Exchange

The modulo position is no longer correct if the motor or servo drive is exchanged. To prevent mechanical damage in the case of an uncontrolled restart, the servo drive starts with an initialization error, which leads to the EtherCAT status being set to Err-PreOp.

The servo drive and the NC axes are thus not ready for operation and the drive cannot be activated. To prevent inadvertent acknowledgement by the application program, this error cannot be acknowledged with the reset command S-0-0099. Instead, the procedure described in the section Resetting the modulo error must be followed.

The table below shows various exchange cases and the corresponding behavior with the firmware v2.06:

Modulo / exchange scenario

P-0-0275

Modulo parameter, saved in the servo drive

  • Motor exchanged;
  • New motor from the stores;
  • Encoder memory is empty

EtherCAT State

Err PreOP

DriveStatus

Error: F351 – Initialization data invalid

  • Motor exchanged;
  • Old motor;
  • Motor already has a position offset saved in the encoder memory

EtherCAT State

Err PreOP

DriveStatus

Error: F351 – Initialization data invalid

  • Servo drive exchanged;
  • New servo drive from the stores;
  • Servo drive memory empty

EtherCAT State

Err PreOP

DriveStatus

Error: F350 – no saved data could be
                       loaded

  • Servo drive exchanged;
  • Old servo drive;
  • Servo drive already has modulo data saved in the servo drive memory

EtherCAT State

Err PreOP

DriveStatus

Error: F351 – Initialization data invalid