TwinCAT System Manager: Reference

AX2xxx Drive - Status and Error Codes

At AX2xxx-B200 drives, the variables DriveError, DriveState and Status are added via Variable I/O Data.
At AX2xxx-B900 drives, the I/O variables DriveState2 and DriveState3 appear by default under "Inputs", but the DriveError  variables are to be added manually. Please find additional info under: AX2xxx Drive Tab - Inputs.

These input variables can be used for diagnosis purposes (e.g. if they are linked to a TwinCAT PLC process image, they can be evaluated inside the TwinCAT PLC run-time system).

In any case, the error and warning codes are displayed on the 7-segment display of the AX2xxxx drive (see column: "AX2xxx Display").

 

The below error messages and warnings could appear:

Variable Data Type Value AX2xxx Display Designation
DriveError

 

(can also be linked byte-wise with help of the variables DriveError0, DriveError1, DriveError2 and DriveError3)

 

The equivalent ASCII command is:

ERRCODE * resp. ERRCODE

 

UINT32 0x00000001 F01 Error heat sink temperature
is set, if the current heat sink temperature (TEMPH) goes beyond the max. allowed value (MAXTEMPH).
0x00000002 F02 Error overvoltage
is set, if the voltage inside the DC-link circuit goes beyond the max. allowed value (VBUSMAX).
0x00000004 F03 Error position controller (drive) 
if drive internal position controller is used (OPMODE=6/SERCOS) and the lag distance is too high. Means, if in the above case the max. revolutions per minute value goes beyond (VLIM / VLIMN).
0x00000008  F04 Feedback error (Resolver)
is set, if the amplitude of the resolver / encoder signals goes below the min. value.
0x00000010  F05 Error undervoltage
is set, if the voltage inside the DC-link circuit goes below the min. allowed value (VBUSMIN).
0x00000020  F06 Error motor temperature
is set, if the resistance of the motor thermoelement (TEMPM) goes beyond the max. allowed value (MAXTEMPM).
0x00000040  F07 Internal supply voltage
(aux. voltage) not ok.. 
0x00000080 F08 Speed error
is set, if the current motor revolution per minute value (V) goes beyond the max. allowed value (VOSPD).
0x00000100 F09 Error EEPROM
is set, if the the read/write process with the serial EEPROM fails. It can happen because of a bad EEPROM or wrong checksum. In the second case, an additional try to save to EEPROM, may help.
0x00000200 F10 Reserved
0x00000400 F11 Brake error
is set, if the brake input notices an error (e.g. brake not connected).
0x00000800 F12 Reserved
0x00001000 F13 Error ambient temperature
is set, if the ambient temperature (TEMPE) goes beyond the max. allowed value (MAXTEMPE)
0x00002000 F14 Amplifier error
Following problems could cause the error: Line output grounded to earth, motor short circuit or ballast circuit shorted.
0x00004000 F15 Error I2Tmax exceeded
is set, if  I2T  is at 115% (at FOLDMODE=0) respectively 105% (at FOLDMODE=1).
0x00008000 F16 Supply voltage not correct
is set, if 2 or 3 phases of supply voltage are missing.
For additional information see manuals supplied with AX2xxx drive, also.
0x00010000 F17 Error A/D Converter

is set, if offsets of drive current values are too high during startup.

0x00020000 F18 Ballast transistor error

with bad ballast transistor respectively preselection of "external ballast resistor" in combination with connected internal ballast resistor, this error is going to be set.

0x00040000 F19 Error missing phase.

at PMODE=2.

0x00080000 F20 Slot Error

This error condition is generated, if there are problems with present slot expansion card (e.g. AX2xxx-B200). This error message is depending on the used expansion slot card type. It usually points to a faulty interface hardware.

0x00100000 F21 PROFIBUS Handling Error

This error can only happen in combination with the use of a Profibus expansion card (part no.: AX2xxx-B310).

0x00200000 F22 Drive circuits are grounded to earth potential (PE)
0x00400000 F23 Error in CAN communication

This error message BUSOFF is generated directly by  level 2 of the internal CAN controller. 

0x00800000 F24 Error Watchdog

This error is displayed, if the telegram update time exceeded the value set in EXTWD

0x01000000 F25 Error in commutation

At this error message, the motor has a commutation problem (uncontrolled motor behavior). The commutation treshold value can be changed under VCOMM, the unit is RPM (rounds per minute).

0x02000000 F26 Error in calibration (hardware limit switch)

is defined by REFLS.

0x04000000 F27 Error AS-Option

is set, if amplifier was enabled during activation of the optional starting inhibiting circuit (part no.: AX20xx-yyyy-0001).

0x08000000 F28 Error "external position setpoint offset"

External position setpoint offset beyond limit.

0x10000000 F29 SERCOS error
0x20000000 F30 SERCOS emergency stop timeout
0x40000000 F31 Reserved
0x80000000 F32 System error

shows an internal error. This error is generated at drive startup, if system check didn't succeed during initialization. For further information, see detailed AX2000 / AX2500 manuals supplied with drive.

DriveState

 

(can also be linked byte-wise with help of the variables DriveState0, DriveState1, DriveState2 and DriveState3

 

The equivalent ASCII command is:

DRVSTAT

UINT32 0x00000001 n01 Warning I2T- threshold value exceeded

is set, if I2T goes beyond the limit set under I2TLIM.

0x00000002 n02 Warning ballast circuit

is set, if the current regen circuit exceeds the threshold value set under PBALMAX. The warning is cleared as soon as the value goes below PBALMAX.

0x00000004 n03 Warning lag-distance exceeded

is set, as soon as the distance between the set position and the position controller trajectory exceed the set value PEMAX. It can be deleted with the command CLRFAULT.

0x00000008  n04 Watchdog warning

is set, if the fieldbus watchdog time EXTWD was exceeded.

0x00000010  n05 Warning: At least one supplied phase is missing

is displayed, if not all three phases of supply voltage are supplied.

0x00000020  n06 Warning: Software limit switch 1 below minimum

is set, if the value of the software limit switch 1is below SWE1.

In addition, the warning is set, if a motion task was started with a target position below the value specified in drive object SWE1. The warning message is cleared as soon as SWE1 is exceeded and a positive speed setpoint value is passed over (means, when a start command with valid position values is supplied).

0x00000040  n07 Warning: Software limit switch 2 beyond maximum

is set, if the value of the software limit switch 2 is beyond SWE2.

In addition, the warning is set, if a motion task was started with a target position beyond the value specified in drive object SWE2. The warning message is cleared as soon as SWE2 stays below and a negative speed setpoint value is passed over (means, when a start command with valid position values is supplied).

0x00000080 n08 Warning: Wrong start command

is set, if it was tried to start an undefined (missing checksum) motion task. The warning is cleared automatically if a valid start command is supplied.

0x00000100 n09 Warning: Reference point (calibration) not set

is set, if a motion task was initiated without a calibration/homing done before.

0x00000200 n10 Warning: PSTOP activated

is set, if hardware limit switch PSTOP (stop switch in positive direction) is activated. Warning is cleared as soon as the limit switch is released again.

0x00000400 n11 Warning: NSTOP activated

is set, if hardware limit switch NSTOP (stop switch in negative direction) is activated. Warning is cleared as soon as the limit switch is released again.

0x00000800 n12 Warning: Default motor data loaded
is set during drive startup, if the motor ID of the serial  EEPROM and the motor ID of the SIN/COS encoder don't match.
0x00001000 n13 Slot warning (I/O card)
is set, if there is a disfunctionality with the optional I/O card (part no.: AX2090-I001), which is for starting of predefined (inside drive) motion tasks.
0x00002000 n14 Recognition of MPHASE (FBTYPE=7)
0x00004000 n15 Warning: Wrong VCT-Entry selected (table error)
is set, when a wrong VCT entry is selected and to be activated.
0x00008000 n16 Warning n17 .. n31 active

is set, if one or several warnings in the range between  n17.. n31 are active

0x00010000   Motion task active
Is set, if a motion task is started (motion task, jog or homing move).
Is cleared, if the action is finished or a STOP - command is executed
0x00020000   Reference point is set.
Is set, if the homing move was done or a absolute encoder feedback device is used.
Is cleared if a homing move is started
0x00040000   Home switch
Is high, if the homing switch is closed, otherwise low.
0x00080000   In-Position
Is high, if the distance between the target position and the actual position is smaller than PEINPOS, otherwise low.
When several motion tasks are tied together, only the last motion task enables this bit.
0x00100000   Position latch occurred (positive edge)
Is set, if a positive edge at the latch input (Input2 with IN2MODE=26) was detected.
Is cleared, if the lachted position was read (LATCH16/ LATCH32).
0x00200000   Position register 0
Is high, if the configured condition (SWCNFG2, SWE0, SWE0N) is true, otherwise low (see SWCNFG2).
0x00400000   Position register 1
Is high, if the configured condition (SWCNFG, SWE1, SWE1N) is true, otherwise low (see SWCNFG).
0x00800000   Position register 2
Is high, if the configured condition (SWCNFG, SWE2, SWE2N) is true, otherwise low (see SWCNFG).
0x01000000   Position register 3
Is high, if the configured condition (SWCNFG, SWE3, SWE3N) is true, otherwise low (see SWCNFG).
0x02000000   Position register 4
Is high, if the configured condition (SWCNFG, SWE4, SWE4N) is true, otherwise low (see SWCNFG).
0x04000000   Initialization phase finished
Is set, if the initialization phase of the drive is finished (takes about 15s).
0x08000000   Position register 5
Is high, if the configured condition (SWCNFG2, SWE5, SWE5N) is true, otherwise low (see SWCNFG2).
0x10000000   Motor stand still message
Is high, if the actual motor velocity is lower than the threshold VEL0, otherwise low.
0x20000000   Safety relais selected
Is high, if the safety relay of the AS- option (part no: AX20xx-yyyy-0001) is switched on, otherwise low.
0x40000000   Output stage enabled
Is high, if the soft- and the hardware enable is present, otherwise low.
0x80000000   Drive is in error condition
Is set, if the drive has a fault (output stage is disabled, error number is displayed).
The command ERRCODE gives the error in plain text.
The bit is cleared, if the drive is reset or the command CLRFAULT is send.
     
     
     
     
State UINT8 0x01 Command error
from AX2xxx-Bx00 interface.
0x02 Error in input data
from AX2xxx-Bx00 interface.
0x04 Error in output data
from AX2xxx-Bx00 interface.
0x08 Timeout
from AX2xxx-Bx00 interface.
0x10 Error K-Bus Reset
from AX2xxx-Bx00 interface.