Falhas HDS e HDD

engineering
mannesmann
Rexroth
DIAX 04
ASE-02VRS ANALOG
HDS HDD
DANGE
High V oltage.
Danger of electrical shock.
Do not touch electrical connec tions
for
5 minutes after switching power
Read and follow "Safety
Instructions for Electrical Drives"
manual,
DOK-GENERL-DRIVE******-SVS...
DIAX04
Drive With Servo Function,
Analog- And Parallelinterface
Troubele Shooting Guide: ASE 02VRS
DOK-DIAX04-ASE-02VRS**-WAR1-EN-P
280451 Indramat
About this documentation DIAX04 ASE-02VRS
Titel DOK-DIAX04-ASE-02VRS**-WAR1-EN-P
Type of documentation Drive With Servo Function,

Analog- And Parallelinterface
Doku-Type DOK-DIAX04-ASE-02VRS**-WAR1-EN-P
Internal File Mark • Mappe 63-02V-EN / Register 8

• 209-0077-4344-01
• Basis: 02V01
What is the purpose of this This document is designed to assist maintenance personnel in identifying
documentation? errors with the machinery
• help in understanding error messages
• help in finding the causes of errors
• describe the procedure for trouble shooting
simplify the process of establishing contact with the INDRAMAT
Customer service department
Course of Modifications Document identification of previous

and present output Release Date Remarks
DOK-DIAX04-ASE-02VRS**-WAR1-EN-P 07.98 First edition
Copyright  INDRAMAT GmbH, 1998

Copying this document, and giving it to others or the use or
communication of the contents there of without express authority, are
forbidden. Offenders are liable for the payment of demage. All ritghts are
reserved in the event of the grant of a patent or the registration of a utility
model or design. (DIN 34-1)
Validity All rights are reserved with respect to the content of this documentation
and the availabillity of the product.
Published by INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telefon 09352/40-0 • Tx 689421 • Fax 09352/40-4885
Dep. ECD1 (WR/HP)
Note This document is printed on chlorine-free bleached paper.
DIAX04 ASE-02VRS Conents I
Conents
1 Diagnostic Message Descriptions 1-1
1.1 Overview of the diagnostic message descriptions ............................................................................... 1-1
Diagnostic Message Types ........................................................................................................... 1-1
Construction of a diagnostic message .......................................................................................... 1-1
2 Safety Instructions for Electrical Drives 2-1

2.1 Introduction .......................................................................................................................................... 2-1
2.2 Hazards by improper use ..................................................................................................................... 2-2
2.3 General ................................................................................................................................................ 2-3
2.4 Protection against contact with electrical parts and not grounded enclosures .................................... 2-4
2.5 Protection by protective low voltage (PELV) against electrical shock ........................................... 2-6
2.6 Protection against dangerous movements........................................................................................... 2-6
2.7 Protection against magnetic and electromagnetic fields during operations and mounting .................. 2-8
2.8 Protection against contact with hot parts ............................................................................................. 2-8
2.9 Protection during handling and installation .......................................................................................... 2-9
2.10 Battery safety ................................................................................................................................... 2-10
3 Description of diagnostic letters F... and E... 3-1

3.1 Error diagnostic messages F... ............................................................................................................ 3-1
3.2 F208 UL The motor type has changed. ............................................................................................... 3-2
F209 PL Load parameter default values ....................................................................................... 3-2
F218 Amplifier overtemp. shutdown.............................................................................................. 3-2
F219 Motor overtemp. shutdown .................................................................................................. 3-3
F221 Motor temp. surveillance defective ...................................................................................... 3-3
F226 Undervoltage in power section............................................................................................. 3-3
F228 Excessive deviation.............................................................................................................. 3-4
F229 Encoder 1 failure: quadrant error ......................................................................................... 3-4
F233 External power supply error ................................................................................................. 3-4
F234 Emergency-Stop .................................................................................................................. 3-5
F236 Excessive position feedback difference............................................................................... 3-5
F237 Excessive position command difference.............................................................................. 3-6
F242 Encoder 2 failure: signal too small ....................................................................................... 3-6
F245 Encoder 2 failure: quadrant error ......................................................................................... 3-7
F248 Low battery voltage .............................................................................................................. 3-8
F253 Incr. encoder emulator: pulse frequency too high................................................................ 3-8
F254 Incr. encoder emulator: hardware fault ................................................................................ 3-9
F255 External power supply DAE 02 error.................................................................................... 3-9
F267 Erroneous internal hardware synchronization...................................................................... 3-9
F268 Brake fault............................................................................................................................ 3-9
F276 Absolute encoder out of allowed window ........................................................................... 3-10
F277 Current measurement trim wrong ...................................................................................... 3-10
F316 Softstart fault power supply unit ......................................................................................... 3-10
F318 Heatsink overtemp. fault power supply unit ....................................................................... 3-11
II Conents DIAX04 ASE-02VRS
F320 Bleeder overload ................................................................................................................ 3-11

F360 Overcurrent power supply unit ........................................................................................... 3-11
F369 +24V/+-15V/+5V fault power supply unit............................................................................ 3-11
F380 Short to ground power supply unit ..................................................................................... 3-12
F381 Mains failure....................................................................................................................... 3-12
F382 Mains phase loss fault ....................................................................................................... 3-12
F383 Line voltage fault ................................................................................................................ 3-12
F384 Connection error at power supply unit ............................................................................... 3-12
F385 Line frequency fault............................................................................................................ 3-13
F394 Checksum error power supply unit .................................................................................... 3-13
F434 Emergency-Stop ................................................................................................................ 3-13
F629 Positive travel limit exceeded............................................................................................. 3-13
F630 Negative travel limit exceeded ........................................................................................... 3-14
F634 Emergency-Stop ................................................................................................................ 3-14
F643 Positive travel limit switch detected.................................................................................... 3-14
F644 Negative travel limit switch detected .................................................................................. 3-15
F822 Encoder 1 failure: signal too small ..................................................................................... 3-15
F827 Drive interlock while drive activated ................................................................................... 3-16
F860 Overcurrent: short in power stage...................................................................................... 3-16
F861 Overcurrent: short to ground.............................................................................................. 3-17
F869 +/-15Volt DC error.............................................................................................................. 3-17
F870 +24Volt DC error ................................................................................................................ 3-17
F871 +10Volt DC error ................................................................................................................ 3-18
F878 Velocity loop error .............................................................................................................. 3-18
F879 Velocity limit S-0-0091 exceeded....................................................................................... 3-18
3.3 Warning Diagnostic Messages .......................................................................................................... 3-19
E201 No mains connected .......................................................................................................... 3-19
E202 Not ready for power on ...................................................................................................... 3-19
E219 Warning Drive temp. surveillance defective ...................................................................... 3-19
E221 Warning Motor temp. surveillance defective...................................................................... 3-20
E225 Motor overload ................................................................................................................... 3-20
E226 Undervoltage in power section........................................................................................... 3-20
E231 No jogging direction selected............................................................................................. 3-21
E247 Interpolation velocity = 0 .................................................................................................... 3-21
E248 Interpolation acceleration = 0............................................................................................. 3-21
E249 Positioning velocity S-0-0259 > S-0-0091.......................................................................... 3-22
E250 Drive overtemp. prewarning............................................................................................... 3-22
E251 Motor overtemp. prewarning.............................................................................................. 3-22
E253 Target position out of travel range ..................................................................................... 3-23
E254 Not homed ......................................................................................................................... 3-23
E255 Feedrate-override S-0-0108 = 0 ........................................................................................ 3-24
E257 Continuous current limit active........................................................................................... 3-24
E258 Selected process block is not programmed....................................................................... 3-25
E259 Command velocity limit active ........................................................................................... 3-25
E261 Continuous current limit prewarning .................................................................................. 3-25
E263 Velocity command value > limit S-0-0091.......................................................................... 3-25
E264 Target position out of num. range...................................................................................... 3-26
DIAX04 ASE-02VRS Conents III
E324 Option module error power supply unit .............................................................................. 3-26

E325 Recovery overload power supply unit ................................................................................ 3-26
E326 Bus power overload ........................................................................................................... 3-26
E350 Heat sink overtemp. warning power supply unit ................................................................ 3-26
E352 Bleeder overload warning power supply unit ..................................................................... 3-27
E353 Diagnostic message power supply erroneous ................................................................... 3-27
E387 Control voltage supply fault power supply unit................................................................... 3-27
E825 Overvoltage in power stage ............................................................................................... 3-27
E826 Undervoltage in power section........................................................................................... 3-28
E829 Positive position limit exceeded ......................................................................................... 3-28
E830 Negative position limit exceeded ....................................................................................... 3-28
E831 Position limit reached during jog........................................................................................ 3-29
E834 Emergency-Stop ................................................................................................................ 3-29
E843 Positive limit switch activated............................................................................................. 3-29
E844 Negative limit switch activated ........................................................................................... 3-29
4 Description of Diagnostic Letters C..., D... and A... 4-1

4.1 Command Diagnostic Messages C... and D........................................................................................ 4-1
C100 Communication phase 3 transition check............................................................................ 4-1
C116 DAE not plugged.................................................................................................................. 4-1
C200 Communication phase 4 transition check............................................................................ 4-1
C201 Invalid parameter(s) (->S-0-0022) ....................................................................................... 4-1
C202 Parameter limit error (->S-0-0022) ...................................................................................... 4-2
C203 Parameter calculation error (->S-0-0022)............................................................................ 4-2
C204 Motor type P-0-4014 incorrect ............................................................................................. 4-2
C210 Feedback 2 required (->S-0-0022) ...................................................................................... 4-2
C211 Invalid feedback data (->S-0-0022) ..................................................................................... 4-3
C212 Invalid amplifier data (->S-0-0022) ...................................................................................... 4-3
C213 Position data scaling error ................................................................................................... 4-3
C214 Velocity data scaling error ................................................................................................... 4-4
C215 Acceleration data scaling error ............................................................................................ 4-4
C216 Torque/force data scaling error ........................................................................................... 4-4
C217 Feedback1 data reading error ............................................................................................. 4-5
C218 Feedback 2 data reading error ............................................................................................ 4-5
C220 Feedback 1 initializing error................................................................................................. 4-5
C221 Feedback 2 initializing error................................................................................................. 4-6
C223 Input value for max. range too high ..................................................................................... 4-6
C225 Coprocessor not ready for initialization................................................................................ 4-7
C226 Coprocessor acknowledge failed......................................................................................... 4-7
C227 Modulo range error .............................................................................................................. 4-7
C228 Controller type S-0-0140 wrong........................................................................................... 4-7
C231 Emulator not loadable.......................................................................................................... 4-7
C232 Encoder 1 interface not present .......................................................................................... 4-8
C233 Encoder 2 interface not present .......................................................................................... 4-8
C234 Encoder combination not possible....................................................................................... 4-8
C235 Load-side motor encoder with inductance motor only ......................................................... 4-8
C236 Feedback 1 required (P-0-0074) ......................................................................................... 4-9
IV Conents DIAX04 ASE-02VRS
C300 Set absolute measuring....................................................................................................... 4-9

C302 Absolute measuring system not installed ............................................................................ 4-9
C400 Command: switch to parameter mode ................................................................................ 4-9
C401 Drive active, switching not allowed ...................................................................................... 4-9
C500 Reset class 1 diagnostic, error reset ................................................................................. 4-10
C501 Error delete only in parameter mode ................................................................................. 4-10
C600 Drive controlled homing procedure command................................................................... 4-10
C601 Homing only possible with drive enable............................................................................. 4-10
C602 Distance home switch - reference mark erroneous........................................................... 4-10
C604 Homing of absolute encoder not possible ......................................................................... 4-10
C700 Basic load .......................................................................................................................... 4-11
C702 Default parameters not available....................................................................................... 4-11
C703 Default parameters invalid................................................................................................. 4-11
C704 Parameters not copyable................................................................................................... 4-11
C705 Locked with password ....................................................................................................... 4-11
C800 Default parameter load ...................................................................................................... 4-12
C801 Parameter default value erroneous (-> S-0-0021)............................................................. 4-12
C802 Locked with password ....................................................................................................... 4-12
D300 Command adjust commutation.......................................................................................... 4-12
D301 Drive not ready for commutation command ...................................................................... 4-13
D400 Positive stop drive procedure command ........................................................................... 4-13
D401 ZKL1-Error at command start............................................................................................ 4-13
D500 Command 'get mark position' ............................................................................................ 4-13
D501 Incremental encoder required............................................................................................ 4-13
D600 Cancel reference point procedure command .................................................................... 4-14
D700 Parking axis command ...................................................................................................... 4-14
4.2 Status Diagnostic Messages.............................................................................................................. 4-15
A002 Communication phase 2 .................................................................................................... 4-15
A003 Communication phase 3 .................................................................................................... 4-15
A010 Drive HALT ........................................................................................................................ 4-15
A011 Drive interlock open ........................................................................................................... 4-16
A012 Control and power sections ready for operation ................................................................ 4-16
A013 Ready for power on............................................................................................................ 4-16
A100 Drive in TORQUE control .................................................................................................. 4-16
A101 Drive in VELOCITY control ................................................................................................ 4-16
A102 Position mode with encoder 1............................................................................................ 4-16
A103 Position mode with encoder 2............................................................................................ 4-16
A104 Position mode lagless, encoder 1...................................................................................... 4-16
A105 Position control lagless, feedback 2 .................................................................................. 4-17
A106 Drive controlled interpolation, encoder 1 ........................................................................... 4-17
A107 Drive controlled interpolation, encoder 2 ........................................................................... 4-17
A108 Drive controlled interpolation, lagless, encoder 1 .............................................................. 4-17
A109 Drive controlled interpolation, lagless, encoder 2 .............................................................. 4-17
A146 Relative drive controlled interpolation, encoder 1 .............................................................. 4-18
A147 Relative drive controlled interpolation, encoder 2 .............................................................. 4-18
A148 Relative drive contr. interpolation, enc. 1, lagless.............................................................. 4-18
A149 Relative drive contr. interpolation, enc. 2, lagless.............................................................. 4-19
DIAX04 ASE-02VRS Conents V
A206 Process block mode, encoder 1 ........................................................................................ 4-19

A207 Process block mode lagless, encoder 1 ............................................................................ 4-19
A208 JOG mode positive ............................................................................................................ 4-20
A210 Process block mode, encoder 2 ........................................................................................ 4-20
A211 Process block mode lagless, encoder 2 ............................................................................ 4-20
A218 JOG mode negative........................................................................................................... 4-20
A800 Unknown operation mode.................................................................................................. 4-20
4.3 Diagnostic messages for basic initialization and after fatal System errors ........................................ 4-21
Diagnostic Message Display: -0 .................................................................................................. 4-21
Diagnostic Message Display: Watchdog ............................................................................... 4-22
4.4 Operation Status ................................................................................................................................ 4-23
bb ................................................................................................................................................ 4-23
Ab ................................................................................................................................................ 4-23
AF................................................................................................................................................ 4-23
AS................................................................................................................................................ 4-23
AH ............................................................................................................................................... 4-23
Jb................................................................................................................................................. 4-23
JF ................................................................................................................................................ 4-23
P2 ................................................................................................................................................ 4-23
P3 ................................................................................................................................................ 4-23
PL ................................................................................................................................................ 4-23
UL................................................................................................................................................ 4-23
5 Exchanging Drive Components 5-1

5.1 Identifying the Drive Components ........................................................................................................ 5-1
Power Supply Module.................................................................................................................... 5-1
Drive Controllers............................................................................................................................ 5-1
Motors ........................................................................................................................................... 5-2
Electrical connections ................................................................................................................... 5-3
5.2 Replacing Drive Components .............................................................................................................. 5-4
Power Supply Module.................................................................................................................... 5-4
Drive Controllers............................................................................................................................ 5-5
Motors ........................................................................................................................................... 5-6
Electrical Connections................................................................................................................... 5-7
Plug-in Modules............................................................................................................................. 5-8
Software Module ........................................................................................................................... 5-9
5.3 Fault Report ....................................................................................................................................... 5-11
6 Index 6-1
Customer Service Locations
DIAX04 ASE-02VRS Conents II
Notes
DIAX04 ASE-02VRS Diagnostic Message Descriptions 1-1
1 Diagnostic Message Descriptions
1.1 Overview of the diagnostic message descriptions
Diagnostic Message Types

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

A diagnostic message consists of:
• A diagnostic number and a
• diagnostic text
F228 Excessive Control Deviation
Diagnostic message
Diagnostic message number
Fig. 1-1: Diagnostic message with a diagnostic number and text.
For the example in the graphic, "F2" and "28" are shown alternately on
the H1-Display.
The control system can read out the diagnostic number in hexadecimal
form with the S-0-0390, Diagnostic message number parameter.
In addition, the drive allocates to the control system the diagnostic
number and diagnostic text as a string F228 Excessive deviation with
the S-0-0095, Diagnostic message parameter.
1-2 Diagnostic Message Descriptions DIAX04 ASE-02VRS
Display
The H1-Display is the visual representation the diagnosis of the drive
controller. H2 servers two axis units (HDD) as an additin display.
H1-Display
H2-Display
DANGE
High V oltage.
Danger of electrical shock.
Do not touch electrical connec tions
for
5 minutes after switching power
Read and follow "Safety
Instructions for Electrical Drives"
manual,
DOK-GENERL-DRIVE******-SVS...
HDD HDS
FA5012d1.fh7
Fig. 1-2: H1-/Display
The diagnostic number appears on this two-positional seven-segment

display. The image can be seen on the "Diagnostic Message Priority
Display".
This display quickly shows the current operation status without the use of
a communications interface.
The operating mode cannot be seen from the H1-Display. If the drive
follows the operating mode and no command was activated, then the
symbol "AF" appears on the display.
DIAX04 ASE-02VRS Diagnostic Message Descriptions 1-3
Diagnostic Message Output If more than one diagnostic message is waiting, then the message with
Priority the highest priority will be displayed.
The following graphic classifies operation status in order of importance.
Error
P
R
Warning
I
O
R Command error
I
T Command active
Y
Ready to operate ?
yes no
Operation lock
active
Ready to Communicationphase
operate
Drive ready
Drive stop
Drive is
following
operating mode Da0001f1.fh5
Fig. 1-3: Diagnostic message priority diagram
Clear Coded Diagnostic Message

The clear coded diagnostic message contains the diagnostic number
followed by the diagnostic text, as shown in the example, "Excessive
Output Error" (Fig. 1-1). It can be read out with the S-0-0095, Diagnostic
message parameter and directly displays the operation status on an
operator surface.
The clear coded diagnostic message will be switched to the current
language.
1-4 Diagnostic Message Descriptions DIAX04 ASE-02VRS
Notes
DIAX04 ASE-02VRS Safety Instructions for Electrical Drives 2-1
2 Safety Instructions for Electrical Drives
2.1 Introduction
These instructions must be read and understood before the equipment is
used to minimize the risk of personal injury and /or property damage.
Follow these safety instructions at all times.
Do not attempt to install, use or service this equipment without first
reading all documentation provided with the product. Please read and
understand these safety instructions, and all user documentation for the
equipment, prior to working with the equipment at any time. You must
contact your local Indramat representative if you cannot locate the user
documentation for your equipment. A listing of Indramat offices is
supplied in the back of this manual. Request that your representative
send this documentation immediately to the person or persons
responsible for the safe operation of this equipment.
If the product is resold, rented and/or otherwise transferred or passed on
to others, these safety instructions must accompany it.
Improper use of this equipment, failure to follow the

attached safety instructions, or tampering with the
product, including disabling of safety device, may
result in personal injury, severe electrical shock,
WARNING death, or property damage!
2-2 Safety Instructions for Electrical Drives DIAX04 ASE-02VRS
2.2 Hazards by improper use
High Voltage and high discharge current!

Danger to life, risk of severe electrical shock and risk of
injury!
DANGER
Dangerous movements!
Danger to life and risk of injury or equipment damage by
unintential movements of the motors!
DANGER
High electrical voltages due to incorrect

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

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

Danger of injury! Danger of burns!
CAUTION
Risk of injury due to incorrect handling!

Bodily injury caused by crushing, shearing, cutting, and
thrusting movements!
CAUTION
Risk of injury due to incorrect handling of batteries!
CAUTION
2.3 General
• INDRAMAT GmbH is not liable for damages resulting from failure to
observe the warnings given in these instructions.
• Operating, maintenance and safety instruction in the english language
must be ordered and received before initial start-up, if the instructions
in the language provided are not understood perfectly.
• Proper and correct transport, storage, assembly, and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
• Trained and qualified personnel in electrical equipment:
Only trained and qualified personnel may work on this equipment or in
its vicinity. Personnel are qualified if they have sufficient knowledge of
the assembly, installation, and operation of the product as well as of
all warnings and precautionary measures noted in these instructions.
Furthermore, they should be trained, instructed, and qualified to
switch electrical circuits and equipment on and off, to ground them,
and to mark them according to the requirements of safe work
practices and common sense. They must have adequate safety
equipment and be trained in first aid.
• Use only spare parts approved by the manufacturer.
• All safety regulations and requirements for the specific application
must be followed as practiced in the country of use
• The equipment is designed for installation on commercial machinery.
• Start-up is only permitted once it is sure that the machine in which the
products are installed complies with the requirements of national
safety regulations and safety specifications of the application.
European countries: see Directive 89/392/EEC (Machine Guideline);
• Operation is only permitted if the national EMC regulations for the
application are met.
The instructions for installation in accordance with EMC requirements
can be found in the INDRAMAT document "EMC in Drive and Control
Systems“.
The machine builder is responsible for the adherence of the limiting
values as prescribed in the national regulations and specific
regulations for the application concerning EMC.
European countries: see Directive 89/336/EEC (EMC Guideline);
U.S.A.: See National Electrical Codes (NEC), National Electrical
Manufacturers Association (NEMA), and local building codes. The
user of this equipment must consult the above noted items at all
times.
• Technical data, connections, and operational conditions are specified
in the product documentation and must be followed.
2.4 Protection against contact with electrical parts and not

grounded enclosures
Note: This section pertains to equipment and drive components with
voltages over 50 Volts.
Touching live parts with potentials of 50 Volts and higher applied to them
or touching not grounded enclosures can be dangerous and cause
severe electrical shock. In order for electrical equipment to be operated,
certain parts must have dangerous voltages applied to them.
High Voltage!
Danger to life, severe electrical shock and risk of injury!
⇒ Only those trained and qualified to work with or on
electrical equipment are permitted to operate, maintain
DANGER and/or repair this equipment.
⇒ Follow general construction and safety regulations
when working on electrical installations.
⇒ Before switching on power, the ground wire must be
permanently connected to all electrical units according
to the connection diagram.
⇒ At no time may electrical equipment be operated if the
ground wire is not permanently connected, even for
brief measurements or tests.
⇒ Before beginning any work, disconnect mains or the
voltage source from the equipment. Lock the
equipment against being switched on while work is
being performed.
⇒ Wait 5 minutes after switching off power to allow
capacitors to discharge before beginning work.
Measure the voltage on the capacitors before
beginning work to make sure that the equipment is
safe to touch.
⇒ Never touch the electrical connection points of a
component while power is turned on.
⇒ Before switching the equipment on covers and guards
provided with the equipment must be installed to
prevent contact with live parts. Before operating cover
and guard live parts properly so they cannot be
touched.
⇒ An residual-current-operated protective device (r.c.d.)
must not be used for an AC drive! Indirect contact
must be prevented by other means, for example, by an
overcurrent protective device.
European countries: according to EN 50178/ 1994;
⇒ Electrical components with exposed live parts must be
installed in a control cabinet to prevent direct contact.
European countries: according to EN 50178/ 1994;
U.S.A: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and
local building codes. The user of this equipment must
consult the above noted items at all times.
High housing voltage! High leakage current!

Danger to life and limb, danger of injury from electric
shock!
DANGER ⇒ Prior to powering up, connect the electrical equipment,
the housing of all electrical units and motors to the
protective conductor at the grounding points or ground
them. This applies even to brief tests.
⇒ The protective conductor of the electrical equipment
and units must always be connected to the supply
network. Leakage current exceeds 3.5 mA.
⇒ Use at least a 10 mm copper conductor cross section
2
for this protective connection over its entire course!

⇒ Prior to startups, even for brief tests, always connect
the protective conductor or connect with ground wire.
High voltage levels can occur on the housing that
could lead to severe electrical shock and personal
injury.
European countries: EN 50178 / 1994, section 5.3.2.3.
USA: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and local
building codes. The user of this equipment must consult
the above noted items at all times.
2.5 Protection by protective low voltage (PELV) against

electrical shock
All connections and terminals with voltages ranging between 5 and 50
volts on INDRAMAT products are protective low voltages designed in
accordance with the following standards on contact safety:
• International: IEC 364-4-411.1.5
• European countries within the EU: see EN 50178/1994, section
5.2.8.1.
High electrical voltages due to incorrect connections!

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

Dangerous movements can be caused when units have bad interfaces or
motors are connected incorrectly.
There are various causes of dangerous movements:
• Improper or incorrect wiring or cable connections
• equipment is operated incorrectly
• probe parameters or encoder parameters are set incorrectly
• broken components
• errors in software or firmware
Dangerous movements can occur immediately after equipment is

switched on or even after an unspecified time of trouble-free operation.
Although the monitoring circuits in the drive components make improper
operation almost impossible, personnel safety requires that proper safety
precautions be taken to minimize the risk of personal injury and/or
property damage. This means that unexpected motion must be
anticipated since safety monitoring built into the equipment might be
defeated by incorrect wiring or other faults.
Dangerous movements!
Danger to life and risk of injury or equipment damage!
⇒ In the drive component monitoring units, every effort is
made to avoid the possibility of faulty operation in
DANGER connected drives. Unintended machine motion or other
malfunction is possible if monitoring units are disabled,
bypassed or not activated.
⇒ Safe requirements of each individual drive application
must be considered on a case-by-case basis by users
and machine builders.
Avoiding accidents, personal injury and/or property

damage:
⇒ Keep free and clear of the machine’s range of motion

and moving parts. Prevent people from accidentally
entering the machine’s range of movement:
- use protective fences
- use protective railings
- install protective coverings
- install light curtains
⇒ Fences should be strong enough to withstand
maximum possible momentum.
⇒ Mount the Emergency Stop (E-Stop) switch in the
immediate reach of the operator. Verify that the
Emergency Stop works before startup. Do not use if
not working.
⇒ Isolate the drive power connection by means of an
Emergency Stop circuit or use a safe lock-out system
to prevent unintentional start-up.
⇒ Make sure that the drives are brought to standstill

before accessing or entering the danger zone.
⇒ Disconnect electrical power to the equipment using a
master lock-out and secure against reconnection for:
- maintenance and repair work
- cleaning of equipment
- long periods of discontinued equipment use
⇒ Avoid operating high-frequency, remote control, and
radio equipment near equipment electronics and
supply leads. If use of such equipment cannot be
avoided, verify the system and the plant for possible
malfunctions at all possible positions of normal use
before the first start-up. If necessary, perform a
special Electromagnetic Compatibility (EMC) test on
the plant.
2.7 Protection against magnetic and electromagnetic fields

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

metal implants and hearing aids in proximity to
electrical equipment!
⇒ Persons with pacemakers and metal implants are not
WARNING permitted to have access to the following areas:
− Areas in which electrical equipment and parts are
mounted, operating or are being commissioned.
− Areas in which parts of motors with permanent
magnets are being stored, repaired or mounted.
⇒ If it is necessary for a person wearing a heart
pacemaker to enter into such an area then a physician
must be consulted prior to doing so.
⇒ Persons with metal implants or hearing aids must take
care prior to entering into areas described above. It is
assumed that metal implants or hearing aids will be
affected by such areas and a physician must be
consulted prior to doing so.
2.8 Protection against contact with hot parts

Surface of machine housing could be extremely hot!
Danger of injury! Danger of burns!
⇒ Do not touch housing surface near the source of
heat! Danger of burns!
CAUTION
⇒ Prior to accessing a unit, wait 10 minutes to allow the
unit to cool off.
⇒ If hot parts of the equipment such as unit housing in
which heatsink and resistor are located, then this can
cause burns.
2.9 Protection during handling and installation

All INDRAMAT products should be handled and assembled according to
the instructions in the documentation.

Bodily injury caused by crushing, shearing, cutting, and
thrusting movements!
⇒ Observe installation instructions and safety regulations
CAUTION before handling and working on the product.
⇒ Use suitable installation in using lifting or moving
equipment. Refer to the user manual for the product.
⇒ Take precautions to avoid pinching and crushing.
⇒ Only use suitable tools specified in the user manuals
and use them according the instructions.
⇒ Use lifting devices and tools correctly and safely.
⇒ Wear appropriate protective clothing, e.g., protective
goggles, safety shoes, protective gloves.
⇒ Never stand under suspended loads.
⇒ Clean up liquids form the floor to prevent personnel
from slipping.
2.10 Battery safety

Batteries contain reactive chemicals. Incorrect handling can result in
injury or equipment damage.

⇒ Do not attempt to reactivate dead batteries by heating
or other methods (danger of explosion and corrosion).
CAUTION ⇒ Never charge batteries (danger from leakage and
explosion).
⇒ Never throw batteries into a fire.
⇒ Do not take batteries apart.
⇒ Handle carefully. Incorrect extraction or installation of a
battery can damage equipment.
Note: Environmental protection and disposal! The batteries contained

in the product should be considered as hazardous material for
land, air, and sea transport in the sense of the legal requirements
(Danger of explosion). Dispose of batteries separately from other
refuse. Observe the legal requirements in the country of
installation.
DIAX04 ASE-02VRS Description of diagnostic letters F... and E... 3-1
3 Description of diagnostic letters F... and E...
3.1 Error diagnostic messages F...

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

Message:
Fatal F8xx Torque free switching
Travel range F6xx Velocity command value-zero
switch
Interface F4xx In accordance with best
possible deceleration
Non-fatal F2xx In accordance with best
possible deceleration
Fig. 3-1: Error Classes and Drive Reaction
Drive's Error Reaction If an error state is detected in the drive then an automatic operation of
the drive's error response will be started as long the drive is in control.
The H1 display blinks a Fx / xx.
The drive's reaction can be parameterized by P-0-0119, Deceleration as
best as possible, with interface and non-fatal errors. At the end of each
error reaction the drive is switched off.
Reset the Error Errors will not be automatically deleted but must be:
• Reset from the control through the initialization of the command
S-0-0099, Reset Class 1 Diagnostics, or
• reset by pressing the "S1" button.
If the error state is still present then the error will be immediately detected
again.
A positive edge bit on the control enable signal is necessary in order to
turn on the drive again.
3-2 Description of diagnostic letters F... and E... DIAX04 ASE-02VRS
3.2 F208 UL The motor type has changed.

This indication happens when you power up for the first time with a new
motor.
The regulator settings for the current, velocity and position loops are
stored in the feedback on the motor. After powering up, the drive
compares the motor type stored in the parameter with the connected
motor type. If the two do not match, basic control loop settings must be
adapted, too.
With the Basic Load command, the default control loop settings are
loaded from the feedback memory into the drive. The previous loop
settings are overwritten. By pressing the S1 key, the command Basic
Load is started.
Causes:
• The motor has been exchanged.
• A parameter file has been loaded, but the parameter P-0-4036,
Contacted motor type contained a motor type different from the
present one.
Remedy:
Command C700 Basic Load or press the S1 button.
F209 PL Load parameter default values

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

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

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

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

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

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

With wrong signals in the encoder evaluation, a hardware error has been
discovered in the encoder interface 1 being used.
Cause:
1. Defective encoder cable
2. Disruptive electro-magnetic interference on the encoder cable
3. Defective encoder interface
4. Defective drive controller
Remedy:
For 1. Exchange the encoder cable.
For 2. Keep the encoder cable well away from the power cables.
For 3. Exchange the encoder interface.
For 4. Exchange the drive controller.
F233 External power supply error

Cause:
The DEA plug-in modules have isolated inputs and outputs. Proper
operation of those inputs and outputs requires an external 24-V voltage
to be applied. The drive monitors that voltage as soon as a DEA plug-in

module has been installed.
Remedy:
Check the external 24-V power supply.
Name: Unit: min.: typ.: max.:
External operating V 18 24 32
voltage +UL
External current mA 100
consumption IL
Fig. 3-2: External power supply
F234 Emergency-Stop
Cause:
The emergency stop function was activated by turning off the +24V
current at the E-Stop input. The drive was brought to a standstill by the
previously set error response.
Remedy:
1. Eliminate the condition which caused the +24V current at the E-
Stop input to be turned off.
2. Do the "Reset class 1 diagnostic" command, e.g. with the control
system or the S1 button on the drive controller.
F236 Excessive position feedback difference

Cause:
In the communication phase 4 transition check command, position
feedback value 1 and position feedback value 2 are set to the same
value, and the cyclic evaluation of both encoders is started. In cyclic
operation (phase 4), the position feedback difference of both encoders is
compared with S-0-0391, Monitoring window feedback 2. If the
amount of the difference exceeds the monitoring window, the error F236
Excessive position feedback difference is diagnosed, the parameter-
selected error response is performed, and the reference bits of both
encoders are cleared.
The monitoring is off, when the parameter S-0-0391, Monitoring window
feedback 2 is set to the value 0.
Possible Causes :
1. Incorrect parameter for the encoder 2
(S-0-0115, Position feedback 2 type parameter,
S-0-0117, Resolution of feedback 2)
2. Incorrect parameter setting of mechanical system between motor
shaft and encoder 2: (S-0-0121, Input revolutions of load gear,
S-0-0122, Output revolutions of load gear,
S-0-0123, Feed constant)
3. The mechanical system between motor shaft and encoder 2 is not
rigid (e.g. gear play).
5. Maximum input frequency of the encoder interface exceeded
6. Encoder 2 (optional) is not mounted to the driven axis.
7. Incorrect reference measure of an absolute encoder
Remedy:
Ref. 1. Check S-0-0115, Position feedback 2 type parameter and
S-0-0117, Resolution of feedback 2.
Ref. 2. Check S-0-0121, S-0-0122, Input/Output revolutions of load
gear and S-0-0123, Feed constant.
Ref. 3. Increase S-0-0391, Monitoring window feedback 2.
Ref. 4. Replace encoder cable.
Ref. 5. Reduce the velocity.
Ref. 6. Set S-0-0391, Monitoring window feedback 2 to 0 (de-activate
monitoring function).
Ref. 7. Perform P-0-0012, C300 Command 'Set absolute
measurement'.
F237 Excessive position command difference

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

Cause:
The analog signals of an external measurement system are used for high
resolution analysis of that measurement system. These are monitored
according to two criteria:
1. The pointer length, which is calculated from the sine and cosine
signals, must be at least 1 V.
2. The maximum pointer length resulting from the sine and cosine
signals must not exceed 11.8 V.
pointer length = sin2 + cos2
Fig. 3-3: Pointer length
Fig. 3-4: Correct signal amplitude
Example:
Ucos = -6.5V
Usin = 6.5V
pointer length = (- 6.5V)2 + 6.5V 2 ≈ 9.2V

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

The evaluation of the additional optional encoder (encoder 2) is active. In
the evaluation of the sinusoidal input signals of the optional encoder, a
plausibility check is performed between these signals and the counter fed
by these signals. Doing this, an error has been encountered.
Cause:
2. Disruptive electro-magnetic interference on the encoder cable
3. Defective encoder interface
Remedy:
For 1. Exchange the encoder cable.
For 2. Keep the encoder cable well away from power cables.
For 3. Exchange the encoder interface (DIAX) or the device (Ecodrive).
F248 Low battery voltage

Cause:
For motors of series MKD and MKE, the absolute position information is
stored by a battery-powered electronic in the motor feedback. The battery
is designed for a 10-year life span. If the battery voltage falls below 2.8 V,
this message appears. The absolute encoder function will still be
preserved for about 2 weeks.
Malfunction in the control of motors and moving

elements
Possible damages: Mechanical injuries
CAUTION
⇒ Replace the battery as soon as possible.
Instructions for Exchanging Batteries

Have the following tools and accessories ready:
• Torx screwdriver size 10
• Needle-nose pliers, torque wrench
• New packaged battery (Part No. 257101)
Malfunction in the control of motors and moving

elements
Possible damages: Mechanical injuries
⇒ Turn off the power supply. Make sure it will not be
CAUTION turned back on. Exchange the battery while the
control voltage (24V) is turned on.
If the control voltage is turned off while the battery is taken out, the
absolute reference point will be lost. Then, the reference point must be
reestablished with the command "Set absolute measuring“.
Removing the Battery
• Unscrew torx screws (1) with size 10 screwdriver.
• Pull out the resolver feedback (RSF) lid by hand.
• Pull off the battery connector (2).
• Loosen battery clamp (3) and remove the battery.
• Place the prepared battery in the housing and screw on the clamp.
Attention! Do not kink or clamp the battery cable.
• Attach the connector (2) of the battery.
Close the resolver feedback lid, screw in 4 torx screws (1) and tighten to
1.8 Nm with the torque wrench.
F253 Incr. encoder emulator: pulse frequency too high

Cause:
The incremental encoder emulator can process a maximum of 1023 lines
per sample period (250 µs); this value has been exceeded.
Remedial action:
1. Reduce the number of lines of the incremental encoder
emulator (P-0-0502).
or
2. Reduce the travel velocity.
F254 Incr. encoder emulator: hardware fault

Before the next increment output is started, the system checks at the end
of each scan interval (250 µs) whether all increments have been output.
this error is generated if the outputs overlap.
Remedial action:
Write down the number of lines (P-0-0502) and the travel velocity at
which the error has occurred, and notify INDRAMAT Service.
F255 External power supply DAE 02 error

The analog interface DAE 02.1 requires an external 24-V power supply
that must be connected to terminal X75, pin 8 (+24 V) and pin 9 (0 V).
This error message is issued if the external power supply is missing or
outside the range 18...32 V. This function also detects transient faults,
caused by spikes, etc.
Remedial action:
1. Provide power to the interface from a regulated power supply
unit.
2. Use different power supply units or motor brake and interface; in
particular if long motor cables are used.
F267 Erroneous internal hardware synchronization

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

The drive controller takes control of the brake for motors with an
integrated holding brake. The braking current is monitored.
If the braking current is outside of the permissible range between:
0.4 -1.6 * P-0-0511, Break current
this error message will be generated.
Cause:
1. The power supply for the brake is not
connected properly or is outside of the
(24 V +/- 10%) tolerance.
2. The motor cable is incorrectly connected
(wiring error).
3. Defective brake.
4. Defective drive controller.
Note: A metallic connector between the 0V brake supply and the 0V of

the drive controller is required.
Remedy:
For 1. Check the power supply.
For 2. Check the motor cable.
For 3. Exchange the motor.
F276 Absolute encoder out of allowed window

When turning off the drive controller with an absolute encoder (multiturn),
the actual feedback position will be stored. When powered up, the
absolute position given by the encoder is compared with the stored
position. If the deviation is greater than the paramaterized P-0-0097,
Absolute Encoder Monitoring Window, the error F276 will appear and
be given to the control system.
Cause:
1. Turning on for the first time (invalid stored position)
2. The motor has been moved further than allowed by the
parameter in the absolute encoder monitoring window, P-0-0097,
while it was turned off.
3. Incorrect position initialization
Remedy:
For 1. Press S1 to reset the error and set the absolute position.
For 2. The motor was moved while turned off and sits outside of its
permissible position. Check to see if the displayed position is
correct in relation to the machine zero point. Reset subsequent
errors.
For 3. An accident may occur by accidental shaft movement.
Check absolute position information. The feedback is defective if
the absolute position information is wrong. The motor should be
exchanged and sent to the INDRAMAT Customer Service.
F277 Current measurement trim wrong

This error can only happen during the test of the drive controller at the
INDRAMAT factory.
The current measurement in the drive controller is calibrated precisely
with a test current in the INDRAMAT test department. During this test,
correction values outside the projected tolerances have come out.
Cause:
1. Hardware defective in the drive controller
2. The correct current for the calibraton does not flow.
Remedy:
1. Repair the control board.
2. Check the calibration current.
F316 Softstart fault power supply unit

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

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

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

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

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

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

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

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

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

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

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

With HVR only !
Cause:
Unit failure.
Remedy:
Replace unit.
F434 Emergency-Stop
Pressing the emergency stop switch (E-Stop) has caused the drive to
perform the emergency stop function that was selected in the P-0-0119,
Best possible deceleration parameter. Setting bit 15 of S-0-0011,
Class 1 diagnostics causes an error message to be issued to the
controller.
Cause:
The emergency stop switch has been pressed.
Remedy:
Eliminate the malfunction that has caused the emergency switch to be
actuated, and clear the error.
F629 Positive travel limit exceeded

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

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

The positive travel limit switch has been encountered. The axis has been
brought to a standstill with the "Set velocity command value to zero" error
response.
Bit 2 of parameter P-0-0090, Travel limit parameter is set for

"Exceeding travel range as error", or a drive control command has been
started (such as the drive-controlled homing procedure) with the limit
switch already actuated.
Cause:
The positive travel limit switch is detected.
Remedy:
1. Reset the error.
2. Turn the power supply on again.
3. Move the axis into the permissible travel range.
Note: The drive will not accept command values which lead out of the
permissible travel range. Entering these command values in the
drive controller will result in this error.
F644 Negative travel limit switch detected

The negative travel limit switch has been encountered. The axis has
been brought to a standstill with the "Set velocity command value to zero"
error response.
Bit 2 of parameter P-0-0090, Travel limit parameter is set for
"Exceeding travel range as error", or a drive control command has been
started (such as the drive-controlled homing procedure). with the limit
switch already actuated.
Cause:
The negative travel limit switch is detected.
Remedy:
1. Reset the error.
2. Turn the power supply on again.
3. Move the axis into the permissible travel range.
Note: The drive will not accept command values which lead out of the
permissible travel range. Entering these command values in the
drive controller will result in this error.
F822 Encoder 1 failure: signal too small

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

clearing the error, switch to communications phase 2.
Remedy:
• Check the measurement system cable.
• Lay the feedback cable well away from the motor power cable. The
cover must be placed over the drive controller (see drive controller
project specifications.)
• Check the measurement system and exchange, if necessary.
F827 Drive interlock while drive activated

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

The current in the power transistor bridge has exceeded twice the peak
current of the drive. As a result, the drive will immediately switched to a
torque-free state. An optional brake is immediately activated.
Cause:
1. Short circuit in the motor cable.
2. Defective power section of the drive controller
3. The current regulator was parameterized with wrong values.
Remedy:
For 1. Check the motor cable for a short.
For 3. The current regulator parameters should not deviate from the
default values of the feedback.
F861 Overcurrent: short to ground

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

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

The drive controller requires a 24-V control voltage. The drive's torque is
released immediately when the maximum permissible tolerance of
+-20% is exceeded. An optional blocking brake is activated.
Cause:
1. Defective cable for the control voltages.
2. 24-V power supply overload.
3. Defective power supply unit.
4. Short-circuit in the emergency stop circuit.
Remedy:
Ref. 1. Check and, if necessary, replace the cable and connections of the
control voltages.
Ref. 2. Check the 24-V power at the power supply unit.
Ref. 3. Check the power supply unit.
Ref. 4. Check the emergency stop circuit for a short-circuit.
Note: This error can only be cleared in parametrization mode

(phase 2). As a result of this error, the encoder emulation is
switched off.
F871 +10Volt DC error

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

The velocity loop monitor will appear when the following conditions occur
simultaneously:
• The current command value is at the peak current limit.
• The difference between the actual velocity and the command velocity
is greater than 10 % of the maximum motor velocity.
• actual speed > 1.25 % of maximum speed
• Command and actual acceleration have different qualifying signs.
Cause:
1. Motor cable is connected incorrectly.
2. Defective controller section of the drive
3. Defective feedback
4. Velocity loop paramaterized incorrectly
5. Incorrect commutation offset
Remedy:
For 1. Check the motor cable connection.
For 4. Check the velocity controller to see whether it is within
operational parameters.
F879 Velocity limit S-0-0091 exceeded

In torque control, the actual velocity is monitored. This error is generated
if the programmed velocity in the S-0-0091, Bipolar velocity limit value
parameter is exceeded by the 1.125-fold value or a minimum of 100 rpm
(rotary motor) or by 100 mm/min (linear motor).
Cause:
The torque command value was for too long a time greater than the load
torque. This causes the actual speed to increase up to the maximum
possible motor speed.
Remedy:
Assign the correct torque command value for the required task. Reduce
the S-0-0092, Bipolar torque/force limit value parameter value.
3.3 Warning Diagnostic Messages
Many areas are monitored in connection with operating modes and

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

Message:
with Drive Response E8xx Drive Stop
without Drive E2xx --
Response
Fig. 3-7: Division of the Warning Classes
Warnings can not be externally deleted.
E201 No mains connected

Cause:
After the control voltage has been switched on, the drive checks to see if
the mains connection of the power supply has also been switched on.
This warning is given if this has not happened correctly.
Remedy:
Check power connections (external relay, fuse, etc.).
E202 Not ready for power on

Cause:
As usually happens, the main contactor K1 was turned off when the
controller enable was not set. Because of the drive controller capacities,
the DC bus voltage must not decrease suddenly after the main contactor
is turned off. This message is generated as long as the DC bus voltage >
250V and prevents the main contactor from being turned on. This serves
to protect discharging resistors.
Remedy:
The warning is automatically recalled by the drive controller when the DC
bus voltage falls below 250V.
E219 Warning Drive temp. surveillance defective

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

shutdown will be generated.
Cause:
1. Sensor not connected to the DRP3 circuit board.
2. Broken cable in the drive controller, or defective sensor.
Remedy:
Exchange or repair the drive controller.
E221 Warning Motor temp. surveillance defective

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

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

If bit 5 of the P-0-0118, Power off on error parameter has been set, an
undervoltage condition will be handled as a nonfatal warning. The drive
issues this warning if the drive enabling signal is present and the DC bus
voltage message disappears.
Cause:
Power supply unit is switched off or mains failure occurs while the drive
enabling signal is set.
Remedy:
Switch off the drive enabling signal before you switch off the power
supply unit.
E231 No jogging direction selected

During jog operation to the position limit, this warning is generated, when
no unambiguous direction for jogging is selected. This happens, when
the parameter P-0-4056 Jog inputs contains the value 00b or 11b.
Remedy:
Select an unambiguous jogging direction, either positive or negative, in
P-0-4056 or, with parallel interface, via the hardware inputs.
E247 Interpolation velocity = 0

The drive-internal position command value interpolator is active if
• the "drive-internal interpolation" mode,
• the "relative drive-internal interpolation" mode,
• drive-controlled homing,
• drive halt
is active.
The E247 warning is issued if the employed velocity specification is 0.
Possible velocity specifications are:
• S-0-0259, Positioning velocity
• S-0-0041, Homing velocity
• S-0-0091, Bipolar velocity limit value
E248 Interpolation acceleration = 0

Cause:
The drive internal position command interpolator (profile generator) is
active. It has been given the acceleration = 0. Without acceleration, it can
never reach a given speed.
Operation modes with drive internal position command generation:
1. Drive-internal interpolation
2. Relative drive-internal interpolation
3. Drive-controlled homing
4. Drive Halt
5. Process block mode
Remedy:
Input a reasonable value > 0 for the employed acceleration. Possible
acceleration specifications, depending from the operation mode, are:
For 1. and 2.: S-0-0260, Positioning acceleration >0
For 3.: S-0-0042, Homing acceleration >0
For 4.: S-0-0138, Bipolar acceleration limit value >0
For 5.: P-0-4008, Process block Acceleration >0
E249 Positioning velocity S-0-0259 > S-0-0091

Cause:
In the operation modes "Drive-internal interpolation" and "Relative drive-
internal interpolation", the velocity specified in the S-0-0259, Positioning
velocity parameter is used for positioning. In the "process block“
operation mode, this velocity is taken for positioning with limited speed.
If velocity specified there is greater than value in S-0-0091, Bipolar
velocity limit value, the message E249 is generated. Then, bit 5 is set
in S-0-0012, Class 2 diagnostics.
Note: The warning E249 is only generated when the parameter

S-0-0259 is transferred cyclically via the command
communication (SERCOS, Profibus-DP, Interbus, ...).
Remedy:
Reduce S-0-0259, Positioning speed or, for process block mode,
S-0-4007, Process block Velocity.
E250 Drive overtemp. prewarning

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

The motor is too hot. The motor temperature, which is displayed in
parameter S-0-0383, Motor temperature, has exceeded the value in S-
0-0201, Motor warning temperature. Warning E251 is generated. If the
temperature increases above the value in S-0-0204, Motor shutdown
temperature, error F219 Motor overtemp. shutdown will be generated.
The values for parameters S-0-0201, Motor warning temperature and
S-0-0204, Motor shutdown temperature are set at 140°C and 150°C
for MKD and MDD motors respectively.
Set MDD, MKD and MKE motors to 145°C or 155°C.
Cause:
The motor became overloaded. The effective torque required of the
motor was above the permissible continuous standstill torque for too
long.
Remedy:
Check the layout of the motor. For systems which have been in use for a
long time, check to see if the drive controller conditions have changed (in
regards to pollution, friction, components which have been moved, etc.).
E253 Target position out of travel range

In operation modes with drive ontrolled interpolation, the drive checks
before the move whether the specified S-0-0258, Target position, is
within the possible travel range of the drive. This range is defined by the
parameters S-0-0049, Positive position limit value and S-0-0050,
Negative position limit value. The position limit check is activated in
the parameter S-0-0055, Position polarities with bit 4.
Cause:
The target position lies beyond the position limits, and the position limit
check is activated.
Results:
• This warning message, E253, appears.
• The drive stops.
• The drive does not accept the target position or the process block.
• In S-0-0012, Class 2 diagnostic warning bit 13 is set.
Remedy:
1. For the Drive controlled interpolation mode, input the S-0-0258,
Target position only within the position limits.
2. For the Relative drive controlled interpolation mode, do the same,
outgoing from the actual position.
3. For the Process block mode, input the S-0-4006 Process block
target position only within the position limits.
4. For relative process blocks, do the same, outgoing from the actual
position.
5. Check the position limit values. Moreover, the positive position limit
value must be greater than the negative position limit value.
6. If you don’t need the position limit check, de-activate it, e.g. in modulo
mode.
E254 Not homed

If absolute positions are selected while in a positioning operation mode,
the control drive must be homed to a reference position. If this is not the
case, an absolute position cannot be reached. The drive rejects this
positioning command and stops. The warning E254 will be given.
Cause:
Absolute positioning was selected without the drive being referenced.
Remedies:
1. Do the homing (referencing) command with the drive or
2. do only relative positioning.
E255 Feedrate-override S-0-0108 = 0

With the parameter S-0-0108, Feedrate override, the travel velocity of
all in drive-controlled travel commands can be changed proportionally
(in %).
If the value of this parameter is 0, the travel velocity is also 0. With
velocity = 0, however, the drive can never go anywhere. It cannot follow
the applied command values.
Causes:
1. The parameter S-0-0108, Feedrate override is 0.
2. S-0-0259, Positioning Velocity is 0.
3. The P-0-4007, Process block velocity is 0 with the selected process
block.
4. For devices with analog inputs: Feedrate override via analog input is
activated, and the voltage there is 0.
5. The feed potentiometer of the connected control system is at 0 or is
being evaluated incorrectly. Like 4.
Remedies:
For 1.: Set Feedrate override > 0, so that the drive moves. Full speed is
attained with 100% .
For 2.: Set S-0-0259 to the suitable value > 0 for your application.
For 3.: Set P-0-4007 to the suitable value > 0 for your application.
For 4.: Apply a voltage > 0 proportional to the desired speed,
+10V corresponds to 100 % (full) speed.
Alternative: De-activate Feedrate override.
For 5.: Turn the feed potentiometer cautiously, check the analog signal
and the evaluation for it.
E257 Continuous current limit active

The thermal controller load is monitored. If a rated current profile is
demanded of the drive controller which would require too high a power
transistor load over time (too much warming of the power output stage),
the drive controller will react by dynamically reducing the effective peak
current. This warning will be given at the same time. Parameter P-0-
4046, Active peak current is reduced. Before the peak current is
actually limited, the advance warning message E261 Continuous
current limitation prewarning should have been generated.
Cause:
The drive controller was overloaded.
Remedy:
1. Check the drive layout.
2. Reduce acceleration.
With systems which have been used for longer periods of time,
check to see if drive controller conditions have changed
in regards to:
- Friction
- Components which have been moved.
E258 Selected process block is not programmed.

Cause:
A positioning block was selected for which there is no set target position
or positioning velocity, etc.
Remedy:
Select another positioning block or enter the required data.
E259 Command velocity limit active

In the position control and velocity control operating modes, the effective
velocity command value is limited to the value in parameter S-0-0091,
Bipolar velocity limit value. The warning is given if the resulting velocity
command value reaches this limit.
Cause:
Parameter S-0-0091, Bipolar velocity limit value was set too low.
Remedy:
In normal operating conditions, set parameter S-0-0091, Bipolar
velocity limit value to a value 10% greater than the NC effective
velocity.
E261 Continuous current limit prewarning

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

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

Cause:
When using the operating mode "position control with process blocks",
the target position of the selected additive process block will be verified
to see whether it lies within the numerical range. This was not the case.
Remedy:
1. Check the target position and correct if necessary.
2. Select the position data display in modulo format.
E324 Option module error power supply unit

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

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

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

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

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

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

With HVE only !
Cause:
The power voltage supply in the HVE exceeds permissible tolerance (3x
380 ... 480V, ± 10 % ).
Remedy:
Check mains fuse in control cabinet and replace, if necessary.
E825 Overvoltage in power stage

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

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

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

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

a standstill by setting the velocity command to zero. A class 1 diagnostic
values which lead into the allowed range. "Handle travel range exceeded
as warning" is set in bit 2 of parameter P-0-0090, Travel limit
parameter.
Cause:
S-0-0050, Negative travel limit value exceeded.
Remedy:
Note: Only such command values will be accepted that lead back into
the allowed working range. With other command values, the
E831 Position limit reached during jog

If the position limit monitor is activated and the drive is “IN
REFERENCE", then it will be positioned on the position limit during
movement by jogging. If the drive is positioned on the position limit or
beyond the position limit, the drive stops and signals "Position limit value
reached during jog".
Remedies:
1. Move the motor back within the allowed travel area with the jog
function or
2. Turn off the position limit monitor.
E834 Emergency-Stop
Pressing the emergency stop switch has caused the drive to perform the
emergency stop function that had been selected via the P-0-0119, Best
possible deceleration parameter. There is no error message issued to
the controller.
Cause:
The emergency stop switch was pressed.
Remedy:
Eliminate the malfunction that led to the activation of the emergency stop
switch. The warning will then disappear.
E843 Positive limit switch activated

standstill by setting the velocity command to zero. A class 1 diagnostic
values that lead back into the allowed range. Bit 2 of P-0-0090, Travel
limit parameter is set to "Overtravelling is handled as a warning".
Cause:
The positive limit switch has been actuated.
Remedy:
Enter command values that lead back into the allowed range.
E844 Negative limit switch activated

a standstill by setting the velocity command to zero. A class 1 diagnostic

values that lead back into the allowed range. Bit 2 of P-0-0090, Travel
limit parameter is set to "Overtravelling is handled as a warning".
Cause:
The negative limit switch has been actuated.
Remedy:
DIAX04 ASE-02VRS Description of Diagnostic Letters C..., D... and A... 4-1
4 Description of Diagnostic Letters C..., D... and A...
4.1 Command Diagnostic Messages C... and D

The commands are used for control of complex features in the drive.
For example, the features "drive controlled homing procedure" or
"Communication Phase 4 Transition Check" are defined as commands.
Commands can start, interrupt or erase a primary control.
A parameter belongs to each command whereby the command can be
controlled by the parameter.
During the command operation, the diagnostic message "Cx" appears in
the H1 display where the x stands for the number of the command.
It can distinguish between 3 types of commands.
• Drive Commands
Command Types - Lead to an eventual automatic drive movement
- Can be started only through an inputted control enable
- Deactivates the active operating mode during its operation
• Monitor Commands
Activation or deactivation of monitors or features
• Management Commands
- Lead management tasks that are not interruptable
C100 Communication phase 3 transition check

The command S-0-0127, C1 Communication phase 3 transition
check has been activated.
C116 DAE not plugged

For the process communication, the DAE plug-in module is necessary.
However, the drive has not recognized any DAE.
C200 Communication phase 4 transition check

Meaning:
The command S-0-0128, C200 Communication phase 4 transition
check has been activated.
C201 Invalid parameter(s) (->S-0-0022)

Cause:
Parameters which will be necessary to operate the drive in
communications phase 4 are invalid. The invalid parameters can be seen
in S-0-0022, IDN list of invalid op. data for comm. ph. 3.
Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph.
3 must be rewritten so they are correct.
4-2 Description of Diagnostic Letters C..., D... and A... DIAX04 ASE-02VRS
C202 Parameter limit error (->S-0-0022)

Cause:
Parameters which are necessary to operate the drive in communications
phase 4 are outside of their minimum or maximum input values, or the
entered value can't be processed (for bit bars). The incorrect parameters
are listed in S-0-0022, IDN list of invalid op. data for comm. ph. 3.
Remedy:
The parameters of S-0-0022, IDN list of invalid op. data for comm. ph.
3 must be rewritten with correct values.
C203 Parameter calculation error (->S-0-0022)

Cause:
Parameters that are required for phase-4 operation (operating mode)
cannot be processed in that way. The incorrect parameters are listed in
S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.
Remedy:
Write correct values to the parameters in S-0-0022, IDN List of Invalid
Op. Data for Comm. Ph. 3.
C204 Motor type P-0-4014 incorrect

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

Cause:
Values that require an optional encoder have been entered in S-0-0147,
Homing parameter or in the S-0-0032...35, Mode of Operation
parameters. However, 0 (not available) has been entered in the P-0-
0075, Interface Feedback 2, optional parameter.
The ident number of the parameter that requires the optional encoder is
entered in S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.
Remedy:
Modify S-0-0147, Homing parameter or the S-0-0032...35, Mode of
Operation parameters to utilization of the motor encoder instead of
optional encoder.
Set P-0-0075, Interface Feedback 2, optional to a value different from 0
to activate the optional measuring system.
C211 Invalid feedback data (->S-0-0022)

Invalid data has been encountered when the parameters stored in the
motor feedback were read, or an error has occurred when the data was
read.
Causes:
1. Motor feedback cable not connected or defective
2. Motor feedback defective
3. Drive controller defective
Remedy:
Ref. 1. Check motor feedback cable; connect both sides
Ref. 2. Replace motor
Ref. 3. Replace amplifier
C212 Invalid amplifier data (->S-0-0022)

During drive initialization, the operating software fetches data from an
EEPROM in the drive controller. This error message is generated after
that access has failed.
Causes:
Defective hardware in the drive controller.
Remedy:
Replace drive controller.
C213 Position data scaling error

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

• S-0-0277, Position feedback 1 type parameter
C214 Velocity data scaling error

Cause:
The scaling parameters for velocity data permit the velocity data display
format to be selected. The drive-internal velocity data format depends on
the employed motor encoder and the encoder resolution. The factor used
for converting the velocity data from the drive-internal format into the
display format or vice versa is outside the processable range.
Remedy:
Checking and correcting the relevant parameters, such as
• S-0-0044, Velocity data scaling type
• S-0-0045, Velocity data scaling factor
• S-0-0046, Velocity data scaling exponent
C215 Acceleration data scaling error

Cause:
The display format of the acceleration data can be set using acceleration
scaling parameters. The drive-controlled format of the acceleration data
is dependent on what motor encoder and encoder resolution are used.
The factor for converting acceleration data from internal drive format to
display format (or vice-versa) is outside the workable range.
Remedy:
Check and set the relevant parameters correctly as follows:
• S-0-0160, Acceleration data scaling type
• S-0-0161, Acceleration data scaling factor
• S-0-0162, Acceleration data scaling exponent
C216 Torque/force data scaling error

Cause:
The display format of the torque/force data can be set using torque/force
scaling parameters. The factor for converting torque data from drive-
controlled format to display format (or vice-versa) is outside the workable

area.
Remedy:
Check and set the relevant parameters correctly as follows:
• S-0-0086, Torque/force data scaling type
• S-0-0093, Torque/force data scaling factor
• S-0-0094, Torque/force data scaling exponent
• S-0-0110, Amplifier peak current
• S-0-0111, Motor current at standstill
C217 Feedback1 data reading error

If you have entered these values into P-0-0074, Interface feedback 1:
• "1" for standard interface,
• "4" for DFF module, or
• "8" for DAG module (Endat)
then the attached encoder must have a feedback data memory. The
values for the encoder resolution and the feedback type are taken from
there. An error was discovered while reading these values.
Cause:
1. Defective motor feedback cable.
2. Defective motor feedback.
Remedy:
For 1. Check the motor feedback cable.
C218 Feedback 2 data reading error

The initializatin of the measuring systems is done in the command
S-0-0128, C200 Communication phase 4 transition check. If the
measuring system to initialize has an intrinsic data memory, this memory
is read.
The error C218 Feedback 2 data reading error is generated, if an
additional optional encoder (encoder 2) is present and being evaluated
(P-0-0075 Feedback 2 type other than 0) and if an error is discovered
while reading the data.
Measuring systems with intrinsic data memory are :
• DSF/HSF/LSF and resolver, as well as
• measuring systems with Endat interface (from Heidenhain)
Cause:
1. Defective measurement system cable
2. Defective measurement system
Remedy:
For 1. Check the measurement system cable.
For 2. Exchange the measurement system.
C220 Feedback 1 initializing error

A number of tests are performed when the motor encoder is initialized.
An error was detected during this process. This error may be:
• Error while reading the angle rectification data

• Error while copying the angle rectification data
• Interruption of communication with the encoder
• Assembly error with the position of an initialization track
• Error while reading the analog signal of an initialization track
• Error in the pointer length of the analog signal of an initialization track
• Invalid offset between the high and low resolution track
• Error in the measuring system micro-controller
Cause:
1. Defective motor feedback cable
2. Defective motor feedback
3. Defective measurement system interface
Remedy:
For 1. Check the motor feedback cable.
For 3. Exchange the measuring system interface, if it is a module, or
the complete drive controller.
C221 Feedback 2 initializing error

Several checks are performed during the initialization of an optional
encoder. An error has been detected during this process. This error may
be:
• Error while reading the angle rectification data
• Error while copying the angle rectification data
• Interruption of communication with the encoder
• Assembly error with the position of an initialization track
• Error while reading the analog signal of an initialization track
• Error in the pointer length of the analog signal of an initialization track
• Invalid offset between the high and low resolution track
• Error in the measuring system micro-controller
• With DAG 1.2: external 24V set for SSI interface
Cause:
1. External encoder cable defective.
2. Defective feedback.
3. Defective measurement system interface.
Remedy:
For 1. Check the optional feedback cable.
For 2. Exchange feedback.
For 3. Exchange the measuring system interface (module).
C223 Input value for max. range too high

Cause:
An internal position resolution has been selected via the S-0-0278,
Maximum travel range parameter that no longer guarantees a correct
commutation of the motor.
Remedy:
Select a smaller value for the S-0-0278, Maximum travel range
parameter.
C225 Coprocessor not ready for initialization

The drive controller has a coprocessor. This coprocessor is initialized
during the transfer command. The coprocessor signals that it is ready for
initialization. If it is not ready, this error is generated.
Cause:
Coprocessor failed.
Remedy:
C226 Coprocessor acknowledge failed

The drive controller has a coprocessor. This coprocessor is initialized
during the transfer command. If the coprocessor does not confirm the
initialization by the master processor, this error will be generated.
Cause:
The coprocessor failed.
Remedy:
C227 Modulo range error

Cause:
The selected modulo value is greater than half the numerical position
range of the drive.
Remedy:
Decrease the modulo value.
C228 Controller type S-0-0140 wrong

Several internal software settings are made based on parameter S-0-
0140, Controller type. If the content of this parameter cannot be used,
then this error will be generated.
Cause:
1. The controller type cannot be processed by this software.
2. Amplifier EEProm defective.
Remedy:
For 1. Contact Indramat.
For 2. Exchange/repair the control device.
C231 Emulator not loadable

Cause:
The position emulator on the DAE02.1 interface is loaded from a ROM
module according to the selection made in P-0-4020. With ELS firmware,
the incremental encoder firmware is always loaded; P-0-4020 does not

exist in this case. The loading process is monitored; this error message
is generated in the event of a malfunction. The cause is a hardware
defect on the DAE02.1 interface.
Remedial action:
Replace the DAE02.1 interface.
C232 Encoder 1 interface not present

Cause:
The encoder interface that was selected in the P-0-0074, Interface
feedback 1 parameter has not been installed or cannot be found by the
drive, due to a defect.
Remedy:
Install or replace the selected encoder interface.
C233 Encoder 2 interface not present

Cause:
The encoder interface that has been selected in the P-0-0075, Interface
Feedback 2, external parameter has not been installed or is defective
and can therefore not be recognized by the drive.
Remedy:
Install or replace the selected encoder interface.
C234 Encoder combination not possible

Cause:
The encoder interface that has been selected in the P-0-0075, Interface
Feedback 2, optional parameter cannot be supported by the drive; it
has already been allocated to the motor encoder.
Remedy:
Select another optional encoder.
C235 Load-side motor encoder with inductance motor only

Cause:
The functionality of the optional encoder can be defined in the P-0-0185,
Function of opt. encoder parameter. If 'load-side motor encoder' has
been selected as the function of the optional encoder, that function will
only be supported for asynchronous motors.
Remedy:
Set the P-0-4014, Motor type parameter according to the employed
motor type.
Check the P-0-0185, Function of opt. encoder parameter.
C236 Feedback 1 required (P-0-0074)

Cause:
A motor encoder is not required (P-0-0074 = 0) if a load-sided motor
encoder has been selected via the P-0-0185, Function of opt. encoder
parameter. However, S-0-0147, Homing parameter or the S-0-
0032...35, Mode of Operation parameters contain values that require a
motor encoder.
Remedy:
Change S-0-0147, Homing parameter or the S-0-0032...35, Mode of
Operation parameters such that they are suitable for using an optional
encoder.
Enter a value ≠ 0 in the P-0-0074, Interface feedback 1 parameter to
activate the motor encoder.
C300 Set absolute measuring

Command P-0-0012, C300 Command 'Set absolute measurement'
was activated by the control system in use.
C302 Absolute measuring system not installed

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

The command for transition into parameter mode. Before editing
parameters that can be edited only in parameter mode, this command
must be processed.
C401 Drive active, switching not allowed

Cause:
The command C400 Command: Switch to parameter mode has been
started, although the drive enable is on.
Remedy:
End the command and turn off the drive enable, then the command can
be started again.
C500 Reset class 1 diagnostic, error reset

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

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

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

Cause:
The controller enabling signal was not active when the program was
started. This is not permitted.
Remedy:
1. Switch on the controller enable signal.
2. Start the command again.
C602 Distance home switch - reference mark erroneous

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

Command S-0-0148, C600 Drive controlled homing procedure
command was activated. An absolute measuring system was selected
using the encoder selection in S-0-0147, Homing parameter. This
command can only run if command P-0-0012, C300 Command 'Set
absolute measurement' has been previously activated.
Remedy:
First activate command P-0-0012, C300 Command 'Set absolute
measurement', and then start command S-0-0148, C600 Drive
controlled homing procedure command. This procedure will define
the absolute reference point.
C700 Basic load

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

With motors of the MHD, MKD and MKE series, adapting the control
loops to the connected digital drive is done by activating the speed
controller parameters that are stored in the motor feedback. The drive
controller employs the C702 message to signal that the S-0-0262, C700
Command basic load command has been activated, but that there is no
data memory at the connected motor.
Remedy:
Order the parameter sheet of the employed motor from the INDRAMAT
Service, and enter the parameters.
C703 Default parameters invalid

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

Cause:
The default parameters in use are not compatible with this software
version.
Remedy:
Please contact Indramat. Explain, which software version, which device
and which motor type you have.
C705 Locked with password

The parameter S-0-0267, Password offers the possibility to set a write
protection for the drive parameters. The diagnostic message C705
Locked with password indicates, that the command C700 Basic Load
has been started, although the drive parameters are protected with the
customer password.
C800 Default parameter load

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

Cause:
During the execution of P-0-4094, C800 Command Base-parameter
load, a default value that has been stored in the drive was recognized as
incorrect. The related parameter is entered in the S-0-0021, IDN-list of
invalid op. data for comm. Ph. 2.
C802 Locked with password

The parameter S-0-0267, Password offers the possibility to set a write
protection for the drive parameters. The diagnostic message C705
Locked with password indicates, that the command P-0-4094, C800
Command Base-parameter load has been started, although the drive
parameters are protected with the customer password.
D300 Command adjust commutation

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

Cause with linear motor:
There must not be a controller enable signal when the command is
started. However, it must be in communication phase 4 ("bb“ or "Ab“
displayed).
Cause with rotary synchronous motor:
The drive must be in torque control mode when the "D3“ command is
started.
This error message is generated if those conditions are not satisfied.
Remedial action with linear motor:
Depending on the motor type, switch off the controller enable signal and
start the command again.
Remedial action with rotary synchronous motor:
Activate torque control and start the command again.
D400 Positive stop drive procedure command

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

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

The P-0-0014, D500 Command determine marker position command
can be used for checking the correct acquisition and position of the
reference marker of an incremental measuring system. The "d5“ display
shows that the command has been activated.
Cause:
The Determine marker position command has been activated.
D501 Incremental encoder required

Cause:
The command has been started for a measuring system that does not
possess real reference markers. These include measuring systems such
as DSF, EnDat, SSI or resolver measuring systems.
Remedy:
Check whether the correct encoder has been selected in S-0-0147,
Homing parameter.
Employ an encoder system with real reference markers.
D600 Cancel reference point procedure command

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

The command permits one or more drives of a drive package to be
stopped without error messages being issued to the controller and/or the
power supply module. The remaining drives of the package can be
handled without any restrictions.
Cause:
The S-0-0139, D700 Command parking axis command has been
activated.
4.2 Status Diagnostic Messages
A002 Communication phase 2

For field bus and SERCOS devices, the control demands via the master
communication "communication phase 2", or the drive has been switched
to phase 2 by the command P-0-4023, C400 Communication phase 2
transition. Therefore, the drive is in the "parameter mode". In this mode,
many parameters are editable, which can no more be edited in
"communication phase 4" ("operation mode").
In this phase, usually
• for field bus and SERCOS devices, the communication parameters
are transferred from the control to the drive and
• the functions Load and Save parameters ("file services“) are
performed when needed.
Before switching to communication phase 3 is possible, the command
S-0-0127, C100 Communication phase 3 transition check must be
done. In this command, the drive checks e.g. the validity of the
parameters needed for the communication phase 3.
After successful execution of the command, the control switches the
drive to comm. phase 3 (with field bus and SERCOS devices), or the
drive switches by itself to phase 3 at the end of the command.
A003 Communication phase 3

For field bus and SERCOS devices, the control demands via the master
communication "communication phase 3", or the drive has been switched
to phase 3 by the command S-0-0127, C100 Communication phase 3
transition check. The drive is in the "restricted parameter mode". In this
mode, still many parameters are editable too, which can no more be
edited in "communication phase 4" ("operation mode").
Before switching to communication phase 4 is possible, the command

S-0-0128, C200 Communication phase 4 transition check must be
done. In this command, the drive checks e.g. the validity of the
parameters needed for the communication phase 4 ("operation mode").
After successful execution of the command, the control switches the
drive to comm. phase 4 (with field bus and SERCOS devices), or the
drive switches by itself to phase 4 at the end of the command.
A010 Drive HALT

The feature Drive-Halt ( = contrary of Drive-Start) is activated by the
applied control via the used interface through clearing the /Drive-Halt bit
(bit 13) in the master control word or by interrupting a drive control
command (i.e. drive-controlled homing).
The Drive-Halt feature is for decelerating the axis to standstill at defined
acceleration and defined jerk.
In process block mode, the acceleration and the jerk value of the
previous process block are active.
In Jog mode and in stepper position mode,
for acceleration, S-0-0260, Positioning acceleration is taken, and
for jerk, S-0-0193, Positioning jerk is taken.
In Velocity control and in Torque control mode, the drive is decelerated
to standstill by setting the velocity command to 0 and with the max.
torque.
A011 Drive interlock open

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

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

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

The drive is in the torque control operating mode. It follows the torque
command value sequence which was set by the control system.
A101 Drive in VELOCITY control

The drive is in the velocity control operating mode. It follows the velocity
command value sequence set by the control system. The velocity control
loop is closed in the drive.
A102 Position mode with encoder 1

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

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

command value sequence; the drive follows the command value without
following (lag) error.

shaft (indirect measurement of axis position).
A105 Position control lagless, feedback 2

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

The drive receives a position command value from the control system
which is identical to the target position of the travel path. Then the drive
generates (interpolates) an internal position command value sequence,
which uses the control system to maintain maximum values for jerk,
velocity and acceleration sequences.
The drive moves with a systematical lag (following error) to the target
position.
A107 Drive controlled interpolation, encoder 2

The drive moves with a systematical lag (following error) to the target
position.
A108 Drive controlled interpolation, lagless, encoder 1

The drive moves without following error to the target position.
A109 Drive controlled interpolation, lagless, encoder 2

The drive moves without following error to the target position.

A146 Relative drive controlled interpolation, encoder 1

In the S-0-0282, Travel distance parameter, the drive receives a
distance specification from the controller. When bit 0 of the S-0-0346,
Setup flag for relative command values parameter is toggled, this
distance is summed up to the value in S-0-0258, Target position. In
order to get from the current position to the new target position, the drive
now generates (interpolates) an internal position command value curve.
This is done taking the limit values of velocity, acceleration, and jerk in
the parameters
• S-0-0260, Positioning acceleration
• S-0-0193, Positioning jerk
into account.
The drive approaches the target position with a position lag that is
proportional to the velocity.
Encoder 1 means that the position encoder is attached to the motor
A147 Relative drive controlled interpolation, encoder 2

the parameters
into account.
The drive approaches the target position with a position lag that is
proportional to the velocity.
Encoder 2 means that the position encoder that is attached to the load is
used for closing the position control loop (direct axis position
measurement).
A148 Relative drive contr. interpolation, enc. 1, lagless

the parameters

into account.
The drive approaches the target position of the travel path without a
position lag.
Encoder 1 means that the position encoder is attached to the motor
A149 Relative drive contr. interpolation, enc. 2, lagless

the parameters
into account.
The drive approaches the target position of the travel path without a
position lag.
Encoder 2 means that the position encoder that is attached to the load is
used for closing the position control loop (direct axis position
measurement).
A206 Process block mode, encoder 1

The drive performs a closed loop position control with systematical lag.
The actual value comes from the encoder 1 (motor encoder). The
command value profile is generated in the drive.
Target position, velocity, acceleration and jerk are determined by a pre-
programmed process block. Depending on P-0-4019, Process block
mode, the target position is interpreted as an absolute value or as a
relative distance to move.
A207 Process block mode lagless, encoder 1

The drive performs a closed loop position control without lag. The actual
value comes from the encoder 1 (motor encoder). The command value
profile is generated in the drive.
A208 JOG mode positive

The drive moves with a jogging velocity (P-0-4030) in the positive
direction. The motor is turning clockwise, when viewing the motor shaft.
A210 Process block mode, encoder 2

The drive performs a closed loop position control with systematical lag.
The actual value comes from the encoder 2 (ext. encoder). The
command value profile is generated in the drive.
A211 Process block mode lagless, encoder 2

The drive performs a closed loop position control without lag. The actual
value comes from the encoder 2 (ext. encoder). The command value
profile is generated in the drive.
A218 JOG mode negative

The drive moves with a jogging velocity (P-0-4030) in the negative
direction. The motor is turning counter clockwise, when viewing the
motor shaft.
A800 Unknown operation mode

There is no diagnosis for the activated operation mode.
4.3 Diagnostic messages for basic initialization and after

fatal System errors
Diagnostic Message Display: -0

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

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

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

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

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

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

Cause:
Checksumerror
Remedy:
Replace HSM-Modul
Diagnostic Message Display: Watchdog

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

Hereafter, the possible states of operation are listed alphabetically.
These are shown with the display H1 on the device.
bb
"Ready for operation"
See also: A013 Ready for power on.
Ab
"Drive is ready"
See also: A012 Control and power sections ready for operation.
AF
"Drive enable"
According to the operation mode in use, you will find a more exact description
of the display "AF" under the respective state diagnosis A101..A800.
AS
"Starting Lockout"
See also: A011 Drive interlock open
AH
"Drive Halt"
See also: A010 Drive HALT.
Jb
"Jog backward"
Refer to description A218 Jog negative.
JF
"Jog Forward"
See also: A208 JOG mode positive.
P2
"Phase 2"
See also: A002 Communication phase 2.
P3
"Phase 3"
See also: A003 Communication phase 3.
PL
"Basic Parameter Load"
See also: F209 PL Load parameter default values.
UL
"Basic Load"
See also: F208 UL The motor type has changed.
DIAX04 ASE-02VRS Exchanging Drive Components 5-1
5 Exchanging Drive Components
5.1 Identifying the Drive Components
Power Supply Module

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

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

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

_________________ software module
K_ _/_ _ Production week/
year
Dx4_ID_2.fh7
Fig. 5-2: Type plates for HDS / HDD controllers (Example)
5-2 Exchanging Drive Components DIAX04 ASE-02VRS

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

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

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

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

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

• type designations of the cables and their
• lengths.
The type plate is situted near the end of the cable.
Making a replacement cable The replacement cable can be made of various parts, i.e., plug-in
connectors, ferrules and connector sleeves. The power connectors in
particular require special tools to mount the components. When obtaining
the components, note
• type deisgnation of the plug-in connector and
• type designation of the cable.
Information about special tools and assembly guidelines can be obtained
from INDRAMAT upon request!
5.2 Replacing Drive Components
Power Supply Module

To avoid machine downtime it makes sense to replace defective drive
controllers by simply exchanging the unit.
INDRAMAT power supply modules have been designed to ensure a safe,
quick and uncomplicated replacement to keep production downtime to an
absolute minimum.
Problems in the supply unit are diagnosed, and the steps to take when
"Replacing the Power Supply Unit" are outlined in terms of the error
diagnoses listed in the relevant document, i.e, DIAX04 - ....; Fault
Clearance Guidelines".
Production can be resumed immediately after the unit is replaced
because it is not necessary to adjust the drive to the machine.
Exchanging a Unit
Procuring a replacement • To achieve the greatest functionality, it is recommended to obtain a
configured drive controller for the replacement. See section
"Identifying the Drive Components" on page 5-1.
Filling out a fault report • A fault report form is incorporated into this document in section "Fault
Report" on page 5-11, where it can be copied and used. The Fault
Report must be completely filled out! This information ensures that
the repair will be quickly and efficiently completed and also helps
locate the cause of the problem!
Disconnecting the voltage • Switch the main switch of the machine off and secure it against being
switched back on.
• Remove the cover of the power connection of the defective unit and
all adjacent units.
Voltage-conducting conductor bars (exceeding 50V),

even with supply voltage off!
Electrical shock could result if touched!
⇒ Wait discharge time of DC bus (L+/L-) before
DANGER checking that it has dropped below 50 volts!
• All electrical and mechanical connections (with the exception of the

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

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

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

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

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

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

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

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

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

may be necessary to check the motor blower. The rotational direction
of the blower wheel must agree with the direction of the arrow o the
blower housing!
Dispose of defective cable properly!
Plug-in Modules
Procuring a plug-in module See section "Identifying the Drive Components" on page 5-1.
Disconnecting voltage • Remove the HDD/HDS from the mains. Make sure that the power and
control power source are switched off. The displays on power supply
module and controller must not be illuminated.
• All electrical and optical connections on the front plate of the plug-in
module must be removed.
Replacing plug-in modules
Danger when handling!
Controller and plug-in module could be damaged if plug-
in module replaced with power applied!
⇒ Plug-in modules may not be removed or inserted with
CAUTION power on!
• Release screws at top and bottom of defective plug-in module. Pull

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

Replacing the software module

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

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

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

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

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

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

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

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

for DIAX04
Information about HVE or HVR:

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

Manufacturer: Type: Operating hrs.:
Machine number: Startup date:
Number of drives: Manuf. of and machine controller type:
Designation of machine axis at which problem occurred: X Y Z A C Q __ -axis
Please explain the problem:
Additional information:
Defective state: Cause: Accompanying effects:
is constantly present unknown mechanical problems Have there been problems with
during startups connection error mains section failed this axis before ?
occurs sporadically external causes control failed
occurs after hours mechanical damage motor failed How often:
occurs with vibrations loose connetions cable break
is temperature-dependent moisture in unit defective blower Do the problems always occur on specific
extrinsic object in unit defective feedback data or at specific times of the day ?
Pi6004f1.fh7
Indramat GmbH • Bgm.-Dr.-Nebel-Straße 2 • D-97816 Lohr • Telefon 09352 / 404-0 • Tx 689 421 • Fax 09352 / 404-885
Fig. 5-6: Fault Report for AC drives with HDD/HDS
DIAX04 ASE-02VRS Index 6-1
Control voltage supply fault power supply

6 Index unit 3-27
Controller type S-0-0140 wrong 4-7
Coprocessor acknowledge failed 4-7
Coprocessor not ready for initialization 4-7
Current measurement trim wrong 3-10
+
+/-15Volt DC error 3-17
+10Volt DC error 3-18 D
+24V/+-15V/+5V fault power supply unit 3- DAE not plugged 4-1
11
Default parameter load 4-12
+24Volt DC error 3-17
Default parameters invalid 4-11
Default parameters not available 4-11
A Diagnostic Message Display
-0 4-21
Ab 4-23
-1 4-21
Absolute encoder out of allowed window 3-
10 -2 4-21
-3 4-21
Absolute measuring system not installed
4-9 -5 4-21
Acceleration data scaling error 4-4 -6 4-22
AF 4-23 Watchdog 4-22
AH 4-23 Diagnostic message power supply

erroneous 3-27
Amplifier overtemp. shutdown 3-2
Distance home switch - reference mark
AS 4-23 erroneous 4-10
Drive active, switching not allowed 4-9
B Drive controlled homing procedure
command 4-10
Basic load 4-11
Drive controlled interpolation, encoder 1 4-
bb 4-23 17
Bleeder overload 3-11 Drive controlled interpolation, encoder 2 4-
Bleeder overload warning power supply 17
unit 3-27 Drive controlled interpolation, lagless,
Brake fault 3-9 encoder 1 4-17
Bus power overload 3-26 Drive controlled interpolation, lagless,

encoder 2 4-17
Drive HALT 4-15
C Drive in TORQUE control 4-16
Cable damage 5-3 Drive in VELOCITY control 4-16
Cancel reference point procedure Drive interlock open 4-16
command 4-14 Drive interlock while drive activated 3-16
Checksum error power supply unit 3-13 Drive not ready for commutation command
Command 4-12
switch to parameter mode 4-9 Drive overtemp. prewarning 3-22
Command adjust commutation 4-12
Command 'get mark position' 4-13
E
Command velocity limit active 3-25
Emergency-Stop 3-5, 3-13, 3-14, 3-29
Communication phase 2 4-15
Emulator not loadable 4-7
Communication phase 3 4-15
Encoder 1 failure
Communication phase 3 transition check
4-1 quadrant error 3-4
signal too small 3-15
Communication phase 4 transition check
4-1 Encoder 1 interface not present 4-8
configured drive controllers 5-2 Encoder 2 failure
Connection error at power supply unit 3-12 quadrant error 3-7
Continuous current limit active 3-24 signal too small 3-6
Continuous current limit prewarning 3-25 Encoder 2 interface not present 4-8
Control and power sections ready for Encoder combination not possible 4-8
operation 4-16
6-2 Index DIAX04 ASE-02VRS
Erroneous internal hardware Low battery voltage 3-8

synchronization 3-9
Error delete only in parameter mode 4-10
Excessive deviation 3-4
M
Excessive position command difference 3- Mains failure 3-12
6 Mains phase loss fault 3-12
Excessive position feedback difference 3-5 Modulo range error 4-7
Exchanging a DDS02.2/DDS03.2 5-4, 5-5 Motor overload 3-20
External power supply DAE 02 error 3-9 Motor overtemp. prewarning 3-22
External power supply error 3-4 Motor overtemp. shutdown 3-3
Motor temp. surveillance defective 3-3
F Motor type P-0-4014 incorrect 4-2
Motor type plate 5-2
Fault Report 5-11
Feedback 1 initializing error 4-5
Feedback 1 required (P-0-0074) 4-9 N
Feedback 2 data reading error 4-5 Negative limit switch activated 3-29
Feedback 2 initializing error 4-6 Negative position limit exceeded 3-28
Feedback 2 required (->S-0-0022) 4-2 Negative travel limit exceeded 3-14
Feedback1 data reading error 4-5 Negative travel limit switch detected 3-15
Feedrate-override S-0-0108 = 0 3-24 No jogging direction selected 3-21
Firmware release state 5-2 No mains connected 3-19
Not homed 3-23
H Not ready for power on 3-19
Heat sink overtemp. warning power supply

unit 3-26 O
Heatsink overtemp. fault power supply unit
3-11 Option module error power supply unit 3-
26
Homing of absolute encoder not possible
4-10 Overcurrent
short in power stage 3-16
Homing only possible with drive enable 4-
10 short to ground 3-17
Overvoltage in power stage 3-27
I
Incr. encoder emulator P
pulse frequency too high 3-8 P2 4-23
Incremental encoder required 4-13 P3 4-23
Input value for max. range too high 4-6 Parameter calculation error (->S-0-0022)
Interpolation acceleration = 0 3-21 4-2
Interpolation velocity = 0 3-21 Parameter default value erroneous (-> S-

0-0021) 4-12
Invalid amplifier data (->S-0-0022) 4-3
Parameter limit error (->S-0-0022) 4-2
Invalid feedback data (->S-0-0022) 4-3
Parameters not copyable 4-11
Invalid parameter(s) (->S-0-0022) 4-1
Parking axis command 4-14
PL Load parameter default values 3-2
J Position control lagless, feedback 2 4-17
JOG mode negative 4-20 Position data scaling error 4-3
JOG mode positive 4-19 Position limit reached during jog 3-29
Position mode lagless, encoder 1 4-16
Position mode with encoder 1 4-16
L
Position mode with encoder 2 4-16
Line frequency fault 3-13 Positioning velocity S-0-0259 > S-0-0091
Line voltage fault 3-12 3-22
Load-side motor encoder with inductance Positive limit switch activated 3-29
motor only 4-8 Positive position limit exceeded 3-28
Locked with password 4-11, 4-12
Positive stop drive procedure command 4- V

13
Positive travel limit exceeded 3-13 Velocity command value > limit S-0-0091
3-25
Positive travel limit switch detected 3-14
Velocity data scaling error 4-4
Power supply module 5-1
Velocity limit S-0-0091 exceeded 3-18
Process block mode lagless, encoder 1 4-
19 Velocity loop error 3-18
Process block mode lagless, encoder 2 4-

20
W
Process block mode, encoder 1 4-19
Warning Drive temp. surveillance defective
Process block mode, encoder 2 4-20
3-19
Warning Motor temp. surveillance
defective 3-20
R
Ready for power on 4-16
Recovery overload power supply unit 3-26 Z
Relative drive contr. interpolation, enc. 1, ZKL1-Error at command start 4-13
lagless 4-18
Relative drive contr. interpolation, enc. 2,
lagless 4-19
Relative drive controlled interpolation,
encoder 1 4-18
Relative drive controlled interpolation,
encoder 2 4-18
Release state of the firmware 5-2
Removing motor 5-6
Replacement cable 5-3
Replacement motors 5-2
Replacing a software module 5-2
Replacing cables 5-7
Replacing plug-in modules 5-8
Replacing the software module 5-9
Reset class 1 diagnostic, error reset 4-10
S
Selected process block is not
programmed. 3-25
Set absolute measuring 4-9
Short to ground power supply unit 3-12
Softstart fault power supply unit 3-10
Standard cables 5-3
T
Target position out of num. range 3-26
Target position out of travel range 3-23
Torque/force data scaling error 4-4
Type plate on the power supply module 5-
1
Type plates of stanard INDRAMAT cables
5-3
U
UL The motor type has changed. 3-2
Undervoltage in power section 3-3, 3-20,
3-28
Unknown operation mode 4-20
DIAX04 ASE-02VRS Customer Service Locations 6-1
Kundenbetreuungsstellen - Sales & Service Facilities

Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!!
from abroad: don’t dial (0) after country code!
Vertriebsgebiet Mitte Vertriebsgebiet Ost Vertriebsgebiet West Vertriebsgebiet Nord

Germany Centre V/S Service Germany East V/S Service Germany West V/S Service Germany North V/S Service
INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH INDRAMAT GmbH

Bgm.-Dr.-Nebel-Str. 2 Beckerstraße 31 Harkortstraße 25 Kieler Straße 212
D - 97816 Lohr am Main D - 09120 Chemnitz D - 40849 Ratingen D - 22525 Hamburg
Telefon: +49 (0)9352/40-0 Telefon: +49 (0)371/35 55-0 Telefon: +49 (0)2102/43 18-0 Telefon: +49 (0)40/85 31 57-0
Telefax: +49 (0)9352/40-4885 Telefax: +49 (0)371/35 55-333 Telefax: +49 (0)2102/41 315 Telefax: +49 (0)40/85 31 57-15
Vertriebsgebiet Süd Gebiet Südwest INDRAMAT Service-Hotline

Germany South V/S Service Germany South-West V/S Service
INDRAMAT GmbH
INDRAMAT GmbH INDRAMAT GmbH Telefon: +49 (0)172/660 04 06
Ridlerstraße 75 Böblinger Straße 25
oder
D-80339 München D-71229 Leonberg
Telefon: +49 (0)171/333 88 26
Telefon: +49 (0)89/540138-30 Telefon: +49 (0)7152/9 72-6
Telefax: +49 (0)89/540138-10 Telefax: +49 (0)7152/9 72-727
Kundenbetreuungsstellen in Deutschland - Service agencies in Germany
Europa – Europe vom Ausland: (0) nach Landeskennziffer weglassen, 0 nach Landeskennziffer
mitwählen!!
from abroad: don’t dial (0) after country code, dial 0 after country code!
Austria V/S Service Austria V/S Service Belgium V/S Service Denmark V/S Service
Mannesmann Rexroth Ges.m.b.H. Mannesmann Rexroth G.m.b.H. Mannesmann Rexroth N.V.-S.A. BEC AS
Geschäftsbereich INDRAMAT Geschäftsbereich INDRAMAT Geschäftsbereich INDRAMAT Zinkvej 6
Hägelingasse 3 Industriepark 18 Industrielaan 8 DK-8900 Randers
A - 1140 Wien A - 4061 Pasching B-1740 Ternat
Telefon: +43 (0)1/9852540-400 Telefon: +43 (0)7221/605-0 Telefon: +32 (0)2/5823180 Telefon: +45 (0)87/11 90 60
Telefax: +43 (0)1/9852540-93 Telefax: +43 (0)7221/605-21 Telefax: +32 (0)2/5824310 Telefax: +45 (0)87/11 90 61
England V/S Service Finland V/S Service France V/S Service France V/S Service
Mannesmann Rexroth Ltd. Rexroth Mecman OY Mannesmann Rexroth S.A. Mannesmann Rexroth S.A.
INDRAMAT Division Ansatie 6 Division INDRAMAT Division INDRAMAT
4 Esland Place, Love Lane SF-017 40 Vantaa Parc des Barbanniers 270, Avenue de Lardenne
GB - Cirencester, Glos GL7 1YG 4, Place du Village F - 31100 Toulouse
Telefon: +358 (0)9/84 91 11
F-92632 Gennevilliers Cedex
Telefon: +44 (0)1285/658671 Telefax: +358 (0)9/84 91 13 60 Telefon: +33 (0)5 61 49 95 19
Telefax: +44 (0)1285/654991 Telefon: +33 (0)141 47 54 30 Telefax: +33 (0)5 61 31 00 41
Telefax: +33 (0)147 94 69 41
Hotline: +33 (0)6 08 33 43 28
France V/S Service Italy V/S Service Italy V/S Service Italy V/S Service
Mannesmann Rexroth S.A. Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A.
Division INDRAMAT Divisione INDRAMAT Divisione INDRAMAT Divisione INDRAMAT
91, Bd. Irène Joliot-Curie Via G. Di Vittoria, 1 Via Borgomanero, 11 Via del Progresso, 16 (Zona Ind.)
F - 69634 Vénissieux - Cedex I - 20063 Cernusco S/N.MI I - 10145 Torino I - 35020 Padova
Telefon: +33 (0)4 78 78 53 65 Telefon: +39 02/92 36 52 70 Telefon: +39 011/7 71 22 30 Telefon: +39 049/8 70 13 70
Telefax: +33 (0)4 78 78 52 53 Telefax: +39 02/92 36 55 12 Telefax: +39 011/7 71 01 90 Telefax: +39 049/8 70 13 77
Italy V/S Service Italy V/S Service Netherlands V/S Service Netherlands V/S Service
Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A. Hydraudyne Hydrauliek B.V. Hydrocare B.V.
Divisione INDRAMAT Divisione INDRAMAT Kruisbroeksestraat 1 Kruisbroeksestraat 1
Via de Nicola, 12 Viale Oriani, 38/A P.O. Box 32 P.O. Box 32
I - 80053 Castellamare di Stabbia NA I - 40137 Bologna NL - 5281 RV Boxtel NL - 5281 RV Boxtel
Telefon: +39 081/8 72 30 37 Telefon: +39 051/34 14 14 Telefon: +31 (0)411/65 19 51 Telefon: +31 (0)411/65 19 51
Telefax: +39 081/8 72 30 18 Telefax: +39 051/34 14 22 Telefax: +31 (0)411/65 14 83 Telefax: +31 (0)411/67 78 14
e-mail: [email protected]
Poland V/S Service Spain V/S Service Spain V/S Service Sweden V/S Service
Mannesmann Rexroth Sp.zo.o. Mannesmann Rexroth S.A. Goimendi S.A. Rexroth Mecman Svenska AB
Biuro Poznan Divisiòn INDRAMAT División Indramat INDRAMAT Division
ul. Dabrowskiego 81/85 Centro Industrial Santiga Jolastokieta (Herrera) Varuvägen 7
PL – 60-529 Poznan Obradors s/n Apartado 11 37 S - 125 81 Stockholm
E-08130 Santa Perpetua de Mogoda E - 20017 San Sebastian
Telefon: +48 061/847 67 99 Telefon: +46 (0)8/727 92 00
Barcelona
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Fevzi Cakmak Cad No. 3
TR - 34630 Sefaköy Istanbul
Telefon: +90 212/541 60 70
Telefax: +90 212/599 34 07
Europäische Kundenbetreuungsstellen (ohne Deutschland)

European Service agencies (without Germany)
Außerhalb Europa - outside Europe vom Ausland: (0) nach Landeskennziffer weglassen!!
from abroad: don’t dial (0) after country code!
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Acassusso 48 41/7 Calle 49, No. 5764-66 Unit 3/45 Horne ST Divisão INDRAMAT
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+54 (0)1/756 01 36 Telefon: +54 (0) 1/768 36 43 Telefon: +61 (0)3/93 59 02 28 [ Caixa Postal 377 ]
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e-mail: Fehler! Textmarke nicht
Telefon: +55 (0)11/745 90 60
definiert.net
+55 (0)11/745 90 70
[email protected]
Telefax: +55 (0)11/745 90 50
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Distrito Industrial Canada L7M 1A8 PRC - Shanghai 200335 PRC - Shanghai 201 103
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[ Caixa Postal 1273 ] Telefon: +1 905/335 55 11 Telefon: +86 21/62 75 53 33 Telefon: +86 21/62 20 00 58
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e-mail: [email protected]
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15/F China World Trade Center A-5F., 123 Lian Shan Street 19 Cheung Shun Street INDRAMAT Division
1, Jianguomenwai Avenue Sha He Kou District 1st Floor, Cheung Sha Wan, Plot. 96, Phase III
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Telefon: +86 10/65 05 03 80 IND - Bangalore - 560058
Telefon: +86 411/46 78 930 Telefon: +852 22 62 51 00
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Telefax: +91 (0)80/8 39 43 45
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Mannesmann Rexroth (India) Ltd. PT. Rexroth Wijayakusuma Rexroth Automation Co., Ltd. Rexroth Mexico S.A. de C.V.
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Plot. A-58, TTC Industrial Area Pulogadung 1F, I.R. Building Unidad Ind. Vallejo
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+52 5 752 59 43
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+82 (0)2/7 80 82 09
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USA V/S Service USA V/S Service USA V/S Service USA V/S Service
Mannesmann Rexroth Corporation Mannesmann Rexroth Corporation Mannesmann Rexroth Corporation Mannesmann Rexroth Corporation
INDRAMAT Division INDRAMAT Division INDRAMAT Division INDRAMAT Division
5150 Prairie Stone Parkway Central Region Technical Center Southeastern Technical Center Northeastern Technical Center
USA -Hoffman Estates, IL 60192-3707 USA - Auburn Hills, MI 48326 3625 Swiftwater Park Drive 99 Rainbow Road
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Telefon: +1 847/6 45 36 00 Telefon: +1 248/3 93 33 30
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Telefax: +1 847/6 45 62 01 Telefax: +1 248/3 93 29 06
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+1 770/9 32 19 03 +1 860/8 44 85 95
USA V/S Service
Mannesmann Rexroth Corporation

INDRAMAT Division
Charlotte Regional Sales Office
14001 South Lakes Drive
USA - Charlotte,
North Carolina 28273
Telefon: +1 704/5 83 97 62
+1 704/5 83 14 86
Kundenbetreuungsstellen außerhalb Europa / USA

Service agencies outside Europe / USA
DIAX04 ASE-02VRS
Indramat

Falhas HDS e HDD

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engineering

Type of documentation Drive With Servo Function,

Internal File Mark • Mappe 63-02V-EN / Register 8

Course of Modifications Document identification of previous

Copyright  INDRAMAT GmbH, 1998

Published by INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Dep. ECD1 (WR/HP)

Note This document is printed on chlorine-free bleached paper.

2 Safety Instructions for Electrical Drives 2-1

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

F320 Bleeder overload ................................................................................................................ 3-11

E324 Option module error power supply unit .............................................................................. 3-26

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

C300 Set absolute measuring....................................................................................................... 4-9

A206 Process block mode, encoder 1 ........................................................................................ 4-19

5 Exchanging Drive Components 5-1

1 Diagnostic Message Descriptions

1.1 Overview of the diagnostic message descriptions

Diagnostic Message Types

Construction of a diagnostic message

F228 Excessive Control Deviation

Diagnostic message number

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

Fig. 1-2: H1-/Display

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

Fig. 1-3: Diagnostic message priority diagram

Clear Coded Diagnostic Message

2 Safety Instructions for Electrical Drives

Improper use of this equipment, failure to follow the

2.2 Hazards by improper use

High Voltage and high discharge current!

High electrical voltages due to incorrect

Health hazard for persons with heart pacemakers,

Surface of machine housing could be extremely hot!

Risk of injury due to incorrect handling!

Risk of injury due to incorrect handling of batteries!

2.4 Protection against contact with electrical parts and not

High housing voltage! High leakage current!

for this protective connection over its entire course!

2.5 Protection by protective low voltage (PELV) against

High electrical voltages due to incorrect connections!

2.6 Protection against dangerous movements

Dangerous movements can occur immediately after equipment is

Avoiding accidents, personal injury and/or property

⇒ Keep free and clear of the machine’s range of motion

⇒ Make sure that the drives are brought to standstill

2.7 Protection against magnetic and electromagnetic fields

Health hazard for persons with heart pacemakers,

2.8 Protection against contact with hot parts

2.9 Protection during handling and installation

Risk of injury due to incorrect handling!

2.10 Battery safety

Risk of injury due to incorrect handling!

Note: Environmental protection and disposal! The batteries contained

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

3.1 Error diagnostic messages F...

Error class : Diagnostic Drive Reaction:

3.2 F208 UL The motor type has changed.

F209 PL Load parameter default values

⇒ This overwrites all parameters and positioning blocks.