Operating instructions

7-6 Commissioning and Parameterization Rexroth IndraDrive
DOK-INDRV*-FU*********-IB01-EN-P
The procedure comprises several steps and is controlled by the master by
presetting communication phases –1 to 4 and starting/completing the
following commands:
• S-0-0127, C0100 Communication phase 3 transition check
• S-0-0128, C0200 Communication phase 4 transition check
.
When the drive has reached communication phase 4 without error, the
display reads "bb".
The corresponding diagnostic message is:
• A0013 Ready for power on
Transition Check Commands
To switch from communication phase 2 to 3 and from 3 to 4 it is
necessary to activate transition check commands in the drive:
• S-0-0127, C0100 Communication phase 3 transition check
• S-0-0128, C0200 Communication phase 4 transition check
Note: In order to get back from the operating mode to the
parameterization mode, there is the command P-0-4023,
C0400 Communication phase 2 transition.
By executing the command S-0-0127, C0100 Communication phase 3
transition check a number of checks and parameter conversions are
carried out that can possibly cause the listed command errors:
• Checking whether functional package selection was changed
• C0199 Functional package selection changed. Restart
→ drive has to be rebooted before it is possible to switch to
phase 3
• Checking validity of parameters required for switching to phase 3
If one of these parameters has never been written or the backup was
carried out incorrectly, the error message "C0101" is generated. The
IDNs of the faulty parameters are listed in parameter S-0-0021, IDN
list of invalid operating data for communication phase 2. These
parameters have to be set valid by writing correct values to them.
• C0101 Invalid parameters (-> S-0-0021)
• Checking device configuration
• C0132 Invalid settings for controller cycle times
• C0138 Invalid amplifier data (->S-0-0021)
• Checking telegram configuration, especially in the case of configured
telegrams
In this case a check is run to find out whether the parameters selected
for the configurable data block in the cyclic command value channel
(MDT) or actual value channel (AT) may be configured and whether
the allowed length of the configurable data blocks is complied with.
• C0104 Config. IDN for MDT not configurable
• C0105 Maximum length for MDT exceeded
• C0106 Config. IDNs for AT not configurable
• C0107 Maximum length for AT exceeded
• If necessary, checking timing parameters for SERCOS communication
in phases 3 and 4 for validity and compliance with requirements
• C0108 Time slot parameter > Sercos cycle time
• C0109 Position of data record in MDT (S-0-0009) even
Communication Phase 3
Transition Check