status output
controller " in " P‑0‑3214, Safety technology status word, channel
1 " was cleared/reset or the diagnostic input/output EA10n (chan‐
nel 2) was set depending on the parameterization in " P‑0‑3210,
Safety technology configuration " .
Cause
Remedy
An error was detected during check of interrupting circuit
Then start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again.
If error occurs repeatedly, replace control section or entire
drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3133 - Attributes
8.6.13
Display:
Ident N°:
F3133
F3133
F3134 Dynamization time interval incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
202/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
The signal shape of the " dynamization signal of safety function selection " is
monitored.
Monitoring normally refers to the signals at the dynamization input
EA30. If " separate dynamization " has been set in " P‑0‑3210,
Safety technology configuration " , the dynamization input for chan‐
nel 1 is additionally monitored (see also " P‑0‑3212, Safety
technology control word, channel 1 " ).
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
Error in wiring of dynamization signal (e.g. short circuit with
V+)
Check wiring of dynamization signal and remove error
Error in signal shape of dynamization signal in the case of
external dynamization (see also " F3135 Dynamization pulse
width incorrect " )
Check and, if necessary, correct dynamization signal. Rele‐
vant parameters:
" P‑0‑3223, Time interval for dynamization of safety
function selection " (+20% tolerance) mustn't be excee‐
ded
●
Parameterization of " P‑0‑3210, Safety technology
configuration " not useful
●
" P‑0‑3224, Duration of dynamization pulse of safety
function selection "
In the case of internal dynamization, per safety zone config‐
ure one axis as master for dynamization (set bit 3 in
" P‑0‑3210, Safety technology configuration " ).
After having removed the error, start the command " S‑0‑0099, C0500 Reset
class 1 diagnostics " in order to clear the error and then set drive enable
again.
If error message occurs repeatedly, safety technology firmware
has to be replaced.
‑ or ‑
Control section (only by Rexroth service engineers or especially
trained users) or entire drive controller has to be replaced. The re‐
placement of the entire drive controller is described in the Project
Planning Manual for the power section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3134 - Attributes
Display:
Ident N°:
F3134
F3134
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
203/619
Error Messages
8.6.14
F3135 Dynamization pulse width incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
For " dynamization of safety function selection " , a dynamic signal is applied to
the selection elements, in order to detect errors in the wiring of the input sig‐
nal / input signals. The signal shape of the dynamic signal / dynamic signals
is monitored, too.
The monitoring refers to the signal at the input EA30 and in the case of sepa‐
rate dynamization ( " P‑0‑3210, Safety technology configuration " , bit7=1) addi‐
tionally to the " dynamization signal channel 1 " ( " P‑0‑3212, Safety technology
control word, channel 1 " , bit10).
The pulse width of the dynamization signal was detected to be too short or
too long; the minimum pulse width is 30 ms, the maximum pulse width is de‐
termined via " P‑0‑3224, Duration of dynamization pulse of safety function
selection " (plus a tolerance of 20 percent).
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
Error in wiring of dynamization signal EA30
Remove error in wiring of dynamization signal EA30 [e.g.,
short circuit with 0 V (GND), cable break, missing connec‐
tion to master of dynamization]
In the case of separate dynamization ( " P‑0‑3210, Safety
technology configuration " , bit7=1):
Remove error in wiring of dynamization signal [e.g., short
circuit with 0 V (GND), cable break, missing connection to
Error in wiring of " dynamization input channel 1 " ( " P‑0‑3212, master of dynamization]
Safety technology control word, channel 1 " , bit10)
‑ or ‑
Missing or incorrect settings for transmission via master
communication
In the case of internal dynamization ( " P‑0‑3210, Safety
technology configuration " , bit7=0):
Error in signal shape of dynamization signal
Check parameterization of
●
" P‑0‑3210, Safety technology configuration " (only one
drive may be selected as master for dynamization, all
other drives must be declared slaves)
●
" P‑0‑3223, Time interval for dynamization of safety
function selection " and " P‑0‑3224, Duration of
dynamization pulse of safety function selection " in in‐
volved slave axes have to be greater than or equal to
values in master axis
204/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
In the case of external dynamization: Error in signal shape of In the case of external dynamization, all drives that are to be
dynamization signal
dynamized have to be parameterized as " slave for dynami‐
zation of safety function selection " via " P‑0‑3210, Safety
technology configuration " . EA30 of respective drives have to
be interconnected and connected to signal source.
Dynamization signal is generated by external source and
this source has to be connected to selection elements and
dynamization signal EA30.
Signal shape mustn't exceed parameter values " P‑0‑3223,
Time interval for dynamization of safety function selection "
and " P‑0‑3224, Duration of dynamization pulse of safety
function selection " .
Signal monitoring takes place with retriggerable timers; i.e.,
dynamization may also take place in shorter intervals and
with shorter pulse width (minimum 30 ms).
In the case of separate dynamization for channel 1 and
channel 2 ( " P‑0‑3210, Safety technology configuration " ,
bit7=1): Error in signal shape of dynamization signal EA30
Channel 2: Interconnect EA30 of respective drives. Dyna‐
mize N/C contacts of selection elements with dynamization
signal EA30.
Channel 1: Dynamization signal for channel 1 is generated
by external source. " Dynamization input channel 1 "
( " P‑0‑3212, Safety technology control word, channel 1 " ,
bit 10) of respective drives has to be interconnected and
connected to signal source. Dynamize N/O contacts of se‐
lection elements with externally generated " dynamization
signal channel 1 " .
Signal shape mustn't exceed parameter values " P‑0‑3223,
Time interval for dynamization of safety function selection "
and " P‑0‑3224, Duration of dynamization pulse of safety
function selection " .
Signal monitoring takes place with retriggerable timers; i.e.,
dynamization may also take place in shorter intervals and
with shorter pulse width (minimum 30 ms).
After having removed the cause, start the command " S‑0‑0099, C0500 Reset
class 1 diagnostics " in order to clear the error and then set drive enable
again.
If error message occurs repeatedly, safety technology firmware
has to be replaced.
‑ or ‑
Control section (only by Rexroth service engineers or especially
trained users) or entire drive controller has to be replaced. The re‐
placement of the entire drive controller is described in the Project
Planning Manual for the power section.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
205/619
Error Messages
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3135 - Attributes
8.6.15
Display:
Ident N°:
F3135
F3135
F3140 Safety parameters validation error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the operating mode, a validation check is cyclically carried out for the safe‐
ty parameters of channel 1 and channel 2.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
Change in safety parameters without subsequent synchroni‐ Execute command " P‑0‑3204, C3000 Synchronize and store
zation of safety parameters in special mode
safety technology IDN command " ; channel 2 thereby applies
parameters of channel 1 and internal values are recalculated
and loaded
NOTE: Executing the command " C3000 Synchronize and
store safety technology IDN " increases the change counter
of the safety technology memory (P-0-3201). It is therefore
necessary to carry out the acceptance test again.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
Afterwards start command " S‑0‑0099, C0500 Reset class 1 diagnostics " in
order to clear error and then set drive enable again.
F3140 - Attributes
Display:
Ident N°:
F3140
F3140
206/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.6.16
F3141 Selection validation error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The check carried out when selecting/deselecting safety functions has shown
that the selection signals of channel 1 and channel 2 differed for a longer
time than the tolerated duration preset by " P‑0‑3221, Max. tolerance time for
different channel states " .
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
As soon as the axis has stopped, the safety door can be opened.
Cause
Remedy
Error in wiring of input signals or switch defective
Check switch elements and wiring of input signals
Different safety functions assigned to inputs of channel 1
and channel 2
Check configuration of inputs of channel 1 and channel 2
Parameterization of " P‑0‑3221, Max. tolerance time for
different channel states " not useful
Change parameterization of " P‑0‑3221, Max. tolerance time
for different channel states " (increase value)
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
After having removed the cause, start the command " S‑0‑0099, C0500 Reset
class 1 diagnostics " in order to clear the error and then set drive enable
again.
F3141 - Attributes
8.6.17
Display:
Ident N°:
F3141
F3141
F3142 Activation time of enabling control exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The parameterized maximum time for the activation of the enabling control
has been exceeded.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
207/619
Error Messages
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
Enabling control was activated too long
Remove enabling signal before parameterized time is over;
parameterizable activation times of enabling control:
●
" P-0-3222, Max. activation time of enabling control " or
●
" P‑0‑3246, Max. activation time of enabling control 1 "
(as of MPx05)
●
" P‑0‑3256, Max. activation time of enabling control 2 "
(as of MPx05)
●
" P‑0‑3266, Max. activation time of enabling control 3 "
(as of MPx05)
●
" P‑0‑3276, Max. activation time of enabling control 4 "
(as of MPx05)
The currently valid parameter can be taken from P-0-3239.
Parameterization of maximum activation time of enabling
control does not make sense
Check parameterization and change it, if necessary:
●
" P-0-3222, Max. activation time of enabling control " or
●
" P‑0‑3246, Max. activation time of enabling control 1 "
(as of MPx05)
●
" P‑0‑3256, Max. activation time of enabling control 2 "
(as of MPx05)
●
" P‑0‑3266, Max. activation time of enabling control 3 "
(as of MPx05)
●
" P‑0‑3276, Max. activation time of enabling control 4 "
(as of MPx05)
The currently valid parameter can be taken from P-0-3239.
Enabling control is defective or incorrectly wired
Check and, if necessary, replace/correct enabling control
and wiring
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
After having removed the cause, start the command " S‑0‑0099, C0500 Reset
class 1 diagnostics " in order to clear the error and then set drive enable
again.
F3142 - Attributes
Display:
Ident N°:
F3142
F3142
208/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.6.18
F3143 Safety command for clearing errors incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Via an internal command embedded in the call of " S‑0‑0099, C0500 Reset
class 1 diagnostics " , all errors of channel 2 are cleared. If a problem is detec‐
ted during this procedure, the drive generates the error F3143.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
If error message coincides with a firmware update, this indi‐ Carry out firmware update again
cates that firmware on channel 2 was not started; in this
case, " P‑0‑3200, Safety technology firmware code " is with‐
out content. (This can be due to following reasons: Firmware
of channel 2 incompatible with channel 1, checksum or hard‐
ware error on channel 2.)
Execution of internal command was aborted with timeout
Reset module by switching control voltage off and on.
If error occurs repeatedly, replace control section or entire
drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
See also Functional Description of firmware " Firmware Release Update "
F3143 - Attributes
Display:
Ident N°:
F3143
F3143
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
209/619
Error Messages
8.6.19
F3144 Incorrect safety configuration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error was detected in the configuration of safety technology.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
Safety technology control signals (selection signals) were
configured in " P‑0‑3211, Safety technology I/O configuration
list, channel 2 " , but safety technology with PROFIsafe has
not been configured or hardware requirements therefor are
missing
For configuration " safety technology with PROFIsafe " , only
assignment of home switch and
safety technology inputs 1 to 4 is allowed; for the other safe‐
ty technology control signals it is not allowed to establish
any functional connection; change parameter setting of
" P‑0‑3211, Safety technology I/O configuration list, channel
2 " accordingly
In " P‑0‑3211, Safety technology I/O configuration list,
channel 2 " , safety technology control signals (selection sig‐
nals) were assigned several times
In " P‑0‑3211, Safety technology I/O configuration list,
channel 2 " , only assign safety technology control signals
(selection signals) once
Safety technology inputs 1 to 4 were configured in
" P‑0‑3211, Safety technology I/O configuration list,
channel 2 " , but safety technology with PROFIsafe has not
been configured or hardware requirements therefor are
missing
Safety technology inputs 1 to 4 are only allowed in conjunc‐
tion with configuration " safety technology with PROFIsafe " ;
change parameterization of " P‑0‑3211, Safety technology
I/O configuration list, channel 2 " accordingly
Two configurations were inadmissibly made at the same
time for the axis:
One of both configurations must be undone
Master for diagnosis and acknowledgment ( " P‑2‑3210,
Safety technology configuration " , bit 2)
‑ and‑
" Deactivation of acknowledgment support at EA20 " , i.e.
drive does not work in acknowledgment group ( " P‑0‑3210,
Safety technology configuration " , bit 8)
Safety function " Safely-limited position " was configured with‐ Configure safety function " Safe maximum speed " (P‑0‑3239,
out safety function " Safe maximum speed "
P‑0‑3234)
After troubleshooting, start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error an then set drive enable again.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
210/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
F3144 - Attributes
8.6.20
Display:
Ident N°:
F3144
F3144
F3145 Error when unlocking the safety door
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the special mode is deselected, a check is run to find out whether the
control of the door locking device is inactive and the door is closed and
locked.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " .
‑ or ‑
The axis already is in " safety related standstill " (up to MPx06) or " Safe stop
1 " (as of MPx07) and the output stage is switched off via two channels.
Cause
Remedy
Error in mechanical system of safety door
Check mechanical system of safety door
Error in wiring of safety door or short circuit between EA10n, Check wiring of safety door
A10, E10 and 24 V
Hardware defect on control section or on optional safety
technology module
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3145 - Attributes
Display:
Ident N°:
F3145
F3145
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
211/619
Error Messages
8.6.21
F3146 System error channel 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
In the case of a measuring system error, the safety door can only be opened
via the command " P‑0‑3218, C3700 Manually unlocking the safety door " .
Cause
Remedy
System error on channel 2
Reset module by switching control voltage off and on.
Then start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error and then set drive enable
again.
If error occurs repeatedly, replace control section or entire
drive controller
Failure of encoder signal
●
●
Check shield connection
●
Check connection (ribbon cable) between optional
safety technology module and encoder interface
●
Connection (ribbon cable) between optional safety
technology module and encoder interface is missing
●
No encoder signals
Check cable to measuring system
Check measuring system
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3146 - Attributes
Display:
Ident N°:
F3146
F3146
212/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.6.22
F3147 System error channel 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The operatability of safety monitoring functions is cyclically checked in normal
operation.
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
As soon as the axis has stopped, the safety door can be opened.
Cause
Remedy
Cyclic test of monitoring functions of safety technology chan‐ Reset module by switching control voltage off and on.
nel 1 is faulty
If error occurs repeatedly, replace firmware and/or hardware
You use a test firmware (to be recognized, among other
things, by " P‑0‑3213, Safety technology operating status " ,
bit 14).
Replace firmware by test firmware with safety technology
firmware test or official firmware (V‑release) with which safe‐
ty technology can always be used without restrictions.
Test firmware was provided as an exception for applications
without active safety technology; safety technology firmware
test was not carried out for this firmware!
Only Rexroth service engineers are allowed to replace options of
the control section.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3147 - Attributes
Display:
Ident N°:
F3147
F3147
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
213/619
Error Messages
8.6.23
F3150 Safety command for system start incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Channel 2 of the safety technology is switched from parameter mode to ope‐
rating mode via an internal command. During the command, channel 2 car‐
ries out the necessary initialization steps.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
Timeout in command processing
Start command " S‑0‑0099, C0500 Reset class 1
diagnostics " in order to clear error.
⇒ Reset optional safety technology module (switch control
voltage off and on).
Error occurs again after control voltage was switched off and
on:
⇒ Reload firmware.
Error occurs in spite of switching control voltage off and on
and reloading firmware:
⇒ Hardware is defective; replace control section.
See also Functional Description of firmware " Firmware Release Update "
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3150 - Attributes
Display:
Ident N°:
F3150
F3150
214/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.6.24
F3151 Safety command for system halt incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Channel 2 of the safety technology is switched from operating mode to pa‐
rameter mode via an internal command. During the command, the necessary
initialization steps are carried out in channel 2.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
Cause
Remedy
Timeout in command processing because other command is Start command " S‑0‑0099, C0500 Reset class 1
active (e.g. C3000)
diagnostics " in order to clear error and then switch from ope‐
rating mode to parameter mode.
If necessary, reset module by switching control voltage off
and on
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3151 - Attributes
8.6.25
Display:
Ident N°:
F3151
F3151
F3152 Incorrect backup of safety technology data
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In order to use the same safety technology configuration, after the control
section was replaced, without having to carry out safety technology commis‐
sioning again, the monitoring of the correct backup or acceptance of the safe‐
ty technology data is contained in the drive. An error occurred during data
backup.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " safety related standstill " (up to MPx06)
or " Safe stop 1 " (as of MPx07) takes place and the output stage is switched
off via two channels.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
215/619
Error Messages
Cause
Remedy
Error in hardware or in internal sequence during data back‐
up
Repeat data backup.
Content of parameter " P‑0‑3208, Backup of safety techn.
data channel 2 " is incorrect
Check whether correct parameter set, compatible firmware
version ( " S‑0‑0030, Manufacturer version " ).
If error occurs again, execute command " C0720 Load
defaults procedure command (safety technology) " . If error
occurs again, optional safety technology module or entire
drive controller has to be replaced. If error occurs, content of
parameter " P‑0‑3208, Backup of safety techn. data
channel 2 " is incorrect
If error-free " P‑0‑3208, Backup of safety techn. data
channel 2 " is not available, safety technology commissioning
has to be carried out again
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
Only Rexroth service engineers are allowed to replace options of
the control section.
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P‑0‑3219) " .
As of MPx07: See " Extended Diagnosis (P‑0‑3219) as of MPx07 " .
F3152 - Attributes
8.6.26
Display:
Ident N°:
F3152
F3152
F3160 Communication error of safe communication
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
A cyclic check of the drive has shown that the drive cannot communicate with
the master via the safety bus.
Error Reaction
The drive is shut down according to the setting in " P‑0‑0119, Best possible
deceleration " . Automatic switching to " drive interlock " (up to MPx06) or " Safe
stop 1 (Emergency stop) " (as of MPx07) takes place and the output stage is
switched off via two channels.
216/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Missing or incorrect connection
Check connection, remove cause of error
Failure of bus master
Remove error of master
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
F3160 - Attributes
Display:
Ident N°:
F3160
F3160
8.7
Non-Fatal Errors (F2xxx)
8.7.1
Behavior in the Case of Non-Fatal Errors
Non-fatal errors are errors that still allow a freely definable, variable error re‐
action.
Drive Behavior
Putting the Drive Into Operation
The user can define the drive behavior for the case of non-fatal errors occur‐
ring via the setting of the parameters " P-0-0117, Activation of NC reaction on
error " and " P-0-0119, Best possible deceleration " .
The drive can only be put into operation again when:
1.
2.
The error message was cleared by the error clearing command (cf.
" S-0-0099, C0500 Reset class 1 diagnostics " ).
3.
The cause of the error was removed.
4.
8.7.2
The error reaction has been completed, i.e. the drive has stopped
(v=0!).
Drive enable was switched on again (0-1 edge).
F2002 Assignment of encoder for synchronization is not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the operation mode " position synchronization " (0x0245) or the opera‐
tion mode " velocity synchronization " (0x0042) is configured in one of the op‐
eration mode parameters (S-0-0032, S-0-0033, etc.), " P-0-0753, Position ac‐
tual value in actual value cycle " required for synchronization is initialized with
regard to the encoder specified by bit0 of parameter " S-0-0520, Control word
of axis controller " when switching from parameter mode to operating mode
takes place.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Bosch Rexroth AG
217/619
Error Messages
If the additive functional package " IndraMotion MLD " has been
enabled, the operation mode " position synchronization " and the
operation mode " velocity synchronization " are automatically con‐
figured as operation modes.
When a synchronous operation mode with outer position control loop ( " Mo‐
tionProfile " , " cam " or " phase synchronization " ) is activated, a check is run to
find out whether " P-0-0753, Position actual value in actual value cycle " was
initialized with regard to the currently effective control encoder (encoder 1 or
encoder 2); if the drive detects that this is not the case, the F2002 error is
triggered.
Cause
Remedy
Control encoder valid at activation of synchronous operation In parameter mode (PM), select, via " S-0-0520, Control word
mode with outer position control loop is not initialization en‐ of axis controller " , encoder with regard to which " P-0-0753,
coder for actual position value in actual value cycle.
Position actual value in actual value cycle " is to be initial‐
ized.
Make sure that, when activating a synchronous operation
mode with outer position control loop, control encoder de‐
fined via " S-0-0520, Control word of axis controller " is initiali‐
zation encoder of " P-0-0753, Position actual value in actual
value cycle " .
F2002 - Attributes
8.7.3
Display:
Ident N°:
F2002
F2002
F2003 Motion step skipped
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the operating mode " electronic motion profile " is active, a check is run
during the transition from one motion step to the next to find out whether a
motion step was skipped.
Except for the transition from the last to the first motion step (or vice versa),
the motion step number may only change by 1.
Cause
Remedy
Master axis velocity ( " P-0-0777, Effective master axis veloci‐ Reduce master axis velocity
ty " ) is so high that master axis distance ( " P-0-0227, Cam
‑ or ‑
shaft profile, access angle " ) covered in one position loop
Increase width of motion step (distance of two master axis
clock is greater than width of one motion step
initial positions in " P-0-0705, List of master axis initial posi‐
tions, set 0 " or " P-0-0712, List of master axis initial positions,
set 1 " )
‑ or ‑
Reduce position loop clock (see Functional Description of
firmware " Performance Data " ).
F2003 - Attributes
Display:
Ident N°:
F2003
F2003
218/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.7.4
F2004 Error in MotionProfile
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this error message
was " F2004 Error in motion profile " .
In the " MotionProfile " mode, the drive monitors whether the defined motion
profile (max. 8 individual motion steps) is verisimilar. The error is generated if
a motion profile that has not passed the validation checks is activated with
the drive having been enabled. Depending on whether set 0 or set 1 was se‐
lected, a number is displayed in parameter " P‑0‑0702, MotionProfile, diagno‐
sis, set 0 " or " P‑0‑0709, MotionProfile, diagnosis, set 1 " .
Cause
Remedy
1: Master axis initial positions of motion steps used are not Check list " P‑0‑0705, List of master axis initial positions,
increasing
set 0 " or " P‑0‑0712, List of master axis initial positions,
set 1 "
2: In the case of absolute motion profile, sum of individual Check list " P‑0‑0707, List of distances, set 0 " or " P‑0‑0714,
distances is not " 0 " or a multiple of " S‑0‑0103, Modulo val‐ List of distances, set 1 "
ue "
Only up to MPx07:
Check parameter " P‑0‑0703, Number of motion steps, set 0 "
3: In case of relative motion profile, number of motion steps or " P‑0‑0710, Number of motion steps, set 1 "
is smaller than " 2 "
21…28: Checked motion step is " rest in velocity " or " velocity Check list " P‑0‑0706, List of motion laws, set 0 " / " P‑0‑0706,
in velocity " . Following step consists of profile which is not List of motion step modes, set 0 " or " P‑0‑0713, List of mo‐
" velocity in rest " or " velocity in velocity " .
tion laws, set 1 " / " P‑0‑0713, List of motion step modes, set 1 "
Number of checked motion step can be taken from second
digit of diagnostic message number
31…38: Checked motion step is " rest in velocity " or " velocity Check list " P‑0‑0708, List of slave axis velocities, set 0 " or
in velocity " . Following step consists of profile which is either " P‑0‑0715, List of slave axis velocities, set 1 "
" velocity in rest " or " velocity in velocity " . Velocities of step
that was checked and following step do not match.
Number of checked motion step can be taken from second
digit of diagnostic message number
41…48: Checked motion step is " velocity in rest " or " velocity Check list " P‑0‑0706, List of motion laws, set 0 " / " P‑0‑0706,
in velocity " . Previous step consists of profile which is not List of motion step modes, set 0 " or " P‑0‑0713, List of mo‐
" rest in velocity " or " velocity in velocity " .
tion laws, set 1 " / " P‑0‑0713, List of motion step modes, set 1 "
Number of checked motion step can be taken from second
digit of diagnostic message number
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
219/619
Error Messages
Cause
Remedy
51…58: Checked motion step is " velocity in rest " or " velocity Check list " P‑0‑0708, List of slave axis velocities, set 0 " or
in velocity " . Previous step consists of profile which is either " P‑0‑0715, List of slave axis velocities, set 1 "
" rest in velocity " or " velocity in velocity " . Velocities of step
that was checked and previous step do not match.
Number of checked motion step can be taken from second
digit of diagnostic message number
61…68: 1st table element of a cam table used is unequal Check list " P‑0‑0706, List of motion laws, set 0 " / " P‑0‑0706,
" 0 " , cam table is invalid, or wrong table format is set.
List of motion step modes, set 0 " or " P‑0‑0713, List of mo‐
tion laws, set 1 " / " P‑0‑0713, List of motion step modes, set
Number of rejected cam table can be taken from second dig‐
1 " .
it of diagnostic message number
Ensure that the cam table corresponds to the " new " format
and the setting in " P‑0‑0086, Configuration word
synchronous operation modes " is selected accordingly.
71...78: Checked motion step is " velocity in rest " , " velocity in Check list " P‑0‑0707, List of distances, set 0 " or " P‑0‑0714,
velocity " or " rest in velocity " . Inadmissibly, distance of mo‐ List of distances, set 1 "
tion step is " 0 "
Number of checked motion step can be taken from second
digit of diagnostic message number
As of MPx05:
●
81...88: Checked motion step is " rest in rest with limited ve‐ ●
locity " . Indicated maximum slave axis velocity would be ex‐
ceeded and segmentation into the three partial steps " rest in ●
velocity " , " constant velocity " and " velocity in rest " is impossi‐
ble.
Reduce distance of step (P-0-0707 or P-0-0714)
Increase maximum slave axis velocity (P-0-0708 or
P-0-0715)
Reduce master axis velocity (P-0-0704 or P-0-0711)
Number of checked motion step can be taken from second
digit of diagnostic message number
See also Function Description of firmware " MotionProfile with Real/Virtual
Master Axis "
F2004 - Attributes
8.7.5
Display:
Ident N°:
F2004
F2004
F2005 Cam table invalid
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version MPx05, the name of this error message
was " F2005 Cam shaft invalid " .
When the cam mode is active, the drive monitors whether one of the cam ta‐
bles contains invalid elements or is incomplete.
220/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
One of cam tables is invalid
Check cam tables and, if necessary, reload them
( " P‑0‑0072, Cam table 1 " , " P‑0‑0092, Cam table 2 " ,
" P‑0‑0780, Cam table 3 " or " P‑0‑0781, Cam table 4 " ).
In case of doubt, contact installation programmer or machine
manufacturer
See also Functional Description of firmware " Electronic Cam With Real/Virtu‐
al Master Axis "
F2005 - Attributes
8.7.6
Display:
Ident N°:
F2005
F2005
F2006 MMC was removed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive monitors whether the MMC is available when it is used as an active
memory, i.e. when the parameters are stored in the MMC.
Cause
Remedy
MMC is used as active memory and was removed from drive Put MMC in its slot at the drive controller again and then
controller under voltage
start command " S‑0‑0099, C0500 Reset class 1 diagnostics "
in order to clear error
Loose contact in MMC slot or MMC incorrectly plugged
Check fixing of MMC and, if necessary, plug it in correctly
MMC defective
Replace MMC
MMC slot defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F2006 - Attributes
8.7.7
Display:
Ident N°:
F2006
F2006
F2007 Switching to non-initialized operation mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When switching the active operation mode, the drive was switched to a noninitialized operation mode.
For the operation modes that can be selected, please see descriptions of the
operation mode parameters:
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
221/619
Error Messages
●
S‑0‑0032, Primary operation mode
●
S‑0‑0033, Secondary operation mode 1
●
S‑0‑0034, Secondary operation mode 2
●
S‑0‑0035, Secondary operation mode 3
As of MPx03, in addition:
●
S‑0‑0284, Secondary operation mode 4
●
S‑0‑0285, Secondary operation mode 5
●
S‑0‑0286, Secondary operation mode 6
●
S‑0‑0287, Secondary operation mode 7
Cause
Remedy
Drive-integrated PLC (IndraMotion MLD) or one of following
control words were used to select an operation mode that
was not initialized (e.g., S‑0‑0032= " 0 " ):
Enter desired operation mode in selected operation mode
parameter
●
" S‑0‑0134, Master control word " (with SERCOS)
●
" P‑0‑4077, Field bus: control word " (with field bus)
●
" P‑0‑4028, Device control word "
●
" P‑0‑0120, Control word easy startup "
See also Functional Description of firmware " Selecting the Operation Mode " .
F2007 - Attributes
8.7.8
Display:
Ident N°:
F2007
F2007
F2008 RL The motor type has changed.
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the initialization phase (after activation of the drive), the controller checks
whether the connected motor corresponds to the type designation in
" S‑0‑0141, Motor type " . If not, error F2008 is generated and the controller
prompts the user to load the motor-specific control loop parameter values
from the encoder memory of the motor (the display of the control panels
shows " RL " ).
222/619
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DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Motor was replaced by a different motor type.
Clear error with
‑ or ‑
" S-0-0099, C0500 Reset class 1 diagnostics "
Parameter " S‑0‑0141, Motor type " of parameter file loaded
to drive controller differs from connected motor type.
‑ or ‑
‑ or ‑
Note: After this error is cleared, command " S‑0‑0262, C07_x
Load defaults procedure command " is executed unless this
was deactivated in " P‑0‑0556, Config word of axis
controller " .
Drive controller was switched on for first time. Motor type
stored in " S‑0‑0141, Motor type " differs from connected mo‐
tor type.
Press the " Esc " key on the control panel of controller
Attention: Execution of this command causes the existing
control loop settings to be overwritten with the default control
loop settings from the encoder memory.
See also Functional Description of firmware " Control Panels of the IndraDrive
Controllers "
F2008 - Attributes
8.7.9
Display:
Ident N°:
RL
F2008
F2009 PL Load parameter default values
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the firmware is replaced (firmware update), the non-volatile memory
(internal memory or MMC) is automatically analyzed; during the analysis an
error was detected.
During the transition checks for the communication phases 3 and 4, the ope‐
rating data (parameter values) are subsequently verified; parameters with in‐
valid operating data (normally only all new parameters) are output in the pa‐
rameters " S‑0‑0021, IDN list of invalid operating data for communication
phase 2 " or " S‑0‑0022, IDN list of invalid operating data for communication
phase 3 " .
NOTICE
Property damage caused by unintended
overwriting of parameters and positioning
blocks!
⇒ Before executing the command for loading the parameter default values by
" clear errors " , you should save the current parameter set.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
223/619
Error Messages
Cause
Remedy
Drive is started with new firmware for the first time or a ver‐ By clearing error via control panel, all parameter values are
sion update was carried out due to which number of non-vol‐ cleared and set to original values (default values).
atile parameters has changed.
‑ or ‑
Error is cleared by starting command " S‑0‑0099, C0500
Reset class 1 diagnostics " . Parameters that can be read
from memory remain at their last stored value, all parame‐
ters that cannot be read from the memory (new parameters)
are set to default values and marked as being invalid.
‑ or ‑
By starting command " S‑0‑0262, C07_x Load defaults
procedure command " with option " Load defaults " , F2009 is
automatically cleared.
Parameter memory (MMC or internal memory) is defective
so that error F2009 keeps reappearing.
Check MMC and replace it, if necessary, or replace control
section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Control Panels of the IndraDrive
Controllers "
F2009 - Attributes
8.7.10
Display:
Ident N°:
PL
F2009
F2010 Error when initializing digital I/O (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to firmware version 04VRS, the name of the error is " F2010
Error when initializing digital inputs/outputs " .
An error occurred during the first initialization of the drive (initialization of digi‐
tal inputs/outputs).
224/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Conflict with last stored parameters of digital inputs/outputs
Check following parameter contents and correct them, if
necessary:
●
P‑0‑0300, Digital I/Os, assignment list
●
P-0-0301, Digital I/Os, bit numbers
●
P‑0‑0302, Digital I/Os, direction
With master communication PL available:
●
S-0-0026, Configuration list signal status word
●
S-0-0328, Assign list signal status word
●
S-0-0027, Configuration list signal control word
●
S-0-0329, Assign list signal control word
With optional module MD1 or MD2 available:
●
P-0-0681, Assignment IDN - & gt; parallel output 1
●
P-0-0682, Assignment parallel input 1 - & gt; IDN
As of firmware version MPx05: You might possibly find some
information on incorrectly configured parameters in
" S-0-0423, IDN-list of invalid op. data for parameterization
level "
F2010 - Attributes
8.7.11
Display:
Ident N°:
F2010
F2010
F2011 PLC - Error no. 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive (op‐
tional expansion package " Drive PLC " ) allows the user to generate error
messages from within the PLC program.
Occurrence of this error depends on the particular PLC project (or the active
technology function). If the error message is generated by a technology func‐
tion provided by Bosch Rexroth, the causes and remedies can be found in
the description of the technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
F2011 - Attributes
Display:
Ident N°:
F2011
F2011
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
225/619
Error Messages
8.7.12
F2012 PLC - Error no. 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive (op‐
tional expansion package " Drive PLC " ) allows the user to generate error
messages from within the PLC program.
Occurrence of this error depends on the particular PLC project (or the active
technology function). If the error message is generated by a technology func‐
tion provided by Bosch Rexroth, the causes and remedies can be found in
the description of the technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
F2012 - Attributes
8.7.13
Display:
Ident N°:
F2012
F2012
F2013 PLC - Error no. 3
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive (op‐
tional expansion package " Drive PLC " ) allows the user to generate error
messages from within the PLC program.
Occurrence of this error depends on the particular PLC project (or the active
technology function). If the error message is generated by a technology func‐
tion provided by Bosch Rexroth, the causes and remedies can be found in
the description of the technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
F2013 - Attributes
8.7.14
Display:
Ident N°:
F2013
F2013
F2014 PLC - Error no. 4
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
226/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
In conjunction with technology functions, the PLC integrated in the drive (op‐
tional expansion package " Drive PLC " ) allows the user to generate error
messages from within the PLC program.
Occurrence of this error depends on the particular PLC project (or the active
technology function). If the error message is generated by a technology func‐
tion provided by Bosch Rexroth, the causes and remedies can be found in
the description of the technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
F2014 - Attributes
8.7.15
Display:
Ident N°:
F2014
F2014
F2015 PLC - Error no. 5
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive (op‐
tional expansion package " Drive PLC " ) allows the user to generate error
messages from within the PLC program.
Occurrence of this error depends on the particular PLC project (or the active
technology function). If the error message is generated by a technology func‐
tion provided by Bosch Rexroth, the causes and remedies can be found in
the description of the technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
F2015 - Attributes
8.7.16
Display:
Ident N°:
F2015
F2015
F2016 PLC - Error no. 6
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive (op‐
tional expansion package " Drive PLC " ) allows the user to generate error
messages from within the PLC program.
Occurrence of this error depends on the particular PLC project (or the active
technology function). If the error message is generated by a technology func‐
tion provided by Bosch Rexroth, the causes and remedies can be found in
the description of the technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
227/619
Error Messages
F2016 - Attributes
8.7.17
Display:
Ident N°:
F2016
F2016
F2017 PLC - Error no. 7
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive (op‐
tional expansion package " Drive PLC " ) allows the user to generate error
messages from within the PLC program.
Occurrence of this error depends on the particular PLC project (or the active
technology function). If the error message is generated by a technology func‐
tion provided by Bosch Rexroth, the causes and remedies can be found in
the description of the technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
F2017 - Attributes
8.7.18
Display:
Ident N°:
F2017
F2017
F2018 Device overtemperature shutdown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The heat sink temperature of the device is monitored by a temperature sen‐
sor and a temperature model. When the heat sink temperature has reached
the maximum value, the device is switched off in order to protect it against
destruction.
Before the error F2018 is triggered, the warning " E2050 Device
overtemp. prewarning " is output for 30 seconds.
The error can only be cleared when the device has cooled down.
Cause
Remedy
Overtemperature (heat sink) due to overload of device
Switch drive off and let it cool down. Check mechanical sys‐
tem and drive sizing (on average, working power may not
exceed continuous power of drive)
For liquid-cooled devices: Check dimensioning of cooling
system (see documentation with part number R911309636)
Ambient temperature too high. Specified performance data
is valid up to an ambient temperature of 40 °C
Reduce ambient temperature, e.g. by cooling the control
cabinet
Heat sink of device is dirty
Clean heat sink
228/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Convection is prevented by other components or mounting
position in control cabinet
Mount device vertically and provide sufficient space for ven‐
tilating heat sink
Device-internal blower failed
If blower fails, replace device or power section
Failure of air conditioning for control cabinet
Check air conditioning of control cabinet
Incorrect dimensioning of control cabinet with regard to heat
dissipation
Check dimensioning of control cabinet
For liquid-cooled devices:
Connect cooling system
No cooling system connected
For liquid-cooled devices:
Check cooling system and remove error
Error in cooling system, e.g. coolant pump defective or filter
clogged; thereby flow rate too small / inlet temperature of
coolant too high
See also Functional Description of firmware " Current Limitation Loop " .
F2018 - Attributes
8.7.19
Display:
Ident N°:
F2018
F2018
F2019 Motor overtemperature shutdown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The motor temperature measured by the temperature sensor has reached
the limit value in " S‑0‑0204, Motor shutdown temperature " . The drive is im‐
mediately decelerated according to the selected error reaction ( " P‑0‑0119,
Best possible deceleration " ) and shut down. The controller outputs F2019.
For MHD, MKD, MKE and LSF motors, " S‑0‑0204, Motor shut‐
down temperature " is permanently set and cannot be changed.
The error can only be cleared when the motor has cooled down.
Cause
Remedy
Motor shutdown temperature incorrectly parameterized
Check and correct parameterization of " S‑0‑0204, Motor
shutdown temperature " by means of motor or temperature
sensor data sheet
Motor is overloaded. Effective torque demanded from motor
has been above allowed continuous torque too long
Check dimensioning of motor. In case of installations that
have been operated for a long time, check whether drive
conditions have changed (with regard to dirt accumulation,
friction, moved masses etc.)
Line interruption, ground fault or short circuit in line for motor Check line for motor temperature monitoring for line interrup‐
temperature monitoring
tion, ground fault or short circuit
Instability in speed control loop
Check parameterization of speed control loop
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
229/619
Error Messages
Cause
Remedy
For liquid-cooled motors:
Connect cooling system
No cooling system connected
For liquid-cooled motors:
Check cooling system and remove error
Error in cooling system, e.g. coolant pump defective or filter
clogged; thereby flow rate too small / inlet temperature of
coolant too high
See also Functional Description of firmware " Motor Temperature Monitoring " .
F2019 - Attributes
8.7.20
Display:
Ident N°:
F2019
F2019
F2021 Motor temperature monitor defective
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The function of the temperature sensor used for motor temperature monitor‐
ing is cyclically monitored by the drive, as soon as the drive is ready for pow‐
er output ( " Ab " ).
Motors MSK, MAD, MAF
When the voltage level of the temperature sensor is outside of the allowed
range of values, error F2021 is output for Rexroth motors of the MSK, MAD
or MAF lines.
Motors MHD, MKD, MLF, LSF
When a voltage suggesting a temperature sensor defect or a contact error
has been detected at the temperature sensor input for 30 seconds, error
F2021 is output for Rexroth motors of the MHD, MKD, MLF or LSF lines.
Motors 2AD, ADF, 1MB
When a voltage suggesting too low motor temperature, a temperature sensor
defect or a contact error has been detected at the temperature sensor input
for 30 seconds, error F2021 is output for Rexroth motors of the 2AD, ADF or
1MB lines.
The drive reacts to F2021 with the error reaction which has been set or it re‐
fuses drive enable.
The error can only be cleared, when its cause has been removed.
Cause
Remedy
Interruption or short circuit in line for motor temperature
monitoring
Check motor connection and cable for interruption and short
circuit
Temperature sensor in motor is defective
Use replacement temperature sensor (if available) or re‐
place motor
Only for Rexroth motors of lines 2AD, ADF or 1MB:
Observe minimum allowed ambient temperature (see docu‐
mentation of respective motor line)
Motor temperature stays below allowed ambient tempera‐
ture range
Drive controller defective
Replace drive controller or power section
See also Functional Description of firmware " Motor Temperature Monitoring " .
230/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
F2021 - Attributes
8.7.21
Display:
Ident N°:
F2021
F2021
F2022 Device temperature monitor defective
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The function of the temperature sensor used for device temperature monitor‐
ing is cyclically monitored.
When a temperature equal to or less than ‑20 °C has been measured for 30
seconds, a defect is supposed to have occurred and the F2022 error is out‐
put.
Cause
Remedy
Sensor in drive controller is defective
Replace drive controller or power section
F2022 - Attributes
8.7.22
Display:
Ident N°:
F2022
F2022
F2025 Drive not ready for control
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When drive enable is set, the drive must be ready; i.e. it must signal the drive
status " Ab " .
If the drive only signals bb (betriebsbereit = ready for operation), i.e. the DC
bus voltage is too low or the drive is in parameter mode, the drive generates
this error message.
Cause
Remedy
Drive enable (AF) was set before power supply had been
switched on
Check logic for activating drive in connected control unit.
‑ or ‑
Drive enable (AF) was set although drive is still in parameter
mode
F2025 - Attributes
Display:
Ident N°:
F2025
F2025
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
231/619
Error Messages
8.7.23
F2026 Undervoltage in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The DC bus voltage value is monitored by the drive controller and the supply
unit.
Drive Controllers HMS, HMD,
HCS
If the DC bus voltage falls below the minimum value determined for the drive
(see value of " P‑0‑0114, Undervoltage threshold " ) or it reacts to " DC bus not
ok " of the module bus, the drive generates the error message F2026 if " nonfatal error " has been set with regard to the reaction to undervoltage in
" P‑0‑0118, Power supply, configuration " .
HMV Supply Units
If the DC bus voltage falls below 75% of the mains voltage crest value that
was detected when the mains contactor had been switched on, " error in
supply " is signaled via the module bus and F2026 is displayed at the device.
Power is switched off!
Cause
Remedy
Power is switched off without previous drive deactivation by
means of drive enable ( " AF " )
Check logic for activating drive in connected control unit
Failure in power supply or overload of power supply
Check power supply; for HCS02, particularly check wiring of
mains supply to connection X3
Mains failure
Check cause of mains failure, switch mains voltage on again
Temporary supply unit overload
Reduce processing cycle of machine
See also Functional Description of firmware " Power Supply "
F2026 - Attributes
8.7.24
Display:
Ident N°:
F2026
F2026
F2027 Excessive oscillation in DC bus
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Excessive oscillation occurs in the DC bus. The DC bus voltage changes for
several minutes by more than 12V/ms.
Cause
Remedy
Drive oscillates. Oscillation might possibly not be mechani‐
cally visible, therefore check command torque.
Check command torque of drive to know whether it corre‐
sponds to expected load cycle. Check settings of velocity
control loop and position control loop.
Drive loads DC bus impulsively
Check application
F2027 - Attributes
Display:
Ident N°:
F2027
F2027
232/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.7.25
F2028 Excessive deviation
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the position control loop is closed the drive monitors whether it can fol‐
low the preset position command value. To do this a actual model position
value is calculated in the drive and compared with the real actual position val‐
ue. If the difference of calculated and real actual position value exceeds the
value entered in parameter " S‑0‑0159, Monitoring window " it is obvious that
the drive cannot follow the preset command value and the error F2028 is
generated.
The maximum deviation between calculated and real actual posi‐
tion value can be read from " P‑0‑0098, Max. model deviation " .
Cause
Remedy
Parameterized monitoring window too small
Check and, if necessary, correct content of " S‑0‑0159, Moni‐
toring window " .
Too high command acceleration due to incorrect command
value set by control unit
Reduce acceleration value set by the control unit (see con‐
trol unit manual)
Numeric value in " S‑0‑0092, Bipolar torque/force limit value "
too low
Check content of parameter " S‑0‑0092, Bipolar torque/force
limit value " and set it to maximum value allowed for applica‐
tion.
Axis is blocked or sluggish
Check mechanical system and remove axis blocking.
Incorrect or non-optimized control loop parameters
Check control loop setting (e. g. " S‑0‑0104, Position loop Kvfactor " , " S‑0‑0100, Velocity loop proportional gain " ,
" P‑0‑0556, Control word of axis controller " ).
Acceleration capacity of drive was exceeded
Check drive dimensioning
F2028 - Attributes
8.7.26
Display:
Ident N°:
F2028
F2028
F2031 Encoder 1 error: Signal amplitude incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signals of the measuring system (encoder 1) are monitored on hardware
and software level with regard to their amplitudes and signal shape. If a sig‐
nal (e.g., sin or cos) leaves the thresholds monitored by the hardware or if the
signals are disturbed in such a way that a position error occurs, error F2031
is generated in conjunction with the function " redundant motor encoder " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
233/619
Error Messages
As the position of the measuring system is no longer generated
correctly when error F2031 is detected, it is necessary to initialize
the encoder again.
The error can only be cleared in the parameter mode (PM).
Cause
Remedy
Defective encoder cable or cable shielding
Check cable to measuring system and replace it, if necessa‐
ry
Measuring system defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Clean or replace measuring system
Hardware defect on control section of drive
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F2031 - Attributes
8.7.27
Display:
Ident N°:
F2031
F2031
F2032 Validation error during commutation fine adjustment
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When a synchronous motor with incremental measuring system is homed,
the value of " P‑0‑0521, Effective commutation offset " is converted to the
home point reference and compared to the optimized commutation offset in
P‑0‑0508, Commutation offset. If the deviation determined due to this com‐
parison is too great, the error F2032 is generated and the drive is shut down.
If the deviation is too great, the operational safety of the motor is
no longer guaranteed because a " runaway effect " of the motor
can occur.
Cause
Remedy
Initial commissioning was not or incompletely carried out.
Carry out initial commissioning
Motor encoder was replaced
Carry out initial commissioning
Motor connections (U, V, W) were mixed up.
Check and if necessary correct motor connection.
Values in " P‑0‑0508, Commutation offset " and/or " P‑0‑3008, Check value stored in " P‑0‑0508, Commutation offset " ; carry
Commutation offset, encoder memory " were manipulated.
out initial commissioning again, if required.
See also Functional Description of firmware " Establishing the Position Data
Reference (Drive-Controlled Homing) " .
234/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
F2032 - Attributes
8.7.28
Display:
Ident N°:
F2032
F2032
F2033 External power supply X10 error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
If the X10 interface at the IndraDrive controller has been equipped with a digi‐
tal I/O extension " MD1 " or " MD2 " , this requires an external 24 V power sup‐
ply.
The error can only be cleared, when the external power supply is
error-free.
Cause
Remedy
Voltage externally applied is outside of allowed range [and
temporary failures (voltage peaks) are detected]
Supply interface with controlled power supply unit
At least one of the inputs was connected with reversed po‐
larity
Check wiring
At least one of the outputs has short circuit
Check wiring
At least one of the outputs is overloaded
Supply motor brake and interface with different power supply
units, especially in case of long motor cables
External voltage has not been applied, because digital I/Os
are not used
For digital I/O extension " MD1 " , external 24 V power supply
must be connected, even if I/Os are not used.
For digital I/O extension " MD2 " , 24 V monitoring in parame‐
ter P-0-0910 can be switched off, if I/Os are not used.
F2033 - Attributes
8.7.29
Display:
Ident N°:
F2033
F2033
F2036 Excessive position feedback difference
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In cyclic operation, the difference between actual position value 1 and actual
position value 2 (see also " P‑0‑0391, Actual position value difference
encoder1 ‑ encoder2 " ) is compared to " S‑0‑0391, Monitoring window
feedback 2 " . If the absolute value of the difference is greater than the moni‐
toring window, error F2036 is generated.
The drive carries out the error reaction parameterized in " P‑0‑0119, Best
possible deceleration " and the reference bits of both encoders are cleared
( " S‑0‑0403, Position feedback value status " ).
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
235/619
Error Messages
The monitoring function is inactive if the value " 0 " was entered in
the parameter " S‑0‑0391, Monitoring window feedback 2 " .
The error can only be cleared, when the distance of both encod‐
ers is smaller than the monitoring window or the drive is in the pa‐
rameter mode.
Cause
Remedy
Parameters for encoder 2 incorrect
Check " S‑0‑0115, Position feedback 2 type " and " S‑0‑0117,
Resolution of feedback 2 "
Mechanical system between motor shaft and encoder 2 in‐
correctly parameterized
Check " S‑0‑0121, Input revolutions of load gear " , " S‑0‑0122,
Output revolutions of load gear " and " S‑0‑0123, Feed
constant "
Mechanical system between motor shaft and encoder 2 is
not rigid (e.g., gear backlash, slip) and monitoring window is
too small
Increase " S‑0‑0391, Monitoring window feedback 2 " , switch
off in the case of gear with slip
Maximum allowed slip exceeded with active measuring
wheel mode
Check or switch off " P‑0‑0244, Monitoring window of slip in
% "
Encoder cable defective
Replace encoder cable
Maximum input frequency of encoder interface exceeded
Reduce velocity
Encoder 2 not mounted to driven axis
Set " S‑0‑0391, Monitoring window feedback 2 " to " 0 " (switch
monitoring function off)
Incorrect encoder gear settings
Check relevant encoder parameters and correct them, if
necessary:
●
●
" P‑0‑0124, Gear 2 load-side (optional encoder) " /
" P‑0‑0125, Gear 2 encoder-side (optional encoder) "
●
Position data reference of an absolute encoder incorrect
" P‑0‑0121, Gear 1 motor-side (motor encoder) " /
" P‑0‑0122, Gear 1 encoder-side (motor encoder) "
" S‑0‑0121, Input revolutions of load gear " /
" S‑0‑0122, Output revolutions of load gear "
Execute " P‑0‑0012, C0300 Set absolute position procedure
command "
See also Functional Description of firmware " Position Control with Cyclic
Command Value Input "
F2036 - Attributes
8.7.30
Display:
Ident N°:
F2036
F2036
F2037 Excessive position command difference
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the drive is running in the operation mode " position control with cyclic
command value input " , the incoming position command values (cf.
" S‑0‑0047, Position command value " ) are monitored. If the position difference
between two successive position command values is greater than or equal to
236/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
the value in " S‑0‑0091, Bipolar velocity limit value " , the position command
value monitor is activated and the error F2037 is generated.
The excessive position command value is stored in parameter " P‑0‑0010,
Excessive position command value " .
The last valid position command value is stored in parameter " P‑0‑0011, Last
valid position command value " .
Cause
Remedy
Value in " S‑0‑0091, Bipolar velocity limit value " too low
Check and, if necessary, correct parameterization of
" S‑0‑0091, Bipolar velocity limit value "
Incorrect command value set by control unit
Contact control unit manufacturer or programmer
See also Functional Description of firmware " Position Control with Cyclic
Command Value Input "
F2037 - Attributes
8.7.31
Display:
Ident N°:
F2037
F2037
F2039 Maximum acceleration exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
In cyclic position control the allowed acceleration limit value was exceeded.
The acceleration monitor can be switched off by means of
" P‑0‑0556, Control word of axis controller " .
Cause
Remedy
Value in " S‑0‑0138, Bipolar acceleration limit value " too low.
Check and, if necessary, correct parameterization of
" S‑0‑0138, Bipolar acceleration limit value " .
Incorrect command values set by control unit (position com‐
mand values).
Contact control unit manufacturer or programmer.
Preset acceleration value was greater than value parameter‐ Reduce acceleration value used
ized in " S‑0‑0138, Bipolar acceleration limit value " .
●
S‑0‑0042, Homing acceleration
●
●
F2039 - Attributes
8.7.32
Display:
Ident N°:
S‑0‑0260, Positioning acceleration
P‑0‑0057, Return acceleration
F2039
F2039
F2040 Device overtemperature 2 shutdown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
237/619
Error Messages
A switch-off values of the second and, if available, third temperature sensor
are stored in parameter " P‑0‑4059, Electric type data of power section " .
If " P‑0‑0816, Amplifier temperature 2 " exceeds the switch-off value, error
F2040 is generated and the device is switched off.
With HCS04.2: If " P‑0‑0817, Amplifier temperature 3 " exceeds the switch-off
value, error F2040 is generated and the device is switched off.
The error can only be cleared when the device has cooled down.
Cause
Remedy
Ambient temperature too high. Specified performance data
is valid up to an ambient temperature of 40 °C
Reduce ambient temperature, e.g. by cooling the control
cabinet
Heat sink of device is dirty
Clean heat sink
Convection is prevented by other components or mounting
position in control cabinet
Mount device vertically and provide sufficient space for ven‐
tilating heat sink
Device blower defective
Replace device
F2040 - Attributes
8.7.33
Display:
Ident N°:
F2040
F2040
F2042 Encoder 2: Encoder signals incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signals of the measuring system (encoder 2) are monitored on hardware
and software level with regard to their amplitudes and signal shape. If a sig‐
nal (sin or cos) leaves the allowed range or if the signals are disturbed in
such a way that a position error occurs, this error is generated.
As the position is no longer generated correctly when this error is
detected, the encoder must be re-initialized.
The error can only be cleared, when the signals of the encoder
are in the allowed range or the drive is in parameter mode.
Cause
Remedy
Defective encoder cable or cable shielding
Check cable to measuring system and replace it, if necessa‐
ry
Encoder defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Replace measuring system
Hardware defect on control section of drive
Replace control section or entire drive controller
238/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also " E2075 Encoder 2: Encoder signals disturbed "
F2042 - Attributes
8.7.34
Display:
Ident N°:
F2042
F2042
F2043 Measuring encoder: Encoder signals incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signals of the measuring system (measuring encoder) are monitored on
hardware and software level with regard to their amplitudes and signal shape.
If a signal (e.g., sin or cos) leaves the allowed range or if the signals are dis‐
turbed in such a way that a position error occurs, this error is generated.
As the position is no longer generated correctly when this error is
detected, the encoder must be re-initialized.
The error can only be cleared, when the signals of the encoder
are in the allowed range or the drive is in parameter mode.
Cause
Remedy
Defective encoder cable or cable shielding
Check cable to measuring system and replace it, if necessa‐
ry
Encoder defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Replace measuring system
Hardware defect on control section of drive
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also " E2076 Measuring encoder: Encoder signals disturbed "
F2043 - Attributes
Display:
Ident N°:
F2043
F2043
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
239/619
Error Messages
8.7.35
F2044 External power supply X15 error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive monitors the digital IOs of the " Parallel interface ‑ PL " master com‐
munication.
As of MPx08, P‑0‑4089.0.1= " 2 " can be used to deactivate the
function of monitoring the digital IOs of the " Parallel inter‐
face ‑ PL " master communication.
The error can only be cleared, when the external power supply is
error-free.
Cause
Remedy
24-V voltage supply of one or more input/output groups is
missing or is outside of 19 V to 30 V range
Ensure that all 4 input/output groups are supplied with volt‐
age between 19 V and 30 V
Temporary failures (voltage peaks) or voltage drops
Use controlled power supply unit
At least one of the inputs was connected with reversed po‐
larity
Check wiring incl. cable and correct it, if necessary
At least one of the outputs has short circuit or is overloaded
Check wiring incl. cable and remove short circuit, if necessa‐
ry
Voltage drops because motor brake applied
Supply motor brake and interface with different power supply
units, especially in case of long motor cables
F2044 - Attributes
8.7.36
Display:
Ident N°:
F2044
F2044
F2048 Low battery voltage
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The battery was designed for a service life of 10 years in its in‐
stalled state.
In the case of Rexroth motors of the MKD/MKE line, the absolute position in‐
formation is maintained, by means of battery-buffered electronics in the motor
feedback, even when the drive controller has been switched off. The battery
voltage is checked in the transition command from parameter to operating
mode during the initialization of the drive.
240/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
As long as the drive is locked with a customer password, the error
F2048 cannot be cleared!
CAUTION
Error when controlling motors and moving
parts!
When the error occurs for the first time, the absolute encoder function is only
guaranteed for approx. another 2 weeks!
Replace battery immediately!
Cause
Remedy
Battery voltage has fallen below 3.1 V
Clear error and immediately arrange for and prepare re‐
placement of battery (see instructions in Project Planning
Manual for respective motor). For replacement of battery ob‐
serve warning notice below!
Battery voltage has fallen below 2.8 V
Error cannot be cleared any longer. Battery must be re‐
placed immediately (see instructions in Project Planning
Manual for respective motor). For replacement of battery ob‐
serve warning notice below!
DANGER
Lethal electric shock caused by live parts with
more than 50 V!
⇒ The battery must be replaced with the control voltage switched on. The re‐
placement of the battery may only be carried out by a qualified electrician.
If the control voltage is switched off after the battery was re‐
moved, the absolute position data reference gets lost. The posi‐
tion data reference then has to be reestablished.
See also Functional Description of firmware " Establishing the Position Data
Reference " .
F2048 - Attributes
8.7.37
Display:
Ident N°:
F2048
F2048
F2050 Overflow of target position preset memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the case of drive-controlled positioning it is possible to preset a new posi‐
tioning command value x(k+1) while the drive is moving to the target position
of the last positioning command value x(k). The new positioning command
value is stored in an input buffer (target position preset memory) and is not
cleared until it has been accepted.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
241/619
Error Messages
Cause
Remedy
There was an attempt to preset a new positioning command
value x(k+2) while drive was moving to target position of po‐
sitioning command value x(k)
Check command value in control unit and make sure that
new positioning command value x(k+2) is only preset when
positioning command value x(k+1) was accepted and drive
moves to corresponding target position
Incorrect command value acceptance (toggling of " S‑0‑0346, Check control program and only toggle bit 0 of " S‑0‑0346,
Positioning control word " ) in control unit causes positioning
Positioning control word " once for each new positioning
command value to be accepted several times
command value, because every change of the bit causes
current positioning command value to be accepted.
Incorrect positioning mode for " approaching target " was set
in " S‑0‑0346, Positioning control word " .
Set positioning mode " immediately moving to new target " for
" approaching target " in " S‑0‑0346, Positioning control word " .
See also Functional Description of firmware " Drive-Controlled Positioning " .
F2050 - Attributes
8.7.38
Display:
Ident N°:
F2050
F2050
F2051 No sequential block in target position preset memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the case of the positioning block mode " sequential block without intermedi‐
ate stop " the drive is monitoring whether a new positioning block is available
in the target position preset memory when the target position has been
reached.
Cause
Remedy
When target position of a sequential block has been
reached, there is no new positioning block in target position
preset memory
Preset sequential block in time (before target position has
been reached)
Positioning block mode by mistake set to " sequential block
without intermediate stop " .
Check positioning block mode and switch off sequential
block processing, if necessary ( " S‑0‑0346, Positioning con‐
trol word " ).
See also Functional Description of firmware " Drive-Controlled Positioning " .
See also Functional Description of firmware " Positioning Block Mode " .
F2051 - Attributes
8.7.39
Display:
Ident N°:
F2051
F2051
F2053 Incr. encoder emulator: Pulse frequency too high
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The number of increments or lines output within the position loop cycle
(Basic: TA = 500 µs, Advanced: TA = 250 µs) is monitored in the drive in or‐
242/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
der to make sure that the maximum allowed frequency of the incremental en‐
coder signals of 1024 kHz is not exceeded; otherwise a position offset would
be produced due to " lost increments " .
The maximum allowed frequency of the incremental encoder sig‐
nals also has to be taken into account for dimensioning the sub‐
sequent evaluation electronics in the control unit!
Cause
Remedy
Resolution set in " P‑0‑0903, Encoder emulation resolution " Reduce number of increments of incremental encoder emu‐
is too high for existing travel velocity.
lator in " P‑0‑0903, Encoder emulation resolution "
‑ or ‑
Reduce travel velocity.
See also Functional Description of firmware " Incremental Encoder Emula‐
tion " .
F2053 - Attributes
8.7.40
Display:
Ident N°:
F2053
F2053
F2054 Incr. encoder emulator: Hardware error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the case of incremental encoder emulation, a check is run at the end of
each output interval (= position loop clock) to find out whether all increments
to be output have been output before the next increment output is started.
Exceeding the run time or hardware errors can cause overlapping that is de‐
tected during the check and signaled by the error message F2054.
Cause
Remedy
Run time internally exceeded
Switch off all functions not required (e.g. analog output). If
this does not remove error, replace control section or entire
drive controller and contact our service department.
Hardware error
Replace control section or entire drive controller and contact
our service department.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware Incremental Encoder Emulation.
F2054 - Attributes
Display:
Ident N°:
F2054
F2054
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
243/619
Error Messages
8.7.41
F2055 External power supply dig. I/O error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In case of " High " control of one or several digital outputs of the interfaces
X31/X32 at the drive controller (assigned in " P‑0‑0300, Digital I/Os, assign‐
ment list " ), there is no " High " signal (+DC24 V) output.
The error can only be cleared, when the external power supply is
error-free.
Cause
Remedy
Output or outputs are overloaded
Reduce load of output
Only IndraDrive Mi as of firmware MPB05V06: Overloaded
outputs are switched off to avoid hardware defect
24-V supply of interfaces X31/X32 has not been connected
Connect 24-V supply
Short-circuited output or outputs
Remove short circuit/short circuits
See also Functional Description of firmware " Digital Inputs/Outputs "
F2055 - Attributes
8.7.42
Display:
Ident N°:
F2055
F2055
F2057 Target position out of travel range
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In operation modes with internal position command value generation a check
is run, before a movement is carried out, in order to find out whether the pre‐
set target position ( " S‑0‑0258, Target position " , S‑0‑0282, Positioning
command value or P‑0‑4006, Positioning block target position [i]) is within the
allowed travel range of the drive. The error F2057 was generated because
the preset target position is outside of the allowed travel range.
The allowed travel range of the drive is defined by
●
S‑0‑0049, Positive position limit value
●
S‑0‑0050, Negative position limit value
●
S‑0‑0278, Maximum travel range
The position limit value monitor and thus the monitoring of the allowed travel
range can be activated / deactivated in " S‑0‑0055, Position polarities " .
The reaction to a travel range error can be set in " P‑0‑0090, Travel range
limit parameter " .
244/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Position limit values ( " S‑0‑0049, Positive position limit
value " , " S‑0‑0050, Negative position limit value " ) incorrectly
parameterized
Check parameterization of position limit values and adjust it
according to desired travel range ( " S‑0‑0049, Positive
position limit value " has to be greater than " S‑0‑0050,
Negative position limit value " )
Position limit value monitor has been activated although it is
not needed
Deactivate position limit value monitor if it is not needed
(e.g., in modulo operation)
In the case of relative interpolation, value for travel range
Check preset travel range (cf. " S‑0‑0258, Target position " )
was set too high or several travel ranges that are added
and, if necessary, adjust it in control unit program
cause effective target position (cf. " S‑0‑0430, Effective target
position " ) to be outside of position limits
In the case of absolute interpolation, preset target position is Check preset target position (cf. " S‑0‑0258, Target position "
incorrect
or " S‑0‑0282, Positioning command value " ) and, if necessa‐
ry, adjust it in control unit program (only enter " S‑0‑0258,
Target position " within position limit values)
In " positioning block mode " one or more target positions
have been incorrectly parameterized or incorrect positioning
block is selected
Check parameterized target positions in " P‑0‑4006,
Positioning block target position " and block selection
(P‑0‑4026, Positioning block selection). In addition, check
block selection via respective master communication (e.g.,
field bus or digital I/Os).
See also Functional Description of firmware " Position Limitation/Travel
Range Limit Switches "
For " relative interpolation " , see Functional Description of firmware " DriveControlled Positioning "
For " absolute interpolation " , see Functional Description of firmware " DriveInternal Interpolation "
F2057 - Attributes
8.7.43
Display:
Ident N°:
F2057
F2057
F2058 Internal overflow by positioning input
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In operating modes that are using the internal path generator (interpolation,
positioning, positioning block mode and spindle positioning), the residual path
to be traveled and the braking distance are monitored to find out whether the
numeric range is exceeded.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
245/619
Error Messages
Cause
Remedy
Due to command value input a residual path was generated
that is greater than 2^31.
Check command value input, positioning velocity or potenti‐
ometer value
Note:
As the internal position resolution is determined by the travel
range (from ‑travel range to +travel range the resulting max.
distance is less than 2^31), this can only occur with axes
with modulo scaling. In this case only if relative distances
are stringed together several times without the axis being
able to follow.
Calculated braking distance is greater than 2^31
Increase " S‑0‑0278, Maximum travel range "
– or ‑
Increase deceleration in " S‑0‑0359, Positioning decelera‐
tion " , " S‑0‑0372, Drive Halt acceleration bipolar " or
" P‑0‑4063, Positioning block deceleration " .
F2058 - Attributes
8.7.44
Display:
Ident N°:
F2058
F2058
F2059 Incorrect command value direction when positioning
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the operating modes " drive-controlled positioning " and " positioning block
mode " it is possible to jog the axis in both directions and preset relative dis‐
tances in both directions.
If " S‑0‑0076, Position data scaling type " was set in such a way that the posi‐
tion data of the axis are to be processed in modulo format and positive or
negative rotational direction was selected in " S‑0‑0393, Command value
mode " , a command value in the wrong direction causes error F2059 to be
generated.
Cause
Remedy
In operating mode " drive-controlled positioning " , target posi‐
tion points to wrong direction.
Check relative positioning input ( " S‑0‑0282, Positioning com‐
mand value " )
Rotational direction of " modulo axis " incorrectly parameter‐
ized for drive-controlled positioning procedures
Check command value mode that was set ( " S‑0‑0393, Com‐
mand value mode " )
In operating mode " positioning block mode " , target position
points to wrong direction.
Check relative positioning input ( " P‑0‑4006, Positioning
block target position " ).
You are trying to jog in wrong direction.
Jogging only in allowed rotational direction ( " S‑0‑0346, Posi‐
tioning control word " )
See also Functional Description of firmware:
●
●
F2059 - Attributes
" Drive-Controlled Positioning "
" Positioning Block Mode "
Display:
Ident N°:
F2059
F2059
246/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.7.45
F2063 Internal overflow master axis generator
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The residual path to be traveled and the braking distance are monitored to
find out whether the numeric range is exceeded.
Cause
Remedy
Braking distance of axis is greater than position value range
that can be displayed.
Increase " P‑0‑0771, Virtual master axis, positioning acceler‐
ation "
Deceleration value that was set ( " P‑0‑0771, Virtual master
axis, positioning acceleration " ) is too low.
Braking distance of axis is greater than position value range
that can be displayed.
Reduce " P‑0‑0770, Virtual master axis, positioning velocity "
Velocity value that was set ( " P‑0‑0770, Virtual master axis,
positioning velocity " ) is too high.
F2063 - Attributes
8.7.46
Display:
Ident N°:
F2063
F2063
F2064 Incorrect cmd value direction master axis generator
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
With the internal master axis generator it is possible to jog the virtual master
axis in both directions and preset relative distances in both directions.
Cause
Remedy
Due to setting in " P‑0‑0756, Virtual master axis, scaling
type " , position data of virtual master axis are to be pro‐
cessed in modulo format and positive or negative rotational
direction was selected in " P‑0‑0769, Virtual master axis,
command value mode " . Input command value leads to
wrong direction.
Input command value direction according to parameter set‐
ting in " P‑0‑0769, Virtual master axis, command value
mode " .
F2064 - Attributes
Display:
Ident N°:
F2064
F2064
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
247/619
Error Messages
8.7.47
F2067 Synchronization to master communication incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive control is synchronized to the bus interface (SERCOS, Profibus, In‐
terbus, ...) via two phase control loops (Phase Locked Loop - PLL). The cor‐
rect function of the synchronization is monitored by monitoring the respective
control deviation of the two PLLs for an allowed threshold. When the thresh‐
old is exceeded this error message is generated.
Cause
Remedy
Interference injection due to incorrect connection of master
communication cause synchronization problems.
Check connection of master communication (incl. shield
connection) and correct it, if necessary.
Synchronization clock of master oscillates very much due to
software or hardware error in master (e.g. jitter of MST with
SERCOS).
Check field bus master and make sure synchronization clock
is good and constant.
Master communication hardware of drive controller is defec‐
tive (e.g. optional SERCOS card).
Replace control section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Master Communication " .
F2067 - Attributes
8.7.48
Display:
Ident N°:
F2067
F2067
F2068 Brake error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The holding brake current is monitored when the holding brake has been
controlled. If the holding brake current is outside of the allowed range, the
error F2068 is generated.
Furthermore, the holding brake of controllers of the IndraDrive Cs type is
monitored for wire break. If wire break has occurred, the error F2068 is gen‐
erated, too.
If the activation of brake control causes problems with wire break monitoring,
wire break monitoring can be deactivated (see " P‑0‑0525, Holding brake
control word " ).
248/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Supply voltage for holding brake has not been correctly con‐ Check supply voltage
nected or is outside of tolerance (24 V +/-5 %)
Motor cable has been incompletely connected
Check motor cable
Motor holding brake is defective
Replace motor
Drive controller is defective
Replace drive controller
Controllers of type IndraDrive Cs: The error F2068 can only be
cleared by switching off the supply voltage for the holding brake!
See also Functional Description of firmware " Motor Holding Brake "
F2068 - Attributes
8.7.49
Display:
Ident N°:
F2068
F2068
F2069 Error when releasing the motor holding brake
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the automatic check of the holding brake ( " P‑0‑0525, Holding brake
control word " ), after drive enable or after the start of the " P‑0‑0541, C2100
Brake check command " the motor did not move, although half the holding tor‐
que was produced.
The result of the brake check is displayed in " P‑0‑0539, Holding
brake status word " .
Cause
Remedy
Motor brake (servo brake) was not or incorrectly connected.
Connect brake or correct connection
Axis is mechanically blocked
Check mechanical system and remove blocking
Brake is defective
Check and, if necessary, replace brake
Brake supply error
Check voltage
Friction torque of axis is greater than test torque of drive.
Deactivate brake check ( " P‑0‑0525, Holding brake control
word " ) because it cannot be used due to mechanical proper‐
ties.
F2069 - Attributes
Display:
Ident N°:
F2069
F2069
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
249/619
Error Messages
8.7.50
F2074 Actual pos. value 1 outside absolute encoder window
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When switching off a drive with a motor encoder that can be evaluated in ab‐
solute form, the current actual position is stored in the drive. When switching
the drive on again, the current position is compared to the position stored
when the drive was switched off the last time. If the deviation is greater than
the value in " P‑0‑0095, Absolute encoder monitoring window for motor
encoder " , the error message F2074 is generated.
The monitoring function can be switched off by " P‑0‑0095,
Absolute encoder monitoring window for motor encoder " = " 0 " .
Cause
Remedy
While switched off, axis was moved by more than value en‐
tered in " P‑0‑0095, Absolute encoder monitoring window for
motor encoder " .
Make sure displayed position is correct in relation to ma‐
chine zero point. Then clear error and, if necessary, reestab‐
lish position data reference
Value entered in " P‑0‑0095, Absolute encoder monitoring
Check parameterization of " P‑0‑0095, Absolute encoder
window for motor encoder " is too low for existing encoder
monitoring window for motor encoder " and increase monitor‐
resolution so that normal encoder jitter already causes moni‐ ing window
tor to be triggered
Amplifier replaced without parameter update
Clear error and establish position data reference
Change in parameters of mechanical system (gear, feed
constant, ...)
Clear error and establish position data reference
Motor encoder defective
Replace motor or motor encoder
WARNING
Risk of accident caused by unwanted axis
motion!
⇒ Check position data reference. The encoder is defective if the position data
reference is incorrect! Replace the motor and send it to the manufacturer's
service department for inspection.
F2074 - Attributes
8.7.51
Display:
Ident N°:
F2074
F2074
F2075 Actual pos. value 2 outside absolute encoder window
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When switching off a drive with an external encoder that can be evaluated in
absolute form, the current actual position is stored in the drive. When switch‐
250/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
ing the drive on again, the current position is compared to the position stored
when the drive was switched off the last time. If the deviation is greater than
the value in " P‑0‑0096, Absolute encoder monitoring window for opt.
encoder " , the error message F2075 is generated.
By means of " P‑0‑0096, Absolute encoder monitoring window for
opt. encoder " , the monitoring function can be switched off.
Cause
Remedy
While switched off, axis was moved by more than value en‐
tered in " P‑0‑0096, Absolute encoder monitoring window for
opt. encoder "
Make sure displayed position is correct in relation to ma‐
chine zero point. Then clear error and, if necessary, reestab‐
lish position data reference
Value entered in " P‑0‑0096, Absolute encoder monitoring
Check parameterization of " P‑0‑0096, Absolute encoder
window for opt. encoder " is too low for existing encoder res‐ monitoring window for opt. encoder " and increase monitoring
olution so that normal encoder jitter will already cause moni‐ window
tor to be triggered.
Encoder defective or encoder replacement
Replace encoder, clear error and establish position data ref‐
erence
Amplifier replaced without parameter update
Clear error and establish position data reference
Change in parameters of mechanical system (gear, feed
constant, ...)
Clear error and establish position data reference
WARNING
Risk of accident caused by unwanted axis
motion!
⇒ Check position data reference. The encoder is defective if the position data
reference is incorrect! Replace the encoder and send it to the manufacturer's
service department for inspection.
F2075 - Attributes
8.7.52
Display:
Ident N°:
F2075
F2075
F2076 Actual pos. value 3 outside absolute encoder window
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When switching off a drive with a measuring encoder that can be evaluated in
absolute form, the current actual position is stored in the drive. When switch‐
ing the drive on again, the current position is compared to the position stored
when the drive was switched off the last time. If the deviation is greater than
the value in " P‑0‑0097, Absolute encoder monitoring window for measuring
encoder " , the error message F2076 is generated.
The monitoring function can be switched off by " P‑0‑0097,
Absolute encoder monitoring window for measuring encoder " = " 0 " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
251/619
Error Messages
Cause
Remedy
While switched off, axis was moved by more than value en‐
tered in " P‑0‑0097, Absolute encoder monitoring window for
measuring encoder " .
Make sure displayed position is correct in relation to ma‐
chine zero point. Then clear error and, if necessary, reestab‐
lish position data reference
Value entered in " P‑0‑0097, Absolute encoder monitoring
Check parameterization of " P‑0‑0097, Absolute encoder
window for measuring encoder " is too low for existing encod‐ monitoring window for measuring encoder " and increase
er resolution so that normal encoder jitter already causes
monitoring window
monitor to be triggered
Encoder defective or encoder replacement
Replace encoder, clear error and establish position data ref‐
erence
Amplifier replaced without parameter update
Clear error and establish position data reference
Change in parameters of mechanical system (gear, feed
constant, ...)
Clear error and establish position data reference
WARNING
Risk of accident caused by unwanted axis
motion!
⇒ Check position data reference. The encoder is defective if the position data
reference is incorrect! Replace the encoder and send it to the manufacturer's
service department for inspection.
F2076 - Attributes
8.7.53
Display:
Ident N°:
F2076
F2076
F2077 Current measurement trim wrong
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The current measurement in the drive controller is adjusted in operation. The
adjust values are checked for compliance with the allowed tolerance. If the
values are higher the error message F2077 is generated.
Cause
Remedy
Hardware of control section or power section defective.
Replace power section or control section resp. entire drive
controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section or the power section. The re‐
placement of the entire drive controller is described in the Project
Planning Manual for the power section.
F2077 - Attributes
Display:
Ident N°:
F2077
F2077
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Error Messages
8.7.54
F2086 Error supply module
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
This error is signaled by the supply to the drives via the module bus. It has
high priority and...
●
causes error reaction in the drives in operation. The error message is
displayed at these drives.
●
causes power of the supply unit to be switched off or the Bb contact of
converters to open (requires assignment of respective bit " P‑0‑0861,
Status word of power section " to digital output!) and possibly causes DC
bus short circuit (requires corresponding wiring!).
This error can also have been caused by a fatal drive error that was signaled
to the supply via the module bus. The respective settings must be made in
" P‑0‑0118, Power supply, configuration " .
Cause
Remedy
Failure in power supply or overload of power supply.
Check power supply
Fatal error message of one or several drives of a drive sys‐
tem and message signaled to supply (configuration
P‑0‑0118).
Identify drive or drives signaling a fatal error. Remove cause
of error at respective drive or drives.
See also Functional Description of firmware " Power Supply " .
F2086 - Attributes
8.7.55
Display:
Ident N°:
F2086
F2086
F2087 Module group communication error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signal states of the module bus are incorrect.
The error can only be cleared, when the signals are error-free or
the module bus communication was switched off.
Cause
Remedy
Failure of control voltage supply of a module bus node while Supply all devices of a " drive system " with control voltage
" drive system " is ready for power output or in operation
Disturbance on module bus
Identify and remove sources of disturbance
Incorrect signal timing on module bus
Identify and replace faulty device
Module bus cable defective
Identify and replace defective module bus cable; replace de‐
vice, if necessary
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Error Messages
See also Functional Description of firmware " Power Supply "
F2087 - Attributes
8.7.56
Display:
Ident N°:
F2087
F2087
F2100 Incorrect access to command value memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error occurred when accessing the flash/internal memory.
Cause
Remedy
Failure occurs sporadically (firmware error)
Clear error and contact our service department for firmware
update.
Hardware in control section is defective
Should error occur repeatedly, control section or entire drive
has to be replaced.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F2100 - Attributes
8.7.57
Display:
Ident N°:
F2100
F2100
F2101 It was impossible to address MMC
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When accessing the Multi Media Card (MMC) an error occurred.
Cause
Remedy
Failure occurs sporadically (firmware error)
Clear error and contact our service department in order to
get a firmware update
MMC has not been plugged in correctly or is defective
Clear error and check MMC or plug it in correctly. If error oc‐
curs again when MMC is accessed, MMC has to be re‐
placed.
MMC slot in control section is defective
Clear error and check MMC slot. If error occurs again when
MMC is accessed, control section or entire drive controller
has to be replaced.
See also Functional Description of firmware " MultiMediaCard (MMC) "
F2101 - Attributes
Display:
Ident N°:
F2101
F2101
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Error Messages
8.7.58
F2102 It was impossible to address I2C memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When addressing a memory via the I2C bus an error occurred.
Cause
Remedy
Failure occurs sporadically (firmware error)
Clear error and contact our service department in order to
get a firmware update.
Encoder cable defective or bad shielding
Clear error. Replace defective encoder cable or improve
shielding.
Encoder memory or encoder electronics is defective.
Clear error. Replace encoder or motor
Hardware defect on control section
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Measuring Systems "
F2102 - Attributes
8.7.59
Display:
Ident N°:
F2102
F2102
F2103 It was impossible to address EnDat memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When addressing a memory via the EnDat bus an error occurred.
Cause
Remedy
Failure occurs sporadically (firmware error)
Clear error and contact our service department in order to
get a firmware update.
Encoder cable defective or bad shielding
Clear error. Replace defective encoder cable or improve
shielding.
Encoder memory or encoder electronics is defective
Clear error. Replace encoder or motor.
Hardware defect on control section
Replace control section or entire drive controller.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
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Error Messages
See also Functional Description of firmware " Measuring Systems " .
F2103 - Attributes
8.7.60
Display:
Ident N°:
F2103
F2103
F2104 Commutation offset invalid
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The commutation offset value stored in the motor encoder memory was de‐
tected to be invalid.
The motor mustn't be operated without valid commutation offset!
Cause
Remedy
Failure occurs sporadically (firmware error)
Clear error. Then execute command " P‑0‑0524, C1200
Commutation offset setting command " ; if error occurs again
contact our service department in order to get a firmware up‐
date.
Encoder memory or encoder electronics is defective
Clear error. Replace encoder or motor. Then execute com‐
mand " P‑0‑0524, C1200 Commutation offset setting com‐
mand " .
See also Functional Description of firmware " Commutation Setting " .
F2104 - Attributes
8.7.61
Display:
Ident N°:
F2104
F2104
F2105 It was impossible to address Hiperface memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When addressing a memory via the HIPERFACE bus an error occurred.
Cause
Remedy
Failure occurs sporadically (firmware error)
Clear error and contact our service department in order to
get a firmware update.
Encoder cable defective or bad shielding
Clear error. Replace defective encoder cable or improve
shielding.
Encoder memory or encoder electronics is defective
Clear error. Replace encoder or motor.
Hardware defect on control section
Replace control section or entire drive controller.
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Error Messages
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual of
the power section, the saving and loading of the parameters is ex‐
plained in the Functional Description of the firmware.
See also Functional Description of firmware " Measuring Systems " .
F2105 - Attributes
8.7.62
Display:
Ident N°:
F2105
F2105
F2110 Error in non-cyclical data communic. of power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error occurred in the communication between control section and power
section.
Cause
Remedy
Failure occurs sporadically (firmware error)
Clear error and contact our service department for firmware
update
Hardware defective
Should error occur repeatedly, control section or entire de‐
vice has to be replaced
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F2110 - Attributes
8.7.63
Display:
Ident N°:
F2110
F2110
F2120 MMC: Defective or missing, replace
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Due to the setting in " P-0-4070, Parameter storage configuration " or due to
the drive (a distributed servo drive KSM1) is used), it is necessary to have an
MMC. The MMC is checked during the initialization phase; an error occurred
during the check.
The drive only runs up to communication phase 2 and refuses further phase
progression.
1)
Component of the drive system Rexroth IndraDrive Mi
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Error Messages
Communication via the SERCOS interface, however, and thereby the reading
of the error message are ensured.
Cause
Remedy
It was impossible to address MMC
Check whether MMC was plugged in and that it has been
correctly inserted
- or MMC might possibly be defective, replace it by another one
" Programming module mode " was set via P-0-4070, but Change parameter storage configuration to " init/update me‐
MMC hasn't been plugged
dium " (P-0-4070=0)
F2120 - Attributes
8.7.64
Display:
Ident N°:
F2120
F2120
F2121 MMC: Incorrect data or file, create correctly
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The distributed servo drive KSM (component of the drive system Rexroth
IndraDrive Mi) is only ready for operation with the MMC having been plugged.
The MMC is checked during the initialization phase; an error occurred during
the check.
The drive only runs up to communication phase 2 and refuses further phase
progression.
Communication via the SERCOS interface, however, and thereby the reading
of the error message are ensured.
Cause
Remedy
MMC itself is alright, but directories, files or data on the Copy contents of previously made backup copy to MMC
MMC are faulty or missing. Particularly firmware, parameters (see also " Project Planning Manual " , " Rexroth IndraDrive
and retain data must be available.
Mi " : " MMC " )
F2121 - Attributes
8.7.65
Display:
Ident N°:
F2121
F2121
F2122 MMC: Incorrect IBF file, correct it
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The distributed servo drive KSM (component of the drive system Rexroth
IndraDrive Mi) is only ready for operation with the MMC having been plugged.
The MMC is checked during the initialization phase; an error occurred during
the check.
The drive only runs up to communication phase 2 and refuses further phase
progression.
258/619
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Error Messages
Communication via the SERCOS interface, however, and thereby the reading
of the error message are ensured.
Cause
Remedy
In " Firmware " folder, operation firmware (file with extension Check and correct MMC and " Firmware " folder with appro‐
" .ibf " ) is missing or more than on file with extension " .ibf " priate reader
was found
Operation firmware is defective
Order firmware again; transmission error might possibly
Note: Writing the MMC takes a relatively long time. If you do have occurred. Afterwards, copy firmware to MMC again.
not wait until end of writing process, file with operation firm‐ - or ware on MMC is not complete and it will be detected as be‐ Copy functioning operation firmware either from backup
ing defective.
copy or from another MMC to defective MMC
Tip: For firmware update, it is necessary to replace file with
extension " .ibf " (operation firmware); it is strongly recom‐
mended that you do not delete operation firmware, but re‐
name file extension, e.g. from " .ibf " to " .ibx " . In any case,
you should make a backup copy of current operation firm‐
ware.
F2122 - Attributes
8.7.66
Display:
Ident N°:
F2122
F2122
F2123 Retain data backup impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The distributed servo drive KSM (component of the drive system Rexroth
IndraDrive Mi) is only ready for operation with the MMC having been plugged.
The MMC is checked during the initialization phase.
In addition, important operating data, such as the current position, operating
time, travel block etc., are stored when the controller is switched off. If this
storing process is faulty, it is impossible to continue operation after the next
switch-on in such a way as if there hadn't been any interruption; for example,
the motor loses its reference in the case of faulty retain data backup. To
make sure that the retain data backup works faultlessly, such a data backup
is carried out for test purposes during the initialization phase.
The drive only runs up to communication phase 2 and refuses further phase
progression.
Communication via the SERCOS interface, however, and thereby the reading
of the error message are ensured.
Cause
Remedy
Backup of retain data for test purposes was terminated with Hardware specifications of MMC used might possibly be so
an error
near to limits that this (quick) write access did not work. Re‐
place MMC by original factory-provided one.
Temporary failure might possibly have occurred
Switch off and on again
Hardware or software defect
Read logbook and forward entry to service department
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Error Messages
F2123 - Attributes
8.7.67
Display:
Ident N°:
F2123
F2123
F2124 MMC: Saving too slowly, replace
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the booting phase of the drive, a backup of the retain data on the MMC is
tested. The error F2124 is generated, because the storage process takes
more than 50 ms.
Cause
Remedy
Storage process of MMC is too slow (e.g. slowed storage for Replace MMC
reasons of aging)
F2124 - Attributes
8.7.68
Display:
Ident N°:
F2124
F2124
F2130 Error comfort control panel
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error occurred in the communication with the comfort control panel
(VCP01):
●
" reset " couldn't be carried out
●
error during download of application or firmware
●
communication to control panel disturbed
Cause
Remedy
Communication disturbed
Remove EMC problems; check shielding of controller
Firmware / application problem
Replace firmware and / or application on control panel; re‐
place drive firmware
Control panel defective
Replace control panel
Control section defective
Should error occur repeatedly, control section or entire drive
has to be replaced
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F2130 - Attributes
Display:
Ident N°:
F2130
F2130
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Error Messages
8.7.69
F2140 CCD slave error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
An error occurred in a CCD slave.
Cause
Remedy
An F2 or F3 error occurred in a CCD slave and " error reac‐
tion active " has been set in " P‑0‑1600, CCD: configuration " .
Locate faulty slave and remove cause of error for this slave.
An F8 error occurred in a CCD slave and " best possible de‐
celeration " has been set in " P‑0‑1600, CCD: configuration "
as reaction to an F8 error.
Locate faulty slave and remove cause of error for this slave.
Faulty command triggering of a remote axis (Axis2) in MLD- Locate faulty function block and remove error by means of
M master. (For example, motion function block " MC_MoveR‐ function block error outputs.
elative " with " Acceleration " =0).
See also Functional Description of firmware " Cross Communication (CCD) " .
F2140 - Attributes
8.7.70
Display:
Ident N°:
F2140
F2140
F2150 MLD motion function block error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During command triggering with a motion function block an error occurred.
The reaction to errors can be configured.
The error message F2150 is available as of firmware MPx04V10.
Cause
Remedy
Faulty command triggering in MLD-S (single-axis applica‐
tion)
Locate faulty function block and remove error by means of
function block error outputs.
‑ or ‑
Faulty command triggering of local axis (axis1) in MLD-M
master. (For example, motion function block such as
" MC_MoveRelative " with " Acceleration " =0).
See also Application Manual Rexroth IndraMotion MLD " Error Handling of
IndraMotion MLD " .
F2150 - Attributes
Display:
Ident N°:
F2150
F2150
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
261/619
Error Messages
8.7.71
F2174 Loss of motor encoder reference
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the case of absolute encoder evaluation, the validity of the initialized abso‐
lute position is checked during position initialization. If the controller detects
that the position data reference of the encoder cannot be established any
more due to changes of the mechanical system parameters or due to re‐
placement of encoder or device, the actual position value status ( " S‑0‑0403,
Position feedback value status " ) goes to " relative " and the error F2174 is
generated.
Cause
Remedy
Switching on without reference (in the case of initial commis‐ Clear error and reestablish position data reference.
sioning or caused, for example, by changing parameters that
characterize mechanical system or influence position evalu‐
ation).
Switching on without reference (after replacing motor or mo‐ Clear error and establish position data reference.
tor encoder)
Motor encoder defective
Replace motor or motor encoder, clear error and establish
position data reference.
Parameters of mechanical system changed (gear, feed con‐
stant, ...)
Clear error and establish position data reference.
Amplifier replaced without parameter update
Clear error and establish position data reference
Switching on without reference after replacement of device
with loaded axis-specific parameter values (according to list
from " S‑0‑0192, IDN-list of backup operation data " ).
Clear error and establish position data reference
F2174 - Attributes
8.7.72
Display:
Ident N°:
‑ or ‑
Clear error, then load parameter values of " P‑0‑0195, IDN
list of retain data (replacement of devices) " , if it was possible
to save them immediately before device was replaced.
Check reestablished position data reference for correctness.
F2174
F2174
F2175 Loss of optional encoder reference
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the case of absolute encoder evaluation, the validity of the initialized abso‐
lute position is checked during position initialization. If the controller detects
that the position data reference of the encoder cannot be established any
more due to changes of the mechanical system parameters or due to re‐
placement of encoder or device, the actual position value status ( " S‑0‑0403,
262/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Position feedback value status " ) goes to " relative " and the error F2175 is
generated.
Cause
Remedy
Switching on without reference (in the case of initial commis‐ Clear error and reestablish position data reference.
sioning or caused, for example, by changing parameters that
characterize mechanical system or influence position evalu‐
ation).
Switching on without reference (after replacement of encod‐
er).
Clear error and establish position data reference.
Optional encoder defective.
Replace encoder, clear error and establish position data ref‐
erence.
Parameters of mechanical system changed (gear, feed con‐
stant, ...).
Clear error and establish position data reference.
Amplifier replaced without parameter update.
Clear error and establish position data reference.
Switching on without reference after replacement of device
with loaded axis-specific parameter values (according to list
from " S‑0‑0192, IDN-list of backup operation data " ).
Clear error and establish position data reference
F2175 - Attributes
8.7.73
Display:
Ident N°:
‑ or ‑
Clear error, then load parameter values of " P‑0‑0195, IDN
list of retain data (replacement of devices) " , if it was possible
to save them immediately before device was replaced.
Check reestablished position data reference for correctness.
F2175
F2175
F2176 Loss of measuring encoder reference
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the controller is switched on, it determines, in the case of absolute en‐
coder evaluation, the initial position of the measuring system (position initiali‐
zation) and checks its validity. If the controller detects that the position data
reference of the encoder cannot be established any more due to changes of
the mechanical system parameters or due to replacement of encoder or de‐
vice, the actual position value status ( " S‑0‑0403, Position feedback value sta‐
tus " ) goes to " relative " and this diagnostic message is generated.
Cause
Remedy
Switching on without reference (in the case of initial commis‐ Clear error and establish position data reference.
sioning or caused, for example, by changing parameters that
characterize mechanical system or influence position evalu‐
ation).
Encoder defective
Replace measuring encoder, clear error and establish posi‐
tion data reference.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
263/619
Error Messages
Cause
Remedy
Switching on without reference (after replacement of meas‐
uring encoder).
Clear error and establish position data reference.
Controller replaced without parameter update.
Clear error and establish position data reference.
F2176 - Attributes
8.7.74
Display:
Ident N°:
F2176
F2176
F2177 Modulo limitation error of motor encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
With active modulo scaling the drive limits its actual position values to the val‐
ues parameterized in " S‑0‑0103, Modulo value " , otherwise to the value para‐
meterized in " S‑0‑0278, Maximum travel range " . As these values possibly
cannot be exactly displayed, the corresponding recalculation of the systemat‐
ic errors in the case of position overflow takes place in the drive.
In the ideal case " S‑0‑0278, Maximum travel range " is set in such
a way that the drive always is within the defined travel range and
there is no overflow.
Cause
Remedy
" S‑0‑0103, Modulo value " or " S‑0‑0278, Maximum travel
range " have been incorrectly parameterized and not adjus‐
ted to the application.
Check and, if necessary, correct " S‑0‑0103, Modulo value "
or " S‑0‑0278, Maximum travel range " .
Drive was moved as rapidly that recalculation no longer
works correctly.
Reduce drive velocity at position overflow.
F2177 - Attributes
8.7.75
Display:
Ident N°:
F2177
F2177
F2178 Modulo limitation error of optional encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
According to scaling, the drive limits the actual position values to the maxi‐
mum travel range or to the modulo value. As these values possibly cannot be
exactly displayed the corresponding recalculation of the errors takes place in
the drive.
264/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Encoder speed was so high that recalculation no longer
works correctly.
Reduce encoder speed
‑ or –
change " S‑0‑0103, Modulo value "
F2178 - Attributes
8.7.76
Display:
Ident N°:
F2178
F2178
F2179 Modulo limitation error of measuring encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
With active modulo scaling the drive limits its actual position values to the val‐
ues parameterized in " S‑0‑0103, Modulo value " , otherwise to the value para‐
meterized in " S‑0‑0278, Maximum travel range " . As these values possibly
cannot be exactly displayed, the corresponding recalculation of the systemat‐
ic errors in the case of position overflow takes place in the drive.
In the ideal case " S‑0‑0278, Maximum travel range " is set in such
a way that the drive always is within the defined travel range and
there is no overflow.
Cause
Remedy
" S‑0‑0103, Modulo value " or " S‑0‑0278, Maximum travel
range " have been incorrectly parameterized and not adjus‐
ted to the application.
Check and, if necessary, correct " S‑0‑0103, Modulo value "
or " S‑0‑0278, Maximum travel range "
Drive was moved as rapidly that recalculation no longer
works correctly.
Reduce drive velocity at position overflow.
F2179 - Attributes
8.7.77
Display:
Ident N°:
F2179
F2179
F2190 Incorrect Ethernet configuration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The parameterization of the Ethernet communication interfaces is checked
when the drive is initialized. An error was detected during this check.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
265/619
Error Messages
Cause
Remedy
Unallowed configuration of parameters for Ethernet commu‐
nication (TCP/IP):
Set parameters for Ethernet communication (TCP/IP) to val‐
id values:
IP address and gateway address are not in the same IP net‐ ●
work
●
‑ or ‑
●
IP address and gateway address are identical
P-0-1531, Engineering: IP address
P-0-1532, Engineering: Network mask
P-0-1533, Engineering: Gateway address
As of MPx05VRS, in addition:
●
P-0-1641, CCD: IP address
●
P-0-1642, CCD: Network mask
●
P-0-1643, CCD: Gateway address
●
S-0-1020, Master comm. engineering over IP: IP ad‐
dress
●
S-0-1021, Master comm. engineering over IP: Network
mask
●
S-0-1022, Master comm. engineering over IP: Gate‐
way address
As of MPx06VRS, in addition:
●
P-0-4089.0.14, Master communication: Network mask
●
Due to storage problems, internal configuration of IP stack
was inadmissibly terminated
P-0-4089.00.13, Master communication: IP address
●
P-0-4089.00.15, Master communication: Gateway ad‐
dress
Due to a hardware problem, it is necessary to replace con‐
trol section
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
F2190 - Attributes
8.7.78
Display:
Ident N°:
F2190
F2190
F2260 Command current limit shutoff
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The drive first reacts with the warning " E8260 Torque/force command value
limit active " to the triggering of the current command value limitation.
If the current limitation is active for more than 1.5 seconds, the drive reacts
with a drive error, when this has been parameterized in " P-0-0556, Config
word of axis controller " .
266/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Cause
Remedy
Error reaction to current limitation active
Check whether error reaction to current limitation is desired
and, if necessary, deactivate error reaction to current limita‐
tion in " P-0-0556, Config word of axis controller "
Current limitation active
Remove cause of current limitation (see " E8260 Torque/
force command value limit active " )
F2260 - Attributes
8.7.79
Display:
Ident N°:
F2260
F2260
F2270 Analog input 1 or 2, wire break
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Conditions under which this error is triggered:
●
The wire break monitor was activated in " P‑0‑0218, Analog input, con‐
trol parameter " (by the setting for the measuring range of the analog in‐
puts) and
●
a setting in " P‑0‑0218, Analog input, control parameter " causes an error
to be generated when the input value has fallen below the input value at
analog input 1 or 2 and
●
the current/voltage value at analog input 1 or 2 is lower than the mini‐
mum value of the measuring range.
The value range of the voltage or current source that is connected
to the analog input should be limited to the allowed value range of
the analog input.
Cause
Remedy
Input value at analog input 1 or 2 is lower than minimum val‐ Check wiring of analog input, reestablish contact to voltage
ue of voltage measuring range (setting " voltage signals " in
source, if necessary
" P‑0‑0218, Analog input, control parameter " " ).
‑ or –
Check value range of voltage source.
Input value at analog input 1 or 2 is lower than minimum val‐ Check wiring of analog input, reestablish contact to current
ue of current measuring range (setting " current signals " in
source, if necessary
" P‑0‑0218, Analog input, control parameter " ).
‑ or –
Check value range of current source.
This error message can only be displayed at a controller contain‐
ing a CSB01.1N-FC-... (BASIC OPENLOOP) control section.
F2270 - Attributes
Display:
Ident N°:
F2270
F2270
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
267/619
Error Messages
8.7.80
F2802 PLL is not synchronized
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Synchronization to the mains voltage is impossible.
Cause
Remedy
At least one phase is missing
Check and, if necessary, replace mains circuit breakers.
Mains voltage is too low
Measure mains voltage and compare it to allowed value
range.
Mains frequency is outside of specified range
Measure mains frequency and compare it to allowed value
range.
F2802 - Attributes
8.7.81
Display:
Ident N°:
F2802
F2814 Undervoltage in mains
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The crest value of the mains voltage has fallen below the allowed minimum
value (connection voltage range see documentation for HMV01.1).
Cause
Remedy
Mains voltage below minimum value
Use matching transformer
See also Functional Description of firmware " Power Supply " .
F2814 - Attributes
8.7.82
Display:
Ident N°:
F2814
F2815 Overvoltage in mains
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Cause
Remedy
Crest value of mains voltage has exceeded allowed maxi‐
mum value (supply voltage range see documentation
" Rexroth IndraDrive Supply Units and Power Sections " )
Check mains voltage. If necessary, use matching transform‐
er
268/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
F2815 - Attributes
8.7.83
Display:
Ident N°:
F2815
F2816 Softstart fault power supply unit
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the soft start process (charging of DC bus capacitance) the DC bus
voltage curve is monitored. Great deviations suggest a defect in the power
section and are diagnosed with the error F2816.
Cause
Remedy
Short circuit in DC bus
Check DC bus wiring, remove if there is a short circuit.
Load on DC bus
Check DC bus wiring; if an external braking resistor has
been incorrectly connected, connect it correctly.
Insulation error in DC bus
Check DC bus wiring; if wiring is alright, there can be an in‐
sulation error within device or other devices connected to
DC bus. To find defective device take connected devices out
of drive system step by step (remove wiring).
Final value of DC bus voltage is not reached within a maxi‐
mum time.
Check whether there is defect at load externally connected
to DC bus.
Inadmissible voltage fluctuations in supply mains. Mains
voltage has inadmissibly dropped during soft start process.
Check mains voltage
HMV01, HMV02: thermal overload of soft start circuit.
Check number of ON-OFF cycles.
Device is defective
Replace device
F2816 - Attributes
8.7.84
Display:
Ident N°:
F2816
F2816
F2817 Overvoltage in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
When the warning E8025 is present for devices of the " HMV " type, the error
" F2817 Overvoltage in power section " is generated after a certain length of
time which depends on the hardware index of the device.
From the hardware indices listed below upwards, the error F2817 is gener‐
ated 100 milliseconds after the warning E8025 has been present:
●
HMV02.1R-W0015: From hardware index A09 upwards
●
HMV01.1R-W0018: From hardware index A43 upwards
●
HMV01.1R-W0045: From hardware index A43 upwards
●
HMV01.1R-W0065: From hardware index A43 upwards
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
269/619
Error Messages
●
HMV01.1R-W0120: From hardware index A02 upwards
●
HMV01.1E-W0030: From hardware index A33 upwards
●
HMV01.1E-W0075: From hardware index A34 upwards
●
HMV01.1E-W0120: From hardware index A36 upwards
For devices of the " HMV " type with smaller hardware indices, the error F2817
is generated 2 seconds after the warning E8025 has occurred.
For supply units of the " HCS " type this error message does not exist.
From the mentioned hardware indices upwards, the error can only
be reset by switching the device off, in order to call attention to
possible application errors [e.g. " coasting " of a synchronous mo‐
tor at high speed (field weakening range) with a DC bus braking
resistor value inadmissibly high for the motor].
Cause
Remedy
See " E8025 Overvoltage in power section "
See " E8025 Overvoltage in power section "
F2817 - Attributes
8.7.85
Display:
Ident N°:
F2817
F2818 Phase failure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
A single-phase mains failure, which lasted for a longer time than the tolerated
phase failure time, was detected for a supply unit of the HMV type.
Supply unit
Tolerated phase failure time
HMV01.1E
approx. 2 s
HMV01.1R, HMV02.1R
approx. 2 s
Fig.8-2:
Tolerated phase failure times
Cause
Remedy
No mains voltage available
Check mains voltage and mains connection
Mains circuit breaker defective
Replace mains circuit breaker
Incorrect wiring
Check and correct wiring
F2818 - Attributes
Display:
Ident N°:
F2818
270/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.7.86
F2819 Mains failure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The mains has failed and the DC bus voltage has fallen below a threshold
value.
HMV Supply Units
A mains failure, which lasted for a longer time than the tolerated mains failure
time, was detected for a supply unit of the HMV type.
Supply unit
Tolerated mains failure time
HMV01.1E
approx. 750 ms
HMV01.1R
approx. 1000 ms
HMV02.1R
approx. 1000 ms
Fig.8-3:
Tolerated mains failure times
If the mains failure occurs at regenerative supply units during a
regeneration process to the supply mains, the supply unit
switches off immediately.
Cause
Remedy
Mains failure (permanent or temporary)
Search and remove cause of mains failure
Mains circuit breakers defective
Replace mains circuit breakers
See also Functional Description of firmware Power Supply.
F2819 - Attributes
8.7.87
Display:
Ident N°:
F2819
F2819
F2820 Braking resistor overload
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Power was switched off due to possible overload of the braking resistor.
If the DC bus voltage exceeds the current switch-on threshold of the braking
resistor ( " P‑0‑0833, Braking resistor threshold " ) as a result of regenerative
operation of the drive, the braking resistor is switched on to limit the DC bus
voltage. The load of the braking resistor is displayed in " P‑0‑0844, Braking
resistor load " . When the load rises to 110%, error F2820 is displayed.
Error F2820 also indicates that no braking resistor has been con‐
nected or that the connected braking resistor is defective. A value
of at least 110% is displayed in " P‑0‑0844, Braking resistor load " ,
although in reality there isn't any load present or possible!
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
271/619
Error Messages
After having eliminated the cause of the error, check the braking
resistor for operability!
The error can only be cleared, when its cause has been removed.
Cause
Remedy
Allowed deceleration of connected drives too high
Reduce deceleration of connected drives
Energy absorption capacity of braking resistor is exhausted
Switch power supply off with a delay in the case of drive
OFF or E-STOP (for regenerative supply units) or reduce ve‐
locity
Regenerated energy in machining cycle is too high
Increase cycle time or reduce maximum velocity
Continuous regenerative power and/or rotary drive energy is Reduce maximum velocity or check dimensioning of braking
too high
resistor and, if necessary, increase dimensioning
Braking resistor is defective or has not been connected
For external braking resistor, visually check wiring and resis‐
tor component. If necessary, correct wiring or replace brak‐
ing resistor.
If internal braking resistor is defective, replace device.
See also Functional Description of firmware " Power Supply "
F2820 - Attributes
8.7.88
Display:
Ident N°:
F2820
F2820
F2821 Error in control of braking resistor
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The error can occur for devices of both the HCS and the HMV
type. There are different causes and remedies for both device
types!
Devices of HCS Type
An error has occurred in the control of the external braking resistor.
Cause
Remedy
Control of braking resistor has detected inadmissibly high
current
Check braking resistor for correct resistance value. If neces‐
sary, use braking resistor with higher resistance value
Terminal connectors for external braking resistor have been
short-circuited
Remove short circuit, connect braking resistor correctly, if
necessary
Devices of HMV Type
An error has occurred in the control of the internal braking resistor.
Cause
Remedy
Device is defective
Replace device
F2821 - Attributes
Display:
Ident N°:
F2821
F2821
272/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.7.89
F2825 Switch-on threshold braking resistor too low
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
For devices of type HCS, this error message is generated when the parame‐
terized braking resistor reference switch-on voltage is too low. The braking
resistor would already be active with correct DC bus voltage.
The error can only be cleared, when its cause has been removed.
Cause
Remedy
This error message is generated for devices of type HCS
when value of braking resistor reference switch-on voltage
(list element 4 of " P‑0‑0858, Data of external braking resis‐
tor " ) activated via " P‑0‑0860, Converter configuration " is too
low
Increase value of 4th list element in " P‑0‑0858, Data of ex‐
ternal braking resistor "
F2825 - Attributes
8.7.90
Display:
Ident N°:
‑ or ‑
Select different reference value for ON-OFF switching volt‐
age of braking resistor in " P‑0‑0860, Converter configura‐
tion "
F2825
F2825
F2833 Ground fault in motor line
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the loading process of the DC bus a ground fault was detected in the
motor line of one of the connected converters/inverters.
Cause
Remedy
Ground fault in a motor line within drive system
Take controllers of drive system successively out of device
group on control voltage and power voltage side, until error
no longer occurs. By doing this identify faulty drive.
‑ or –
Ground fault in a controller of drive system
F2833 - Attributes
Display:
Ident N°:
Check insulation of motor cable with measuring device. If
motor cable is not defective, there is a device or connection
error.
F2833
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
273/619
Error Messages
8.7.91
F2834 Contactor control error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The mains contactor couldn't be switched on or dropped out during operation.
Cause
Remedy
Due to wiring or control error, contact " ZKS " [ " DC bus short Check control. " Netz EIN " ( " mains ON " ) has to be opened si‐
circuit " ] (X32.8) or contact " Netz AUS " [ " mains OFF " ] (X32.6/ multaneously with or before " ZKS " ( " DC bus short circuit " )
X32.7) was opened while contact " Netz EIN " [ " mains ON " ]
and N " etz AUS " ( " mains OFF " ).
(X32.4/X32.5) still had been close.
Mains contactor could not be switched
Check wiring of interface.
Check voltages at interfaces X32, X14 (HMV0x.xR) or at L1,
L2 and L3 (HMV0x.xE).
Contactor control has detected an error
F2834 - Attributes
8.7.92
Display:
Ident N°:
Replace device
F2834
F2835 Mains contactor wiring error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
For supply units of the HMV01 line which do not have an internal mains con‐
tactor, an external mains contactor has to be controlled via X34.
Cause
Remedy
No external mains contactor connected
Connect mains contactor
No external switching voltage for mains contactor connected Check mains contactor wiring
External mains contactor defective
Replace mains contactor
Pick-up delay of selected mains contactor too long
Use mains contactor with less pick-up delay
See also documentation " Rexroth IndraDrive Supply Units and Power Sec‐
tions "
F2835 - Attributes
Display:
Ident N°:
F2835
274/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.7.93
F2836 DC bus balancing monitor error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Unbalance on the DC bus was detected for the supply unit / converter.
Cause
Remedy
Unbalance on the DC bus
Switch device off/on; if error continues occurring, replace de‐
vice
F2836 - Attributes
8.7.94
Display:
Ident N°:
F2836
F2836
F2837 Contactor monitoring error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The contactor monitor in the contactor control has detected an error.
When the diagnostic message occurs at a supply unit with exter‐
nal mains contactor (e.g. HMV01.1R-W0120), it is impossible to
reset the error via the control panel, if the cause of the message
is a sticking contact of the mains contactor or the conversion re‐
lay. In this case, you have to switch the 24V supply off and on
again after the cause of the error was removed.
Cause
Remedy
Mains contactor could not be switched
Check voltages
●
●
Contactor monitor has detected an error
F2837 - Attributes
8.7.95
Display:
Ident N°:
at interface X32,
at X14 (HMV01.1R,
(HMV01.1E)
HMV02.1R)
or
at
Replace device
F2837
F2840 Error supply shutdown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
L1-L3
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
275/619
Error Messages
A component in the drive system demands the shutdown of power supply.
The supply unit switches power off and signals F2840.
The supply units (as of listed HWIs) generate the diagnostic mes‐
sage in the status " Bb " , too. Prevent the activation of the mains
contactor by means of the Bb1 contact (see " Control Circuits for
the Mains Connection " in the Project Planning Manual of the drive
system and " Connection Point X31 " in the Project Planning Man‐
ual of HMV supply units).
Supply unit
Hardware index (HWI)
(as per prototype phase MPx05)
HMV01.1E-W0030
A36
HMV01.1E-W0075
A37
HMV01.1E-W0120
A40
HMV01.1R-W0018
A48
HMV01.1R-W0045
A49
HMV01.1R-W0065
A50
HMV01.1R-W0120
A09
HMV02.1R-W0015
A14
Cause
Remedy
A second supply unit connected in parallel, a DC bus resis‐ Remove cause of error at respective supply unit, DC bus re‐
tor unit or an inverter/converter signals an error in supply
sistor unit or inverter/converter; then clear error
F2840 - Attributes
8.7.96
Display:
Ident N°:
F2840
F2860 Overcurrent in mains-side power section
Allocation
For HMV01.1R
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The current in the mains-side power bridge has exceeded the maximum al‐
lowed value. The power supply is switched off.
Cause
Remedy
Mains choke incorrectly connected
Check mains choke
Mains choke missing or incorrectly projected
Check mains choke
Mains filter missing or incorrectly projected
Check mains filter
Device defective
Replace device
F2860 - Attributes
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Display:
Ident N°:
F2860
276/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
8.7.97
F2890 Invalid device code
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Remedy
Device defective
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
Cause
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Replace device
F2890 - Attributes
8.7.98
Display:
Ident N°:
F2890
F2891 Incorrect interrupt timing
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
Cause
Remedy
Device defective
Replace device
F2891 - Attributes
8.7.99
Display:
Ident N°:
F2891
F2892 Hardware variant not supported
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
Cause
Remedy
Device defective
Replace device
F2892 - Attributes
8.8
Display:
Ident N°:
F2892
SERCOS Service Channel Error Codes / Error Messages of
Serial Communication
For some errors concerning serial communication, the error codes defined in
the SERCOS interface specification are used (see " SERCOS interface
Specification " , chapter 4.3.2.3 " Service channel error messages " ). These
codes are also used in the case of incorrect access to control and system
parameters.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
277/619
Error Messages
Error code
Hexadecimal
Decimal
Explanation
0x1001
4097
No IDN
0x1009
4105
Invalid access to element 1
0x2001
8193
No name
0x2002
8194
Name transmission too short
0x2003
8195
Name transmission too long
0x2004
8196
Name cannot be changed (read only)
0x2005
8197
Name is write-protected at this time
0x3002
12290
Attribute transmission too short
0x3003
12291
Attribute transmission too long
0x3004
12292
Attribute cannot be changed (read only)
0x3005
12293
Attribute is write-protected at this time
0x4001
16385
No units
0x4002
16386
Unit transmission too short
0x4003
16387
Unit transmission too long
0x4004
16388
Unit cannot be changed (read only)
0x4005
16389
Unit is write-protected at this time
0x5001
20481
No minimum input value
0x5002
20482
Minimum input value transmission too short
0x5003
20483
Minimum input value transmission too long
0x5004
20484
Minimum input value cannot be changed (read only)
0x5005
20485
Minimum input value is write-protected at this time
0x6001
24577
No maximum input value
0x6002
24578
Maximum input value transmission too short
0x6003
24579
Maximum input value transmission too long
0x6004
24580
Maximum input value cannot be changed (read only)
0x6005
24581
Maximum input value is write-protected at this time
0x7002
28674
Operation data transmission too short
0x7003
28675
Operation data transmission too long
0x7004
28676
Operation data cannot be changed (read only)
0x7005
28677
Operation data is write-protected at this time (reason: communication phase or
mode)
0x7006
28678
Operation data is smaller than the minimum input value
0x7007
28679
Operation data is greater than the maximum input value
0x7008
28680
Invalid operation data (e.g. IDN not supported, invalid bit number, invalid bit
combination, invalid list length)
0x7009
28681
Operation data write protected by a password
278/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Error Messages
Error code
Hexadecimal
Decimal
Explanation
0x700A
28682
Operation data is write protected, it is configured cyclically (IDN is configured in
the MDT or AT. Therefore writing via the service channel is not allowed).
0x700B
28683
Invalid indirect addressing (e.g., data container, list handling)
0x700C
28684
Operation data is write protected, due to other settings (e.g., parameter,
operation mode, drive enable, drive on etc.)
0x7010
28688
Procedure command already active
0x7011
28689
Procedure command not interruptible
0x7012
28690
Procedure command at this time not executable
(e.g., in this phase the procedure command cannot be activated)
0x7013
28691
Procedure command not executable (invalid or false parameters)
Fig.8-4:
SERCOS Error Codes
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
279/619
Warnings (Exxxx)
9
Warnings (Exxxx)
9.1
Fatal Warnings (E8xxx)
9.1.1
Behavior in the Case of Fatal Warnings
There are different drive reactions in the case of warnings of category E8xxx;
they are described under the cause/remedy descriptions of the warnings.
9.1.2
E8025 Overvoltage in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The DC bus voltage is monitored. When the allowed maximum value (870 V)
is exceeded, the fatal warning E8025 is generated.
The controller switches the motor to torque-free state in the case of overvolt‐
age. If the DC bus voltage falls below the allowed maximum value again, the
motor is switched on again.
Cause
Remedy
Energy regenerated to DC bus by mechanical machine sys‐
tem during braking process was so high that supply unit
couldn't dissipate it during regeneration time. This caused
DC bus voltage to rise to inadmissible value
Reduce regenerative power by lower acceleration values
– or –
Correct dimensioning of drive
– or –
Sufficiently dimension supply unit as regards braking energy
requirements; if necessary, use additional braking resistor if
existing braking resistor has been under-dimensioned
Mains supply voltage (alternating input voltage) too high
Check mains supply voltage (alternating voltage/3‑phase)
No braking resistor connected or connection or cable defec‐
tive
Connect braking resistor or check connection
F8xxx error at high speed (field weakening range) of a syn‐
chronous motor
Check whether braking resistance value in DC bus exceeds
maximum value allowed for motor; if necessary, reduce
braking resistance value to or below allowed value
280/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Only for HMV: When the warning E8025 is present, the error
" F2817 Overvoltage in power section " is generated after a certain
length of time which depends on the hardware index of the de‐
vice.
From the hardware indices listed below upwards, the error F2817
is generated 100 milliseconds after the warning E8025 has been
present:
●
HMV02.1R-W0015: From hardware index A09 upwards
●
HMV01.1R-W0018: From hardware index A43 upwards
●
HMV01.1R-W0045: From hardware index A43 upwards
●
HMV01.1R-W0065: From hardware index A43 upwards
●
HMV01.1R-W0120: From hardware index A02 upwards
●
HMV01.1E-W0030: From hardware index A33 upwards
●
HMV01.1E-W0075: From hardware index A34 upwards
●
HMV01.1E-W0120: From hardware index A36 upwards
For devices of the " HMV " type with smaller hardware indices, the
error F2817 is generated 2 seconds after the warning E8025 has
occurred.
E8025 - Attributes
9.1.3
Display:
Ident N°:
E8025
E8025
E8026 Undervoltage in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The DC bus voltage value is monitored by the drive controller and the supply
unit.
Drive Controllers HMS, HMD,
HCS
If the DC bus voltage falls below the minimum value determined for the drive
(see value of " P‑0‑0114, Undervoltage threshold " ) or it reacts to " DC bus not
ok " of the module bus, the device generates the warning E8026 if " fatal warn‐
ing " has been set with regard to the reaction to undervoltage in " P‑0‑0118,
Power supply, configuration " .
In the case of fatal warning E8026, the motive torque is locked.
The control unit still can actively decelerate the drive, but no lon‐
ger accelerate it.
Supply Units HMV, Identifier
" FCN1 " or " FNN1 "
This diagnostic message is only displayed for HMV supply units
which have the identifier " FCN1 " or " FNN1 " at the position " Other
design " in the type code.
If the DC bus voltage falls below 75% of the mains voltage crest value that
was detected when the mains contactor had been switched on, " error DC bus
voltage, mains failure " is signaled via the module bus and E8026 is displayed
at the device. Power is switched off!
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
281/619
Warnings (Exxxx)
According to the situation in the mains, the diagnostic message is only dis‐
played for a short time.
Cause
Remedy
Power is switched off without previous drive deactivation by
means of drive enable ( " AF " )
Check logic for activating drive in connected control unit
Malfunction or overload of power supply
Check power supply
Mains failure
Check cause of mains failure, switch mains voltage on again
Temporary supply unit overload
Reduce processing cycle of machine
See also Functional Description of firmware " Power Supply "
E8026 - Attributes
9.1.4
Display:
Ident N°:
E8026
E8026
E8027 Safe torque off while drive enabled
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
This diagnostic message only exists as of firmware versions
MPx03V24 and MPx04V14.
Up to MPx06, the name of this diagnostic message was " E8027
Safety related standstill while drive enabled " .
Injury and property damage caused by un‐
controlled axis motion!
DANGER
⇒ If warning E8027 occurs, the drive immediately goes torque-free.
Cause
Remedy
Starting lockout (up to MPx06) or " Safe torque off " (as of
MPx07) was set with active drive enable and diagnostic
message has been set to " fatal warning " via parameter
P-0-0101
Remove drive enable
E8027 - Attributes
9.1.5
Display:
Ident N°:
E8027
E8027
E8028 Overcurrent in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The controller monitors the motor current (= controller output current) sup‐
plied by the power section.
282/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
●
If the controller output current is higher than the 1.2-fold of " S‑0‑0110,
Amplifier peak current "
- or ●
if the controller output current is higher than the product of " P‑0‑4013,
Current limit value of demagnetization " and " S‑0‑0109, Motor peak cur‐
rent " ,
the output stage of the power section is locked until the controller output cur‐
rent has fallen to allowed values again; during this time the warning E8028 is
output.
Cause
Remedy
Current loop incorrectly parameterized
Check current loop setting ( " S‑0‑0106, Current loop propor‐
tional gain 1 " , " S‑0‑0107, Current loop integral action time
1 " ) and, if necessary, correct it after having contacted our
service department
In the case of Bosch Rexroth motors with encoder data
memory (MHD, MKD, MKE), values for current loop parame‐
terization do not correspond to values in encoder data mem‐
ory
Check whether values in " S‑0‑0106, Current loop proportion‐
al gain 1 " and " S‑0‑0107, Current loop integral action time 1 "
correspond to values in encoder data memory ( " P‑0‑2106,
Current loop proportional gain 1, encoder memory " and
" P‑0‑2107, Current loop integral-action time 1, encoder
memory " )
Note: Calculation of " S‑0‑0106, Current loop proportional
gain 1 " depends on " P‑0‑0001, Switching frequency of the
power output stage " and " P‑0‑0556, Control word of axis
controller " !
In the case of Rexroth motors without encoder data memory, Check whether values in " S‑0‑0106, Current loop proportion‐
values for current loop parameterization do not correspond
al gain 1 " and " S‑0‑0107, Current loop integral action time 1 "
to manufacturer-side specifications
correspond to manufacturer-side specifications (see Drive‐
Top)
In the case of third-party motors, output data for calculating
parameter values are not correct
E8028 - Attributes
9.1.6
Display:
Ident N°:
Check whether output data for calculating parameter values
are correct
E8028
E8028
E8029 Positive position limit exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring an allowed travel range by
means of software limit switches that can be parameterized.
The travel range monitor has to be activated and parameterized
via " S‑0‑0049, Positive position limit value " , " S‑0‑0050, Negative
position limit value " and " S‑0‑0055, Position polarities " .
The drive reaction (fatal warning or error) in case the travel range
is exceeded has to be parameterized in " P‑0‑0090, Travel range
limit parameter " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
283/619
Warnings (Exxxx)
Cause
Remedy
A command value was set for the drive that causes an axis
position outside the positive travel range/position limit value
Set command value that leads back to the allowed travel
range.
Contact machine manufacturer in order to find out cause of
incorrect command value
Positive travel range/position limit value incorrectly parame‐
terized
Check and, if necessary, correct parameterization of
" S‑0‑0049, Positive position limit value "
The " S‑0‑0057, Position window " parameter is used to realize a
hysteresis function for evaluating the position limit values.
See also Functional Description of firmware " Position Limitation/Travel
Range Limit Switch "
E8029 - Attributes
9.1.7
Display:
Ident N°:
E8029
E8029
E8030 Negative position limit exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring an allowed travel range by
means of software limit switches that can be parameterized.
The travel range monitor has to be activated and parameterized
via " S‑0‑0049, Positive position limit value " , " S‑0‑0050, Negative
position limit value " and " S‑0‑0055, Position polarities " .
The drive reaction (fatal warning or error) in case the travel range
is exceeded has to be parameterized in " P‑0‑0090, Travel range
limit parameter " .
Cause
Remedy
A command value was set for the drive that causes an axis Set command value that leads back to the allowed travel
position outside the negative travel range/position limit value range.Contact machine manufacturer in order to find out
cause of incorrect command value
Positive travel range/position limit value incorrectly parame‐
terized
Check and, if necessary, correct parameterization of
" S‑0‑0050, Negative position limit value "
The " S‑0‑0057, Position window " parameter is used to realize a
hysteresis function for evaluating the position limit values.
See also Functional Description of firmware " Position Limitation/Travel
Range Limit Switch "
E8030 - Attributes
Display:
Ident N°:
E8030
E8030
284/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.1.8
E8034 Emergency-Stop activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring an E-Stop input (connection of
an external hardware switch). This monitor has to be activated and parame‐
terized via " P‑0‑0008, Activation E-Stop function " .
When the warning E8034 occurs, the axis is decelerated in ac‐
cordance with the configured " best possible deceleration "
(P‑0‑0119, bit0 to 3) for switching off drive enable.
Cause
Remedy
E-Stop input was controlled (0 V at digital input)
Remove failure that caused E-Stop to be triggered and clari‐
fy cause of triggering
Incorrect parameterization of digital inputs and outputs on
control section
Check configuration of digital inputs/outputs on control sec‐
tion and correct it, if necessary
E-Stop switch or cable connection defective or incorrectly
wired
Check function and wiring of E-Stop switch
Control section or digital inputs on control section defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " E-Stop Function "
See also Functional Description of firmware " Digital Inputs/Outputs "
See also Functional Description of firmware " Velocity Command Value
Reset "
E8034 - Attributes
9.1.9
Display:
Ident N°:
E8034
E8034
E8040 Torque/force actual value limit active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The warning E8040 is generated when the " stall protection loop " takes effect
and changes the working point of the machine for its relief.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
285/619
Warnings (Exxxx)
Cause
Remedy
Load torque is too high
Reduce load torque
Torque limit values incorrectly parameterized
Check parameters " S‑0‑0082, Torque/force limit value posi‐
tive " ; " S‑0‑0083, Torque/force limit value negative " ;
" S‑0‑0092, Bipolar torque/force limit value " and " P‑0‑0109,
Torque/force peak limit " and increase limits, if necessary
See also Functional Description of firmware " Voltage-Controlled Operation "
E8040 - Attributes
9.1.10
Display:
Ident N°:
E8040
E8040
E8041 Current limit active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The warning E8041 is generated when the current limitation loop takes effect
and reduces the output voltage due to overvoltage.
Cause
Remedy
" S‑0‑0109, Motor peak current " incorrectly parameterized
Check content of " S‑0‑0109, Motor peak current " and in‐
crease it, if necessary
Short circuit at output of power output stage (e.g. in motor
cable or in motor)
Check motor connection and motor for short circuit and re‐
place cable or motor, if necessary
Power output stage in drive controller defective
Replace drive controller
The replacement of the drive controller is described in the Project
Planning Manual for the power section.
See also Functional Description of firmware " Voltage-Controlled Operation "
E8041 - Attributes
9.1.11
Display:
Ident N°:
E8041
E8041
E8042 Both travel range limit switches activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The compliance with the allowed travel range of linear axes is monitored on
the hardware side via two travel range limit switches. When the travel range
has been exceeded, one of the two limit switches is activated, if the limit
switches were correctly mounted.
The warning E8042 is generated, if
●
the controller detects that both travel range limit switches have been si‐
multaneously activated and
286/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
●
exceeding the travel range is handled as a fatal warning (setting in
" P‑0‑0090, Travel range limit parameter " ).
As long as the cause of E8042 has not been removed, the con‐
troller does not accept any command value!
Cause
Remedy
Due to incorrect mounting, axis activates both travel range
limit switches simultaneously
Mount travel range limit switches in such a way that they are
activated shortly before axis end position is reached. Make
sure the braking distance is sufficient
Travel range limit switches were incorrectly connected
Connect travel range limit switches correctly; check compli‐
ance with switching logic set in " P‑0‑0090, Travel range limit
parameter "
Switching logic of travel range limit switches does not corre‐
spond to realized wiring
Check switching logic with regard to realized wiring, adjust it
in " P‑0‑0090, Travel range limit parameter " , if necessary
E8042 - Attributes
9.1.12
Display:
Ident N°:
E8042
E8042
E8043 Positive travel range limit switch activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring travel range limit switches (exter‐
nal hardware limit switches). This monitor has to be activated and parameter‐
ized via " P‑0‑0090, Travel range limit parameter " .
When the warning E8043 occurs, the axis is shut down with ve‐
locity command value reset.
Cause
Remedy
Travel range limit switch situated in positive direction (see
Project Planning Manual for motor) was activated because
axis is outside of travel range that was defined by means of
travel range limit switches
Set drive enable and input a command value leading back to
allowed travel range
Incorrect parameterization of digital inputs and outputs on
control section
Correct configuration of digital inputs/outputs on control sec‐
tion and correct it, if necessary
Travel range limit switch or cable is defective or incorrectly
wired
Check function and wiring of travel range limit switch
Control section or digital inputs on control section defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Travel Range Limits "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
287/619
Warnings (Exxxx)
See also Functional Description of firmware " Digital Inputs/Outputs "
E8043 - Attributes
9.1.13
Display:
Ident N°:
E8043
E8043
E8044 Negative travel range limit switch activated
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive provides a function for monitoring travel range limit switches (exter‐
nal hardware limit switches). This monitor has to be activated and parameter‐
ized via " P‑0‑0090, Travel range limit parameter " .
When the warning E8044 occurs, the axis is shut down with ve‐
locity command value reset.
Cause
Remedy
Travel range limit switch situated in negative direction (see
Project Planning Manual for motor) was activated because
axis is outside of travel range that was defined by means of
travel range limit switches
Set drive enable and input a command value leading back to
allowed travel range
Incorrect parameterization of digital inputs and outputs on
control section
Correct configuration of digital inputs/outputs on control sec‐
tion and correct it, if necessary
Travel range limit switch or cable is defective or incorrectly
wired
Check function and wiring of travel range limit switch
Control section or digital inputs on control section defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Travel Range Limits "
See also Functional Description of firmware " Digital Inputs/Outputs "
E8044 - Attributes
9.1.14
Display:
Ident N°:
E8044
E8044
E8055 Motor overload, current limit active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In order to protect the motors against thermal destruction in the case of peak
loads occurring for a very short time, the thermal work load of the motor is
288/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
continuously calculated in the controller by means of a motor temperature
model.
If the maximum possible motor current is reduced, due to the current thermal
motor load, compared to the content of " S‑0‑0109, Motor peak current " , the
drive generated the warning E8055. As a consequence thereof the drive can
no longer follow the command values preset by a control unit.
When the E8055 warning is active, bit 0 (overload warning) is ad‐
ditionally set in " S‑0‑0012, Class 2 diagnostics " .
Cause
Remedy
Too high acceleration torque/too high acceleration force de‐
manded
Reduce acceleration by adjusted command value profile
Overload of drive by too high continuous load
Reduce overload in the case of long machining phases
Too high process or machining force (e.g. infeed)
Reduce process or machining force
Mechanical changes in axis (e.g. friction, load conditions,...)
Check mechanical system and, if necessary, optimize load
conditions and/or friction conditions
See also Functional Description of firmware " Current Limitation
E8055 - Attributes
9.1.15
Display:
Ident N°:
E8055
E8055
E8057 Device overload, current limit active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In order to protect the devices against thermal destruction, the thermal load
of the output stage in devices with digital current control is continuously cal‐
culated by a temperature model, depending on the measured current.
For HCS, HMS, HMD
If the thermal load exceeds 97% (displayed in " P‑0‑0141, Thermal drive
load " ), the continuous current limitation is activated and the warning E8057 is
generated. As a consequence thereof the drive can no longer follow the com‐
mand values preset by a control unit.
When the E8057 warning is active, bit 0 (overload warning) is ad‐
ditionally set in " S‑0‑0012, Class 2 diagnostics " .
For HMV01.1R
When the thermal load has reached 100%, the continuous current limitation
is activated and the warning E8057 is generated. As a consequence thereof
the available DC bus power is reduced and especially drives that require high
power can no longer follow the preset command values.
Cause
Remedy
Device is not adjusted to requirements of application or mo‐
tor
Check dimensioning of drive and, if necessary, use more
powerful device
Too high acceleration torque/too high acceleration force de‐
manded
Reduce acceleration by adjusted command value profile
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
289/619
Warnings (Exxxx)
Cause
Remedy
Overload of drive by too high continuous load
Reduce overload in the case of long machining phases
Too high process or machining force (e.g. infeed)
Reduce process or machining force
Mechanical changes in axis (e.g. friction, load conditions,...)
Check mechanical system and, if necessary, optimize load
conditions and/or friction conditions
See also Functional Description of firmware " Current Limitation "
E8057 - Attributes
9.1.16
Display:
Ident N°:
E8057
E8057
E8058 Drive system not ready for operation
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
This fatal warning can occur for drive controllers in operation that are inter‐
connected via the module bus. If one of these drive controllers in operation
signals an error via the module bus, the drives that are to react to signaled
errors ( " package reaction " ) react with shutdown. The reacting drives display
the warning E8058, the supply unit displays " E2810 Drive system not ready
for operation " .
The settings for error messages and error reactions for devices that are inter‐
connected via the DC bus and module bus are made in " P‑0‑0118, Power
supply, configuration " .
Cause
Remedy
Error message of one or several drives of a drive system
Identify drive or drives signaling an error. Remove cause of
error at respective drive or drives
See also Functional Description of firmware " Power Supply "
E8058 - Attributes
9.1.17
Display:
Ident N°:
E8058
E8058
E8260 Torque/force command value limit active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Apart from the dynamic actual torque/force value limitation by means of a
motor or amplifier temperature model, there are voltage-dependent (velocitydependent), as well as parameterizable limitations of the torque/force com‐
mand value. At least one of these limits has been reached.
290/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
As regards the occurrence of the warning E8260, there are differ‐
ent causes and remedies for " closed-loop operation " / " controlled
motor operation " (FOC, FOCsl, FXC) and sensorless, voltagecontrolled motor operation ( " U/f-controlled motor opera‐
tion " / " open-loop operation " )!
Cause
Remedy
" Controlled motor operation " / " closed-loop operation "
Reduce preset maximum acceleration value to allow drive to
follow position or velocity command value characteristic
Acceleration capacity of drive has been exceeded. In ope‐
rating modes " position control " and " velocity control " , this
means that there is an ever-increasing position deviation
(lag error) between command value and actual value
" Controlled motor operation " / " closed-loop operation "
Velocity command value is higher than maximum velocity of
drive. Drive limits output value of velocity loop (torque com‐
mand value) so that output voltage of controller, depending
on load, does not exceed value of " P‑0‑0535, Motor voltage
at no load " or " P‑0‑0536, Maximum motor voltage "
" Controlled motor operation " / " closed-loop operation "
Reduce maximum velocity command value in such a way
that values of P-0-0535 or P-0-0536 are not reached when
accelerating or at maximum velocity.
If possible, use controlled supply unit (HMV-R); with uncon‐
trolled supply unit increase supply voltage, if necessary
Increase values of " S‑0‑0082, Torque/force limit value posi‐
tive " , " S‑0‑0083, Torque/force limit value negative " ,
" S‑0‑0092, Bipolar torque/force limit value " and " P‑0‑0109,
Torque/force peak limit " , if necessary
Torque/force limit values incorrectly set
" Controlled motor operation " / " closed-loop operation "
Check contents of " S‑0‑0106, Current loop proportional gain
1 " and " S‑0‑0107, Current loop integral action time 1 " and
Current loop incorrectly parameterized for motors without
feedback data memory (e.g. kit motors or third-party motors) correct them, if necessary.
See also Functional Description of firmware " Automatic Set‐
ting of Motor Control "
" Controlled motor operation (FXC) "
Controller cannot permanently provide required current at
standstill of asynchronous motor
Reduce current at standstill ( " P‑0‑0532, Premagnetization
factor " * " P‑0‑4004, Magnetizing current " ) by lower value of
P‑0‑0532
‑ or ‑
Use controller with higher continuous current (type current)
" Open-loop operation " / " U/f-controlled motor operation "
Maximum change of velocity with which drive can follow
Acceleration capacity of controlled drive has been exceeded command values is determined by motor. This possibly re‐
quires adjustment of " P‑0‑0569, Maximum stator frequency
(velocity command value ramp too steep)
change "
E8260 - Attributes
9.1.18
Display:
Ident N°:
E8260
E8260
E8802 PLL is not synchronized
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
291/619
Warnings (Exxxx)
This diagnostic message is only displayed for HMV supply units
which have the identifier " FCN1 " or " FNN1 " at the position " Other
design " in the type code.
Synchronization with the mains voltage is impossible.
" Error DC bus voltage, mains failure " is signaled via the module bus and
E8802 displayed at the device. Power is switched off!
According to the situation in the mains, the diagnostic message is only dis‐
played for a short time.
Cause
Remedy
At least one phase is missing
Check mains circuit breakers and replace them, if necessary
Mains voltage is too low
Measure mains voltage and compare it to allowed range of
values
Mains frequency is outside of specified range
Measure mains frequency and compare it to allowed range
of values
See also documentation " Rexroth IndraDrive Supply Units and Power Sec‐
tions "
E8802 - Attributes
9.1.19
Display:
Ident N°:
E8802
E8814 Undervoltage in mains
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
This diagnostic message is only displayed for HMV supply units
which have the identifier " FCN1 " or " FNN1 " at the position " Other
design " in the type code.
" Error DC bus voltage, mains failure " is signaled via the module bus and
E8814 displayed at the device. Power is switched off!
According to the situation in the mains, the diagnostic message is only dis‐
played for a short time.
Cause
Remedy
Crest value of mains voltage has fallen below allowed mini‐
mum value (supply voltage range see documentation
" Rexroth IndraDrive Supply Units and Power Sections " )
Use matching transformer
See also Functional Description of firmware " Power Supply "
E8814 - Attributes
Display:
Ident N°:
E8814
292/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.1.20
E8815 Overvoltage in mains
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
This diagnostic message is only displayed for HMV supply units
which have the identifier " FCN1 " or " FNN1 " at the position " Other
design " in the type code.
" Error DC bus voltage, mains failure " is signaled via the module bus and
E8815 displayed at the device. Power is switched off!
According to the situation in the mains, the diagnostic message is only dis‐
played for a short time.
Cause
Remedy
Crest value of mains voltage has exceeded allowed maxi‐
mum value (supply voltage range see documentation
" Rexroth IndraDrive Supply Units and Power Sections " )
Check mains voltage. If necessary, use matching transform‐
er
E8815 - Attributes
9.1.21
Display:
Ident N°:
E8815
E8818 Phase failure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
This diagnostic message is only displayed for HMV supply units
which have the identifier " FCN1 " or " FNN1 " at the position " Other
design " in the type code.
A single-phase mains failure, which lasted longer than the tolerated phase
failure time, was detected for a supply unit of the HMV type.
" Error DC bus voltage, mains failure " is signaled via the module bus and
E8818 displayed at the device. Power is switched off!
According to the situation in the mains, the diagnostic message is only dis‐
played for a short time.
Supply unit
Tolerated phase failure time
HMV01.1E
Approx. 2s
HMV01.1R, HMV02.1R
Approx. 2s
Fig.9-1:
Tolerated Phase Failure Times
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
293/619
Warnings (Exxxx)
Cause
Remedy
No mains voltage available
Check mains voltage and mains connection
Mains circuit breaker defective
Replace mains circuit breaker
Incorrect wiring
Check and correct wiring
E8818 - Attributes
9.1.22
Display:
Ident N°:
E8818
E8819 Mains failure
Allocation
Drive Controllers HMS, HCS
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Mains failure was detected. To maintain the DC bus, regenerative operation
of the motor is still possible, motive operation of the motor is disabled. The
function depends on " P‑0‑0118, Power supply, configuration " (behavior in
case of undervoltage in DC bus).
Cause
Remedy
Power is switched off without previous drive deactivation by
means of drive enable ( " AF " )
Check logic for activating drive in connected control unit
Malfunction or overload of power supply
Check power supply
Mains failure
Check cause of mains failure, switch mains voltage on again
Supply Units HMV, Identifier
" FCN1 " or " FNN1 "
This diagnostic message is only displayed for HMV supply units
which have the identifier " FCN1 " or " FNN1 " at the position " Other
design " in the type code.
A mains failure lasting longer than the tolerated mains failure time was detec‐
ted for a supply unit of type HMV.
" Error DC bus voltage, mains failure " is signaled via the module bus and
E8819 displayed at the device. Power is switched off!
Sometimes, the diagnostic message is displayed only briefly, depending on
the situation in the power supply network.
Supply unit
Tolerated mains failure time
HMV01.1E
Approx. 750 ms
HMV01.1R
Approx. 1000 ms
HMV02.1R
Approx. 1000 ms
Fig.9-2:
Tolerated Mains Failure Times
If the mains failure occurs at regenerative supply units during a
regeneration process to the supply mains, the supply unit
switches off immediately.
294/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Cause
Remedy
Mains failure (permanent or temporary)
Search and remove cause of mains failure
Mains circuit breakers defective
Replace mains circuit breakers
See also Functional Description of firmware " Power Supply "
E8819 - Attributes
Display:
Ident N°:
E8819
E8819
9.2
Warnings of Category E4xxx
9.2.1
E4001 Double MST failure shutdown
Allocation
Master Communication
SERCOS II
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The master synchronization telegram (MST) was not received in the drive in
two successive SERCOS cycles.
In " P-0-4088, Master communication: Drive configuration " , you
can configure the reaction to the failure of the cyclic communica‐
tion as a warning or as an error.
Cause
Remedy
Disturbance in fiber optic transmission line
Check all fiber optic cable connections in SERCOS ring and
replace them, if necessary
Attenuation of light signals too high
Measure attenuation of fiber optic cables again.
Maximum attenuation between TX and RX mustn't exceed
12.5 dB!
Different SERCOS cycle times in master and slave
Check SERCOS cycle times in master and slave and adjust
them, if necessary
Disturbance in SERCOS interface (general)
Replace control section or entire drive
Master Communication SERCOS
III
The master synchronization telegram (MST) was not received in the drive in
several successive SERCOS cycles. The number of allowed losses is set in
S-0-1003.
In " P-0-4088, Master communication: Drive configuration " , you
can configure the reaction to the failure of the cyclic communica‐
tion as a warning or as an error.
Cause
Remedy
Different SERCOS cycle times in master and slave
Check SERCOS cycle times in master and slave and adjust
them, if necessary
Disturbance in SERCOS interface (general)
Replace control section or entire drive
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
295/619
Warnings (Exxxx)
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Interface Errors and Diagnostic
Possibilities "
E4001 - Attributes
9.2.2
Display:
Ident N°:
E4001
E4001
E4002 Double MDT failure shutdown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The master data telegram (MDT) was not received in the drive in two succes‐
sive SERCOS or field bus cycles.
As of MPx05VRS: In " P-0-4088, Master communication, configu‐
ration " , you can configure the reaction to the failure of the cyclic
communication as a warning or as an error.
Cause
Remedy
Bus master does not send any more cyclic telegrams to Switch master on and start cyclic communication; see manual for
the drive. These, however, are expected in communica‐ control unit
tion phase 4.
Fiber optic cable bus: Disturbance in fiber optic trans‐
mission line
Check all fiber optic cable connections in SERCOS ring
Fiber optic cable bus: Input power of light signals too
low
Adjust transmitting power or check attenuation of fiber optic cable
Light power to be measured at receiver (with test
mode: continuous light) must be between –20 dBm
(10 µW) and –5 dBm (320 µW)
Maximum attenuation between TX and RX mustn't exceed
12.5 dB!
Different transmission times of master data telegrams
in master and slave
Synchronize transmission times of master data telegrams in mas‐
ter and slave
Disturbance in SERCOS interface (general)
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Interface Errors and Diagnostic
Possibilities "
E4002 - Attributes
Display:
Ident N°:
E4002
E4002
296/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.2.3
E4005 No command value input via master communication
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In firmware version 04VRS, the name of the warning was " E4005
No data exchange possible via the field bus " .
There is no command value input via the master communication interface.
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage by
automatic restart after bus failure!
DANGER
In the case of bus failure (message " F4009 " or " E4005 " ), an error reaction
must be carried out in the control unit, too, to prevent automatic restart after
the bus has been reestablished. This means that the bits " Drive Halt " , " drive
enable " and " drive ON " (e.g. bits 13, 14 and 15 in parameter " P‑0‑4077, Field
bus: Control word " ) should be reset in the control unit in the case of bus fail‐
ure.
SERCOS
The setting in parameter " P-0-4088, Master communication, configuration " is
such that there won't be any drive error reaction initiated in case communica‐
tion fails, but this warning will be displayed.
Cause
Remedy
See F4009
See F4009
Other Field Buses (CANopen,
PROFIBUS, ...)
In " P-0‑4088, Master communication, configuration " , bus failure was config‐
ured as a warning.
Warning E4005 is generated in the following cases:
●
No telegram with command values was received within the monitoring
time stored in P-0-4075.
‑ or ‑
●
The control unit was switched to " Stop " .
‑ or ‑
●
The control unit took the drive out of the master communication group.
Cause
Remedy
See F4009
See F4009
E4005 - Attributes
Display:
Ident N°:
E4005
E4005
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297/619
Warnings (Exxxx)
9.2.4
E4006 Communication module overload
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The communication module is overloaded.
Cause
Remedy
High network load
Check network configuration
E4006 - Attributes
9.2.5
Display:
Ident N°:
E4006
E4006
E4007 SERCOS III: Consumer connection failed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
A consumer connection violates the selected monitoring criterion.
Cause
Remedy
Synchronous monitoring has been preset for a consumer
connection and NewData bit of connection does not toggle
in preset cycle
Producer of connection (can be bus master or another
slave) does not work correctly
Too many telegrams fail due to disturbances
Check bus line and connector
E4007 - Attributes
9.2.6
Display:
Ident N°:
E4007
E4007
E4008 Invalid addressing command value data container A
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the index check in the multiplex channel an error occurred. During the
cyclic data exchange the index for access to the lists Data container A: con‐
figuration list command value-x is monitored to find out whether it is pointing
to a non-initialized position in the list.
Cause
Remedy
?
Check Data container A: configuration list command value-x
?
Check low byte of " S‑0‑0368, Data container A: addressing "
See also Functional Description of firmware " Multiplex Channel "
298/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
E4008 - Attributes
9.2.7
Display:
Ident N°:
E4008
E4008
E4009 Invalid addressing actual value data container A
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the index check in the multiplex channel an error occurred. During the
cyclic data exchange the index for access to the lists Data container A: con‐
figuration list actual value-x is monitored to find out whether it is pointing to a
non-initialized position in the list.
Cause
Remedy
?
Check Data container A: configuration list actual value-x
?
Check high byte of " S‑0‑0368, Data container A: addressing "
See also Functional Description of firmware " Multiplex Channel "
E4009 - Attributes
9.2.8
Display:
Ident N°:
E4009
E4009
E4010 Slave not scanned or address 0
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the initialization of the SERCOS ring in communication phase 1, the
SERCOS master must address each slave which is to participate in the pro‐
gression to higher phases. Slaves which are not addressed or for which drive
address 0 has been set diagnose this by the warning E4010. Communication
with these slaves in higher communication phases is impossible; they only
work in repeater mode.
Cause
Remedy
Slave was not scanned in phase 1 or address 0 has
been set
Set correct slave address
Slave deactivated by control unit
Check SERCOS master configuration
See also Functional Description of firmware " SERCOS interface "
E4010 - Attributes
Display:
Ident N°:
E4010
E4010
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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299/619
Warnings (Exxxx)
9.2.9
E4011 Communication watchdog: Overload of cyclic communication
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
Cause
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
Remedy
MultiEthernet interface is overloaded; I/O data of cyclic com‐ Please contact our service department
munication cannot be transmitted to drive
E4011 - Attributes
9.2.10
Display:
Ident N°:
E4011
E4011
E4012 Maximum number of CCD slaves exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
When switching to communication phase 2, too many CCD slaves (→ CCD:
Cross Communication Drives) were detected to have been connected to the
cross communication interface of the CCD master.
This warning is always reset in phase 0.
Cause
Remedy
More CCD slaves than allowed have been connected
to CCD master
Reduce number of connected CCD slaves
Note: Maximum number of axes depends on CCD cycle time and
data length
See also Functional Description of firmware " Cross Communication (CCD) "
E4012 - Attributes
9.2.11
Display:
Ident N°:
E4012
E4012
E4013 Incorrect CCD addressing
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
When switching to communication phase 1, a projected CCD slave (→ CCD:
Cross Communication Drives) could not be found.
300/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Cause
Remedy
A CCD slave address has been used several times; actual
topology (P-0-1603) and command topology (P-0-1636) do
not match. Addresses must be unequivocal
Correct slave address in slave(s) ( " P‑0‑4025, Drive address
of master communication " )
In " P‑0‑1601, CCD: Addresses of projected drives "
‑ or ‑
Correct " P‑0‑1601, CCD: addresses of projected drives " ac‐
cording to connected CCD slaves
in " P-0-1604, CCD: addresses of projected I/Os " (only
MPx05), a CCD slave was projected which does not exist in
CCD group
Correct " P-0-1604, CCD: addresses of projected I/Os " ac‐
cording to connected slaves
Only MPx05:
‑ or ‑
Assign addresses to slaves with P-0-1635
In " P‑0‑1601, CCD: Addresses of projected drives "
Connect all projected CCD slaves correctly
‑ or ‑
in " P-0-1604, CCD: addresses of projected I/Os " (only
MPx05), a CCD slave was projected which has not been
correctly connected
See also " P-0-1630, CCD: diagnosis "
See also Functional Description of firmware " Cross Communication (CCD) "
E4013 - Attributes
9.2.12
Display:
Ident N°:
E4013
E4013
E4014 Incorrect phase switch of CCD slaves
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
When the CCD group powers up to phase 0, 1 or 2, the CCD slaves are
monitored for correct reaction. Warning E4014 is generated if the behavior of
one or more slaves is not correct. There may be the following error symp‐
toms:
●
The CCD slave ignores phase switching and continues to transmit
●
The CCD slave does not resume transmitting after completed phase
switching
●
The list of scanned CCD slaves is not stable (the list must be completely
identical for phase 0)
●
No communication on port 1 or port 2
●
No scanned CCD slave (only if " P‑0‑1601, CCD: Addresses of projected
drives " is also empty; otherwise E4013)
●
The MST that was transmitted is not received correctly
●
There is a connected CCD slave that is not supported by the CCD mas‐
ter
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Bosch Rexroth AG
301/619
Warnings (Exxxx)
Cause
Remedy
SERCOS III plug connectors are loose or defective
Check SERCOS III plug connectors and replace if necessary
One of the CCD slaves is defective
Replace CCD slave
See also " P‑0‑1630, CCD: Diagnosis "
See also Functional Description of firmware " Cross Communication (CCD) "
E4014 - Attributes
9.2.13
Display:
Ident N°:
E4014
E4014
E4016 CCD: Topology error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The CCD master has detected in SERCOS phase 4 that the actual topology
(P-0-1610.0.3) is different from the command topology (P-0-1620.0.3).
The command topology is only monitored if the value entered in
" P-0-1620.0.3, CCD: Command topology " is unequal to " 0 " .
Cause
Remedy
Command topology specified in P-0-1620.0.3 is not availa‐
ble
Change P-0-1620.0.3 according to setup of connections
(topology)
‑ or ‑
Change connection(s) between slaves as parameterized in
P-0-1620.0.3
Connection between two slaves interrupted
Check connection between slaves.
NOTE: Green LED indicates link; parameter P-0-1610.0.21
displays addresses of slaves at end of line.
See also Functional Description of firmware " Cross Communication (CCD) "
E4016 - Attributes
9.2.14
Display:
Ident N°:
E4016
E4016
E4017 CCD: Unknown I/O configuration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
The composition of a modular I/O has changed since the previous CCD
phase progression. The content of parameter S‑0‑1500.0.3 (List of Module
Type Codes) in a modular I/O is not identical with the content of parameter
" P‑0‑1634.x.1, CCD: Module type codes of the modular I/Os " .
As a result, there may be cases where the inputs or outputs are not operated
correctly because modules of the modular I/O have been exchanged.
302/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Cause
Remedy
New modular I/O was added to CCD group
Start command " P‑0‑1620.0.31, C7200 CCD: Command
Apply I/O configuration " or write to parameter P‑0‑1634.x.1
Changes were made to known modular I/O in CCD group.
Modules were exchanged or replaced by other modules or
new modules were added
Undo changes to modular I/O
‑ or ‑
Inform CCD master about changes with command C7200
" CCD: Command Apply I/O configuration "
‑ or ‑
Write correct values to parameter P-0-1634.x.1
See also Functional Description of firmware " Cross Communication (CCD) "
E4017 - Attributes
Display:
Ident N°:
E4017
E4017
9.3
Possible Warnings When Operating Safety Technology
(E3xxx)
9.3.1
Behavior in Case a Safety Technology Warning Occurs
With activated safety technology, warnings of category E31xx on‐
ly occur in normal operation. When a safe operation is selected,
the cause of the warning results in an error being triggered.
Via the setting in " P-0‑0119, Best possible deceleration " , the user can define
the behavior of the drive taking place when non-fatal safety technology errors
occur.
The drive automatically switches to safety related standstill or " Safe stop 1 "
(S2) and the output stage is switched off via two channels.
As soon as the axis has stopped, the axis signals safety; i.e., " safety technol‐
ogy status output controller " in " P-0-3214, Safety technology status word,
channel 1 " was set or the diagnosis input/output EA10n (channel 2) was set
depending on the parameterization in " P-0-3210, Safety technology
configuration " .
9.3.2
E3100 Error when checking input signals
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the safety technology has been activated, the warning only occurs in
normal operation. When a safety-related operation status is selected, the
cause of the error causes the error " F3130 Error when checking input
signals " or " F3141 Selection validation error " to be triggered.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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303/619
Warnings (Exxxx)
Cause
Remedy
During " dynamization of safety function selection " not all in‐
put signals are zero. Cause can be error in wiring of input
signals or short circuit of switch contacts with positive supply
voltage
Remove wiring error of input signals or replace switch.
Note: Cause of error can be localized, for example, by
means of internal oscilloscope function and one of the fol‐
lowing parameters:
●
" P-0-3216, Active safety technology signals " or
●
" P-0-3212, Safety technology control word, channel 1 "
or
●
" P-0-3217, I/O status channel 2 (optional safety
technology module) "
There are unequal channel states between channel 1 and 2. Remove wiring error of input signals or replace switch
Cause can be error in wiring of input signals or defective
Note: Cause of error can be localized by means of parame‐
switch
ter " P‑0‑3216, Active safety technology signals " (of channel
1 and channel 2).
Parameterization of " P‑0‑3221, Max. tolerance time for
different channel states " not useful
E3100 - Attributes
9.3.3
Display:
Ident N°:
Change parameterization of " P‑0‑3221, Max. tolerance time
for different channel states " in a useful way
E3100
E3100
E3101 Error when checking acknowledgment signal
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
All drives of a safety zone have to be interconnected via the acknowledgment
signal " EA20 " . One of the drives of the safety zone has to be declared as
master, the other ones as slaves (declaration in " P-0-3210, Safety technology
configuration " ). The master uses the acknowledgment signal to evaluate the
axis states of the connected slaves and to control a safety door via the diag‐
nostic outputs " A10 " , " EA10n " . In order to detect errors in the connection, the
acknowledgment signal is dynamized.
When the safety technology has been activated, the warning only occurs in
normal operation. When a safety-related operating status is selected, the
cause of the error causes the error " F3131 Error when checking
acknowledgment signal " to be triggered.
Cause
Remedy
There is an error in wiring of acknowledgment signals (con‐
tact error, cable break, short circuit with 0 V, missing con‐
nection to master)
Remove error in wiring of acknowledgment signals
E3101 - Attributes
Display:
Ident N°:
E3101
E3101
304/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.3.4
E3102 Actual position values validation error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«MPC»
«-»
«-»
When both safety technology channels have been homed (confer " S-0-0403,
Position feedback value status " for channel 1 and " P-0-3213, Safety technol‐
ogy operating status " for channel 2), a validation check is cyclically carried
out for their actual position values. The difference of the actual position val‐
ues mustn't exceed an internally defined threshold.
When the safety technology has been activated, this warning only occurs in
normal operation. When a safety function is selected, the cause of the error
causes the error " F3117 Actual position values validation error " to be trig‐
gered.
Cause
Remedy
Implausible values on channel 1 and 2 resulted from cyclic
comparison of actual position values. An internally calcula‐
ted tolerance threshold is used for this comparison
Reestablish safety related reference
E3102 - Attributes
9.3.5
Display:
Ident N°:
E3102
E3102
E3103 Dynamization failed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
For dynamization of safety function selection a dynamic signal is applied to
the selection elements, in order to detect errors in the wiring of the input sig‐
nals. The signal shape of the dynamic signal is monitored, too.
The monitoring refers to the signal at the dynamization input EA30 and, in the
case of separate dynamization (to be set via " P-0-3210, Safety technology
configuration " ), additionally to the dynamization input for channel 1
( " P-0-3212, Safety technology control word, channel 1 " ).
When the safety technology has been activated, this warning only occurs in
normal operation. When a safety function is selected, the cause of the error
causes the error " F3134 Dynamization time interval incorrect " to be triggered.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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305/619
Warnings (Exxxx)
Cause
Remedy
Within time " P‑0‑3223, Time interval for dynamization of
safety function selection " there hasn't any dynamization
pulse (low level) occurred at dynamization input EA30 or
" dynamization input channel 1 "
Remove cause of error in wiring of dynamization input
‑ or ‑
In the case of internal dynamization, make sure that only
one of involved axes has been configured as master for dy‐
namization of safety function selection ( " P‑0‑3210, Safety
technology configuration " )
‑ or ‑
In the case of external dynamization, use appropriate signal
source
‑ or ‑
Make sure that in involved slave axes values for " P-0-3223,
Time interval for dynamization of safety function selection "
and " P-0-3224, Duration of dynamization pulse of safety
function selection " are greater than or equal to values in
master axis
E3103 - Attributes
9.3.6
Display:
Ident N°:
E3103
E3103
E3104 Safety parameters validation error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the operating mode, a validation check is cyclically carried out for the safe‐
ty parameters of channel 1 and channel 2.
When the safety technology has been activated, this warning only occurs in
normal operation. When a safety function is selected, the cause of the error
causes the error " F3140 Safety parameters validation error " or " F7040 Vali‐
dation error parameterized ‑ effective threshold " to be triggered.
Cause
Remedy
A comparison has shown that channel 1 and channel 2 are
not working with the same safety parameters
Execute command " P-0-3204, C3000 Synchronize and store
safety technology IDN command " ; channel 2 thereby ac‐
cepts parameters of channel 1
E3104 - Attributes
9.3.7
Display:
Ident N°:
E3104
E3104
E3105 Validation error of safe operation mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
306/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
The active safety technology operating states ( " safety related operating
modes " ) of channel 1 and channel 2 are cyclically and via two channels
checked for validity; they may differ for a maximum of 5 seconds.
The criteria for transition to a new safety technology operating status selected
have not been fulfilled in one channel. This channel remains in old the sta‐
tus ‑ the other channel already went to the new status.
When the safety technology has been activated, this warning only
occurs in normal operation. When a safety function is selected,
the cause of the error causes the error " F7042 Validation error
safety related operating mode " to be triggered.
Cause
Remedy
Time, velocity or position thresholds were incorrectly para‐
meterized
Check time, velocity or position thresholds relevant for re‐
spective transition and adjust them, if necessary
E3105 - Attributes
9.3.8
Display:
Ident N°:
E3105
E3105
E3106 System error safety technology
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS, 03VRS and 04VRS, the name of
the warning is " E3106 System error channel 2 " .
When the safety technology has been activated, this warning only occurs in
normal operation. When a safety function is selected, the cause of the error
causes the error " F3146 System error channel 2 " or " F3147 System error
channel 1 " to be triggered (as of firmware versions 05VRS).
Cause
Remedy
System error
Via parameter mode switch to operating mode
- or Reset optional safety technology module by switching con‐
trol voltage off and on
If error occurs repeatedly, replace control section or entire
drive controller; use hardware configuration of same type
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
Only Rexroth service engineers are allowed to replace optional
modules of the control section (e.g. optional encoder module).
E3106 - Attributes
Display:
Ident N°:
E3106
E3106
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
307/619
Warnings (Exxxx)
9.3.9
E3107 Safe reference missing
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
A check showed that, when the special mode " safe motion " with configured
safety function " safety related limited absolute position " (up to MPx06) or
" Safely-monitored position " (as of MPx07) was selected, there is no " safe
reference " existing.
Cause
Remedy
Monitoring of safety related end positions has been config‐
ured; requirement that channel 2 has been homed is missing
(can also be recognized in " P‑0‑3238, Extended safety
technology status " ). No safety function has been selected
(i.e., drive is in normal operation)
1. Set drive enable
2. For absolute measuring systems: Execute " P-0-3228,
C4000 Homing procedure command channel 2 " in or‐
der to establish " safe reference " on channel 2
- or For all other measuring systems: Execute " S‑0‑0148,
C0600 Drive-controlled homing procedure command "
(C4000 for establishing safe reference of channel 2 is
integrated)
Description of error reaction: " Behavior in Case a Safety Technology Warning
Occurs "
See also documentation
●
●
E3107 - Attributes
9.3.10
Up to MPx06: " Integrated Safety Technology, index entry " Safety related
homing procedure " "
As of MPx07: " Integrated Safety Technology According to IEC 61508,
index entry " Safe homing procedure " "
Display:
Ident N°:
E3107
E3107
E3108 Safely-monitored deceleration exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " E3108
Safety related deceleration exceeded " .
During the monitoring function " Safely-monitored stopping process on basis
of actual velocity " ‑ which is carried out in consequence of a change in selec‐
tion or a safety technology error ‑ the actual velocity exceeds the threshold
" P-0-3283, Safely-monitored deceleration, veloc. envelope curve " .
For the time during which the threshold is exceeded, the incorrect distance is
determined (by integration of the velocity differences).
308/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
The warning E3108 is generated as long as an incorrect distance is detected
which is smaller than the value in the position standstill window " P-0-3230,
Monitoring window for safe stop 2 " .
When the incorrect distance exceeds the position standstill window
(P-0-3230), the error F7051 or F8135 is generated.
Cause
Remedy
During transition to special mode, drive is not able to reach
Adjust command value input to parameterized values
standstill, within corresponding transition time ( " P‑0‑3220,
Tolerance time transition from normal operation " / " P‑0‑3225,
Tolerance time transition from safe operation " ), with deceler‐
ation parameterized in " P‑0‑3282, Safely-monitored
deceleration "
One or several of values selected for the following parame‐
ters are not useful:
●
P‑0‑3282, Safely-monitored deceleration,
●
P‑0‑3226, Delay Safely-monitored deceleration,
●
P‑0‑3233, Velocity threshold for safe standstill,
●
" P‑0‑3220, Tolerance time transition from normal
operation " or
●
Check parameter settings and change them, if necessary
P‑0‑3225, Tolerance time transition from safe
operation
See also documentation
●
●
E3108 - Attributes
9.3.11
Up to MPx06: " Integrated Safety Technology " , index entry " Safety
related monitored stopping process "
As of MPx07: " Integrated Safety Technology According to IEC61508 " ,
index entry " Safely-monitored stopping process "
Display:
Ident N°:
E3108
E3108
E3110 Time interval of forced dynamization exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In parameter " P-0-0103, Time interval of forced dynamization " it is possible to
set a time interval within which the starting lockout has to be activated. This
time interval has been exceeded.
Cause
Remedy
Setting of time interval in parameter " P‑0‑0103, Time interval Set time interval in parameter " P‑0‑0103, Time interval of
of forced dynamization " does not comply with requirements forced dynamization " according to requirements
Starting lockout has not been activated within time interval
that was set
E3110 - Attributes
Display:
Ident N°:
E3110
E3110
Activate starting lockout with drive controller being active
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
309/619
Warnings (Exxxx)
9.3.12
E3115 Prewarning, end of brake check time interval
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When " time interval of holding brake check " was activated in " P-0-0525,
Holding brake control word " or the function " safe braking and holding system "
is used, the drive monitors the time which has passed since the last holding
brake check.
Cause
Remedy
Drive had been put into operation and drive enable was set;
after 5 minutes, drive generates warning E3115
Brake check ( " P-0-0541, C2100 Holding system check
command " ) must be carried out within 15 minutes after drive
was put into operation and drive enable was set
Space of time since last holding brake check has approach‐
ed time interval parameterized in " P-0-0550, Time interval
holding system check " or " P-0-3302, SBS: Time interval
brake check " by 15 minutes or less
Start brake check within 15 minutes after occurrence of
E3115 ( " P-0-0541, C2100 Holding system check command " )
See also Functional Description of firmware " Motor Holding Brake "
See also documentation
●
●
E3115 - Attributes
9.3.13
Up to MPx06: " Integrated Safety Technology "
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
E3115
E3115
E3116 Nominal load torque of holding system reached
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The current nominal load torque ( " P-0-0551, Current load torque " ) has tem‐
porarily exceeded the nominal load torque of the holding system ( " P-0-0547,
Nominal load of holding system " ) or of the safe braking and holding system
( " P-0-3303, SBS: Nominal load " ).
Cause
Remedy
" P‑0‑0551, Current load torque " is greater than nominal load Avoid overload
torque of holding system ( " P-0-0547, Nominal load of
holding system " ) or nominal load torque of safe braking and
holding system ( " P-0-3303, SBS: Nominal load " )
Incorrect parameterization of " P-0-0547, Nominal load of
holding system " or " P-0-3303, SBS: Nominal load "
Correct parameter setting
See also documentation
●
Up to MPx06: " Integrated Safety Technology "
310/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
●
E3116 - Attributes
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
E3116
E3116
9.4
Non-Fatal Warnings (E2xxx)
9.4.1
Behavior in Case a Non-Fatal Warning Occurs
In the case of warnings of category E2xxx, the drive normally does not carry
out any drive reaction, unless the warning was generated due to a mains or
undervoltage error. In this case, the behavior of the drive can be determined
via the parameter " P‑0‑0118, Power supply, configuration " .
A second group of warnings within this category signals that a limit value de‐
termined (parameterized) by the user has been exceeded.
A warning cannot be cleared; it disappears automatically after its cause was
removed.
9.4.2
E2010 Position control with encoder 2 not possible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
For operating modes using parameter " S‑0‑0520, Control word of axis con‐
troller " it is possible to switch the control encoder during operation.
If no second encoder has been defined as control encoder, this warning is
generated when you try to switch to encoder 2.
E2010 - Attributes
9.4.3
Display:
Ident N°:
E2010
E2010
E2011 PLC - Warning no. 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive al‐
lows the user to generate warnings from within the PLC program.
Causes of and remedies for a PLC warning depend on the particular PLC
project (or the active Rexroth technology function) and can be found in the
description of the particular technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
E2011 - Attributes
Display:
Ident N°:
E2011
E2011
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
311/619
Warnings (Exxxx)
9.4.4
E2012 PLC - Warning no. 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive al‐
lows the user to generate warnings from within the PLC program.
Causes of and remedies for a PLC warning depend on the particular PLC
project (or the active Rexroth technology function) and can be found in the
description of the particular technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
E2012 - Attributes
9.4.5
Display:
Ident N°:
E2012
E2012
E2013 PLC - Warning no. 3
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive al‐
lows the user to generate warnings from within the PLC program.
Causes of and remedies for a PLC warning depend on the particular PLC
project (or the active Rexroth technology function) and can be found in the
description of the particular technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
E2013 - Attributes
9.4.6
Display:
Ident N°:
E2013
E2013
E2014 PLC - Warning no. 4
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive al‐
lows the user to generate warnings from within the PLC program.
Causes of and remedies for a PLC warning depend on the particular PLC
project (or the active Rexroth technology function) and can be found in the
description of the particular technology function.
312/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
E2014 - Attributes
9.4.7
Display:
Ident N°:
E2014
E2014
E2015 PLC - Warning no. 5
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive al‐
lows the user to generate warnings from within the PLC program.
Causes of and remedies for a PLC warning depend on the particular PLC
project (or the active Rexroth technology function) and can be found in the
description of the particular technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
E2015 - Attributes
9.4.8
Display:
Ident N°:
E2015
E2015
E2016 PLC - Warning no. 6
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
In conjunction with technology functions, the PLC integrated in the drive al‐
lows the user to generate warnings from within the PLC program.
Causes of and remedies for a PLC warning depend on the particular PLC
project (or the active Rexroth technology function) and can be found in the
description of the particular technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
E2016 - Attributes
9.4.9
Display:
Ident N°:
E2016
E2016
E2017 PLC - Warning no. 7
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
313/619
Warnings (Exxxx)
In conjunction with technology functions, the PLC integrated in the drive al‐
lows the user to generate warnings from within the PLC program.
Causes of and remedies for a PLC warning depend on the particular PLC
project (or the active Rexroth technology function) and can be found in the
description of the particular technology function.
Tip: As of firmware versions MPx08/MPx17, the diagnostic message text can
be edited via the integrated PLC. This allows the user to assign meaningful
diagnostic messages.
E2017 - Attributes
9.4.10
Display:
Ident N°:
E2017
E2017
E2021 Motor temperature outside of measuring range
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The lower limit of the allowed ambient temperature range of Rexroth motors
is 0°C. In the case of very low temperatures (below –20°C), motor encoders
risk failing, shaft bearings and housings risk getting damaged.
Motors MSK, MAD, MAF
The temperature sensors installed in the motor windings of Rexroth motors of
the MSK, MAD and MAF lines allow measuring temperatures below the al‐
lowed temperature range. When the motor temperature has fallen below –
20°C, the warning E2021 is output.
Motors MHD, MKD, 2AD, ADF,
1MB, MLF, LSF
The temperature sensors installed in the motor windings of Rexroth motors of
the MHD, MKD, 2AD, ADF, 1MB, MLF and LSF lines cannot measure tem‐
peratures below the allowed temperature range. Therefore, the warning can‐
not be generated in this case!
Cause
Remedy
Motor temperature measured by temperature sensor is be‐
low –20°C
Warning disappears automatically when motor is heated up
to more than –20°C by load or higher ambient temperature
Sensor defective
Check wiring and hardware, above all for loose contact and,
if necessary, for malfunction
‑ or ‑
Cable break
‑ or ‑
Electronic monitoring system in controller defective
See also Functional Description of firmware " Motor Temperature Monitoring "
E2021 - Attributes
Display:
Ident N°:
E2021
E2021
314/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.4.11
E2026 Undervoltage in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The DC bus voltage value is monitored by the drive controller and the supply
unit.
Drive Controllers HMS, HMD,
HCS
If the DC bus voltage falls below the minimum value determined for the drive
(see value of " P‑0‑0114, Undervoltage threshold " ) or it reacts to " DC bus not
ok " of the module bus, the device generates the warning E2026 if " non-fatal
warning " has been set with regard to the reaction to undervoltage in
" P‑0‑0118, Power supply, configuration " .
When drive enable is set without DC bus voltage (drive signals
" bb " ), the error message F2026 is generated in spite of warning
having been parameterized.
Supply Unit HMV01.1R /
HMV02.1R
If the DC bus voltage falls below the threshold value determined for the re‐
spective supply unit (see table below), the warning E2026 is displayed at the
device and " DC bus not ok " is signaled via the module bus. The circuit is not
interrupted yet!
Supply unit
Hardware index (see type plate)
Threshold value
HMV01.1R-W0018
Up to A38
DC 670 V
From A39 upwards
DC 600 V
Up to A39
DC 670 V
From A40 upwards
DC 600 V
Up to A39
DC 670 V
From A40 upwards
DC 600 V
From A00 upwards
DC 600 V
HMV01.1R-W0045
HMV01.1R-W0060
HMV01.1R-W0120
Fig.9-3:
Threshold Values for Undervoltage in DC Bus
Cause
Remedy
Power is switched off without previous drive deactivation by
means of drive enable ( " AF " )
Check logic for activating drive in connected control unit
Malfunction or overload of power supply
Check power supply
Mains failure
Check cause of mains failure, switch mains voltage on again
See also Functional Description of firmware " Power Supply "
E2026 - Attributes
Display:
Ident N°:
E2026
E2026
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
315/619
Warnings (Exxxx)
9.4.12
E2040 Device overtemperature 2 prewarning
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
A switch-off value for the second temperature sensor is stored in element 3 of
parameter " P‑0‑4059, Electric type data of power section " .
If the parameter " P‑0‑0816, Amplifier temperature 2 " exceeds the switch-off
threshold, the warning E2040 is output for 30 seconds. Afterwards, the con‐
troller is switched off with the non-fatal error F2040.
Before the controller is switched off, it is possible to stop the axis via the con‐
trol unit in accordance with the process (e.g. terminate processing, leave col‐
lision area etc.) or to reduce the load of the drive controller.
Cause
Remedy
Ambient temperature too high. Specified performance data
are valid up to an ambient temperature of 40 C.
Reduce ambient temperature, e.g. by cooling the control
cabinet
Heat sink of device is dirty
Clean heat sink
Convection is prevented by other components or mounting
position in control cabinet
Mount device vertically and provide sufficient space for ven‐
tilating heat sink
Blower of device is defective
Replace device
E2040 - Attributes
9.4.13
Display:
Ident N°:
E2040
E2040
E2047 Interpolation velocity = 0
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
In operating states/ operating modes in which the drive-internal position com‐
mand value interpolator is active, the preset velocity effective in the drive is
monitored with regard to the value " 0 " ; i.e. the monitor is active in the follow‐
ing operating modes or operating states:
drive-internal interpolation
drive-controlled positioning
●
positioning block mode
●
Commands
●
●
Operating Modes
Drive Halt
●
position spindle
●
drive-controlled homing
●
automatic control loop setting
●
...
316/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Cause
Remedy
Incorrect velocity is preset (value = " 0 " )
Check parameterization or cyclic command value of control
unit and set value for preset velocity unequal zero
(cf. " S‑0‑0259, Positioning velocity " , " S‑0‑0041, Homing ve‐
locity " , " P‑0‑4007, Positioning block velocity " [i], " S‑0‑0222,
Spindle positioning speed " , " S‑0‑0091, Bipolar velocity limit
value " , " P‑0‑0143, Synchronization velocity " , " P‑0‑0686, Ad‐
ditive position command value, positioning velocity " )
Analog input to which preset velocity was assigned is defec‐ Check wiring and function of analog input and, if necessary,
tive or not connected
replace cable or control section, or the entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
E2047 - Attributes
9.4.14
Display:
Ident N°:
E2047
E2047
E2048 Interpolation acceleration = 0
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
In operating states/ operating modes in which the drive-internal position com‐
mand value interpolator is active, the preset acceleration effective in the drive
is monitored with regard to the value " 0 " [without acceleration (deceleration) a
preset velocity can never be reached; slowing down with a deceleration " 0 "
isn't possible either].
The input values of the parameters are converted to a drive-inter‐
nal format. This is why input values & gt; " 0 " can, internally, also
cause an acceleration = " 0 " . The parameter values which drive-in‐
ternally still cause an acceleration & gt; " 0 " can be calculated.
The monitor is active in the following operating modes or operating states:
drive-internal interpolation
drive-controlled positioning
●
positioning block mode
●
Commands
●
●
Operating Modes
Drive Halt
●
position spindle
●
drive-controlled homing
●
automatic control loop setting
●
...
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
317/619
Warnings (Exxxx)
Cause
Remedy
Incorrect acceleration is preset (value = " 0 " )
Check parameterization or cyclic command value of control
(vgl. " S‑0‑0260, Positioning acceleration " , " S‑0‑0042, Hom‐ unit and set value for preset acceleration & gt; " 0 "
ing acceleration " , " S‑0‑0138, Bipolar acceleration limit val‐
ue " , " S‑0‑0359, Positioning deceleration " , " P‑0‑0142, Syn‐
chronization acceleration " , " P‑0‑0687, Additive position com‐
mand value, positioning acceleration " )
E2048 - Attributes
9.4.15
Display:
Ident N°:
E2048
E2048
E2049 Positioning velocity & gt; = limit value
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the operation modes in which the drive-internal position command value in‐
terpolator is active, the velocity command value (positioning velocity) effec‐
tive in the drive is limited to the smallest parameterized velocity limit value.
This means that the monitor is active in the following operation modes or
operating states:
Drive-internal interpolation
Drive-controlled positioning
●
Positioning block mode
●
Position spindle
●
Drive-controlled homing procedure
●
Automatic control loop setting
●
Commands
●
●
Operation Modes
...
Cause
Remedy
Incorrect velocity has been preset (parameterized or cycli‐
cally preset value is too high) (cf. " S‑0‑0259, Positioning
velocity " , " S‑0‑0041, Homing velocity " , " P‑0‑4007,
Positioning block velocity " [i], " S‑0‑0222, Spindle positioning
speed " , " S‑0‑0091, Bipolar velocity limit value " , " S‑0‑0038,
Positive velocity limit value " , " S‑0‑0039, Negative velocity
limit value " )
Check parameterization or cyclic command value of control
unit and set value for used preset velocity smaller than value
from " S‑0‑0091, Bipolar velocity limit value " , " S‑0‑0038,
Positive velocity limit value " or " S‑0‑0039, Negative velocity
limit value "
" S‑0‑0091, Bipolar velocity limit value " , " S‑0‑0038, Positive
velocity limit value " or " S‑0‑0039, Negative velocity limit
value " incorrectly parameterized
Check parameter contents of " S‑0‑0091, Bipolar velocity
limit value " , " S‑0‑0038, Positive velocity limit value " and
" S‑0‑0039, Negative velocity limit value " . Check whether pa‐
rameter possibly has been assigned to an analog input or is
contained in cyclic data
Note: Specified velocity is also affected by S‑0‑0108; check
S‑0‑0108.
Analog input to which " S‑0‑0091, Bipolar velocity limit
Check wiring and function of analog input and, if necessary,
value " , " S‑0‑0038, Positive velocity limit value " or " S‑0‑0039, replace cable or control section, or the entire drive controller
Negative velocity limit value " was assigned is defective or
not connected
318/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Velocity Limitation "
E2049 - Attributes
9.4.16
Display:
Ident N°:
E2049
E2049
E2050 Device overtemp. prewarning
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The heat sink temperature of the device is monitored by a temperature sen‐
sor and a temperature model. When the heat sink has become too hot, the
device is switched off in order to protect it against destruction. Before the
error " F2018 Device overtemperature shutdown " is triggered, the warning
" E2050 Device overtemp. Prewarning " is output.
When the warning E2050 appears, it is possible to stop the axis
via the control unit in accordance with the process (e.g. terminate
processing, leave collision area etc.) or to reduce the load of the
drive controller.
Cause
Remedy
Amplifier overtemperature (heat sink) due to overload of
drive (overcurrent)
Switch drive off and let it cool down, check mechanical sys‐
tem as well as drive dimensioning (working power mustn't
exceed, on average, continuous power of drive)
Ambient temperature too high. Specified performance data
are valid up to an ambient temperature of 40 °C
Reduce ambient temperature, e. g. by cooling the control
cabinet
Heat sink of device is dirty
Clean heat sink
Convection is prevented by other components or mounting
position of control cabinet
Mount device vertically and provide sufficient space for ven‐
tilating heat sink
Failure of internal blower
If blower fails, replace device or power section
Failure of air conditioning for control cabinet
Check air conditioning of control cabinet
Incorrect dimensioning of control cabinet with regard to heat
discharge
Check dimensioning of control cabinet
See also Functional Description of firmware " Current Limitation "
E2050 - Attributes
Display:
Ident N°:
E2050
E2050
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
319/619
Warnings (Exxxx)
9.4.17
E2051 Motor overtemp. prewarning
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The motor temperature measured by the temperature sensor approaches the
limit value and has reached " S‑0‑0201, Motor warning temperature " . The
controller outputs warning E2051.
As of MPx07V14: This warning is also generated if the motor load calculated
in the temperature model of the motor has exceeded the prewarning thresh‐
old.
The drive is not switched off (F2019) until the motor temperature has reached
the limit value in " S‑0‑0204, Motor shutdown temperature " .
Cause
Remedy
Incorrect parameterization of " S‑0‑0201, Motor warning
temperature "
Check and correct parameterization of " S‑0‑0201, Motor
warning temperature " by means of motor or temperature
sensor data sheet Check temperature display (S-0-0383) of
motor
As of MPx07V14: Incorrect parameterization of " P‑0‑0468,
Prewarning threshold of therm. motor load "
Check parameterization of temperature model (P‑0‑4034,
P‑0‑4035, P‑0‑4037). Check motor load and prewarning
threshold (P‑0‑0446, P‑0‑0468)
Motor is overloaded. Effective torque demanded from motor
has been above allowed continuous torque too long
Check dimensioning of motor and reduce motor load, e.g.,
by reducing feedrate in cutting operations. Or, in case of in‐
stallations that have been operated for a long time, check
whether drive conditions have changed (with regard to dirt
accumulation, friction, moved masses, etc.)
Line interruption, ground fault or short circuit in line for motor Check line for motor temperature monitoring for line interrup‐
temperature monitoring
tion, ground fault or short circuit
Instability in speed control loop
Check parameterization of speed control loop
Fan / cooler defective
Check fan / cooler
See also Functional Description of firmware " Motor Temperature Monitoring " .
E2051 - Attributes
9.4.18
Display:
Ident N°:
E2051
E2051
E2053 Target position out of travel range
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In operation modes with internal position command value generation a check
is run, before a movement is carried out, in order to find out whether the pre‐
set target position ( " S‑0‑0258, Target position " , " S‑0‑0282, Positioning
320/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
command value " or " P‑0‑4006, Positioning block target position " [i]) is within
the allowed travel range of the drive.
The allowed travel range of the drive is defined by
●
S‑0‑0049, Positive position limit value
●
S‑0‑0050, Negative position limit value
The position limit value monitor and thus the monitoring of the allowed travel
range is activated in " S‑0‑0055, Position polarities " . The position limit value
monitor is only active, when the selected encoder is in reference.
The reaction to a travel range error can be set in " P‑0‑0090, Travel range
limit parameter " .
When the position limit value monitor has been activated and the
target position is outside of the allowed travel range, a warning bit
is set in " S‑0‑0012, Class 2 diagnostics " . In addition, the message
" S‑0‑0323, Target position outside of travel range " is set.
Up to MPx04: The positioning procedure is started.
As of MPx05: The positioning procedure is not started.
Cause
Remedy
Position limit values ( " S‑0‑0049, Positive position limit
value " , " S‑0‑0050, Negative position limit value " ) incorrectly
parameterized
Check parameterization of position limit values and adjust it
according to desired travel range ( " S‑0‑0049, Positive
position limit value " has to be greater than " S‑0‑0050,
Negative position limit value " )
Position limit value monitor has been activated although it is
not needed
Deactivate position limit value monitor if it is not needed
(e.g., in modulo operation)
In the case of relative interpolation, value for travel range
Check preset travel range (cf. " S‑0‑0258, Target position " )
was set too high or several travel ranges that are added
and, if necessary, adjust it in control unit program
cause effective target position (cf. " P‑0‑0050, Effective target
position " ) to be outside of position limits
In the case of absolute interpolation, preset target position is Check preset target position (cf. " S‑0‑0258, Target position "
incorrect
or " S‑0‑0282, Positioning command value " ) and, if necessa‐
ry, adjust it in control unit program (only enter " S‑0‑0258,
Target position " within position limit values)
In " positioning block mode " one or more target positions
have been incorrectly parameterized or incorrect positioning
block is selected
Check parameterized target positions in " P‑0‑4006,
Positioning block target position " and block selection
( " P‑0‑4026, Positioning block selection " ). In addition, check
block selection via respective master communication (e.g.,
field bus or digital I/Os).
See also Functional Description of firmware " Position Limitation/Travel
Range Limit Switch "
For " relative interpolation " , see Functional Description of firmware " DriveControlled Positioning "
For " absolute interpolation " , see Functional Description of firmware " DriveInternal Interpolation "
E2053 - Attributes
Display:
Ident N°:
E2053
E2053
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
321/619
Warnings (Exxxx)
9.4.19
E2054 Not homed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Before a motion is carried out a check is run in the case of operating modes
with drive-internal position command value generation (drive-internal interpo‐
lation, drive-controlled positioning and positioning block mode) to find out
whether, with absolute target position preset ( " S‑0‑0258, Target position " or
" S‑0‑0282, Positioning command value " , or " P‑0‑4006, Positioning block tar‐
get position " ), the measuring system used for positioning (cf. operating mode
selection) has been homed.
When the warning E2054 appears, the drive stops or does not ac‐
cept the target position or the positioning block. In parameter
" S‑0‑0012, Class 2 diagnostics " a warning bit is set.
Cause
Remedy
Absolute positioning was started although position data ref‐
erence of drive had not yet been established [drive has not
been homed (cf. " S‑0‑0403, Position feedback value sta‐
tus " )]
Establish absolute position data reference by starting com‐
mand " S‑0‑0148, C0600 Drive-controlled homing procedure
command " or " P‑0‑0012, C0300 Command Set absolute
measuring "
See also Functional Description of firmware " Establishing the Position Data
Reference "
E2054 - Attributes
9.4.20
Display:
Ident N°:
E2054
E2054
E2055 Feedrate override S-0-0108 = 0
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
By means of the " S‑0‑0108, Feedrate override " it is possible to make a pro‐
portional scaling for the travel velocity of drive-controlled travel commands
(0..100 %).
A feedrate override of 0 % causes the effective travel velocity to become " 0 " .
In spite of velocity command value being present (e. g. " S‑0‑0259, Position‐
ing velocity " ), the drive remains stopped at the current position or brakes
down until reaching standstill.
The function of the feedrate override can be switched off by set‐
ting S‑0‑0108 = 100 %.
If S‑0‑0108 has been cyclically configured or assigned to an ana‐
log input, this configuration has to be changed.
322/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Cause
Remedy
Parameter " S‑0‑0108, Feedrate override " was set to " 0 "
Set feedrate override & gt; " 0 " so that drive moves. Full velocity
is reached with 100%.
For devices with analog inputs: feedrate override via analog
input has been activated and voltage at analog input is " 0 "
Apply voltage & gt; " 0 " proportionally to desired velocity (+10 V
corresponds to 100% of velocity) alternative: deactivate fee‐
drate override
Infeed potentiometer of connected control unit was set to " 0 " Carefully actuate infeed potentiometer, check analog signal
or is incorrectly evaluated
and evaluation
Analog input used for feedrate override or connecting cable
is defective
Check and if necessary replace cable and control section
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
E2055 - Attributes
9.4.21
Display:
Ident N°:
E2055
E2055
E2056 Torque limit = 0
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
To protect the drive or the connected mechanical system against mechanical
overload the maximum torque or the maximum force can be limited to al‐
lowed values.
Cause
Remedy
One of the torque-/force-limiting parameters has the value
" 0 "
Check parameters " S‑0‑0082, Torque/force limit value posi‐
tive " ; " S‑0‑0083, Torque/force limit value negative " ;
" S‑0‑0092, Bipolar torque/force limit value " and " P‑0‑0109,
Torque/force peak limit " and enter " correct " limit value (un‐
equal " 0 " )
One of the torque-/force-limiting parameters has been as‐
signed to analog input and voltage at analog input is " 0 "
Apply voltage & gt; 0 proportionally to desired torque/force limit
value
Note: Scaling of analog input defines scaling of analog input
voltage (see also Functional Description of firmware " Analog
Inputs " )
Potentiometer of connected control unit was set to " 0 " or is
incorrectly evaluated
Carefully actuate potentiometer, check analog signal and
evaluation
Cable connected at analog input for torque/force limitation is Check and, if necessary, replace cable
defective
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
323/619
Warnings (Exxxx)
Cause
Remedy
Analog input used for torque/force limitation is defective
Replace control section or entire drive controller
You are using motor without encoder memory; its motor data Load motor parameters via motor data base stored in
haven't yet been set and max. allowed currents (S‑0‑0109,
IndraWorks D
S‑0‑0111,...) therefore are still " 0 "
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Torque/Force Control "
E2056 - Attributes
9.4.22
Display:
Ident N°:
E2056
E2056
E2058 Selected positioning block has not been programmed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the " positioning block mode " the selected positioning block is checked so
that only complete positioning blocks can be started.
When the warning E2058 appears, the drive stops or does not ac‐
cept the selected positioning block. In parameter " S‑0‑0012,
Class 2 diagnostics " a warning bit is set.
Cause
Remedy
Positioning block data of currently selected block are not
available
Check positioning block data ( " P‑0‑4006, Positioning block
target position " , " P‑0‑4007, Positioning block velocity " ,
" P‑0‑4008, Positioning block acceleration " , " P‑0‑4009, Posi‐
tioning block jerk " , and " P‑0‑4019, Positioning block mode " )
and correct respective parameters
Incorrect positioning block selection via field bus or digital in‐ Check " P‑0‑4026, Positioning block selection " and control. If
puts
necessary, also check wiring and connection of digital I/Os
Incorrect configuration of digital inputs causes unwanted po‐ Check configuration of digital inputs and correct it according‐
sitioning block selection
ly
See also Functional Description of firmware " Digital Inputs/Outputs "
See also Functional Description of firmware " Positioning Block Mode "
E2058 - Attributes
Display:
Ident N°:
E2058
E2058
324/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.4.23
E2059 Velocity command value limit active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is constantly monitoring the effective velocity command value (sum
of velocity command values at controller input) and is limiting it.
If the effective velocity command value exceeds " S‑0‑0091, Bipolar velocity
limit value " , the warning E2059 is output because for positioning tasks the lag
error can be increased.
Cause
Remedy
Cyclic command value preset by control unit is incorrect or
too high
Control cyclic command value and, if necessary, adjust con‐
trol program
Velocity limit value parameterized too low
Check and correct parameterization of " S‑0‑0091, Bipolar
velocity limit value "
See also Functional Description of firmware " Velocity Control "
E2059 - Attributes
9.4.24
Display:
Ident N°:
E2059
E2059
E2061 Device overload prewarning
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The load of the device has exceeded a signaling threshold. A warning is gen‐
erated, alerting the user to reduce the load in order to avoid an overload.
Devices with digital control are monitored by a continuously running tempera‐
ture model. If the thermal load approaches 100%, the continuous current limi‐
tation function is activated shortly thereafter and warning " E8057 Device
overload, current limit active " is displayed.
Current limitation is accompanied a reduction in torque/force, which may lead
to problems on machines and plants. For this reason, a warning is issued be‐
fore such a situation may occur.
The warning sets bit 1 in " S‑0‑0012, Class 2 diagnostics " .
For HCS, HMS, HMD
The threshold value for the overload prewarning can be set in " P‑0‑0441,
Drive load warning threshold " . If the thermal load exceeds this value, warning
E2061 is issued. Meaningful values for " P‑0‑0441, Drive load warning
threshold " are 80% to 90% to ensure a buffer before the actual thermal load
(100%) is reached.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
325/619
Warnings (Exxxx)
The warning can be deactivated by setting a value in " P‑0‑0441,
Drive load warning threshold " that exceeds 100% because, in this
case, the fatal warning " E8057 Device overload, current limit ac‐
tive " is generated when the controller limits the output current.
As of MPx05: When function " PWM frequency switching depend‐
ing on load " has been selected (P-0-0556, bit 8= " 1 " or P-0-0045,
bit 11 and bit 7), the device is switched to the lower switching fre‐
quency in case the prewarning threshold is exceeded.
The device is switched to the higher frequency, when the load in
P-0-0141 falls below an internally calculated threshold. The value
of this threshold is lower than the value in parameter " P-0-0441,
Drive load warning threshold " .
As long as the controller is operated with the lower switching fre‐
quency, warning " E2061 Device overload prewarning " is dis‐
played.
For HMV01.1R
The threshold value for the overload prewarning is fixed to 90%. If the ther‐
mal load exceeds this value, warning E2061 is issued. This threshold cannot
be set and therefore the warning cannot be deactivated!
Cause
Remedy
Inappropriate value of " P‑0‑0441, Drive load warning
threshold "
Increase value of " P‑0‑0441, Drive load warning threshold " if
necessary
Overload of drive (e.g., due to excessive infeed during ma‐
chining or high acceleration to high speed)
Switch drive off and let it cool down. Check drive dimension‐
ing and command value profile
Changes in mechanical system with regard to friction and
moved masses
If installations have been operated for a prolonged time peri‐
od, check drive conditions for changes in mechanical system
See also Functional Description of firmware " Current Limitation "
E2061 - Attributes
9.4.25
Display:
Ident N°:
E2061
E2061
E2063 Velocity command value & gt; limit value
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive continuously monitors the velocity command value (S‑0‑0036 or
another parameterized command value input).
If the velocity command value exceeds the smallest parameterized velocity
limit value, the lag error can be increased for positioning tasks.
Cause
Remedy
Cyclic command value preset by control unit is incorrect or
too high
Check cyclic command value and, if necessary, adjust con‐
trol program
Velocity limit value parameterized too low
Check and correct parameterization of " S‑0‑0091, Bipolar
velocity limit value " , " S‑0‑0038, Positive velocity limit value " ,
" S‑0‑0039, Negative velocity limit value "
326/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
See also Functional Description of firmware " Velocity Control "
E2063 - Attributes
9.4.26
Display:
Ident N°:
E2063
E2063
E2064 Target position out of num. range
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The operating mode " drive-internal interpolation " or " drive-controlled position‐
ing " was selected and the preset target position cannot be displayed in the
internal position format.
Cause
Remedy
Incorrect target position or positioning command value was
preset
Check target position ( " S‑0‑0258, Target position " ) or posi‐
tioning command value ( " S‑0‑0282, Positioning command
value " ) preset by control unit (master) and, if necessary, cor‐
rect control unit program
An " infinitely turning axis " is not operated in modulo format
Check content of " S‑0‑0076, Position data scaling type " and
change to " modulo format "
Selected " S‑0‑0278, Maximum travel range " too small
Increase value of " S‑0‑0278, Maximum travel range " in order
to increase position that can be displayed internally in abso‐
lute form
See also Functional Description of firmware " Drive-Controlled Positioning "
See also Functional Description of firmware " Drive-Internal Interpolation "
E2064 - Attributes
9.4.27
Display:
Ident N°:
E2064
E2064
E2069 Holding brake torque too low
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When drive enable was switched off, the motor moved during the automatic
check of the holding brake torque (can be activated via " P‑0‑0525, Holding
brake control word " ). The motor holding brake therefore no longer provides
the required holding torque (see also " P‑0‑0547, Test torque with holding
brake applied " ).
The result of the brake check is displayed in " P‑0‑0539, Holding
brake status word " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
327/619
Warnings (Exxxx)
Cause
Remedy
Due to storage, brake is covered by an oxide layer
If warning occurs when drive enable is switched off, start
command " P-0-0544, C3900 Command Holding brake
resurfacing " in order to resurface brake. Afterwards brake
should be able to provide full torque again
‑ or ‑
Brake is wetted with oil or grease
Brake is worn (see " service life of brake " in Project Planning
Manual of motor)
If holding torque still is not reached after repeated start of
command " P-0-0544, C3900 Command Holding brake
resurfacing " , motor holding brake or entire motor must be re‐
placed
Wiring or control error of brake (hardware defect on control
section)
Check wiring and connection of brake (incl. brake relay).
If holding brake control in controller (e.g. relay) is defective,
entire drive controller or control section has to be replaced
See also Functional Description of firmware " Motor Holding Brake "
E2069 - Attributes
9.4.28
Display:
Ident N°:
E2069
E2069
E2070 Acceleration limit active
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The acceleration in the velocity loop is limited to the value of " S‑0‑0138, Bipo‐
lar acceleration limit value " .
As of MPx05: The acceleration monitoring can be switched off by
inputting " 0 " in " S‑0‑0138, Bipolar acceleration limit value " .
Cause
Remedy
Value in " S‑0‑0138, Bipolar acceleration limit value " too low
Check and, if necessary, correct parameterization of
" S‑0‑0138, Bipolar acceleration limit value "
Incorrect command value set by control unit
Contact control unit manufacturer or programmer
Preset acceleration value was greater than value parameter‐ Reduce acceleration value used
ized in " S‑0‑0138, Bipolar acceleration limit value "
●
S‑0‑0042, Homing acceleration
●
●
P-0-1203, Ramp 2 pitch
●
P-0-1211, Deceleration ramp 1
●
E2070
E2070
P-0-1201, Ramp 1 pitch
●
Display:
Ident N°:
P‑0‑0057, Return acceleration
●
E2070 - Attributes
S‑0‑0260, Positioning acceleration
P-0-1213, Deceleration ramp 2
328/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.4.29
E2074 Encoder 1: Encoder signals disturbed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The hardware checks the signals of the measuring system (encoder 1) for in‐
admissible signal dips. If a signal (e.g., sin or cos) leaves the thresholds
monitored by the hardware, the warning E2074 is generated.
For absolute measuring systems (EnDat2.1, HIPERFACE®), the position
generation via the incremental track signals (SIN/COS) is monitored by cyclic
comparison to the absolute position of the encoder. This allows detecting dis‐
turbances of the analog encoder signals.
In the case of major failures or several signal dips in series, the error " F8022
Enc. 1: Enc. signals incorr. " is generated and the drive is shut down. The
warning E2074 therefore points at disturbed encoder signals before a break‐
down occurs.
The warning E2074 is only cleared by reinitialization of the encod‐
er position; i.e. it is necessary to switch to communication
phase 2.
Cause
Remedy
Defective encoder cable or cable shielding
Check cable to measuring system and replace it, if necessa‐
ry
Measuring system defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Clean or replace measuring system
Hardware defect on control section of drive
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
E2074 - Attributes
9.4.30
Display:
Ident N°:
E2074
E2074
E2075 Encoder 2: Encoder signals disturbed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
329/619
Warnings (Exxxx)
The hardware checks the signals of the measuring system (encoder 2) for in‐
admissible signal dips. If a signal (e.g., sin or cos) leaves the thresholds
monitored by the hardware, the warning E2075 is generated.
For absolute measuring systems (EnDat2.1, HIPERFACE®), the position
generation via the incremental track signals (SIN/COS) is monitored by cyclic
comparison to the absolute position of the encoder. This allows detecting dis‐
turbances of the analog encoder signals.
In the case of major failures or several signal dips in series, the error " F2042
Encoder 2: Encoder signals incorrect " is generated and the drive is shut
down. The warning E2075 therefore points at disturbed encoder signals be‐
fore a breakdown occurs.
The warning E2075 is only cleared by reinitialization of the encod‐
er position; i.e. it is necessary to switch to communication
phase 2.
Cause
Remedy
Defective encoder cable or cable shielding
Check cable to measuring system and replace it, if necessa‐
ry
Measuring system defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Clean or replace measuring system
Hardware defect on control section of drive
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
E2075 - Attributes
9.4.31
Display:
Ident N°:
E2075
E2075
E2076 Measuring encoder: Encoder signals disturbed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The hardware checks the signals of the measuring encoder for inadmissible
signal dips. If a signal (e.g., sin or cos) leaves the thresholds monitored by
the hardware, the warning E2076 is generated.
For absolute measuring systems (EnDat2.1, HIPERFACE®), the position
generation via the incremental track signals (SIN/COS) is monitored by cyclic
comparison to the absolute position of the encoder. This allows detecting dis‐
turbances of the analog encoder signals.
In the case of major failures or several signal dips in series, the error " F2043
Measuring encoder: Encoder signals incorrect " is generated and the drive is
330/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
shut down. The warning E2076 therefore points at disturbed encoder signals
before a breakdown occurs.
The warning E2076 is only cleared by reinitialization of the encod‐
er position; i.e. it is necessary to switch to communication
phase 2.
Cause
Remedy
Defective encoder cable or cable shielding
Check cable to measuring system and replace it, if necessa‐
ry
Measuring system defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Clean or replace measuring system
Hardware defect on control section of drive
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
E2076 - Attributes
9.4.32
Display:
Ident N°:
E2076
E2076
E2077 Absolute encoder monitoring, motor encoder (encoder alarm)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signals of an absolute measuring system (EnDat2.x) are monitored in the
encoder.
In the drive controller, cyclic transmission of the absolute position is carried
out. The error bit of the encoder is transmitted, too. The drive controller cycli‐
cally checks this error bit and outputs the warning E2077 when an error of the
absolute position occurs.
The warning E2077 is only cleared by reinitialization of the encod‐
er position; i.e. it is necessary to switch to communication
phase 2.
Cause
Remedy
Measuring system defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Clean or replace measuring system
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
331/619
Warnings (Exxxx)
E2077 - Attributes
9.4.33
Display:
Ident N°:
E2077
E2077
E2078 Absolute encoder monitoring, opt. encoder (encoder alarm)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signals of an absolute measuring system (EnDat2.x) are monitored in the
encoder.
In the drive controller, cyclic transmission of the absolute position is carried
out. The error bit of the encoder is transmitted, too. The drive controller cycli‐
cally checks this error bit and outputs the warning E2078 when an error of the
absolute position occurs.
The warning E2078 is only cleared by reinitialization of the encod‐
er position; i.e. it is necessary to switch to communication
phase 2.
Cause
Remedy
Measuring system defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Clean or replace measuring system
E2078 - Attributes
9.4.34
Display:
Ident N°:
E2078
E2078
E2079 Absolute enc. monitoring, measuring encoder (encoder alarm)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The signals of an absolute measuring system (EnDat2.x) are monitored in the
encoder.
In the drive controller, cyclic transmission of the absolute position is carried
out. The error bit of the encoder is transmitted, too. The drive controller cycli‐
cally checks this error bit and outputs the warning E2079 when an error of the
absolute position occurs.
The warning E2079 is only cleared by reinitialization of the encod‐
er position; i.e. it is necessary to switch to communication
phase 2.
332/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Cause
Remedy
Measuring system defective
Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear
measuring systems
Check mounting of measuring head and correct it, if neces‐
sary
Measuring system dirty
Clean or replace measuring system
E2079 - Attributes
9.4.35
Display:
Ident N°:
E2079
E2079
E2086 Prewarning supply module overload
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The supply signals a warning regarding imminent overload via the module
bus. The warning is displayed at the drive controllers and can be evaluated
by the control master via the master communication. If there is no relief, the
module bus message " error supply module " and power off (F2086) can oc‐
cur.
Cause
Remedy
Imminent overload of power supply
Reduce required power by lower infeed velocity of tools.
Check dimensioning of supply
Max. energy absorption capacity of braking resistor almost
reached
Check dimensioning of braking resistor and, if necessary, in‐
crease dimensioning
See also Functional Description of firmware " Power Supply "
E2086 - Attributes
9.4.36
Display:
Ident N°:
E2086
E2086
E2092 Internal synchronization defective
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The drive is told by the NC cycle time in which intervals new cyclic command
values must be received and have been processed. The warning E2092 is
generated, when the parameterized processing clock [ " S-0-0001, NC cycle
time (TNcyc) " ] differs from the effective processing clock of the cyclic com‐
mand values.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
333/619
Warnings (Exxxx)
Cause
Remedy
Up to MPx05V14: Before the occurrence of warning E2092, Remedy cause of communication error. Afterwards, reestab‐
a master communication error, e.g. " F4001 Double MST fail‐ lish cyclic operation
ure shutdown " , had occurred
Master communication with synchronization ability
(SERCOS II)
Master communication master must toggle " IPOSYNC " bit
correctly (see description of master communication)
If NC cycle time is greater than SERCOS cycle time, master
communication master must toggle " IPOSYNC " bit of master
control word; if this is not the case or takes place incorrectly,
warning E2092 is generated
Master communication with synchronization ability
(SERCOS III)
Producer of synchronous consumer connection must toggle
" new data " bit at point of time TPcyc
As of MPX06: With synchronous consumer connection, pro‐
ducer must transmit new data to consumer at a defined point
of time. Producer signals this to consumer by toggling bit1
( " new data " bit) of " S-0-1050.x.8, SIII-Connection: Connec‐
tion control (C-Con) " . Producer did not toggle this bit at point
of time TPcyc.
Drive is a CCD master axis
Please contact our service department
With activated CCD communication, drive is also a
SERCOS III master; i.e. drive generates an MDT and trans‐
mits it to the other axes in CCD ring. Warning E2092 is gen‐
erated, when MDT could not be generated in time
E2092 - Attributes
9.4.37
Display:
Ident N°:
E2092
E2092
E2100 Positioning velocity of master axis generator too high
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause
Remedy
Positioning velocity of master axis generator has reached
maximum allowed limit value (P‑0‑0770, Virtual master axis,
positioning velocity)
Velocity parameterized in " P‑0‑0770, Virtual master axis,
positioning velocity " , with which master axis generator
moves to new target position, must be adjusted:
●
●
E2100 - Attributes
Display:
Ident N°:
E2100
E2100
In the case of modulo scaling of master axis generator:
Half the modulo value (P‑0‑0757, Virtual master axis,
modulo value) per 2 ms
In the case of absolute scaling of master axis genera‐
tor: Half the feed travel (P‑0‑0918, Feed travel internal
virtual master axis) per 2 ms
334/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.4.38
E2101 Acceleration of master axis generator is zero
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Cause
Remedy
Preset positioning acceleration of master axis generator is
" 0 "
Set positioning acceleration of master axis generator un‐
equal " 0 " in " P‑0‑0771, Virtual master axis, positioning accel‐
eration "
E2101 - Attributes
9.4.39
Display:
Ident N°:
E2101
E2101
E2140 CCD error at node
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The warning is generated,
1. when the CCD group is in phase 4,
2. at least the simple error reaction has been activated via P-0-1600 and
3. at least one CCD node signals an error of class 1 diagnostics.
Cause
Remedy
In a CCD slave or in CCD master, an error of class 1 diag‐
nostics has occurred
Remove error in CCD slave or CCD master
In a CCD slave or in CCD master, a motion function block
with faulty parameters was called in drive-integrated PLC
(IndraMotion MLD-M) [see also " P‑0‑1367, PLC configura‐
tion " , bit7]
Remove error in PLC program
See also Functional Description of firmware " Cross Communication (CCD) "
E2140 - Attributes
9.4.40
Display:
Ident N°:
E2140
E2140
E2270 Analog input 1 or 2, wire break
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Conditions under which this warning is triggered:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
335/619
Warnings (Exxxx)
●
The wire break monitor was activated in " P‑0‑0218, Analog input, con‐
trol parameter " (by the setting for the measuring range of the analog in‐
puts) and
●
a setting in " P‑0‑0218, Analog input, control parameter " causes a warn‐
ing to be generated when the input value has fallen below the input val‐
ue at analog input 1 or 2 and
●
the current/voltage value at analog input 1 or 2 is lower than the mini‐
mum value of the measuring range.
The warning persists until the condition has been fulfilled.
The value range of the voltage or current source that is connected
to the analog input should be limited to the allowed value range of
the analog input.
Cause
Remedy
Input value at analog input 1 or 2 is lower than minimum val‐ Check wiring of analog input, reestablish contact to voltage
ue of voltage measuring range (setting " voltage signals " in
source, if necessary
" P‑0‑0218, Analog input, control parameter " )
‑ or –
Check value range of voltage source
Input value at analog input 1 or 2 is lower than minimum val‐ Check wiring of analog input, reestablish contact to current
ue of current measuring range (setting " current signals " in
source, if necessary
" P‑0‑0218, Analog input, control parameter " )
‑ or –
Check value range of current source
This warning can only be displayed at a controller containing a
CSB01.1N-FC-... (BASIC OPENLOOP) control section.
E2270 - Attributes
9.4.41
Display:
Ident N°:
E2270
E2270
E2802 HW control of braking resistor
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the braking process the increasing DC bus voltage is reduced by
switching on the braking resistor. But when the regenerated braking power is
too high the DC bus voltage keeps increasing. The warning E2802 is gener‐
ated when the protective hardware circuit switches on the braking resistor in
the case of high voltages ( & gt; 900 V).
Cause
Remedy
DC bus voltage & gt; 900 V due to increased regenerated brak‐
ing energy
Check drive dimensioning and, if necessary, use additional
capacitance
Braking resistor defective or not correctly connected
Check function of braking resistor (incl. cabling and connec‐
tion)
Hardware defect in brake control
Replace power section or entire drive controller
336/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the power section. The replacement of the entire
drive controller is described in the Project Planning Manual for the
power section.
See also Functional Description of firmware " Power Supply "
E2802 - Attributes
9.4.42
Display:
Ident N°:
E2802
E2802
E2810 Drive system not ready for operation
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
One or several components of a " drive system " (devices interconnected via
direct voltage DC bus and module bus) signal an error via the module bus
(Fxxxx) with the supply unit not yet ready for power output.
Power on is impossible in this case, the supply unit or the converter signal
E2810 on the display.
Cause
Remedy
Error message of one or several components of a drive sys‐
tem
Identify component/components which signals/signal an
error. Remove cause of error at component/components
See also Functional Description of firmware " Power Supply "
E2810 - Attributes
9.4.43
Display:
Ident N°:
E2810
E2810
E2814 Undervoltage in mains
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The crest value of the mains voltage during operation has fallen below the
parameterized threshold value. The threshold value can be individually set by
the user via " P‑0‑0810, Minimum mains crest value " .
Cause
Remedy
Mains voltage falls under load
Check dimensioning of mains connection, increase feed wire
cross section or use matching transformer, if necessary
Mains voltage too low at power on
Use matching transformer
See also Functional Description of firmware " Power Supply "
E2814 - Attributes
Display:
Ident N°:
E2814
E2814
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
337/619
Warnings (Exxxx)
9.4.44
E2816 Undervoltage in power section
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The warning E2816 is generated with the respective setting in " P‑0‑0118,
Power supply, configuration " when the DC bus voltage in operation falls be‐
low the values parameterized in " P‑0‑0114, Undervoltage threshold " .
The parameter " P‑0‑0114, Undervoltage threshold " is preset with
a default value and, if required, can be changed by the user.
Cause
Remedy
DC bus voltage drops due to temporary overload
Check drive dimensioning incl. devices connected at DC bus
Required acceleration currents are too high
Reduce command acceleration by adjusting travel profile
Faulty mains connection (e.g. loose contact)
Check mains connection
" P‑0‑0114, Undervoltage threshold " has not been adjusted
to conditions in mains
Check and, if necessary, correct content of " P‑0‑0114, Un‐
dervoltage threshold "
See also Functional Description of firmware " Power Supply "
E2816 - Attributes
9.4.45
Display:
Ident N°:
E2816
E2816
E2818 Phase failure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
A single-phase mains failure was detected. Power is not switched off unless
undervoltage occurs in the DC bus (F2026).
When the phase failure lasts for a longer time, the error " F2818
Phase failure " is generated.
Cause
Remedy
No mains voltage available
Check mains voltage and mains connection
Mains circuit breaker defective
Replace mains circuit breaker
Incorrect wiring
Check and correct wiring
E2818 - Attributes
Display:
Ident N°:
E2818
338/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Warnings (Exxxx)
9.4.46
E2819 Mains failure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
A two-phase or three-phase mains failure was detected. Power is not switch‐
ed off unless undervoltage occurs in the DC bus (E2026).
Cause
Remedy
No mains voltage available
Check mains voltage and mains connection
Mains circuit breaker defective
Replace mains circuit breaker
Incorrect wiring
Check and correct wiring
E2819 - Attributes
9.4.47
Display:
Ident N°:
E2819
E2819
E2820 Braking resistor overload prewarning
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
A temperature model taking the working power and the maximum energy
consumption of the braking resistor into account is calculated for the thermal
load of the braking resistance. If the thermal load reaches the warning thresh‐
old, this warning is issued and bit 1 is set in " S‑0‑0012, Class 2 diagnostics " .
Up to MPx07V12: The warning threshold is fixed to 90%.
As of MPx07V14: The warning threshold can be defined by parameter
" P‑0‑0469, Prewarning threshold of therm. load of braking resistor " .
Cause
Remedy
Allowed deceleration of connected drives too high
Reduce deceleration of connected drives
Energy consumption capacity of braking resistor is almost
exhausted
Switch power off with a delay in case of OFF or E‑STOP (for
regenerative supply)
Regenerated energy in machining cycle is too high
Increase cycle time or reduce maximum drive speed of ap‐
plication
Braking resistor connection is interrupted
Check wiring of external braking resistor
Continuous regenerative power and/or rotary drive energy is Check dimensioning of braking resistor; increase dimension‐
too high
ing if necessary
E2820 - Attributes
Display:
Ident N°:
E2820
E2820
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
339/619
Warnings (Exxxx)
9.4.48
E2829 Not ready for power on
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The mains voltage for power supply cannot yet be switched on for the con‐
verter; the device is not yet ready for charging the DC bus capacitors.
Cause
Remedy
Resistors for charging DC bus capacitors still are thermally
loaded due to last charging process
Wait until converter clears warning E2829
E2829 - Attributes
Display:
Ident N°:
E2829
E2829
340/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
341/619
Diagnostic Command Messages
10
Diagnostic Command Messages
10.1
Commands
10.1.1
C0100 Communication phase 3 transition check
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The " S‑0‑0127, C0100 Communication phase 3 transition check " command
was activated.
C0100 - Attributes
10.1.2
Display:
Ident N°:
C01
C0100
C0200 Exit parameterization level procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command is " C0200 Communication phase 4 transition check " .
02VRS / 03VRS
The command " S‑0‑0128, C0200 Communication phase 4 transition check "
has been activated.
As of 04VRS
The command " S‑0‑0422, C0200 Exit parameterization level procedure com‐
mand " has been activated.
C0200 - Attributes
10.1.3
Display:
Ident N°:
C02
C0200
C0300 Set absolute position procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for setting the absolute measuring ( " P‑0‑0012, C0300 Com‐
mand Set absolute measuring " ) was activated.
See also Functional Description of firmware " Set Absolute Measuring "
C0300 - Attributes
Display:
Ident N°:
C03
C0300
342/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.1.4
C0400 Activate parameterization level 1 procedure command
Allocation
02VRS / 03VRS
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for switching to the parameter mode was started via parame‐
ter " P‑0‑4023, C0400 Communication phase 2 transition " .
This command has to be carried out before editing parameters
that can only be written in the parameter mode.
As of 04VRS
C0400 - Attributes
10.1.5
The command for switching to the parameter mode was started via parame‐
ter " S‑0‑0420, C0400 Activate parameterization level 1 procedure command " .
Display:
Ident N°:
C04
C0400
C0500 Reset class 1 diagnostics, error reset
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for clearing errors, " S‑0‑0099, C0500 Reset class 1 diagnos‐
tics " , was activated. All drive-internal errors are cleared.
Only those errors can be cleared that were removed! Errors that
are still present after clearing will cause the error message to be
generated again.
CAUTION
Damage to the internal memory (flash)
caused by too many write accesses!
⇒ During the execution of this command, data are written to the internal
memory (flash). As each flash only allows a limited number of write accesses
before its memory locations are destroyed, you should make sure that such
write accesses won't be carried out too often.
C0500 - Attributes
10.1.6
Display:
Ident N°:
C05
C0500
C0600 Drive-controlled homing procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
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Diagnostic Command Messages
The command for drive-controlled homing, " S‑0‑0148, C0600 Drive-control‐
led homing procedure command " , was activated.
See also Functional Description of firmware " Drive-Controlled Homing "
C0600 - Attributes
10.1.7
Display:
Ident N°:
C06
C0600
C0700 Load defaults proced. command (motor-spec. controller val.)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx07, the name of this command was " C0720 Load
defaults procedure com. (load controller param.) " .
The message " C07_0 " on the display of the drive controller shows that the
command " C0700 Load defaults proced. command (motor-spec. controller
val.) " was activated.
The command can be started as follows:
●
Via parameter " S‑0‑0262, C07_x Load defaults procedure command " or
●
Via the control panel of the drive controller or
●
By starting the command " S‑0‑0099, C0500 Reset class 1 diagnostics "
when the drive controller displays " RL " . ( " RL " occurs if parameters
" S‑0‑0141, Motor type " and " P‑0‑2141, Motor type, encoder memory "
are different.)
With the parameter S‑0‑0262, it is possible to start other com‐
mands. In parameter " P‑0‑4090, Configuration for loading default
values " , it is possible to set which commands is started.
Command " C0700 Load defaults proced. command (motor-spec. controller
val.) " can only be executed for Rexroth motors with motor encoder data
memory (e.g. motors of the MHD, MKD and MKE lines). With these motors,
the controller parameters are loaded from the motor encoder data memory to
the drive controller and some controller parameters are set to their default
values.
NOTICE
Command " C0700 Load defaults proced.
command (motor-spec. controller val.) " over‐
writes user-defined controller settings!
Only use this command if you want to load standard controller parameter val‐
ues. For saving and then loading user-defined parameter values, there are
specific commands available.
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Diagnostic Command Messages
NOTICE
Damage to the internal memory (flash)
caused by too many write accesses!
During the execution of this command, data are written to the internal memo‐
ry (flash). This memory, however, only allows a limited number of write ac‐
cesses. For this reason, you should make sure that such write accesses are
not carried out too often (a maximum of approx. 100,000 writing cycles).
See also Functional Description of firmware " Loading, Storing and Saving
Parameters "
See also Functional Description of firmware " Control Panels of the IndraDrive
Controllers "
C0700 - Attributes
10.1.8
Display:
Ident N°:
C07_0
C0700
C0720 Load defaults procedure command (safety technology)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx07, the name of this command was " C0720 Load def.
proc. com. (load def. pr. for safety techn.) " .
Message " C07_4 " on the display of the drive controller shows that command
" C0740 Load defaults procedure command (safety technology) " was activa‐
ted.
The command can be started as follows:
1. Enter value " 0x00A5 " in parameter " P‑0‑4090, Configuration for loading
default values " .
2. Start " S‑0‑0262, C07_x Load defaults procedure command " .
With the parameter S‑0‑0262, it is possible to start other com‐
mands. In parameter " P‑0‑4090, Configuration for loading default
values " , it is possible to set which commands is started.
CAUTION
Command " C0720 Load defaults procedure
command (safety technology) " deactivates
the safety technology and overwrites user-de‐
fined safety technology settings!
Use this command only if you want to commission a new safety technology.
C0720 - Attributes
Display:
Ident N°:
C07_2
C0720
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Diagnostic Command Messages
10.1.9
C0730 Load defaults procedure command (MLD)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
Up to MPx07, the name of this command was " C0730 Load def.
proc. com. (load defaults procedure for PLC) " .
Message " C07_3 " on the display of the drive controller shows that command
" C0730 Load defaults procedure command (MLD) " was activated.
The command can be started as follows:
1. Enter value " 0x0002 " in parameter " P‑0‑4090, Configuration for loading
default values " .
2. Start " S‑0‑0262, C07_x Load defaults procedure command " .
With the parameter S‑0‑0262, it is possible to start other com‐
mands. In parameter " P‑0‑4090, Configuration for loading default
values " , it is possible to set which commands is started.
CAUTION
Command " C0730 Load defaults procedure
command (MLD) " deactivates the drive PLC
and overwrites user-defined PLC settings!
Use this command only if you want to completely erase the PLC program and
its parameters without programming system.
C0730 - Attributes
10.1.10
Display:
Ident N°:
C07_3
C0730
C0740 Command Activate field bus profile settings
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
The message " C07_4 " on the display of the drive controller shows that the
command " C0740 Command Activate field bus profile settings " was activa‐
ted. The command execution sets user-defined parameters depending on the
field bus profile to their default values.
The command can be started as follows:
1. Enter the value " 0x0004 " in the parameter " P‑0‑4090, Configuration for
loading default values " .
2. Start " S‑0‑0262, C07_x Load defaults procedure command " .
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Diagnostic Command Messages
With the parameter S‑0‑0262, it is possible to start other com‐
mands. In parameter " P‑0‑4090, Configuration for loading default
values " , it is possible to set which commands is started.
C0740 - Attributes
10.1.11
Display:
Ident N°:
C07_4
C0740
C0750 Load defaults procedure command (factory settings)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx07, the name of this diagnostic message was " C0750
Load defaults procedure com. (load basic parameters) " .
By executing command " C0750 Load defaults procedure command (factory
settings) " , the parameters stored in non-volatile form are reset to the factory
settings. It is possible to exclude parameters of certain subfunctions from
loading of default values (see " P‑0‑4090, Configuration for loading default
values " ).
The command can be started as follows:
1. Enter value " 0x0001 " in parameter " P‑0‑4090, Configuration for loading
default values " .
2. Use bits 4 to 7 in " P‑0‑4090, Configuration for loading default values " to
select the parameter values to be maintained.
3. Start " S‑0‑0262, C07_x Load defaults procedure command " .
NOTICE
Damage to the internal memory (flash)
caused by too many write accesses!
During the execution of this command, data are written to the internal memo‐
ry (flash). This memory, however, only allows a limited number of write ac‐
cesses. For this reason, you should make sure that such write accesses are
not carried out too often (a maximum of approx. 100,000 writing cycles).
C0750 - Attributes
10.1.12
Display:
Ident N°:
C07_1
C0750
C0800 Load basic parameters command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
This command is only available for manufacturer-side testing and
developing purposes!
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Diagnostic Command Messages
C0800 - Attributes
10.1.13
Display:
Ident N°:
C0800
C0900 Position spindle command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Via the control unit the " S‑0‑0152, C0900 Position spindle command " param‐
eter was activated.
See also Functional Description of firmware " Spindle Positioning "
C0900 - Attributes
10.1.14
Display:
Ident N°:
C09
C0900
C1200 Commutation offset setting command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for setting the commutation offset, " P‑0‑0524, C1200 Commu‐
tation offset setting command " , was activated.
Which one of the two methods with current (saturation or sine-wave method)
is to be active has to be set in " P‑0‑0522, Control word for commutation set‐
ting " before.
Correctly set commutation offset is obligatory for operating syn‐
chronous kit motors and synchronous third-party motors!
See also Functional Description of firmware " Commutation Setting "
C1200 - Attributes
10.1.15
Display:
Ident N°:
C12
C1200
C1300 Positive stop drive procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0149, C1300 Positive stop drive procedure command "
was activated.
See also Functional Description of firmware " Positive Stop Drive Procedure "
C1300 - Attributes
Display:
Ident N°:
C13
C1300
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Diagnostic Command Messages
10.1.16
C1400 Command Get marker position
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The " P‑0‑0014, C1400 Command Get marker position command " was star‐
ted.
The " C14 " display signals that the command is executed.
In the case of incremental measuring systems, the reference mark is checked
for correct detection.
See also Functional Description of firmware " Detect marker position "
C1400 - Attributes
10.1.17
Display:
Ident N°:
C14
C1400
C1500 Cancel reference point procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0191, C1500 Cancel reference point procedure com‐
mand " was started.
The " C15 " display signals that the command is executed.
The reference of the encoder selected via " S‑0‑0147, Homing parameter " is
cleared.
See also Functional Description of firmware " Drive-Controlled Homing "
C1500 - Attributes
10.1.18
Display:
Ident N°:
C15
C1500
C1600 Parking axis command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0139, C1600 Parking axis command " has been activa‐
ted.
See also Functional Description of firmware " Parking Axis "
C1600 - Attributes
Display:
Ident N°:
PA
C1600
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Diagnostic Command Messages
10.1.19
C1700 Command measuring wheel mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The " P‑0‑0240, C1700 Command measuring wheel mode " was started.
C1700 - Attributes
10.1.20
Display:
Ident N°:
C17
C1700
C1800 Command Drive optimization / command value box
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
By starting the command " P‑0‑0162, C1800 Command Automatic control
loop adjust " automatic control loop setting is carried out in the drive, if the
drive is in control at the start of the command (i.e. drive enable must have
been set).
WARNING
⇒ Starting the command C1800 can immediately trigger a motion, if drive
enable and drive start are set at the drive.
⇒ The drive automatically (i.e. without external command value input) carries
out motions within the travel range defined before with the two limits
( " P‑0‑0166, Lower limit for autom. control loop adjust " and " P‑0‑0167, Upper
limit for autom. control loop adjust " ).
Check and make sure that the E-Stop circuit and the travel range limit
switches are working.
See also Functional Description of firmware " Automatic Setting of Axis Con‐
trol "
C1800 - Attributes
10.1.21
Display:
Ident N°:
C18
C1800
C2000 Command Release motor holding brake
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0542, C2000 Command Release motor holding brake "
was started.
During the command execution, the motor holding brake is released.
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Diagnostic Command Messages
The " C20 " display signals that the command is executed.
See also Functional Description of firmware " Motor Holding Brake "
C2000 - Attributes
10.1.22
Display:
Ident N°:
C20
C2000
C2100 Command Holding system check
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0541, C2100 Holding system check command " was acti‐
vated.
See also Functional Description of firmware " Holding Brake "
C2100 - Attributes
10.1.23
Display:
Ident N°:
C21
C2100
C2200 Backup working memory procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0264, C2200 Backup working memory procedure com‐
mand " was activated.
CAUTION
Damage to the internal memory (flash)
caused by too many write accesses!
⇒ During the execution of this command, data are written to the internal
memory (flash). As each flash only allows a limited number of write accesses
before its memory locations are destroyed, you should make sure that such
write accesses won't be carried out too often.
C2200 - Attributes
10.1.24
Display:
Ident N°:
C22
C2200
C2300 Load working memory procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0263, C2300 Load working memory procedure com‐
mand " was activated.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Diagnostic Command Messages
CAUTION
Damage to the internal memory (flash)
caused by too many write accesses!
⇒ During the execution of this command, data are written to the internal
memory (flash). As each flash only allows a limited number of write accesses
before its memory locations are destroyed, you should make sure that such
write accesses won't be carried out too often.
C2300 - Attributes
10.1.25
Display:
Ident N°:
C23
C2300
C2400 Selectively backup working memory procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The " S‑0‑0293, C2400 Selectively backup working memory procedure com‐
mand " was activated.
C2400 - Attributes
10.1.26
Display:
Ident N°:
C24
C2400
C2500 Copy IDN from optional memory to internal memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑4091, C2500 Copy IDN from optional memory to internal
memory " was started.
All parameters are copied from the optional memory (MMC) to the internal
memory (flash).
The display " C25 " signals that the command is executed and the parameters
are loaded from the MMC to the drive.
The MMC can only be used as an optional memory for control
sections with MMC slot.
CAUTION
Damage to the internal memory (flash)
caused by too many write accesses!
⇒ During the execution of this command, data are written to the internal
memory (flash). As each flash only allows a limited number of write accesses
before its memory locations are destroyed, you should make sure that such
write accesses won't be carried out too often.
See also Functional Description of firmware " Loading, Storing and Saving
Parameters "
352/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C2500 - Attributes
10.1.27
Display:
Ident N°:
C25
C2500
C2600 Copy IDN from internal memory to optional memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑4092, C2600 Copy IDN from internal memory to optional
memory " was started.
All parameters are copied from the internal memory (flash) to the optional
memory (MMC).
The display " C26 " signals that the command is executed and the parameters
are written from the drive to the MMC.
The MMC can only be used as an optional memory for control
sections with MMC slot.
CAUTION
Damage to the internal memory (flash)
caused by too many write accesses!
⇒ During the execution of this command, data are written to the internal
memory (flash). As each flash only allows a limited number of write accesses
before its memory locations are destroyed, you should make sure that such
write accesses won't be carried out too often.
See also Functional Description of firmware " Loading, Storing and Saving
Parameters "
C2600 - Attributes
10.1.28
Display:
Ident N°:
C26
C2600
C2800 Analog input adjustment command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
By executing the command " P‑0‑0220, C2800 Analog input adjustment
command " , it is possible to carry out an automatic adjustment (zero point and
gain) of the analog input.
The command is controlled by the settings in " P‑0‑0218, Analog
input, control parameter " .
The execution of the command takes some time; the status of the
command can be polled via the assigned command parameter.
See also Functional Description of firmware:
●
" Command Processing "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Diagnostic Command Messages
●
C2800 - Attributes
10.1.29
" Analog Inputs "
Display:
Ident N°:
C28
C2800
C2900 Command Firmware update from MMC
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑4072, C2900 Command Firmware update from MMC "
was started.
The firmware is copied from the MultiMediaCard (MMC) to the drive-internal
memory.
The MMC can only be used as an optional memory for control
sections with MMC slot.
Upon successful firmware update the drive has to be rebooted by
switching it off and on again so that the firmware copied before
becomes active. If you try to switch to the operating mode without
the drive having been rebooted, there will either occur a switching
command error or a system error (F8xxx) entered before the firm‐
ware update will be displayed again.
See also Functional Description of firmware " Firmware Release Update "
C2900 - Attributes
10.1.30
Display:
Ident N°:
C29
C2900
C3000 Synchronize and store safety technology IDN
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
By the execution of command " P‑0‑3204, C3000 Synchronize and store safe‐
ty technology IDN command " , channel 2 applies the safety parameters of
channel 1 and stores them in the safety memory.
Executing the command " C3000 Synchronize and store safety
technology IDN " increases the change counter of the safety tech‐
nology memory (P-0-3201). It is therefore necessary to carry out
the acceptance test again.
C3000 - Attributes
Display:
Ident N°:
C30
C3000
354/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.1.31
C3100 Recalculate actual value cycle
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the command " P‑0‑0071, C3100 C3100 Command Recalculate actual
value cycle " is executed, the modulo value for the actual value cycle is recal‐
culated.
The calculated modulo value can be taken from the parameter " P‑0‑0786,
Modulo value actual value cycle " .
C3100 - Attributes
10.1.32
Display:
Ident N°:
C31
C3100
C3200 Command Calculate motor data
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command is started via the command parameter " P‑0‑4033, C3200
Command Calculate motor data " .
While the command is executed, the values in " P‑0‑4032, Motor type plate
data " are checked for validity and completeness. Then the motor parameters
are calculated according to type plate data.
To calculate the controller parameters the current settings is
" P‑0‑0001, Switching frequency of the power output stage " and
" P‑0‑0556, Control word of axis controller " (with regard to control‐
ler performance) are taken as basis. If one of these parameters is
changed after the command has been started, the controller set‐
tings may not be correct any more.
C3200 - Attributes
10.1.33
Display:
Ident N°:
C32
C3200
C3300 Set coordinate system procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for setting the coordinate system ( " S‑0‑0197, C3300 Set coor‐
dinate system procedure command " ) was activated.
See also Functional Description of firmware " Shifting the Position Data Refer‐
ence for Relative and Absolute Measuring Systems "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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355/619
Diagnostic Command Messages
C3300 - Attributes
10.1.34
Display:
Ident N°:
C33
C3300
C3400 Shift coordinate system procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for shifting the coordinate system ( " S‑0‑0199, C3400 Shift co‐
ordinate system procedure command " ) was activated.
See also Functional Description of firmware " Shifting the Position Data Refer‐
ence for Relative and Absolute Measuring Systems "
C3400 - Attributes
10.1.35
Display:
Ident N°:
C34
C3400
C3500 Command Determine encoder correction values
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
By executing the command " P‑0‑0340, C3500 Command Determine encoder
correction values " signal shape errors of a measuring system with sinusoidal
signals are determined and correction values are stored in " P‑0‑0342, Cor‐
rection value table for encoder correction " .
The encoder the signal shape error of which is to be compensated has to be
selected in " P‑0‑0341, Control word for encoder correction " .
C3500 - Attributes
10.1.36
Display:
Ident N°:
C35
C3500
C3600 Command Motor data identification
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0565, C3600 Command Motor data identification " has
been activated.
See also Functional Description of firmware " Automatic Setting of Motor Con‐
trol "
C3600 - Attributes
Display:
Ident N°:
C36
C3600
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.1.37
C3700 Manually unlocking the safety door
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the case of an encoder error the safety technology can no longer guaran‐
tee dual-channel safety. It would then be impossible, for example, to detect a
coasting spindle.
Executing command C3700 is only allowed when there is a safety
technology error in the drive.
DANGER
Lethal injury caused by moving parts in the
safety zone!
⇒ The locking device of the safety door may only be unlocked by command
C3700 after an additional visual check.
Behavior
C3700 - Attributes
10.1.38
After the execution of command C3700 ( " P‑0‑3218, C3700 Manually unlock‐
ing the safety door " ), the drive signals safety via EA20 in spite of the encoder
error. In the special mode " safety related stopping process " (selected via
operating mode switch), the safety technology master can unlock the locking
device of the safety door although an axis in the safety zone has an encoder
error.
Display:
Ident N°:
C37
C3700
C3800 Command Apply motor holding brake
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0543, C3800 Command Apply motor holding brake " was
started.
While the command is executed the motor holding brake is applied.
See also Functional Description of firmware " Motor Holding Brake "
C3800 - Attributes
Display:
Ident N°:
C38
C3800
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
357/619
Diagnostic Command Messages
10.1.39
C3900 Command Holding brake resurfacing
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0544, C3900 Command Abrasion of holding brake " was
activated.
See also Functional Description of firmware " Holding Brake "
C3900 - Attributes
10.1.40
Display:
Ident N°:
C39
C3900
C4000 Homing procedure command channel 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑3228, C4000 Homing procedure command Channel 2 "
was started.
See also documentation " Integrated Safety Technology " , keyword " Safety
Related Homing Procedure "
C4000 - Attributes
10.1.41
Display:
Ident N°:
C40
C4000
C4100 Switch parameter set command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0216, C4100 Switch parameter set command " was star‐
ted.
See also Functional Description of firmware " Parameter Set Switching "
C4100 - Attributes
10.1.42
Display:
Ident N°:
C41
C4100
C4200 Drive-controlled oscillation command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
The command " S‑0‑0190, C4200 Drive-controlled oscillation command " was
started.
See also Functional Description of firmware " Drive-Controlled Oscillation "
C4200 - Attributes
10.1.43
Display:
Ident N°:
C42
C4200
C4300 NC-controlled homing procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for NC-controlled homing ( " S‑0‑0146, C4300 NC-controlled
homing procedure command " ) was activated. The master inputs the com‐
mand values for moving the axis to the reference point and controls the hom‐
ing procedure via commands and the respective parameters.
The control information for homing has to be defined in
" S‑0‑0147, Homing parameter " .
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C4300 - Attributes
10.1.44
Display:
Ident N°:
C43
C4300
C4400 Calculate displacement procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for calculating the displacement values ( " S‑0‑0171, Calculate
displacement procedure command " ) was activated.
See also " S‑0‑0175, Offset parameter 1 " and " S‑0‑0176, Offset parameter 2 "
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C4400 - Attributes
10.1.45
Display:
Ident N°:
C44
C4400
C4500 Displacement to referenced system procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
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Diagnostic Command Messages
The command " S‑0‑0172, C4500 Displacement to referenced system proce‐
dure command " was activated.
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C4500 - Attributes
10.1.46
Display:
Ident N°:
C45
C4500
C4600 Command Calculate motor control parameters
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0566, C4600 Command Calculate motor control parame‐
ters " has been activated.
See also Functional Description of firmware " Automatic Setting of Motor Con‐
trol "
C4600 - Attributes
10.1.47
Display:
Ident N°:
C46
C4600
C4700 Command Activate easy startup mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The command for starting the " easy startup " mode (commissioning mode for
SERCOS and field bus devices; " P‑0‑4085, C4700 Command Activate easy
startup mode " ) was activated.
See also Functional Description of firmware " Initial Start in Easy Startup
Mode "
C4700 - Attributes
10.1.48
Display:
Ident N°:
C47
C4700
C4800 Command Determine cogging torque compensation table
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for determining the cogging torque compensation table,
" P‑0‑1138, C4800 Command Determine cogging torque compensation table " ,
was started.
See also Functional Description of firmware " Cogging Torque Compensation "
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Diagnostic Command Messages
C4800 - Attributes
10.1.49
Display:
Ident N°:
C48
C4800
C4900 PLC command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command " P‑0‑1449, C4900 PLC command " for controlling a PLC pro‐
gram was started.
See also Application Manual " Rexroth IndraMotion MLD "
C4900 - Attributes
10.1.50
Display:
Ident N°:
C49
C4900
C5200 Communication phase 4 transition check
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0128, C5200 Communication phase 4 transition check "
has been activated.
This status is displayed on the control panel of the drive with
" C52 " .
C5200 - Attributes
10.1.51
Display:
Ident N°:
C52
C5200
C5300 SERCOS III: Command SYNC delay measurement
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑1024, C5300 SERCOS III: SYNC delay measuring pro‐
cedure command " was activated.
C5300 - Attributes
Display:
Ident N°:
C53
C5300
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Diagnostic Command Messages
10.1.52
C5400 Command Save PLC retain data on MMC
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
To execute the command " P‑0‑4054, C5400 Command Save
PLC retain data on MMC " ,
●
a PLC program must have been loaded and
●
a control section with MMC slot and plugged MMC (MulitMe‐
diaCard) must be used.
It is recommended that you bring the PLC to status " STOP " be‐
fore starting the command, in order not to violate the data consis‐
tency.
When the command is executed, the PLC retain data ( " P‑0‑1359, SPS Retain
data " ) are copied from the internal memory to the optional memory [MulitMe‐
diaCard (MMC)]. The data are stored in the folder " PLC " in the file " SPS-Re‐
tain.pbf " .
See also MLD Application Manual " Working With Retain Variables " and " File
System in the Drive "
C5400 - Attributes
10.1.53
Display:
Ident N°:
C54
C5400
C5500 Command Load PLC retain data from MMC
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
To execute command " P‑0‑4055, C5500 Command Load PLC re‐
tain data from MMC " , the following requirements must be met:
●
A control section with MMC slot and plugged MMC (MultiMe‐
diaCard) must be used.
●
The axis must be in status " PM " .
●
The PLC must be in status " STOP " .
●
The PLC program which is appropriate for the retain data
must have been loaded as boot project.
The command causes the following actions:
1. It stops the PLC program (only if C55 was loaded via the control panel).
2. It initiates a PLC cold start.
3. It loads the PLC boot project.
4. It loads the PLC retain data ( " P‑0‑1359, PLC retain data " ) from the op‐
tional memory [MultiMediaCard (MMC)] to the internal memory.
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Diagnostic Command Messages
5. The PLC program starts automatically on next switchover to OM (only if
C55 was started via the control panel).
See also MLD Application Manual " Working With Retain Variables " and " File
System in the Drive "
C5500 - Attributes
10.1.54
Display:
Ident N°:
C55
C5500
C5600 Command subsequent optimization of commutation offset
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for subsequent optimization of the commutation offset setting,
" P‑0‑0518, C5600 Command subsequent optimization of commutation off‐
set " , was activated.
The " C56 " display signals that the command is executed.
See also Functional Description of firmware " Commutation Setting "
C5600 - Attributes
10.1.55
Display:
Ident N°:
C56
C5600
C5800 Command Apply redundant holding brake
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑3313, C5800 Command Apply redundant holding brake "
was started.
While the command is executed the redundant motor holding brake is ap‐
plied.
See also Functional Description of firmware " Motor Holding Brake "
C5800 - Attributes
10.1.56
Display:
Ident N°:
C58
C5800
C5900 Command Resurfacing of redundant holding brake
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑3314, C5900 Command Resurfacing of redundant hold‐
ing brake " was activated.
See also Functional Description of firmware " Motor Holding Brake "
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Diagnostic Command Messages
C5900 - Attributes
10.1.57
Display:
Ident N°:
C59
C5900
C6000 Set absolute position procedure command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command for setting the absolute measuring ( " S‑0‑0447, C6000 Com‐
mand Set absolute measuring " ) was activated.
See also Functional Description of firmware " Set Absolute Measuring "
C6000 - Attributes
10.1.58
Display:
Ident N°:
C60
C6000
C6100 Command Activate IP settings
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑1534, C6100 Command Activate IP settings " was star‐
ted.
The settings of all existing parameters for IP communication are first checked
in the drive for verisimilar and changed values.
Interface
IP address
Network mask
Gateway address
SERCOS III master (CCD)
P-0-1641
P-0-1642
P-0-1643
Engineering over IP (master
communication)
S-0-1020
S-0-1021
S-0-1022
Engineering
P-0-1531
P-0-1532
P-0-1533
Master communication
P-0-4089.0.13
P-0-4089.0.14
P-0-4089.0.15
Fig.10-1:
Parameters for IP Communication
If changes were made, the IP communication is aborted via the correspond‐
ing interface. The new settings are activated and communication with the
new settings is started.
The IP communication via the interfaces for which the settings
were not changed is not affected by the command and can con‐
tinue without restrictions.
Before the command is executed, IP communication with the in‐
terfaces should be terminated by the IP client. Otherwise, error
messages can occur in the corresponding clients due to missing
communication.
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Diagnostic Command Messages
C6100 - Attributes
10.1.59
Display:
Ident N°:
C61
C6100
C6200 Command Enabling SM without valid brake status
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " C6200
Command Enabling special mode without valid brake status " .
WARNING
Dangerous movements! Danger to life, risk of
injury, serious injury or property damage, as
the holding torques of motor brake and/or re‐
dundant holding brake are not sufficient!
The command " C6200 Command Enabling SM without valid brake status "
may only be used, when the use of the command was taken into account in
the risk analysis of the installation ( " danger to persons in the safety area due
to brake defect " ).
If the point of time of the last brake check " C2100 Command Holding system
check " has passed for a long operating time or downtime, the holding torques
of motor brake and/or redundant holding brake might no longer be sufficient!
Only the brake check can give information about the holding torques.
Moving the axis in special mode without the brakes having been checked
causes additional dangers for the operator! This requires the following meas‐
ures:
●
The machine manual must contain explicit information on the additional
danger caused when the axis is moved in special mode without the
brakes having been checked.
●
The operator must be informed (e.g., within the scope of a training
course) on the additional danger caused when the axis is moved in spe‐
cial mode without the brakes having been checked.
●
It may only be possible to start the command C62 at the machine in the
specific safety technology context (key switch, warning on the dis‐
play, ...).
The display C62 shows that the command " P-0-3315, C6200 Comm.
Enabling SM without valid brake status " is active.
See also documentation " Integrated Safety Technology " , chapter " Enabling
the Special Mode Without Valid Brake Status "
C6200 - Attributes
Display:
Ident N°:
C62
C6200
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Diagnostic Command Messages
10.1.60
C6400 Reboot command
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
The command for rebooting the drive (S-0-1350, Reboot command) was acti‐
vated.
" C64 " flashing on the display of the control panel signals that command
S‑0‑1350 was started.
The command cannot be interrupted. While the command is exe‐
cuted, the parameters to be saved are stored and the drive is re‐
started with a delay of two seconds.
C6400 - Attributes
10.1.61
Display:
Ident N°:
C64
C6400
C6500 Save operating data on backup memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
" C65 " flashing on the display of the control panel signals that the command
P-0-0665 was started.
During the command execution, the parameters to be saved are copied from
the active, non-volatile memory (flash) to the MultiMediaCard (MMC).
When CCD slaves exist, the execution of the command can take
several minutes. During this time, write access to the parameters
to be saved should be avoided. Therefore, running PLC programs
are automatically stopped during the runtime of the command.
See also Functional Description of firmware " MultiMediaCard (MMC) "
C6500 - Attributes
10.1.62
Display:
Ident N°:
C65
C6500
C6600 Restore operating data from backup memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
" C66 " flashing on the display of the control panel signals that the command
P-0-0666 was started.
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Diagnostic Command Messages
With the command C6600, the device data saved on the MultiMediaCard
(MMC) are restored.
The data must have been generated before by means of the command
C6500. The device data saved on the MMC comprise all parameters and
MLD programs required for restoring a device configuration. The device con‐
figuration is restored by means of cross communication (CCD) in the CCD
slaves.
See also Functional Description of firmware " MultiMediaCard (MMC) "
C6600 - Attributes
10.1.63
Display:
Ident N°:
C66
C6600
C7000 CCD: Command adjust slave addresses
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command for adjusting the slave addresses ( " P‑0‑1635, C7000 CCD:
Command Adjust slave addresses " ) was activated.
See also Functional Description of firmware " Cross Communication (CCD) "
C7000 - Attributes
10.1.64
Display:
Ident N°:
C70
C7000
C7100 CCD: Command Close ring
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
If " P-0-1620.0.3, CCD: Command topology " = " 4 " (double ring), the CCD mas‐
ter can close the line or 2 lines with command P-0-1620.0.21 (C7100) to form
a double ring.
See also Functional Description of firmware " Cross Communication (CCD) "
C7100 - Attributes
10.1.65
Display:
Ident N°:
C71
C7100
C7200 CCD: Command Apply I/O configuration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
The command for applying the CCD I/O configuration (P‑0‑1620.0.31, C7200
CCD: Command Apply I/O configuration) was started.
See also Functional Description of firmware " Cross Communication (CCD) "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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367/619
Diagnostic Command Messages
C7200 - Attributes
10.1.66
Display:
Ident N°:
C72
C7200
C7400 CCD: Switching to phase 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
The command for switching to phase 2 (P‑0‑1620.0.5, C7400 CCD:
Switching to phase 2) was started.
See also Functional Description of firmware " Cross Communication (CCD) "
C7400 - Attributes
10.1.67
Display:
Ident N°:
C74
C7400
C7500 CCD: Switching to phase 4
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
The command for switching to phase 4 (P‑0‑1620.0.6, C7500 CCD:
Switching to phase 4) was started.
See also Functional Description of firmware " Cross Communication (CCD) "
C7500 - Attributes
10.1.68
Display:
Ident N°:
C75
C7500
C7600 Command Create parameter image
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
Command " P‑0‑3930, C7600 Command Create parameter image " was star‐
ted.
If execution of the command is successful, the values, attributes and units of
all parameters listed in S-0-0017 are saved to an external memory (e.g.,
MMC) (parameter image).
P-0-3931 can be used to determine whether the parameter image is to be
made of a single axis or of all axes.
C7600 - Attributes
Display:
Ident N°:
C76
C7600
368/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2
Command Errors
10.2.1
Clearing Command Errors
A command error cannot be removed by " clearing errors " , but only by com‐
pleting the corresponding command.
10.2.2
C0101 Invalid parameters (- & gt; S-0-0021)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " S‑0‑0127, C0100 Communication phase 3 transition check "
is executed, internal variables are initialized and the available parameters are
checked (e.g. for validity). An error was detected during execution of the
command.
Cause
Remedy
Data block elements required in communication phase 3 are Write allowed operating data to parameters affected. (Affec‐
missing or invalid
ted parameters can be taken from list " S‑0‑0021, IDN-list of
invalid operation data for CP2 " )
A change was made in " P‑0‑2003, Selection of functional
packages " . Then you failed to reboot before trying to switch
to operating mode.
Check content of " P‑0‑2003, Selection of functional
packages " and reboot (i.e., switch device off and on again)
A change of functional packages was made in " P‑0‑2003,
Selection of functional packages " which has an effect on
customer- and application-specific parameters lists (e.g.,
S‑0‑0279)
Correct list parameters affected. (Affected parameters can
be taken from list " S‑0‑0021, IDN-list of invalid operation
data for CP2 " .)
Internal data memory defective
Contact our service department
Problem can also be remedied by loading basic parameters
( " S‑0‑0262, C07_x Load defaults procedure command " with
appropriate setting in " P‑0‑4090, Configuration for loading
default values " )
For removing command errors see " Command Errors "
C0101 - Attributes
10.2.3
Display:
Ident N°:
C0101
C0101
C0102 Limit error in parameter (- & gt; S-0-0021)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While the command " S‑0‑0127, C0100 Communication phase 3 transition
check " is executed, the limit values (minimum/maximum value) are checked
for some parameters. An error was detected during the execution of the com‐
mand.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
369/619
Diagnostic Command Messages
Cause
Remedy
Parameter values required in communication phase 3 are
Write allowed values to parameters (cf. minimum/maximum
outside their allowed range of values (minimum or maximum value) (these parameters can be taken from list " S‑0‑0021,
value)
IDN list of invalid operating data for communication
phase 2 " )
For removing command errors see " Command Errors "
C0102 - Attributes
10.2.4
Display:
Ident N°:
C0102
C0102
C0103 Parameter conversion error (- & gt; S-0-0021)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While the command " S‑0‑0127, C0100 Communication phase 3 transition
check " is executed, the internal parameter formats are checked in order to
ensure the internal processing. An error was detected during the execution of
the command.
Cause
Remedy
Parameter values required in communication phase 3 can‐
not be processed
Write allowed values to parameters (these parameters can
be taken from list " S‑0‑0021, IDN list of invalid operating da‐
ta for communication phase 2 " )
For removing command errors see " Command Errors "
C0103 - Attributes
10.2.5
Display:
Ident N°:
C0103
C0103
C0104 Config. IDN for MDT not configurable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the telegram configuration of the
master communication was detected.
Cause
Remedy
In " S‑0‑0015, Telegram type parameter " , telegram type 7
(configured telegram) was set
Set priority telegram (telegram type = 0..6) in " S‑0‑0015,
Telegram type parameter "
In " S‑0‑0024, Config. list of the master data telegram " there
were some parameters entered that are not contained in
" S‑0‑0188, List of configurable data in the MDT "
In " S‑0‑0024, Config. list of the master data telegram " those
parameters have to be entered that are contained in
" S‑0‑0188, List of configurable data in the MDT "
List parameters are only allowed in the multiplex channel.
370/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0104 - Attributes
10.2.6
Display:
Ident N°:
C0104
C0104
C0105 Maximum length for MDT exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the telegram configuration of
the master communication was detected.
Cause
Remedy
In " S‑0‑0015, Telegram type parameter " , telegram type 7
(configured telegram) was set
Set priority telegram (telegram type = 0..6) in " S‑0‑0015,
Telegram type parameter "
Length of configured data record in MDT that is determined
by " S‑0‑0024, Config. list of the master data telegram " ex‐
ceeds the maximum allowed value entered in " S‑0‑0186,
Length of the configurable data record in the MDT "
Reduce number of configured parameters in MDT
( " S‑0‑0024, Config. list of the master data telegram " )
List parameters are only allowed in the multiplex channel.
For removing command errors see " Command Errors "
C0105 - Attributes
10.2.7
Display:
Ident N°:
C0105
C0105
C0106 Config. IDNs for AT not configurable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the telegram configuration of the
master communication was detected.
Cause
Remedy
In " S‑0‑0015, Telegram type parameter " , telegram type 7
(configured telegram) was set
Set priority telegram (telegram type = 0..6) in " S‑0‑0015, Tele‐
gram type parameter "
In " S‑0‑0016, Custom amplifier telegram configuration list " In " S‑0‑0016, Custom amplifier telegram configuration list "
there were some parameters entered that are not con‐
those parameters have to be entered that are contained in
tained in " S‑0‑0187, List of configurable data in the AT "
" S‑0‑0187, List of configurable data in the AT "
List parameters are only allowed in the multiplex channel.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
371/619
Diagnostic Command Messages
C0106 - Attributes
10.2.8
Display:
Ident N°:
C0106
C0106
C0107 Maximum length for AT exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the telegram configuration of the
master communication was detected.
Cause
Remedy
In " S‑0‑0015, Telegram type parameter " , telegram type 7
(configured telegram) was set
Set priority telegram (telegram type = 0..6) in " S‑0‑0015,
Telegram type parameter "
Length of configured data record in AT that is determined by Reduce number of configured parameters in AT in
" S‑0‑0016, Custom amplifier telegram configuration list " , ex‐ " S‑0‑0016, Custom amplifier telegram configuration list "
ceeds maximum allowed value entered in " S‑0‑0185, Length
of the configurable data record in the AT "
C0107 - Attributes
10.2.9
Display:
Ident N°:
C0107
C0107
C0108 Time slot parameter & gt; Sercos cycle time
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While the command " S‑0‑0127, C0100 Communication phase 3 transition
check " is executed, the timing settings for SERCOS communication are
checked. An error was detected during the execution of the command.
372/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
SERCOS II: At least one of the following time slot parame‐
ters exceeds SERCOS cycle time [ " S‑0‑0002, SERCOS Cy‐
cle time (TScyc) " ]:
Correct the respective time slot parameter(s).
●
S‑0‑0006, AT Transmission starting time (T1)
●
S-0-0007, Feedback acquisition starting time (T4)
●
S-0-0008, Command valid time (T3)
●
Contact machine manufacturer or installation programmer
S‑0‑0089, MDT Transmit starting time (T2)
SERCOS III: At least one of the following time slot parame‐
ters is not correct:
●
S‑0‑1006, SERCOS III: AT0 transmission starting time
(t1)
●
Contact machine manufacturer or installation programmer
S‑0‑1007, SERCOS III: Feedback acquisition starting
time (t4)
●
Correct the respective time slot parameter(s).
S‑0‑1017, SERCOS III: NRT transmission time
The definition of the times for the time slot parameters is the re‐
sponsibility of the control unit manufacturer and is specified by
SERCOS interface.
For removing command errors see " Command Errors "
C0108 - Attributes
10.2.10
Display:
Ident N°:
C0108
C0108
C0109 Telegram offset unsuitable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error was detected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
373/619
Diagnostic Command Messages
Cause
Remedy
SERCOS II: The parameter " S‑0‑0009, Position of data re‐
cord in MDT " contains an even value. This is not allowed.
The parameter " S‑0‑0009, Position of data record in MDT "
must be parameterized with an odd value.
Note: The definition of the parameter S‑0‑0009 is the re‐
sponsibility of the control unit manufacturer and is specified
by SERCOS.
SERCOS III: A parameterized telegram offset is in HotPlug
array (offset smaller than 8)
Check offsets in the following parameters:
●
S‑0‑1009, SERCOS III: Device Control (C-Dev) offset
in MDT
●
S-0-1011, SERCOS III: Device Status (S-Dev) offset in
AT
●
S-0-1013, SERCOS III: SVC offset in MDT
●
S-0-1014, SERCOS III: SVC offset in AT
●
S-0-1050.x.3, SIII-Connection: Telegram assignment
Note: The definition of the telegram offsets is the responsi‐
bility of the control unit manufacturer.
For removing command errors see " Command Errors "
C0109 - Attributes
10.2.11
Display:
Ident N°:
C0109
C0109
C0110 Length of MDT (S-0-0010) odd
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error was detected.
Cause
Remedy
Parameter " S‑0‑0010, Length of master data telegram " con‐
tains an odd value. This is not allowed.
Parameter " S‑0‑0010, Length of master data telegram " has
to be parameterized with an even value
The definition of the S‑0‑0010 parameter is the responsibility of
the control unit manufacturer and is specified by SERCOS.
For removing command errors see " Command Errors "
C0110 - Attributes
Display:
Ident N°:
C0110
C0110
374/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.12
C0111 ID9 + Record length - 1 & gt; length MDT (S-0-0010)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error was detected.
The position of the data record in the master data telegram (MDT) (S‑0‑0009)
plus the length of the data record in the MDT for the drive is greater than the
total length of the MDT (S‑0‑0010).
Cause
Remedy
Parameterization of " S‑0‑0009, Position of data record in
MDT " and " S‑0‑0010, Length of master data telegram " is in‐
correct
Correct parameterization of " S‑0‑0009, Position of data re‐
cord in MDT " and " S‑0‑0010, Length of master data tele‐
gram "
The definition of the S‑0‑0009 and S‑0‑0010 parameters is the re‐
sponsibility of the control unit manufacturer and is specified by
SERCOS.
C0111 - Attributes
10.2.13
Display:
Ident N°:
C0111
C0111
C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the SERCOS timing settings
was detected.
Cause
Remedy
Setting of parameters " S‑0‑0001, NC Cycle time (TNcyc) " or
" S‑0‑0002, SERCOS Cycle time (TScyc) " is incorrect
Correct parameters " S‑0‑0001, NC Cycle time (TNcyc) " and
" S‑0‑0002, SERCOS Cycle time (TScyc) " .
There are settings of 500 µs for control section ADVANCED
(or 1 ms for control section BASIC) or integral multiples of
1 ms allowed.
The definition of the S‑0‑0001 and S‑0‑0002 parameters is the re‐
sponsibility of the control unit manufacturer and is specified by
SERCOS.
For removing command errors see " Command Errors "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
375/619
Diagnostic Command Messages
C0112 - Attributes
10.2.14
Display:
Ident N°:
C0112
C0112
C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the SERCOS timing settings
was detected.
Cause
Remedy
Setting of parameters " S‑0‑0001, NC Cycle time (TNcyc) " or
" S‑0‑0002, SERCOS Cycle time (TScyc) " is incorrect
Value of " S‑0‑0001, NC Cycle time (TNcyc) " can only be
equal to or a multiple of " S‑0‑0002, SERCOS Cycle time
(TScyc) " .
Correct parameters " S‑0‑0001, NC Cycle time (TNcyc) " and
" S‑0‑0002, SERCOS Cycle time (TScyc) " .
The definition of the S‑0‑0001 and S‑0‑0002 parameters is the re‐
sponsibility of the control unit manufacturer and is specified by
SERCOS.
For removing command errors see " Command Errors "
C0113 - Attributes
10.2.15
Display:
Ident N°:
C0113
C0113
C0114 T4 & gt; TScyc (S-0-0002) - T4min (S-0-0005)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the SERCOS timing settings
was detected.
Cause
Remedy
Value for " S‑0‑0007, Feedback acquisition starting time
(T4) " is incorrect
Correct " S‑0‑0007, Feedback acquisition starting time (T4) " .
Maximum allowed value for " S‑0‑0007, Feedback acquisition
starting time (T4) " is calculated from " S‑0‑0002, SERCOS
cycle time (TScyc) " and " S‑0‑0005, Minimum feedback ac‐
quisition time (T4min) " as follows:
S‑0‑0007 & gt; S‑0‑0002 – S‑0‑0005
376/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
The definition of the S‑0‑0007 parameter is the responsibility of
the control unit manufacturer and is specified by SERCOS.
For removing command errors see " Command Errors "
C0114 - Attributes
10.2.16
Display:
Ident N°:
C0114
C0114
C0115 T2 too small
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the SERCOS timing settings
was detected.
Cause
Remedy
Value set for " S‑0‑0089, MDT Transmit starting time (T2) " is
incorrect. Drive cannot run with this value
Correct " S‑0‑0089, MDT Transmit starting time (T2) "
The definition of the S‑0‑0089 parameter is the responsibility of
the control unit manufacturer and is specified by SERCOS.
For removing command errors see " Command Errors "
C0115 - Attributes
10.2.17
Display:
Ident N°:
C0115
C0115
C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the SERCOS timing settings
was detected.
Cause
Remedy
Value for " S‑0‑0008, Command valid time (T3) " is within val‐ Check and if necessary correct setting of " S‑0‑0089, MDT
ue for " S‑0‑0089, MDT Transmit starting time (T2) " . This
Transmit starting time (T2) " and " S‑0‑0008, Command valid
could cause access problems in SERCOS communication
time (T3) "
The definition of the SERCOS parameters is the responsibility of
the control unit manufacturer and is specified by SERCOS.
For removing command errors see " Command Errors "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
377/619
Diagnostic Command Messages
C0116 - Attributes
10.2.18
Display:
Ident N°:
C0116
C0116
C0118 Order of cyclic command value configuration incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The chronology of the processing of cyclic command value data in the drive
has the order with which the configured IDNs have been entered in parame‐
ter " S‑0‑0024, Config. list of the master data telegram " . The following param‐
eters are available for using multiplex mode in the cyclic command value tele‐
gram:
●
" S‑0‑0360, Data container A: command value 1 " ,
●
" S‑0‑0362, Data container A: list index command values " and
●
" S‑0‑0368, Data container A: Addressing "
If more than one of these parameters has been configured in the cyclic com‐
mand value telegram, their correct order is checked in command " S‑0‑0127,
C0100 Communication phase 3 " transition check.
Cause
Remedy
Incorrect order of relevant parameters in cyclic command
value telegram
Keep correct order of parameters in cyclic command value
telegram:
Parameters S‑0‑0362, S‑0‑0366 and S‑0‑0368 must pre‐
cede parameters S‑0‑0360 and S‑0‑0450 to S‑0‑0456 in cy‐
clic command value telegram
See also Functional Description of firmware " Multiplex Channel "
C0118 - Attributes
10.2.19
Display:
Ident N°:
C0118
C0118
C0119 Max. travel range too large
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the scaling of the drive was detected.
378/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
" S‑0‑0278, Maximum travel range " incorrectly parameter‐
ized. Defined travel range is too large
Check and, if necessary, reduce parameterization of
S‑0‑0278. The value of " S‑0‑0278, Maximum travel range " is
to be selected in such a way that the resulting internal posi‐
tion resolution guarantees a correct commutation of the mo‐
tor.
Inappropriate measuring system (resolution) for maximum
travel range to be displayed
Check resolution of measuring system and, if necessary,
use a different measuring system
For removing command errors see " Command Errors "
See also Functional Description of firmware " Scaling "
C0119 - Attributes
10.2.20
Display:
Ident N°:
C0119
C0119
C0120 Error when reading encoder data = & gt; motor encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error during the reading of the encoder data from the da‐
ta memory of the motor encoder was detected.
Measuring systems with their own data memory are DSF/HSF
and resolvers, as well as measuring systems with EnDat interface
(Heidenhain company) and HIPERFACE® interface (Stegmann
company).
Cause
Remedy
Measuring system cable defective
Check measuring system cable
Measuring system defective
Replace measuring system
Encoder interface card defective
Replace encoder interface card
C0120 - Attributes
10.2.21
Display:
Ident N°:
C0120
C0120
C0121 Incorrect parameterization of motor encoder (hardware)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the parameterization of the motor en‐
coder hardware was detected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
379/619
Diagnostic Command Messages
Cause
Remedy
Parameterization " P‑0‑0074, Encoder type 1 (motor encod‐
er) " does not match encoder interface (e.g. EN1 with EnDat
encoder)
Check whether parameterized encoder type matches encod‐
er interface
In the case of " current control with motor encoder " (see
" P‑0‑0045, Control word of current controller " ), " operation
without encoder " was detected to have been set in
" P‑0‑0074, Encoder type 1 (motor encoder) "
Enter value appropriate for motor encoder in " P‑0‑0074, En‐
coder type 1 (motor encoder) "
Parameterization in " P‑0‑0077, Assignment motor encod‐
er‑ & gt; optional slot " is incorrect
Correct assignment of motor encoder and optional slot in pa‐
rameter " P‑0‑0077, Assignment motor encoder‑ & gt; optional
slot "
C0121 - Attributes
10.2.22
Display:
Ident N°:
C0121
C0121
C0122 Incorr. parameteriz. of motor enc. (mechanical system)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error was detected with regard to scaling that was set
and the selected motor encoder type (e.g. rotary scaling with linear motor).
Cause
Remedy
Incorrect encoder type ( " S‑0‑0277, Position feedback 1
type " )
Check and, if necessary, correct " S‑0‑0277, Position feed‐
back 1 type "
Parameterized scaling ( " S‑0‑0076, Position data scaling
type " ) is incorrect
Check and, if necessary, correct " S‑0‑0076, Position data
scaling type "
For removing command errors see " Command Errors "
C0122 - Attributes
10.2.23
Display:
Ident N°:
C0122
C0122
C0123 Modulo value for motor encoder cannot be displayed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the modulo value for the motor en‐
coder was detected.
380/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Parameterized value for " S‑0‑0103, Modulo value " is greater Correct content of " S‑0‑0103, Modulo value " or value of
than maximum travel range (cf. " S‑0‑0278, Maximum travel " S‑0‑0278, Maximum travel range "
range " )
Parameterized value for " S‑0‑0103, Modulo value " cannot
be internally displayed with gear ratios that have been set
(S‑0‑0121/S‑0‑0122, P‑0‑0121/P‑0‑0122)
Correct content of " S‑0‑0103, Modulo value " or gear ratios
that have been set [ " S‑0‑0121, Input revolutions of load
gear " / " S‑0‑0122, Output revolutions of load gear " ;
" P‑0‑0121, Gear 1 motor-side (motor encoder) " / " P‑0‑0122,
Gear 1 encoder-side (motor encoder) " ]
For removing command errors see " Command Errors "
C0123 - Attributes
10.2.24
Display:
Ident N°:
C0123
C0123
C0124 Motor encoder unknown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the motor encoder was detected.
The content of " P‑0‑1000, Kind of encoder 1, encoder memory " is invalid and
therefore the parameterized motor encoder is not allowed (e.g. rotary scaling
with linear encoder).
Cause
Remedy
Encoder memory (feedback) is defective
Encoder (or motor) must be replaced
Kind of motor encoder ( " P‑0‑1000, Kind of encoder 1, en‐
coder memory " ) is not supported by firmware
Check content of " P‑0‑1000, Kind of encoder 1, encoder
memory " and contact our service department
Detected kind of encoder does not match parameterized
type of encoder
Check control section configuration and, if necessary, re‐
place control section by a correctly configured control sec‐
tion or replace complete drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
C0124 - Attributes
Display:
Ident N°:
C0124
C0124
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
381/619
Diagnostic Command Messages
10.2.25
C0125 Error when reading encoder data = & gt; optional encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error during the reading of the encoder data from the da‐
ta memory of the optional encoder was detected.
Measuring systems with their own data memory are DSF/HSF
and resolvers, as well as measuring systems with EnDat interface
(Heidenhain company) and HIPERFACE® interface (Stegmann
company).
Cause
Remedy
Measuring system cable defective
Check measuring system cable
Measuring system defective
Replace measuring system
Encoder interface defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
C0125 - Attributes
10.2.26
Display:
Ident N°:
C0125
C0125
C0126 Incorrect parameterization of optional enc. (hardware)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the parameterization of the hardware
of the optional encoder was detected.
Cause
Remedy
Parameterization " P‑0‑0075, Encoder type 2 (optional en‐
coder) " does not match interface card (e.g. EN1 with EnDat
encoder)
Correct parameterization of " P‑0‑0075, Encoder type 2 (op‐
tional encoder "
" P‑0‑0078, Assignment optional encoder‑ & gt; optional slot " in‐
correct
Correct parameterization of " P‑0‑0078, Assignment optional
encoder‑ & gt; optional slot "
See also Functional Description of firmware " Measurement Systems "
382/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0126 - Attributes
10.2.27
Display:
Ident N°:
C0126
C0126
C0127 Incorr. parameteriz. of opt. enc. (mechanical system)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error was detected with regard to scaling that was set
and the selected motor encoder type (e.g. rotary scaling with linear optional
encoder).
Cause
Remedy
Incorrect encoder type ( " S‑0‑0115, Position feedback 2
type " )
Check and, if necessary, correct " S‑0‑0115, Position feed‐
back 2 type "
Parameterized scaling ( " S‑0‑0076, Position data scaling
type " ) is incorrect
Check and, if necessary, correct " S‑0‑0076, Position data
scaling type "
For removing command errors see " Command Errors "
C0127 - Attributes
10.2.28
Display:
Ident N°:
C0127
C0127
C0128 Modulo value for optional encoder cannot be displayed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the modulo value for the optional en‐
coder was detected.
Cause
Remedy
Parameterized value for " S‑0‑0103, Modulo value " is greater Correct content of " S‑0‑0103, Modulo value " or value of
than maximum travel range (cf. " S‑0‑0278, Maximum travel " S‑0‑0278, Maximum travel range "
range " )
Parameterized value for " S‑0‑0103, Modulo value " cannot
be internally displayed with the gear ratios that have been
set (S‑0‑0121/S‑0‑0122, P‑0‑0121/P‑0‑0122)
Correct content of " S‑0‑0103, Modulo value " or gear ratios
that have been set [ " S‑0‑0121, Input revolutions of load
gear " / " S‑0‑0122, Output revolutions of load gear " ;
" P‑0‑0121, Gear 1 motor-side (motor encoder) " / " P‑0‑0122,
Gear 1 encoder-side (motor encoder) " ]
Encoder resolution ( " S‑0‑0117, Feedback 2 Resolution " ) in‐
correctly parameterized
Check and, if necessary, correct parameterization of
" S‑0‑0117, Feedback 2 Resolution "
Resolution of encoder does not match required modulo
range
Replace encoder
For removing command errors see " Command Errors "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
383/619
Diagnostic Command Messages
See also Functional Description of firmware " Scaling "
C0128 - Attributes
10.2.29
Display:
Ident N°:
C0128
C0128
C0129 Optional encoder unknown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the optional encoder was detected.
The content of " P‑0‑1010, Kind of encoder 2, encoder memory " is invalid and
therefore the parameterized optional encoder is not allowed (e.g. rotary scal‐
ing with linear encoder).
Cause
Remedy
Encoder memory (feedback) is defective
Encoder must be replaced
Kind of motor encoder ( " P‑0‑1010, Kind of encoder 2, en‐
coder memory " ) is not supported by the firmware
Check content of " P‑0‑1010, Kind of encoder 2, encoder
memory " and contact our service department
Detected kind of encoder does not match parameterized
type of encoder
Check control section configuration and, if necessary, re‐
place control section by a correctly configured control sec‐
tion or replace complete drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
C0129 - Attributes
10.2.30
Display:
Ident N°:
C0129
C0129
C0130 Maximum travel range cannot be displayed internally
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
In the case of absolute scaling, the maximum travel range represents the
overflow limit of the actual position values. If this travel range cannot be dis‐
played correctly internally so that position generation without error is impossi‐
ble, this error is generated.
384/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
" S‑0‑0278, Maximum travel range " incorrectly parameterized Check and if necessary reduce " S‑0‑0278, Maximum travel
range "
S‑0‑0116 / S‑0‑0117 incorrectly set (e.g. value " 0 " )
Check and if necessary correct " S‑0‑0116, Feedback 1 Res‐
olution " / " S‑0‑0117, Feedback 2 Resolution "
Value for " S‑0‑0278, Maximum travel range " is invalid al‐
though it might be within the respective absolute encoder
range
Check " S‑0‑0278, Maximum travel range " and if necessary
change value (take respective absolute encoder range into
account!)
Position resolution of a pole pair or of pole pair distance is
too low. Commutation offset value internally cannot be dis‐
played precisely enough
" P‑0‑0018, Number of pole pairs/pole pair distance " has val‐
ue " 0 " or a too small value (maybe incorrect unit). Check
and if necessary correct " P‑0‑0018, Number of pole pairs/
pole pair distance "
See also Functional Description of firmware " Scaling "
For removing command errors see " Command Errors "
C0130 - Attributes
10.2.31
Display:
Ident N°:
C0130
C0130
C0131 Switching to phase 3 impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) a forbidden attempt to switch to phase 3 was detected.
Cause
Remedy
Dduring a firmware download there was an attempt to switch Wait until the firmware download is completed before switch‐
from communication phase 2 to communication phase 3
ing to another communication phase
After a boot error (F81xx error) there was an attempt to
switch from communication phase 2 to communication
phase 3
C0131 - Attributes
10.2.32
Display:
Ident N°:
Clear error, remove its cause and then boot up drive again
C0131
C0131
C0132 Invalid settings for controller cycle times
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " , an error in the parameterization of controller cycle
times or PWM switching frequencies was detected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
385/619
Diagnostic Command Messages
P-0-0556, Config word
of axis controller, bit 2
P-0-0001, Switching frequency of
the power output stage
TA - position
loop
TA - velocity loop
TA - current loop
0 (Basic)
16 kHz
500 µs
250 µs
62.5 µs
0 (Basic)
12 kHz
500 µs
250 µs
83.3 µs
0 (Basic)
8 kHz
500 µs
250 µs
125.0 µs
0 (Basic)
4 kHz
500 µs
250 µs
125.0 µs
0 (Basic)
2kHz
500 µs
250 µs
250.0 µs
1 (Advanced)
16 kHz
250 µs
125 µs
62.5 µs
1 (Advanced)
8 kHz
250 µs
125 µs
62.5 µs
1 (Advanced)
4 kHz
250 µs
125 µs
125.0 µs
TA
Fig.10-2:
Sampling time
Possible Controller Cycle Times Depending on Controller Perform‐
ance and Switching Frequency That Have Been Set
Cause
Remedy
Parameterization of " P‑0‑0556, Config word of axis control‐
ler " does not comply with switching frequency of 12 kHz set
in " P‑0‑0001, Switching frequency of the power output
stage "
Select setting " Basic performance " (cf. bit 2) in " P‑0‑0556,
Config word of axis controller "
Incorrect parameterization of switching frequency selected in In " P‑0‑0001, Switching frequency of the power output
" P‑0‑0001, Switching frequency of the power output stage "
stage " , select allowed switching frequency (see table)
with given controller performance (= sampling rate/time)
See also Functional Description of firmware " Features of the Control Loops "
For removing command errors see " Command Errors "
C0132 - Attributes
10.2.33
Display:
Ident N°:
C0132
C0132
C0134 Invalid motor data in encoder memory (- & gt; S-0-0021)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error during the reading of the motor data from the data
memory of the motor encoder was detected.
The respective parameters are entered in the " S‑0‑0021, IDN list of invalid
operating data for communication phase 2 " parameter.
Cause
Remedy
Measuring system cable defective
Check measuring system cable
Measuring system defective
Replace measuring system
Encoder interface defective
Replace control section or complete drive controller
386/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
C0134 - Attributes
10.2.34
Display:
Ident N°:
C0134
C0134
C0135 Type of construction of motor P-0-4014 incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error in the parameterization of the kind of motor
was detected.
In " P‑0‑4014, Kind of motor " a motor with encoder data memory was parame‐
terized but there wasn't any known motor type designation recognized in the
encoder.
Cause
Remedy
A motor without encoder data memory was connected
Parameterize " P‑0‑4014, Kind of motor " correctly or connect
a motor with encoder data memory
Encoder defective
Replace encoder
For removing command errors see " Command Errors "
C0135 - Attributes
10.2.35
Display:
Ident N°:
C0135
C0135
C0136 Several motor encoders connected
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " two motor encoders were detected during the en‐
coder configuration check.
Cause
Remedy
Two encoders were detected; in their data memories a valid
and known motor type string is contained in " P‑0‑2141, Mo‐
tor type, encoder memory "
Replace one of encoders by encoder without valid motor
type string
Encoder connectors of neighboring axes were interchanged
Check axis assignment of encoder connectors and assign to
correct axis
For removing command errors see " Command Errors "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
387/619
Diagnostic Command Messages
C0136 - Attributes
10.2.36
Display:
Ident N°:
C0136
C0136
C0137 Error during initialization of motor data (- & gt; S-0-0021)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error during the initialization of motor data was
detected. The respective parameters are entered in the list " S‑0‑0021, IDN
list of invalid operating data for communication phase 2 " .
Cause
Remedy
Invalid motor data stored in motor data memory
Replace motor or contact service department for correction
of motor data
Encoder cable defective or bad shielding
Check encoder cable and shielding
Encoder memory or encoder electronics defective
Replace encoder
Hardware defect on control section
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
C0137 - Attributes
10.2.37
Display:
Ident N°:
C0137
C0137
C0138 Invalid control section data (- & gt; S-0-0021)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error during the initialization of the control section data
was detected. The respective parameters are entered in the list " S‑0‑0021,
IDN list of invalid operating data for communication phase 2 " .
Cause
Remedy
Reading error from I2C-Prom due to hardware defect
For detailed error diagnosis contact our service department
For removing command errors see " Command Errors "
C0138 - Attributes
Display:
Ident N°:
C0138
C0138
388/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.38
C0139 T2 (S-0-0089)+length MDT (S-0-0010) & gt; TScyc (S-0-0002)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the timing setting of the
SERCOS interface was detected. The phase switch to communication
phase 3 is prevented.
Cause
Remedy
Sum of transmit starting time of master data telegram set by Parameterize smaller value for transmit starting time of mas‐
master [ " S‑0‑0089, MDT Transmit starting time (T2) " ] and
ter data telegram [ " S‑0‑0089, MDT Transmit starting time
length of data record of master data telegram ( " S‑0‑0010,
(T2) " ]
Length of master data telegram " ) exceeds SERCOS cycle
time [ " S‑0‑0002, SERCOS Cycle time (TScyc) " ]. This means
that master data telegram overlaps the master synchroniza‐
tion telegram (MST)
For removing command errors see " Command Errors "
C0139 - Attributes
10.2.39
Display:
Ident N°:
C0139
C0139
C0140 Rotary scaling not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error was detected with regard to scaling that was set
and the selected motor type (e.g. rotary scaling although a linear motor is
used). The phase switch to communication phase 3 is prevented.
Cause
Remedy
Although a linear motor is used, rotary scaling was selected
in at least one of the following parameters:
Check and correct respective scaling parameter(s) or use a
linear encoder
●
S‑0‑0044, Velocity data scaling type
●
S‑0‑0076, Position data scaling type
●
S‑0‑0086, Torque/force data scaling type
●
S‑0‑0160, Acceleration data scaling type
For removing command errors see " Command Errors "
C0140 - Attributes
Display:
Ident N°:
C0140
C0140
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
389/619
Diagnostic Command Messages
10.2.40
C0151 IDN for command value data container not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the command value configu‐
ration list was detected. The phase switch to communication phase 3 is pre‐
vented.
Cause
Remedy
A command value configuration list (S‑0‑0370 and S‑0‑0490
to S‑0‑0496) contains one or several IDNs that aren't exist‐
ing or not contained in " S‑0‑0188, List of configurable data in
the MDT "
Check parameters " S‑0‑0370, Data container A: configura‐
tion list command value-1 " and " S‑0‑0490, Data container A:
configuration list command value 2 " to " S‑0‑0496, Data con‐
tainer A: configuration list command value 8 " for incorrect
IDNs and correct them
For removing command errors see " Command Errors "
See also Functional Description of firmware " Multiplex Channel "
C0151 - Attributes
10.2.41
Display:
Ident N°:
C0151
C0151
C0152 IDN for actual value data container not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the actual value configura‐
tion list was detected. The phase switch to communication phase 3 is preven‐
ted.
Cause
Remedy
An actual value configuration list (S‑0‑0371 and S‑0‑0500 to
S‑0‑0506) contains one or several IDNs that aren't existing
or not contained in " S‑0‑0187, List of configurable data in the
AT "
Check parameters " S‑0‑0371, Data container A: configura‐
tion list feedback value-1 " and " S‑0‑0500, Data container A:
configuration list feedback value 2 " to " S‑0‑0506, Data con‐
tainer A: configuration list feedback value 8 " for incorrect
IDNs and correct them
For removing command errors see " Command Errors "
See also Functional Description of firmware " Multiplex Channel "
C0152 - Attributes
Display:
Ident N°:
C0152
C0152
390/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.42
C0153 Error at init. of synchr. motor with reluctance torque
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " a validation error was detected during the initializa‐
tion of a synchronous motor with reluctance torque.
The initialization of a synchronous motor with reluctance torque is
only run when this has been set in parameter " P‑0‑4014, Type of
construction of motor " .
The initialization of a synchronous motor implies the following parameters:
●
S‑0‑0109, Motor peak current
●
S‑0‑0110, Amplifier peak current
●
S‑0‑0111, Motor current at standstill
●
P‑0‑0018, Number of pole pairs/pole pair distance
●
P‑0‑0051, Torque/force constant
●
P‑0‑4002, Charact. of quadrature-axis induct. of motor, inductances
●
P‑0‑4003, Charact. of quadrature-axis inductance of motor, currents
●
P‑0‑4016, Direct-axis inductance of motor
●
P‑0‑4017, Quadrature-axis inductance of motor
Cause
Remedy
Incomplete or invalid entries in parameters for initialization of Check parameter contents and enter data supplied by motor
synchronous motor
manufacturer in above parameters. If error is generated in
spite of correct data, please contact our service department
Initialization for synchronous motor with reluctance torque
was run although synchronous motor without reluctance tor‐
que is used
Correct setting in " P‑0‑4014, Type of construction of motor
See also Functional Description of firmware " Third-Party Motors at IndraDrive
Controllers "
For removing command errors see " Command Errors "
C0153 - Attributes
10.2.43
Display:
Ident N°:
C0153
C0153
C0154 Field bus: IDN for cycl. command val. not configurable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
391/619
Diagnostic Command Messages
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the telegram configuration of
the master communication was detected.
Cause
Remedy
In operating data of " P‑0‑4081, Field bus: config. list of cyclic In " P‑0‑4081, Field bus: config. list of cyclic command value
command value data ch. " there is an IDN that is not con‐
data ch. " enter allowed IDN (cf. " S‑0‑0188, List of configura‐
tained in " S‑0‑0188, List of configurable data in the MDT "
ble data in the MDT " )
For removing command errors see " Command Errors "
C0154 - Attributes
10.2.44
Display:
Ident N°:
C0154
C0154
C0155 Field bus: Max. length for cycl. command val. exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the telegram configuration of the
master communication was detected.
Cause
Remedy
Sum of data widths of all IDNs entered in " P‑0‑4081, Field
Reduce number of IDNs entered in " P‑0‑4081, Field bus:
bus: config. list of cyclic command value data ch. " is exceed‐ config. list of cyclic command value data ch. "
ing max. value of " P‑0‑4071, Field bus: length of cyclic com‐
mand value data channel "
C0155 - Attributes
10.2.45
Display:
Ident N°:
C0155
C0155
C0156 Field bus: IDN for cycl. actual val. not configurable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the telegram configuration of
the master communication was detected.
Cause
Remedy
In operating data of " P‑0‑4080, Field bus: config. list of cyclic In " P‑0‑4080, Field bus: config. list of cyclic command value
command value data ch. " there is an IDN that is not con‐
data ch. " enter allowed IDNs (cf. " S‑0‑0187, List of configu‐
tained in " S‑0‑0187, List of configurable data in the AT "
rable data in the AT " )
List parameters are only allowed in the multiplex channel.
For removing command errors see " Command Errors "
392/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0156 - Attributes
10.2.46
Display:
Ident N°:
C0156
C0156
C0157 Field bus: Length for cycl. actual values exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the telegram configuration of the
master communication was detected.
Cause
Remedy
Sum of data widths of all IDNs entered in " P‑0‑4080, Field
bus: config. list of cyclic actual value data ch. " is exceeding
max. value of " P‑0‑4082, Field bus: length of cyclic actual
value data channel "
Reduce number of IDNs entered in " P‑0‑4080, Field bus:
config. list of cyclic actual value data ch. "
C0157 - Attributes
10.2.47
Display:
Ident N°:
C0157
C0157
C0158 Field bus: Tcyc (P-0-4076) incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the timing settings of the
master communication was detected.
Cause
Remedy
" P‑0‑4076, Field bus: cycle time (Tcyc) " is not an integral
multiple of the position loop clock
Adjust " P‑0‑4076, Field bus: cycle time (Tcyc) " to position
loop clock (control section ADVANCED: 500 µs or 250 µs,
control section BASIC: 500 µs)
The minimum field bus cycle time [ " P‑0‑4076, Field bus: cycle
time (Tcyc) " ] is 500 µs for control section ADVANCED and
1000 µs for control section BASIC.
For removing command errors see " Command Errors "
C0158 - Attributes
Display:
Ident N°:
C0158
C0158
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
393/619
Diagnostic Command Messages
10.2.48
C0159 Field bus: P-0-4077 missing for cycl. command values
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the telegram configuration of
the master communication was detected.
Cause
Remedy
Operating data of " P‑0‑4081, Field bus: config. list of cyclic
command value data ch. " contains neither " P‑0‑4077, Field
bus: control word " nor " P‑0‑4068, Field bus: control word
IO " . At least one control word has to be contained.
According to profile type configure one of both control words
in " P‑0‑4081, Field bus: config. list of cyclic command value
data ch. "
For removing command errors see " Command Errors "
C0159 - Attributes
10.2.49
Display:
Ident N°:
C0159
C0159
C0160 Error when reading encoder data = & gt; measuring encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
It was impossible to read the encoder data ( " P‑0‑1020, Kind of encoder 3, en‐
coder memory " ; " P‑0‑1021, Encoder 3 resolution, encoder memory " ;
" P‑0‑1022, Absolute encoder offset 3, encoder memory " ) correctly from the
encoder memory during the initialization of the control section.
Cause
Remedy
Interference caused by incorrect shielding or defective en‐
coder cable
Check encoder cable (incl. shielding) and, if necessary, re‐
place or run it correctly
Encoder defective
Check encoder function and, if necessary, replace encoder
Measuring encoder option on control section is defective
Replace control section or entire drive controller
Incorrect parameterization of " P‑0‑0076, Encoder type 3
(measuring encoder) "
Check content of " P‑0‑0076, Encoder type 3 (measuring en‐
coder) " and correct it in such a way that measuring encoder
is correctly assigned to optional slot
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Measuring Systems "
394/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0160 - Attributes
10.2.50
Display:
Ident N°:
C0160
C0160
C0161 Incorr. parameterization of measuring enc. (hardware)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the parameterization of the hardware
of the measuring encoder was detected.
Cause
Remedy
Parameterization of " P‑0‑0076, Encoder type 3 (measuring
encoder) " does not match encoder interface (e.g. EN1 with
EnDat encoder)
Correct parameterization of " P‑0‑0076, Encoder type 3
(measuring encoder) "
" P‑0‑0079, Assignment measuring encoder ‑ & gt; optional slot "
incorrectly parameterized
Correct parameterization of " P‑0‑0079, Assignment measur‐
ing encoder ‑ & gt; optional slot " or change control section config‐
uration (replacement of control section or drive controller)
In the case of double-axis device (CDB control section)
" P‑0‑0076, Encoder type 3 (measuring encoder) " was para‐
meterized unequal " 0 " for both axes
Only one measuring encoder can be connected per doubleaxis device (CDB control section). " P‑0‑0076, Encoder
type 3 (measuring encoder) " may only be unequal " 0 " for
one axis
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Measuring Systems "
C0161 - Attributes
10.2.51
Display:
Ident N°:
C0161
C0161
C0162 Measuring encoder unknown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error with regard to the measuring encoder was detec‐
ted. The content of " P‑0‑1020, Kind of encoder 3, encoder memory " is invalid
and the measuring encoder therefore is not allowed.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
395/619
Diagnostic Command Messages
Cause
Remedy
Encoder memory (feedback) is defective
Encoder must be replaced
Kind of motor encoder ( " P‑0‑1020, Kind of encoder 3, en‐
coder memory " ) is not supported by software
Check content of " P‑0‑1020, Kind of encoder 3, encoder
memory " and contact our service department
Detected kind of encoder does not match parameterized
Check " P‑0‑0079, Assignment measuring encoder ‑ & gt; option‐
type of encoder ( " P‑0‑0079, Assignment measuring encoder al slot " and, if necessary, replace control section by correctly
‑ & gt; optional slot " )
configured control section or replace complete drive control‐
ler
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
C0162 - Attributes
10.2.52
Display:
Ident N°:
C0162
C0162
C0163 Modulo value for measuring encoder cannot be displayed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the transition check from communication phase 2 to communication
phase 3 (C0100) an error was detected.
Cause
Remedy
Value parameterized for " P‑0‑0765, Modulo factor measur‐
ing encoder " cannot be displayed internally with gear that
was set
Correct content of " S‑0‑0103, Modulo value " or measuring
gear settings ( " P‑0‑0127, Input revolutions of measuring
gear " and " P‑0‑0128, Output revolutions of measuring gear " )
" P‑0‑0327, Encoder resolution of measuring encoder " incor‐
rectly parameterized
Check and, if necessary, correct content of " P‑0‑0327, En‐
coder resolution of measuring encoder "
See also Functional Description of firmware " Scaling "
C0163 - Attributes
10.2.53
Display:
Ident N°:
C0163
C0163
C0164 Incorrect measuring encoder configuration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " an error with regard to the measuring encoder con‐
figuration was detected.
396/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
At least one of selected operating modes is synchronization
mode (velocity synchronization, phase synchronization or
electronic cam shaft) and control encoder of synchronization
mode has simultaneously been configured as measuring en‐
coder. This configuration is not useful.
Check and, if necessary, correct parameterization of ope‐
rating mode parameters ( " S‑0‑0032, Primary mode of opera‐
tion " ; " S‑0‑0033, Secondary operation mode 1 " ; " S‑0‑0034,
Secondary operation mode 2 " ;...) if synchronization mode is
not required.
If synchronization mode is required, deactivate measuring
encoder or use additional encoder as measuring encoder.
For removing command errors see " Command Errors "
C0164 - Attributes
10.2.54
Display:
Ident N°:
C0164
C0164
C0170 Config. IDNs for connection not configurable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
Cause
Remedy
When SERCOS III connections had been configured
(S-0-1050.x.6, SIII-Connection: Configuration list), an inad‐
missible IDN was parameterized.
«MPC»
«MPC»
«MPC»
Allowed IDNs for consumer connections:
" S-0-0134, Master control word " and all IDNs from
" S-0-0188, List of configurable data in the MDT "
Allowed IDNs for producer connections:
" S-0-0135, Drive status word " and all IDNs from " S-0-0187,
List of configurable data in the AT "
C0170 - Attributes
10.2.55
Display:
Ident N°:
C0170
C0170
C0171 Maximum length for connections exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
Cause
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Remedy
When SERCOS III connections had been configured, al‐
Reduce number of IDNs in " S-0-1050.x.6, SIII-Connection:
lowed connection length was exceeded; i.e. total length of all Configuration list " .
configured IDNs in " S-0-1050.x.6, SIII-Connection: Configu‐
ration list " exceed value in " S-0-1050.x.4, SIII-Connection:
Max. length of connection " .
C0171 - Attributes
Display:
Ident N°:
C0171
C0171
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
397/619
Diagnostic Command Messages
10.2.56
C0172 Delay measurement (S-0-1024) not carried out
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
A check run during the execution of the command " S-0-0127, C0100 Com‐
munication phase 3 transition check " showed that there is no correctly execu‐
ted delay measurement with usable measured values available.
Cause
Remedy
Command " S-0-1024, C5300 SERCOS III: SYNC delay
measuring procedure command " was not executed or abor‐
ted with error.
Execute command " S-0-1024, C5300 SERCOS III: SYNC
delay measuring procedure command " and then start com‐
mand " S-0-0127, C0100 Communication phase 3 transition
check " again.
C0172 - Attributes
10.2.57
Display:
Ident N°:
C0172
C0172
C0173 Connections (number) not configurable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause
Remedy
Parameterized connections in S-0-1050 cannot be realized,
because resources of SERCOS III FPGA have been excee‐
ded.
Arrange connections of slave better in telegram (put them
one after another). (Can only be corrected by bus master or
configurator.)
C0173 - Attributes
10.2.58
Display:
Ident N°:
C0173
C0173
C0174 Connection configuration not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause
Remedy
For a SERCOS IIIconnection, a configuration has been set
which is not supported by drive controller/firmware
" S-0-1050.x.1, SIII-Connection: Connection setup " is to be
checked in all SERCOS IIIconnections and has to be com‐
pared to allowed configurations in Parameter Description
398/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0174 - Attributes
10.2.59
Display:
Ident N°:
C0174
C0174
C0175 Producer cycle time of a connection not correct
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause
Remedy
For a SERCOS IIIconnection, a producer cycle time has
been set which is not supported by drive controller/firmware
" S-0-1050.x.10, SIII-Connection: Producer cycle time " is to
be checked in all SERCOS IIIconnections and has to be
compared to allowed producer cycle times in Parameter De‐
scription
C0175 - Attributes
10.2.60
Display:
Ident N°:
C0175
C0175
C0199 Functional package selection changed. Restart
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " S‑0‑0127, C0100 Communication
phase 3 transition check " , the drive detected that the functional package se‐
lection was changed in communication phase 2 but the drive was not reboo‐
ted.
Cause
Remedy
Parameter " P‑0‑2003, Selection of functional packages "
contains functional package selection not corresponding to
active functional package selection (cf. " P‑0‑2004, Active
functional packages " )
Switch drive off and on again in order to accept functional
package selection of " P‑0‑2003, Selection of functional
packages " in " P‑0‑2004, Active functional packages "
Incorrect functional package selection in " P‑0‑2003, Selec‐
tion of functional packages "
Set value in " P‑0‑2003, Selection of functional packages " to
value in " P‑0‑2004, Active functional packages "
See also Functional Description of firmware " Enabling of Functional Pack‐
ages "
For removing command errors see " Command Errors "
C0199 - Attributes
Display:
Ident N°:
C0199
C0199
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
399/619
Diagnostic Command Messages
10.2.61
C0201 Invalid parameters (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In firmware versions 02VRS and 03VRS, the name of the com‐
mand error is " C0201 Invalid parameters (- & gt; S-0-0022) " .
02VRS / 03VRS
While command " S‑0‑0128, C5200 Communication phase 4 transition check "
is executed, internal variables are initialized and the available parameters are
checked (e.g., for validity). An error was detected during execution of the
command.
Cause
Remedy
Data block elements required in communication phase 4 are Write allowed operating data to parameters affected. (Affec‐
missing or invalid
ted parameters can be taken from list " S‑0‑0022, IDN-list of
invalid operation data for CP3 " )
As of 04VRS
While command " S‑0‑0422, C0200 Exit parameterization level procedure
command " is executed, internal variables are initialized and the available pa‐
rameters are checked (e.g., for validity). An error was detected during execu‐
tion of the command.
Cause
Remedy
Data required in operating mode is missing or invalid
Write allowed operating data to parameters affected. (Re‐
spective parameters can be taken from list " S‑0‑0423, IDNlist of invalid data for parameterization levels " )
For removing command errors see " Command Errors "
C0201 - Attributes
10.2.62
Display:
Ident N°:
C0201
C0201
C0202 Parameter limit error (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command error is " C0202 Parameter limit error (- & gt; S-0-0022) " .
02VRS / 03VRS
While the command " S‑0‑0128, C0200 Communication phase 4 transition
check " is executed, the limit values (minimum/maximum value) are checked
for some parameters. An error was detected during the execution of the com‐
mand.
400/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Parameter values required in communication phase 4 are
outside of their allowed range of values (minimum or maxi‐
mum value)
Write allowed values to parameters (cf. min./max. value).
(Respective parameters can be taken from list " S‑0‑0022,
IDN list of invalid operating data for communication
phase 3 " )
As of 04VRS
While the command " S‑0‑0422, C0200 Exit parameterization level procedure
command " is executed, the limit values (minimum/maximum value) are
checked for some parameters. An error was detected during the execution of
the command.
Cause
Remedy
Parameter values required in operating mode are outside of
their allowed range of values (minimum or maximum value)
Write allowed values to parameters (cf. min./max. value).
(Respective parameters can be taken from list " S‑0‑0423,
IDN-list of invalid op. data for parameterization level " )
For removing command errors see " Command Errors "
C0202 - Attributes
10.2.63
Display:
Ident N°:
C0202
C0202
C0203 Parameter conversion error (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command error is " C0203 Parameter calculation error ( & gt; S-0-0022) " .
02VRS / 03VRS
While the command " S‑0‑0128, C0200 Communication phase 4 transition
check " is executed, the internal parameter formats are checked in order to
ensure the internal processing. An error was detected during the execution of
the command.
Cause
Remedy
Parameter values required in communication phase 4 can‐
not be processed
Write allowed values to parameters. (Respective parameters
can be taken from list " S‑0‑0022, IDN list of invalid operating
data for communication phase 3 " )
As of 04VRS
Cause
While the command " S‑0‑0422, C0200 Exit parameterization level procedure
command " is executed, the internal parameter formats are checked in order
to ensure the internal processing. An error was detected during the execution
of the command.
Remedy
Parameter values required in operating mode cannot be pro‐ Write allowed values to parameters. (Respective parameters
cessed
can be taken from list " S‑0‑0423, IDN-list of invalid op. data
for parameterization level " )
For removing command errors see " Command Errors "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
401/619
Diagnostic Command Messages
C0203 - Attributes
10.2.64
Display:
Ident N°:
C0203
C0203
C0210 Feedback 2 required (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Incorrect parameter setting was detected during the execution of command
" S‑0‑0422, C0200 Exit parameterization level procedure command " .
" S‑0‑0423, IDN-list of invalid op. data for parameterization level "
contains the data which were detected to be invalid during the ex‐
ecution of command " S‑0‑0422, C0200 Exit parameterization lev‐
el procedure command " .
Cause
Remedy
Bit for measuring wheel mode has been set in " P‑0‑0185,
Control word of encoder 2 (optional encoder) " . Measuring
wheel mode requires second encoder which has not been
parameterized
Parameterize encoder 2 in " P‑0‑0075, Encoder type 2 (op‐
tional encoder) "
Bit for redundant motor encoder has been set in " P‑0‑0185,
Control word of encoder 2 (optional encoder) " . Second en‐
coder, however, has not been parameterized
Parameterize encoder 2 in " P‑0‑0075, Encoder type 2 (op‐
tional encoder) "
‑ or ‑
Deselect function " measuring wheel mode " in " P‑0‑0185,
Control word of encoder 2 (optional encoder) "
‑ or ‑
Deselect redundant motor encoder in " P‑0‑0185, Control
word of encoder 2 (optional encoder) "
C0210 - Attributes
10.2.65
Display:
Ident N°:
C0210
C0210
C0212 Invalid control section data (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command error is " C0212 Invalid control section data ( & gt; S-0-0022) " .
02VRS / 03VRS:
For HMS, HMD, HCS
During the execution of the command " S‑0‑0128, C0200 Communication
phase 4 transition check " an error during the initialization of the control sec‐
tion data was detected. The respective parameters are entered in the list
" S‑0‑0022, IDN list of invalid operating data for communication phase 3 " .
402/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
For HMV
During the initialization of the device data an error was detected.
Cause
Remedy
Reading error from I2C-Prom due to hardware defect
If possible, replace hardware; otherwise contact our service
department
As of 04VRS:
For HMS, HMD, HCS
For HMV
During the execution of the command " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " an error was detected during the initialization
of the amplifier data. The respective parameters are entered in the list
" S‑0‑0423, IDN-list of invalid op. data for parameterization level " .
During the initialization of the device data an error was detected.
Cause
Remedy
Reading error from I2C-Prom due to hardware defect
If possible, replace hardware; otherwise contact our service
department
For removing command errors see " Command Errors "
C0212 - Attributes
10.2.66
Display:
Ident N°:
C0212
C0212
C0218 Double signal selection master axis format converter
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
During the execution of the command " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " an error occurred.
Cause
Remedy
In the case of a double-axis device, a parameter was selec‐
ted in both axes in parameter " P‑0‑0916, Master axis format
converter signal selection " the value of which is to be con‐
verted to master axis format; however, there is only one
master axis format converter available for a double axis de‐
vice
Set parameter " P‑0‑0916, Master axis format converter sig‐
nal selection " of one axis of double-axis device to
" S‑0‑0000 "
C0218 - Attributes
10.2.67
Display:
Ident N°:
C0218
C0218
C0219 Max. travel range too large
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While the command " C0200 " is executed an error with regard to the scaling
of the drive was detected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
403/619
Diagnostic Command Messages
Cause
Remedy
" S‑0‑0278, Maximum travel range " incorrectly parameter‐
ized. Defined travel range is too large
Check and, if necessary, reduce parameterization of
S‑0‑0278. Value of " S‑0‑0278, Maximum travel range " is to
be selected in such a way that resulting internal position res‐
olution guarantees correct commutation of motor.
Inappropriate measuring system (resolution) for maximum
travel range to be displayed
Check resolution of measuring system and, if necessary,
use a different measuring system
For removing command errors see " Command Errors "
See also Functional Description of firmware " Scaling "
C0219 - Attributes
10.2.68
Display:
Ident N°:
C0219
C0219
C0220 Error when initializing position of encoder 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0200 " is executed, the following checks are carried out for
initializing encoder 1 (motor encoder):
●
Offset between high-resolution and low-resolution track
●
Communication with encoder
●
Generation of position of an initialization track
●
Reading of analog signals of an initialization track
If the motor encoder is an HSF encoder, the following checks are additionally
carried out:
●
Access to angle correction data
●
Pointer length of analog signals of an initialization track
If one of the above checks fails, command error " C0220 " is generated.
Cause
Remedy
Motor encoder cable defective
Check and, if necessary, replace motor encoder cable
Motor encoder defective or error in micro controller of meas‐ Replace motor
uring system
Measuring system interface defective
Have measuring system interface replaced by service de‐
partment
Absolute position in relation to incremental track shifted
Absolute position in relation to incremental track was shifted
deliberately (as of MPx07V12, MPx06V14, MPx08): Deacti‐
vate offset monitoring (see S-0-0277)
Absolute position in relation to incremental track was shifted
by a defect: Check other causes mentioned
For removing command errors see " Command Errors "
C0220 - Attributes
Display:
Ident N°:
C0220
C0220
404/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.69
C0221 Initialization velocity encoder 1 too high
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command C0200, an error in the initialization ve‐
locity of encoder 1 (motor encoder) was detected.
Cause
Remedy
Velocity for initialization of encoder 1 was too high
Reduce velocity during encoder initialization [comply with ini‐
tialization velocity (encoder-related); rotary: & lt; 30 rpm, linear:
30 mm/min]
For removing command errors see " Command Errors "
C0221 - Attributes
10.2.70
Display:
Ident N°:
C0221
C0221
C0223 Invalid settings for controller cycle times
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error in the parameteriza‐
tion of controller cycle times or PWM switching frequencies was detected.
For cause and remedy see " C0132 Invalid settings for controller cycle times " .
C0223 - Attributes
10.2.71
Display:
Ident N°:
C0223
C0223
C0224 Error when initializing position of encoder 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0200 " is executed, the following checks are carried out for
initializing encoder 2 (optional encoder):
●
Offset between high-resolution and low-resolution track
●
Communication with encoder
●
Generation of position of an initialization track
●
Reading of analog signals of an initialization track
If the optional encoder is an HSF encoder, the following checks are addition‐
ally carried out:
●
Access to angle correction data
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
405/619
Diagnostic Command Messages
●
Pointer length of analog signals of an initialization track
If one of the above checks fails, the command error " C0224 " is generated.
Cause
Remedy
Encoder cable defective
Check and, if necessary, replace encoder cable
Encoder defective or error in micro controller of measuring
system
Replace encoder
Measuring system interface defective
Have measuring system interface replaced by service de‐
partment
Absolute position in relation to incremental track shifted
Absolute position in relation to incremental track was shifted
deliberately (as of MPx07V12, MPx06V14, MPx08): Deacti‐
vate offset monitoring (see S-0-0115)
Absolute position in relation to incremental track was shifted
by a defect: Check other causes mentioned
For removing command errors see " Command Errors "
C0224 - Attributes
10.2.72
Display:
Ident N°:
C0224
C0224
C0225 Initialization velocity encoder 2 too high
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command C0200, an error in the initialization ve‐
locity of encoder 2 (optional encoder) was detected.
Cause
Remedy
Velocity for initialization of encoder 2 was too high
Reduce velocity during encoder initialization [comply with ini‐
tialization velocity (encoder-related); rotary: & lt; 30 rpm, linear:
30 mm/min]
For removing command errors see " Command Errors "
C0225 - Attributes
10.2.73
Display:
Ident N°:
C0225
C0225
C0227 Error when initializing position of measuring encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0200 " is executed, the following checks are carried out for
initializing the measuring encoder:
●
Offset between high-resolution and low-resolution track
●
Communication with encoder
406/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
●
Generation of position of an initialization track
●
Reading of analog signals of an initialization track
If the measuring encoder is an HSF encoder, the following checks are addi‐
tionally carried out:
●
Access to angle correction data
●
Pointer length of analog signals of an initialization track
If one of the above checks fails, the command error " C0227 " is generated.
Cause
Remedy
Encoder cable defective
Check and, if necessary, replace encoder cable
Interference caused by incorrect shielding
Check and, if necessary, correct cable shielding
Encoder defective or error in micro controller of measuring
system
Replace encoder
Measuring system interface defective
Have measuring system interface replaced by service de‐
partment
Absolute position in relation to incremental track shifted
Absolute position in relation to incremental track was shifted
deliberately (as of MPx07V12, MPx06V14, MPx08): Deacti‐
vate offset monitoring (see P-0-0328)
Absolute position in relation to incremental track was shifted
by a defect: Check other causes mentioned
For removing command errors see " Command Errors "
C0227 - Attributes
10.2.74
Display:
Ident N°:
C0227
C0227
C0228 Initialization velocity measuring encoder too high
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command C0200, an error in the initialization ve‐
locity of the measuring encoder was detected.
Cause
Remedy
Velocity for initialization of measuring encoder was too high
Reduce velocity during encoder initialization [comply with ini‐
tialization velocity (encoder-related); rotary: & lt; 30 rpm, linear:
30 mm/min]
For removing command errors see " Command Errors "
C0228 - Attributes
Display:
Ident N°:
C0228
C0228
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
407/619
Diagnostic Command Messages
10.2.75
C0229 Field bus: IDN for cycl. command val. not configurable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the
telegram configuration of master communication was detected.
Cause
Remedy
In operating data of " P‑0‑4081, Field bus: config. list of cyclic In " P‑0‑4081, Field bus: config. list of cyclic command value
command value data ch. " there is an IDN that is not con‐
data ch. " enter allowed IDN (cf. " S‑0‑0188, List of configura‐
tained in " S‑0‑0188, List of configurable data in the MDT "
ble data in the MDT " )
For removing command errors see " Command Errors "
C0229 - Attributes
10.2.76
Display:
Ident N°:
C0229
C0229
C0230 Field bus: Max. length for cycl. command val. exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0200 " is executed, an error with regard to the axis-specific
telegram configuration of a local axis of master communication was detected.
Cause
Remedy
Sum of data widths of all IDNs entered in " P‑0‑4081, Field Reduce number of IDNs entered in " P‑0‑4081, Field bus:
bus: Config. list of cyclic command value data ch. " ex‐
Config. list of cyclic command value data ch. "
ceeds maximum value
C0230 - Attributes
10.2.77
Display:
Ident N°:
C0230
C0230
C0231 Field bus: IDN for cycl. actual val. not configurable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the
telegram configuration of master communication was detected.
408/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
In operating data of " P‑0‑4080, Field bus: config. list of cyclic In " P‑0‑4080, Field bus: config. list of cyclic command value
command value data ch. " there is an IDN that is not con‐
data ch. " enter allowed IDNs (cf. " S‑0‑0187, List of configu‐
tained in " S‑0‑0187, List of configurable data in the AT "
rable data in the AT " )
List parameters are only allowed in the multiplex channel.
For removing command errors see " Command Errors "
C0231 - Attributes
10.2.78
Display:
Ident N°:
C0231
C0231
C0232 Field bus: Length for cycl. actual values exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0200 Exit parameterization level procedure command " is
executed, an error with regard to the axis-specific telegram configuration of a
local axis of master communication was detected.
Cause
Remedy
Sum of data widths of all IDNs entered in " P‑0‑4080, Field
bus: Config. list of cyclic command actual data ch. " exceeds
maximum value
Reduce number of IDNs entered in " P‑0‑4080, Field bus:
Config. list of cyclic actual value data ch. "
C0232 - Attributes
10.2.79
Display:
Ident N°:
C0232
C0232
C0233 Field bus: Tcyc (P-0-4076) incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause
Remedy
While command C0200 was executed, error in parameteri‐
zation of P-0-4076 was detected.
Observe allowed input values (minimum/maximum values)
of " P‑0‑4076, Field bus: Field bus: Process data - updating
clock " ; step size of allowed input values: 1 ms
For removing command errors see " Command Errors "
C0233 - Attributes
Display:
Ident N°:
C0233
C0233
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
409/619
Diagnostic Command Messages
10.2.80
C0234 Field bus: P-0-4077 missing for cycl. command values
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the
telegram configuration of master communication was detected.
Cause
Remedy
Operating data of " P‑0‑4081, Field bus: config. list of cyclic
command value data ch. " contains neither " P‑0‑4077, Field
bus: control word " nor " P‑0‑4068, Field bus: control word
IO " . At least one control word has to be contained
According to profile type configure one of both control words
in " P‑0‑4081, Field bus: config. list of cyclic command value
data ch. "
For removing command errors see " Command Errors "
C0234 - Attributes
10.2.81
Display:
Ident N°:
C0234
C0234
C0238 Order of cyclic command value configuration incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The cyclic command value data in the drive is processed chronologically in
the order in which the configured IDNs have been entered in the list of cyclic
command values. The following parameters are available for using multiplex
mode in the cyclic command value telegram:
●
S‑0‑0360, Data container A: command value 1,
●
S‑0‑0362, Data container A: list index command values and
●
S‑0‑0368, Data container A: Addressing
If more of these parameters than one are configured in the cyclic command
value telegram, their correct order is checked in command " S‑0‑0128, C5200
Communication phase 4 transition check " (02VRS / 03VRS) or " S‑0‑0422,
C0200 Exit parameterization level procedure command " (as of 04VRS).
Cause
Remedy
Incorrect order of relevant parameters in cyclic command
value telegram
Observe correct order of parameters in cyclic command val‐
ue telegram:
Parameters S‑0‑0362, S‑0‑0366 and S‑0‑0368 must pre‐
cede parameters S‑0‑0360 and S‑0‑0450 to S‑0‑0456 in cy‐
clic command value telegram
See also Functional Description of firmware " Multiplex Channel "
C0238 - Attributes
Display:
Ident N°:
C0238
C0238
410/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.82
C0239 IDN for command value data container not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of command " S‑0‑0128, C0200 Communication phase 4
transition check " (02VRS / 03VRS) or " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " (as of 04VRS), an error with regard to the
command value configuration list was detected.
Cause
Remedy
A command value configuration list (S‑0‑0370 and S‑0‑0490
to S‑0‑0496) contains one or several IDNs that aren't exist‐
ing or not contained in " S‑0‑0188, List of configurable data in
the MDT "
Check parameters " S‑0‑0370, Data container A: configura‐
tion list command value-1 " and " S‑0‑0490, Data container A:
configuration list command value 2 " to " S‑0‑0496, Data con‐
tainer A: configuration list command value 8 " for incorrect
IDNs and correct them
For removing command errors see " Command Errors "
See also Functional Description of firmware " Multiplex Channel "
C0239 - Attributes
10.2.83
Display:
Ident N°:
C0239
C0239
C0240 IDN for actual value data container not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of command " S‑0‑0128, C0200 Communication phase 4
transition check " (02VRS / 03VRS) or " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " (as of 04VRS), an error with regard to the ac‐
tual value configuration list was detected.
Cause
Remedy
An actual value configuration list (S‑0‑0371 and S‑0‑0500 to
S‑0‑0506) contains one or several IDNs that aren't existing
or not contained in " S‑0‑0187, List of configurable data in the
AT "
Check parameters " S‑0‑0371, Data container A: configura‐
tion list feedback value-1 " and " S‑0‑0500, Data container A:
configuration list feedback value 2 " to " S‑0‑0506, Data con‐
tainer A: configuration list feedback value 8 " for incorrect
IDNs and correct them
For removing command errors see " Command Errors "
See also Functional Description of firmware " Multiplex Channel "
C0240 - Attributes
Display:
Ident N°:
C0240
C0240
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
411/619
Diagnostic Command Messages
10.2.84
C0241 Incorrect parameterization of motion task
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
A motion task is of the type " externally event-controlled " .
Two of these motion tasks are available as of firmware version MP05VRS.
●
Motion task which is synchronous to master communication (via the sys‐
tem eventFKM_SYNCHRONIZED_TASK)
●
Motion task which is synchronous to CCD group (via the system
eventCCD_SYNCHRONIZED_TASK)
When switching from parameter mode to operating mode takes place, checks
are run for a loaded boot project, with a motion task synchronous to master
communication or CCD group, to find out whether the motion task can be op‐
erated with the settings made; an error was detected during this check. (See
also Application Manual " Rexroth IndraMotion MLD " , chapter " Basic Func‐
tions of Rexroth IndraMotion MLD " , " Task System " .)
Cause
Remedy
A motion task which is synchronous to master communica‐
tion cannot be operated with NC cycle time (S-0-0001 or
S-0-1001 for master communication SERCOS III) which was
set
Advanced and Basic performance: Minimum allowed NC cy‐
cle time is 1000µs. Other values in steps of 1000µs are al‐
lowed.
Economy performance: Minimum allowed NC cycle time is
2000µs. Other values in steps of 2000µs are allowed.
A motion task which is synchronous to CCD group is not op‐ Activate MLD-M system mode
erated in MLD-M system mode
- or Change your PLC project for MLD in such a way that no
CCD-synchronous motion task is configured
For removing command errors see " Command Errors "
C0241 - Attributes
10.2.85
Display:
Ident N°:
C0241
C0241
C0242 Multiple configuration of a parameter (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command error is " C0242 Multiple configuration of a parameter ( & gt; S-0-0022) " .
02VRS / 03VRS
During the execution of the command " S‑0‑0128, C0200 Communication
phase 4 transition check " an error was detected.
412/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
For a double-axis device, a device-specific function has
Read IDNs entered in " S‑0‑0022, IDN list of invalid operating
been activated in both axes (e.g. position switch activated in data for communication phase 3 " to find out function activa‐
both axes or encoder emulation activated in both axes)
ted in both axes. Then deactivate function in one of both ax‐
es
For cyclic parameter write, a parameter was simultaneously
configured in different interfaces. It is impossible, however,
to simultaneously write data to same parameter from differ‐
ent interfaces.
Read IDNs entered in " S‑0‑0022, IDN list of invalid operating
data for communication phase 3 " to detect and remove mul‐
tiple configuration.
Note: " Interfaces " means as well analog and digital inputs as
complete bus systems.
Each multiple configuration/each conflict is listed in parameter
" S‑0‑0022, IDN list of invalid operating data for communication
phase 3 " and displayed in the following form:
●
The 1st entry contains the IDN of the parameter that was
configured in a multiple way.
●
The subsequent entries contain the IDNs of the parameters
in which the multiple-configuration parameter was configured
for cyclic parameter write.
●
Up to 5 entries are displayed.
●
In the IDN list, each conflict is concluded by the IDN
S‑0‑0000. If several conflicts occur at the same time, they
are displayed one after the other in " S‑0‑0022, IDN list of in‐
valid operating data for communication phase 3 " , being sep‐
arated by the IDN S‑0‑0000.
For each conflict, the configurations of the involved interfaces have to be
modified in such a way that only one interface writes data to a parameter.
As of 04VRS
During the execution of the command " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " an error was detected.
Cause
Remedy
For a double-axis device, a device-specific function has
Read IDNs entered in " S‑0‑0423, IDN-list of invalid op. data
been activated in both axes (e.g. position switch activated in for parameterization level " to find out function activated in
both axes or encoder emulation activated in both axes)
both axes. Then deactivate function in one of both axes
For cyclic parameter write, a parameter was simultaneously
configured in different interfaces. It is impossible, however,
to simultaneously write data to same parameter from differ‐
ent interfaces.
Note: " Interfaces " means as well analog and digital inputs as
complete bus systems.
Read IDNs entered in " S‑0‑0423, IDN-list of invalid op. data
for parameterization level " to detect and remove multiple
configuration.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
413/619
Diagnostic Command Messages
Each multiple configuration/each conflict is listed in parameter
" S‑0‑0423, IDN-list of invalid op. data for parameterization level "
and displayed in the following form:
●
The 1st entry contains the IDN of the parameter that was
configured in a multiple way.
●
The subsequent entries contain the IDNs of the parameters
in which the multiple-configuration parameter was configured
for cyclic parameter write.
●
Up to 5 entries are displayed.
●
In the IDN list, each conflict is concluded by the IDN
S‑0‑0000. If several conflicts occur at the same time, they
are displayed one after the other in " S‑0‑0423, IDN-list of in‐
valid op. data for parameterization level " , being separated by
the IDN S‑0‑0000.
For each conflict, the configurations of the involved interfaces have to be
modified in such a way that only one interface writes data to a parameter.
For removing command errors see " Command Errors "
C0242 - Attributes
10.2.86
Display:
Ident N°:
C0242
C0242
C0243 Brake check function not possible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Automatic brake control has been selected/activated in parameter " P‑0‑0525,
Holding brake control word " . An error occurred during initialization of the
function.
414/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Holding brake is not controlled
Activate holding brake control in parameter " P‑0‑0525, Holding brake control word "
" P‑0‑0540, Torque of holding
brake " is too low
Parameterize " P‑0‑0540, Torque of holding brake " correctly by means of data sheet
of brake or motor.
Note: This value is automatically set with Rexroth motors equipped with feedback da‐
ta storage.
" P‑0‑0547, Nominal load of holding
system " is too high
Check parameterized value in " P‑0‑0547, Nominal load of holding system " with re‐
gard to " P‑0‑0540, Torque of motor holding brake " [observe the scaling type for tor‐
que/force data (S‑0‑0086)].
Up to MPx-07
Force/torque scaling:
Percentage scaling:
______________________
As of MPx08
Scaled force/moment:
Percentage scaling:
Legend:
●
P‑0‑0051, Torque/force constant
●
P‑0‑0540, Torque of holding brake
●
P‑0‑0547, Nominal load of holding system
●
P‑0‑0553, test moment factor for brake check
●
S‑0‑0111, Motor current at standstill
●
fK: Cooling factor, derived from " P‑0‑0640, Cooling type "
For removing command errors see " Command Errors "
C0243 - Attributes
10.2.87
Display:
Ident N°:
C0243
C0243
C0244 Act. modulo value cycle greater than max. travel range
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error was detected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
415/619
Diagnostic Command Messages
Cause
Remedy
Calculated modulo value for actual value cycle is greater
than value parameterized in " S‑0‑0278, Maximum travel
range "
Check parameterization of " S‑0‑0278, Maximum travel
range " and if necessary adjust it to modulo value for actual
value cycle
– or –
Check parameterization of modulo value for actual value cy‐
cle and adjust it to " S‑0‑0278, Maximum travel range "
For removing command errors see " Command Errors "
C0244 - Attributes
10.2.88
Display:
Ident N°:
C0244
C0244
C0245 Operation mode configuration (- & gt; S-0-0423) not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command error is " C0245 Operating mode configuration ( & gt; S-0-0022) not allowed " .
02VRS / 03VRS
During the execution of the command " S‑0‑0128, C0200 Communication
phase 4 transition check " an invalid operating mode configuration was detec‐
ted.
In the operating mode parameters, it is not allowed to parameterize synchro‐
nization modes with outer position control loop (phase synchronization or
electronic cam shaft) with different control encoders.
Operating mode parameters:
●
S‑0‑0032, Primary mode of operation,
●
S‑0‑0033, Secondary operation mode 1,
●
S‑0‑0034, Secondary operation mode 2,
●
S‑0‑0035, Secondary operation mode 3,
●
etc.
Cause
Remedy
Operating mode configuration is invalid (phase synchroniza‐ Parameter contents of operating mode parameters have to
tion or electronic cam shaft with different control encoders)
be changed is such a way that invalid operating mode con‐
figuration no longer occurs (respective operating mode pa‐
rameters are listed in " S‑0‑0022, IDN list of invalid operating
data for communication phase 3 " )
An operating mode was configured for control with encod‐
er 2; but encoder 2 does not exist or interface has not been
assigned
Select control with encoder 1 (motor encoder) or connect
encoder 2 and assign interface ( " P‑0‑0078, Assignment op‐
tional encoder - & gt; optional slot " )
416/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
If several operating modes are invalid, only the first operating
mode found is entered in " S‑0‑0022, IDN list of invalid operating
data for communication phase 3 " .
As of 04VRS
During the execution of the command " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " an invalid operating mode configuration was
detected.
In the operating mode parameters, it is not allowed to parameterize synchro‐
nization modes with outer position control loop (phase synchronization or
electronic cam shaft) with different control encoders.
Operating mode parameters:
●
S‑0‑0032, Primary mode of operation,
●
S‑0‑0033, Secondary operation mode 1,
●
S‑0‑0034, Secondary operation mode 2,
●
S‑0‑0035, Secondary operation mode 3,
●
etc.
Cause
Remedy
Operating mode configuration is invalid (phase synchroniza‐ Parameter contents of operating mode parameters have to
tion or electronic cam shaft with different control encoders)
be changed is such a way that invalid operating mode con‐
figuration no longer occurs (respective operating mode pa‐
rameters are listed in " S‑0‑0423, IDN-list of invalid op. data
for parameterization level " )
An operating mode was configured for control with encod‐
er 2; but encoder 2 does not exist or interface has not been
assigned
Select control with encoder 1 (motor encoder) or connect
encoder 2 and assign interface ( " P‑0‑0078, Assignment op‐
tional encoder - & gt; optional slot " )
If several operating modes are invalid, only the first operating
mode found is entered in " S‑0‑0423, IDN-list of invalid op. data for
parameterization level " .
See also Functional Description of firmware " Measuring Systems "
For removing command errors see " Command Errors "
C0245 - Attributes
10.2.89
Display:
Ident N°:
C0245
C0245
C0246 Trav. range lim. switch not ass. to dig. input
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " the configuration of the digital
inputs with activated travel range limit switches is checked in order to ensure
the function of the travel range limit switches that are relevant for machine
safety.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
417/619
Diagnostic Command Messages
Cause
Remedy
Travel range limit switches +/‑ have been activated in
Assign travel range limit switches to digital inputs via
" P‑0‑0090, Travel range limit parameter " but not assigned to " P‑0‑0300, Digital I/Os, assignment list "
any digital input
Travel range limit switches +/‑ have been unintentionally ac‐
tivated in " P‑0‑0090, Travel range limit parameter "
Deactivate travel range limit switches +/‑ in " P‑0‑0090, Trav‐
el range limit parameter "
For removing command errors see " Command Errors "
See also Functional Description of firmware " Digital Inputs/Outputs "
See also Functional Description of firmware " Position Limitation/Travel
Range Limit Switch "
C0246 - Attributes
10.2.90
Display:
Ident N°:
C0246
C0246
C0247 Dig. output already assigned to other axis
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " digital outputs were detected
to have been configured more than once.
Cause
Remedy
In the case of a double-axis device (HMD01.1), a digital out‐ Check parameterization of " P‑0‑0300, Digital I/Os, assign‐
put is used by both axes
ment list " in both axes and change it in at least one axis
For removing command errors see " Command Errors "
See also Functional Description of firmware " Digital Inputs/Outputs "
C0247 - Attributes
10.2.91
Display:
Ident N°:
C0247
C0247
C0248 Dig. input assigned differently to axes
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " , the configuration of the avail‐
able digital inputs is checked with regard to inconsistent double assignment.
Cause
Remedy
In the case of a double-axis device (HMD01.1), a digital in‐
put was parameterized by both axes with different IDN
( " P‑0‑0300, Digital I/Os, assignment list " ) or bit number
( " P‑0‑0301, Digital I/Os, bit numbers " )
Check parameterization of " P‑0‑0300, Digital I/Os, assign‐
ment list " or " P‑0‑0301, Digital I/Os, bit numbers " in both ax‐
es of double-axis device and change it in at least one axis
For removing command errors see " Command Errors "
418/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
See also Functional Description of firmware " Digital Inputs/Outputs "
C0248 - Attributes
10.2.92
Display:
Ident N°:
C0248
C0248
C0249 Dig. I/Os: Bit number too large
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " , the configuration of the digital
I/Os is checked with regard to the configured bit numbers.
Cause
Remedy
Bit number ( " P‑0‑0301, Digital I/Os, bit numbers " ) for an as‐
signed IDN ( " P‑0‑0300, Digital I/Os, assignment list " ) is not
available (e.g. bit number 25 but IDN only 2 bytes long)
Check parameterization of " P‑0‑0300, Digital I/Os, assign‐
ment list " and " P‑0‑0301, Digital I/Os, bit numbers " and ad‐
just " P‑0‑0301, Digital I/Os, bit numbers " to data format of
corresponding IDN
For removing command errors see " Command Errors "
C0249 - Attributes
10.2.93
Display:
Ident N°:
C0249
C0249
C0250 Probe inputs incorrectly configured
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error was detected.
Cause
Remedy
At least one of both probes was activated in " S‑0‑0169,
Probe control parameter " but not assigned to any digital in‐
put
Assign probes to digital inputs via " P‑0‑0300, Digital I/Os,
assignment list " , " P‑0‑0301, Digital I/Os, bit numbers " and
" P‑0‑0302, Digital I/Os, direction "
Probes were accidentally activated
Deactivate probes in " S‑0‑0169, Probe control parameter "
See also Functional Description of firmware " Digital Inputs/Outputs "
See also Functional Description of firmware " Probe Function "
C0250 - Attributes
Display:
Ident N°:
C0250
C0250
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Bosch Rexroth AG
419/619
Diagnostic Command Messages
10.2.94
C0251 Error during synchronization to master communication
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " the drive checks whether the
drive control is synchronized to the bus interface (SERCOS, Profibus, Inter‐
bus,…) via two phase control loops. The synchronization process must have
been completed until the end of the command. If not, this error message is
generated.
Cause
Remedy
Hardware defect on control section
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
See also Functional Description of firmware " Master Communication "
C0251 - Attributes
10.2.95
Display:
Ident N°:
C0251
C0251
C0252 Incorrect MLD initialization (write access- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
Due to an incorrect write access of the firmware (e.g. S‑0‑0269), switching
from the parameter mode to the operating mode was prevented.
Parameter S‑0‑0423 displays the parameter for which write ac‐
cess has failed.
Cause
Remedy
Internal error or control section defective
Please contact our service department
For removing command errors see " Command Errors "
C0252 - Attributes
Display:
Ident N°:
C0252
C0252
420/619
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DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.96
C0253 Error in combination operation mode - encoder (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the check of operating mode and encoder an error occurred.
" S‑0‑0423, IDN-list of invalid op. data for parameterization level "
contains the faulty parameter.
Cause
Remedy
Operating modes were parameterized which obligatorily re‐ Correct settings for primary mode of operation and secon‐
quire an optional encoder or operating modes were parame‐ dary oper. modes (S‑0‑0032 to S‑0‑0035 and S‑0‑0284 to
terized for which a certain encoder mustn't be set
S‑0‑0287)
- or " P‑0‑0077, Assignment motor encoder- & gt; optional slot " and
" P‑0‑0078, Assignment optional encoder - & gt; optional slot "
- and check motor control which was set (U/f, FXC, FOC) (see
Functional Description of firmware " Motor Control " )
C0253 - Attributes
10.2.97
Display:
Ident N°:
C0253
C0253
C0254 Configuration error PROFIsafe
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When PROFIsafe was configured, a check is run during the execution of the
command " C0200 " to find out whether the conditions for successful operation
have been fulfilled.
Cause
Remedy
PROFIsafe was accidentally activated
Deactivate PROFIsafe (write zero to " P‑0‑3290, PROFIsafe:
F_Destination_Address " )
Control section doesn't have Profibus master communication Replace control section; use correct hardware configuration
Due to hardware error, Profibus master communication
wasn't recognized during initialization of control section
Replace control section or entire drive controller; use hard‐
ware configuration of same type
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
421/619
Diagnostic Command Messages
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
Only Rexroth service engineers are allowed to replace optional
modules of the control section (e.g. optional encoder module).
For removing command errors see " Command Errors "
C0254 - Attributes
10.2.98
Display:
Ident N°:
C0254
C0254
C0255 Safety command for system init. incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0200 " was executed, an error was detected during check
of the safety technology configuration.
1. Read error code entered in " P‑0‑3219, Extended safety technology
diagnosis " .
2. Based on the command error codes (here: C0255) and the error code in
P-0-3219, information about the error cause and/or error location is pro‐
vided as follows:
●
Up to MPx06: " Extended Diagnosis (P‑0‑3219) " .
●
As of MPx07: " Extended Diagnosis (P‑0‑3219) as of MPx07 " .
For removing command errors see " Command Errors "
C0255 - Attributes
10.2.99
Display:
Ident N°:
C0255
C0255
C0256 Safety technology configuration error
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " , an error was detected during
checks of the safety technology configuration.
Cause
Remedy
For the cause, please see the documentation
" Troubleshooting Guide "
Remove cause of error
Up to MPx06: " Extended Diagnosis (P-0-3219) "
As of MPx07: " Extended Diagnosis (P-0-3219) as of MPx07 "
For removing command errors see " Command Errors "
422/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0256 - Attributes
Display:
Ident N°:
C0256
C0256
10.2.100 C0257 Error in safety technology encoder initialization
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In firmware versions 02VRS, 03VRS and 04VRS, the name of the
command error is " C0257 No encoder assigned to slot 1 " .
While command " C0200 " was executed, an error was detected during encod‐
er-related safety technology initialization.
Cause
Remedy
There is no encoder plugged in optional slot X4 (X4.1 and
X4.2 in double-axis device)
Remove cause of error
Encoder plugged in optional slot X4 (X4.1 and X4.2 in dou‐
ble axis-device) is not configured because either encoder
type (P‑0‑0074, P‑0‑0075) or encoder assignment
(P‑0‑0077, P‑0‑0078) is " 0 " .
Remove cause of error
Encoder plugged in optional slot X4 (X4.1 and X4.2 in dou‐
ble-axis device) is not allowed
Remove cause of error
See also documentation " Integrated Safety Technology " , in‐
dex entry " Requirements of safety technology, measuring
system "
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P‑0‑3219) " .
As of MPx07: See " Extended Diagnosis (P‑0‑3219) as of MPx07 " .
For removing command errors see " Command Errors "
C0257 - Attributes
Display:
Ident N°:
C0257
C0257
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
423/619
Diagnostic Command Messages
10.2.101 C0258 Error in relation TNcyc (S-0-0001) to fine interpol.
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " , a check is run, when the cu‐
bic fine interpolator or the interpolator according to contour ( " P‑0‑0187, Posi‐
tion command processing mode " = " 1 " or " 2 " ) is used, to find out whether the
selected NC cycle time is supported by the respective fine interpolator.
Cause
Remedy
" S‑0‑0001, NC cycle time (TNcyc) " incorrectly parameterized Select appropriate " S‑0‑0001, NC cycle time (TNcyc) " .
Allowed NC cycle times, when using cubic fine interpolator
or fine interpolator according to contour, depend on relation
of NC cycle time (S-0-0001) and position loop clock
(P-0-0556, Control word of axis controller).
Allowed clock relations:
●
From 1 to 8 in steps of one
●
From 10 to 16 in steps of two
●
From 20 to 32 in steps of four
Example [allowed NC cycle times with Advanced perform‐
ance (position loop clock=250 µs)]:
●
●
2500 µs to 4000 µs
●
Cubic fine interpolation or fine interpolation according to
contour cannot be used with present NC cycle time
( " S‑0‑0001, NC cycle time (TNcyc) " )
250 µs to 2000 µs
5000 µs to 8000 µs
Use linear fine interpolator ( " P‑0‑0187, Position command
processing mode " = " 0 " )
For removing command errors see " Command Errors "
C0258 - Attributes
Display:
Ident N°:
C0258
C0258
10.2.102 C0259 MLD configuration error (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The execution of the command " C0200 " (switching from parameter mode to
operating mode) was impeded due to an incorrect MLD configuration.
In S-0-0423 , the incorrectly configured parameters are listed.
424/619
Bosch Rexroth AG
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Diagnostic Command Messages
Cause
Remedy
In " P-0-1367, PLC configuration " , permanent control was
set, but in " P-0-4084, Field bus: profile type " the " operating
mode neutral " profile was not set (P-0-4084=FFFD)
(Local) axis can be controlled either via field bus
(P-0-4084=FFFE) or via MLD (P-0-1367, bit 4=1); it is im‐
possible to have both settings at the same time
In " P-0-1367, PLC configuration " , " boot project on MMC "
was set, but in " P-0-4070, Parameter storage configuration "
" programming module mode " was not set
To store boot project on an MMC, the MMC must be perma‐
nently available and in P-0-4070 you must have set
" programming module mode " ; otherwise, boot project cannot
be stored on an MMC, but only in PLC parameters
For removing command errors see " Command Errors "
C0259 - Attributes
Display:
Ident N°:
C0259
C0259
10.2.103 C0260 Incremental enc. emulator resol. cannot be displayed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the case of incremental encoder emulation, inadmissible overflow can oc‐
cur for increment output. In order to avoid this overflow, " P‑0‑0903, Encoder
emulation resolution " has to be parameterized accordingly.
In the case of modulo processing, the overflow takes place at the modulo val‐
ue entered in " S‑0‑0103, Modulo value " :
S-0-0103
P-0-0903
S-0-0079
Fig.10-3:
" S‑0‑0103, Modulo value "
" P‑0‑0903, Encoder emulation resolution "
" S‑0‑0079, Rotational position resolution "
Overflow in the case of modulo processing
Otherwise, the overflow takes place at the value entered in " S‑0‑0278, Maxi‐
mum travel range " :
P-0-0903
S-0-0079
S-0-0278
Fig.10-4:
" P‑0‑0903, Encoder emulation resolution "
" S‑0‑0079, Rotational position resolution "
" S‑0‑0278, Maximum travel range "
Overflow in case of maximum travel range
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
425/619
Diagnostic Command Messages
Cause
Remedy
Resolution of emulated signal does not match modulo
range / travel range
Reduce resolution entered in " P‑0‑0901.0.3, Encoder emula‐
tion resolution "
‑ or ‑
Reduce " S‑0‑0278, Maximum travel range "
See also Functional Description of firmware " Incremental Encoder Emulation "
C0260 - Attributes
Display:
Ident N°:
C0260
C0260
10.2.104 C0261 Emulator (P-0-0902) activated for both axes
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
Cause
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
Remedy
For double axis devices encoder emulation can only be acti‐ Deactivate encoder emulation in one of both axes
vated in one axis. Encoder emulation was activated in both
( " P‑0‑0902, Encoder emulation control parameter " )
axes
See also Functional Description of firmware " Incremental Encoder Emulation "
C0261 - Attributes
Display:
Ident N°:
C0261
C0261
10.2.105 C0265 Incorrect CCD address configuration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
While command " S‑0‑0422, C0200 Exit parameterization level procedure
command " was executed, an error with regard to the drive cross-communica‐
tion [CCD (Cross Communication Drives)] was detected.
Cause
Remedy
" P‑0‑1601, CCD: Addresses of projected drives " or
" P‑0‑1604, CCD: Addresses of projected I/Os " (as of
MPx05) of the CCD master contains the address of a
SERCOS III slave which is not contained in " P‑0‑1636, CCD:
Command topology addresses " .
Check " P‑0‑1601, CCD: Addresses of projected drives " or
" P‑0‑1604, CCD: Addresses of projected I/Os " (as of
MPx05) and addresses of connected slaves; if necessary,
change address on slave or assign remote address.
Note: When the address of a slave is changed, a new
SERCOS III phase progression must be carried out via
The same address is entered in " P‑0‑1601, CCD: Addresses phase 0. Phase 0 scans the connected slaves.
of projected drives " and " P‑0‑1604, CCD: Addresses of
projected I/Os " .
‑ or ‑
426/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
See also Functional Description of firmware " Cross Communication (CCD) "
C0265 - Attributes
Display:
Ident N°:
C0265
C0265
10.2.106 C0266 Incorrect CCD phase switch
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
While command " S‑0‑0422, C0200 Exit parameterization level procedure
command " was executed, an error with regard to the drive cross-communica‐
tion [CCD (Cross Communication Drives)] was detected.
Cause
Remedy
After command " C0200 Exit parameterization level
procedure command " is started, CCD master attempts to put
SERCOS III slaves to phase 4 by starting commands C01
and C52 in CCD slaves; here, values are written to all re‐
quired slave parameters.
Check up " P‑0‑1630, CCD: Diagnosis " correct rejected pa‐
rameter, if any.
‑ or ‑
Check configuration of CCD process data:
●
P‑0‑1621, CCD: configuration list master communica‐
tion cmd values
●
P‑0‑1622, CCD: configuration list master communica‐
tion actual values
●
P‑0‑1623, CCD: configuration list master cmd values
●
P‑0‑1624, CCD: configuration list actual master values
●
P‑0‑1625, CCD: configuration list slave cmd values
●
Command error occurred in CCD slave during one of these
actions.
P‑0‑1626, CCD: configuration list actual slave values
‑ or ‑
Eliminate cause of command error in CCD slave.
See also Functional Description of firmware " Cross Communication (CCD) "
C0266 - Attributes
Display:
Ident N°:
C0266
C0266
10.2.107 C0267 CCD timeout phase switch
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
Command " S‑0‑0422, C0200 Exit parameterization level procedure
command " was executed without any errors in SERCOS III master. Master
did not generate any error during phase switching (C0266).
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
427/619
Diagnostic Command Messages
The maximum delay time (60 seconds) for switching the SERCOS III slaves
to phase 4 has elapsed but one or more slaves which did not enter phase 4
yet.
Cause
Remedy
One or more SERCOS III slaves entered in " P‑0‑1601, CCD: Locate defective SERCOS‑III slave(s) and remove cause of
Addresses of projected drives " or " P‑0‑1604, CCD:
error for this (these) slave(s)
Addresses of projected I/Os " (as of MPx05) do not react to
service channel communication
Transition command " S‑0‑0127, C0100 Communication
phase 3 transition check " or " S‑0‑0128, C5200
Communication phase 4 transition check " is not completed
or only completed with error in one or more SERCOS III
slaves
Locate defective SERCOS‑III slave(s) and remove cause of
error for this (these) slave(s)
See also Functional Description of firmware " Cross Communication (CCD) "
C0267 - Attributes
Display:
Ident N°:
C0267
C0267
10.2.108 C0270 Error when reading encoder data = & gt; motor encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error during the reading of
the encoder data from the data memory of the motor encoder was detected.
Measuring systems with their own data memory are DSF/HSF
and resolvers, as well as measuring systems with EnDat interface
(Heidenhain company) and HIPERFACE® interface (Stegmann
company).
Cause
Remedy
Measuring system cable defective
Check measuring system cable
Measuring system defective
Replace measuring system
Encoder interface defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
C0270 - Attributes
Display:
Ident N°:
C0270
C0270
428/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.109 C0271 Incorrect parameterization of motor encoder (hardware)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the pa‐
rameterization of the motor encoder hardware was detected.
Cause
Remedy
Parameterization " P‑0‑0074, Encoder type 1 (motor encod‐
er) " does not match interface card (e.g. EN1 with EnDat en‐
coder)
Check whether parameterized encoder type matches inter‐
face card that has been plugged in
In the case of " current control with motor encoder " (see
" P‑0‑0045, Control word of current controller " ), " operation
without encoder " was detected to have been set in
" P‑0‑0074, Encoder type 1 (motor encoder) "
Enter value appropriate for motor encoder in " P‑0‑0074, En‐
coder type 1 (motor encoder) "
Parameterization in " P‑0‑0077, Assignment motor encod‐
er‑ & gt; optional slot " is incorrect
Correct assignment of motor encoder and optional slot in pa‐
rameter " P‑0‑0077, Assignment motor encoder‑ & gt; optional
slot "
C0271 - Attributes
Display:
Ident N°:
C0271
C0271
10.2.110 C0272 Incorr. parameteriz. of motor enc. (mechanical system)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error was detected with re‐
gard to the scaling that has been set and the selected motor encoder type
(e.g. rotary scaling with linear motor).
Cause
Remedy
Incorrect encoder type ( " S‑0‑0277, Position feedback 1
type " )
Check and, if necessary, correct " S‑0‑0277, Position feed‐
back 1 type "
Parameterized scaling ( " S‑0‑0076, Position data scaling
type " ) is incorrect
Check and, if necessary, correct " S‑0‑0076, Position data
scaling type "
Parameterized type of construction of motor ( " P‑0‑4014,
Type of construction of motor " ) is not correct
Correct " P‑0‑4014, Type of construction of motor "
Maximum travel range ( " S‑0‑0278, Maximum travel range " )
was incorrectly input
Make input greater than " 0 " for " S‑0‑0278, Maximum travel
range "
For removing command errors see " Command Errors "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
429/619
Diagnostic Command Messages
C0272 - Attributes
Display:
Ident N°:
C0272
C0272
10.2.111 C0273 Modulo value for motor encoder cannot be displayed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the
modulo value for the motor encoder was detected.
Cause
Remedy
Parameterized value for " S‑0‑0103, Modulo value " is greater Correct content of " S‑0‑0103, Modulo value " or value of
than maximum travel range (cf. " S‑0‑0278, Maximum travel " S‑0‑0278, Maximum travel range "
range " )
Parameterized value for " S‑0‑0103, Modulo value " cannot
be internally displayed with gear ratios that have been set
(S‑0‑0121/S‑0‑0122, P‑0‑0121/P‑0‑0122)
Correct content of " S‑0‑0103, Modulo value " or gear ratios
that have been set [ " S‑0‑0121, Input revolutions of load
gear " / " S‑0‑0122, Output revolutions of load gear " ;
" P‑0‑0121, Gear 1 motor-side (motor encoder) " / " P‑0‑0122,
Gear 1 encoder-side (motor encoder) " ]
For removing command errors see " Command Errors "
C0273 - Attributes
Display:
Ident N°:
C0273
C0273
10.2.112 C0274 Motor encoder unknown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the
motor encoder was detected. The content of " P‑0‑1000, Kind of encoder 1,
encoder memory " is invalid and therefore the parameterized motor encoder is
not allowed (e.g. rotary scaling with linear encoder).
Cause
Remedy
Encoder memory (feedback) is defective
Encoder (or motor) must be replaced
Kind of motor encoder ( " P‑0‑1000, Kind of encoder 1, en‐
coder memory " ) is not supported by the firmware
Check content of " P‑0‑1000, Kind of encoder 1, encoder
memory " and contact our service department
Detected kind of encoder does not match parameterized
type of encoder
Check control section configuration and, if necessary, re‐
place control section by a correctly configured control sec‐
tion or replace complete drive controller
430/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
C0274 - Attributes
Display:
Ident N°:
C0274
C0274
10.2.113 C0275 Error when reading encoder data = & gt; optional encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error during the reading of
the encoder data from the data memory of the optional encoder was detec‐
ted.
Measuring systems with their own data memory are DSF/HSF
and resolvers, as well as measuring systems with EnDat interface
(Heidenhain company) and HIPERFACE® interface (Stegmann
company).
Cause
Remedy
Measuring system cable defective
Check measuring system cable
Measuring system defective
Replace measuring system
Encoder interface defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
C0275 - Attributes
Display:
Ident N°:
C0275
C0275
10.2.114 C0276 Incorrect parameterization of optional enc. (hardware)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the pa‐
rameterization of the hardware of the optional encoder was detected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
431/619
Diagnostic Command Messages
Cause
Remedy
Parameterization " P‑0‑0075, Encoder type 2 (optional en‐
Correct parameterization of " P‑0‑0075, Encoder type 2 (op‐
coder) " does not match encoder interface (e.g. EN1 with En‐ tional encoder) "
Dat encoder)
" P‑0‑0078, Assignment optional encoder‑ & gt; optional slot " in‐
correct
Correct parameterization of " P‑0‑0078, Assignment optional
encoder‑ & gt; optional slot "
See also Functional Description of firmware " Measurement Systems "
C0276 - Attributes
Display:
Ident N°:
C0276
C0276
10.2.115 C0277 Incorr. parameteriz. of opt. enc. (mechanical system)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error was detected with re‐
gard to scaling that was set and the selected motor encoder type (e.g. rotary
scaling with linear optional encoder).
Cause
Remedy
Incorrect encoder type ( " S‑0‑0115, Position feedback 2
type " )
Check and, if necessary, correct " S‑0‑0115, Position feed‐
back 2 type "
Parameterized scaling ( " S‑0‑0076, Position data scaling
type " ) is incorrect
Check and, if necessary, correct " S‑0‑0076, Position data
scaling type "
For removing command errors see " Command Errors "
C0277 - Attributes
Display:
Ident N°:
C0277
C0277
10.2.116 C0278 Modulo value for optional encoder cannot be displayed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the
modulo value for the optional encoder was detected.
432/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Parameterized value for " S‑0‑0103, Modulo value " is greater Correct content of " S‑0‑0103, Modulo value " or value of
than maximum travel range (cf. " S‑0‑0278, Maximum travel S‑0‑0278, Maximum travel range "
range " )
Parameterized value for " S‑0‑0103, Modulo value " cannot
be internally displayed with gear ratios that have been set
(S‑0‑0121/S‑0‑0122, P‑0‑0121/P‑0‑0122)
Correct content of " S‑0‑0103, Modulo value " or gear ratios
that have been set [ " S‑0‑0121, Input revolutions of load
gear " / " S‑0‑0122, Output revolutions of load gear " ;
" P‑0‑0121, Gear 1 motor-side (motor encoder) " / " P‑0‑0122,
Gear 1 encoder-side (motor encoder) " ]
Encoder resolution ( " S‑0‑0117, Feedback 2 Resolution " ) in‐
correctly parameterized
Check and, if necessary, correct parameterization of
" S‑0‑0117, Feedback 2 Resolution "
Resolution of encoder does not match required modulo
range
Replace encoder
For removing command errors see " Command Errors "
See also Functional Description of firmware " Scaling "
C0278 - Attributes
Display:
Ident N°:
C0278
C0278
10.2.117 C0279 Optional encoder unknown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the op‐
tional encoder was detected. The content of " P‑0‑1010, Kind of encoder 2,
encoder memory " is invalid and therefore the parameterized optional encoder
is not allowed (e.g. rotary scaling with linear encoder).
Cause
Remedy
Encoder memory (feedback) is defective
Encoder must be replaced
Kind of motor encoder ( " P‑0‑1010, Kind of encoder 2, en‐
coder memory " ) is not supported by firmware
Check content of " P‑0‑1010, Kind of encoder 2, encoder
memory " and contact our service department
Detected kind of encoder does not match parameterized
type of encoder
Check control section configuration and, if necessary, re‐
place control section by a correctly configured control sec‐
tion or replace complete drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
C0279 - Attributes
Display:
Ident N°:
C0279
C0279
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
433/619
Diagnostic Command Messages
10.2.118 C0280 Maximum travel range cannot be displayed internally
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the case of absolute scaling, the maximum travel range represents the
overflow limit of the actual position values. If this travel range cannot be dis‐
played correctly internally so that position generation without error is impossi‐
ble, this error is generated.
Cause
Remedy
" S‑0‑0278, Maximum travel range " incorrectly parameterized Check and if necessary reduce " S‑0‑0278, Maximum travel
range "
S‑0‑0116 / S‑0‑0117 incorrectly set (e.g. value " 0 " )
Check and if necessary correct " S‑0‑0116, Feedback 1 Res‐
olution " / " S‑0‑0117, Feedback 2 Resolution "
Value for " S‑0‑0278, Maximum travel range " is invalid al‐
though it might be within the respective absolute encoder
range
Check " S‑0‑0278, Maximum travel range " and if necessary
change value (take respective absolute encoder range into
account!)
Position resolution of a pole pair or of pole pair distance is
too low. Commutation offset value internally cannot be dis‐
played precisely enough
" P‑0‑0018, Number of pole pairs/pole pair distance " has val‐
ue " 0 " or a too small value (maybe incorrect unit). Check
and if necessary correct " P‑0‑0018, Number of pole pairs/
pole pair distance "
See also Functional Description of firmware " Scaling "
For removing command errors see " Command Errors "
C0280 - Attributes
Display:
Ident N°:
C0280
C0280
10.2.119 C0281 Commutation via encoder-2 impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Commutation or commutation initialization via encoder 2 is impossible.
Cause
Remedy
Parameterized mechanical system does not allow unequivo‐ ●
cal commutation via optional measuring system
Reduce maximum travel range ( " S‑0‑0278, Maximum
travel range " )
●
Adjust gear ( " S‑0‑0121, Input revolutions of load gear " ;
" S‑0‑0122, Output revolutions of load gear " ; ...)
●
Use appropriate encoder (e.g. multi-turn)
434/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0281 - Attributes
Display:
Ident N°:
C0281
C0281
10.2.120 C0282 Sensorless posit. of synchr. motors, invalid ctrl parameters
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0422, C0200 Exit
parameterization level procedure command " an error was detected in the pa‐
rameterization of sensorless positioning of synchronous motors.
Cause
Remedy
Sensorless positioning of synchronous motors was incor‐
rectly parameterized
Use parameter file made available by Bosch Rexroth
Incorrect motor control mode was parameterized
Check parameters P‑0‑0045, P‑0‑4014 and P‑0‑0074
Parameter file made available by Bosch Rexroth is defective Please contact our service department
C0282 - Attributes
Display:
Ident N°:
C0282
C0282
10.2.121 C0283 Error during initialization of motor control (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " or " S‑0‑0128, C5200 Communication phase 4
transition check " an error was detected.
During the command, the following parameters are checked for consistency:
●
P-0-0045, Control word of current controller
●
P-0-0074, Encoder type 1 (motor encoder)
●
P-0-4014, Type of construction of motor
●
P-0-3980, FOCsl: configuration word
●
P-0-2003, Selection of functional packages
If inconsistencies in the parameter setting are detected, the pa‐
rameters are entered in parameter " S‑0‑0423, IDN-list of invalid
op. data for parameterization level " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
435/619
Diagnostic Command Messages
Cause
Remedy
An error was detected during adjust of type of construction
of motor, encoder type, kind of current control
Check and correct parameters in " S‑0‑0423, IDN-list of inva‐
lid op. data for parameterization level "
An error was detected in enabling of functional packages
There was an attempt to activate sensorless positioning of
synchronous motors in functional package open-loop.
Check and correct parameters in " S‑0‑0423, IDN-list of inva‐
lid op. data for parameterization level "
For removing command errors see " Command Errors "
C0283 - Attributes
Display:
Ident N°:
C0283
C0283
10.2.122 C0284 Invalid motor data in encoder memory (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command error is " C0284 Invalid motor data in encoder memory
(- & gt; S-0-0022) " .
02VRS / 03VRS
During the transition check from communication phase 3 to communication
phase 4 (C0200) an error during the reading of the motor data from the data
memory of the motor encoder was detected.
The respective parameters are entered in " S‑0‑0022, IDN list of invalid ope‐
rating data for communication phase 3 " .
Cause
Remedy
Measuring system cable defective
Replace measuring system cable
Measuring system defective
Replace measuring system
Encoder interface defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
As of 04VRS
During the execution of the command " C0200 " an error during the reading of
the motor data from the data memory of the motor encoder was detected
The respective parameters are entered in parameter " S‑0‑0423, IDN-list of in‐
valid op. data for parameterization level " .
436/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Measuring system cable defective
Replace measuring system cable
Measuring system defective
Replace measuring system
Encoder interface defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
C0284 - Attributes
Display:
Ident N°:
C0284
C0284
10.2.123 C0285 Type of construction of motor P-0-4014 incorrect
Allocation
02VRS / 03VRS
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0128, C0200 Communication
phase 4 transition check " an error was detected in " P‑0‑4014, Type of con‐
struction of motor " .
The respective parameter is entered in " S‑0‑0022, IDN list of in‐
valid operating data for communication phase 3 " .
Cause
Remedy
A motor without encoder data memory was connected
Parameterize " P‑x‑4014, Type of construction of motor " cor‐
rectly or connect a motor with encoder data memory.
Note: " x " in parameter number is a wild card for parameter
set; e.g. " P‑0‑4014 " for first parameter set.
A motor with encoder data memory was connected, but data Check whether " P‑0‑2141, Motor type, encoder memory "
stored in memory are incomplete or encoder line resp. en‐
contains correct type designation of connected motor. If not,
coder is defective
contact our service department.
If " P‑0‑2141, Motor type, encoder memory " cannot be read,
replace encoder line or motor encoder
As of 04VRS
During the execution of the command " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " or " S‑0‑0128, C5200 Communication phase 4
transition check " an error in the parameterization of the type of construction
of the motor was detected.
The respective parameter is entered in " S‑0‑0423, IDN-list of in‐
valid op. data for parameterization level " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
437/619
Diagnostic Command Messages
Cause
Remedy
A motor without encoder data memory was connected
Parameterize " P‑x‑4014, Type of construction of motor " cor‐
rectly or connect a motor with encoder data memory.
Note: " x " in parameter number is a wild card for parameter
set; e.g. " P‑0‑4014 " for first parameter set.
A motor with encoder data memory was connected, but data Check whether " P‑0‑2141, Motor type, encoder memory "
stored in memory are incomplete or encoder line resp. en‐
contains correct type designation of connected motor. If not,
coder is defective
contact our service department.
If " P‑0‑2141, Motor type, encoder memory " cannot be read,
replace encoder line or motor encoder
For removing command errors see " Command Errors "
C0285 - Attributes
Display:
Ident N°:
C0285
C0285
10.2.124 C0286 Several motor encoders connected
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " two motor encoders were de‐
tected during the encoder configuration check.
Cause
Remedy
Two encoders were detected; in their data memories a valid
and known motor type string is contained in " P‑0‑2141, Mo‐
tor type, encoder memory "
Replace one of encoders by encoder without valid motor
type string
Encoder connectors of neighboring axes were interchanged
Check axis assignment of encoder connectors and assign to
correct axis
For removing command errors see " Command Errors "
C0286 - Attributes
Display:
Ident N°:
C0286
C0286
10.2.125 C0287 Error during initialization of motor data (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command error is " C0287 Error during initialization of motor data
(- & gt; S-0-0022) " .
438/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
02VRS / 03VRS
During the execution of the command " S‑0‑0128, C0200 Communication
phase 4 transition check " an error during the initialization of the motor data
was detected. The respective parameters are entered in the list " S‑0‑0022,
IDN list of invalid operating data for communication phase 3 " .
Cause
Remedy
Invalid motor data stored in motor data memory
Replace motor or contact service department for correction
of motor data
Synchronous motor with motor encoder data memory (MSK, Check whether closed-loop operation required for synchro‐
MHD, MKD, MKE) was connected to controller which so far nous motors was set in " P‑0‑0045, Control word of current
had controlled motor in open-loop operation
controller " ; set closed-loop operation, if necessary
Encoder cable defective or bad shielding
Check encoder cable and shielding
Encoder memory or encoder electronics defective
Replace encoder
Hardware defect on control section
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
04VRS
During the execution of the command " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " an error was detected during the initialization
of the motor data. The respective parameters are entered in the list
" S‑0‑0423, IDN-list of invalid op. data for parameterization level " .
Cause
Remedy
Invalid motor data stored in motor data memory
Replace motor or contact service department for correction
of motor data
Synchronous motor with motor encoder data memory (MSK, Check whether closed-loop operation required for synchro‐
MHD, MKD, MKE) was connected to controller which so far nous motors was set in " P‑0‑0045, Control word of current
had controlled motor in open-loop operation
controller " ; set closed-loop operation, if necessary
Encoder cable defective or bad shielding
Check encoder cable and shielding
Encoder memory or encoder electronics defective
Replace encoder
Hardware defect on control section
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
As of 05VRS
During the execution of the command " S‑0‑0422, C0200 Exit parameteriza‐
tion level procedure command " an error was detected during the initialization
of the motor data. The respective parameters are entered in the list
" S‑0‑0423, IDN-list of invalid op. data for parameterization level " .
Cause
Remedy
Invalid motor data stored in motor data memory
Replace motor or contact service department for correction
of motor data
Encoder cable defective or bad shielding
Check encoder cable and shielding
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
439/619
Diagnostic Command Messages
Cause
Remedy
Encoder memory or encoder electronics defective
Replace encoder
Hardware defect on control section
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
C0287 - Attributes
Display:
Ident N°:
C0287
C0287
10.2.126 C0288 Rotary scaling not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error was detected with re‐
gard to scaling that was set and the selected motor type (e.g. rotary scaling
although a linear motor is used). The phase switch to communication phase 4
is prevented.
Cause
Remedy
Although a linear motor is used, rotary scaling was selected
in at least one of the following parameters:
Check and correct respective scaling parameter(s) or use a
linear encoder
●
S‑0‑0044, Velocity data scaling type
●
S‑0‑0076, Position data scaling type
●
S‑0‑0086, Torque/force data scaling type
●
S‑0‑0160, Acceleration data scaling type
For removing command errors see " Command Errors "
C0288 - Attributes
Display:
Ident N°:
C0288
C0288
10.2.127 C0289 Error at init. of synchr. motor with reluctance torque
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " a validation error was detec‐
ted during the initialization of a synchronous motor with reluctance torque.
440/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
The initialization of a synchronous motor with reluctance torque is
only run when this has been set in parameter " P‑0‑4014, Type of
construction of motor " .
The initialization of a synchronous motor implies the following parameters:
●
S‑0‑0109, Motor peak current
●
S‑0‑0110, Amplifier peak current
●
S‑0‑0111, Motor current at standstill
●
P‑0‑0018, Number of pole pairs/pole pair distance
●
P‑0‑0051, Torque/force constant
●
P‑0‑4002, Charact. of quadrature-axis induct. of motor, inductances
●
P‑0‑4003, Charact. of quadrature-axis inductance of motor, currents
●
P‑0‑4016, Direct-axis inductance of motor
●
P‑0‑4017, Quadrature-axis inductance of motor
Cause
Remedy
Incomplete or invalid entries in parameters for initialization of Check parameter contents and enter data supplied by motor
synchronous motor
manufacturer in above parameters. If error is generated in
spite of correct data, please contact our service department
Initialization for synchronous motor with reluctance torque
was run although synchronous motor without reluctance tor‐
que is used
Correct setting in " P‑0‑4014, Type of construction of motor "
See also Functional Description of firmware " Third-Party Motors at IndraDrive
Controllers "
For removing command errors see " Command Errors "
C0289 - Attributes
Display:
Ident N°:
C0289
C0289
10.2.128 C0290 Error when reading encoder data = & gt; measuring encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
It was impossible to read the encoder data (P‑0‑1020, Kind of encoder 3, en‐
coder memory " ; " P‑0‑1021, Encoder 3 resolution, encoder memory " ;
" P‑0‑1022, Absolute encoder offset 3, encoder memory " ) correctly from the
encoder memory during the initialization of the control section.
Cause
Remedy
Interference caused by incorrect shielding or defective en‐
coder cable
Check encoder cable (incl. shielding) and, if necessary, re‐
place or run it correctly
Encoder defective
Check encoder function and, if necessary, replace encoder
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
441/619
Diagnostic Command Messages
Cause
Remedy
Measuring encoder option on control section is defective
Replace control section or entire drive controller
Incorrect parameterization of " P‑0‑0076, Encoder type 3
(measuring encoder) "
Check content of " P‑0‑0076, Encoder type 3 (measuring en‐
coder) " and correct it in such a way that measuring encoder
is correctly assigned to optional slot
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " Measuring Systems "
C0290 - Attributes
Display:
Ident N°:
C0290
C0290
10.2.129 C0291 Incorr. parameterization of measuring enc. (hardware)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the pa‐
rameterization of the hardware of the measuring encoder was detected.
Cause
Remedy
Parameterization of " P‑0‑0076, Encoder type 3 (measuring
encoder) " does not match interface card (e.g. EN1 with En‐
Dat encoder)
Correct parameterization of " P‑0‑0076, Encoder type 3
(measuring encoder) "
" P‑0‑0079, Assignment measuring encoder‑ & gt; optional slot "
incorrectly parameterized
Correct parameterization of " P‑0‑0079, Assignment measur‐
ing encoder‑ & gt; optional slot " or change control section config‐
uration (replacement of control section or drive controller)
In the case of double-axis device (CDB control section),
" P‑0‑0076, Encoder type 3 (measuring encoder) " was para‐
meterized unequal " 0 " for both axes
Only one measuring encoder can be connected per doubleaxis device (CDB control section). " P‑0‑0076, Encoder type
3 (measuring encoder) " may only be unequal " 0 " for one ax‐
is
Clock frequency selected in " P‑0‑0910, SSI control parame‐
ter " cannot be supported
Reduce performance (P-0-0556) or increase clock frequency
(P-0-0910)
See also Functional Description of firmware " Measuring Systems "
C0291 - Attributes
Display:
Ident N°:
C0291
C0291
442/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.130 C0292 Measuring encoder unknown
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the
measuring encoder was detected. The content of " P‑0‑1020, Kind of encod‐
er 3, encoder memory " is invalid and the measuring encoder therefore is not
allowed.
Cause
Remedy
Encoder memory (feedback) is defective
Encoder must be replaced
Kind of motor encoder ( " P‑0‑1020, Kind of encoder 3, en‐
coder memory " ) is not supported by the software
Check content of " P‑0‑1020, Kind of encoder 3, encoder
memory " and contact our service department
Detected kind of encoder does not match parameterized
Check " P‑0‑0079, Assignment measuring encoder ‑ & gt; option‐
type of encoder ( " P‑0‑0079, Assignment measuring encoder al slot " and, if necessary, replace control section by correctly
‑ & gt; optional slot " )
configured control section or replace complete drive control‐
ler
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
C0292 - Attributes
Display:
Ident N°:
C0292
C0292
10.2.131 C0293 Modulo value for measuring encoder cannot be displayed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of command " C0200 " an error was detected.
Cause
Remedy
Value parameterized for " P‑0‑0765, Modulo factor
Correct content of " P‑0‑0765, Modulo factor measuring
measuring encoder " cannot be displayed internally with gear encoder " or measuring gear settings ( " P‑0‑0127, Input
that was set
revolutions of measuring gear " and " P‑0‑0128, Output
revolutions of measuring gear " )
" P‑0‑0327, Encoder resolution of measuring encoder " incor‐
rectly parameterized
Check and, if necessary, correct content of " P‑0‑0327,
Encoder resolution of measuring encoder "
See also Functional Description of firmware " Scaling "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
443/619
Diagnostic Command Messages
C0293 - Attributes
Display:
Ident N°:
C0293
C0293
10.2.132 C0294 Incorrect measuring encoder configuration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0200 " an error with regard to the
measuring encoder configuration was detected.
Cause
Remedy
At least one of selected operating modes is synchronization
mode (velocity synchronization, phase synchronization or
electronic cam shaft) and control encoder of synchronization
mode has simultaneously been configured as measuring en‐
coder. This configuration is not useful.
Check and, if necessary, correct parameterization of ope‐
rating mode parameters ( " S‑0‑0032, Primary mode of opera‐
tion " ; " S‑0‑0033, Secondary operation mode 1 " ; " S‑0‑0034,
Secondary operation mode 2 " ;...) if synchronization mode is
not required.
If synchronization mode is required, deactivate measuring
encoder or use additional encoder as measuring encoder.
For removing command errors see " Command Errors "
C0294 - Attributes
Display:
Ident N°:
C0294
C0294
10.2.133 C0298 Impossible to exit parameterization level
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0422, C0200 Exit parameterization level procedure
command " was started but cannot be executed.
Cause
Remedy
During firmware download there was an attempt to switch to
operating mode
Wait until firmware download has been completed before
switching to operating mode
After a boot error (F81xx error) there was an attempt to
switch to operating mode
1. Terminate command
2. Clear boot error (F81xx error)
3. Remove cause
4. Reboot drive
C0298 - Attributes
Display:
Ident N°:
C0298
C0298
444/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.134 C0299 Configuration changed. Restart
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " S‑0‑0422, C0200 Exit parameterization level procedure
command " was executed, the configuration was detected to have been
changed without the drive having been rebooted.
Cause
Remedy
" P‑0‑2003, Selection of functional packages " contains func‐
tional package selection not corresponding to active func‐
tional package selection (cf. " P‑0‑2004, Active functional
packages " )
Switch drive off and on again in order to apply functional
package selection of P‑0‑2003 to P‑0‑2004
Incorrect functional package selection in " P‑0‑2003, Selec‐
tion of functional packages "
Set value in " P‑0‑2003, Selection of functional packages " to
value in " P‑0‑2004, Active functional packages "
Up to MPx05: Different input channel of master communica‐
tion was selected in P‑0‑4088 (bits 14/15)
Switch drive off and on again to apply change in P‑0‑4088
and " P‑0‑4089.0.1, Master communication: Protocol "
As of MPx06: Different field bus protocol was selected in
" P-0-4089.0.1, Master communication: Protocol "
See also Functional Description of firmware " Enabling of Functional Pack‐
ages " .
For removing command errors see " Command Errors "
C0299 - Attributes
Display:
Ident N°:
C0299
C0299
10.2.135 C0301 Measuring system unavailable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " Set absolute measuring " command (C0300) the
measuring system selected by parameter " P‑0‑0612, Control word for setting
absolute measuring " was detected to be unavailable.
Cause
Remedy
Command was activated by mistake
Prevent command from being activated
Measuring system has not been parameterized
Parameterize measuring system
See also Functional Description of firmware " Establishing the Position Data
Reference "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
445/619
Diagnostic Command Messages
C0301 - Attributes
Display:
Ident N°:
C0301
C0301
10.2.136 C0302 Absolute evaluation of measuring system impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " set absolute measuring " (C0300), it
was detected that absolute evaluation of the selected measuring system is
impossible.
The command " set absolute measuring " can only be executed,
when an absolute measuring system is available (see " S‑0‑0277,
Position feedback 1 type " or " S‑0‑0115, Position feedback 2
type " ).
Cause
Remedy
Command was activated by mistake
Prevent command from being activated
Motor encoder or optional measuring system have not been
designed as absolute encoders
Equip motor or optional measuring system with absolute en‐
coder function
Selected maximum travel range is too big
Check value in parameter " S-0-0278, Maximum travel
range "
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Absolute Measuring Systems "
C0302 - Attributes
Display:
Ident N°:
C0302
C0302
10.2.137 C0303 Absolute encoder offset cannot be saved
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When executing the command for setting absolute measuring (C0300) the
offset of the encoder zero point with regard to the machine zero point is de‐
termined and stored in the data memory of the encoder. It was impossible to
store the offset correctly.
Cause
Remedy
Communication between encoder and drive is disturbed
Check encoder cable and repair it, if necessary
‑ or ‑
Replace encoder
446/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0303 - Attributes
Display:
Ident N°:
C0303
C0303
10.2.138 C0401 Switching not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«HMV»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In the firmware versions 02VRS and 03VRS, the name of the
command error is " C0401 Drive active, switching not allowed " .
02VRS / 03VRS
When switching to communication phase 2 (C0400) an error was detected.
Cause
Remedy
Command for switching to parameter mode was started by
Terminate command and switch drive enable off, then com‐
means of parameter " P‑0‑4023, C0400 Communication
mand can be started again
phase 2 transition " although drive enable had been activated
As of 04VRS
When switching to parameterization level 1 (C0400) an error was detected.
Cause
Remedy
Command " S‑0‑0420, C0400 Activate parameterization level Terminate command C0400 and wait until command C0200
1 procedure command " was started although command
has been completed. Then you can restart command C0400
" S‑0‑0422, C0200 Exit parameterization level procedure
command " had still been active
Command for switching to parameterization level 1 was star‐ Terminate command and switch drive enable off, then com‐
ted by means of parameter " S‑0‑0420, C0400 Activate pa‐
mand can be started again
rameterization level 1 procedure command " although drive
enable had been activated
C0401 - Attributes
Display:
Ident N°:
C0401
C0401
10.2.139 C0403 Switching to CCD phase 2 impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
While command " S‑0‑0420, C0400 Activate parameterization level 1
procedure command " was executed, an error with regard to the CCD slaves
(CCD: Cross Communication Drives) occurred.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
447/619
Diagnostic Command Messages
As of MPx08, P‑0‑1600, bit 5 can be used to define in the CCD
slaves whether the SERCOS phase progression is decoupled
from the device switchover. As a result, an error during initializa‐
tion of the axis does not necessarily cause abortion of the CCD
phase progression.
Parameterization level 1 is activated despite incorrect execution
of command " S‑0‑0420, C0400 Activate parameterization level 1
procedure command " .
Cause
Remedy
Attempt to bring CCD slaves to CCD phase 2, 30 seconds
after start of command " S‑0‑0420, C0400 Activate
parameterization level 1 procedure command " , has failed
due to communication problem with CCD slaves
Check communication with CCD slaves
See also Functional Description of firmware " Cross Communication (CCD) "
C0403 - Attributes
Display:
Ident N°:
C0403
C0403
10.2.140 C0501 Error clearing only in parameter mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the error clearing command (C0500) an error was de‐
tected.
Cause
Remedy
There was an attempt to clear error " F8022 Enc. 1 error:
Switch drive to communication phase 2 by means of com‐
sign. amplitude (can be cleared in ph.2) " in communication
mand " P‑0‑4023, C0400 Communication phase 2 transition "
phase 4 (operating mode). This is only possible in communi‐ and start error clearing command again.
cation phase 2 (parameterization mode).
C0501 - Attributes
Display:
Ident N°:
C0501
C0501
10.2.141 C0601 Homing only possible with drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " Drive-controlled homing procedure " command
(C0600) an error was detected.
448/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Command was started without drive enable. This is not al‐
lowed.
Enable drive and start command again.
See also Functional Description of firmware " Drive-Controlled Homing "
C0601 - Attributes
Display:
Ident N°:
C0601
C0601
10.2.142 C0602 Distance home switch - reference mark erroneous
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for drive-controlled homing (C0600) an
error was detected.
Cause
Remedy
Evaluation of home switch has been switched on
Read value from parameter " S‑0‑0298, Reference cam shift "
( " S‑0‑0147, Homing parameter " ). Distance between selected and apply it to parameter " S‑0‑0299, Home switch offset "
home switch edge and reference mark to be evaluated is
- or outside of allowed range.
Shift reference cam
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C0602 - Attributes
Display:
Ident N°:
C0602
C0602
10.2.143 C0603 Homing impossible with optional encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " C0600 Drive-controlled homing proce‐
dure command " an error occurred.
Cause
Remedy
Optional encoder has been parameterized as homing en‐
coder in " S‑0‑0147, Homing parameter " although optional
encoder does not exist
Parameterize motor encoder as homing encoder in
" S‑0‑0147, Homing parameter "
Optional encoder has not been activated
Activate optional encoder in " P‑0‑0075, Encoder type 2 (op‐
tional encoder) "
C0603 - Attributes
Display:
Ident N°:
C0603
C0603
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
449/619
Diagnostic Command Messages
10.2.144 C0604 Homing impossible with absolute encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for drive-controlled homing (C0600) an
error was detected.
Cause
Remedy
By encoder selection in " S‑0‑0147, Homing parameter " an
absolute measuring system was selected. Command for
drive-controlled homing can only be executed if command
" P‑0‑0012, C0300 Command Set absolute measuring " had
been activated before.
First activate command " P‑0‑0012, C0300 Command Set
absolute measuring " and then start command " S‑0‑0148,
C0600 Drive-controlled homing procedure command " ; by
doing this, absolute position data reference is established.
C0604 - Attributes
Display:
Ident N°:
C0604
C0604
10.2.145 C0606 Reference mark not detected
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for drive-controlled homing (C0600) an
error with regard to the reference marks of the encoder was detected.
If the reference marks of the relative encoder to be homed (selected in
" S‑0‑0147, Homing parameter " ) occur cyclically over the travel range, the po‐
sition difference of the reference marks detected by the controller is moni‐
tored. This requires the correct setting for " P‑0‑0153, Optimum distance
home switch-reference mark " .
Cause
Remedy
Reference marks do not occur in expected position differ‐
ence
Check measuring system to be homed and corresponding
wiring
‑ or ‑
Check and, if necessary, correct setting of " P‑0‑0153, Opti‐
mum distance home switch-reference mark "
Value set in " P‑0‑0153, Optimum distance home switch-ref‐
erence mark " does not match encoder that is used
Correct setting of " P‑0‑0153, Optimum distance home
switch-reference mark "
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C0606 - Attributes
Display:
Ident N°:
C0606
C0606
450/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.146 C0607 Reference cam input not assigned
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " Drive-controlled homing procedure " command
(C0600) an error was detected.
Cause
Remedy
Home switch hasn't been assigned to any digital input
Assign home switch ( " S‑0‑0400, Home switch " ) to a digital
input via parameter " P‑0‑0300, Digital I/Os, assignment list "
C0607 - Attributes
Display:
Ident N°:
C0607
C0607
10.2.147 C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for drive-controlled homing (C0600) an
error was detected.
Cause
Remedy
Drive-controlled homing at positive stop or travel range limit
switch with modulo axes isn't a useful combination and
therefore not allowed!
Modify control information for homing in " S‑0‑0147, Homing
parameter " in a useful way
C0608 - Attributes
Display:
Ident N°:
C0608
C0608
10.2.148 C0609 Different travel directions parameterized
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When, in the case of modulo scaling, the homing direction parameterized in
" S‑0‑0147, Homing parameter " and the positioning direction set for spindle
positioning in " S‑0‑0393, Command value mode " do not match, the command
error C0609 is output during the execution of the command for drive-control‐
led homing (C0600).
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
451/619
Diagnostic Command Messages
Cause
Remedy
Travel directions for homing and positioning were differently
parameterized
Parameterize travel directions in " S‑0‑0147, Homing param‐
eter " and " S‑0‑0393, Command value mode " in such a way
that they match
C0609 - Attributes
Display:
Ident N°:
C0609
C0609
10.2.149 C0610 Absolute encoder offset could not be saved
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for drive-controlled homing (C0600) an
error occurred: In the case of a measuring system with feedback data memo‐
ry evaluated in absolute form, the determined absolute encoder offset could
not be saved in the feedback data memory.
Cause
Remedy
Cable defective
Check connection between encoder and drive controller
Feedback data memory defective
Replace encoder
C0610 - Attributes
Display:
Ident N°:
C0610
C0610
10.2.150 C0702 Default parameters not available
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0700 Load defaults proced. command (motor-spec.
controller val.) " was executed, an error occurred.
Cause
Remedy
Control loops of motors with motor encoder data memory
are adjusted to connected digital drive by activating control‐
ler parameters stored in it.
Data sheets of Rexroth motors are made available by the
service department. Enter controller parameters.
Message C0702 on display of drive controller signals that no
data memory is available at connected motor.
See also Functional Description of firmware " Loading, Storing and Saving
Parameters "
See also Functional Description of firmware " Rexroth Housing Motors with
Encoder Data Memory "
452/619
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DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C0702 - Attributes
Display:
Ident N°:
C0702
C0702
10.2.151 C0703 Default parameters invalid
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0700 Load defaults proced. command (motor-spec.
controller val.) " was executed, an error occurred.
Cause
Remedy
Default parameters are read from motor encoder data mem‐ Check connection to motor encoder. Replace motor, if nec‐
ory. At least one of these parameters is invalid.
essary.
See also Functional Description of firmware " Loading, Storing and Saving
Parameters "
See also Functional Description of firmware " Rexroth Housing Motors with
Encoder Data Memory "
C0703 - Attributes
Display:
Ident N°:
C0703
C0703
10.2.152 C0704 Parameters not copyable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0700 Load defaults proced. command (motor-spec.
controller val.) " was executed, an error occurred.
Cause
Remedy
It was impossible to load default values for motor-specific
control loop parameters, available in encoder memory, to
associated parameters. Firmware version is incompatible
with motor or motor encoder
Load appropriate firmware version to controller; observe mo‐
tor type and motor encoder type
Performance and switching frequency setting do not match
Correct performance setting in " P‑0‑0556, Control word of
axis controller " and switching frequency setting in " P‑0‑0001,
Switching frequency of the power output stage "
See also Functional Description of firmware " Loading, Storing and Saving
Parameters "
See also Functional Description of firmware " Rexroth Housing Motors with
Encoder Data Memory "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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453/619
Diagnostic Command Messages
C0704 - Attributes
Display:
Ident N°:
C0704
C0704
10.2.153 C0706 Error when reading the controller parameters
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0700 Load defaults proced. command (motor-spec.
controller val.) " was executed, an error occurred when reading the controller
parameters from the motor encoder data memory.
Cause
Remedy
Motor encoder data memory defective
Replace motor encoder
C0706 - Attributes
Display:
Ident N°:
C0706
C0706
10.2.154 C0722 Parameter default value incorrect (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In firmware versions 02VRS and 03VRS, the name of the com‐
mand error is " C0722 Parameter default value incorrect (- & gt;
S-0-0021) " .
Command " C0720 Load defaults procedure command (safety technology) "
was started. An error occurred when a default value was written.
02VRS / 03VRS:The faulty parameter is recorded in parameter
" S‑0‑0021, IDN-list of invalid operation data for CP2 " .
As of 04VRS:The faulty parameter is recorded in the parameter
" S‑0‑0423, IDN-list of invalid data for parameterization levels " .
C0722 - Attributes
Display:
Ident N°:
C0722
C0722
454/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.155 C0723 Safety command for load defaults procedure incorrect
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Command " C0720 Load defaults procedure command (safety technology) "
causes the safety parameters of channel 1 to be set to default values and an
internal command to be started to ensure that channel 2 accepts the default
values. The safety technology is deactivated by the command because valid
safety parameters are no longer available. The safety technology is in its con‐
dition as supplied.
Cause
Remedy
Internal command for channel 2 was incorrectly executed
Clear command " C0720 Load defaults procedure command
(safety technology) " and restart.
If error is signaled again, reset optional safety technology
module (switch control voltage off and on again)
Channel 2 executes a second internal command which may
not be interrupted
Complete internal command that is still running
Hardware defect on optional safety technology module
Restart command " C0720 Load defaults procedure
command (safety technology) " . If command error occurs re‐
peatedly, replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
C0723 - Attributes
Display:
Ident N°:
C0723
C0723
10.2.156 C0724 Timeout of safety command for load defaults procedure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Command " C0720 Load defaults procedure command (safety technology) "
includes an internal command that is started for safety technology channel 2.
The internal command was aborted with timeout.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
455/619
Diagnostic Command Messages
Cause
Remedy
Sporadic timeout error
Reset optional safety technology module (switch control volt‐
age off and on again). Restart command " C0720 Load
defaults procedure command (safety technology) " . If the
command error occurs repeatedly, contact our service de‐
partment.
Firmware defect on optional safety technology module
Restart command " C0720 Load defaults procedure
command (safety technology) " . If command error occurs re‐
peatedly, safety technology firmware has to be replaced
Hardware defect on optional safety technology module
Restart command " C0720 Load defaults procedure
command (safety technology) " . If command error occurs re‐
peatedly, replace control section or entire drive controller
Only Rexroth service engineers are allowed to replace options of
the control section.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
C0724 - Attributes
Display:
Ident N°:
C0724
C0724
10.2.157 C0751 Parameter default value incorrect (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In firmware versions 02VRS and 03VRS, the name of the com‐
mand error is " C0751 Parameter default value incorrect (- & gt;
S-0-0021) " .
Command " C0750 Load defaults procedure command (factory settings) " was
started. An error occurred when a default value was written.
02VRS / 03VRS:The faulty parameter is recorded in parameter
" S‑0‑0021, IDN-list of invalid operation data for CP2 " .
As of 04VRS: The faulty parameter is recorded in parameter
" S‑0‑0423, IDN-list of invalid data for parameterization levels " .
C0751 - Attributes
Display:
Ident N°:
C0751
C0751
456/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.158 C0752 Locked with password
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " C0750 Load defaults procedure command (factory
settings) " was executed, an error occurred.
Cause
Remedy
Drive parameters were write-protected by means of parame‐ Deactivate write protection by entering password. Then re‐
ter " S‑0‑0267, Password " . Diagnostic message C0752 sig‐
start command.
nals that command " C0750 Load defaults procedure com‐
mand (factory settings) " was started without deactivating
customer password beforehand.
See also Functional Description of firmware " Using a Password "
C0752 - Attributes
Display:
Ident N°:
C0752
C0752
10.2.159 C0799 An invalid index was set
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
At the time command " C0700 Load defaults proced. command (motor-spec.
controller val.) " was started, no valid value had been entered in " P‑0‑4090,
Configuration for loading default values " .
" P‑0‑4090, Configuration for loading default values " can be used
to set the function of command " C0700 Load defaults proced.
command (motor-spec. controller val.) " .
After the command was cleared, the value in " P‑0‑4090,
Configuration for loading default values " is automatically set to " 0 "
again.
C0799 - Attributes
Display:
Ident N°:
C0799
C0799
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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457/619
Diagnostic Command Messages
10.2.160 C0851 Parameter default value incorrect (- & gt; S-0-0021)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
This command error can only occur as a result of the " C0800
Load basic parameters command " that can only be used by the
manufacturer!
C0851 - Attributes
Display:
Ident N°:
C0851
10.2.161 C0852 Locked with password
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«HMV»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
This command error can only occur as a result of the " C0800
Load basic parameters command " that can only be used by the
manufacturer!
C0852 - Attributes
Display:
Ident N°:
C0852
10.2.162 C0902 Spindle positioning requires drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for spindle positioning (C0900) an error
was detected.
Cause
Remedy
At start of " S‑0‑0152, C0900 Position spindle command " ,
drive was not yet in drive enable
Set drive enable before starting command
C0902 - Attributes
Display:
Ident N°:
C0902
C0902
458/619
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DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.163 C0903 Error during initialization
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While the command for spindle positioning (C0900) was executed, an error
was detected.
Cause
Remedy
When " S‑0‑0152, C0900 Position spindle command " was
started, respective encoder had not yet been initialized
(homed)
For incremental measuring systems, check whether
" S‑0‑0400, Home switch " was assigned to a digital input. As‐
signment, connection and function of home switch must
have been realized (only when home switch is evaluated)!
For absolute measuring systems, check whether drive is in
reference. If this is not the case, establish absolute position
data reference, e.g., by " P‑0‑0012, C0300 Set absolute
position procedure command " (as of MPx07: " S‑0‑0447, Set
absolute position procedure command " )
C0903 - Attributes
Display:
Ident N°:
C0903
C0903
10.2.164 C0906 Error during search for zero pulse
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for spindle positioning (C0900) an error
was detected.
Cause
Remedy
Homing procedure integrated in spindle positioning was not
executed successfully. Encoder zero mark was not found or
it was impossible to assign it correctly.
Check parameterization of spindle positioning and of drivecontrolled homing procedure, especially encoder and home
switch combination used.
- or Check encoder parameterization.
- or Check distance zero pulse ‑ home switch.
- or Carry out drive-controlled homing in order to check homing
procedure.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Bosch Rexroth AG
459/619
Diagnostic Command Messages
C0906 - Attributes
Display:
Ident N°:
C0906
C0906
10.2.165 C1204 Error in offset calculation
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for commutation offset determination
(C1200) an error was detected.
Due to incorrect or incomplete measured values, it was impossible to deter‐
mine the commutation offset correctly in the saturation mode.
Cause:
Short interruptions in the circuit (wiring or output stage interlock)
C1204 - Attributes
Display:
Ident N°:
C1204
C1204
10.2.166 C1208 No adjustment with asynchronous motor
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for commutation offset determination
(C1200) an error was detected.
Cause:
There was an attempt to carry out a commutation offset determination with an
asynchronous motor. For asynchronous motors it is impossible to carry out a
commutation offset determination.
C1208 - Attributes
Display:
Ident N°:
C1208
C1208
10.2.167 C1209 Proceed to phase 4
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for commutation offset determination
(C1200) an error was detected.
460/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Drive controller is not in phase 4 (ready for operation, dis‐
play: bb; with sine-wave and saturation method, display:
Ab); the command " P‑0‑0524, C1200 Commutation offset
setting command " can only be executed in phase 4.
Switch drive controller to phase 4 and then execute com‐
mand " P‑0‑0524, C1200 Commutation offset setting com‐
mand " again.
C1209 - Attributes
Display:
Ident N°:
C1209
C1209
10.2.168 C1211 Commutation offset could not be determined.
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error has occurred during the execution of the command " P‑0‑0524,
C1200 Commutation offset setting command " (in this case: sine-wave meth‐
od).
Simultaneously output Fxxxx error messages allow more precise
diagnosis.
See also Functional Description of firmware " Commutation Setting "
C1211 - Attributes
Display:
Ident N°:
C1211
C1211
10.2.169 C1212 Motion range exceeded during commutation
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The axis left the allowed actual position value range while commutation set‐
tings were made.
Cause
Remedy
Command was started while axis was still moving
Wait until axis has come to standstill and restart command
Axis was moved by mechanical force
Exclude influence of mechanical force
Parameter values for " P‑0‑0506, Amplitude for angle
acquisition " and " P‑0‑0507, Test frequency for angle
acquisition " are too high Possibly, mechanical axis condi‐
tions, such as friction and load due to weight, have changed
Reduce parameter values for " P‑0‑0506, Amplitude for angle
acquisition " and " P‑0‑0507, Test frequency for angle
acquisition " . They can also be set to default values of 25%
for " P‑0‑0506, Amplitude for angle acquisition " and 500 Hz
for " P‑0‑0507, Test frequency for angle acquisition " .
See also Functional Description of firmware " Commutation Setting " .
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Diagnostic Command Messages
C1212 - Attributes
Display:
Ident N°:
C1212
C1212
10.2.170 C1214 Command only possible with linear synchronous motor
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When executing the command for determining the commutation offset
(C1200) with the currentless procedure (see " P‑0‑0522,Control word for com‐
mutation setting " ) the condition for the motor type was detected not to have
been fulfilled.
Cause
Remedy
Connected motor is not a synchronous linear motor
-
Connected motor is a synchronous linear motor, but wrong
type of construction of motor (P‑0‑4014) was selected or
pole pair distance (P‑0‑0018) was set to " 0 "
If connected motor is a synchronous linear motor with abso‐
lute measuring system, check type of construction of motor
that has been set (P‑0‑4014) and correct it, if necessary
Connected motor is a synchronous linear motor, type of con‐ If connected motor is a synchronous linear motor with incre‐
struction of motor (P‑0‑4014) was correctly set, but there
mental measuring system or a rotary synchronous motor,
isn't any absolute encoder with EnDat interface available
then use procedure with current to determine commutation
offset (see " P‑0‑0522, Control word for commutation set‐
ting " )
C1214 - Attributes
Display:
Ident N°:
C1214
C1214
10.2.171 C1215 Command only possible in 'bb'
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When executing the command for determining the commutation offset
(C1200) with the currentless procedure (see " P‑0‑0522, Control word for
commutation setting " ) the drive was detected not to be ready for operation
( " bb " ).
Cause
Remedy
Drive is not yet ready for operation ( " bb " )
Bring drive to ready for operation status ( " bb " )
- or Drive is already in drive enable ( " AF " )
C1215 - Attributes
Display:
Ident N°:
C1215
C1215
462/619
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.172 C1216 Commutation determination not selected
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for commutation offset determination
(C1200) an error was detected.
Cause
Remedy
There wasn't any mode for commutation determination se‐
lected
Set a mode for commutation determination in parameter
" P‑0‑0522, Commutation setting control word "
C1216 - Attributes
Display:
Ident N°:
C1216
C1216
10.2.173 C1217 Setting only possible in 'Ab'
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for commutation offset determination
(C1200) an error was detected.
Cause
Remedy
Drive was not ready at start of command, display did not
read " Ab "
1. Switch drive to communication phase 4, if there isn't
any error present, display reads " bb " ( " betriebsbereit "
= ready for operation)
2. Switch power on, drive goes to operating mode, dis‐
play reads " Ab " ( " Antrieb bereit " = drive ready)
3. Now start command C1200
C1217 - Attributes
Display:
Ident N°:
C1217
C1217
10.2.174 C1218 Automatic commutation: Current too low
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
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Diagnostic Command Messages
The actual current value amplitude resulting from commutation setting with
the saturation method is monitored. If it does not exceed a minimum thresh‐
old when the command " P‑0‑0524, C1200 Commutation offset setting com‐
mand " is executed, the command error C1218 is generated.
Cause
Remedy
Actual current value amplitude is not sufficient for exact de‐
termination of commutation offset
Increase signal voltage ( " P‑0‑0506, Amplitude for angle ac‐
quisition " ) or reduce signal frequency ( " P‑0‑0507, Test fre‐
quency for angle acquisition " ) and restart commutation set‐
ting process
‑ or ‑
Enter value " 0 " in " P‑0‑0506, Amplitude for angle acquisi‐
tion " . Appropriate value for P‑0‑0506 is thereby automatical‐
ly determined during commutation setting process
‑ or ‑
Reduce value of " P‑0‑0517, Commutation: required harmon‐
ics component " , if approx. 30 similar values are determined
for " P‑0‑0521, Effective commutation offset " with repeated
commutation setting for different motor positions (drive re‐
mains in " Ab " ). Reduce " P‑0‑0517, Commutation: required
harmonics component " until command error C1218 no lon‐
ger occurs; finally check function several times!
If error occurs repeatedly, please contact our service department.
See also Functional Description of firmware " Commutation Setting "
C1218 - Attributes
Display:
Ident N°:
C1218
C1218
10.2.175 C1219 Automatic commutation: Overcurrent
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for commutation offset determination
(C1200) an error was detected.
Cause
Remedy
The actual current is higher than the allowed maximum cur‐
rent.
Reduce the signal voltage ( " P‑0‑0506, Voltage amplitude for
angle acquisition " ) or increase the signal frequency
( " P‑0‑0507, Test frequency for angle acquisition " ).
‑ or ‑
With P‑0‑0506 = 0 start the automatic determination of ap‐
propriate values.
C1219 - Attributes
Display:
Ident N°:
C1219
C1219
464/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.176 C1220 Automatic commutation: Timeout
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for commutation offset determination
(C1200) an error was detected.
Cause
Remedy
An error occurred in signal generator
Switch drive off and on again. If error continues to be sig‐
naled, contact our service department
C1220 - Attributes
Display:
Ident N°:
C1220
C1220
10.2.177 C1221 Automatic commutation: Iteration without result
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The commutation offset determination ( " P‑0‑0524, C1200 Commutation off‐
set setting command " ) was unsuccessful. It was impossible to find appropri‐
ate values for " P‑0‑0506, Amplitude for angle acquisition " and " P‑0‑0507,
Test frequency for angle acquisition " with which it would have been possible
to obtain sufficient magnetic saturation effects in the motor. It was therefore
impossible to determine a functioning value for the commutation offset.
Cause
Remedy
Type current of controller too low
Use controller that can supply motor with sufficiently high
current (for Rexroth kit motors, required minimum current for
magnetic saturation effects is approx. 2.0...2.5-fold continu‐
ous current at standstill).
If without success, check whether sine-wave method can be
used for commutation offset setting
Test current generated in motor is too low
Manually increase value of " P‑0‑0506, Amplitude for angle
acquisition " or reduce value of " P‑0‑0507, Test frequency for
angle acquisition " so that higher test current is generated.
If without success, check whether sine-wave method can be
used for commutation offset setting
See also Functional Description of firmware " Commutation Setting "
C1221 - Attributes
Display:
Ident N°:
C1221
C1221
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Diagnostic Command Messages
10.2.178 C1222 Error when writing offset parameters
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When executing the command for determining the commutation offset
(C1200) with the currentless procedure (see " P‑0‑0522, Commutation setting
control word " ) the determined commutation offset value is written to the
P‑0‑0508, P‑0‑0521 and P‑0‑3008 parameters. When writing data to these
parameters an error or a disorder occurred.
Cause
Remedy
For at least one of parameters P‑0‑0508, P‑0‑0521 or
Execute command C1200 again
P‑0‑3008 it was impossible to write determined commutation ‑ or ‑
offset value to it
Check wiring for noise immunity
‑ or ‑
Replace sensor of encoder
‑ or ‑
Contact our service department, if necessary
C1222 - Attributes
Display:
Ident N°:
C1222
C1222
10.2.179 C1223 Command execution impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause
Remedy
There was an attempt to start command " P-0-0524, C1200
Commutation offset setting command "
Command execution is impossible for sensorless positioning
of synchronous motors
C1223 - Attributes
Display:
Ident N°:
C1223
C1223
466/619
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DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.180 C1301 Class 1 diagnostics error at command start
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " S‑0‑0149, C1300 Positive stop drive procedure command "
cannot be carried out as a class 1 diagnostics error has occurred.
See also Functional Description of firmware " Positive Stop Drive Procedure "
C1301 - Attributes
Display:
Ident N°:
C1301
C1301
10.2.181 C1402 Faulty reference mark signal
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of command " P‑0‑0014, C1400 Command Get marker
position " the reference mark signal is checked for its allowed signal width and
the assignment to the track signals. If the signal is outside of the allowed
specification or disturbed, this error is generated.
Cause
Remedy
Encoder sensor not correctly mounted
Correct mounting of encoder sensor
Reference mark signal disturbed
Check / correct wiring and shielding of reference mark signal
For removing command errors see " Command Errors "
C1402 - Attributes
Display:
Ident N°:
C1402
C1402
10.2.182 C1701 Measuring wheel mode not possible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The " P‑0‑0240, C1700 Command measuring wheel mode " cannot be execu‐
ted.
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Diagnostic Command Messages
Cause
Remedy
There aren't two encoders available
Connect measuring wheel encoder
C1701 - Attributes
Display:
Ident N°:
C1701
C1701
10.2.183 C1801 Start requires drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In order to make sure that the drive is in control when the command
" P‑0‑0162, C1800 Command Automatic control loop adjust " is started, this is
queried at the start of the command.
Cause
Remedy
Drive enable not set at start of command
Set drive enable and restart command " P‑0‑0162, C1800
Command Automatic control loop adjust "
See also Functional Description of firmware " Automatic Setting of Axis Con‐
trol "
C1801 - Attributes
Display:
Ident N°:
C1801
C1801
10.2.184 C1802 Motor feedback data not valid
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
At the beginning of the automatic control loop setting ( " P‑0‑0162, C1800
Command Automatic control loop adjust " ), the parameters
●
" P-0-0051, Torque/force constant " ,
●
" P-0-0018, Number of pole pairs/pole pair distance " and
●
" S-0-0110, Amplifier peak current "
are read from the memory in motor encoder or power section.
468/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
One of above-mentioned parameters has a value equal to or For Rexroth motors with encoder data memory: Service staff
less than zero ( & lt; = 0) which would cause incorrect calcula‐
writes stored motor parameters or replacement of motor
tion of controller parameters
For Rexroth motors without encoder data memory and thirdparty motors: User writes correct values to motor parame‐
ters
When device type current is incorrect (S-0-0110): Service
staff writes parameter stored in power section or replace‐
ment of device
See also Functional Description of firmware " Automatic Setting of Axis Con‐
trol "
C1802 - Attributes
Display:
Ident N°:
C1802
C1802
10.2.185 C1803 Inertia detection failed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Automatic control loop setting was aborted; mass moment of inertia (sum of
rotor moment of inertia and load moment of inertia) could not be determined
In MPx05V08 and below, the mass moment of inertia had to be
determined by evaluating acceleration and deceleration process‐
es.
In MPx05V10 and above, parameter " P‑0‑0165, Drive
optimization, control word " could be used to parameterize wheth‐
er the mass moment of inertia is to be determined by evaluating
acceleration and deceleration processes or by applying the val‐
ues from P‑0‑0510 and P‑0‑4010.
The mass moment of inertia is determined by evaluating acceleration and de‐
celeration processes:
Cause
Remedy
Drive acceleration too low
Increase " S‑0‑0260, Positioning acceleration "
Load inertia too high
Increase " S‑0‑0092, Bipolar torque/force limit value "
Motor speed too low
Up to MPx04VRS: Increase " S‑0‑0259, Positioning velocity "
As of MPx05VRS: Increase " P‑0‑0171, Drive optimization,
velocity "
Not enough measured values for automatic control loop set‐
ting
Increase " S‑0‑0108, Feedrate override "
Load inertia too high
Check design of drive correct, if necessary
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Diagnostic Command Messages
Option in MPx05V10 and above:The mass moment of inertia is calculated
from the values in P‑0‑0510 and P‑0‑4010 (P‑0‑0165, bit 4 = " 0 " ):
Cause
Remedy
Sum total from P‑0‑0510 and P‑0‑4010 equal to " 0 "
Parameterized P‑0‑0510 and P‑0‑4010
See also Functional Description of firmware " Automatic Setting of Axis Con‐
trol "
C1803 - Attributes
Display:
Ident N°:
C1803
C1803
10.2.186 C1804 Automatic controller setting failed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
In exceptional cases, there may be problems in connection with automatic
control loop setting. This means that the automatic setting is not possible so
that the default and standard values are again loaded to the drive.
Cause
Remedy
Oscillating mechanical systems (resonances)
Sometimes, restarting the command " P‑0‑0162, C1800
Automatic control loop setting command " with a large
" P‑0‑0163, Damping factor for autom. controller setting " ,
which means lower dynamics, achieves a satisfactory result.
‑ or ‑
Highly noisy encoder signals
This value can then still be reduced until the control loop be‐
haves as desired.
Test velocity equal to " 0 "
Up to MPx04: " parameterizeS‑0‑0259, Positioning velocity "
As of MPx05: parameterize " P‑0‑0171, Drive optimization,
velocity "
See also Functional Description of firmware " Automatic Setting of Axis
Control "
C1804 - Attributes
Display:
Ident N°:
C1804
C1804
10.2.187 C1805 Travel range invalid
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When command " P‑0‑0162, C1800 Command Drive optimization / command
value box " is started, the system checks whether the defined travel range is
sufficient.
470/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
The maximum travel range defined with " P‑0‑0166, Drive
Define travel range such that it is greater than or equal to
optimization, end position negative " and " P‑0‑0167, Drive
minimum travel range.
optimization, end position positive " or with " P‑0‑0169, Drive
optimization, travel distance " is less than 2 motor revolutions
in case of rotary motors or 100 mm in case of linear motors
and therefore too small to allow starting automatic control
loop setting.
See also Functional Description of firmware " Automatic Setting of Axis
Control "
C1805 - Attributes
Display:
Ident N°:
C1805
C1805
10.2.188 C1806 Travel range exceeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During automatic control loop setting, the defined travel range is continuously
monitored. This travel range can be defined as follows:
Enter the limits " P‑0‑0166, Drive optimization, end position negative " and
" P‑0‑0167, Drive optimization, end position positive " .
‑ or ‑
Define a relative travel range in " P‑0‑0169, Drive optimization, travel
distance " (required for Modulo axes).
If the travel range is exceeded, command error C1806 is output and the drive
is decelerated under velocity control.
Cause
Remedy
Actual position is outside defined travel range
Increase travel range
‑ or ‑
Travel range was re-defined after command start
See also Functional Description of firmware " Automatic Setting of Axis
Control "
C1806 - Attributes
Display:
Ident N°:
C1806
C1806
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
471/619
Diagnostic Command Messages
10.2.189 C1807 Determining travel range only via travel distance
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the travel range for the automatic control loop setting had been para‐
meterized, the modulo scaling was not taken into account.
Cause
Remedy
There was an attempt to parameterize travel range via
" P‑0‑0166, Drive optimization, end position nega‐
tive " / " P‑0‑0167, Drive optimization, end position positive " .
In this case, travel range can only be parameterized directly
Set travel range by parameterizing " P‑0‑0169, Drive optimi‐
zation, travel distance "
C1807 - Attributes
Display:
Ident N°:
C1807
C1807
10.2.190 C1808 Drive not homed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P-0-0162, C1800 Command Drive op‐
timization / command value box " , an error occurred. It was impossible to re‐
cord the tables for cogging torque compensation.
Cause
Remedy
Linear motor hasn't been homed
Establish reference; then record table for cogging torque
compensation (see also Functional Description of firmware
" Cogging Torque Compensation " )
C1808 - Attributes
Display:
Ident N°:
C1808
C1808
10.2.191 C2001 Command not enabled
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The execution of the " Release motor holding brake " command (C2000) was
aborted by an error.
472/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Command can only be executed, if it is allowed by bit 5 in
parameter " P‑0‑0525, Holding brake control word "
Set bit 5 in parameter P‑0‑0525 to " 1 "
See also Functional Description of firmware " Motor Holding Brake "
C2001 - Attributes
Display:
Ident N°:
C2001
C2001
10.2.192 C2101 Holding system check only possible with drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
It is impossible to execute the " brake check " command (C2100).
Cause
Remedy
Command " P‑0‑0541, C2100 Brake check command " was
activated, but drive enable ( " AF " ) had not been set.
Switch drive to " AF " , then start command C2100
See also Functional Description of firmware " Motor Holding Brake "
C2101 - Attributes
Display:
Ident N°:
C2101
C2101
10.2.193 C2103 Holding brake: Torque too low
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the command " P-0-0541, C2100 Holding system check command " had
been executed, the holding torque of the brake was detected to be too low.
Cause
Remedy
Due to storage, brake is covered with an oxide layer.
Start command " P-0-0544, C3900 Command Abrasion of
holding brake " for holding system check again to reestablish
full brake torque by repeated resurfacing of holding break.
- or Brake is wetted with oil or grease.
If brake torque is still too low after several attempts to rees‐
tablish it, brake or motor must be replaced.
- or Brake is worn.
See also Functional Description of firmware " Holding Brake "
C2103 - Attributes
Display:
Ident N°:
C2103
C2103
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
473/619
Diagnostic Command Messages
10.2.194 C2104 Command execution impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0541, C2100 Holding system check command " could not
be started.
Cause
Remedy
Brake control has not been activated in parameter
" P‑0‑0525, Holding brake control word "
Activate brake control in parameter " P‑0‑0525, Holding
brake control word "
Value in " P‑0‑0540, Torque of holding brake " is " 0 "
Enter correct value for " P‑0‑0540, Torque of holding brake "
Drive is in a safety related operating status, cf. " P‑0‑3213,
Safety technology operating status " or " P‑0‑3213, Safety
technology status "
Deselect safety related operating status and execute " C2100
Holding system check command " again
See also Functional Description of firmware " Holding Brake "
See also documentation " Integrated Safety Technology "
C2104 - Attributes
Display:
Ident N°:
C2104
C2104
10.2.195 C2105 Load of holding system greater than test torque
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Execution of the command " P‑0‑0541, C2100 Holding system check
command " was aborted. The current load due to weight of the axis ( " holding
system " ) was detected to be greater than the force or the torque with which
the blocking of the axis is checked on the drive side.
To reliably block the axis, the holding torque or the holding force
must be greater than the load due to weight of the axis. There‐
fore, the test torque or the test force must be greater than the
load due to weight, too.
The test torque depends on the value in P-0-0547:
●
If P‑0‑0547 is unequal to " 0 " , the value of the test torque is 1.3 times the
value of " P‑0‑0547, Nominal load of holding system " .
●
If P‑0‑0547 is equal to " 0 " , the test torque is equal to the value entered
in " P‑0‑0540, Torque of holding brake " .
474/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Load due to weight is greater than nominal load which was
input (if " P‑0‑0547, Nominal load of holding system " is un‐
equal to " 0 " )
Remedy during initial commissioning:
Determine load due to weight of axis and compare it to value
entered in " P‑0‑0547, Nominal load of holding system " . If
necessary, correct (increase) value.
Remedy during operation of axis drive:
DANGER! Dangerous movements! Danger to life, risk of in‐
jury, serious injury or property damage! Load due to weight
of axis was increased compared to initial commissioning.
Check cause.
Reduce load due to weight
‑ or ‑
Determine load due to weight of axis and compare it to value
entered in " P‑0‑0547, Nominal load of holding system " . If
necessary, increase value in " P‑0‑0547, Nominal load of
holding system " . Check drive dimensioning!
Load due to weight is greater than holding torque or holding
force of holding brake (if " P‑0‑0547, Nominal load of holding
system " = " 0 " )
Remedy during initial commissioning:
Determine load due to weight of axis and compare it to value
of " P‑0‑0540, Torque of holding brake " . Mount stronger hold‐
ing brake, if necessary.
Remedy during operation of axis drive:
DANGER! Dangerous movements! Danger to life, risk of in‐
jury, serious injury or property damage! Load due to weight
of axis is higher than " P‑0‑0540, Torque of holding brake " .
Check cause.
Reduce load due to weight
‑ or ‑
Determine load due to weight of axis and compare it to value
of " P‑0‑0540, Torque of holding brake " . Mount stronger hold‐
ing brake, if necessary. Check drive dimensioning!
See also Functional Description of firmware " Holding Brake "
C2105 - Attributes
Display:
Ident N°:
C2105
C2105
10.2.196 C2106 Test torque of holding system not reached
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The execution of the command " P-0-0541, C2100 Holding system check
command " was aborted. The holding system check detected that it is impos‐
sible to generate the test torque required on the drive side with which the
blocking of the axis is to be tested.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
475/619
Diagnostic Command Messages
The test lasts for one second with regard to the 1.3-fold value of
●
" P‑0‑0547, Nominal load of holding system " (if P‑0‑0547 is unequal " 0 " )
or
●
" P‑0‑0540, Torque of holding brake " (if P‑0‑0547= " 0 " ).
Cause
Remedy
Static limitation of drive torque or drive force is active
Check or increase static torque or force limit values so that
1.3-fold value of " P‑0‑0547, Nominal load of holding system "
(if P‑0‑0547 is unequal " 0 " ) or " P‑0‑0540, Torque of holding
brake " (if P‑0‑0547= " 0 " ) is possible. By way of trial, set max‐
imum values, if necessary:
●
" S‑0‑0092, Bipolar torque/force limit value "
●
" S‑0‑0082, Torque/force limit value positive "
●
" S‑0‑0083, Torque/force limit value negative "
●
" P‑0‑0109, Torque/force peak limit "
Dynamic limitation of drive torque or drive force is active and Check dynamic limitations (static limit values mustn't be ef‐
" P‑0‑0547, Nominal load of holding system " is unequal " 0 "
fective!).
If value displayed in " P‑0‑0444, Actual value peak torque
limit " does not allow 1.3-fold of " P‑0‑0547, Nominal load of
holding system " , drive is underdimensioned! Check thermal
load of motor and controller. Replace overloaded compo‐
nent(s) by appropriate component(s), if necessary.
Dynamic limitation of drive torque or drive force is active and Check dynamic limitations (static limit values mustn't be ef‐
" P‑0‑0547, Nominal load of holding system " = " 0 "
fective!).
If value displayed in " P‑0‑0444, Actual value peak torque
limit " does not allow 1.3-fold of " P‑0‑0540, Torque of holding
brake " , check whether value depending on axis load can be
input in " P‑0‑0547, Nominal load of holding system " . If not,
controller is underdimensioned! Replace controller by an ap‐
propriate one, if necessary.
476/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
If value of " P‑0‑0547, Nominal load of holding system " is un‐ Remedy during initial commissioning:
equal " 0 " :
Determine force due to weight of axis and compare it to val‐
Input of nominal load of axis ( " P‑0‑0547, Nominal load of
ue entered in " P‑0‑0547, Nominal load of holding system " . If
holding system " ) is greater than actual load due to weight.
" P‑0‑0547, Nominal load of holding system " is greater and
This means that load current demanded from controller can‐ no check for " increased holding torque or holding force " is to
not be made available for test duration. Dynamic limitation of be run, set (reduce) " P‑0‑0547, Nominal load of holding sys‐
tem " according to load due to weight.
drive torque or drive force is active
If check is to be run for entered value, controller is underdi‐
mensioned; see remedy for " Dynamic limitation of drive tor‐
que or drive force is active "
Remedy during operation of axis drive:
DANGER! Dangerous movements! Danger to life, risk of in‐
jury, serious injury or property damage! Check is run for
holding torque or holding force of holding brake. Controller is
underdimensioned.
If possible, carry out remedy during initial commissioning
(see above)
‑ or ‑
Mount controller with sufficiently high continuous current,
see remedy for " Dynamic limitation of drive torque or drive
force is active "
If " P‑0‑0547, Nominal load of holding system " = " 0 " :
Remedy during initial commissioning:
Holding torque or holding force of holding brake is greater
than actual load due to weight of axis.
Determine load due to weight of axis and compare it to value
of " P‑0‑0540, Torque of holding brake " . If load due to weight
This means that load current demanded from controller can‐ requires less holding torque than " P‑0‑0540, Torque of hold‐
not be made available for test duration. Dynamic limitation of ing brake " displays and no check for " increased holding tor‐
que or holding force " is to be run, enter actual load due to
drive torque or drive force is active
weight in " P‑0‑0547, Nominal load of holding system " . In this
way, actual axis load is checked in the future. Otherwise,
controller is underdimensioned, see remedy for " Dynamic
limitation of drive torque or drive force is active "
Remedy during operation of axis drive:
DANGER! Dangerous movements! Danger to life, risk of in‐
jury, serious injury or property damage! Check is run for
holding torque or holding force of holding brake. Controller is
underdimensioned.
If possible, carry out remedy during initial commissioning
(see above)
‑ or ‑
Mount controller with sufficiently high continuous current,
see remedy for " Dynamic limitation of drive torque or drive
force is active "
See also Functional Description of firmware " Holding Brake "
C2106 - Attributes
Display:
Ident N°:
C2106
C2106
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
477/619
Diagnostic Command Messages
10.2.197 C2107 Redundant holding brake: Torque too low
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The execution of the command " P‑0‑0541, C2100 Holding system check
command " was aborted. Due to the test torque added, the redundant holding
brake was inadmissibly distorted.
Cause
Remedy
Due to a too high degree of backlash or torsion, allowed
travel distance selected in " P-0-3310, Safe holding system:
travel range brake check " is too short
Check parameterization of " P-0-3310, Safe holding system:
travel range brake check "
Parameter " P-0-3303, Safe holding system: nominal load " is
greater than value entered in " P-0-0547, Nominal load of
holding system "
Change parameter setting: Test torque in " P-0-0547, Nomi‐
nal load of holding system " should correspond to test torque
in " P-0-3303, Safe holding system: nominal load "
Redundant holding brake no longer achieves required brake Carry out resurfacing procedure according to manufacturer's
torque
specification
- or Replace redundant holding brake
See also Functional Description of firmware " Holding Brake "
C2107 - Attributes
Display:
Ident N°:
C2107
C2107
10.2.198 C2108 Error when releasing the holding system
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The execution of the command " P-0-0541, C2100 Holding system check
command " was aborted. An error was detected when the redundant holding
brake was released.
478/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Incorrect control of holding system, holding system does not Check wiring
release
‑ or ‑
If third-party brake was connected:
Check parameter setting
Test torque for releasing holding system set too low
Increase value in parameter " P‑0‑0545, Test torque for re‐
leasing holding system "
Increased breakaway torque of axis due to increased friction Remove malfunction in installation
within installation, etc.
See also Functional Description of firmware " Holding Brake "
C2108 - Attributes
Display:
Ident N°:
C2108
C2108
10.2.199 C2109 SBS: Test torque invalid
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Up to MPx06, the name of this diagnostic message was " C2109
Safety related holding system: Test torque invalid " .
The execution of the command " P-0-0541, C2100 Holding system check
command " was aborted. The value of the applied test torque is not verisimi‐
lar, i.e. the measured torque does not comply with the calculated torque of
the safety technology channels.
Cause
Remedy
Incorrect parameterization P-0-3304 ≠ P-0-0051
Check parameterization
" P-0-0051, Torque/force constant " was changed due to re‐
placement of motor by motor which is not of the same type
of construction
Mount appropriate motor according to safety technology ac‐
ceptance test protocol
‑ or ‑
Carry out safety technology acceptance test again
See also Functional Description of firmware " Holding Brake "
C2109 - Attributes
Display:
Ident N°:
C2109
C2109
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
479/619
Diagnostic Command Messages
10.2.200 C2202 Error when writing data to non-volatile memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " S‑0‑0264, C2200 Backup working memory pro‐
cedure command " an error occurred.
Cause
Remedy
It was impossible to address active, non-volatile memory (in‐ First start command " S‑0‑0264, C2200 Backup working
ternal flash memory or MMC, if plugged in) without error.
memory procedure command " again. If error occurs again,
then replace MMC (if plugged in) if necessary, then start
command again. If error occurs again, contact our service
department.
C2202 - Attributes
Display:
Ident N°:
C2202
C2202
10.2.201 C2301 Error when reading non-volatile memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " S‑0‑0263, C2300 Load working memory proce‐
dure command " an error occurred.
Cause
Remedy
It was impossible to read active, non-volatile memory [inter‐
nal flash memory or MMC (if plugged in)] without error.
Restart command. If error occurs again, contact our service
department. Have control section checked for functional
safety.
C2301 - Attributes
Display:
Ident N°:
C2301
C2301
10.2.202 C2302 Error when converting parameters
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " S‑0‑0263, C2300 Load working memory proce‐
dure command " an error occurred.
480/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
When reading parameters from active, non-volatile memory, Enter faulty parameter values correctly by hand and save
an error occurred.
them again in non-volatile memory.
C2302 - Attributes
Display:
Ident N°:
C2302
C2302
10.2.203 C2402 Error when saving parameters
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " S‑0‑0293, C2400 Selectively backup working
memory procedure command " an error occurred.
Cause
Remedy
It was impossible to address active, non-volatile memory (in‐ Start " S‑0‑0293, C2400 Selectively backup working memory
ternal flash memory or MMC, if plugged in) without error.
procedure command " again. If error occurs again, then re‐
place MMC (if plugged in) if necessary, then start command
again. If error occurs again, contact our service department.
C2402 - Attributes
Display:
Ident N°:
C2402
C2402
10.2.204 C2502 Error when accessing the MMC
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of " P‑0‑4091, C2500 Copy IDN from optional memory to
internal memory " an error occurred.
The MMC can only be used as an optional memory for control
sections with MMC slot.
Cause
Remedy
MMC had not been active before, there haven't been any
valid parameter contents stored on it
Write parameter contents of internal memory to MMC by ex‐
ecuting command " P‑0‑4092, C2600 Copy IDN from internal
memory to optional memory "
MMC has not (or not completely) been plugged in the MMC
slot provided for this purpose
Put MMC into controller. Then restart command " P‑0‑4091,
C2500 Copy IDN from optional memory to internal memory "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
481/619
Diagnostic Command Messages
Cause
Remedy
Error occurs sporadically due to voltage fluctuations in de‐
vice
Check power supply and then restart command " P‑0‑4091,
C2500 Copy IDN from optional memory to internal memory " .
If error occurs repeatedly, you should contact our service
department
MMC was not or not correctly formatted
Format MMC or contact our service department. Then re‐
start command " P‑0‑4091, C2500 Copy IDN from optional
memory to internal memory "
MMC is defective
Check MMC and restart command " P‑0‑4091, C2500 Copy
IDN from optional memory to internal memory " .
If diagnostic message appears repeatedly: replace MMC
MMC slot in control section is defective
Check MMC slot and, if necessary, replace control section
or complete drive controller
If the MMC must be replaced, the values stored on it are lost.
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
For removing command errors see " Command Errors "
See also Functional Description of firmware " MultiMediaCard (MMC) "
C2502 - Attributes
Display:
Ident N°:
C2502
C2502
10.2.205 C2504 Error when writing data to internal memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " P‑0‑4091, C2500 Copy IDN from optional memo‐
ry to internal memory " an error occurred.
Cause
Remedy
Error when writing to internal, non-volatile flash memory
Restart " P‑0‑4091, C2500 Copy IDN from optional memory
to internal memory " .
If diagnostic message is displayed repeatedly: contact our
service department
C2504 - Attributes
Display:
Ident N°:
C2504
C2504
482/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.206 C2602 Error when accessing the MMC
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4092, C2600 Copy IDN from in‐
ternal memory to optional memory " a check is run in order to find out whether
a functioning MMC (MultiMediaCard) is available.
The MMC can only be used as an optional memory for control
sections with MMC slot.
Cause
Remedy
MMC has not (or not completely) been plugged in MMC slot
provided for this purpose
Put MMC into controller. Then restart command " P‑0‑4092,
C2600 Copy IDN from internal memory to optional memory "
MMC was not or not correctly formatted
Format MMC or contact our service department. Then re‐
start command " P‑0‑4092, C2600 Copy IDN from internal
memory to optional memory "
At least one of required files is missing in " Parameters " fold‐
er on MMC
Check whether files with extension " ....#1.pbf " or " ....#1.rbf "
are contained in " Parameters " folder on MMC. For doubleaxis devices, files with extension " ....#2.pbf " or " ....#2.rbf "
have to be available! If diagnostic message appears repeat‐
edly: replace MMC
MMC is defective
Check MMC and restart command " P-0-4092, C2600 Copy
IDN from internal memory to optional memory " .
If diagnostic message appears repeatedly: replace MMC
MMC slot in control section is defective
Check MMC slot and, if necessary, replace control section
or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
If the MMC must be replaced, the values stored on it are lost.
See also Functional Description of firmware " MultiMediaCard (MMC) "
C2602 - Attributes
Display:
Ident N°:
C2602
C2602
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
483/619
Diagnostic Command Messages
10.2.207 C2604 Error when reading the internal memory
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " P‑0‑4092, C2600 Copy IDN from internal memo‐
ry to optional memory " an error occurred.
Cause
Remedy
Error when reading internal flash memory
Restart " P‑0‑4092, C2600 Copy IDN from internal memory
to optional memory " .
If diagnostic message is displayed repeatedly: save parame‐
ter values via serial interface or SERCOS interface, if re‐
quired. In the medium term, have control section checked for
functional safety
C2604 - Attributes
Display:
Ident N°:
C2604
C2604
10.2.208 C2801 Analog input not configured
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for adjusting the analog input
( " P‑0‑0220, C2800 Analog input adjust command " ) an error was detected.
The execution of the command was aborted.
Cause
Remedy
Command for automatic adjust of analog input was started
although there hadn't any analog input been configured on
drive controller
Check parameter " P‑0‑0218, Analog input, control parame‐
ter " . In this parameter an analog input has to be assigned for
selected analog input assignment
See also Functional Description of firmware " Analog Input "
C2801 - Attributes
Display:
Ident N°:
C2801
C2801
484/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.209 C2802 Oscillations of input signal outside tolerance range
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the command " P‑0‑0220, C2800 Analog input adjust command " is exe‐
cuted, the quality of the reference signal used is checked.
Cause
Remedy
During gain adjust, reference voltage was used that fluctu‐
ates by more that 1% of input voltage range
Check input signal used for precision; if necessary, use dif‐
ferent calibration signal
During zero point adjust, input voltage is not exactly " 0 " and
fluctuates by more than 1% of input voltage range
Short circuit analog inputs by means of wire bridge
See also Functional Description of firmware " Analog Inputs "
C2802 - Attributes
Display:
Ident N°:
C2802
C2802
10.2.210 C2803 Measured values at zero point and max. value identical
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑0220, C2800 Analog input adjust
command " an error was detected. The execution of the command was abor‐
ted.
Cause
Remedy
During zero point and gain adjust, the same voltage value
was provided at analog input
Voltage provided at input has to be modified between two
steps of adjust (voltage value for zero adjust: 0 V, voltage
value for gain adjust: maximum input voltage)
See also Functional Description of firmware " Analog Inputs "
C2803 - Attributes
Display:
Ident N°:
C2803
C2803
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
485/619
Diagnostic Command Messages
10.2.211 C2804 Automatic adjustment failed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0220, C2800 Analog input adjust command " was aborted
due to an unspecified error. Please contact our service department.
C2804 - Attributes
Display:
Ident N°:
C2804
C2804
10.2.212 C2903 Error when accessing the MMC
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4072, C2900 Command Firmware
update from MMC " a check is run to find out whether the firmware was cor‐
rectly loaded.
Cause
Remedy
A transmission error occurred during transmission of firm‐
ware from MMC
Execute command " P‑0‑4072, C2900 Command Firmware
update from MMC " again
If error occurs again, contact a Rexroth service engineer
Firmware file (ibf file) available on MMC is not correct (does
not match control section)
Use different MMC with firmware file appropriate for control
section
●
Control section CSH01.1C: Firmware MPH
●
Control section CSB01.1x: Firmware MPB
●
Control section CDB01.1x: Firmware MPD
Command C6600 was started. During subsequent automatic Via file system of a PC, copy content of MMC, with which
execution of command C2900, command error C2903 was
error occurred, to MMC with more memory space
generated:
There is not enough memory space available on MMC to
copy new firmware
Command C6600 was started. During subsequent automatic Make sure that MMC has been correctly plugged in slot of
execution of command C2900, command error C2903 was
control section.
generated:
Execute command " P‑0‑0666, C6600 Command Restore
An error occurred when new firmware had been read or cop‐ parameters from MMC " again
ied. MMC was removed or is defective
If error occurs again, replace MMC and check slot on control
section; if necessary, replace control section.
486/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
If the command error occurs during the transmission of the firm‐
ware to an optional module, the respective system error (F8xxx)
is displayed in addition to the command error C2903.
C2903 - Attributes
Display:
Ident N°:
C2903
C2903
10.2.213 C2904 Error when accessing the flash
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " P‑0‑4072, C2900 Command Firmware update
from MMC " an error occurred.
Cause
Remedy
Due to voltage fluctuations in device an active request was
aborted
Execute " P‑0‑4072, C2900 Command Firmware update from
MMC " again
Control section is defective
Replace control section or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
If the command error occurs during the transmission of the firm‐
ware to an optional module, the respective system error (F8xxx)
is displayed in addition to the command error C2904.
C2904 - Attributes
Display:
Ident N°:
C2904
C2904
10.2.214 C2905 Programmed firmware defective
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " P‑0‑4072, C2900 Command Firmware update
from MMC " an error occurred.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
487/619
Diagnostic Command Messages
Cause
Remedy
Firmware transfer from MMC was incorrect
Execute " P‑0‑4072, C2900 Command Firmware update from
MMC " again
Firmware available on MMC is not correct
Use a different MMC with the desired firmware
An error was detected during check of flash
Execute " P‑0‑4072, C2900 Command Firmware update from
MMC " again.
If error occurs repeatedly, replace control section or entire
drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
If the command error occurs during the transmission of the firm‐
ware to an optional module, the respective system error (F8xxx)
is displayed in addition to the command error C2905.
C2905 - Attributes
Display:
Ident N°:
C2905
C2905
10.2.215 C3001 Synchronization and storage failed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑3204, C3000 Synchronize and store safety technology
IDN command " was not or incorrectly executed.
Cause
Remedy
Hardware defect of optional module " safety technology I/O "
or " Safe Motion "
Reset optional module " safety technology I/O " or " Safe
Motion " by means of restart. If command error occurs re‐
peatedly, hardware has to be replaced
Firmware error
Please contact our service department
See also documentation
●
●
C3001 - Attributes
Up to MPx06: " Integrated Safety Technology "
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
C3001
C3001
488/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.216 C3101 Act. modulo value cycle greater than max. travel range
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command error C3101 is generated when the calculated modulo value
for the actual value cycle is greater than the maximum travel range
( " S‑0‑0278, Maximum travel range " ).
C3101 - Attributes
Display:
Ident N°:
C3101
C3101
10.2.217 C3102 Drive is still in drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Cause
Remedy
Drive enable has been set and command " P‑0‑0071, C3100
Recalculate actual value cycle " was started
To be able to carry out the command, drive enable has to be
removed
C3102 - Attributes
Display:
Ident N°:
C3102
C3102
10.2.218 C3201 Incorrect input for current
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4033, C3200 Command Calculate
data for asynchronous motor " an error was detected.
Cause
Remedy
List element 1 (rated current) in " P‑0‑4032, Type plate list
asynchronous motor " is outside of useful limits
Value for rated current has to be inside of following limits:
rated current & gt; 0.01 * amplifier peak current
and
rated current & lt; 10 * amplifier peak current
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Bosch Rexroth AG
489/619
Diagnostic Command Messages
C3201 - Attributes
Display:
Ident N°:
C3201
C3201
10.2.219 C3202 Incorrect input for voltage
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4033, C3200 Command Calculate
data for asynchronous motor " an error was detected.
Cause
Remedy
List element 2 (rated voltage) in " P‑0‑4032, Type plate list
asynchronous motor " is outside of useful limits
Value for rated voltage has to be between 10 V and 2000 V
C3202 - Attributes
Display:
Ident N°:
C3202
C3202
10.2.220 C3203 Incorrect input for frequency
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4033, C3200 Command Calculate
data for asynchronous motor " an error was detected.
Cause
Remedy
List element 3 (rated frequency) in " P‑0‑4032, Type plate list Value for rated frequency has to be between 5 Hz and
asynchronous motor " is outside of useful limits
3000 Hz
C3203 - Attributes
Display:
Ident N°:
C3203
C3203
10.2.221 C3204 Incorrect input for speed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4033, C3200 Command Calculate
data for asynchronous motor " an error was detected.
490/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
There is no useful relation between list element 4 (rated
Correct list element 4 (rated speed) in " P‑0‑4032, Type plate
speed) in " P‑0‑4032, Type plate list asynchronous motor "
list asynchronous motor "
and rated frequency, i.e. number of pole pairs cannot be cal‐
culated
C3204 - Attributes
Display:
Ident N°:
C3204
C3204
10.2.222 C3205 Incorrect input for power factor
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4033, C3200 Command Calculate
data for asynchronous motor " an error was detected.
Cause
Remedy
Power factor of motor is outside of useful limits
List element 5 (power factor cos phi) in " P‑0‑4032, Type
plate list asynchronous motor " has to be between 0.5 and
0.999
C3205 - Attributes
Display:
Ident N°:
C3205
C3205
10.2.223 C3206 Incorrect input for power
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4033, C3200 Command Calculate
data for asynchronous motor " an error was detected.
Cause
Remedy
There is no useful relation between list element 6 (rated
power) in " P‑0‑4032, Type plate list asynchronous motor "
and electric power that results from the other rated data.
Correct values in " P‑0‑4032, Type plate list asynchronous
motor " and restart command " P‑0‑4033, C3200 Command
Calculate data for asynchronous motor "
Mechanical power output has to be smaller than effective
electric power of motor at rated point because an efficiency
of less than 1 is assumed. Furthermore a mechanical power
output smaller than 40% of effective electric power is not
valid
C3206 - Attributes
Display:
Ident N°:
C3206
C3206
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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491/619
Diagnostic Command Messages
10.2.224 C3207 Type plate list incomplete
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4033, C3200 Command Calculate
data for asynchronous motor " an error was detected.
Cause
Remedy
List length of parameter " P‑0‑4032, Type plate list asynchro‐ Please check: To calculate motor and controller parameters
nous motor " is shorter than 6 elements or at least one ele‐
from type plate of an asynchronous motor, value higher than
ment has value " 0 "
" 0 " has to be entered in all 6 list elements of " P‑0‑4032,
Type plate list asynchronous motor "
C3207 - Attributes
Display:
Ident N°:
C3207
C3207
10.2.225 C3208 Error when writing parameters (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4033, C3200 Command Calculate
data for asynchronous motor " an error occurred (e.g. violation of limit values)
when a parameter for motor control was written.
Cause
Remedy
At least one list element in " P‑0‑4032, Type plate list asyn‐
Correct values in " P‑0‑4032, Type plate list asynchronous
chronous motor " has no useful value so that at least one pa‐ motor " and restart command " P‑0‑4033, C3200 Command
rameter is outside of allowed limits when motor data are cal‐ Calculate data for asynchronous motor "
culated
C3208 - Attributes
Display:
Ident N°:
C3208
C3208
10.2.226 C3209 Command execution impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
492/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
During the execution of the command " P‑0‑4033, C3200 Command Calculate
motor data " an error occurred.
Cause
Remedy
Command cannot be executed with connected motor
Connect asynchronous motor and parameterize " P-4014,
Type of construction of motor " accordingly
C3209 - Attributes
Display:
Ident N°:
C3209
C3209
10.2.227 C3501 Acquisition velocity not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " P‑0‑0340, C3500 Command Deter‐
mine encoder correction values " an error was detected.
To acquire the signal shape the axis has to be moved at constant velocity;
the velocity command value has to be within an allowed range of values. The
controller monitors the velocity command value and, if necessary, signals in‐
admissible acquisition velocity.
Cause
Remedy
Acquisition velocity outside of allowed range of values
Check range of values for acquisition velocity (range of val‐
ues relates to encoder shaft or sensor head)
" Acquisition velocity " see Functional Description of firmware " Encoder Cor‐
rection "
C3501 - Attributes
Display:
Ident N°:
C3501
C3501
10.2.228 C3502 Motor encoder not available
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " P‑0‑0340, C3500 Command Deter‐
mine encoder correction values " an error was detected.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
493/619
Diagnostic Command Messages
Cause
Remedy
Motor encoder does not supply any signal or is not recog‐
nized by controller
Check whether signals of motor encoder are reaching con‐
troller. If necessary, replace motor encoder or motor encod‐
er cable
Motor encoder not available, not connected or not registered Connect motor encoder and register it in " P‑0‑0074, Encoder
( " open-loop " operation)
type 1 (motor encoder) "
C3502 - Attributes
Display:
Ident N°:
C3502
C3502
10.2.229 C3503 Optional encoder not available
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " P‑0‑0340, C3500 Command Deter‐
mine encoder correction values " an error was detected.
Cause
Remedy
Optional encoder does not supply any signal or is not recog‐ Check whether signals of optional encoder are reaching
nized by controller
controller. If necessary, replace encoder or encoder cable
Optional encoder not available, not connected or not regis‐
tered
C3503 - Attributes
Display:
Ident N°:
Connect optional encoder and register it in " P‑0‑0075, En‐
coder type 2 (optional encoder) "
C3503
C3503
10.2.230 C3504 Measuring encoder not available
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " P‑0‑0340, C3500 Command Deter‐
mine encoder correction values " an error was detected.
Cause
Remedy
Measuring encoder does not supply any signal or is not rec‐
ognized by controller
Check whether signals of measuring encoder are reaching
controller. If necessary, replace encoder or encoder cable
Measuring encoder not available, not connected or not reg‐
istered
Connect measuring encoder and register it in " P‑0‑0076, En‐
coder type 3 (measuring encoder) "
C3504 - Attributes
Display:
Ident N°:
C3504
C3504
494/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.231 C3505 No encoder selected
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " P‑0‑0340, C3500 Command Deter‐
mine encoder correction values " an error was detected.
Cause
Remedy
At start of command " P‑0‑0340, C3500 Command Deter‐
mine encoder correction values " there hadn't any encoder
been selected in " P‑0‑0341, Control word for encoder cor‐
rection "
Select encoder in " P‑0‑0341, Control word for encoder cor‐
rection "
C3505 - Attributes
Display:
Ident N°:
C3505
C3505
10.2.232 C3506 Correction value table cannot be stored
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
During the execution of the command " P‑0‑0340, C3500 Command Deter‐
mine encoder correction values " an error was detected.
Cause
Remedy
Determined correction value table ( " P‑0‑0342, Correction
value table for encoder correction " ) is incomplete
Execute command " P‑0‑0340, C3500 Command Determine
encoder correction values " again, select different acquisition
velocity
Due to hardware problem, determined correction value table Replace device
( " P‑0‑0342, Correction value table for encoder correction " )
cannot be stored in drive
C3506 - Attributes
Display:
Ident N°:
C3506
C3506
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
495/619
Diagnostic Command Messages
10.2.233 C3601 Motor not or not correctly connected
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the command " P‑0‑0565, C3600 Command Motor data identification "
is executed, measuring pulses are output to the motor. An error was detected
during the execution of the command.
Cause
Remedy
Motor not connected to drive controller
Connect motor
Motor not correctly connected to drive controller
Check and correct motor connection
Problem when connecting voltage DC bus
Check connection of voltage DC bus
See also Functional Description of firmware " Automatic Setting of Motor
Control "
C3601 - Attributes
Display:
Ident N°:
C3601
C3601
10.2.234 C3602 Determined values invalid
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When executing the command " P‑0‑0565, C3600 Command Motor data iden‐
tification " the determined values were detected to be invalid.
Cause
Remedy
Type plate data not entered correctly
Check values, correct them if necessary, then successively
calculate " C3200 Command Calculate data for asynchro‐
nous motor " and start " C3600 Command Motor data identifi‐
cation "
See also Functional Description of firmware " Automatic Setting of Motor Con‐
trol "
C3602 - Attributes
Display:
Ident N°:
C3602
C3602
496/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.235 C3603 Device current limit too low
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When executing the command " P‑0‑0565, C3600 Command Motor data iden‐
tification " the drive detected that the required measuring current couldn't be
generated.
Cause
Remedy
Controller cannot make sufficient measuring current availa‐
ble
If possible, reduce value in " P‑0‑0001, Switching frequency
of the power output stage "
‑ or ‑
use controller with higher type current
See also Functional Description of firmware " Automatic Setting of Motor Con‐
trol "
C3603 - Attributes
Display:
Ident N°:
C3603
C3603
10.2.236 C3604 Error when writing parameters (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When the command " P‑0‑0565, C3600 Command Motor data identification "
was executed, the writing of at least one of the calculated parameters caused
a limit error.
Cause
Remedy
Type plate data not entered correctly
Check values, correct them if necessary, then successively
start " C3200 Command Calculate data for asynchronous
motor " and " C3600 Command Motor data identification "
See also Functional Description of firmware " Automatic Setting of Motor Con‐
trol "
C3604 - Attributes
Display:
Ident N°:
C3604
C3604
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
497/619
Diagnostic Command Messages
10.2.237 C3605 Motor turning
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0565, C3600 Command Motor data identification " may
only be started when the motor is not moving. Motor motion is detected by
the possibly available motor encoder.
Cause
Remedy
Command C3600 had been started when motor was still
moving
Start command C3600 when motor in standstill
See also Functional Description of firmware " Automatic Setting of Motor Con‐
trol "
C3605 - Attributes
Display:
Ident N°:
C3605
C3605
10.2.238 C3606 Type of construction of motor not allowed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
While command " P‑0‑0565, C3600 Command Motor data identification " was
executed, an error occurred.
Cause
Remedy
Below MPx08:
Command C3600 was started for a synchronous motor
C3600 can be used for synchronous motors only as of firm‐
ware MPx08; if necessary, use " C4600 Command Calculate
motor control parameters " with a firmware below MPx08
Command C3600 was executed for a linear motor with op‐
tion " Motor shaft can move freely "
Select option " Motor shaft cannot move freely " from
IndraWorks dialog " Motor " (see also P‑0‑0601)
See also Functional Description of firmware " Automatic Setting of Motor
Control "
C3606 - Attributes
Display:
Ident N°:
C3606
C3606
498/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.239 C3607 Motor revolution/motion impeded
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
Command " P‑0‑0565, C3600 Command Motor data identification " was con‐
figured for a freely moving motor via " P‑0‑0601, Configuration motor data
identification " . It was aborted unsuccessfully because the motor could not be
put into motion.
Cause
Remedy
Motor jammed because it is coupled to an axis/load
Check and enable mobility
Motor is not connected in delta
Check three-phase motor connection
See also Functional Description of firmware " Automatic Setting of Motor
Control " or " Determining the Parameter Values of Third-Party Motors "
C3607 - Attributes
Display:
Ident N°:
C3607
C3607
10.2.240 C3608 Incorrect motor phases or rotational direction of encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
Command " P‑0‑0565, C3600 Command Motor data identification " was abor‐
ted unsuccessfully because there was no validity of motor and motor encod‐
er.
Cause
Remedy
2 motor phases interchanged
Exchange 2 motor phases
Sense of rotation of encoder is inverted as compared with
sense of rotation of motor
Change sense of rotation of encoder using appropriate bit in
" S‑0‑0277, Position feedback 1 type "
‑ or ‑
Exchange connection of encoder tracks.
NOTE:Also check the properties with regard to the sense of
rotation of the motor encoder gear if any is available.
See also Functional Description of firmware " Automatic Setting of Motor
Control " or " Determining the Parameter Values of Third-Party Motors "
C3608 - Attributes
Display:
Ident N°:
C3608
C3608
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
499/619
Diagnostic Command Messages
10.2.241 C3609 Incorrect number of pole pairs or number of encoder lines
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
Command " P‑0‑0565, C3600 Command Motor data identification " was abor‐
ted unsuccessfully because there was no validity of motor and motor encod‐
er.
Cause
Remedy
Value in " P‑0‑0018, Number of pole pairs/pole pair distance " Check values in " P‑0‑0018, Number of pole pairs/pole pair
and encoder lines (or resolution) entered in " S‑0‑0116,
distance " and " S‑0‑0116, Resolution of feedback 1 " , if nec‐
Resolution of feedback 1 " do not match.
essary also with regard to settings for motor encoder gear (if
any) ( " P‑0‑0121, Gear 1 motor-side (motor encoder) " /
" P‑0‑0122, Gear 1 encoder-side (motor encoder) " ).
See also Functional Description of firmware " Automatic Setting of Motor
Control " or " Determining the Parameter Values of Third-Party Motors "
C3609 - Attributes
Display:
Ident N°:
C3609
C3609
10.2.242 C3610 No encoder: Validation check impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
Command " P‑0‑0565, C3600 Command Motor data identification " was abor‐
ted because no encoder was detected.
Cause
Remedy
If not present, an encoder cannot be checked for validity of
its sense of rotation as compared to that of motor
There is no remedy for motors without encoder.
If the motor has an attached encoder, check proper connec‐
tion to controller. Then enter required values in P‑0‑0074
(motor encoder) and P‑0‑0077 (motor encoder interface)
See also Functional Description of firmware " Automatic Setting of Motor
Control " or " Determining the Parameter Values of Third-Party Motors "
C3610 - Attributes
Display:
Ident N°:
C3610
C3610
500/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.243 C3611 Test velocity not reached
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
Command " P‑0‑0565, C3600 Command Motor data identification " was abor‐
ted because required test speed (half the nominal motor speed) could not be
reached. The nominal speed related to the nominal voltage of the motor is
too high.
Cause
Remedy
If supply is unregulated [HMV (type " E " , feed), HCS]:
If possible, adjust line voltage until requirement is met. Ob‐
Nominal motor voltage and speed are too high as compared serve permitted line voltage range!
with line voltage (requirement: Umotor_nom & lt; 150% ULN).
‑ or ‑
Reduce nominal motor data until requirement is met. Ob‐
serve corresponding motor data (nominal speed, voltage,
power)!
If supply is regulated [HMV (type " R " , feedback)]:
Reduce nominal motor data until requirement is met. Ob‐
Nominal motor voltage and speed are too high as compared serve corresponding motor data (nominal speed, voltage,
with maximum output voltage of controller (requirement: Umo‐ power)!
tor_nom & lt; 100% DC voltage of DC bus).
Motor cannot follow drive-internal velocity command value.
Acceleration ramp is too steep!
Flatten acceleration ramp by reducing P-0-0569 accordingly;
ramp-up time should be at least 1 second.
If synchronous motors fail to start nevertheless: Additionally
increase value in P-0-0602!
See also Functional Description of firmware " Automatic Setting of Motor
Control " or " Determining the Parameter Values of Third-Party Motors "
C3611 - Attributes
Display:
Ident N°:
C3611
C3611
10.2.244 C3701 Error when manually unlocking the safety door
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " C3700 Manually unlocking the safety door " was not or incor‐
rectly executed.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
501/619
Diagnostic Command Messages
Cause
Remedy
Drive still is in normal operation, there hasn't been any safe‐
ty function activated yet
Clear command " C3700 Manually unlocking the safety
door " . Select safety function via mode selector. Execute
command again
‑ or ‑
Drive is not in operating mode
See also documentation
●
●
C3701 - Attributes
Up to MPx06: " Integrated Safety Technology "
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
C3701
C3701
10.2.245 C3901 Resurfacing of holding brake only possible with drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
It is impossible to execute the command " P‑0‑0544, C3900 Command Abra‐
sion of holding brake " .
Cause
Remedy
Command was activated without drive enable ( " AF " ) having
been set
Switch drive to " AF " , then start command " P‑0‑0544, C3900
Command Abrasion of holding brake "
See also Functional Description of firmware " Holding Brake "
C3901 - Attributes
Display:
Ident N°:
C3901
C3901
10.2.246 C3902 Error during resurfacing of holding brake
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The execution of the command " P‑0‑0544, C3900 Command Abrasion of
holding brake " was aborted by an error.
Cause
Remedy
Torque of amplifier is reduced
Remove reduction
Axis is mechanically blocked
Remove mechanical blocking
Axis is at end stop or runs towards it
Choose axis position such that sufficient motion is possible
502/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Resurfacing of brake is impossible, because motor gener‐
ates less torque than holding torque of brake
Check whether there are torque limitations active in drive or
whether controller has been sufficiently dimensioned
Sum of load due to weight and brake torque is greater than
motor peak torque
Reduce load due to weight, if possible
See also Functional Description of firmware " Holding Brake "
C3902 - Attributes
Display:
Ident N°:
C3902
C3902
10.2.247 C3903 Command execution impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P‑0‑0544, C3900 Command Holding brake resurfacing " could
not be started.
Cause
Remedy
Brake control has not been activated in parameter
" P‑0‑0525, Holding brake control word "
Activate brake control in parameter " P‑0‑0525, Holding
brake control word "
Value in " P‑0‑0540, Torque of holding brake " is " 0 "
Enter correct value for " P‑0‑0540, Torque of holding brake "
Velocity limit value is too low to resurface holding brake
Value greater than or equal to 100 min-1 or 100 mm/min
must be parameterized in S‑0‑0091
See also Functional Description of firmware " Holding Brake "
C3903 - Attributes
Display:
Ident N°:
C3903
C3903
10.2.248 C4001 Error during safe homing procedure
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑3228, C4000 Homing procedure
command channel 2 " an error occurred.
The command was not or incorrectly executed so that there is no
safe reference or position.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
503/619
Diagnostic Command Messages
Cause
Remedy
No home switch was configured for channel 2
Configure a home switch in " P‑0‑3211, Safety technology
I/O configuration list, channel 2 "
Actual position value difference between channel 1 and
channel 2 is greater than value entered in " P‑0‑3229,
Tolerance window for safe homing procedure "
Check parameter setting of " P‑0‑3229, Tolerance window for
safe homing procedure " and " P‑0‑3231, Reference position
for safe reference "
Failure on home switch input signal
Check wiring of home switch; check signal quality
In addition to troubleshooting, you have to reboot the drive; to do
this, switch control voltage off and then on again.
See also documentation
●
C4001 - Attributes
Up to MPx06: " Integrated Safety Technology "
●
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
C4001
C4001
10.2.249 C4002 Incorrect distance of dedicated point channel 1-2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
For encoders which without home switch do not have unequivocal reference
to the axis position, a check is run at the beginning of command " P‑0‑3228,
C4000 Homing procedure command channel 2 " to find out whether the dis‐
tance of the dedicated points of channel 1 and channel 2 is greater than the
tolerance window plus a tolerance of 10 percent:
S-0-0052
S-0-0054
S-0-0150
S-0-0151
P-0-3231
P-0-3229
Fig.10-5:
S-0-0052, Reference distance 1
S-0-0054, Reference distance 2
S-0-0150, Reference offset 1
S-0-0151, Reference offset 2
P-0-3231, Safety related reference position channel 2
P-0-3229, Tolerance window for safety related homing procedure
Checking the distance of dedicated points of channel 1 and channel 2
This check allows detecting failures which are simultaneously taking effect on
both reference inputs; incorrect position data reference can thereby be exclu‐
ded.
504/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Distance of dedicated points of channel 1 and channel 2 is
smaller than " P‑0‑3229, Tolerance window for safety related
homing procedure " (plus tolerance of 10 percent)
Check parameter setting and change it, if necessary
‑ or ‑
Mount home switch appropriately
Then execute " P‑0‑3228, C4000 Homing procedure com‐
mand channel 2 " again
C4002 - Attributes
Display:
Ident N°:
C4002
C4002
10.2.250 C4101 Switching only possible without AF
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0216, C4100 Switch parameter
set command " an error occurred.
Cause
Remedy
Parameter set switching with parameter group " encoder pa‐
rameters " was started although axis still is in " AF "
Remove drive enable ( " AF " ) before starting command
See also Functional Description of firmware " Parameter Set Switching "
C4101 - Attributes
Display:
Ident N°:
C4101
C4101
10.2.251 C4102 Switching only possible in parameter mode
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
" C4100 Switch parameter set command " couldn't be executed.
Cause
Remedy
Parameter set switching was activated in operating mode al‐ Bring drive to parameter mode (P2) before starting com‐
though parameter group " motor parameters " has been inclu‐ mand
ded in switching process
See also Functional Description of firmware " Parameter Set Switching "
C4102 - Attributes
Display:
Ident N°:
C4102
C4102
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
505/619
Diagnostic Command Messages
10.2.252 C4103 Preselect parameter set forbidden value
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
" C4100 Switch parameter set command " couldn't be executed.
Cause
Remedy
Value entered in parameter " S‑0‑0217, Preselect parameter Before starting " C4100 Switch parameter set command " , set
set command " is greater than value in " P‑0‑2217, Parameter value in " S‑0‑0217, Preselect parameter set command " to
set switching, preselection range "
valid value
See also Functional Description of firmware " Parameter Set Switching "
C4103 - Attributes
Display:
Ident N°:
C4103
C4103
10.2.253 C4104 Error during parameter set switching (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
" C4100 Switch parameter set command " could not be executed.
Cause
Remedy
A calculation error occurred during parameter set switching
IDN of parameter which caused error is displayed in
" S‑0‑0423, IDN-list of invalid data for parameterization
levels " . Write valid value to displayed parameter
See also Functional Description of firmware " Parameter Set Switching "
C4104 - Attributes
Display:
Ident N°:
C4104
C4104
10.2.254 C4201 Oscillation requires drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0190, C4200 Drive-controlled os‐
cillation command " an error was detected.
506/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
At start of command, drive wasn't yet ready for power output Before starting C4200 switch power on and set drive enable
See also Functional Description of firmware " Drive-Controlled Oscillation "
C4201 - Attributes
Display:
Ident N°:
C4201
C4201
10.2.255 C4202 Oscillation command speed cannot be reached
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
Five seconds after the start of " C4200 Drive-controlled oscillation command "
the deviation of the actual velocity value from the oscillation start speed still is
greater than or equal to the value of " S‑0‑0157, Velocity window " .
Cause
Remedy
Value of " S‑0‑0157, Velocity window " is zero
Set " S‑0‑0157, Velocity window " to valid value greater zero
Motor is blocked or speed is too low due to high degree of
friction
Check mechanical drive system for blocking or stiffness
See also Functional Description of firmware " Drive-Controlled Oscillation "
C4202 - Attributes
Display:
Ident N°:
C4202
C4202
10.2.256 C4302 Distance home switch - reference mark erroneous
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for NC-controlled homing (C4300) an
error was detected.
The axis is equipped with a home switch connected to the controller (see set‐
tings for home switch and reference mark in " S‑0‑0147, Homing parameter " ).
Cause
Remedy
Distance between home switch edge and next reference
mark determined by controller is not inside allowed range
Read value from parameter " S‑0‑0298, Reference cam shift "
and take it over to parameter " S‑0‑0299, Home switch off‐
set "
‑ or ‑
Shift reference cam by value of " S‑0‑0299, Home switch off‐
set "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
507/619
Diagnostic Command Messages
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C4302 - Attributes
Display:
Ident N°:
C4302
C4302
10.2.257 C4304 Homing impossible with absolute encoder
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for NC-controlled homing (C4300) an
error was detected:
NC-controlled homing is impossible with absolute measuring system.
C4304 - Attributes
Display:
Ident N°:
C4304
C4304
10.2.258 C4306 Reference mark not detected
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for NC-controlled homing (C4300) an
error with regard to the reference marks of the encoder was detected.
If the reference marks of the relative encoder to be homed (selected in
" S‑0‑0147, Homing parameter " ) occur cyclically over the travel range, the po‐
sition difference of the reference marks detected by the controller is moni‐
tored. This requires the correct setting for " P‑0‑0153, Optimum distance
home switch-reference mark " .
Cause
Remedy
Reference marks do not occur in expected position differ‐
ence
Check measuring system to be homed and corresponding
wiring
‑ or ‑
Check and, if necessary, correct setting of " P‑0‑0153, Opti‐
mum distance home switch-reference mark "
Value set in " P‑0‑0153, Optimum distance home switch-ref‐
erence mark " does not match encoder that is used
Correct setting of " P‑0‑0153, Optimum distance home
switch-reference mark "
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C4306 - Attributes
Display:
Ident N°:
C4306
C4306
508/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.259 C4307 Reference cam input not assigned
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑0146, C4300 NC-controlled hom‐
ing procedure command " an error was detected.
Cause
Remedy
Home switch hasn't been assigned to any digital input
Assign home switch ( " S‑0‑0400, Home switch " ) to a digital
input via parameter " P‑0‑0300, Digital I/Os, assignment list "
Home switch was connected to NC but " S‑0‑0147, Homing
parameter " was incorrectly parameterized
Correct setting of respective bit of " S‑0‑0147, Homing pa‐
rameter "
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C4307 - Attributes
Display:
Ident N°:
C4307
C4307
10.2.260 C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command for NC-controlled homing (C4300) an
error was detected:
Cause
Remedy
NC-controlled homing at positive stop or travel range limit
switch with modulo axes isn't a useful combination and
therefore not allowed!
Modify control information for homing in " S‑0‑0147, Homing
parameter " in a useful way
C4308 - Attributes
Display:
Ident N°:
C4308
C4308
10.2.261 C4601 Error when writing parameters (- & gt; S-0-0423)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
509/619
Diagnostic Command Messages
When the command " P‑0‑0566, C4600 Command Calculate motor control
parameters " was executed, the writing of at least one of the calculated pa‐
rameters caused a limit error.
Cause
Remedy
Motor data weren't correctly entered in motor parameters
Check values, correct them if necessary, then start " C4600
Command Calculate motor control parameters " again
Incorrect motor data
Check motor data, if necessary consult motor manufacturer.
After entering corrected values start " C4600 Command Cal‐
culate motor control parameters " again
See also Functional Description of firmware " Automatic Setting of Motor Con‐
trol "
C4601 - Attributes
Display:
Ident N°:
C4601
C4601
10.2.262 C4701 Drive active, activation of easy startup impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
The command " P‑0‑4085, C4700 Command Activate easy startup mode " was
started, but could not be executed.
Cause
Remedy
Drive had been active when command for activating " easy
startup " mode was started
Remove drive enable before starting command " P‑0‑4085,
C4700 Command Activate easy startup mode "
See also Functional Description of firmware " Initial Start in Easy Startup
Mode "
C4701 - Attributes
Display:
Ident N°:
C4701
C4701
10.2.263 C4801 Cogging torque compensation: Measuring vel. too high
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error occurred during the execution of the command " P‑0‑1138, C4800
Command Determine cogging torque compensation table " .
510/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
Cause
Remedy
Position command value characteristic preset by control
master has caused too high measuring velocity at motor
Check position command value characteristic of control master
and, if necessary, reduce time-related position command value
increase; take possibly existing gear ratio into account.
Note: Values in table 1 always refer to motor shaft!
C4801 - Attributes
Display:
Ident N°:
C4801
C4801
10.2.264 C4802 Cogging torque compensation: Measuring vel. too low
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error occurred during the execution of the command " P‑0‑1138, C4800
Command Determine cogging torque compensation table " .
Cause
Remedy
Position command value characteristic preset by control
master has caused too low measuring velocity at motor
Check position command value characteristic of control
master and, if necessary, increase time-related position
command value increase; take possibly existing gear ratio
into account.
Note: Values in table 1 always refer to motor shaft!
C4802 - Attributes
Display:
Ident N°:
C4802
C4802
10.2.265 C4803 Cogging torque compensation: Inadmissible acceleration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error occurred during the execution of the command " P‑0‑1138, C4800
Command Determine cogging torque compensation table " .
Cause
Remedy
Position command value characteristic preset by control
master has caused too high acceleration during measured
value detection for cogging torque/force compensation
Check position command value characteristic of control
master and, if necessary, change it in such a way that motor
moves with constant velocity in measured value detection
range (see " P‑0‑1133, Status word of cogging torque com‐
pensation " )
C4803 - Attributes
Display:
Ident N°:
C4803
C4803
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
511/619
Diagnostic Command Messages
10.2.266 C4804 Cogging torque comp.: Err. when storing corr. val table
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error occurred during the execution of the command " P‑0‑1138, C4800
Command Determine cogging torque compensation table " .
Cause
Remedy
Active non-volatile memory couldn't be addressed without
error
Restart " P‑0‑1138, C4800 Command Determine cogging tor‐
que compensation table " ; should error occur repeatedly,
please contact our service department
C4804 - Attributes
Display:
Ident N°:
C4804
C4804
10.2.267 C4805 Cogging torque comp.: Motor measuring system not homed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
An error occurred during the execution of the command " P‑0‑1138, C4800
Command Determine cogging torque compensation table " .
Cause
Remedy
Motor encoder (relative) of a rotary motor didn't yet have po‐ Before starting command " P‑0‑1138, C4800 Command De‐
sition data reference
termine cogging torque compensation table " , make motor
turn until reference mark of motor encoder is read
Motor encoder (relative) of a linear motor didn't yet have po‐
sition data reference
Before starting command " P‑0‑1138, C4800 Command De‐
termine cogging torque compensation table " , establish posi‐
tion data reference
See also Functional Description of firmware " Establishing Position Data Ref‐
erence for Relative Measuring Systems "
C4805 - Attributes
Display:
Ident N°:
C4805
C4805
512/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.268 C4901 PLC command error no. 1
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command " P‑0‑1449, C4900 PLC command " for controlling a PLC pro‐
gram was started.
Cause
Remedy
PLC program has generated " PLC command error no. 1 "
See program description of PLC program for how to react to
C4901
See also Application Manual " Rexroth IndraMotion MLD "
C4901 - Attributes
Display:
Ident N°:
C4901
C4901
10.2.269 C4902 PLC command error no. 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command " P‑0‑1449, C4900 PLC command " for controlling a PLC pro‐
gram was started.
Cause
Remedy
PLC program has generated " PLC command error no. 2 "
See program description of PLC program for how to react to
C4902
See also Application Manual " Rexroth IndraMotion MLD "
C4902 - Attributes
Display:
Ident N°:
C4902
C4902
10.2.270 C4903 PLC command error no. 3
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command " P‑0‑1449, C4900 PLC command " for controlling a PLC pro‐
gram was started.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
513/619
Diagnostic Command Messages
Cause
Remedy
PLC program has generated " PLC command error no. 3 "
See program description of PLC program for how to react to
C4903
See also Application Manual " Rexroth IndraMotion MLD "
C4903 - Attributes
Display:
Ident N°:
C4903
C4903
10.2.271 C4904 PLC command error no. 4
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command " P‑0‑1449, C4900 PLC command " for controlling a PLC pro‐
gram was started.
Cause
Remedy
PLC program has generated " PLC command error no. 4 "
See program description of PLC program for how to react to
C4904
See also Application Manual " Rexroth IndraMotion MLD "
C4904 - Attributes
Display:
Ident N°:
C4904
C4904
10.2.272 C4910 PLC command timeout
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command " P‑0‑1449, C4900 PLC command " for controlling a PLC pro‐
gram was started. The PLC did not acknowledge the command input.
Cause
Remedy
PLC program was not started
Start PLC program and then execute " P‑0‑1449, C4900 PLC
command " again
Loaded PLC program is not correct
Correct PLC program, load it and then execute " P‑0‑1449,
C4900 PLC command " again
See also Application Manual " Rexroth IndraMotion MLD "
C4910 - Attributes
Display:
Ident N°:
C4910
C4910
514/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.273 C5301 SERCOS III: Delay measurement failed
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " S‑0‑1024, C5300 SERCOS III: SYNC
delay measuring procedure command " an error occurred or the command
could not be started.
Cause
Remedy
Parameterization for execution of command is incomplete;
measurement cannot be started
Enter valid value in " S-0-1015, SERCOS III: Ring delay "
Measurement was unsuitable, because deviations in meas‐
ured values were too big
Repeat measurement
Measurement was unsuitable, because topology changed
during measuring process
Repeat measurement
C5301 - Attributes
Display:
Ident N°:
C5301
C5301
10.2.274 C5401 PLC program not ready for retain data backup
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4054, C5400 Command Save
PLC retain data on MMC " an error occurred.
Cause
Remedy
No PLC program has been loaded (cf. " P‑0‑1351, PLC sta‐
tus word " )
Check PLC programs (load them, if necessary) and then
start " P‑0‑4054, C5400 Command Save PLC retain data on
MMC "
The MMC is an optional component of the control section.
C5401 - Attributes
Display:
Ident N°:
C5401
C5401
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
515/619
Diagnostic Command Messages
10.2.275 C5402 Error when writing data to the MMC
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4054, C5400 Command Save
PLC retain data on MMC " an error occurred.
Cause
Remedy
MMC (MultiMediaCard) has not been plugged
Plug MMC into controller and then start " P‑0‑4054, C5400
Command Save PLC retain data on MMC "
MMC (MultiMediaCard) was not formatted correctly
Start command " P‑0‑4072, C2900 Command Firmware up‐
date from MMC " and then " P‑0‑4054, C5400 Command
Save PLC retain data on MMC "
The MMC is an optional component of the control section.
C5402 - Attributes
Display:
Ident N°:
C5402
C5402
10.2.276 C5501 PLC program not ready for loading retain data
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
While command " P‑0‑4055, C5500 Command Load PLC retain data from
MMC " was executed, an error occurred.
Cause
Remedy
No PLC boot project has been loaded (cf. " P‑0‑1351, PLC
status word " )
Command C55 can only be executed if PLC boot project
loaded is appropriate for retain data.
Check PLC boot project (load it, if necessary) and then start
" P‑0‑4055, C5500 Command Load PLC retain data from
MMC "
PLC program is still active (cf. " P‑0‑1351, PLC status word " )
Stop PLC program and then start " P‑0‑4055, C5500 Com‐
mand Load PLC retain data from MMC "
The MMC is an optional component of the control section.
C5501 - Attributes
Display:
Ident N°:
C5501
C5501
516/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.277 C5502 MMC not available or not OK
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4055, C5500 Command Load
PLC retain data from MMC " an error occurred.
Cause
Remedy
MMC (MultiMediaCard) has not been plugged
Plug MMC into controller and then start " P‑0‑4055, C5500
Command Load PLC retain data from MMC "
MMC (MultiMediaCard) was not formatted correctly
Start command " P‑0‑4072, C2900 Command Firmware up‐
date from MMC " and then " P‑0‑4055, C5500 Command
Load PLC retain data from MMC "
The MMC is an optional component of the control section.
C5502 - Attributes
Display:
Ident N°:
C5502
C5502
10.2.278 C5503 PLC retain data do not match PLC program
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4055, C5500 Command Load
PLC retain data from MMC " an error occurred.
Cause
Remedy
PLC retain data on MMC do not match currently running
PLC program (see " P‑0‑1360, PLC program identifier " )
Plug appropriate MMC into controller and then start
" P‑0‑4055, C5500 Command Load PLC retain data from
MMC "
‑ or ‑
Load appropriate PLC program and then start " P‑0‑4055,
C5500 Command Load PLC retain data from MMC "
The MMC is an optional component of the control section.
C5503 - Attributes
Display:
Ident N°:
C5503
C5503
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
517/619
Diagnostic Command Messages
10.2.279 C5504 Unknown format in PLC retain file
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4055, C5500 Command Load
PLC retain data from MMC " an error occurred.
Cause
Remedy
File " SPS-Retain.pbf " has unknown format
Load appropriate firmware to controller and then start
" P‑0‑4055, C5500 Command Load PLC retain data from
MMC "
The MMC is an optional component of the control section.
C5504 - Attributes
Display:
Ident N°:
C5504
C5504
10.2.280 C5505 Invalid PLC retain data
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑4055, C5500 Command Load
PLC retain data from MMC " an error occurred.
Cause
Remedy
Stored PLC retain data in file " SPS-Retain.pbf " are invalid
Again generate file " SPS-Retain.pbf " with " P‑0‑4054, C5400
Command Save PLC retain data on MMC " and then start
" P‑0‑4055, C5500 Command Load PLC retain data from
MMC "
The MMC is an optional component of the control section.
C5505 - Attributes
Display:
Ident N°:
C5505
C5505
518/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.281 C5601 Command requires drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " P‑0‑0518, C5600 Command subsequent optimi‐
zation of commutation offset " an error occurred.
Cause
Remedy
Command for subsequent optimization of commutation off‐
set setting was started, but drive is not in " AF "
Switch drive to " AF " and then restart command " P‑0‑0518,
C5600 Command subsequent optimization of commutation
offset "
See also Functional Description of firmware " Commutation Setting "
C5601 - Attributes
Display:
Ident N°:
C5601
C5601
10.2.282 C5602 Axis blocked
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " P‑0‑0518, C5600 Command subsequent optimi‐
zation of commutation offset " an error occurred.
Cause
Remedy
To successfully carry out command for subsequent optimi‐
zation of commutation offset setting, motor/axis must be
able to freely move by some degrees; this is not the case
Remove axis blocking and then restart command " P‑0‑0518,
C5600 Command subsequent optimization of commutation
offset "
See also Functional Description of firmware " Commutation Setting "
C5602 - Attributes
Display:
Ident N°:
C5602
C5602
10.2.283 C5603 Timeout: Axis in motion
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
519/619
Diagnostic Command Messages
During the execution of the command " P‑0‑0518, C5600 Command subse‐
quent optimization of commutation offset " , the axis must have stopped or af‐
ter motion triggered by the execution of the command, the axis must come to
standstill again. If this is impossible, the command is aborted.
Cause
Remedy
External motion mechanically coupled
Remove external motion; uncouple motor, if necessary
Axis has very long post-pulse oscillation
Reduce oscillation time of axis, generate slight additional
friction at axis, if necessary
See also Functional Description of firmware " Commutation Setting "
C5603 - Attributes
Display:
Ident N°:
C5603
C5603
10.2.284 C5801 Command Apply redundant holding brake not possible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The execution of the command " P‑0‑3313, C5800 Command Apply redun‐
dant holding brake " was aborted by an error.
Cause
Remedy
Channel 2 of safety technology prevented redundant holding Parameterize channel 2 of safety technology in such a way
brake from applying
that execution of command " P‑0‑3313, C5800 Command
Apply redundant holding brake " is allowed
C5801 - Attributes
Display:
Ident N°:
C5801
C5801
10.2.285 C5901 Comm. Resurfacing of red. holding brake only possible AF
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Executing command " P‑0‑3314, C5900 Command Resurfacing of redundant
holding brake " is impossible.
Cause
Remedy
Command " P‑0‑3314, C5900 Command Resurfacing of re‐
dundant holding brake " was activated without drive enable
( " AF " ) having been set
Clear command error, switch drive to " AF " and then start
command " P‑0‑3314, C5900 Command Resurfacing of re‐
dundant holding brake "
See also Functional Description of firmware " Motor Holding Brake "
520/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
C5901 - Attributes
Display:
Ident N°:
C5901
C5901
10.2.286 C5902 Error when resurfacing redundant holding brake
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The execution of the command " P‑0‑3314, C5900 Command Resurfacing of
redundant holding brake " was aborted by an error.
Cause
Remedy
Torque of amplifier is reduced
Remove reduction
Axis is mechanically blocked
Remove mechanical blocking
Axis is at end stop or runs towards it
Choose axis position such that sufficient motion is possible
Resurfacing of brake is impossible because motor generates Check whether there are torque limitations active in drive or
less torque than holding torque of brake
whether controller has been sufficiently dimensioned
Sum of load due to weight and brake torque is greater than
motor peak torque
Reduce load due to weight, if possible
See also Functional Description of firmware " Motor Holding Brake "
C5902 - Attributes
Display:
Ident N°:
C5902
C5902
10.2.287 C5903 Command execution impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
It is impossible to execute the command " P‑0‑3314, C5900 Command
Resurfacing of redundant holding brake " .
Cause
Remedy
Brake control has not been activated
Activate brake control in parameter is " P‑0‑3300, Redundant
holding brake: Configuration "
A form-fitting holding brake is configured
Command " P‑0-3314, C5900 Command Resurfacing of
redundant holding brake " can only be executed with frictionfitting holding brakes.
Safety technology prevents command from being executed
because drive is in special mode
Switch to normal operation
See also Functional Description of firmware " Motor Holding Brake "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
521/619
Diagnostic Command Messages
C5903 - Attributes
Display:
Ident N°:
C5903
C5903
10.2.288 C6001 Measuring system unavailable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " Set absolute measuring " command (C6000) the
measuring system selected by parameter " S‑0‑0448, Control word for setting
absolute measuring " was detected to be unavailable.
Cause
Remedy
Command was activated by mistake
Prevent command from being activated
Measuring system has not been parameterized
Parameterize measuring system
See also Functional Description of firmware " Establishing the Position Data
Reference "
C6001 - Attributes
Display:
Ident N°:
C6001
C6001
10.2.289 C6002 Absolute evaluation of measuring system impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the " Set absolute measuring " command (C6000) it
was detected that absolute evaluation of the selected measuring system is
impossible.
The command " set absolute measuring " can only be executed,
when an absolute measuring system is available (see " S‑0‑0277,
Position feedback 1 type " or " S‑0‑0115, Position feedback 2
type " ).
Cause
Remedy
Command was activated by mistake
Prevent command from being activated
Motor encoder or optional measuring system have not been
designed as absolute encoders
Equip motor or optional measuring system with absolute en‐
coder function
See also Functional Description of firmware " Establishing the Position Data
Reference "
C6002 - Attributes
Display:
Ident N°:
C6002
C6002
522/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.290 C6003 Absolute encoder offset cannot be saved
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
When executing the command for setting absolute measuring (C6000) the
offset of the encoder zero point with regard to the machine zero point is de‐
termined and stored in the data memory of the encoder. It was impossible to
store the offset correctly.
Cause
Remedy
Communication between encoder and drive is disturbed
Check encoder cable and repair it, if necessary
‑ or ‑
Replace encoder
C6003 - Attributes
Display:
Ident N°:
C6003
C6003
10.2.291 C6004 Command cannot be executed under drive enable
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
Cause
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
Remedy
Command " C6000 Command Set absolute measuring " was Reset drive enable, then clear command error and restart
started with drive enable having been activated; in first stage command " C6000 Command Set absolute measuring "
of expansion of function " set absolute measuring " according
to SERCOS specification, this is not supported
C6004 - Attributes
Display:
Ident N°:
C6004
C6004
10.2.292 C6101 Incorrect IP settings
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
During the execution of the command " P‑0‑1534, C6100 Command Activate
IP settings " , the settings made by the user are checked.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
523/619
Diagnostic Command Messages
Cause
Remedy
Settings for IP address, network mask and gateway address Correct changed settings of IP communication for concerned
for one or several interfaces do not match
interfaces and execute command " P‑0‑1534, C6100 Com‐
mand Activate IP settings " again
C6101 - Attributes
Display:
Ident N°:
C6101
C6101
10.2.293 C6201 Command execution impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«MPB»
«MPB»
«MPB»
«MPB»
«-»
«-»
«-»
«-»
«MPH»
«MPH»
«MPH»
«MPH»
«-»
«-»
«-»
«MPD»
«MPD»
«MPD»
«MPD»
«MPC»
«MPC»
«MPC»
The command " P-0-3315, C6200 Comm. Enabling SM without valid brake
status " was started. One or several prerequisites of the command have not
been met.
Cause
Remedy
Command had already been started since last " control volt‐
age ON " , but it may only be started once after " control volt‐
age ON "
Switch control voltage of axis off and then on again.
Command was started, although safe braking and holding
system had not been parameterized
Parameterize safety function " Safe braking and holding sys‐
tem "
Command was started, although command execution had
not been enabled
Enable command in P-0-3300.
Command " C2100 Command Holding system check " is ac‐
tive, this is not allowed
Terminate command " C2100 Command Holding system
check "
Then restart command
Then restart command
Command was started, although brake status of motor brake Command execution is only allowed with invalid brake status
and/or redundant holding brake is still valid
(see P-0-0539)
When using the optional module " safety technology I/O " (S1) (up
to MPx06) or " Safe Motion " (S2) (as of MPx07), you can, in addi‐
tion to the error message, obtain detailed information with regard
to the cause of the error or the error location. For this purpose,
evaluate the parameter " P-0-3219, Diagnostic safety technology
message " .
Up to MPx06: See " Extended Diagnosis (P-0-3219) " .
As of MPx07: See " Extended Diagnosis (P-0-3219) as of MPx07 " .
See also documentation
●
●
C6201 - Attributes
Up to MPx06: " Integrated Safety Technology "
As of MPx07: " Integrated Safety Technology According to IEC61508 "
Display:
Ident N°:
C6201
C6201
524/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.294 C6401 reboot command impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«MPB»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«MPD»
«-»
«-»
«MPC»
While command " S‑0‑1350, C6400 reboot command " was executed, an error
occurred.
Cause
Remedy
At least one axis of multi-axis device fails to be in " PM "
1. Reset command
2. Switch all axes of multi-axis device to " PM "
3. Restart command
C6401 - Attributes
Display:
Ident N°:
C6401
C6401
10.2.295 C6501 Error when writing backup data (backup memory)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command C6500, an error occurred when the
backup data had been written to the MultiMediaCard (MMC).
The parameter backup is incomplete or faulty!
See the file " Backup.log " for the parameters which were success‐
fully backed up and for the parameters with which an error occur‐
red during backup; " Backup.log " is contained in the directory
" User/Backup " on the MMC.
Cause
Remedy
Not enough available memory space on MMC
Use MMC with more memory space or delete unrequired
files from MMC, then execute command C6500 again
MMC was not or not correctly formatted
Format MMC and execute command C6500 again.
Notes:
Directory " user " must exist on MMC.
When MMC is formatted, all data stored on MMC are lost.
MMC has not (or not completely) been plugged in MMC slot
provided for this purpose
Plug MMC in controller and execute command C6500 again
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
525/619
Diagnostic Command Messages
Cause
Remedy
MMC is defective
Check MMC and execute command C6500 again
If diagnostic message is displayed repeatedly: Replace
MMC
MMC slot in control section is defective
Check MMC slot and, if necessary, replace control section
or entire drive controller
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
See also Functional Description of firmware " MultiMediaCard (MMC) "
C6501 - Attributes
Display:
Ident N°:
C6501
C6501
10.2.296 C6502 Error when reading backup data (device)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command C6500, an error occurred when a pa‐
rameter in the active, non-volatile memory of the drive controller or a CCD
slave had been read.
The parameter backup is incomplete or faulty!
See the file " user/Backup/Backup.log " for the parameters which
were successfully backed up and for the parameters with which
an error occurred.
Cause
Remedy
Incorrect parameter access to a CCD slave
Check cross communication (CCD) and execute command
C6500 again
C6502 - Attributes
Display:
Ident N°:
C6502
C6502
526/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.297 C6503 Error when checking backup data (comparison)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
The command C6500 was terminated with error. The comparative data are
different.
To verify the backup parameters, the comparative data at the beginning of
backup are compared to the comparative data upon completed backup.
These data must be identical. Otherwise, the value of one or several parame‐
ters changed while the command had been active.
The parameter backup might possibly be inconsistent!
Cause
Remedy
Write access to one or several parameters during backup
procedure
Execute command C6500 again
The comparative value S-0-0531 temporarily changes with PLC
program active, because the PLC program is stopped while the
command C6500 is active.
C6503 - Attributes
Display:
Ident N°:
C6503
C6503
10.2.298 C6601 Error when reading backup data (backup memory)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command C6600, an error occurred when the
backup data had been read on the MultiMediaCard (MMC).
The restored parameters are incomplete or faulty!
See the file " user/Backup/Backup.log " for the parameters which
were successfully restored and for the parameters with which an
error occurred, or after which parameter the error occurred.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
527/619
Diagnostic Command Messages
Cause
Remedy
A parameter file is faulty
Check parameter files.
Error occurs with manually created or modified parameter
files, or in the case of incorrect transmission of parameter
file to MMC
A required parameter file is not available or was incorrectly
named
Check whether all files generated by command C6500 are
available
File with comparative data is faulty or not available
Generate backup data again: Execute command C6500
An error occurred when a file in directory " user/Update " had
been read
Check file in directory " user/Update "
MMC is defective
Check MMC and execute command C6600 again.
If diagnostic message is displayed repeatedly: Replace
MMC
MMC slot in control section is defective
Check MMC slot and, if necessary, replace control section
or entire drive controller
MMC was not or not correctly formatted
Format MMC and generate backup data again: Execute
command C6500. Directory " user " must have been created
on MMC
MMC has not (or not completely) been plugged in MMC slot
provided for this purpose
Plug MMC in controller and execute command C6600 again
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
Before replacing or formatting the MMC, save the stored data to
avoid data loss.
See also Functional Description of firmware " MultiMediaCard (MMC) "
C6601 - Attributes
Display:
Ident N°:
C6601
C6601
10.2.299 C6602 Error when writing backup data (device)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command C6600, an error occurred when a pa‐
rameter had been written to the active, non-volatile memory of the drive con‐
troller or a CCD slave.
The restored parameters are incomplete or faulty!
528/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
See the file " user/Backup/Backup.log " for the parameters which
were successfully restored and for the parameters with which an
error occurred, or after which parameter the error occurred.
Cause
Remedy
Incorrect access to parameter of a CCD slave
Check cross communication (CCD) and execute command
C6600 again
Error when starting or stopping command C2200 or C2900
Check cross communication (CCD) and execute command
C6600 again
An error occurred when a file from directory " user/Update "
had been copied
Check available memory space on MMC
C6602 - Attributes
Display:
Ident N°:
C6602
C6602
10.2.300 C6603 Error when writing comparative data (backup memory)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command C6600, an error occurred when the
comparative data had been written to the MultiMediaCard (MMC).
The restored parameters are basically complete! However, it was
impossible to update the comparative data on the MMC; this cau‐
ses parameters to be unnecessarily restored when the command
is called again.
See the file " user/Backup/Backup.log " for the parameters which
were restored.
Cause
Remedy
File with comparative data could not be written
Check available memory space on MMC and execute com‐
mand C6600 again
MMC is defective
Check MMC and execute command C6600 again.
If diagnostic message is displayed repeatedly: Replace
MMC
MMC slot in control section is defective
Check MMC slot and, if necessary, replace control section
or entire drive controller
MMC was not or not correctly formatted
Format MMC and generate backup data again: Execute
command C6500. Directory " user " must have been created
on MMC
MMC has not (or not completely) been plugged in MMC slot
provided for this purpose
Plug MMC in controller and execute command C6600 again
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
529/619
Diagnostic Command Messages
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
Before replacing or formatting the MMC, save the stored data to
avoid data loss.
See also Functional Description of firmware " MultiMediaCard (MMC) "
C6603 - Attributes
Display:
Ident N°:
C6603
C6603
10.2.301 C6604 Error when reading comparative data (device)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
While command C6600 was executed, an error occurred in the drive control‐
ler or in a CCD slave when the comparative data was read.
The restored parameters are basically complete! However, it was
impossible to update the comparative data on the MMC; this cau‐
ses parameters to be unnecessarily restored when the command
is called again.
Cause
Remedy
Incorrect parameter access to a CCD slave
Check cross communication (CCD) and execute command
C6600 again
C6604 - Attributes
Display:
Ident N°:
C6604
C6604
10.2.302 C6605 Warning, restoration incomplete (device)
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
During the execution of the command C6600, one or several parameters
could not be restored in the active, non-volatile memory of the drive controller
or a CCD slave.
530/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
The restored parameters are incomplete. No technical error oc‐
curred! Individual values of the parameters to be restored were
not allowed, individual parameters were unknown in the firmware,
or an integrated update of the firmware to be carried out was ter‐
minated with error.
See the file " user/Backup/Backup.log " for the parameters which
were not restored.
Cause
Remedy
One or several parameters are unknown in firmware of drive If update of firmware was carried out in special case update,
controller or CCD slave
command C6600 should be executed again.
Otherwise: Check parameter files for parameters which are
unknown or cannot be written.
One or several values in parameter files are not allowed
(limit ranges, list size)
Check parameter files. Actually, error can only be caused by
manually created or modified parameter files, or be due to
incorrect transmission to MMC In exceptional cases, when
firmware versions of backup firmware and restoring firmware
are different, changes in parameter definitions can make in‐
dividual parameter values become invalid.
Firmware update:
Check available memory space on local MMC of faulty drive
C6605 - Attributes
Display:
Ident N°:
C6605
C6605
10.2.303 C7001 CCD: Impossible to adjust slave addresses
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPH»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
While command " S‑0‑1635, C7000 CCD: Command Adjust slave addresses "
was executed, an error occurred.
Cause
Remedy
During execution of command C7000 and within the scope
of remote address assignment, an attempt is made to write
corresponding addresses of CCD slaves ( " S-0-1040, Drive
address of master communication " ) such as parameterized
in " P-0-1636, CCD: Command topology " . This is impossible,
as CCD slaves are not in phase 2.
Put CCD slaves to phase 2:
For example, switch CCD master to parameterization mode
‑ or ‑
As of MPx07: Execute command C7400
See also Functional Description of firmware " Cross Communication (CCD) "
C7001 - Attributes
Display:
Ident N°:
C7001
C7001
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
531/619
Diagnostic Command Messages
10.2.304 C7101 CCD: Impossible to close ring
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
«MPC»
«MPC»
While command " P-0-1620.0.21, CCD: Command Close ring " (C7100) was
executed, an error occurred.
Cause
Remedy
CCD group is not in SERCOS phase 4
Switch CCD group to SERCOS phase 4
Double ring is already existing (command execution was un‐ necessary)
There is not connection between last slaves of lines
Check connection between last slaves of lines (green link
LED).
New ring delay could not be transferred to slave(s)
Restart command
For removing command errors see " Command Errors "
See also Functional Description of firmware " Cross Communication (CCD) "
C7101 - Attributes
Display:
Ident N°:
C7101
C7101
10.2.305 C7201 CCD: Impossible to apply I/O configuration
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
While the command for applying the CCD I/O configuration (P‑0‑1620.0.31,
C7200 CCD: Command Apply I/O configuration) was executed, an error oc‐
curred; the CCD I/O configuration cannot be applied.
Cause
Remedy
CCD group is not in SERCOS phase 2
Switch CCD group to SERCOS phase 2 using command
" P‑0‑1620.0.5, C7400 CCD: Switching to phase 2 "
See also Functional Description of firmware " Cross Communication (CCD) "
C7201 - Attributes
Display:
Ident N°:
C7201
C7201
532/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Diagnostic Command Messages
10.2.306 C7401 CCD: Impossible to switch to phase 2
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
While the command for switching to CCD phase 2 (P‑0‑1620.0.5, C7400
CCD: Switching to phase 2) was executed, an error occurred; switching to
CCD phase 2 is not possible.
Cause
Remedy
Projected slaves were not detected in CCD phase 0
Observe note in P-0-1630 of CCD master. Check slave con‐
figuration or connected slaves.
Master does not receive its transmitted telegrams
Check SERCOS III wiring
Switching to CCD phase 1 was not possible
Observe note in P-0-1630 of CCD master
Switching to CCD phase 2 was not possible
Observe note in P-0-1630 of CCD master
See also Functional Description of firmware " Cross Communication (CCD) "
C7401 - Attributes
Display:
Ident N°:
C7401
C7401
10.2.307 C7501 CCD: Impossible to switch to phase 4
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
While the command for switching to CCD phase 4 (P‑0‑1620.0.6, C7500
CCD: Switching to phase 4) was executed, an error occurred; switching to
CCD phase 4 is not possible.
Cause
Remedy
Error occurred in timing calculation of CCD master. Maybe,
SERCOS timing cannot be set due to number of slaves or
selected CCD modes.
Observe note in P-0-1630 of CCD master
An error occurred while telegram structure was checked.
Maybe, it is not possible to transfer desired parameter cycli‐
cally or combine them in master-slave lists
Observe note in P-0-1630 of CCD master
Error in switching command " S‑0‑0127, C0100
Communication phase 3 transition check " of slaves
Observe note in S-0-0021 of faulty slave
Error in switching command " S‑0‑0128, C5200
Communication phase 4 transition check " of slaves
Observe note in S-0-0022 of faulty slave
See also Functional Description of firmware " Cross Communication (CCD) "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
533/619
Diagnostic Command Messages
C7501 - Attributes
Display:
Ident N°:
C7501
C7501
10.2.308 C7601 Memory access impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«MPC»
While command " C7600 Command Create parameter image " was executed,
an error occurred; write access to external memory is not possible.
Cause
Remedy
External memory not plugged or plugged incorrectly
Check whether external memory is plugged correctly
External memory defective
Replace external memory
Slot of external memory defective
Check slot and replace drive controller/control section if nec‐
essary
Write access to external memory denied
Check for simultaneously running actions (e.g., commands
also writing to external memory) and deactivate them if nec‐
essary
C7601 - Attributes
Display:
Ident N°:
C7601
C7601
10.2.309 C7602 Slave access impossible
Allocation
Contained in 02VRS:
Contained in 03VRS:
Contained in 04VRS:
Contained in 05VRS:
Contained in 06VRS:
Contained in 07VRS:
Contained in 08VRS:
Supported by supply unit:
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
«-»
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«-»
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«-»
«MPC»
While command " C7600 Command Create parameter image " was executed,
an error occurred.
A slave connected in the CCD group cannot be accessed via the SERCOS
service channel.
Cause
Remedy
CCD group configured incorrectly
Check configuration
Ethernet cable between modules is missing or interrupted
Check cable; replace if necessary
See also Functional Description of firmware " Cross Communication (CCD) "
C7602 - Attributes
Display:
Ident N°:
C7602
C7602
534/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
535/619
Extended Diagnosis (P-0-3219)
11
Extended Diagnosis (P-0-3219)
11.1
Displays C0254 to C0265
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
53
C0254
PROFIsafe is not allowed in conjunction with this firmware
213
PROFIsafe configuration error: PROFIsafe was activated by P-0-3290 unequal zero.
The precondition for this, however, is missing, as there is no PROFIBUS master
communication available
596
C0255
Validation check with regard to parameterization " deceleration in the case of error
reaction " :
Parameterization in parameters P-0-0119, P-0-0117 and P-0-3210 (bit 9) is not al‐
lowed
600
No measuring system connected to connector X4
33, 43
Encoder type is not supported by channel 2
536/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
216
420
Configuration of a safety function that has not been released (safety related braking
and holding system)
421
Configuration of " safety related braking and holding system " (P-0-3300, bit0=1) with
main spindle brake (P-0-0525, bit1=1) is not allowed
422
Configuration of " safety related braking and holding system " (P-0-3300, bit0=1) and
" best possible deceleration with torque disable " is not allowed
423
Configuration of " safety related braking and holding system " (P-0-3300, bit0=1) and
reaction " torque disable in the case of F7 errors " (P-0-3210, bit9=1) is not allowed
424
Configuration of a safety function that has not been released (safety related I/Os)
425
Configuration of a safety function that has not been released (safety related limited
absolute end position)
426
Configuration error: " Safety related braking and holding system " requires motor
holding brake (P-0-0525, bit 2)
428
Configuration of " safety related braking and holding system " (P-0-3300, bit0=1) and
" best possible deceleration with return motion " is not allowed
435
Configuration error: " Safety related braking and holding system " mustn't be operated
with " self-releasing holding brake " (P-0-0525)!
436
C0256
Configuration error: " Safety related limited absolute position " or " safety related limi‐
ted absolute end position " was configured, but the required homing encoder has not
been connected to X4.x
Configuration error: P-0-3307 mustn't be smaller than S-0-0207
437
Configuration error: " NC or MLD error reaction " (P-0-0117) is not allowed together
with " safety related braking and holding system " !
438
Configuration error: " Safety related monitored deceleration " (P-0-3210, bit 13)
mustn't be deselected!
440
Configuration error: Signal " HAT-Steuer " (P-0-3301, bit 0) is missing or has been
configured twice (P-0-0300)
532
Configuration error: F7 error reaction not consistent P-0-3210=velocity command
value reset and P-0-0119=torque-free.
590
Configuration error: Contradictory direction of motion (involved parameters:
P-0-3239, P-0-3240, P-0-3250, P-0-3260 or P-0-3270)
591
Configuration error: " Gear independence with safety technology encoder mounted
on the load side " is only allowed with rotary, load-related scaling for position, veloci‐
ty and acceleration data (see P-0-3210, S-0-0044, S-0-0076, S-0-0160)
592
Configuration error: " Gear independence with safety technology encoder mounted
on the load side " and " safety related braking and holding system " are not allowed
simultaneously (see P-0-3210, P-0-3300)
593
Configuration error: " Gear independence with safety technology encoder mounted
on the load side " and " safety related limited absolute position " or " gear independ‐
ence with safety technology encoder mounted on the load side " and " safety related
limited absolute end position " are not allowed (see P-0-3210, P-0-3239, P-0-3240,
P-0-3250)
594
Configuration error: " Gear independence with safety technology encoder mounted
on the load side " with motor encoder as safety technology encoder (X4) is not al‐
lowed
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
537/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
C0257
48
No motor encoder or external encoder plugged at optional slot X4
C0265
214
Safety technology configuration error: " Safety related limited absolute position " and
" motor-related scaling " have been configured
11.2
Displays C0723 to C2109
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
C0723
102
" C07_02 load defaults procedure for safety technology " presently cannot be execu‐
ted, as channel 2 is still busy with execution of another safety technology command
1569
Safety related brake check: Determined load due to weight greater than 1.3 *
" P-0-3303, Safety related holding system: Nominal load "
1548, 1549,
1550
Safety related brake check: Test point holding torque of motor holding brake incor‐
rectly carried out in positive direction
1553. 1554,
1555
Safety related brake check: Test point holding torque of motor holding brake incor‐
rectly carried out in negative direction
C2103
510
507, 509
Safety related brake check: Redundant holding brake not released
508, 514
Safety related brake check: Motor brake not controlled
630
C2104
Safety related brake check: Motor brake controlled
Command execution of command C2100 is not allowed, because command C6200
is active
1569
1558, 1559,
1560
C2107
Safety related brake check: Determined load due to weight greater than 1.3 *
" P-0-3303, Safety related holding system: Nominal load "
Safety related brake check: Test point holding torque of redundant holding brake in‐
correctly carried out in positive direction
1563, 1564,
1565
Safety related brake check: Test point holding torque of redundant holding brake in‐
correctly carried out in negative direction
506
Safety related brake check: When the force due to weight is determined, motion is
expected when the brakes have been released. The drive did not move. In spite of
control, a brake does not release
511
Safety related brake check: Redundant holding brake not released
512
Safety related brake check: Motor brake controlled
514
Safety related brake check: Motor brake not controlled
538/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
1541
1541
Safety related brake check: Channel 1 signals successful, see error message of
channel 2
1543
Brake check: Command C2100 is not allowed with selection " safety related opera‐
tion "
1543
Safety related brake check: Command C2100 is not allowed with selection " safety
related operation "
1545
C2108
Safety related brake check: Channel 1 error-free, see error code channel 2
Safety related brake check: Axis did not move [or less than half the monitoring win‐
dow ( " P-0-3310 " / 2)]
1546
Safety related brake check: Starting torque exceeded (P-0-0545 or P-0-0540 & lt;
P-0-0546)
Safety related brake check: Starting torque exceeded,
1546
P-0-0546 & gt; P-0-0545 (or P-0-0540, when P-0-0545=0)
1542, 1544
" Safety related brake check " error
Safety related brake check:
1545, 1547
- Axis did not move ( & lt; P-0-3310/2) or
- Axis moved too far ( & gt; P-0-3310*2)
507
508
C2109
11.3
Safety related brake check: Redundant holding brake not released
Safety related brake check: Motor brake not controlled
1551, 1556,
582, 583
1561, 1566
Safety related brake check: Incorrect torque normalization
●
Replacement of motor (P-0-3304 ↔ P-0-0051)
●
Incorrect current measurement (P-0-0043)
Displays C4001, C4002 and C6201
If an error code is not contained in the documentation, please contact our
service department.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
539/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Channel 2 signals error for internal command " homing procedure channel 2 "
Cause: P-0-3280 deviates by more than one internal measuring-system-dependent
threshold from S-0-0051/S-0-0053 or no homing input channel 2 configured in
P‑0‑3211
1086
153
Command " safety related homing procedure " executed. Actual position value differ‐
ence between channel 1 and channel 2 is greater than parameterized in P-0-3229
163
C4002
Command " safety related homing procedure " was started. But no reference input at
channel 2 was configured in parameter P-0-3211
157
C4001
Command " safety related homing procedure " was started. The actual position value
systems of channel 1 and channel 2 were not synchronized before, this is automati‐
cally carried out in the transition command from 3 to 4
Incorrect distance of dedicated points of channel 1 and 2
1087
[S-0-0052/54 - S-0-0150/151 - P-0-3231] & gt; P-0-3229*1.1
1492
Channel 2 signals command not executable
1493
1494
628
Command may only be started once after control voltage ON.
626
Command execution not allowed with active brake check (C2100).
1496
11.4
Command not executable, because it has not been enabled (P-0-3300) or safety re‐
lated braking and holding system has not been parameterized.
1495
C6201
625, 629
627
Command execution only allowed with invalid brake status.
Displays Exxx, E3107 and E3115
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Exxx
1xxx
In the case of warning on channel 1, 1000 is added to the error code
E3107
1311
Safety related reference is missing for monitoring in the case of " safety related limi‐
ted absolute end position "
Monitoring of time interval brake check
E3115
415, 417
E3115
1416, 1418
11.5
254
Cause: Drive had been in " AF " for 15 minutes and brake check hasn't been carried
out yet or the time defined in P-0-3302 was exceeded
Safety related braking and holding system: " Prewarning, end of brake check time in‐
terval "
Displays F3112 to F3135
If an error code is not contained in the documentation, please contact our
service department.
540/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
" Special mode safety related motion " selected with " safety related limited absolute
position " without channel 2 having been homed
191
Safety related reference is missing for monitoring in the case of " safety related limi‐
ted absolute end position "
" Special mode safety related motion 1 " selected with " safety related limited absolute
position " without channel 2 having been homed
156
" Special mode safety related motion 2 " selected with " safety related limited absolute
position " without channel 2 having been homed
283, 284
F3112
179, 271
155
312
Missing safety related reference for monitoring of " safety related limited absolute po‐
sition " in " special mode safety related motion "
Monitoring of time interval brake check:
F3115
415, 417
254
Cause: Drive had been in " AF " for 15 minutes and brake check hasn't been carried
out yet or the time defined in P-0-3302 was exceeded
F3116
439
256
Monitoring of actual load torque: Nominal load torque of holding system exceeded
Validation error of actual position values channel 1 and 2 (in the case of safety rela‐
ted reference)
192
F3117
154
158
Actual position value difference between channel 1 and channel 2 greater than de‐
termined internal measuring-system-dependent threshold
With the configuration " reference input channel 2 with static signal " , 24V were meas‐
ured at the reference input outside of the tolerance window P-0-3231 +/- P-0-3229.
Cause: Possibly short circuit to 24V.
219
Command " apply redundant holding brake " was started. Brake could not be applied
within 50 ms (diagnostic input at channel 2 (X41) at 24V)
221
The internal command " release redundant holding system " was started. Brake could
not be released within 50 ms (diagnostic input at channel 2 (X41) at 0V)
223
During the command " resurfacing of redundant holding brake " , the redundant hold‐
ing system is applied. The brake, however, could not be applied within 200 ms (di‐
agnostic input at channel 2 (X41) at 24V)
224
During the command " resurfacing of redundant holding brake " , the redundant hold‐
ing system is released. The brake, however, could not be released within 200 ms
(diagnostic input at channel 2 (X41) at 0V)
F3122
Safety related braking and holding system:
Feedback signal from control module (HAT) is 0V
505
Cause: Missing connection between control module (HAT) and diagnostic input at
connector X41 (HSI11) or
Error in control module (HAT)
Safety related braking and holding system:
Error in feedback signal of control module (HAT)
532
Cause: Brake applied: Line interrupted, short circuit to 0V or error message of con‐
trol module (HAT) or
Brake released: Short circuit to 24V
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
541/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
432
518, 519, Safety related braking and holding system:
556
No valid brake check status during transition to special mode
F3123
Safety related braking and holding system:
533, 534
23
Not all input signals of channel 1 are at low level during dynamization pulse
26
F3130
No valid brake check status during transition from parameter mode to operating
mode with selection of special mode
28
29
35
During dynamization of input E1n of channel 2, the input does not go to 0V.
Cause: Short circuit between input E1n and 24V.
During dynamization of input E2n of channel 2, the input does not go to 0V.
Cause: Short circuit between input E2n and 24V.
During dynamization of input E3n of channel 2, the input does not go to 0V.
Cause: Short circuit between input E3n and 24V.
During dynamization of input E4n of channel 2, the input does not go to 0V.
Cause: Short circuit between input E4n and 24V.
542/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
24
48
EA20 is statically at low level.
Cause: Short circuit to GND or EA20 not connected or power supply at X41 missing
EA20 is statically at high level.
26
Cause: Short circuit to 24V
Diagnostic/acknowledgment slave: EA20 does not toggle during initialization in ope‐
rating mode (after phase progression or clear error).
151
Cause: +24V are missing at X41 or short circuit to V+ or GND
152
125, 141, Diagnostic/acknowledgment slave: EA20 is statically at low level.
160
Cause: Short circuit to 0V or EA20 not connected or power supply at X41 missing
153
Diagnostic/acknowledgment slave: It was impossible to set EA20 to high level (it
toggles)
154
Diagnostic/acknowledgment slave: It was impossible to set EA20 to high level
155
161
F3131
124, 150
46
Diagnostic/acknowledgment slave: EA20 is permanently at high level.
Cause: Either by master or by short circuit to 24V
Diagnostic/acknowledgment master: EA20 does not toggle during initialization in
operating mode (after phase progression or clear error).
Cause: One module in the group with non-activated safety technology or short cir‐
cuit EA20 to 24 V
163
Diagnostic/acknowledgment master: It was impossible to set EA20 to high level
164
Diagnostic/acknowledgment master: EA20 longer than 600 ms at high level during
acknowledgment request
167
Diagnostic/acknowledgment master: EA20 does not toggle when safety door is
locked
170
Diagnostic/acknowledgment master: EA20 does not toggle when safety door is un‐
locked
171
174
Single axis for diagnosis/acknowledgment: EA20 at low level for more than 10 ms
(EA20 should be permanently at 24V).
Cause: 24V supply missing at X41 or short circuit EA20 to 0V
49
Diagnostic/acknowledgment master: EA20 does not toggle during initialization in
operating mode (after phase progression or clear error).
Cause: No voltage supply at X41 or short circuit EA20 to 0V
Diagnostic/acknowledgment master: EA20 is permanently at high level.
124
Cause: One module in the group with non-activated safety technology or short cir‐
cuit EA20 to 24 V
Diagnostic/acknowledgment slave: EA20 does not toggle.
129
142
Cause: One module in the group with non-activated safety technology or short cir‐
cuit EA20 to 24 V
Safety door unlocked or diagnostic output at " safe " in the case of PLC control, al‐
though safety of zone does not exist
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
543/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
166
Diagnostic/acknowledgment master: A10 cannot be set to low level when safety
door is locked
169
Diagnostic/acknowledgment master: A10 cannot be set to high level when safety
door is unlocked
Single axis for diagnosis/acknowledgment: Channel 1 acknowledges safety and
channel 2 does not.
172
(A10 and A10n at high level)
Single axis for diagnosis/acknowledgment: Channel 2 acknowledges safety and
channel 1 does not.
173
(A10 and A10n at low level)
335
336
Safety related output has been deactivated/reset; after a tolerance time of 2 sec‐
onds, feedback at check input E10 is still present (P-0-3212, bit 9 = low for t & gt;
10ms)
33, 36, 38,
40, 42, 100,
101, 168
F3132
Safety related output has been activated/set; after a tolerance time of 2 seconds,
feedback at check input E10 is missing (P-0-3212, bit 9 = high for t & gt; 10ms)
Diagnostic/acknowledgment master: E10 has low level at end of unlocking of safety
door
93, 165
Diagnostic/acknowledgment master: E10 has high level at end of locking of safety
door
...
126
Diagnostic master/slave with PLC control: During transition to normal operation,
EA10n cannot be set to 24V
(Short circuit EA10n to 0V)
127
128
In safety related status and control of a safety door: EA10n at high level.
Remedy: Check wiring in control circuit
In safety related status, EA10n (with configuration of a PLC control) cannot be set to
low level.
Cause: EA10n has short circuit to 24V or error in wiring
143
201
Error in control of safety door.
Cause: EA10n defective or feedback via E10 missing
Activation safety related output: Control of channel 2 has not taken place within one
second
Cause: Internal relay defective or output EA10n is at 24V
206
Activation safety related output: The drive is not able to switch to the active status
within 1s.
Remedy: Check wiring in control circuit and feedback circuit (input E10 = 0V)
209
Activation safety related output: Control of channel 1 via A10 has not taken place
within one second
146, 176
In non-safety-related status, EA10n cannot be set to high level
544/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
147, 175
In safety related status, EA10n cannot be set to low level
202, 204
Activation safety related output: After activated status has been reached, this status
is permanently checked. An error was detected during this check.
Remedy: Check wiring in control circuit and feedback circuit (input E10 = 0V)
...
207, 208
F3132
Deactivation safety related output: After safety related status has been reached at
load circuit, this status is permanently checked. An error was detected during this
check.
Remedy: Check wiring in control circuit and feedback circuit (input E10 = 24V)
211, 212
Cause: Incorrect control of channel 2 or feedback via channel 1 not ok (input E10 =
24V)
Interval " dynamization of safety function selection " (EA30||EDynK1) is greater
P-0-3223 * 1.2
109
63
Interval of dynamization signal (EA30 or P-0-3212, bit 10) exceeded (P-0-3223)
139
F3134
111, 117
Deactivation safety related output: Upon request, drive is not able to switch load cir‐
cuit to safety related status within two seconds.
In synchronization phase of dynamization during transition to operating mode, dy‐
namization signal is longer than 1.5-fold time of P-0-3223 at 24V
Pulse width of dynamization signal (EA30 or P-0-3212, bit 10) shorter than minimum
pulse width of 30ms
108
11.6
98, 99, 116
57
Pulse width of dynamization signal (EA30 or P-0-3212, bit 10) greater than P-0-3224
64
Dynamization pulse at EA30 smaller than minimum pulse width (30ms)
140
F3135
In synchronization phase of dynamization during transition to operating mode, dy‐
namization signal is longer than 1.5-fold time of P-0-3224 at 0V
Display F3140
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
54
...
P-0-3291 of channels 1 and 2 are different
55
F3140
426
425
P-0-3290 of channels 1 and 2 are different
56
404
P-0-3210 of channels 1 and 2 are different
57
P-0-3211 of channels 1 and 2 are different
58
P-0-3240, P-0-3250, P-0-3260 and P-0-3270 of channels 1 and 2 are different
77
439
P-0-3239 of channels 1 and 2 are different
78
440
P-0-3295 of channels 1 and 2 are different
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
545/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
79
120
Safety technology parameters of channels 1 and 2 are different
363, 364,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3220, then P-0-3234
365
Channel 2: P-0-3220
121
Safety technology parameters of channels 1 and 2 are different
369, 370,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3221, then P-0-3220
371
Channel 2: P-0-3221
122
Safety technology parameters of channels 1 and 2 are different
366, 367,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3222, then P-0-3221
368
Channel 2: P-0-3222
123
Safety technology parameters of channels 1 and 2 are different
387, 388,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3223, then P-0-3222
389
Channel 2: P-0-3223
124
...
441
Safety technology parameters of channels 1 and 2 are different
390, 391,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3224, then P-0-3223
392
Channel 2: P-0-3224
125
Safety technology parameters of channels 1 and 2 are different
418, 419,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3225, then P-0-3224
420
Channel 2: P-0-3225
126
Safety technology parameters of channels 1 and 2 are different
422, 423,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3229, then P-0-3225
424
Channel 2: P-0-3229
127
Safety technology parameters of channels 1 and 2 are different
360, 361,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3230, then P-0-3229
362
Channel 2: P-0-3230
128
Safety technology parameters of channels 1 and 2 are different
372, 373,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3231, then P-0-3230
374
Channel 2: P-0-3231
129
Safety technology parameters of channels 1 and 2 are different
393, 394,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3232, then P-0-3231
395
Channel 2: P-0-3232
130
Safety technology parameters of channels 1 and 2 are different
410, 411,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3233, then P-0-3232
412
Channel 2: P-0-3233
131
Safety technology parameters of channels 1 and 2 are different
414, 415,
Channel 1: Up to FWA-INDRV_-MPx03V08 P-0-3234, then P-0-3233
416
Channel 2: P-0-3234
F3140
...
P-0-3300 of channels 1 and 2 are different
546/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
132
133
351, 352,
P-0-3242 of channels 1 and 2 are different
353
134
336, 337,
P-0-3243 of channels 1 and 2 are different
338
135
324, 325,
P-0-3244 of channels 1 and 2 are different
326
136
P-0-3245 of channels 1 and 2 are different
137
354, 355,
P-0-3251 of channels 1 and 2 are different
356
138
357, 358,
P-0-3252 of channels 1 and 2 are different
359
139
339, 340,
P-0-3253 of channels 1 and 2 are different
341
140
327, 328,
P-0-3254 of channels 1 and 2 are different
329
141
...
348, 349,
P-0-3241 of channels 1 and 2 are different
350
P-0-3255 of channels 1 and 2 are different
142
342, 343,
P-0-3263 of channels 1 and 2 are different
344
143
330, 331,
P-0-3264 of channels 1 and 2 are different
332
144
P-0-3265 of channels 1 and 2 are different
145
345, 346,
P-0-3273 of channels 1 and 2 are different
347
146
333, 334,
P-0-3274 of channels 1 and 2 are different
335
147
P-0-3275 of channels 1 and 2 are different
350
442, 443,
P-0-3302 of channels 1 and 2 are different
444
351
450, 451,
P-0-3306 of channels 1 and 2 are different
452
352
454, 455,
P-0-3307 of channels 1 and 2 are different
456
353
462, 463,
P-0-3311 of channels 1 and 2 are different
464
354
466, 467,
P-0-3226 of channels 1 and 2 are different
468
355
470, 471,
P-0-3246 of channels 1 and 2 are different
472
F3140
...
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
547/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
356
357
482, 483,
P-0-3276 of channels 1 and 2 are different
484
368
432, 433,
P-0-3235 of channels 1 and 2 are different
434
369
436, 437,
P-0-3236 of channels 1 and 2 are different
438
370
F3140
478, 479,
P-0-3266 of channels 1 and 2 are different
480
358
...
474, 475,
P-0-3256 of channels 1 and 2 are different
476
446, 447,
P-0-3303 of channels 1 and 2 are different
448
371
458, 459,
P-0-3310 of channels 1 and 2 are different
460
372
486, 487,
P-0-3304 of channels 1 and 2 are different
488
405
406
P-0-3260 of channels 1 and 2 are different
408
P-0-3270 of channels 1 and 2 are different
396, 400
P-0-3211 (input E1n) of channels 1 and 2 are different
397, 401
P-0-3211 (input E2n) of channels 1 and 2 are different
398, 402
P-0-3211 (input E3n) of channels 1 and 2 are different
399, 403
11.7
P-0-3250 of channels 1 and 2 are different
407
148
P-0-3240 of channels 1 and 2 are different
P-0-3211 (input E4n) of channels 1 and 2 are different
428, 429,
P-0-3282 of channels 1 and 2 are different
430
Displays F3141 and F3142
If an error code is not contained in the documentation, please contact our
service department.
548/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
3
58
Selection validation error: Signal " BA " of channels 1 and 2 is unequal
200
59
Selection validation error: Signal " ASP " of channels 1 and 2 is unequal
201
60
Selection validation error: Signal " ZT " of channels 1 and 2 is unequal
202
61
Selection validation error: Signal " S1 " of channels 1 and 2 is unequal
203
62
Selection validation error: Signal " S2 " of channels 1 and 2 is unequal
330
195
Selection validation error: Signal " safety related input 1 " of channels 1 and 2 is un‐
equal
331
196
Selection validation error: Signal " safety related input 2 " of channels 1 and 2 is un‐
equal
332
197
Selection validation error: Signal " safety related input 3 " of channels 1 and 2 is un‐
equal
333
198
Selection validation error: Signal " safety related input 4 " of channels 1 and 2 is un‐
equal
334
199
Selection validation error: Signal " safety related output " of channels 1 and 2 is un‐
equal
F3141
Activation time of enabling control (P-0-3222) exceeded in special mode safety rela‐
ted motion
35
Up to MPx04: Activation time of enabling control (P-0-3222) exceeded in special
mode safety related motion SBB2
37
As of MPx05: Activation time of enabling control exceeded (P-0-3246/P-0-3256/
P-0-3266/P-0-3276)
68
Individual activation time of enabling control (P-0-3246) exceeded when selecting
special mode safety related motion SBB1
Individual activation time of enabling control (P-0-3256) exceeded when selecting
special mode safety related motion SBB2
580
Individual activation time of enabling control (P-0-3266) exceeded when selecting
special mode safety related motion SBB3
581
11.8
578
579
F3142
Activation time of enabling control (P-0-3222) exceeded
Individual activation time of enabling control (P-0-3276) exceeded when selecting
special mode safety related motion SBB4
Displays F3144 to F3152
If an error code is not contained in the documentation, please contact our
service department.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
549/619
Extended Diagnosis (P-0-3219)
Display
F3144
...
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
53
599
PROFIsafe is not allowed in conjunction with this firmware
76
173
" Deactivation of acknowledgment support: single acknowledgment " and " master for
diagnosis and acknowledgment " (in P-0-3210) configured, this is not allowed
550/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
As of MPx04: Drive interlock was configured twice in P-0-3211
As of MPx04: Enabling control was configured twice in P-0-3211
8
As of MPx04: Reference input was configured twice in P-0-3211
9
As of MPx04: Safety switch 1 was configured twice in P-0-3211
10
As of MPx04: Safety switch 2 was configured twice in P-0-3211
12
As of MPx04: No valid configuration in P-0-3211
95
PROFIsafe and hardware inputs configured (in P-0-3211), this is not allowed
184
Mode selector was parameterized in P-0-3211, this is not allowed when using
PROFIsafe
185
Drive interlock was parameterized in P-0-3211, this is not allowed when using
PROFIsafe
186
Enabling control was parameterized in P-0-3211, this is not allowed when using
PROFIsafe
187
...
As of MPx04: Mode selector was configured twice in P-0-3211
7
F3144
Configuration error: Switch drive to P2, clear error and switch to P4 again; C0256 is
then signaled with corresponding error code in P-0-3219
6
...
585
5
499
Reference input was configured twice in P-0-3211
188
" Safety switch 1 " was parameterized in P-0-3211, this is not allowed when using
PROFIsafe
189
" Safety switch 2 " was parameterized in P-0-3211, this is not allowed when using
PROFIsafe
190
" Safety related input 1 " was configured twice in P-0-3211
191
" Safety related input 2 " was configured twice in P-0-3211
192
" Safety related input 3 " was configured twice in P-0-3211
193
" Safety related input 4 " was configured twice in P-0-3211
215
Diagnostic input of redundant holding brake was configured twice in P-0-3211
216
Safety related braking and holding system parameterized, but no diagnostic input
was configured for channel 2 in P-0-3211
490
Configuration error: " Safety related limited absolute position " and " gear independ‐
ence with safety technology encoder mounted on the load side " not allowed
491
Configuration error: " Safety related limited absolute end position " and " gear inde‐
pendence with safety technology encoder mounted on the load side " not allowed
492
Configuration error: " Safety related braking and holding system " and " gear inde‐
pendence with safety technology encoder mounted on the load side " not allowed
609
Configuration error: Both directions (P-0-3300 bit 9/10) were parameterized as di‐
rection input for the brake check
180, 181, Safety related input 1-4 was parameterized for safety technology 24V EA, this is on‐
182, 183
ly possible in conjunction with PROFIsafe
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
551/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
568, 572
569, 573
F3145
Monitoring for direction of rotation was parameterized differently in P-0-3239 and
P-0-3260
571, 575
F3144
Monitoring for direction of rotation was parameterized differently in P-0-3239 and
P-0-3250
570, 574
...
Monitoring for direction of rotation was parameterized differently in P-0-3239 and
P-0-3240
Monitoring for direction of rotation was parameterized differently in P-0-3239 and
P-0-3270
67
47
66
F3146
120, 121
Diagnostic master with control of safety door. During transition to normal operation
the door cannot be locked.
Cause: Error in wiring of safety door or short circuit between EA10n, A10, E10 and
24V
Difference in measuring system between incremental and analog system is greater
than 1/4 division period
During measuring system evaluation, two active counting edges were detected.
The information no longer is unequivocal (position error)
Incorrect encoder signals. Amplitude monitoring
33,
43,
Encoder type is not supported by channel 2
604, 605
Danger to persons!
F3147
F3152
47
The firmware used is a test version and the specific safety technology firmware test
was not carried out for this firmware. It is only destined for a limited time and restric‐
ted applications. Contact our service department.
299
11.9
172, 200
Safety parameters cannot be stored in the safety memory (wrong version)
(Invalid parameter set, probably of a previous version)
Displays F7010 to F7022
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
9
F7011
P-0-3243 exceeded in " special mode safety related motion 1 "
14
90
P-0-3253 exceeded in " special mode safety related motion 2 "
19
93
P-0-3263 exceeded in " special mode safety related motion 3 "
22
F7010
69
94
P-0-3273 exceeded in " special mode safety related motion 4 "
10
88
P-0-3241 exceeded in " special mode safety related motion 1 "
15
91
P-0-3251 exceeded in " special mode safety related motion 2 "
552/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
P-0-3242 exceeded in " special mode safety related motion 1 "
16
92
P-0-3252 exceeded in " special mode safety related motion 2 "
1
P-0-3244 exceeded in " special mode safety related motion 1 "
12
11
P-0-3254 exceeded in " special mode safety related motion 2 "
17
18
P-0-3264 exceeded in " special mode safety related motion 3 "
22
P-0-3274 exceeded in " special mode safety related motion 4 "
94
133
P-0-3234 was exceeded
313
177
P-0-3235 was exceeded
314
F7020
89
20
F7013
11
7
F7012
178
P-0-3236 was exceeded
315, 327
Safety related end position was exceeded: Tracked threshold was exceeded by
more than P-0-3232
Position polarity, inverted → safety related end position, positive
Otherwise → safety related end position, negative
316, 328
F7021
Safety related end position was exceeded: Tracked threshold was exceeded by
more than P-0-3232
Position polarity, inverted → safety related end position, negative
Otherwise → safety related end position, positive
319, 321
Safety related end position was exceeded: Command values point to forbidden di‐
rection
Position polarity, inverted → safety related end position, positive
Otherwise → safety related end position, negative
320, 322
Safety related end position was exceeded: Command values point to forbidden di‐
rection
Position polarity, inverted → safety related end position, negative
Otherwise → safety related end position, positive
F7022
11.10
431
Missing feedback or brake controlled with drive enable missing
Displays F7030 to F7031
If an error code is not contained in the documentation, please contact our
service department.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
553/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
194
F7030
P-0-0048 & gt; P-0-3233 in safety related operational stop
197
Operating mode position control: Derived position command value & gt; P-0-3233 in
safety related operational stop
4, 196
97,
98,
P-0-3230 exceeded in safety technology function " safety related operational stop "
265, 266
5
576
P-0-3232 exceeded in negative direction in " special mode safety related motion "
6
577
P-0-3232 exceeded in positive direction in " special mode safety related motion "
588
Positive monitoring of direction of motion has detected motion in negative direction
( & gt; P-0-3232)
589
Negative monitoring of direction of motion has detected motion in positive direction
( & gt; P-0-3232)
101
102
P-0-3232 exceeded in negative direction in " special mode safety related motion 4 "
P-0-3232 exceeded in positive direction in " special mode safety related motion 3 "
104
P-0-3232 exceeded in negative direction in " special mode safety related motion 3 "
105
P-0-3232 exceeded in positive direction in " special mode safety related motion 2 "
106
P-0-3232 exceeded in negative direction in " special mode safety related motion 2 "
107
P-0-3232 exceeded in positive direction in " special mode safety related motion 1 "
108
11.11
P-0-3232 exceeded in positive direction in " special mode safety related motion 4 "
103
F7031
P-0-3232 exceeded in negative direction in " special mode safety related motion 1 "
Displays F7040 to F7043
If an error code is not contained in the documentation, please contact our
service department.
554/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
450
Validation error parameterized - effective threshold P-0-3302
451
453
Validation error parameterized - effective threshold P-0-3306
452
457
Validation error parameterized - effective threshold P-0-3307
453
465
Validation error parameterized - effective threshold P-0-3311
454
469
Validation error parameterized - effective threshold P-0-3226
455
473
Validation error parameterized - effective threshold P-0-3246
456
477
Validation error parameterized - effective threshold P-0-3256
457
481
Validation error parameterized - effective threshold P-0-3266
458
485
Validation error parameterized - effective threshold P-0-3276
468
431
Validation error parameterized - effective threshold P-0-3235
469
435
Validation error parameterized - effective threshold P-0-3236
470
449
Validation error parameterized - effective threshold P-0-3303
471
461
Validation error parameterized - effective threshold P-0-3310
472
F7040
445
489
Validation error parameterized - effective threshold P-0-3304
324, 325,
P-0-3244 of channels 1 and 2 are different
326
327, 328,
P-0-3254 of channels 1 and 2 are different
329
410, 411,
P-0-3233 of channels 1 and 2 are different
412
295
267, 500
F7043
Output stage cannot be switched on via channel 2 during transition from drive inter‐
lock or safety related standstill to a special mode
Output stage cannot be switched on via channel 2 during transition to normal opera‐
tion
643
The output stage cannot be switched on via channel 2 in normal operation
644, 645,
646, 647, The output stage cannot be switched on via channel 2 in special mode
648
11.12
Displays F7050 to F7051
If an error code is not contained in the documentation, please contact our
service department.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
555/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Time for safety related stopping process exceeded during transition to safety related
standstill
27
Cause: Actual velocity value & gt; P-0-3233 or drive enable still set
Time for safety related stopping process exceeded during transition to drive inter‐
lock
28
Cause: Actual velocity value & gt; P-0-3233 or drive enable still set
Time for safety related stopping process exceeded during transition to safety related
operational stop
32
(Actual velocity value & gt; P-0-3233)
Time for safety related stopping process exceeded (P-0-3220 or P-0-3225) during
transition to parameter mode
90
Time for safety related stopping process exceeded during transition to internal error
status " safety related standstill error "
91
(the error reaction could not remove drive enable within the time P-0-3220/
P-0-3225)
F7050
601
123, 290
Configuration error: P-0-0117= " 1 " (NC error reaction activated; with F3 error) and
transition time (P-0-3220/P-0-3225) parameterized smaller than 30s
Time for safety related stopping process exceeded (P-0-3220) during transition to
safety related standstill or drive interlock
Cause: Actual velocity value & gt; P-0-3233 or drive enable still set
134, 288
Time for safety related stopping process exceeded (P-0-3225) during transition to
safety related standstill or drive interlock
Cause: Actual velocity value & gt; P-0-3233 or drive enable still set
Time for safety related stopping process exceeded (P-0-3220) during transition to
144, 285, safety related operational stop
557
Cause: Actual velocity value & gt; P-0-3233
145, 286
Time for safety related stopping process exceeded (P-0-3225) during transition to
safety related operational stop
Cause: Actual velocity value & gt; P-0-3233
556/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Safety related braking and holding system: When decelerating with " velocity com‐
mand value reset with ramp and filter " , the deceleration ramp has fallen below the
value set in P-0-3282
411
205,
217
208,
206,
218
209,
207,
219
210,
270,
272
In the safety technology function " safety related standstill " , the deceleration ramp
has fallen below the value set for safety related monitored deceleration (P-0-3282)
271,
In the safety technology function " safety related operational stop " , the deceleration
ramp has fallen below the value set for safety related monitored deceleration
(P-0-3282)
In the safety technology function " safety related drive interlock " , the deceleration
ramp has fallen below the value set for safety related monitored deceleration
(P-0-3282)
During the transition to " safety related standstill error " , the deceleration ramp has
fallen below the value set for safety related monitored deceleration (P-0-3282)
502
547
Drive is not able to come to standstill within the parameterized monitoring limits
559
Drive is not able to come to the special mode motion within the parameterized moni‐
toring limits (P-0-3225 or P-0-3220, P-0-3282)
563
F7051
During best possible deceleration, drive is not able to come to standstill within
P-0-3282
During NC-controlled transition to the special mode standstill [after delay was over
(P-0-3226)], drive is not able to come to standstill within the parameterized monitor‐
ing limits (P-0-3225 or P-0-3220, P-0-3282)
In the function " safety related monitored deceleration during transition from normal
161, 272,
operation to safety related standstill/operational stop " , drive is not able, within the
273
scope of possible acceleration, to reach standstill within transition time P-0-3220
162, 274
565, 589
11.13
In the function " safety related monitored deceleration during transition from safety
related operation to safety related standstill/operational stop " , drive is not able, with‐
in the scope of possible acceleration, to reach standstill within transition time
P-0-3225
During drive-controlled stopping process, drive is not able to come to standstill with‐
in P-0-3282
Displays F8027 to F8135
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
113
F8027
Drive enable is set in internal error status " safety related standstill error "
114
Drive enable is set in safety technology function " safety related standstill "
115
Drive enable is set in safety technology function " drive interlock "
303
Drive enable is set with " parking axis "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
557/619
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
637, 642
638, 641
Drive enable was set in drive interlock
639
F8133
Drive enable was set in safety related standstill
Drive enable was set with parking axis
273
405
Safety related braking and holding system: Missing feedback or brake controlled
with drive enable missing
406
Safety related braking and holding system: Missing control of redundant holding
brake without drive enable in standstill
408
F8134
During the transition to " safety related standstill error " , deceleration ramp has fallen
below the value set in P-0-3282
Safety related braking and holding system: Missing control of motor holding brake
( " P-0-3307, Safety technology - drive off delay time " is running)
235, 542
Motor brake or redundant holding brake released, although output stage is not ac‐
tive
Remedy: Check control of brakes
205
In the safety technology function " safety related standstill " , the deceleration ramp
has fallen below the value set for safety related monitored deceleration (P-0-3282)
207
In the safety technology function " safety related drive interlock " , the deceleration
ramp has fallen below the value set for safety related monitored deceleration
(P-0-3282)
272
566, 567, During the transition to " safety related standstill error " , deceleration ramp has fallen
586
below the value set in P-0-3282
273
F7 error reaction: During the transition to " safety related standstill error " , decelera‐
tion ramp has fallen below the value set in P-0-3282
Safety related braking and holding system: Missing control of redundant holding
brake without drive enable
407
Cause: Delay by motor holding brake is not sufficient
F8135
Time for safety related stopping process exceeded, the error reaction could not re‐
move drive enable within the time P-0-3220/P-0-3225
410
Remedy: Check parameterization P-0-3220/P-0-3225 and S-0-0207
412, 413
546
592
Safety related braking and holding system: When decelerating with " velocity com‐
mand value reset " , the deceleration ramp has fallen below the value set in P-0-3282
After an F7 error has occurred, the drive accelerates in spite of velocity command
value reset
Cause: Possibly commutation error
619, 620
11.14
In the case of error, the drive is not able, during drive-controlled stopping process, to
come to standstill within the parameterized monitoring limits. Error is generated be‐
fore P-0-3226 is over.
Display F8201
If an error code is not contained in the documentation, please contact our
service department.
558/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219)
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
5
6
Up to MPx03: Drive interlock was configured twice in P-0-3211
7
Up to MPx03: Enabling control was configured twice in P-0-3211
8
F8201
Up to MPx03: Mode selector was configured twice in P-0-3211
Up to MPx03: Reference input was configured twice in P-0-3211
9
Up to MPx03: Safety switch 1 was configured twice in P-0-3211
10
Up to MPx03: Safety switch 2 was configured twice in P-0-3211
12
Up to MPx03: No valid configuration in P-0-3211
Version of safety memory does not match firmware
159
Remedy: Load defaults procedure command and then reload and store safety tech‐
nology parameters
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
559/619
Extended Diagnosis (P-0-3219) as of MPx07
12
Extended Diagnosis (P-0-3219) as of MPx07
12.1
Displays C0254 to C0265
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
channel 1
(P3219 [0])
C0254
E-code
channel 2
(P3219
[1])
213
Safety technology error
PROFIsafe configuration error: PROFIsafe was activated by P-0-3290 unequal to
zero. The precondition for this, however, is missing, as there is no PROFIBUS mas‐
ter communication available
596
C0255
Validation check with regard to parameterization " deceleration in the case of error
reaction " :
Parameterization in parameters P-0-0119, P-0-0117 and P-0-3210 (bit 9) is not al‐
lowed
600
No measuring system connected to X4
33, 43
Encoder type is not supported by channel 2
560/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
channel 1
(P3219 [0])
E-code
channel 2
(P3219
[1])
Safety technology error
216
420
Configuration of " safe braking and holding system " (P-0-3300, bit0=1) with main
spindle brake (P-0-0525, bit1=1) is not allowed
422
Configuration of " safe braking and holding system " (P-0-3300, bit0=1) and " best
possible deceleration with torque disable " is not allowed
423
Configuration of " safe braking and holding system " (P-0-3300, bit0=1) and reaction
" torque disable in the case of F7 errors " (P-0-3210, bit9=1) is not allowed
424
Configuration of a safety function that has not been released (safe I/Os)
425
Configuration of a safety function that has not been released (Safely-limited posi‐
tion)
426
Configuration error: " Safe braking and holding system " requires motor holding brake
(P-0-0525, bit 2)
428
Configuration of " safe braking and holding system " (P-0-3300, bit0=1) and " best
possible deceleration with return motion " is not allowed
435
...
Configuration of a safety function that has not been released (safe braking and hold‐
ing system)
421
C0256
Configuration error: " Safely-monitored position " or " Safely-limited position " was con‐
figured, but the required homing encoder has not been connected to X4.x
Configuration error: " Safe braking and holding system " may not be operated with
" self-releasing holding brake " (P-0-0525)
436
Configuration error: P‑0‑3307 may not be smaller than S-0-0207
437
Configuration error: " NC or MLD error reaction " (P-0-0117) is not allowed together
with " safe braking and holding system "
438
Configuration error: " Safely-monitored deceleration " (P-0-3210, bit 13) may not be
deselected
440
Configuration error: Signal " HAT-Steuer " (P-0-3301, bit 0) is missing or has been
configured twice (P-0-0300)
532
Configuration error: F7 error reaction not consistent P-0-3210 = velocity command
value reset and P-0-0119 = torque-free.
590
Configuration error: Contradictory direction of motion (involved parameters:
P‑0‑3239, P‑0‑3240, P‑0‑3250, P‑0‑3260 or P‑0‑3270)
591
Configuration error: " Gear independence with safety technology encoder mounted
on the load side " is only allowed with rotary, load-related scaling for position, veloci‐
ty and acceleration data (see P‑0‑3210, S‑0‑0044, S‑0‑0076, S‑0‑0160)
592
Configuration error: " Gear independence with safety technology encoder mounted
on the load side " and " safe braking and holding system " are not allowed simultane‐
ously (see P-0-3210, P-0-3300)
593
Configuration error: " Gear independence with safety technology encoder mounted
on the load side " and " Safely-monitored position " or " gear independence with safety
technology encoder mounted on the load side " and " Safely-limited position " are not
allowed (see P‑0‑3210, P‑0‑3239, P‑0‑3240, P‑0‑3250)
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
561/619
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
channel 1
(P3219 [0])
E-code
channel 2
(P3219
[1])
Safety technology error
Configuration error: P-0-3317 may not be smaller than P‑0‑3316
Configuration error: P‑0‑3305 may not be smaller than S‑0‑0206
No measuring system connected to X4
721, 722
C0257
911
48
C0256
Configuration error: Parameter set switching of group " load gear " is not allowed if
" Redundant holding brake available " (bit 0= " 1 " ) is configured in P-0-3300 and " Load
reference " is set in S-0-0086
999
...
734
Inadmissible encoder type at X4
594
Configuration error: " Gear independence with load-side safety technology encoder "
(P-0-3210, bit15= " 1 " ) with motor encoder as safety technology encoder (X4) is not
allowed
535
C0265
12.2
Configuration error: Absolute encoder monitoring is deactivated for slot X4. This is
not allowed. Check S‑0‑0277, S‑0‑0115 and P‑0‑0328, bit 15.
Configuration error: " Safely-monitored position " and " motor-related scaling " have
been configured
214
Displays C0723 to C2109
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
C0723
102
Presently, " C0702 " cannot be executed, as channel 2 is still busy with execution of
another safety technology command
1569
Safe brake check: Determined load due to weight greater than 1.3 * P-0-3303
1549, 1550
Safe brake check: Test point holding torque of motor holding brake incorrectly car‐
ried out in positive direction
1554, 1555
Safe brake check: Test point holding torque of motor holding brake incorrectly car‐
ried out in negative direction
C2103
510
507, 509
Safe brake check: Redundant holding brake not released
508, 514
C2104
Safe brake check: Motor brake controlled
Safe brake check: Motor brake not controlled
630
Command execution of command C2100 is not allowed, because command C6200
is active
562/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
1569
Safe brake check: Determined load due to weight greater than 1.3 * P-0-3303
1559, 1560
Safe brake check: Test point holding torque of redundant holding brake incorrectly
carried out in positive direction
1564, 1565
Safe brake check: Test point holding torque of redundant holding brake incorrectly
carried out in negative direction
506
Safe brake check: When the force due to weight is determined, motion is expected
when the brakes have been released. The drive did not move. A brake does not re‐
lease although it is controlled
511
Safe brake check: Redundant holding brake not released
512
Safe brake check: Motor brake controlled
514
C2107
Safe brake check: Motor brake not controlled
1541
1543
Safe brake check: Command C2100 is not allowed if " safe operation " is selected
1545
Safe brake check: Axis did not move [or moved less than half the monitoring window
( " P-0-3310 " / 2)]
1546
C2108
Safe brake check: Channel 1 error-free, see error code channel 2
Safe brake check: Starting torque exceeded (P‑0‑0545 or P‑0‑0540 & lt; P‑0‑0546)
1542, 1544
" Safe brake check " error
Safe brake check:
1545, 1547
- Axis did not move ( & lt; P-0-3310/2) or
- Axis moved too far ( & gt; P-0-3310*2)
507
508
C2109
Safe brake check: Redundant holding brake not released
Safe brake check: Motor brake not controlled
1551, 1556,
582, 583
1561, 1566
Safe brake check: Incorrect torque normalization
●
Replacement of motor (P-0-3304 ↔ P-0-0051)
●
Incorrect current measurement (P-0-0043)
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
563/619
Extended Diagnosis (P-0-3219) as of MPx07
12.3
Displays C4001, C4002 and C6201
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Channel 2 signals error for internal command " homing procedure channel 2 "
Cause: P-0-3280 deviates by more than one internal measuring-system-dependent
threshold from S-0-0051/S-0-0053 or no homing input channel 2 configured in
P-0-3211
1086
153
Command " safe homing procedure " executed. Actual position value difference be‐
tween channel 1 and channel 2 is greater than parameterized in P-0-3229
163
C4002
Command " safe homing procedure " was started although no reference input at
channel 2 was configured in parameter P-0-3211
157
C4001
Command " safe homing procedure " was started The actual position value systems
of channel 1 and channel 2 were not synchronized beforehand; this is automatically
carried out in the transition command from 3 to 4
Incorrect distance of dedicated points of channel 1 and 2
1087
[S‑0‑0052/54 - S‑0‑0150/151 - P‑0‑3231] & gt; P‑0‑3229*1.1
1492
Channel 2 signals command not executable
1493
1494
628
Command may only be started once after control voltage ON.
626
Command execution not allowed with active brake check (C2100).
1496
12.4
Command not executable, because it has not been enabled (P-0-3300) or safe
braking and holding system has not been parameterized.
1495
C6201
625, 629
627
Command execution only allowed with invalid brake status.
Displays Exxx, E3107 and E3115
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Exxx
1xxx
In case of warning on channel 1, 1000 is added to the error code
E3107
1311
Safe reference is missing for monitoring in case of " Safely-limited position "
Monitoring of time interval brake check
E3115
415, 417
1416, 1418
254
Cause: Drive had been in " AF " for 15 minutes and brake check hasn't been carried
out yet or the time defined in P-0-3302 was exceeded
Safe braking and holding system: " Prewarning, end of brake check time interval "
564/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
12.5
Displays F3112 to F3135
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Special mode " safe motion " selected with " Safely-monitored position " without chan‐
nel 2 having been homed
191
312
Safe reference is missing for monitoring in case of " Safely-limited position "
155
Special mode " safe motion 1 " selected with " Safely-monitored position " without
channel 2 having been homed
156
Special mode " safe motion 2 " selected with " Safely-monitored position " without
channel 2 having been homed
283, 284
F3112
179, 271
Missing safe reference for monitoring of " Safely-monitored position " in special mode
" safe motion "
Monitoring of time interval brake check:
F3115
415, 417
254
Cause: Drive had been in " AF " for 15 minutes and brake check hasn't been carried
out yet or the time defined in P-0-3302 was exceeded
F3116
439
256
Monitoring of actual load torque: Nominal load torque of holding system exceeded
Validation error of actual position values channel 1 and 2 (in the case of safe refer‐
ence)
192
154, 666
158
F3117
Actual position value difference between channel 1 and channel 2 greater than de‐
termined internal measuring-system-dependent threshold
With configuration " reference input channel 2 with static signal " , 24 V were meas‐
ured at the reference input outside of the tolerance window P-0-3231 +/- P-0-3229.
Cause: Possibly short circuit to 24 V.
Encoder evaluation incorrect: Within the last 2s, the relative position value has not
changed.
723, 724
Possible cause: Bad resolution so that actual position value (S-0-0051 or S-0-0053)
does not change in last digit at standstill.
Troubleshooting: Increase resolution (make max. travel range smaller, increase
number of decimal places)
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
565/619
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
219
Command " apply redundant holding brake " was started. Brake could not be applied
within 50 ms (diagnostic input at channel 2 (X41) at 24 V)
The internal command " release redundant holding system " was started. Brake could
not be released within 60 ms :
●
Diagnostic input at channel 2 (HSI11:X41) at 0 V
●
Error in HAT, i.e., 0 V at diagnostic input (HSI11:X41)
●
221
No voltage supply at connector X31
223
224
F3122
During the command " resurfacing of redundant holding brake " , the redundant hold‐
ing system is applied. The brake, however, could not be applied within 200 ms (di‐
agnostic input at channel 2 (X41) at 24 V)
During the command " resurfacing of redundant holding brake " , the redundant hold‐
ing system is released. The brake, however, could not be released within 200 ms
(diagnostic input at channel 2 (X41) at 0 V)
Safe braking and holding system:
Feedback signal from control module (HAT) is 0 V
505
Cause: Missing connection between control module (HAT) and diagnostic input at
connector X41 (HSI11) or
Error in control module (HAT)
Safe braking and holding system:
Error in feedback signal of control module (HAT)
532
Cause: Brake applied: Line interrupted, short circuit to 0 V or error message of con‐
trol module (HAT) or
Brake released: Short circuit to 24 V
432
518, 519, Safe braking and holding system:
556
No valid brake check status during transition to special mode
Safe braking and holding system:
533, 534
F3123
631
No valid brake check status during transition from parameter mode to operation
mode with selection of special mode
Safe braking and holding system:
No valid brake check status in Safe operating stop
632, 633, Safe braking and holding system:
634, 635
No valid brake check status in special mode " safe motion "
566/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
23
Not all input signals of channel 1 are at low level during dynamization pulse
26
F3130
28
29
35
During dynamization of input E1n of channel 2, the input does not go to 0 V.
Cause: Short circuit between input E1n and 24 V.
During dynamization of input E2n of channel 2, the input does not go to 0 V.
Cause: Short circuit between input E2n and 24 V.
During dynamization of input E3n of channel 2, the input does not go to 0 V.
Cause: Short circuit between input E3n and 24 V.
During dynamization of input E4n of channel 2, the input does not go to 0 V.
Cause: Short circuit between input E4n and 24 V.
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
567/619
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
24
48
EA20 is statically at low level.
Cause: Short circuit to GND or EA20 not connected or power supply at X41 missing
Diagnostic/acknowledgment slave: EA20 does not toggle during initialization in op‐
eration mode (after phase progression or clear error).
151
Cause: +24 V are missing at X41 or short circuit to V+ or GND
152
125, 141, Diagnostic/acknowledgment slave: EA20 is statically at low level.
160
Cause: Short circuit to 0 V or EA20 not connected or power supply at X41 missing
153
Diagnostic/acknowledgment slave: It was impossible to set EA20 to high level (it
toggles)
154
Diagnostic/acknowledgment slave: It was impossible to set EA20 to high level
155
161
124, 150
46
Diagnostic/acknowledgment slave: EA20 is permanently at high level.
Cause: Either by master or by short circuit to 24 V
Diagnostic/acknowledgment master: EA20 does not toggle during initialization in op‐
eration mode (after phase progression or clear error).
Cause: One module in the group with non-activated safety technology or short cir‐
cuit EA20 to 24 V
163
F3131
Diagnostic/acknowledgment master: It was impossible to set EA20 to high level
164
Diagnostic/acknowledgment master: EA20 at high level longer than 600 ms during
acknowledgment request
167
Diagnostic/acknowledgment master: EA20 does not toggle when safety door is
locked
170
Diagnostic/acknowledgment master: EA20 does not toggle when safety door is un‐
locked
171
174
Single axis for diagnosis/acknowledgment: EA20 at low level for more than 10 ms
(EA20 should be permanently at 24 V).
Cause: 24 V supply missing at X41 or short circuit EA20 to 0 V
49
Diagnostic/acknowledgment master: EA20 does not toggle during initialization in op‐
eration mode (after phase progression or clear error).
Cause: No voltage supply at X41 or short circuit EA20 to 0 V
Diagnostic/acknowledgment master: EA20 is permanently at high level.
124
Cause: One module in the group with non-activated safety technology or short cir‐
cuit EA20 to 24 V
Diagnostic/acknowledgment slave: EA20 does not toggle.
129
142
Cause: One module in the group with non-activated safety technology or short cir‐
cuit EA20 to 24 V
Safety door unlocked or diagnostic output at " safe " under PLC control although safe‐
ty of zone does not exist
568/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
166
Diagnostic/acknowledgment master: A10 cannot be set to low level when safety
door is locked
169
Diagnostic/acknowledgment master: A10 cannot be set to high level when safety
door is unlocked
Single axis for diagnosis/acknowledgment: Channel 1 acknowledges safety and
channel 2 does not.
172
(A10 and A10n at high level)
Single axis for diagnosis/acknowledgment: Channel 2 acknowledges safety and
channel 1 does not.
173
(A10 and A10n at low level)
335
Safe output has been activated/set; after a tolerance time of 2 seconds, feedback at
check input E10 is missing (P-0-3212, bit 9 = high for t & gt; 10ms)
336
Safe output has been deactivated/reset; after a tolerance time of 2 seconds, feed‐
back at check input E10 is still present (P-0-3212, bit 9 = low for t & gt; 10 ms)
338
780
Short circuit between X3x.x and X41.2 with activated safe output (P-P-switching)
168
Diagnostic/acknowledgment master: E10 has low level at end of unlocking of safety
door
165
Diagnostic/acknowledgment master: E10 has high level at end of locking of safety
door
640
Monitoring diagnostic output A10: In UNSAFE state, the digital output (see P-0-30x)
was at high level for more than 100 ms (e.g., by short circuit)
641
Monitoring diagnostic output A10: In SAFE state, the digital output (see P-0-30x)
was at low level for more than 100 ms (e.g., by short circuit)
F3132
...
126
Diagnostic master/slave with PLC control: During transition to normal operation,
EA10n cannot be set to 24 V
(Short circuit EA10n to 0 V)
127
128
143
201
In safe state and control of a safety door: EA10n does not detect 24 V at A10.
Remedy: Check wiring in control circuit, contactor for control of safety door defective
In safe state, EA10n (with configuration of a PLC control) cannot be set to low level.
Cause: EA10n has short circuit to 24 V or error in wiring
Error in control of safety door.
Cause: EA10n defective or feedback via E10 missing
Activation safe output: Control of channel 2 has not taken place within one second
Cause: Internal relay defective or output EA10n is at 24 V
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
569/619
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
206
Activation safe output: The drive is not able to switch to the active state within 1s.
Remedy: Check wiring in control circuit and feedback circuit (input E10 = 0 V)
209
146, 176
In unsafe state, EA10n cannot be set to high level
147, 175
In safe state, EA10n cannot be set to low level
202, 204
...
Activation safe output: Control of channel 1 via A10 has not taken place within one
second
Activation safe output: After activated state has been reached, this status is perma‐
nently checked. An error was detected during this check.
Remedy: Check wiring in control circuit and feedback circuit (input E10 = 0 V)
F3132
207, 208
Deactivation safe output: After safe state has been reached at load circuit, this sta‐
tus is permanently checked. An error was detected during this check.
Remedy: Check wiring in control circuit and feedback circuit (input E10 = 24V)
211, 212
780
111, 117
Cause: Incorrect control of channel 2 or feedback via channel 1 not ok (input E10 =
24 V)
Short circuit between X3x.x and X41.2 with activated safe output (P-P-switching)
Interval " dynamization of safety function selection " (EA30||EDynK1) is greater than
P-0-3223 * 1.2
109
F3134
Deactivation safe output: Upon request, drive is not able to switch load circuit to
safe state within two seconds.
63
Interval of dynamization signal (EA30 or -P0-3212, bit 10) exceeded (P-0-3223)
139
In synchronization phase of dynamization during transition to operation mode, dy‐
namization signal is longer than 1.5-fold time of P-0-3223 at 24 V
Pulse width of dynamization signal (EA30 or P-0-3212, bit 10) shorter than minimum
pulse width of 30 ms
108
F3135
98, 99, 116
57
Pulse width of dynamization signal (EA30 or P-0-3212, bit 10) greater than P-0-3224
64
Dynamization pulse at EA30 smaller than minimum pulse width (30 ms)
140
In synchronization phase of dynamization during transition to operating mode, dy‐
namization signal is longer than 1.5-fold time of P-0-3224 at 0 V
570/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
12.6
Display F3140
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
53
P-0-3205 of channels 1 and 2 are different
54
426
P-0-3291 of channels 1 and 2 are different
55
425
P-0-3290 of channels 1 and 2 are different
F3140
56
404
P-0-3210 of channels 1 and 2 are different
...
57
P-0-3211 of channels 1 and 2 are different
58
P‑0‑3240, P‑0‑3250, P‑0‑3260 and P‑0‑3270 of channels 1 and 2 are different
77
P-0-3295 of channels 1 and 2 are different
441
P-0-3200 of channels 1 and 2 are different
120
363, 364,
P-0-3220 of channels 1 and 2 are different
365
121
369, 370,
P-0-3221 of channels 1 and 2 are different
371
122
366, 367,
P-0-3222 of channels 1 and 2 are different
368
123
387, 388,
P-0-3223 of channels 1 and 2 are different
389
124
...
440
79
F3140
P-0-3239 of channels 1 and 2 are different
78
...
439
390, 391,
P-0-3224 of channels 1 and 2 are different
392
125
418, 419,
P-0-3225 of channels 1 and 2 are different
420
126
414, 415,
P-0-3234 of channels 1 and 2 are different
416
127
422, 423,
P-0-3229 of channels 1 and 2 are different
424
128
360, 361,
P-0-3230 of channels 1 and 2 are different
362
129
372, 373,
P-0-3231 of channels 1 and 2 are different
374
130
393, 394,
P-0-3232 of channels 1 and 2 are different
395
131
410, 411,
P-0-3233 of channels 1 and 2 are different
412
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
571/619
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
132
133
351, 352,
P-0-3242 of channels 1 and 2 are different
353
134
336, 337,
P-0-3243 of channels 1 and 2 are different
338
135
324, 325,
P-0-3244 of channels 1 and 2 are different
326
136
703
137
354, 355,
P-0-3251 of channels 1 and 2 are different
356
138
357, 358,
P-0-3252 of channels 1 and 2 are different
359
139
339, 340,
P-0-3253 of channels 1 and 2 are different
341
140
327, 328,
P-0-3254 of channels 1 and 2 are different
329
141
...
348, 349,
P-0-3241 of channels 1 and 2 are different
350
705
142
342, 343,
P-0-3263 of channels 1 and 2 are different
344
143
330, 331,
P-0-3264 of channels 1 and 2 are different
332
144
707
145
345, 346,
P-0-3273 of channels 1 and 2 are different
347
146
333, 334,
P-0-3274 of channels 1 and 2 are different
335
147
709
148
428, 429,
P-0-3282 of channels 1 and 2 are different
430
149
432, 433,
P-0-3235 of channels 1 and 2 are different
434
150
436, 437,
P-0-3236 of channels 1 and 2 are different
438
350
442, 443,
P-0-3302 of channels 1 and 2 are different
444
351
450, 451,
P-0-3306 of channels 1 and 2 are different
452
352
454, 455,
P-0-3307 of channels 1 and 2 are different
456
F3140
...
P-0-3247 of channels 1 and 2 are different
P-0-3257 of channels 1 and 2 are different
P-0-3267 of channels 1 and 2 are different
P-0-3277 of channels 1 and 2 are different
572/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
353
354
466, 467,
P-0-3226 of channels 1 and 2 are different
468
355
470, 471,
P-0-3246 of channels 1 and 2 are different
472
356
474, 475,
P-0-3256 of channels 1 and 2 are different
476
357
478, 479,
P-0-3266 of channels 1 and 2 are different
480
358
482, 483,
P-0-3276 of channels 1 and 2 are different
484
359
711, 713
P-0-3248 of channels 1 and 2 are different
360
714, 716
P-0-3258 of channels 1 and 2 are different
361
717, 719
P-0-3268 of channels 1 and 2 are different
362
720, 722
P-0-3278 of channels 1 and 2 are different
363
...
462, 463,
P-0-3311 of channels 1 and 2 are different
464
694, 695,
P-0-3305 of channels 1 and 2 are different
696
368
432, 433,
P-0-3235 of channels 1 and 2 are different
434
369
436, 437,
P-0-3236 of channels 1 and 2 are different
438
370
446, 447,
P-0-3303 of channels 1 and 2 are different
448
371
458, 459,
P-0-3310 of channels 1 and 2 are different
460
372
486, 487,
P-0-3304 of channels 1 and 2 are different
488
F3140
405
P-0-3240 of channels 1 and 2 are different
406
P-0-3250 of channels 1 and 2 are different
407
P-0-3260 of channels 1 and 2 are different
408
P-0-3270 of channels 1 and 2 are different
396, 400
P-0-3211 (input E1n) of channels 1 and 2 are different
397, 401
P-0-3211 (input E2n) of channels 1 and 2 are different
398, 402
P-0-3211 (input E3n) of channels 1 and 2 are different
399, 403
P-0-3211 (input E4n) of channels 1 and 2 are different
670
692
P-0-3316 of channels 1 and 2 are different
672
693
P-0-3317 of channels 1 and 2 are different
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
573/619
Extended Diagnosis (P-0-3219) as of MPx07
12.7
Displays F3141 and F3142
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
3
Selection validation error: Signal " MS " of channels 1 and 2 is unequal
200
59
Selection validation error: Signal " ES " of channels 1 and 2 is unequal
201
60
Selection validation error: Signal " EC " of channels 1 and 2 is unequal
202
61
Selection validation error: Signal " S1 " of channels 1 and 2 is unequal
203
62
Selection validation error: Signal " S2 " of channels 1 and 2 is unequal
330
195
Selection validation error: Signal " safe input 1 " of channels 1 and 2 is unequal
331
196
Selection validation error: Signal " safe input 2 " of channels 1 and 2 is unequal
332
197
Selection validation error: Signal " safe input 3 " of channels 1 and 2 is unequal
333
198
Selection validation error: Signal " safe input 4 " of channels 1 and 2 is unequal
334
F3141
58
199
Selection validation error: Signal " safe output " of channels 1 and 2 is unequal
35
Activation time of enabling control (P-0-3222) exceeded in special mode " safe mo‐
tion "
37
Activation time of enabling control exceeded (P‑0‑3246/P‑0‑3256/P‑0‑3266/
P‑0‑3276)
68
F3142
Activation time of enabling control (P-0-3222) exceeded
578
Individual activation time of enabling control (P-0-3246) exceeded when selecting
special mode " safe motion 1 "
579
Individual activation time of enabling control (P-0-3256) exceeded when selecting
special mode " safe motion 2 "
580
Individual activation time of enabling control (P-0-3266) exceeded when selecting
special mode " safe motion 3 "
581
Individual activation time of enabling control (P-0-3276) exceeded when selecting
special mode " safe motion 4 "
574/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
12.8
Displays F3144 to F3152
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
76
173
" Deactivation of acknowledgment support: single acknowledgment " and " master for
diagnosis and acknowledgment " (in P-0-3210) configured; this is not allowed
Configuration error:
499
585
Switch drive to P2, clear error and switch to P4 again; C0256 is then signaled with
corresponding error code in P-0-3219
727
Configuration error: Parameter set switching of the group " load gear " is not allowed
with load reference, when " Scaling of the safety parameters according to setting of
scaling system with deactivated gear independence " has been configured in
P-0-3210.
728
Configuration error: When " Scaling of the safety parameters according to setting of
scaling system with deactivated gear independence " has been configured in
P-0-3210, parameter set switching of the group " load gear " is not allowed, if the
safety technology encoder is the external encoder mounted on the load side.
730
783
The function " Safely-limited position " (SLP) is only allowed in conjunction with the
function " Safe maximum speed " (SMS).
732
F3144
...
Configuration " Scaling of the safety parameters with relation to the motor shaft " and
" Safety technology encoder is not the motor encoder " is not allowed.
733
An undefined configuration (bit15= " 1 " and bit14= " 1 " ) has been set in P-0-3210.
734
Configuration error: Parameter set switching of group " load gear " is not allowed if
" Redundant holding brake available " (bit 0= " 1 " ) is configured in P-0-3300 and " Load
reference " is set in S-0-0086
5
Mode selector was configured twice in P-0-3211
6
" SS1 (Emergency stop) switch " was configured twice in P-0-3211
7
Enabling control was configured twice in P-0-3211
8
Home switch was configured twice in P-0-3211
9
Safety switch 1 was configured twice in P-0-3211
10
Safety switch 2 was configured twice in P-0-3211
12
No valid configuration in P-0-3211
184
Mode selector was parameterized in P-0-3211, this is not allowed when using
PROFIsafe
185
" SS1 (Emergency stop) switch " was parameterized in P-0-3211, this is not allowed
when using PROFIsafe
186
Enabling control was parameterized in P-0-3211, this is not allowed when using
PROFIsafe
187
Home switch was configured twice in P-0-3211
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
575/619
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
188
189
Safety switch 2 was parameterized in P-0-3211; this is not allowed when using
PROFIsafe
190
" Safe input 1 " was configured twice in P-0-3211
191
" Safe input 2 " was configured twice in P-0-3211
192
" Safe input 3 " was configured twice in P-0-3211
193
" Safe input 4 " was configured twice in P-0-3211
215
Diagnostic input of redundant holding brake was configured twice in P-0-3211
216
Safe braking and holding system parameterized, but no diagnostic input was config‐
ured for channel 2 in P-0-3211
490
Configuration error: " Safely-monitored position " and " gear independence with safety
technology encoder mounted on the load side " not allowed
491
Configuration error: " Safely-limited position " and " gear independence with safety
technology encoder mounted on the load side " not allowed
492
Configuration error: " Safe braking and holding system " and " gear independence with
safety technology encoder mounted on the load side " not allowed
609
...
Safety switch 1 was parameterized in P-0-3211; this is not allowed when using
PROFIsafe
Configuration error: Both directions (P-0-3300 bit 9/10) were parameterized as di‐
rection input for the brake check
F3144
180, 181,
Configuration error: Safe input 1-4 is only possible in conjunction with PROFIsafe
182, 183
568, 572
Monitoring for direction of motion was parameterized differently in P-0-3239 and
P-0-3240
569, 573
Monitoring for direction of motion was parameterized differently in P-0-3239 and
P-0-3250
570, 574
Monitoring for direction of motion was parameterized differently in P-0-3239 and
P-0-3260
571, 575
Monitoring for direction of motion was parameterized differently in P-0-3239 and
P-0-3270
681,
683,
685,
687,
689,
691
F3145
67
682,
684,
686,
Configuration error: Monitoring for direction of motion in P-0-3239 not plausible
688,
690,
Diagnostic master with control of safety door. During transition to normal operation,
the door cannot be locked.
Cause: Error in wiring of safety door or short circuit between EA10n, A10, E10 and
24 V
576/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
47
66
F3146
120, 121
Difference in measuring system between incremental and analog system is greater
than 1/4 division period
During measuring system evaluation, two active counting edges were detected.
The information no longer is unequivocal (position error)
Incorrect encoder signals. Amplitude monitoring
33,
43,
Encoder type is not supported by channel 2
604, 605
Danger to persons!
The firmware used is a test version and the specific safety technology firmware test
was not carried out for this firmware. It is only provided for a limited time and restric‐
ted applications. Contact our service department.
299
Safe braking and holding system: Axis moved too far during brake check
( & gt; P‑0‑3310 * 2)
Encoder signals incorrect: Amplitude monitoring, pointer length too small.
484
Encoder signals incorrect: Amplitude monitoring, pointer length too big.
485
F3152
419
483
F3147
Encoder signals incorrect: Quadrant error
47
12.9
172, 200
Safety parameters cannot be stored in the safety memory (wrong version)
(Invalid parameter set, probably of a previous version)
Displays F7010 to F7022
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
9
F7011
F7012
P-0-3243 exceeded in special mode " safe motion 1 "
14
90
P-0-3253 exceeded in special mode " safe motion 2 "
19
93
P-0-3263 exceeded in special mode " safe motion 3 "
22
F7010
69
94
P-0-3273 exceeded in special mode " safe motion 4 "
10
88
P-0-3241 exceeded in special mode " safe motion 1 "
15
91
P-0-3251 exceeded in special mode " safe motion 2 "
11
89
P-0-3242 exceeded in special mode " safe motion 1 "
16
92
P-0-3252 exceeded in special mode " safe motion 2 "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
577/619
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
7
11
P-0-3254 exceeded in special mode " safe motion 2 "
17
18
P-0-3264 exceeded in special mode " safe motion 3 "
22
P-0-3274 exceeded in special mode " safe motion 4 "
699
P-0-3247 exceeded longer than P-0-3248 in special mode " safe motion 1 "
662
700
P-0-3257 exceeded longer than P-0-3258 in special mode " safe motion 2 "
663
701
P-0-3267 exceeded longer than P-0-3268 in special mode " safe motion 3 "
664
702
P-0-3277 exceeded longer than P-0-3278 in special mode " safe motion 4 "
94
133
P-0-3234 was exceeded
731
782
Safely-limited position (SLP): P-0-3234 exceeded. When safe reference is not avail‐
able, the drive may only be moved at a maximum of 20% of P-0-3234
313
177
P-0-3235 was exceeded
314
F7020
12
661
F7014
P-0-3244 exceeded in special mode " safe motion 1 "
20
F7013
1
178
P-0-3236 was exceeded
315, 327
" Safely-limited position " was exceeded: Tracked threshold was exceeded by more
than P-0-3232
Position polarity, inverted → Safely-limited position, positive
Otherwise → Safely-limited position, negative
316, 328
F7021
" Safely-limited position " was exceeded: Tracked threshold was exceeded by more
than P-0-3232
Position polarity, inverted → Safely-limited position, negative
Otherwise → Safely-limited position, positive
319, 321
" Safely-limited position " was exceeded: Command values point to forbidden direc‐
tion
Position polarity, inverted → Safely-limited position, positive
Otherwise → Safely-limited position, negative
320, 322
" Safely-limited position " was exceeded: Command values point to forbidden direc‐
tion
Position polarity, inverted → Safely-limited position, negative
Otherwise → Safely-limited position, positive
F7022
12.10
431
Missing feedback or brake controlled with drive enable missing
Displays F7030 to F7031
If an error code is not contained in the documentation, please contact our
service department.
578/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
194
F7030
P‑0‑0048 & gt; P‑0‑3233 in " Safe stop 2 "
197
Operation mode position control: Derived position command value & gt; P‑0‑3233 " Safe
stop 2 "
4, 196
97,
98,
P-0-3230 exceeded in safety technology function " Safe stop 2 "
265, 266
5
576
P-0-3232 exceeded in negative direction in special mode " safe motion "
6
577
P-0-3232 exceeded in positive direction in special mode " safe motion "
588
Positive monitoring of direction of motion has detected motion in negative direction
( & gt; P-0-3232)
589
Negative monitoring of direction of motion has detected motion in positive direction
( & gt; P-0-3232)
650
P-0-3232 exceeded in negative direction in normal operation
651
F7031
679
680
P-0-3232 exceeded in positive direction in normal operation
101
P-0-3232 exceeded in positive direction in special mode " safe motion 4 "
102
P-0-3232 exceeded in negative direction in special mode " safe motion 4 "
103
P-0-3232 exceeded in positive direction in special mode " safe motion 3 "
104
P-0-3232 exceeded in negative direction in special mode " safe motion 3 "
105
P-0-3232 exceeded in positive direction in special mode " safe motion 2 "
106
P-0-3232 exceeded in negative direction in special mode " safe motion 2 "
107
P-0-3232 exceeded in positive direction in special mode " safe motion 1 "
108
P-0-3232 exceeded in negative direction in special mode " safe motion 1 "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
579/619
Extended Diagnosis (P-0-3219) as of MPx07
12.11
Displays F7040 to F7043
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
226
Validation error parameterized - effective threshold P-0-3234
236
706
Validation error parameterized - effective threshold P-0-3257
244
708
Validation error parameterized - effective threshold P-0-3267
247
710
Validation error parameterized - effective threshold P-0-3277
249
431
Validation error parameterized - effective threshold P-0-3235
250
435
Validation error parameterized - effective threshold P-0-3236
251, 470
449
Validation error parameterized - effective threshold P-0-3303
252, 471
461
Validation error parameterized - effective threshold P-0-3310
253, 472
489
Validation error parameterized - effective threshold P-0-3304
450
445
Validation error parameterized - effective threshold P-0-3302
451
453
Validation error parameterized - effective threshold P-0-3306
452
457
Validation error parameterized - effective threshold P-0-3307
453
...
Validation error parameterized - effective threshold P-0-3247
241
F7040
704
465
Validation error parameterized - effective threshold P-0-3311
454
469
Validation error parameterized - effective threshold P-0-3226
455
473
Validation error parameterized - effective threshold P-0-3246
456
477
Validation error parameterized - effective threshold P-0-3256
457
481
Validation error parameterized - effective threshold P-0-3266
458
485
Validation error parameterized - effective threshold P-0-3276
459
712
Validation error parameterized - effective threshold P-0-3248
460
715
Validation error parameterized - effective threshold P-0-3258
461
718
Validation error parameterized - effective threshold P-0-3268
462
721
Validation error parameterized - effective threshold P-0-3278
463
Validation error parameterized - effective threshold P-0-3305
468
431
Validation error parameterized - effective threshold P-0-3235
469
435
Validation error parameterized - effective threshold P-0-3236
324, 325,
P-0-3244 of channels 1 and 2 are different
326
327, 328,
P-0-3254 of channels 1 and 2 are different
329
410, 411,
P-0-3233 of channels 1 and 2 are different
412
580/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
709,
715
710, 653, 654,
Change in scaling or number of decimal places of position parameters
655
711, 716
656, 657
Change in scaling or number of decimal places of velocity parameters
712, 717
658, 659
Change in scaling or number of decimal places of acceleration parameters
...
713, 718
660, 661
Change in scaling or number of decimal places of parameter P-0-3303
F7040
714, 719
662, 663
Change in scaling or number of decimal places of parameter P-0-3304
739
Encoder type has changed
800, 801
Encoder configuration, position scaling or multiplication (S‑0‑0256 / S‑0‑0257) has
changed
416
295
Output stage cannot be switched on via channel 2 during transition from " Safe stop
1 (Emergency stop) " or " Safe stop 1 " to a special mode
267, 500
F7043
P-0-3234 of channels 1 and 2 are different
Output stage cannot be switched on via channel 2 during transition to normal opera‐
tion
643, 781
Output stage cannot be switched on via channel 2 in normal operation
644, 645,
646, 647, Output stage cannot be switched on via channel 2 in special mode
648
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
581/619
Extended Diagnosis (P-0-3219) as of MPx07
12.12
Displays F7050 to F7051
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Time for safe stopping process exceeded during transition to " Safe stop 1 "
27
Cause: Actual velocity value & gt; P-0-3233 or drive enable still set
Time for safe stopping process exceeded during transition to " Safe stop 1 (Emer‐
gency stop) "
28
Cause: Actual velocity value & gt; P-0-3233 or drive enable still set
Time for safe stopping process exceeded during transition to " Safe stop 2 "
32
(Actual velocity value & gt; P-0-3233)
90
Time for safe stopping process exceeded (P-0-3220 or P-0-3225) during transition
to parameter mode
91
Time for safe stopping process exceeded during transition to internal error state
" Safe stop 1 " error (the error reaction could not remove drive enable within the time
P-0-3220/P-0-3225)
Configuration error:
F7050
601
123, 290
P-0-0117= " 1 " (NC error reaction activated; with F3 error) and transition time
(P-0-3220/P-0-3225) parameterized smaller than 30 s
Time for safe stopping process (P-0-3220) exceeded during transition to " Safe stop
1 " or " Safe stop 1 (Emergency stop) "
Cause: Actual velocity value & gt; P-0-3233 or drive enable still set
134, 288
Time for safe stopping process (P-0-3225) exceeded during transition to " Safe stop
1 " or " Safe stop 1 (Emergency stop) "
Cause: Actual velocity value & gt; P-0-3233 or drive enable still set
144, 557
Time for safe stopping process exceeded (P-0-3220) during transition to " Safe stop
2 "
Cause: Actual velocity value & gt; P-0-3233
145, 286
Time for safe stopping process exceeded (P-0-3225) during transition to " Safe stop
2 "
Cause: Actual velocity value & gt; P-0-3233
582/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
Safe braking and holding system: When decelerating with " velocity command value
reset with ramp and filter " , the deceleration ramp has fallen below the value set in
P-0-3282
411
205,
217
208,
In the safety technology function " Safe stop 1 " , the deceleration ramp has fallen be‐
low the value set for safely-monitored deceleration (P-0-3282)
206,
218
209,
In the safety technology function " Safe stop 2 " , the deceleration ramp has fallen be‐
low the value set for safely-monitored deceleration (P-0-3282)
207,
219
210,
In the safety technology function " Safe stop 1 (Emergency stop) " , the deceleration
ramp has fallen below the value set for safely-monitored deceleration (P-0-3282)
During the transition to " Safe stop 1 " error, the deceleration ramp has fallen below
the value set for safely-monitored deceleration (P-0-3282)
270
502, 622
547
F7051
During best possible deceleration, drive is not able to come to standstill within
P-0-3282
Drive is not able to come to standstill within the parameterized monitoring limits
559
Drive is not able to come to the special mode motion within the parameterized moni‐
toring limits (P-0-3225 or P-0-3220, P-0-3282)
563, 624
During NC-controlled transition to the special mode " safe standstill " [after delay was
over (P-0-3226)], drive is not able to come to standstill within the parameterized
monitoring limits (P-0-3225 or P-0-3220, P-0-3282)
161
In the function " Safely-monitored deceleration " during transition from normal opera‐
tion to " Safe stop 1 " / " Safe stop 2 " , drive is not able, within the scope of possible ac‐
celeration, to reach standstill within transition time P-0-3220
162
In the function " Safely-monitored deceleration " during transition from safe operation
to " Safe stop 1 " / " Safe stop 2 " , drive is not able, within the scope of possible acceler‐
ation, to reach standstill within transition time P-0-3225
565, 589
During drive-controlled stopping process, drive is not able to come to standstill with‐
in P-0-3282
618, 621
During drive-controlled stopping process, drive is not able to come to standstill with‐
in P-0-3282. Error is generated before P-0-3226 is over
636
During NC-controlled transition to the special mode " safe standstill " [before delay
was over (P-0-3226)], drive is not able to come to standstill within the parameterized
monitoring limits (P-0-3225 or P-0-3220, P-0-3282)
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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583/619
Extended Diagnosis (P-0-3219) as of MPx07
12.13
Displays F8030 to F8135
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
113
Drive enable is set in internal error status " Safe stop 1 " error
114
Drive enable is set in safety technology function " Safe stop 1 "
115
638, 641
Drive enable is set in safety technology function " Safe stop 1 (Emergency stop) "
303
639
Drive enable is set with " parking axis "
669
Drive enable is still set during transition to " Safe stop 1 (SS1) "
670
F8030
637, 642
Drive enable is still set during transition to " Safe stop 1 (Emergency stop) (SS1ES) "
273
405
Safe braking and holding system: Missing feedback or brake controlled with drive
enable missing
406
Safe braking and holding system: Missing control of redundant holding brake with‐
out drive enable in standstill
408
F8134
During the transition to " Safe stop 1 " error, the deceleration ramp has fallen below
the value set in P-0-3282
Safe braking and holding system: Missing control of motor holding brake ( " P-0-3307,
Safety technology - drive off delay time " is running)
235, 542
Motor brake or redundant holding brake released, although output stage is not ac‐
tive
Remedy: Check control of brakes
205
207
In the safety technology function " Safe stop 1 (Emergency stop) " , the deceleration
ramp has fallen below the value set for safely-monitored deceleration (P-0-3282)
272
566, 567, During the transition to " Safe stop 1 " error, the deceleration ramp has fallen below
586
the value set in P-0-3282
273
F8135
In the safety technology function " Safe stop 1 " , the deceleration ramp has fallen be‐
low the value set for safely-monitored deceleration (P-0-3282)
F7 error reaction: During the transition to " Safe stop 1 " error, the deceleration ramp
has fallen below the value set in P-0-3282
Safe braking and holding system: Missing control of redundant holding brake with‐
out drive enable
407
Cause: Delay by motor holding brake is not sufficient
Time for safe stopping process exceeded, the error reaction could not remove drive
enable within the time P-0-3220/P-0-3225
410
Remedy: Check parameterization in P‑0‑3220/P‑0‑3225 and S‑0‑0207
412, 413
546, 623
Safe braking and holding system: When decelerating with " velocity command value
reset " , the deceleration ramp has fallen below the value set in P-0-3282
619, 620
In the case of error, the drive is not able, during drive-controlled stopping process, to
come to standstill within the parameterized monitoring limits. Error is generated be‐
fore P-0-3226 is over.
584/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Extended Diagnosis (P-0-3219) as of MPx07
12.14
Display F8201
If an error code is not contained in the documentation, please contact our
service department.
Display
E-code
E-code
channel 2
channel 1
Safety technology error
(P3219
(P3219 [0])
[1])
159
Version of safety memory does not match firmware
.
Remedy: Execute C0720 and then reload and store safety technology parameters
610,
612,
614,
616
F8201
611,
613,
615,
HW configuration check: The control section has not been released for operation
with the active safety technology firmware.
620,
622,
624,
626
621,
623,
625,
HW configuration check: Optional safety technology module has not been released
for operation with the active safety technology firmware.
630,
632,
634,
636
631,
633,
635,
HW configuration check: Optional encoder module has not been released for opera‐
tion with the active safety technology firmware.
Remedy: Replace control section
Remedy: Replace control section
Remedy: Replace control section
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Bosch Rexroth AG
585/619
Rexroth IndraDrive Mi Diagnostic Display
13
Rexroth IndraDrive Mi Diagnostic Display
13.1
KSM Distributed Servo Drive / KMS Distributed Drive Con‐
troller
13.1.1
LED H14
Fig.13-1:
LED H14 (Example KSM)
At the device, there is a tricolor LED which displays the drive status.
13.1.2
Diagnostic Display as of MPB-07V12 / MPx-08VRS
LED H14
Significance
Measures
Supply unit not switched on
Check supply unit and, if necessary, switch it on
Cable interrupted
Check cable and connector
Hardware defective
Replace hardware
Color / flashing pattern
Off
Flashing green Drive is error-free (phases 2, 3 and 4); in
If necessary, read exact status via " S‑0‑0095, Di‐
phase 4, drive is ready for drive enable ( " Bb " ) agnostic message "
Green
Power on and DC bus voltage available
( " Ab " )
Drive is error-free in operation and runs according
to inputs
Drive in control [ " AF " , " AH " or drive command NOTICE! If you remove the connectors from the
device in this status, this might damage the de‐
active (Cxxxx)]
vice!
Flashing green- Transition command (C01xx/C52xx)
yellow
Transition command error (C01xx/C02xx)
If necessary, read exact status via " S‑0‑0095, Di‐
agnostic message "
Drive command error (Cxxxx)
Flashing yellow Drive warning (E2xxx … E3xxx)
Communication warning (E4xxx)
Fatal warning (E8xxx)
Read exact status via " S‑0‑0095, Diagnostic mes‐
sage " and carry out service function
586/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Rexroth IndraDrive Mi Diagnostic Display
LED H14
Significance
Measures
Firmware update running
During the firmware update, do not interrupt the
24V supply and do not unplug connectors
Drive is error-free (phase 1), but not yet
ready for drive enable ( " Bb " )
If necessary, read exact status via " S‑0‑0095, Di‐
agnostic message "
Color / flashing pattern
Yellow
Flashing redyellow
Communication error (F4xxx)
Flashing redgreen
Baud rate scan (P‑1)
If necessary, read exact status via " S‑0‑0095, Di‐
agnostic message "
Drive is error-free (phase 0), but not yet
ready for drive enable ( " Bb " )
Flashing red
Read exact status via " S‑0‑0095, Diagnostic mes‐
sage " and carry out service function
Booting phase
Wait until booting phase is over (approx. 2 mi‐
nutes)
System error (F9xxx, E0800)
Red
Error (F2xxx, F3xxx, F6xxx, F7xxx, F8xxx)
Switch off and on; replace hardware, if necessary
Fig.13-2:
13.1.3
LED Displays KSM/KMS (as of MPB-07V12 / MPx-08VRS)
Diagnostic Display up to MPB-07V10
LED H14
Significance
Measures
Supply unit not switched on
Check supply unit and, if necessary, switch it on
Cable interrupted
Check cable and connector
Hardware defective
Replace hardware
Drive is error-free, but not yet ready for
drive enable ( " Bb " )
If necessary, read exact status via " S‑0‑0095, Diagnostic message "
Color / status
Off
Flashing green
Parameter Mode
Green
Drive in control ( " AF " , " AH " or drive
command)
Power on and DC bus voltage available
( " Ab " )
Flashing yellow Warning
Yellow
Flashing red
Red
Drive is error-free in operation and runs according to inputs
NOTE! If you remove the connectors from the device in this status,
this might damage the device!
Read exact status via " S‑0‑0095, Diagnostic message " and carry
out service function
Firmware update running
During the firmware update, do not interrupt the 24V supply and do
not unplug connectors
Errors
Read exact status via " S‑0‑0095, Diagnostic message " and carry
out service function
Booting phase
Wait until booting phase is over (approx. 2 minutes)
System error
Switch off and on; replace hardware, if necessary
Fig.13-3:
LED Displays KSM/KMS (up to MPB-07V10)
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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587/619
Rexroth IndraDrive Mi Diagnostic Display
13.2
Electronic Control System KCU
Fig.13-4:
LED
Color / status
LEDs at KCU
Significance
Measures
H52.1
Off
E-Stop not activated
Deactivate E-Stop, if necessary
E-Stop
Red
E-Stop active (/E_Stop)
Activate E-Stop, if necessary (see con‐
nection point X50)
H52.2
Green
Supply unit without error, regular status
None
Supply unit signals error (/Bb_V)
●
Check power supply, see also
" F2086 Error supply module "
●
Check whether terminal connector
RHS is missing at X3.1 or X3.2 at
last KSM of a string of drives
Power Supply
Red
H52.3
Green
Supply unit without warning (/Warn), reg‐
ular status
None
Red
Supply unit signals warning
Check supply unit, see also " E2086 Pre‐
warning supply module overload "
H52.4
Off
DC bus voltage (L+; L-) too low
Switch power on at supply unit
DC Bus In
Green
DC bus voltage (L+; L-) without error
(Ud), regular status
None
Warning
588/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Rexroth IndraDrive Mi Diagnostic Display
LED
Green
Significance
Measures
No error at module bus, regular status
None
Module bus error (/Bb_A)
●
Check module bus wiring
●
H52.5
Color / status
Check control voltage supply of the
devices; see also " F2087 Module
group communication error "
Drives
Red
Red/
green
flashing
H53
Drive system carries out error reaction Bring device at module bus to readiness
(Bb_A)
for operation; see also diagnostic mes‐
sage " E2810 Drive system not ready for
operation "
Green
Control voltage for KSM at output X53
okay
None
Red
Control voltage for KSM at output X53
faulty
Overload at output:
42V Out
Off
Green
Red
Reduce load
●
H54
Check voltage at X53
●
DC Bus Out
●
Remove short circuit
DC bus (L+, L-) not ready for power out‐
put
Voltage at X54 is only monitored, if DC
bus voltage at input (L+, L-) without error
(see LED H52.4)
DC bus voltage (L+; L-) at output X54
okay (U & gt; 50 V)
None
DC bus voltage (L+; L-) at output X54 not
okay
Check fuses F4, F5 and replace them, if
necessary
Fig.13-5:
LED Displays KCU
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
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589/619
Handling, Diagnostic and Service Functions
14
Handling, Diagnostic and Service Functions
14.1
Firmware Replacement
See Functional Description of firmware " Firmware Replacement " .
14.2
Firmware Download
The firmware download is carried out with the auxiliary program " Loader " .
The loader is either
●
activated via the valid firmware available in the device, if the firmware is
to be updated,
- or ●
activated directly via the control section if there isn't any valid firmware
available in the device.
The list below contains the causes of invalid firmware in the device:
Cause
Remedy
Firmware download via IndraWorks aborted (e.g., computer
crash or cable removed during download)
Firmware must be reloaded via serial connection
(IndraWorks) (see Functional Description " Firmware Re‐
placement " )
‑ or ‑
Firmware replacement via MMC aborted (MMC was re‐
moved)
‑ or ‑
Voltage failure during firmware replacement
Device-internal, non-volatile flash memory defective
14.3
Replace drive controller
Messages During Firmware Download
The active loader appears on the display. It precedes the download status
display:
●
FL: ?????: The loader of the firmware is active
●
LD: ?????: The loader of the control section is active
Explanation of the messages displayed during firmware down‐
load:
XX: ????? = active loader : download status
During error-free firmware download, the following diagnostic messages are
displayed:
XX: DL
XX: ERASE
XX: PROG
XX: CKS
14.4
FL: DL
Brief Description: Download - & gt; Shutdown carried out successfully
A shutdown was carried out.
590/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Handling, Diagnostic and Service Functions
FL: DL: The firmware loader is active.
LD: DL: The loader in the control section is active.
You can only exit the shutdown mode by rebooting (requested via
the master communication or by switching the drive off).
14.5
FL:ERASE
Brief Description: Clearing active
The loader (FL:ERASE = firmware loader, LD:ERASE = loader in control sec‐
tion) is in the clearing mode. The requested memory range / module is being
cleared.
14.6
FL: PROG
Brief Description: Programming active
The loader (FL:PROG = firmware loader, LD:PROG = loader in control sec‐
tion) is in the programming mode. The transmitted data are written to the re‐
quested address in the memory range / module.
14.7
FL: CKS
Brief Description: Checksum calculation active
The checksum calculation is active. Subsequent to the calculation a compari‐
son with the stored checksums is run.
" FL: CKS " means firmware loader and " LD: CKS " means loader
in control section.
14.8
FL:E ADR
Brief Description: Warning: Address error
Cause
Remedy
Address read from IBF file is outside of allowed range
Please contact our service department
" FL:E ADR " means firmware loader and " LD:E ADR " means load‐
er in control section.
14.9
FL:E SEC
Brief Description: Warning: Range error
Cause
Remedy
Data in IBF concerning memory range (firmware, loader,
boot kernel) are incorrect
Please contact our service department
" FL: SEC " means firmware loader and " LD: SEC " means loader
in control section.
14.10
FL:E FW
Brief Description: Warning: No valid firmware available
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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591/619
Handling, Diagnostic and Service Functions
Cause
Remedy
Firmware module contained in internal memory is defective,
therefore clearing of loader is impossible
Update firmware (using " IndraWorks " or by starting com‐
mand " P‑0‑4072, C2900 Command Firmware update from
MMC " )
" FL:E FW " means firmware loader and " LD:E FW " means loader
in the control section.
14.11
FL:E LD
Brief Description: Warning: No valid loader available
Cause
Remedy
Loader contained in internal memory is defective, therefore
deleting of firmware is impossible
Update firmware (using " IndraWorks " or by starting com‐
mand " P‑0‑4072, C2900 Command Firmware update from
MMC " )
" FL:E LD " means firmware loader and " LD:E LD " means loader
in the control section.
14.12
FL:E SEQ
Brief Description: Warning: Sequence error
Cause
Remedy
Command order was not complied with when drive firmware
was programmed
Use " IndraWorks " or command " P‑0‑4072, C2900 Command
Firmware update from MMC " to update firmware
‑ or ‑
Carry out shutdown before clearing or programming drive
firmware
Attempt was made to write to range with valid checksum
Delete range to which data is to be written before writing
" FL:E SEQ " means firmware loader and " LD:E SEQ " means load‐
er in the control section.
14.13
FL:F9002
Brief Description: Error: Operating system error
See " F9002 Error internal RTOS function call "
14.14
FL:F2100
Brief Description: Error: Internal memory defective
See " F2100 Incorrect access to command value memory "
14.15
FL:F CKS
Brief Description: Error: Checksum error
592/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Handling, Diagnostic and Service Functions
Cause
Remedy
Checksums of programmed modules are calculated after
firmware update. Calculated and entered checksums were
detected to be different
Carry out firmware update again; should error occur again,
please contact our service department
" FL:F CKS " means firmware loader and " LD:F CKS " means load‐
er in control section.
14.16
FL:F ACC
Brief Description: Error: Access error
Cause
Remedy
Several possibilities of firmware update (serial and MMC)
were used simultaneously. An access conflict has occurred
Restart firmware update using only one possibility (serial or
MMC)
" FL:F ACC " means firmware loader and " LD:F ACC " means load‐
er in control section.
14.17
FL:F2101
Brief Description: Error: MMC defective
See " F2101 It was impossible to address MMC "
14.18
FL:F8122
Brief Description: Error: Control section defective
An error occurred during firmware update.
Cause
Remedy
Hardware of control section is defective
Replace control section or entire drive controller; use hard‐
ware configuration of same type
Only Rexroth service engineers or especially trained users are al‐
lowed to replace the control section. The replacement of the en‐
tire drive controller is described in the Project Planning Manual for
the power section.
Identical cause / remedy: " F8122 Control section defective "
14.19
FL:F8129
Brief Description: Error: Optional module incorrectly programmed
See " F8129 Incorrect optional module firmware "
14.20
FL:F8130
Brief Description: Error: optional safety module 2 incorrectly programmed
See " F8130 Firmware of option 2 of safety technology defective "
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
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Bosch Rexroth AG
593/619
Handling, Diagnostic and Service Functions
14.21
FL:F8120
Brief Description: Error: Firmware does not support hardware
See " F8120 Invalid control section/firmware combination "
594/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
595/619
Notes for Machine Operators
15
Notes for Machine Operators
15.1
General Information
Time-consuming debugging attempts and repair of drive components at the
machine cannot be accepted due to the production downtimes this impli‐
cates.
The modularity of the Rexroth AC drives allows replacing individual drive
components. In case servicing becomes necessary, you can confine yourself
to locating errors at the motor, at the drive controller or at the supply unit and
to replacing the respective component.
Repeated adjustments are not required.
15.2
Diagnosing Malfunction and Removing Errors
Diagnosing Malfunction
The supply unit signals operating states, warnings or errors via the display at
the front of the device.
Prerequisites for diagnosing failures are that the control voltage +24 V is
within tolerance and the processors in the supply unit and the drive control‐
lers are working without error.
Resetting an Error
Stored error messages have to be reset before the device is ready for opera‐
tion again. An error can be reset by
●
Pressing the & lt; ESC & gt; key at the control panel for starting the RESET
command (cf. " S‑0‑0099, C0500 Reset class 1 diagnostics " ) or
●
Switching off the control voltage supply or
●
RESET command via the module bus (by drive)
NOTICE
Destruction of the supply unit when power is
switched on and a drive controller is defec‐
tive!
⇒ After having reset an overcurrent error and after having replaced a defec‐
tive supply unit, the error memories of the drive controllers have to be read
before the supply unit is switched on again.
Before switching power on, remove any possible short circuit in the DC bus!
Replacing Defective Drive Compo‐
nents
If a defective component must be replaced, the following aspects have to be
observed:
●
●
Only Rexroth service engineers are allowed to replace options of the
control section.
●
The replacement of the supply unit is described in the Project Planning
Manual for the supply unit.
●
Checks and Repairs
Only Rexroth service engineers or especially trained users are allowed
to replace the control section. The replacement of the entire drive con‐
troller is described in the Project Planning Manual for the power section.
In case devices fail within the warranty period, the defective compo‐
nents must be returned to Bosch Rexroth; for addresses and telephone
numbers, please see the printed documentation (chapter " Service and
Support " ) or the Internet (http://www.boschrexroth.com).
If checks or repairs are required, the following aspects apply:
596/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Notes for Machine Operators
●
Checks and repairs may only be carried out by the Rexroth service de‐
partment or by especially trained staff.
●
For checks at the installation, the corresponding safety regulations must
be complied with.
●
Repair of drive components at the machine can be very time-consum‐
ing. For this reason, replace defective drive components completely.
WARNING
Danger to persons and damage to machines
can arise from the removal of malfunction!
⇒ Only have malfunction removed by especially trained staff.
⇒ Do not put protective devices out of operation.
⇒ Observe the Safety Instructions for Electric Drives and Controls in the ho‐
monymous chapter.
15.3
Contacting the Service Department
If you would like to contact our service department, we ask you to have the
following information ready in order to facilitate quick and purposeful han‐
dling:
●
Type data and serial numbers of devices and motors
●
Failure condition
●
Diagnostic displays, if available
●
Drive firmware used
For addresses and telephone numbers, please see the printed documenta‐
tion (chapter " Service and Support " ) or the Internet (http://www.boschrex‐
roth.com).
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
597/619
Notes for Installation Programmers
16
Notes for Installation Programmers
16.1
How to Handle Command Errors
If an error occurs during the execution of a command, the respective com‐
mand error is generated by the drive.
The are several possibilities of diagnosing a command error:
●
Evaluate the command change bit in " P‑0‑0115, Device control: Status
word "
●
Evaluate " S‑0‑0390, Diagnostic message number " which contains the
error message as a number (e.g. C0201)
●
Evaluate " S‑0‑0095, Diagnostic message " which contains the error mes‐
sage as ASCII text (e.g. " C0201 Invalid parameters (- & gt; S-0-0423) " )
●
Evaluate the command status (see Functional Description " Command
Processing " )
A command error cannot be removed by " clearing errors " , but on‐
ly by completing the corresponding command.
598/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Notes for Installation Programmers
Fig.16-1:
Example of Command Handling
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
599/619
Notes for Installation Programmers
16.2
How to Handle Errors
If an error occurs while the drive is in operation, the corresponding error reac‐
tion is carried out.
The are several possibilities of diagnosing a drive error:
●
Evaluate the collective error bit (class 1 diagnostics bit) in the respective
master communication status word (e.g. " S‑0‑0135, Drive status word " ;
" P‑0‑4078, Field bus: Status word " )
●
Evaluate " S‑0‑0011, Class 1 diagnostics " in order to obtain the detailed
information with regard to the cause of the error
●
Evaluate " S‑0‑0390, Diagnostic message number " which contains the
error message as a number (e.g. F6034)
●
Evaluate " S‑0‑0095, Diagnostic message " which contains the error mes‐
sage as ASCII text (e.g. " F6034 Emergency-Stop " )
Before a drive error is cleared, the cause for the occurrence of the
error should be investigated and permanently removed.
600/619
Bosch Rexroth AG
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Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Notes for Installation Programmers
Fig.16-2:
Example of Error Handling
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
601/619
Notes for Installation Programmers
16.3
How to Handle Warnings
If a warning occurs while the drive is in operation, this diagnostic warning
message is maintained as long as the condition for the warning has been ful‐
filled.
The are several possibilities of diagnosing a drive warning:
●
Evaluate the collective warning bit (class 2 diagnostics bit) in the re‐
spective master communication status word (e.g. " S‑0‑0135, Drive
status word " ; " P‑0‑4078, Field bus: Status word " )
●
Evaluate " S‑0‑0012, Class 2 diagnostics " in order to obtain the detailed
information with regard to the cause of the warning
●
Evaluate " S‑0‑0390, Diagnostic message number " which contains the
warning message as a number (e.g. E2054)
●
Evaluate " S‑0‑0095, Diagnostic message " which contains the warning
message as ASCII text (e.g. " E2054 Not homed " )
Warnings cannot be cleared. They persist until the condition that
activated the warning is no longer fulfilled. In order to remove the
cause of the triggering of the warning, carry out the remedy speci‐
fied in the description of the respective warning.
602/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Notes for Installation Programmers
Fig.16-3:
Example of Warning Handling
For drives with SERCOS master communication, it is only possi‐
ble to reset the collective warning bit (change bit of class 2 diag‐
nostics) by read-accessing the parameter " S‑0‑0012, Class 2
diagnostics " .
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
603/619
Service and Support
17
Service and Support
Our worldwide service network provides an optimized and efficient support.
Our experts offer you advice and assistance should you have any queries.
You can contact us 24/7.
Service Germany
Our technology-oriented Competence Center in Lohr, Germany, is responsi‐
ble for all your service-related queries for electric drive and controls.
Contact the Service Helpdesk & Hotline under:
Phone:
+49 9352 40 5060
Fax:
+49 9352 18 4941
E-mail:
service.svc@boschrexroth.de
Internet:
http://www.boschrexroth.com
Additional information on service, repair (e.g. delivery addresses) and training
can be found on our internet sites.
Service worldwide
Outside Germany, please contact your local service office first. For hotline
numbers, refer to the sales office addresses on the internet.
Preparing information
To be able to help you more quickly and efficiently, please have the following
information ready:
●
Detailed description of malfunction and circumstances resulting in the
malfunction
●
Type plate name of the affected products, in particular type codes and
serial numbers
●
Your contact data (phone and fax number as well as your email ad‐
dress)
604/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
605/619
Index
Index
A
A0000 Communication phase 0.......................... 87
A0001 Communication phase 1.......................... 87
A0002 Communication phase 2.......................... 88
A0003 Communication phase 3.......................... 89
A0009 Automatic baud rate detection for
SERCOS interface.............................................. 89
A0010 Drive HALT.............................................. 90
A0011 Safe torque off active............................... 90
A0012 Control and power sections ready for
operation............................................................. 91
A0013 Ready for power on................................. 91
A0014 Safe stop 1 (Emergency stop) active....... 92
A0015 Safe stop 1 active.................................... 93
A0016 Safe stop 2 active.................................... 93
A0017 Special mode motion active..................... 94
A0018 Special mode safe motion 1 active.......... 95
A0019 Special mode safe motion 2 active.......... 96
A0020 Special mode safe motion 3 active.......... 97
A0021 Special mode safe motion 4 active.......... 99
A0050 Parameterization level 1 active.............. 100
A0051 Operating mode..................................... 100
A0100 Torque control....................................... 100
A0101 Velocity control...................................... 101
A0102 Position mode, encoder 1...................... 101
A0103 Position mode, encoder 2...................... 101
A0104 Position mode lagless, encoder 1.......... 102
A0105 Position mode lagless, encoder 2.......... 102
A0106 Drive-internal interpolation, encoder 1... 103
A0107 Drive-internal interpolation, encoder 2... 103
A0108 Drive controlled interpolation, lagless,
encoder 1.......................................................... 103
A0109 Drive controlled interpolation, lagless,
encoder 2.......................................................... 104
A0110 Velocity synchronization, virtual mas‐
ter axis.............................................................. 104
A0111 Velocity synchronization, real master
axis.................................................................... 105
A0112 Phase synchronization, encoder 1,
virtual master axis............................................. 105
A0113 Phase synchronization, encoder 2,
virtual master axis............................................. 105
A0114 Phase synchronization, encoder 1,
real master axis................................................. 106
A0115 Phase synchronization, encoder 2,
real master axis................................................. 106
A0116 Phase synchr. lagless, encoder 1,
virtual master axis............................................. 107
A0117 Phase synchr. lagless, encoder 2,
virtual master axis............................................. 107
A0118 Phase synchr. lagless, encoder 1, re‐
al master axis.................................................... 107
A0119 Phase synchr. lagless, encoder 2, re‐
al master axis.................................................... 108
A0128 Cam, encoder 1, virtual master axis...... 108
A
A0129 Cam, encoder 2, virtual master axis...... 109
A0130 Cam, encoder 1, real master axis.......... 109
A0131 Cam, encoder 2, real master axis.......... 109
A0132 Cam, lagless, encoder 1, virt. master
axis.................................................................... 110
A0133 Cam, lagless, encoder 2, virt. master
axis.................................................................... 110
A0134 Cam, lagless, encoder 1, real master
axis.................................................................... 111
A0135 Cam, lagless, encoder 2, real master
axis.................................................................... 111
A0136 MotionProfile, encoder 1, virtual mas‐
ter axis.............................................................. 112
A0137 MotionProfile, encoder 2, virtual mas‐
ter axis.............................................................. 112
A0138 MotionProfile, encoder 2, real master
axis.................................................................... 113
A0139 MotionProfile, encoder 1, real master
axis.................................................................... 113
A0140 MotionProfile lagless, encoder 1, vir‐
tual master axis................................................. 114
A0141 MotionProfile lagless, encoder 2, vir‐
tual master axis................................................. 114
A0142 MotionProfile lagless, encoder 1, real
master axis........................................................ 115
A0143 MotionProfile lagless, encoder 2, real
master axis........................................................ 115
A0150 Drive-controlled positioning, encoder 1. 116
A0151 Drive-controlled positioning, encoder
1, lagless........................................................... 116
A0152 Drive-controlled positioning, encoder 2. 117
A0153 Drive-controlled positioning, encoder
2, lagless........................................................... 117
A0154 Position mode drive controlled, en‐
coder 1.............................................................. 118
A0155 Position mode drive controlled, en‐
coder 2.............................................................. 118
A0156 Position mode lagless, encoder 1
drive controlled.................................................. 119
A0157 Position mode lagless, encoder 2
drive controlled.................................................. 119
A0160 Position mode drive controlled.............. 120
A0161 Drive-controlled positioning................... 120
A0162 Positioning block mode.......................... 121
A0163 Position synchronization........................ 121
A0164 Velocity synchronization........................ 122
A0206 Positioning block mode, encoder 1........ 122
A0207 Positioning block mode lagless, en‐
coder 1.............................................................. 122
A0210 Positioning block mode, encoder 2........ 123
A0211 Positioning block mode lagless, en‐
coder 2.............................................................. 123
A0403 Quick stop with probe detection is ac‐
tive.................................................................... 123
606/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Index
A
A0500 Supply module in voltage control........... 124
A0502 Supply module in operation................... 124
A0503 DC bus charging active......................... 124
A0520 DC bus quick discharge active.............. 125
A0800 Unknown operating mode...................... 125
A4000 Automatic drive check and adjustment. . 126
A4001 Drive deceleration to standstill............... 126
A4002 Drive in automatic mode........................ 127
A4003 Setting-up mode is active...................... 127
Ab........................................................................ 75
AC....................................................................... 75
ActLW Up ........................................................... 83
Administration commands................................... 71
AE....................................................................... 75
AF....................................................................... 75
AH....................................................................... 75
Appropriate use................................................... 27
Applications .................................................. 27
AR....................................................................... 75
AS....................................................................... 75
ASP..................................................................... 75
AU....................................................................... 75
B
bb........................................................................ 75
C
C0100 Communication phase 3 transition
check................................................................. 341
C0101 Invalid parameters (- & gt; S-0-0021).......... 368
C0102 Limit error in parameter (- & gt; S-0-0021)... 368
C0103 Parameter conversion error ( & gt; S-0-0021)........................................................ 369
C0104 Config. IDN for MDT not configurable. . . 369
C0105 Maximum length for MDT exceeded..... 370
C0106 Config. IDNs for AT not configurable..... 370
C0107 Maximum length for AT exceeded......... 371
C0108 Time slot parameter & gt; Sercos cycle
time................................................................... 371
C0109 Telegram offset unsuitable.................... 372
C0110 Length of MDT (S-0-0010) odd............. 373
C0111 ID9 + Record length - 1 & gt; length
MDT (S-0-0010)................................................ 374
C0112 TNcyc (S-0-0001) or TScyc
(S-0-0002) error................................................ 374
C0113 Relation TNcyc (S-0-0001) to TScyc
(S-0-0002) error................................................ 375
C0114 T4 & gt; TScyc (S-0-0002) - T4min
(S-0-0005)......................................................... 375
C0115 T2 too small........................................... 376
C0116 T3 (S-0-0008) within MDT (S-0-0089
+ S-0-0010)....................................................... 376
C0118 Order of cyclic command value con‐
figuration incorrect............................................ 377
C0119 Max. travel range too large.................... 377
C
C0120 Error when reading encoder data = & gt;
motor encoder................................................... 378
C0121 Incorrect parameterization of motor
encoder (hardware)........................................... 378
C0122 Incorr. parameteriz. of motor enc.
(mechanical system)......................................... 379
C0123 Modulo value for motor encoder can‐
not be displayed................................................ 379
C0124 Motor encoder unknown........................ 380
C0125 Error when reading encoder data = & gt;
optional encoder............................................... 381
C0126 Incorrect parameterization of optional
enc. (hardware)................................................. 381
C0127 Incorr. parameteriz. of opt. enc. (me‐
chanical system)............................................... 382
C0128 Modulo value for optional encoder
cannot be displayed.......................................... 382
C0129 Optional encoder unknown.................... 383
C0130 Maximum travel range cannot be dis‐
played internally................................................ 383
C0131 Switching to phase 3 impossible........... 384
C0132 Invalid settings for controller cycle
times................................................................. 384
C0134 Invalid motor data in encoder memo‐
ry (- & gt; S-0-0021).................................................. 385
C0135 Type of construction of motor
P-0-4014 incorrect............................................ 386
C0136 Several motor encoders connected....... 386
C0137 Error during initialization of motor da‐
ta (- & gt; S-0-0021).................................................. 387
C0138 Invalid control section data ( & gt; S-0-0021)........................................................ 387
C0139 T2 (S-0-0089)+length MDT
(S-0-0010) & gt; TScyc (S-0-0002)........................... 388
C0140 Rotary scaling not allowed.................... 388
C0151 IDN for command value data contain‐
er not allowed.................................................... 389
C0152 IDN for actual value data container
not allowed........................................................ 389
C0153 Error at init. of synchr. motor with re‐
luctance torque................................................. 390
C0154 Field bus: IDN for cycl. command val.
not configurable................................................ 390
C0155 Field bus: Max. length for cycl. com‐
mand val. exceeded.......................................... 391
C0156 Field bus: IDN for cycl. actual val. not
configurable...................................................... 391
C0157 Field bus: Length for cycl. actual val‐
ues exceeded.................................................... 392
C0158 Field bus: Tcyc (P-0-4076) incorrect..... 392
C0159 Field bus: P-0-4077 missing for cycl.
command values............................................... 393
C0160 Error when reading encoder data = & gt;
measuring encoder........................................... 393
C0161 Incorr. parameterization of measur‐
ing enc. (hardware)........................................... 394
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
607/619
Index
C
C0162 Measuring encoder unknown................ 394
C0163 Modulo value for measuring encoder
cannot be displayed.......................................... 395
C0164 Incorrect measuring encoder configu‐
ration................................................................. 395
C0170 Config. IDNs for connection not con‐
figurable............................................................ 396
C0171 Maximum length for connections ex‐
ceeded.............................................................. 396
C0172 Delay measurement (S-0-1024) not
carried out......................................................... 397
C0173 Connections (number) not configurable 397
C0174 Connection configuration not allowed. . . 397
C0175 Producer cycle time of a connection
not correct......................................................... 398
C0199 Functional package selection
changed. Restart............................................... 398
C0200 Exit parameterization level procedure
command.......................................................... 341
C0201 Invalid parameters (- & gt; S-0-0423)........... 399
C0202 Parameter limit error (- & gt; S-0-0423)........ 399
C0203 Parameter conversion error ( & gt; S-0-0423)........................................................ 400
C0210 Feedback 2 required (- & gt; S-0-0423)........ 401
C0212 Invalid control section data ( & gt; S-0-0423)........................................................ 401
C0218 Double signal selection master axis
format converter................................................ 402
C0219 Max. travel range too large.................... 402
C0220 Error when initializing position of en‐
coder 1.............................................................. 403
C0221 Initialization velocity encoder 1 too high 404
C0223 Invalid settings for controller cycle
times................................................................. 404
C0224 Error when initializing position of en‐
coder 2.............................................................. 404
C0225 Initialization velocity encoder 2 too high 405
C0227 Error when initializing position of
measuring encoder........................................... 405
C0228 Initialization velocity measuring en‐
coder too high................................................... 406
C0229 Field bus: IDN for cycl. command val.
not configurable................................................ 407
C0230 Field bus: Max. length for cycl. com‐
mand val. exceeded.......................................... 407
C0231 Field bus: IDN for cycl. actual val. not
configurable...................................................... 407
C0232 Field bus: Length for cycl. actual val‐
ues exceeded.................................................... 408
C0233 Field bus: Tcyc (P-0-4076) incorrect..... 408
C0234 Field bus: P-0-4077 missing for cycl.
command values............................................... 409
C0238 Order of cyclic command value con‐
figuration incorrect............................................ 409
C0239 IDN for command value data contain‐
er not allowed.................................................... 410
C
C0240 IDN for actual value data container
not allowed........................................................ 410
C0241 Incorrect parameterization of motion
task................................................................... 411
C0242 Multiple configuration of a parameter
(- & gt; S-0-0423)...................................................... 411
C0243 Brake check function not possible......... 413
C0244 Act. modulo value cycle greater than
max. travel range.............................................. 414
C0245 Operation mode configuration ( & gt; S-0-0423) not allowed..................................... 415
C0246 Trav. range lim. switch not ass. to
dig. input........................................................... 416
C0247 Dig. output already assigned to other
axis.................................................................... 417
C0248 Dig. input assigned differently to axes... 417
C0249 Dig. I/Os: Bit number too large.............. 418
C0250 Probe inputs incorrectly configured....... 418
C0251 Error during synchronization to mas‐
ter communication............................................. 419
C0252 Incorrect MLD initialization (write ac‐
cess- & gt; S-0-0423)............................................... 419
C0253 Error in combination operation mode
- encoder (- & gt; S-0-0423)..................................... 420
C0254 Configuration error PROFIsafe.............. 420
C0255 Safety command for system init. in‐
correct............................................................... 421
C0256 Safety technology configuration error.... 421
C0257 Error in safety technology encoder
initialization....................................................... 422
C0258 Error in relation TNcyc (S-0-0001) to
fine interpol....................................................... 423
C0259 MLD configuration error (- & gt; S-0-0423)... 423
C0260 Incremental enc. emulator resol. can‐
not be displayed................................................ 424
C0261 Emulator (P-0-0902) activated for
both axes.......................................................... 425
C0265 Incorrect CCD address configuration.... 425
C0266 Incorrect CCD phase switch.................. 426
C0267 CCD timeout phase switch.................... 426
C0270 Error when reading encoder data = & gt;
motor encoder................................................... 427
C0271 Incorrect parameterization of motor
encoder (hardware)........................................... 428
C0272 Incorr. parameteriz. of motor enc.
(mechanical system)......................................... 428
C0273 Modulo value for motor encoder can‐
not be displayed................................................ 429
C0274 Motor encoder unknown........................ 429
C0275 Error when reading encoder data = & gt;
optional encoder............................................... 430
C0276 Incorrect parameterization of optional
enc. (hardware)................................................. 430
C0277 Incorr. parameteriz. of opt. enc. (me‐
chanical system)............................................... 431
608/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Index
C
C0278 Modulo value for optional encoder
cannot be displayed.......................................... 431
C0279 Optional encoder unknown.................... 432
C0280 Maximum travel range cannot be dis‐
played internally................................................ 433
C0281 Commutation via encoder-2 impossible 433
C0282 Sensorless posit. of synchr. motors,
invalid ctrl parameters....................................... 434
C0283 Error during initialization of motor
control (- & gt; S-0-0423).......................................... 434
C0284 Invalid motor data in encoder memo‐
ry (- & gt; S-0-0423).................................................. 435
C0285 Type of construction of motor
P-0-4014 incorrect............................................ 436
C0286 Several motor encoders connected....... 437
C0287 Error during initialization of motor da‐
ta (- & gt; S-0-0423).................................................. 437
C0288 Rotary scaling not allowed.................... 439
C0289 Error at init. of synchr. motor with re‐
luctance torque................................................. 439
C0290 Error when reading encoder data = & gt;
measuring encoder........................................... 440
C0291 Incorr. parameterization of measur‐
ing enc. (hardware)........................................... 441
C0292 Measuring encoder unknown................ 442
C0293 Modulo value for measuring encoder
cannot be displayed.......................................... 442
C0294 Incorrect measuring encoder configu‐
ration................................................................. 443
C0298 Impossible to exit parameterization
level................................................................... 443
C0299 Configuration changed. Restart............. 444
C0300 Set absolute position procedure com‐
mand................................................................. 341
C0301 Measuring system unavailable.............. 444
C0302 Absolute evaluation of measuring
system impossible............................................. 445
C0303 Absolute encoder offset cannot be
saved................................................................ 445
C0400 Activate parameterization level 1 pro‐
cedure command.............................................. 342
C0401 Switching not allowed............................ 446
C0403 Switching to CCD phase 2 impossible. . 446
C0500 Reset class 1 diagnostics, error reset. . . 342
C0501 Error clearing only in parameter mode. . 447
C0600 Drive-controlled homing procedure
command.......................................................... 342
C0601 Homing only possible with drive enable 447
C0602 Distance home switch - reference
mark erroneous................................................. 448
C0603 Homing impossible with optional en‐
coder................................................................. 448
C0604 Homing impossible with absolute en‐
coder................................................................. 449
C0606 Reference mark not detected................ 449
C0607 Reference cam input not assigned........ 450
C
C0608 Pos. stop a. HW lim. switch not al‐
lowed f. modulo axes........................................ 450
C0609 Different travel directions parameter‐
ized................................................................... 450
C0610 Absolute encoder offset could not be
saved................................................................ 451
C0700 Load defaults proced. command
(motor-spec. controller val.).............................. 343
C0702 Default parameters not available........... 451
C0703 Default parameters invalid..................... 452
C0704 Parameters not copyable...................... 452
C0706 Error when reading the controller pa‐
rameters............................................................ 453
C0720 Load defaults procedure command
(safety technology)............................................ 344
C0722 Parameter default value incorrect (- & gt;
S-0-0423).......................................................... 453
C0723 Safety command for load defaults
procedure incorrect........................................... 454
C0724 Timeout of safety command for load
defaults procedure............................................ 454
C0730 Load defaults procedure command
(MLD)................................................................ 345
C0740 Command Activate field bus profile
settings.............................................................. 345
C0750 Load defaults procedure command
(factory settings)............................................... 346
C0751 Parameter default value incorrect (- & gt;
S-0-0423).......................................................... 455
C0752 Locked with password........................... 456
C0799 An invalid index was set........................ 456
C0800 Load basic parameters command......... 346
C0851 Parameter default value incorrect (- & gt;
S-0-0021).......................................................... 457
C0852 Locked with password........................... 457
C0900 Position spindle command.................... 347
C0902 Spindle positioning requires drive
enable............................................................... 457
C0903 Error during initialization........................ 458
C0906 Error during search for zero pulse......... 458
C1200 Commutation offset setting command... 347
C1204 Error in offset calculation....................... 459
C1208 No adjustment with asynchronous
motor................................................................. 459
C1209 Proceed to phase 4............................... 459
C1211 Commutation offset could not be de‐
termined............................................................ 460
C1212 Motion range exceeded during com‐
mutation............................................................ 460
C1214 Command only possible with linear
synchronous motor........................................... 461
C1215 Command only possible in 'bb'.............. 461
C1216 Commutation determination not se‐
lected................................................................ 462
C1217 Setting only possible in 'Ab'................... 462
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
609/619
Index
C
C1218 Automatic commutation: Current too
low..................................................................... 462
C1219 Automatic commutation: Overcurrent.... 463
C1220 Automatic commutation: Timeout.......... 464
C1221 Automatic commutation: Iteration
without result..................................................... 464
C1222 Error when writing offset parameters.... 465
C1223 Command execution impossible........... 465
C1300 Positive stop drive procedure com‐
mand................................................................. 347
C1301 Class 1 diagnostics error at com‐
mand start......................................................... 466
C1400 Command Get marker position............. 348
C1402 Faulty reference mark signal................. 466
C1500 Cancel reference point procedure
command.......................................................... 348
C1600 Parking axis command.......................... 348
C1700 Command measuring wheel mode........ 349
C1701 Measuring wheel mode not possible..... 466
C1800 Command Drive optimization / com‐
mand value box................................................. 349
C1801 Start requires drive enable.................... 467
C1802 Motor feedback data not valid............... 467
C1803 Inertia detection failed........................... 468
C1804 Automatic controller setting failed......... 469
C1805 Travel range invalid............................... 469
C1806 Travel range exceeded.......................... 470
C1807 Determining travel range only via
travel distance................................................... 471
C1808 Drive not homed.................................... 471
C2000 Command Release motor holding
brake................................................................. 349
C2001 Command not enabled.......................... 471
C2100 Command Holding system check.......... 350
C2101 Holding system check only possible
with drive enable............................................... 472
C2103 Holding brake: Torque too low.............. 472
C2104 Command execution impossible........... 473
C2105 Load of holding system greater than
test torque......................................................... 473
C2106 Test torque of holding system not
reached............................................................. 474
C2107 Redundant holding brake: Torque too
low..................................................................... 477
C2108 Error when releasing the holding sys‐
tem.................................................................... 477
C2109 SBS: Test torque invalid........................ 478
C2200 Backup working memory procedure
command.......................................................... 350
C2202 Error when writing data to non-vola‐
tile memory....................................................... 479
C2300 Load working memory procedure
command.......................................................... 350
C2301 Error when reading non-volatile
memory............................................................. 479
C2302 Error when converting parameters........ 479
C
C2400 Selectively backup working memory
procedure command......................................... 351
C2402 Error when saving parameters.............. 480
C2500 Copy IDN from optional memory to
internal memory................................................ 351
C2502 Error when accessing the MMC............ 480
C2504 Error when writing data to internal
memory............................................................. 481
C2600 Copy IDN from internal memory to
optional memory............................................... 352
C2602 Error when accessing the MMC............ 482
C2604 Error when reading the internal mem‐
ory..................................................................... 483
C2800 Analog input adjustment command....... 352
C2801 Analog input not configured................... 483
C2802 Oscillations of input signal outside
tolerance range................................................. 484
C2803 Measured values at zero point and
max. value identical.......................................... 484
C2804 Automatic adjustment failed.................. 485
C2900 Command Firmware update from MMC 353
C2903 Error when accessing the MMC............ 485
C2904 Error when accessing the flash............. 486
C2905 Programmed firmware defective........... 486
C3000 Synchronize and store safety tech‐
nology IDN........................................................ 353
C3001 Synchronization and storage failed....... 487
C3100 Recalculate actual value cycle.............. 354
C3101 Act. modulo value cycle greater than
max. travel range.............................................. 488
C3102 Drive is still in drive enable.................... 488
C3200 Command Calculate motor data............ 354
C3201 Incorrect input for current...................... 488
C3202 Incorrect input for voltage...................... 489
C3203 Incorrect input for frequency.................. 489
C3204 Incorrect input for speed........................ 489
C3205 Incorrect input for power factor.............. 490
C3206 Incorrect input for power........................ 490
C3207 Type plate list incomplete...................... 491
C3208 Error when writing parameters ( & gt; S-0-0423)........................................................ 491
C3209 Command execution impossible........... 491
C3300 Set coordinate system procedure
command.......................................................... 354
C3400 Shift coordinate system procedure
command.......................................................... 355
C3500 Command Determine encoder cor‐
rection values.................................................... 355
C3501 Acquisition velocity not allowed............. 492
C3502 Motor encoder not available.................. 492
C3503 Optional encoder not available.............. 493
C3504 Measuring encoder not available.......... 493
C3505 No encoder selected............................. 494
C3506 Correction value table cannot be stored 494
C3600 Command Motor data identification....... 355
C3601 Motor not or not correctly connected..... 495
610/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Index
C
C3602 Determined values invalid..................... 495
C3603 Device current limit too low................... 496
C3604 Error when writing parameters ( & gt; S-0-0423)........................................................ 496
C3605 Motor turning......................................... 497
C3606 Type of construction of motor not al‐
lowed................................................................. 497
C3607 Motor revolution/motion impeded.......... 498
C3608 Incorrect motor phases or rotational
direction of encoder.......................................... 498
C3609 Incorrect number of pole pairs or
number of encoder lines................................... 499
C3610 No encoder: Validation check impos‐
sible................................................................... 499
C3611 Test velocity not reached...................... 500
C3700 Manually unlocking the safety door....... 356
C3701 Error when manually unlocking the
safety door........................................................ 500
C3800 Command Apply motor holding brake... 356
C3900 Command Holding brake resurfacing.... 357
C3901 Resurfacing of holding brake only
possible with drive enable................................. 501
C3902 Error during resurfacing of holding
brake................................................................. 501
C3903 Command execution impossible........... 502
C4000 Homing procedure command chan‐
nel 2.................................................................. 357
C4001 Error during safe homing procedure...... 502
C4002 Incorrect distance of dedicated point
channel 1-2....................................................... 503
C4100 Switch parameter set command............ 357
C4101 Switching only possible without AF....... 504
C4102 Switching only possible in parameter
mode................................................................. 504
C4103 Preselect parameter set forbidden
value................................................................. 505
C4104 Error during parameter set switching
(- & gt; S-0-0423)...................................................... 505
C4200 Drive-controlled oscillation command.... 357
C4201 Oscillation requires drive enable........... 505
C4202 Oscillation command speed cannot
be reached........................................................ 506
C4300 NC-controlled homing procedure
command.......................................................... 358
C4302 Distance home switch - reference
mark erroneous................................................. 506
C4304 Homing impossible with absolute en‐
coder................................................................. 507
C4306 Reference mark not detected................ 507
C4307 Reference cam input not assigned........ 508
C4308 Pos. stop a. HW lim. switch not al‐
lowed f. modulo axes........................................ 508
C4400 Calculate displacement procedure
command.......................................................... 358
C4500 Displacement to referenced system
procedure command......................................... 358
C
C4600 Command Calculate motor control
parameters........................................................ 359
C4601 Error when writing parameters ( & gt; S-0-0423)........................................................ 508
C4700 Command Activate easy startup mode. 359
C4701 Drive active, activation of easy start‐
up impossible.................................................... 509
C4800 Command Determine cogging torque
compensation table........................................... 359
C4801 Cogging torque compensation:
Measuring vel. too high..................................... 509
C4802 Cogging torque compensation:
Measuring vel. too low...................................... 510
C4803 Cogging torque compensation: Inad‐
missible acceleration......................................... 510
C4804 Cogging torque comp.: Err. when
storing corr. val table......................................... 511
C4805 Cogging torque comp.: Motor meas‐
uring system not homed.................................... 511
C4900 PLC command....................................... 360
C4901 PLC command error no. 1..................... 512
C4902 PLC command error no. 2..................... 512
C4903 PLC command error no. 3..................... 512
C4904 PLC command error no. 4..................... 513
C4910 PLC command timeout.......................... 513
C5200 Communication phase 4 transition
check................................................................. 360
C5300 SERCOS III: Command SYNC delay
measurement.................................................... 360
C5301 SERCOS III: Delay measurement
failed................................................................. 514
C5400 Command Save PLC retain data on
MMC.................................................................. 361
C5401 PLC program not ready for retain da‐
ta backup.......................................................... 514
C5402 Error when writing data to the MMC...... 515
C5500 Command Load PLC retain data
from MMC......................................................... 361
C5501 PLC program not ready for loading
retain data......................................................... 515
C5502 MMC not available or not OK................ 516
C5503 PLC retain data do not match PLC
program............................................................. 516
C5504 Unknown format in PLC retain file......... 517
C5505 Invalid PLC retain data.......................... 517
C5600 Command subsequent optimization
of commutation offset........................................ 362
C5601 Command requires drive enable........... 518
C5602 Axis blocked.......................................... 518
C5603 Timeout: Axis in motion......................... 518
C5800 Command Apply redundant holding
brake................................................................. 362
C5801 Command Apply redundant holding
brake not possible............................................. 519
C5900 Command Resurfacing of redundant
holding brake.................................................... 362
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
611/619
Index
C
C5901 Comm. Resurfacing of red. holding
brake only possible AF...................................... 519
C5902 Error when resurfacing redundant
holding brake.................................................... 520
C5903 Command execution impossible........... 520
C6000 Set absolute position procedure com‐
mand................................................................. 363
C6001 Measuring system unavailable.............. 521
C6002 Absolute evaluation of measuring
system impossible............................................. 521
C6003 Absolute encoder offset cannot be
saved................................................................ 522
C6004 Command cannot be executed under
drive enable...................................................... 522
C6100 Command Activate IP settings.............. 363
C6101 Incorrect IP settings............................... 522
C6200 Command Enabling SM without valid
brake status...................................................... 364
C6201 Command execution impossible........... 523
C6400 Reboot command.................................. 365
C6401 reboot command impossible................. 524
C6500 Save operating data on backup
memory............................................................. 365
C6501 Error when writing backup data
(backup memory).............................................. 524
C6502 Error when reading backup data (de‐
vice).................................................................. 525
C6503 Error when checking backup data
(comparison)..................................................... 526
C6600 Restore operating data from backup
memory............................................................. 365
C6601 Error when reading backup data
(backup memory).............................................. 526
C6602 Error when writing backup data (de‐
vice).................................................................. 527
C6603 Error when writing comparative data
(backup memory).............................................. 528
C6604 Error when reading comparative data
(device)............................................................. 529
C6605 Warning, restoration incomplete (de‐
vice).................................................................. 529
C7000 CCD: Command adjust slave ad‐
dresses............................................................. 366
C7001 CCD: Impossible to adjust slave ad‐
dresses............................................................. 530
C7100 CCD: Command Close ring................... 366
C7101 CCD: Impossible to close ring............... 531
C7200 CCD: Command Apply I/O configura‐
tion.................................................................... 366
C7201 CCD: Impossible to apply I/O config‐
uration............................................................... 531
C7400 CCD: Switching to phase 2................... 367
C7401 CCD: Impossible to switch to phase 2... 532
C7500 CCD: Switching to phase 4................... 367
C7501 CCD: Impossible to switch to phase 4... 532
C7600 Command Create parameter image...... 367
C
C7601 Memory access impossible................... 533
C7602 Slave access impossible....................... 533
Cables
Documentation ............................................. 25
Cam shaft invalid.............................................. 219
charg................................................................... 76
Checksum of parameter values.......................... 70
Clearing an error message................................. 73
CM....................................................................... 76
Commands.......................................................... 71
Commutation offset setting............................... 347
Components
Documentations ........................................... 24
Control panel
... of the default control panel ....................... 50
Control panels..................................................... 49
Control parameters............................................. 49
D
Data storage....................................................... 69
Definitions of terms, general basic principles...... 69
Diagnosis............................................................ 41
Diagnostic display
KCU (LED H52.1…H54) ............................ 587
KSM/KMS (LED H14) ................................. 585
Diagnostic message
Diagnostic message in plain text .................. 43
Display ......................................................... 43
Display text ................................................... 44
Error number ................................................ 44
List of diagnostic numbers ........................... 44
Structure ....................................................... 42
Diagnostic message number.............................. 44
Diagnostic messages of the drive....................... 41
Display of diagnostic message number.............. 43
Documentation
Cables .......................................................... 25
Drive systems ............................................... 24
Firmware ...................................................... 25
Motors .......................................................... 24
Overview ...................................................... 24
Reference documentations .......................... 24
System components ..................................... 24
Drive control commands..................................... 71
Drive system....................................................... 29
E
E0000 E-0000 Processor exception error......... 129
E2010 Position control with encoder 2 not
possible............................................................. 310
E2011 PLC - Warning no. 1.............................. 310
E2012 PLC - Warning no. 2.............................. 311
E2013 PLC - Warning no. 3.............................. 311
E2014 PLC - Warning no. 4.............................. 311
E2015 PLC - Warning no. 5.............................. 312
612/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Index
E
E2016 PLC - Warning no. 6.............................. 312
E2017 PLC - Warning no. 7.............................. 312
E2021 Motor temperature outside of meas‐
uring range........................................................ 313
E2026 Undervoltage in power section.............. 314
E2040 Device overtemperature 2 prewarning. . 315
E2047 Interpolation velocity = 0........................ 315
E2048 Interpolation acceleration = 0................ 316
E2049 Positioning velocity & gt; = limit value.......... 317
E2050 Device overtemp. prewarning................ 318
E2051 Motor overtemp. prewarning.................. 319
E2053 Target position out of travel range......... 319
E2054 Not homed............................................. 321
E2055 Feedrate override S-0-0108 = 0............ 321
E2056 Torque limit = 0...................................... 322
E2058 Selected positioning block has not
been programmed............................................. 323
E2059 Velocity command value limit active...... 324
E2061 Device overload prewarning.................. 324
E2063 Velocity command value & gt; limit value.... 325
E2064 Target position out of num. range.......... 326
E2069 Holding brake torque too low................. 326
E2070 Acceleration limit active......................... 327
E2074 Encoder 1: Encoder signals disturbed... 328
E2075 Encoder 2: Encoder signals disturbed... 328
E2076 Measuring encoder: Encoder signals
disturbed........................................................... 329
E2077 Absolute encoder monitoring, motor
encoder (encoder alarm)................................... 330
E2078 Absolute encoder monitoring, opt.
encoder (encoder alarm)................................... 331
E2079 Absolute enc. monitoring, measuring
encoder (encoder alarm)................................... 331
E2086 Prewarning supply module overload..... 332
E2092 Internal synchronization defective......... 332
E2100 Positioning velocity of master axis
generator too high............................................. 333
E2101 Acceleration of master axis generator
is zero............................................................... 334
E2140 CCD error at node................................. 334
E2270 Analog input 1 or 2, wire break.............. 334
E2802 HW control of braking resistor............... 335
E2810 Drive system not ready for operation..... 336
E2814 Undervoltage in mains........................... 336
E2816 Undervoltage in power section.............. 337
E2818 Phase failure.......................................... 337
E2819 Mains failure.......................................... 338
E2820 Braking resistor overload prewarning.... 338
E2829 Not ready for power on.......................... 339
E3100 Error when checking input signals......... 302
E3101 Error when checking acknowledg‐
ment signal........................................................ 303
E3102 Actual position values validation error... 304
E3103 Dynamization failed............................... 304
E3104 Safety parameters validation error........ 305
E3105 Validation error of safe operation mode 305
E
E3106 System error safety technology............. 306
E3107 Safe reference missing.......................... 307
E3108 Safely-monitored deceleration excee‐
ded.................................................................... 307
E3110 Time interval of forced dynamization
exceeded.......................................................... 308
E3115 Prewarning, end of brake check time
interval.............................................................. 309
E3116 Nominal load torque of holding sys‐
tem reached...................................................... 309
E4001 Double MST failure shutdown............... 294
E4002 Double MDT failure shutdown............... 295
E4005 No command value input via master
communication.................................................. 296
E4006 Communication module overload.......... 297
E4007 SERCOS III: Consumer connection
failed................................................................. 297
E4008 Invalid addressing command value
data container A................................................ 297
E4009 Invalid addressing actual value data
container A........................................................ 298
E4010 Slave not scanned or address 0............ 298
E4011 Communication watchdog: Overload
of cyclic communication.................................... 299
E4012 Maximum number of CCD slaves ex‐
ceeded.............................................................. 299
E4013 Incorrect CCD addressing..................... 299
E4014 Incorrect phase switch of CCD slaves... 300
E4016 CCD: Topology error............................. 301
E4017 CCD: Unknown I/O configuration.......... 301
E8025 Overvoltage in power section................ 279
E8026 Undervoltage in power section.............. 280
E8027 Safe torque off while drive enabled....... 281
E8028 Overcurrent in power section................. 281
E8029 Positive position limit exceeded............. 282
E8030 Negative position limit exceeded........... 283
E8034 Emergency-Stop activated.................... 284
E8040 Torque/force actual value limit active.... 284
E8041 Current limit active................................. 285
E8042 Both travel range limit switches acti‐
vated................................................................. 285
E8043 Positive travel range limit switch acti‐
vated................................................................. 286
E8044 Negative travel range limit switch ac‐
tivated............................................................... 287
E8055 Motor overload, current limit active........ 287
E8057 Device overload, current limit active...... 288
E8058 Drive system not ready for operation..... 289
E8260 Torque/force command value limit
active................................................................. 289
E8802 PLL is not synchronized........................ 290
E8814 Undervoltage in mains........................... 291
E8815 Overvoltage in mains............................. 292
E8818 Phase failure.......................................... 292
E8819 Mains failure.......................................... 293
E Adress ............................................................ 84
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
613/619
Index
E
ECL Upd............................................................. 83
E-code channel 1 (P3219 [0])................... 535, 559
E-code channel 2 (P3219 [1])................... 535, 559
E ET SW ............................................................ 85
E FIP CS ............................................................ 83
E FIP nf .............................................................. 83
E HW nok ........................................................... 85
Electric drive system........................................... 29
E Length ............................................................. 84
E MMC cl ............................................................ 84
E MMC cp .......................................................... 85
E MMC op .......................................................... 84
End C29 ............................................................. 81
EPF Upd............................................................. 83
E Pge Sz ............................................................ 83
EPL Upd.............................................................. 83
Error classes....................................................... 72
Error in motion profile........................................ 218
Error memory...................................................... 73
Error messages of serial communication.......... 276
Error number....................................................... 44
Error reactions
Drive error reactions ..................................... 73
Errors.................................................................. 72
Drive error reactions ..................................... 73
E SW-VER ......................................................... 86
Extended diagnosis........................................... 535
Extended diagnosis as of MPx07...................... 559
F
F2002 Assignment of encoder for synchroni‐
zation is not allowed.......................................... 216
F2003 Motion step skipped............................... 217
F2004 Error in MotionProfile............................. 218
F2005 Cam table invalid................................... 219
F2006 MMC was removed................................ 220
F2007 Switching to non-initialized operation
mode................................................................. 220
F2008 RL The motor type has changed........... 221
F2009 PL Load parameter default values......... 222
F2010 Error when initializing digital I/O (- & gt;
S-0-0423).......................................................... 223
F2011 PLC - Error no. 1.................................... 224
F2012 PLC - Error no. 2.................................... 225
F2013 PLC - Error no. 3.................................... 225
F2014 PLC - Error no. 4.................................... 225
F2015 PLC - Error no. 5.................................... 226
F2016 PLC - Error no. 6.................................... 226
F2017 PLC - Error no. 7.................................... 227
F2018 Device overtemperature shutdown........ 227
F2019 Motor overtemperature shutdown.......... 228
F2021 Motor temperature monitor defective..... 229
F2022 Device temperature monitor defective... 230
F2025 Drive not ready for control..................... 230
F2026 Undervoltage in power section.............. 231
F2027 Excessive oscillation in DC bus............. 231
F
F2028 Excessive deviation............................... 232
F2031 Encoder 1 error: Signal amplitude in‐
correct............................................................... 232
F2032 Validation error during commutation
fine adjustment.................................................. 233
F2033 External power supply X10 error........... 234
F2036 Excessive position feedback difference. 234
F2037 Excessive position command difference 235
F2039 Maximum acceleration exceeded.......... 236
F2040 Device overtemperature 2 shutdown..... 236
F2042 Encoder 2: Encoder signals incorrect.... 237
F2043 Measuring encoder: Encoder signals
incorrect............................................................ 238
F2044 External power supply X15 error........... 239
F2048 Low battery voltage................................ 239
F2050 Overflow of target position preset
memory............................................................. 240
F2051 No sequential block in target position
preset memory.................................................. 241
F2053 Incr. encoder emulator: Pulse fre‐
quency too high................................................. 241
F2054 Incr. encoder emulator: Hardware error. 242
F2055 External power supply dig. I/O error...... 243
F2057 Target position out of travel range......... 243
F2058 Internal overflow by positioning input..... 244
F2059 Incorrect command value direction
when positioning............................................... 245
F2063 Internal overflow master axis generator. 246
F2064 Incorrect cmd value direction master
axis generator................................................... 246
F2067 Synchronization to master communi‐
cation incorrect.................................................. 247
F2068 Brake error............................................. 247
F2069 Error when releasing the motor hold‐
ing brake........................................................... 248
F2074 Actual pos. value 1 outside absolute
encoder window................................................ 249
F2075 Actual pos. value 2 outside absolute
encoder window................................................ 249
F2076 Actual pos. value 3 outside absolute
encoder window................................................ 250
F2077 Current measurement trim wrong.......... 251
F2086 Error supply module............................... 252
F2087 Module group communication error....... 252
F2100 Incorrect access to command value
memory............................................................. 253
F2101 It was impossible to address MMC........ 253
F2102 It was impossible to address I2C
memory............................................................. 254
F2103 It was impossible to address EnDat
memory............................................................. 254
F2104 Commutation offset invalid.................... 255
F2105 It was impossible to address Hiper‐
face memory..................................................... 255
F2110 Error in non-cyclical data communic.
of power section................................................ 256
614/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Index
F
F2120 MMC: Defective or missing, replace...... 256
F2121 MMC: Incorrect data or file, create
correctly............................................................ 257
F2122 MMC: Incorrect IBF file, correct it.......... 257
F2123 Retain data backup impossible.............. 258
F2124 MMC: Saving too slowly, replace........... 259
F2130 Error comfort control panel.................... 259
F2140 CCD slave error..................................... 260
F2150 MLD motion function block error............ 260
F2174 Loss of motor encoder reference........... 261
F2175 Loss of optional encoder reference....... 261
F2176 Loss of measuring encoder reference. . . 262
F2177 Modulo limitation error of motor en‐
coder................................................................. 263
F2178 Modulo limitation error of optional en‐
coder................................................................. 263
F2179 Modulo limitation error of measuring
encoder............................................................. 264
F2190 Incorrect Ethernet configuration............. 264
F2260 Command current limit shutoff............... 265
F2270 Analog input 1 or 2, wire break.............. 266
F2802 PLL is not synchronized......................... 267
F2814 Undervoltage in mains........................... 267
F2815 Overvoltage in mains............................. 267
F2816 Softstart fault power supply unit............. 268
F2817 Overvoltage in power section................ 268
F2818 Phase failure.......................................... 269
F2819 Mains failure.......................................... 270
F2820 Braking resistor overload....................... 270
F2821 Error in control of braking resistor.......... 271
F2825 Switch-on threshold braking resistor
too low............................................................... 272
F2833 Ground fault in motor line...................... 272
F2834 Contactor control error........................... 273
F2835 Mains contactor wiring error.................. 273
F2836 DC bus balancing monitor error............. 274
F2837 Contactor monitoring error..................... 274
F2840 Error supply shutdown........................... 274
F2860 Overcurrent in mains-side power sec‐
tion.................................................................... 275
F2890 Invalid device code................................ 276
F2891 Incorrect interrupt timing........................ 276
F2892 Hardware variant not supported............ 276
F3111 Refer. missing when selecting safety
related end pos................................................. 190
F3112 Safe reference missing.......................... 191
F3115 Brake check time interval exceeded...... 193
F3116 Nominal load torque of holding sys‐
tem exceeded................................................... 194
F3117 Actual position values validation error. . . 195
F3122 SBS: System error................................. 196
F3123 SBS: Brake check missing..................... 196
F3130 Error when checking input signals......... 197
F3131 Error when checking acknowledg‐
ment signal........................................................ 198
F
F3132 Error when checking diagnostic out‐
put signal........................................................... 199
F3133 Error when checking interrupting cir‐
cuits................................................................... 200
F3134 Dynamization time interval incorrect...... 201
F3135 Dynamization pulse width incorrect....... 203
F3140 Safety parameters validation error......... 205
F3141 Selection validation error....................... 206
F3142 Activation time of enabling control ex‐
ceeded.............................................................. 206
F3143 Safety command for clearing errors
incorrect............................................................ 208
F3144 Incorrect safety configuration................. 209
F3145 Error when unlocking the safety door.... 210
F3146 System error channel 2.......................... 211
F3147 System error channel 1.......................... 212
F3150 Safety command for system start in‐
correct............................................................... 213
F3151 Safety command for system halt in‐
correct............................................................... 214
F3152 Incorrect backup of safety technology
data................................................................... 214
F3160 Communication error of safe commu‐
nication.............................................................. 215
F4001 Sync telegram failure............................. 180
F4002 RTD telegram failure.............................. 181
F4003 Invalid communication phase shutdown 183
F4004 Error during phase progression............. 183
F4005 Error during phase regression............... 183
F4006 Phase switching without ready signal.... 184
F4009 Bus failure.............................................. 184
F4011 Communication watchdog: Overload
of cyclic communication.................................... 186
F4012 Incorrect I/O length................................ 187
F4016 PLC double real-time channel failure..... 187
F4017 S-III: Incorrect sequence during
phase switch..................................................... 188
F4034 Emergency-Stop activated..................... 188
F4140 CCD communication error..................... 189
F6006 Incorrect initialization of effective
master axis position.......................................... 171
F6010 PLC runtime error.................................. 172
F6024 Maximum braking time exceeded.......... 173
F6028 Position limit value exceeded (overflow) 174
F6029 Positive position limit exceeded............. 175
F6030 Negative position limit exceeded........... 176
F6034 Emergency-Stop activated..................... 176
F6042 Both travel range limit switches acti‐
vated................................................................. 177
F6043 Positive travel range limit switch acti‐
vated................................................................. 178
F6044 Negative travel range limit switch ac‐
tivated............................................................... 179
F6140 CCD slave error (emergency halt)......... 179
F7010 Safely-limited increment exceeded........ 161
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
615/619
Index
F
F7011 Safely-monitored position, exceeded
in pos. direction................................................. 162
F7012 Safely-monitored position, exceeded
in neg. direction................................................. 162
F7013 Safely-limited speed exceeded.............. 163
F7014 Timeout safely-monitored transient
oscillation.......................................................... 163
F7020 Safe maximum speed exceeded........... 164
F7021 Safely-limited position exceeded........... 165
F7030 Position window Safe stop 2 exceeded. 165
F7031 Incorrect direction of motion.................. 166
F7040 Validation error parameterized - ef‐
fective threshold................................................ 166
F7041 Actual position value validation error..... 167
F7042 Validation error of safe operation mode. 168
F7043 Error of output stage interlock................ 168
F7050 Time for stopping process exceeded..... 169
F7051 Safely-monitored deceleration excee‐
ded.................................................................... 169
F8000 Fatal hardware error.............................. 132
F8010 Autom. commutation: Max. motion
range when moving back.................................. 133
F8011 Commutation offset could not be de‐
termined............................................................ 134
F8012 Autom. commutation: Max. motion
range................................................................. 135
F8013 Automatic commutation: Current too
low..................................................................... 135
F8014 Automatic commutation: Overcurrent.... 136
F8015 Automatic commutation: Timeout.......... 137
F8016 Automatic commutation: Iteration
without result..................................................... 137
F8017 Automatic commutation: Incorrect
commutation adjustment................................... 138
F8018 Device overtemperature shutdown........ 139
F8022 Enc. 1: Enc. signals incorr. (can be
cleared in ph. 2)................................................ 140
F8023 Error mechanical link of encoder or
motor connection.............................................. 141
F8025 Overvoltage in power section................ 141
F8027 Safe torque off while drive enabled....... 142
F8028 Overcurrent in power section................. 143
F8030 Safe stop 1 while drive enabled............. 143
F8042 Encoder 2 error: Signal amplitude in‐
correct............................................................... 144
F8057 Device overload shutdown..................... 145
F8060 Overcurrent in power section................. 145
F8064 Interruption of motor phase.................... 146
F8067 Synchronization PWM-Timer wrong...... 147
F8069 +/-15Volt DC error.................................. 147
F8070 +24Volt DC error.................................... 148
F8076 Error in error angle loop......................... 148
F8078 Speed loop error.................................... 149
F8079 Velocity limit value exceeded................. 150
F8091 Power section defective......................... 150
F
F8100 Error when initializing the parameter
handling............................................................ 151
F8102 Error when initializing power section..... 152
F8118 Invalid power section/firmware combi‐
nation................................................................ 152
F8120 Invalid control section/firmware com‐
bination............................................................. 153
F8122 Control section defective....................... 153
F8129 Incorrect optional module firmware........ 153
F8130 Firmware of option 2 of safety tech‐
nology defective................................................ 154
F8133 Error when checking interrupting cir‐
cuits................................................................... 154
F8134 SBS: Fatal error..................................... 155
F8135 SMD: Velocity exceeded........................ 156
F8140 Fatal CCD error..................................... 156
F8201 Safety technology basic initialization
incorrect............................................................ 156
F8203 Safety technology configuration pa‐
rameter invalid.................................................. 157
F8813 Connection error mains choke............... 158
F8830 Power section error................................ 159
F8838 Overcurrent external braking resistor.... 159
F9001 Error internal function call...................... 130
F9002 Error internal RTOS function call........... 131
F9003 Watchdog............................................... 131
F9004 Hardware trap........................................ 131
Firmware
Documentation ............................................. 25
Firmware update ?.............................................. 82
FL: CKS ........................................................... 590
FL: DL .............................................................. 589
FL:E ADR ......................................................... 590
FL:E FW ........................................................... 590
FL:E LD ............................................................ 591
FL:ERASE ........................................................ 590
FL:E SEC ......................................................... 590
FL:E SEQ ......................................................... 591
FL:F2100 .......................................................... 591
FL:F2101 .......................................................... 592
FL:F8120 .......................................................... 593
FL:F8122 .......................................................... 592
FL:F8129 .......................................................... 592
FL:F8130 .......................................................... 592
FL:F9002 .......................................................... 591
FL:F ACC ......................................................... 592
FL:F CKS ......................................................... 591
FL: PROG ........................................................ 590
G
Generation of diagnostic messages, driveinternal................................................................ 41
616/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Index
H
H14
LED (KSM/KMS) ........................................ 585
H52.1…H54
LEDs (KCU) ............................................... 587
I
IBF not correct!................................................... 82
Inappropriate use................................................ 28
Consequences, exclusion of liability ............ 27
K
KCU
LEDs .......................................................... 587
Kinds of diagnostic messages............................ 41
KMS
LED H14 ..................................................... 585
KSM
LED H14 ..................................................... 585
L
Language selection............................................. 44
LED
H14 (KSM/KMS) ......................................... 585
H52.1…H54 (KCU) .................................... 587
List of diagnostic numbers.................................. 44
LOADER........................................................... 589
Loading parameter values, general.................... 70
Load New Safety ?.............................................. 80
Load Par from MMC............................................ 81
M
Means of representation
Conventions of notation ............................... 23
Notations ...................................................... 23
Notes ............................................................ 23
MMC not correct!................................................ 81
Monitor commands............................................. 71
Motion profile, encoder 1, real master axis....... 113
Motion profile, encoder 1, virtual master axis. . . 112
Motion profile, encoder 2, real master axis....... 113
Motion profile, encoder 2, virtual master axis. . . 112
Motion profile lagless, encoder 1, real mas‐
ter axis.............................................................. 115
Motion profile lagless, encoder 1, virtual
master axis........................................................ 114
Motion profile lagless, encoder 2, real mas‐
ter axis.............................................................. 115
Motion profile lagless, encoder 2, virtual
master axis........................................................ 114
Motor
Documentation ............................................. 24
N
new MMC activate.............................................. 81
N
No IDN on MMC !................................................ 80
Non-volatile data memories................................ 69
O
OM...................................................................... 76
Operating states.................................................. 75
Operation modes
Basic principles ............................................ 71
P
P0........................................................................ 76
P-0-3219
Extended diagnosis .................................... 535
Extended diagnosis as of MPx07 ............... 559
P1........................................................................ 76
P2........................................................................ 76
P3........................................................................ 76
Parameter handling, general............................... 69
Parameters
Definitions of terms ...................................... 69
Password............................................................ 70
PELV................................................................... 34
PL........................................................................ 76
PLC ? ................................................................. 79
PLC error.................................. 224, 225, 226, 227
PM....................................................................... 76
Project planning manuals.................................... 24
Protective extra-low voltage................................ 34
R
Reference documentations................................. 24
RL....................................................................... 76
Run PLC ............................................................ 80
S
S3L Upd.............................................................. 83
Safety instructions for electric drives and
controls............................................................... 29
Saving parameter values, general...................... 69
SBB..................................................................... 76
SBB1................................................................... 77
SBB2................................................................... 77
SBB3................................................................... 77
SBB4................................................................... 77
SBH..................................................................... 77
SERCOS service channel error codes.............. 276
SH....................................................................... 77
SMM1.................................................................. 77
SMM2.................................................................. 77
SMM3.................................................................. 77
SMM4.................................................................. 77
SS1..................................................................... 77
SS1 ES............................................................... 77
SS2..................................................................... 77
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Bosch Rexroth AG
617/619
Index
S
V
State-of-the-art.................................................... 27
Status classes..................................................... 44
Status displays.................................................... 47
STO..................................................................... 77
Stop PLC ............................................................ 80
Structure of diagnostic message......................... 42
Support
See service hotline ..................................... 603
Synchronous motor........................................... 347
VM Bb................................................................. 75
VM charg............................................................. 76
VM Lb.................................................................. 78
VM LB................................................................. 78
VM P0................................................................. 76
VM P1................................................................. 76
VM P2................................................................. 76
VM P3................................................................. 76
VM ZKS............................................................... 78
T
W
U
X
Types of commands............................................ 71
Types of passwords, overview............................ 70
Update Error !..................................................... 82
Use
Appropriate use ............................................ 27
Inappropriate use ......................................... 28
V
VM bb.................................................................. 75
Warning classes.................................................. 72
Warnings............................................................. 72
XXX Upd ............................................................ 82
618/619
Bosch Rexroth AG
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
DOK-INDRV*-GEN-**VRS**-WA08-EN-P
Rexroth IndraDrive MPx-02 to MPx-08 and HMV
Notes
Bosch Rexroth AG
619/619
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Tel.
+49 9352 18 0
Fax
+49 9352 18 8400
www.boschrexroth.com/electrics
R911297319
DOK-INDRV*-GEN-**VRS**-WA08-EN-P