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Rexroth IndraDrive Manual
Rexroth IndraDrive Manual
Purpose of Documentation This documentation contains the descriptions of the diagnostic messages
implemented in the following firmware products:
● FWA-INDRV*-MPx-16VRS
● FWA-INDRV*-MPx-17VRS
● FWA-INDRV*-MPx-18VRS
● FWA-INDRV*-MPx-19VRS
● FWA-INDRV*-MPx-20VRS
● FWA-INDRV*-PSB-19VRS
● FWA-INDRV*-PSB-20VRS
It assists machine operators and installation programmers with
troubleshooting.
Table of Contents
Table of Contents
Page
1 Introduction.................................................................................................................. 25
1.1 Trademark information.......................................................................................................................... 25
1.2 About this documentation..................................................................................................................... 25
1.3 Documentations.................................................................................................................................... 28
1.3.1 Drive systems, system components.................................................................................................. 28
1.3.2 Motors................................................................................................................................................ 29
1.3.3 Cables............................................................................................................................................... 29
1.3.4 Firmware............................................................................................................................................ 29
5 Operating states........................................................................................................... 45
5.1 Operating states of the drive controllers............................................................................................... 45
5.2 Operating states of the supply unit Hxx05............................................................................................ 46
II/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
Table of Contents
Page
7.40 A0113 Phase synchronization, encoder 2, virtual master axis............................................................. 65
7.41 A0114 Phase synchronization, encoder 1, real master axis................................................................. 65
7.42 A0115 Phase synchronization, encoder 2, real master axis................................................................. 65
7.43 A0116 Phase synchr. lagless, encoder 1, virtual master axis.............................................................. 66
7.44 A0117 Phase synchr. lagless, encoder 2, virtual master axis.............................................................. 66
7.45 A0118 Phase synchr. lagless, encoder 1, real master axis.................................................................. 66
7.46 A0119 Phase synchr. lagless, encoder 2, real master axis.................................................................. 67
7.47 A0128 Cam, encoder 1, virtual master axis.......................................................................................... 67
7.48 A0129 Cam, encoder 2, virtual master axis.......................................................................................... 67
7.49 A0130 Cam, encoder 1, real master axis............................................................................................. 67
7.50 A0131 Cam, encoder 2, real master axis............................................................................................. 68
7.51 A0132 Cam, lagless, encoder 1, virt. master axis................................................................................ 68
7.52 A0133 Cam, lagless, encoder 2, virt. master axis................................................................................ 68
7.53 A0134 Cam, lagless, encoder 1, real master axis................................................................................ 69
7.54 A0135 Cam, lagless, encoder 2, real master axis................................................................................ 69
7.55 A0136 MotionProfile, encoder 1, virtual master axis............................................................................ 69
7.56 A0137 MotionProfile, encoder 2, virtual master axis............................................................................ 70
7.57 A0138 MotionProfile, encoder 2, real master axis................................................................................ 70
7.58 A0139 MotionProfile, encoder 1, real master axis................................................................................ 70
7.59 A0140 MotionProfile lagless, encoder 1, virtual master axis................................................................ 71
7.60 A0141 MotionProfile lagless, encoder 2, virtual master axis................................................................ 71
7.61 A0142 MotionProfile lagless, encoder 1, real master axis.................................................................... 71
7.62 A0143 MotionProfile lagless, encoder 2, real master axis.................................................................... 72
7.63 A0150 Drive-controlled positioning, encoder 1..................................................................................... 72
7.64 A0151 Drive-controlled positioning, encoder 1, lagless........................................................................ 73
7.65 A0152 Drive-controlled positioning, encoder 2..................................................................................... 73
7.66 A0153 Drive-controlled positioning, encoder 2, lagless........................................................................ 74
7.67 A0154 Position mode drive controlled, encoder 1................................................................................ 74
7.68 A0155 Position mode drive controlled, encoder 2................................................................................ 75
7.69 A0156 Position mode lagless, encoder 1 drive controlled.................................................................... 75
7.70 A0157 Position mode lagless, encoder 2 drive controlled.................................................................... 75
7.71 A0160 Pos. ctrl drive-controlled with ctrl word of axis controller........................................................... 76
7.72 A0161 Drive-controlled posit. with ctrl word of axis controller.............................................................. 76
7.73 A0162 Positioning block mode............................................................................................................. 77
7.74 A0163 Position synchronization............................................................................................................ 77
7.75 A0164 Velocity synchronization............................................................................................................ 78
7.76 A0165 Position control with control word of axis controller................................................................... 78
7.77 A0166 Drive-internal interpolat. with ctrl word of axis controller........................................................... 78
7.78 A0206 Positioning block mode, encoder 1........................................................................................... 79
7.79 A0207 Positioning block mode lagless, encoder 1............................................................................... 79
7.80 A0210 Positioning block mode, encoder 2........................................................................................... 79
7.81 A0211 Positioning block mode lagless, encoder 2............................................................................... 80
7.82 A0300 Condition as supplied SMO: Output stage locked..................................................................... 80
7.83 A0301 Special mode Safe motion 1 active........................................................................................... 80
7.84 A0302 Special mode Safe motion 2 active........................................................................................... 80
7.85 A0303 Special mode Safe motion 3 active........................................................................................... 81
IV/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
7.86 A0304 Special mode Safe motion 4 active........................................................................................... 81
7.87 A0305 Special mode Safe motion 5 active........................................................................................... 81
7.88 A0306 Special mode Safe motion 6 active........................................................................................... 82
7.89 A0307 Special mode Safe motion 7 active........................................................................................... 82
7.90 A0308 Special mode Safe motion 8 active........................................................................................... 82
7.91 A0309 Special mode Safe motion 9 active........................................................................................... 83
7.92 A0310 Special mode Safe motion 10 active......................................................................................... 83
7.93 A0311 Special mode Safe motion 11 active......................................................................................... 83
7.94 A0312 Special mode Safe motion 12 active......................................................................................... 84
7.95 A0313 Special mode Safe motion 13 active......................................................................................... 84
7.96 A0314 Special mode Safe motion 14 active......................................................................................... 84
7.97 A0315 Special mode Safe motion 15 active......................................................................................... 85
7.98 A0316 Special mode Safe motion 16 active......................................................................................... 85
7.99 A0320 EMERGENCY STOP active...................................................................................................... 85
7.100 A0321 Special mode Safe standstill active with STO........................................................................... 86
7.101 A0322 Special mode Safe standstill active with SOS........................................................................... 86
7.102 A0323 SMO configuration mode active................................................................................................ 86
7.103 A0324 SMO: Normal operation............................................................................................................. 86
7.104 A0325 SMO parameter mode active.................................................................................................... 87
7.105 A0326 SMO parking axis active............................................................................................................ 87
7.106 A0327 SMO not active: Output stage not locked.................................................................................. 87
7.107 A0403 Quick stop with probe detection is active.................................................................................. 87
7.108 A0500 Supply module in voltage control.............................................................................................. 88
7.109 A0501 Supply module in current control............................................................................................... 88
7.110 A0502 Supply module in operation....................................................................................................... 88
7.111 A0503 DC bus charging active............................................................................................................. 88
7.112 A0504 Control section ready for oper., mains voltage not available.................................................... 88
7.113 A0505 Power supply module ready for operation................................................................................. 89
7.114 A0506 Supply module in rectifier mode................................................................................................ 89
7.115 A0520 DC bus quick discharge active.................................................................................................. 89
7.116 A4000 Automatic drive check and adjustment...................................................................................... 89
7.117 A4001 Drive deceleration to standstill.................................................................................................. 90
7.118 A4002 Drive in automatic mode............................................................................................................ 90
7.119 A4003 Setting-up mode is active.......................................................................................................... 90
7.120 A4004 Drive without controller enable.................................................................................................. 91
7.121 A4005 Drive decelerated by motor phase short circuit......................................................................... 91
7.122 A4006 Drive decelerated in a controlled way....................................................................................... 91
7.123 A4007 "Drive on" delay time................................................................................................................. 92
7.124 A4008 "Drive off" delay time................................................................................................................. 92
7.125 A4009 Motor phase short circuit with drive enable switched off........................................................... 92
7.126 A4010 Drive control command active................................................................................................... 92
8 Error messages............................................................................................................ 95
8.1 Fatal system errors (F9xxx).................................................................................................................. 95
8.1.1 Behavior in the Case of Fatal System Errors.................................................................................... 95
8.1.2 F9001 Error internal function call....................................................................................................... 95
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG V/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
8.1.3 F9002 Error internal RTOS function call............................................................................................ 96
8.1.4 F9003 Watchdog............................................................................................................................... 96
8.1.5 F9005 Processor exception............................................................................................................... 96
8.1.6 F9100 Hardware watchdog............................................................................................................... 96
8.1.7 F9200 Booting error programming module........................................................................................ 97
8.1.8 F9201 Booting error device............................................................................................................... 97
8.1.9 F9202 Processor watchdog............................................................................................................... 97
8.2 Fatal errors (F8xxx).............................................................................................................................. 98
8.2.1 Behavior in the Case of Fatal Errors (F8xxx).................................................................................... 98
8.2.2 F8000 Fatal hardware error............................................................................................................... 99
8.2.3 F8001 Telegram failure, power section parallel bus.......................................................................... 99
8.2.4 F8003 Communication error with mains connection module........................................................... 100
8.2.5 F8010 Autom. commutation: Max. motion range when moving back.............................................. 100
8.2.6 F8011 Commutation offset could not be determined....................................................................... 101
8.2.7 F8012 Autom. commutation: Max. motion range............................................................................. 102
8.2.8 F8013 Automatic commutation: Current too low............................................................................. 102
8.2.9 F8014 Automatic commutation: Overcurrent................................................................................... 103
8.2.10 F8015 Automatic commutation: Timeout......................................................................................... 104
8.2.11 F8016 Automatic commutation: Iteration without result................................................................... 104
8.2.12 F8017 Automatic commutation: Incorrect commutation adjustment................................................ 105
8.2.13 F8018 Device overtemperature shutdown....................................................................................... 105
8.2.14 F8022 Enc. 1: Enc. signals incorr. (can be cleared in ph. 2)........................................................... 106
8.2.15 F8025 Overvoltage in power section............................................................................................... 107
8.2.16 F8027 STO/SBC while drive enabled.............................................................................................. 108
8.2.17 F8028 Overcurrent in power section............................................................................................... 108
8.2.18 F8033 Ground fault in motor line..................................................................................................... 109
8.2.19 F8034 Communication error, power section modules..................................................................... 109
8.2.20 F8042 Encoder 2 error: Signal amplitude incorrect......................................................................... 110
8.2.21 F8044 Device-internal module communication disturbed................................................................ 110
8.2.22 F8055 Incorrect processing of diagnostic message........................................................................ 111
8.2.23 F8060 Overcurrent in power section............................................................................................... 111
8.2.24 F8064 Interruption of motor phase.................................................................................................. 112
8.2.25 F8069 Error in device-internal power supply................................................................................... 113
8.2.26 F8070 Control voltage failure.......................................................................................................... 113
8.2.27 F8071 Overvoltage of control voltage.............................................................................................. 114
8.2.28 F8076 Error in error angle loop....................................................................................................... 115
8.2.29 F8078 Speed loop error................................................................................................................... 115
8.2.30 F8079 Velocity limit value exceeded............................................................................................... 116
8.2.31 F8091 Power section defective....................................................................................................... 117
8.2.32 F8099 Fatal error in power section.................................................................................................. 118
8.2.33 F8100 Error when initializing the parameter handling..................................................................... 118
8.2.34 F8102 Error when initializing power section.................................................................................... 119
8.2.35 F8118 Invalid power section/firmware combination......................................................................... 120
8.2.36 F8120 Invalid control section/firmware combination........................................................................ 120
8.2.37 F8122 Control section defective...................................................................................................... 121
8.2.38 F8128 Error when initializing an optional interface.......................................................................... 121
VI/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
8.2.39 F8129 Incorrect optional module firmware...................................................................................... 121
8.2.40 F8140 Fatal CCD error.................................................................................................................... 122
8.2.41 F8300 Dynamization pulse width incorrect...................................................................................... 122
8.2.42 F8301 Error when checking selection signals................................................................................. 123
8.2.43 F8302 Error when checking switch-off channels STO/SBC............................................................ 123
8.2.44 F8303 System error STO/SBC........................................................................................................ 124
8.2.45 F8304 SMO: System error............................................................................................................... 124
8.2.46 F8313 SMO: Incorrect parameterization......................................................................................... 125
8.2.47 F8314 SMO: Incorrect configuration................................................................................................ 125
8.2.48 F8315 SMO: Error in encoder initialization...................................................................................... 127
8.2.49 F8316 SMO: Incorrect change of system state............................................................................... 127
8.2.50 F8319 SMO: INIT system error....................................................................................................... 128
8.2.51 F8320 SMO: Invalid module/firmware combination......................................................................... 128
8.2.52 F8321 SMO: Invalid circuit board/firmware combination................................................................. 128
8.2.53 F8323 SMO: Error in deactivation................................................................................................... 129
8.2.54 F8324 SMO: Error in activation....................................................................................................... 129
8.2.55 F8330 SMO: Configuration data record has not been activated..................................................... 130
8.2.56 F8350 Maximum transition time exceeded...................................................................................... 130
8.2.57 F8351 Safely-monitored deceleration exceeded............................................................................. 131
8.2.58 F8352 Drive enable set in STO....................................................................................................... 132
8.2.59 F8353 SBC system error................................................................................................................. 132
8.2.60 F8354 Error when checking interrupting circuits............................................................................. 133
8.2.61 F8355 Incorrect processing of diagnostic message........................................................................ 134
8.2.62 F8356 SMO: Incorrect parameter processing................................................................................. 134
8.2.63 F8359 SMO: Encoder evaluation error............................................................................................ 134
8.2.64 F8395 SMO: Drive system configuration error................................................................................ 135
8.2.65 F8813 Connection error mains choke............................................................................................. 135
8.2.66 F8815 Overvoltage in mains............................................................................................................ 136
8.2.67 F8817 Overvoltage in power section............................................................................................... 136
8.2.68 F8820 Braking resistor overload...................................................................................................... 137
8.2.69 F8821 Transistor short circuit of braking resistor control................................................................. 137
8.2.70 F8830 Power section error.............................................................................................................. 138
8.2.71 F8833 Ground fault current (does not decay).................................................................................. 138
8.2.72 F8835 Inconsistency in power section configuration....................................................................... 138
8.2.73 F8836 DC bus balancing monitor.................................................................................................... 139
8.2.74 F8838 Overcurrent external braking resistor................................................................................... 140
8.2.75 F8860 Overcurrent in power section (does not decay).................................................................... 140
8.2.76 F8899 Fatal error in power section.................................................................................................. 141
8.3 Safety technology errors (F7xxx)........................................................................................................ 141
8.3.1 Behavior in Case of Safety Technology Errors................................................................................ 141
8.3.2 F7009 Homing velocity exceeded................................................................................................... 142
8.3.3 F7010 Safely-limited increment exceeded...................................................................................... 143
8.3.4 F7011 SMP, SLP: Safe position limit value, positive exceeded...................................................... 143
8.3.5 F7012 SMP, SLP: Safe position limit value, negative exceeded..................................................... 144
8.3.6 F7013 Velocity threshold exceeded................................................................................................ 145
8.3.7 F7014 Timeout in safely-monitored transient oscillation................................................................. 145
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG VII/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
8.3.8 F7015 SMO: Cross data comparison error...................................................................................... 146
8.3.9 F7020 Safe maximum speed exceeded.......................................................................................... 146
8.3.10 F7023 SLE: Safe position limit value, positive exceeded................................................................ 147
8.3.11 F7024 SLE: Safe position limit value, negative exceeded............................................................... 148
8.3.12 F7030 Position window for safe operating stop exceeded.............................................................. 149
8.3.13 F7031 Incorrect direction of motion................................................................................................. 149
8.3.14 F7032 Forced zone safety............................................................................................................... 150
8.3.15 F7033 Safety zone module: Hardware error................................................................................... 151
8.3.16 F7034 Safety zone module: SDL error............................................................................................ 151
8.3.17 F7035 Zone bus error...................................................................................................................... 152
8.3.18 F7050 Maximum transition time exceeded...................................................................................... 153
8.3.19 F7051 Safely-monitored deceleration exceeded............................................................................. 155
8.3.20 F7052 Selected target velocity exceeded........................................................................................ 156
8.3.21 F7100 F7 test error during machine acceptance test...................................................................... 157
8.4 Errors of category F6xxx..................................................................................................................... 157
8.4.1 Behavior in Case of Errors of Category F6xxx................................................................................ 157
8.4.2 F6001 Non-fatal system error.......................................................................................................... 158
8.4.3 F6002 Assignment of encoder for synchronization is not allowed................................................... 158
8.4.4 F6003 Motion step skipped............................................................................................................. 159
8.4.5 F6004 Error in MotionProfile............................................................................................................ 159
8.4.6 F6005 Cam table invalid.................................................................................................................. 161
8.4.7 F6006 Incorrect initialization of effective master axis position......................................................... 161
8.4.8 F6007 Switching to non-initialized operation mode......................................................................... 161
8.4.9 F6008 Internal overflow when calculating positioning profile.......................................................... 162
8.4.10 F6010 PLC runtime error................................................................................................................. 162
8.4.11 F6024 Maximum braking time exceeded......................................................................................... 163
8.4.12 F6028 Position limit value exceeded (overflow).............................................................................. 164
8.4.13 F6029 Positive position limit exceeded........................................................................................... 165
8.4.14 F6030 Negative position limit exceeded.......................................................................................... 166
8.4.15 F6034 Emergency-Stop activated................................................................................................... 167
8.4.16 F6042 Both travel range limit switches activated............................................................................ 167
8.4.17 F6043 Positive travel range limit switch activated........................................................................... 168
8.4.18 F6044 Negative travel range limit switch activated......................................................................... 169
8.4.19 F6058 Internal overflow by positioning input................................................................................... 169
8.4.20 F6059 Incorrect command value direction when positioning........................................................... 170
8.4.21 F6140 CCD slave error (emergency halt)........................................................................................ 171
8.4.22 F6200 Velocity command value > standstill window in SOS........................................................... 171
8.5 Interface errors (F4xxx)...................................................................................................................... 171
8.5.1 Behavior in Case of Interface Errors .............................................................................................. 171
8.5.2 F4001 Sync telegram failure............................................................................................................ 172
8.5.3 F4002 RTD telegram failure............................................................................................................ 172
8.5.4 F4003 Invalid communication phase shutdown............................................................................... 174
8.5.5 F4004 Error during phase progression............................................................................................ 174
8.5.6 F4005 Error during phase regression.............................................................................................. 174
8.5.7 F4006 Phase switching without ready signal................................................................................... 175
8.5.8 F4009 Bus failure............................................................................................................................ 175
VIII/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
8.5.9 F4011 Communication watchdog: Overload of cyclic communication............................................ 177
8.5.10 F4012 Incorrect I/O length............................................................................................................... 177
8.5.11 F4016 PLC double real-time channel failure................................................................................... 178
8.5.12 F4017 sercos: Incorrect sequence during phase switch................................................................. 178
8.5.13 F4019 sercos: Incorrect sequence upon phase start...................................................................... 179
8.5.14 F4020 sercos: Cable break (L+F to NRT)....................................................................................... 179
8.5.15 F4034 Emergency-Stop activated................................................................................................... 180
8.5.16 F4140 CCD communication error.................................................................................................... 181
8.5.17 F4141 CCD: IO configuration changed........................................................................................... 181
8.5.18 F4142 CCD: Ring buffer overflow.................................................................................................... 181
8.5.19 F4150 CSAL error........................................................................................................................... 182
8.6 Non-fatal safety technology errors (F3xxx)......................................................................................... 182
8.6.1 Behavior in the Case of Non-Fatal Safety Technology Errors (F3xxx)............................................ 182
8.6.2 F3010 SMO: IO mapper inputs error............................................................................................... 183
8.6.3 F3100 F3 test error during machine acceptance test...................................................................... 184
8.6.4 F3101 Axis validation missing......................................................................................................... 184
8.6.5 F3112 Safe reference missing......................................................................................................... 184
8.6.6 F3115 Brake check time interval exceeded..................................................................................... 185
8.6.7 F3119 Error in initialization of P-0-3212.......................................................................................... 185
8.6.8 F3131 Control error, safe inputs of HSZ.......................................................................................... 186
8.6.9 F3132 SDL validation error.............................................................................................................. 186
8.6.10 F3134 Dynamization time interval incorrect.................................................................................... 187
8.6.11 F3135 Zone bus error...................................................................................................................... 188
8.6.12 F3141 Operating status selection validation error........................................................................... 188
8.6.13 F3142 Activation time of enabling control exceeded....................................................................... 189
8.6.14 F3150 Safety zone module: Temperature monitoring error............................................................. 189
8.6.15 F3151 Safety zone module: 24 volt error........................................................................................ 190
8.6.16 F3152 Safety zone module: DYN error........................................................................................... 190
8.6.17 F3153 Safety zone module: SZE/SZA error.................................................................................... 190
8.6.18 F3165 Faulty SMO reference signal................................................................................................ 191
8.6.19 F3166 Reference position check failed........................................................................................... 191
8.6.20 F3167 Encoder evaluation warning................................................................................................. 192
8.6.21 F3304 SMO: System error............................................................................................................... 192
8.6.22 F3360 SMO: Local I/O system error................................................................................................ 192
8.6.23 F3450 CSS stack error.................................................................................................................... 193
8.6.24 F3451 FSoE stack error.................................................................................................................. 194
8.6.25 F3452 FSoE stack connection error................................................................................................ 195
8.6.26 F3460 PROFIsafe error................................................................................................................... 195
8.6.27 F3461 PROFIsafe connection error................................................................................................. 196
8.7 Non-fatal errors (F2xxx)...................................................................................................................... 196
8.7.1 Behavior in Case of Non-Fatal Errors.............................................................................................. 196
8.7.2 F2001 Communication error, power section parallel bus................................................................ 197
8.7.3 F2002 Assignment of encoder for synchronization is not allowed................................................... 197
8.7.4 F2003 Motion step skipped............................................................................................................. 198
8.7.5 F2004 Error in MotionProfile............................................................................................................ 198
8.7.6 F2005 Cam table invalid.................................................................................................................. 200
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG IX/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
8.7.7 F2007 Switching to non-initialized operation mode......................................................................... 200
8.7.8 F2008 RL The motor type has changed.......................................................................................... 201
8.7.9 F2009 PL Load parameter default values....................................................................................... 201
8.7.10 F2010 Error when initializing digital I/O (-> S-0-0423)..................................................................... 202
8.7.11 F2011 PLC - Error no. 1.................................................................................................................. 203
8.7.12 F2012 PLC - Error no. 2.................................................................................................................. 203
8.7.13 F2013 PLC - Error no. 3.................................................................................................................. 204
8.7.14 F2014 PLC - Error no. 4.................................................................................................................. 204
8.7.15 F2015 PLC - Error no. 5.................................................................................................................. 205
8.7.16 F2016 PLC - Error no. 6.................................................................................................................. 205
8.7.17 F2017 PLC - Error no. 7.................................................................................................................. 205
8.7.18 F2018 Device overtemperature shutdown....................................................................................... 206
8.7.19 F2019 Motor overtemperature shutdown........................................................................................ 207
8.7.20 F2020 Low device temperature error.............................................................................................. 208
8.7.21 F2021 Motor temperature monitor defective................................................................................... 208
8.7.22 F2022 Device temperature monitor defective.................................................................................. 209
8.7.23 F2025 Drive not ready for control.................................................................................................... 209
8.7.24 F2026 Undervoltage in power section............................................................................................. 210
8.7.25 F2027 Excessive oscillation in DC bus............................................................................................ 210
8.7.26 F2028 Excessive deviation.............................................................................................................. 211
8.7.27 F2031 Encoder 1 error: Signal amplitude incorrect......................................................................... 211
8.7.28 F2032 Validation error during commutation fine adjustment........................................................... 212
8.7.29 F2036 Excessive position feedback difference............................................................................... 213
8.7.30 F2037 Excessive position command difference.............................................................................. 214
8.7.31 F2040 Device overtemperature 2 shutdown.................................................................................... 215
8.7.32 F2042 Encoder 2: Encoder signals incorrect................................................................................... 215
8.7.33 F2043 Measuring encoder: Encoder signals incorrect.................................................................... 216
8.7.34 F2048 Low battery voltage.............................................................................................................. 217
8.7.35 F2050 Overflow of target position preset memory........................................................................... 218
8.7.36 F2051 No sequential block in target position preset memory.......................................................... 218
8.7.37 F2053 Incr. encoder emulator: Pulse frequency too high................................................................ 219
8.7.38 F2054 Incr. encoder emulator: Hardware error............................................................................... 219
8.7.39 F2055 External power supply dig. I/O error..................................................................................... 220
8.7.40 F2056 Overload at dig. I/Os............................................................................................................ 220
8.7.41 F2057 Target position out of travel range........................................................................................ 221
8.7.42 F2058 Internal overflow by positioning input................................................................................... 222
8.7.43 F2059 Incorrect command value direction when positioning........................................................... 222
8.7.44 F2063 Internal overflow master axis generator............................................................................... 223
8.7.45 F2064 Incorrect cmd value direction master axis generator............................................................ 223
8.7.46 F2067 Synchronization to master communication incorrect............................................................ 224
8.7.47 F2068 Brake error........................................................................................................................... 224
8.7.48 F2072 Error in power supply of brake............................................................................................. 225
8.7.49 F2074 Actual pos. value 1 outside absolute encoder window......................................................... 225
8.7.50 F2075 Actual pos. value 2 outside absolute encoder window......................................................... 226
8.7.51 F2076 Actual pos. value 3 outside absolute encoder window......................................................... 227
8.7.52 F2077 Current measurement trim wrong......................................................................................... 228
X/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
8.7.53 F2086 Error supply module............................................................................................................. 228
8.7.54 F2087 Module group communication error...................................................................................... 229
8.7.55 F2100 Incorrect access to command value memory....................................................................... 229
8.7.56 F2101 File system structure error on the memory card................................................................... 230
8.7.57 F2102 It was impossible to address I2C memory............................................................................ 230
8.7.58 F2103 It was impossible to address EnDat memory....................................................................... 231
8.7.59 F2104 Commutation offset invalid................................................................................................... 231
8.7.60 F2105 Cannot address OEM encoder memory............................................................................... 232
8.7.61 F2106 Power section error.............................................................................................................. 232
8.7.62 F2107 Incorrect commutation angle................................................................................................ 233
8.7.63 F2110 Error in non-cyclical data communic. of power section........................................................ 233
8.7.64 F2120 Memory card could not be initialized.................................................................................... 234
8.7.65 F2131 Incorrect switching state of probe 1 input signal.................................................................. 234
8.7.66 F2140 CCD slave error.................................................................................................................... 235
8.7.67 F2150 MLD motion function block error.......................................................................................... 235
8.7.68 F2174 Loss of encoder 1 reference................................................................................................. 236
8.7.69 F2175 Loss of encoder 2 reference................................................................................................. 237
8.7.70 F2176 Loss of measuring encoder reference.................................................................................. 238
8.7.71 F2177 Encoder 1 modulo limitation error........................................................................................ 238
8.7.72 F2178 Encoder 2 modulo limitation error........................................................................................ 239
8.7.73 F2179 Modulo limitation error of measuring encoder...................................................................... 239
8.7.74 F2190 Incorrect Ethernet configuration........................................................................................... 240
8.7.75 F2191 No automatic CCD slaves IP configuration.......................................................................... 241
8.7.76 F2270 Analog input, wire break....................................................................................................... 241
8.7.77 F2802 Error in mains synchronization............................................................................................. 241
8.7.78 F2813 Mains connection function error........................................................................................... 242
8.7.79 F2814 Undervoltage in mains.......................................................................................................... 242
8.7.80 F2815 Overvoltage in mains............................................................................................................ 243
8.7.81 F2816 Softstart fault power supply unit........................................................................................... 243
8.7.82 F2818 Phase failure........................................................................................................................ 244
8.7.83 F2819 Mains failure......................................................................................................................... 244
8.7.84 F2820 Braking resistor overload...................................................................................................... 244
8.7.85 F2821 Error in control of braking resistor........................................................................................ 245
8.7.86 F2822 Mains connection temperature monitoring defective............................................................ 246
8.7.87 F2825 Switch-on threshold braking resistor too low........................................................................ 246
8.7.88 F2834 Contactor control error......................................................................................................... 247
8.7.89 F2836 DC bus balancing monitor error........................................................................................... 247
8.7.90 F2841 Shutdown: Mains connection overtemperature.................................................................... 248
8.7.91 F2860 Overcurrent in mains-side power section............................................................................. 249
8.8 sercos Service Channel Error Codes / Error Messages of Serial Communication............................. 249
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Page
9.1.4 E8027 STO/SBC while drive enabled.............................................................................................. 254
9.1.5 E8028 Overcurrent in power section............................................................................................... 254
9.1.6 E8029 Positive position limit exceeded........................................................................................... 255
9.1.7 E8030 Negative position limit exceeded.......................................................................................... 256
9.1.8 E8034 Emergency-Stop activated................................................................................................... 257
9.1.9 E8040 Torque/force actual value limit active................................................................................... 257
9.1.10 E8041 Current limit active............................................................................................................... 258
9.1.11 E8042 Both travel range limit switches activated............................................................................ 258
9.1.12 E8043 Positive travel range limit switch activated........................................................................... 259
9.1.13 E8044 Negative travel range limit switch activated......................................................................... 260
9.1.14 E8055 Motor overload, current limit active...................................................................................... 261
9.1.15 E8057 Device overload, current limit active.................................................................................... 261
9.1.16 E8058 Drive system not ready for operation................................................................................... 262
9.1.17 E8260 Torque/force command value limit active............................................................................. 263
9.1.18 E8300 SMO: Error within the safety zone....................................................................................... 264
9.1.19 E8399 Error in processing of diagnostic message.......................................................................... 264
9.1.20 E8819 Mains failure......................................................................................................................... 264
9.2 Warnings of category E4xxx............................................................................................................... 265
9.2.1 E4001 Sync telegram failure........................................................................................................... 265
9.2.2 E4002 RTD telegram failure............................................................................................................ 265
9.2.3 E4005 No command value input via master communication........................................................... 266
9.2.4 E4006 Communication module overload......................................................................................... 267
9.2.5 E4007 sercos: Consumer connection failed.................................................................................... 267
9.2.6 E4008 Invalid addressing command value data container A........................................................... 268
9.2.7 E4009 Invalid addressing actual value data container A................................................................. 268
9.2.8 E4010 Slave not scanned or address 0........................................................................................... 268
9.2.9 E4011 Communication watchdog: Overload of cyclic communication............................................ 269
9.2.10 E4012 Maximum number of CCD slaves exceeded........................................................................ 269
9.2.11 E4013 Incorrect CCD addressing.................................................................................................... 270
9.2.12 E4014 Incorrect phase switch of CCD slaves................................................................................. 270
9.2.13 E4016 CCD: Topology error............................................................................................................ 271
9.2.14 E4017 CCD: Unknown I/O configuration......................................................................................... 271
9.2.15 E4020 sercos: Ring interruption (FF to LF)..................................................................................... 272
9.2.16 E4021 CCD: Not all slaves support SWC........................................................................................ 272
9.2.17 E4040 sercos: Hot-plug error.......................................................................................................... 273
9.2.18 E4041 sercos: HP0 Cycle Time invalid........................................................................................... 273
9.2.19 E4042 sercos: HP0 MDT length invalid........................................................................................... 273
9.2.20 E4043 sercos: HP0 AT length invalid.............................................................................................. 274
9.2.21 E4044 sercos: HP0 MTU size invalid.............................................................................................. 274
9.2.22 E4045 sercos: HP0 NRT window invalid......................................................................................... 274
9.2.23 E4046 sercos: HP supported removed............................................................................................ 274
9.2.24 E4047 sercos: HP enabled removed............................................................................................... 275
9.3 Warnings of category E3xxx............................................................................................................... 275
9.3.1 E3112 Safe reference missing........................................................................................................ 275
9.3.2 E3113 Prewarning: End of reference position check time interval.................................................. 275
9.3.3 E3115 Prewarning, end of brake check time interval...................................................................... 276
XII/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
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Page
9.3.4 E3460 PROFIsafe: Wrong F-module selected................................................................................ 276
9.4 Non-fatal warnings (E2xxx)................................................................................................................. 277
9.4.1 Behavior in Case a Non-Fatal Warning Occurs............................................................................... 277
9.4.2 E2001 Diagnostic trace S-0-1303.0.10 overflow warning................................................................ 277
9.4.3 E2004 Performance load prewarning threshold exceeded.............................................................. 277
9.4.4 E2005 One-time telegram failure, power section parallel bus......................................................... 278
9.4.5 E2009 Synchronous velocity command value > limit value............................................................. 278
9.4.6 E2010 Position control with encoder 2 not possible........................................................................ 279
9.4.7 E2011 PLC - Warning no. 1............................................................................................................. 279
9.4.8 E2012 PLC - Warning no. 2............................................................................................................. 280
9.4.9 E2013 PLC - Warning no. 3............................................................................................................. 280
9.4.10 E2014 PLC - Warning no. 4............................................................................................................. 280
9.4.11 E2015 PLC - Warning no. 5............................................................................................................. 281
9.4.12 E2016 PLC - Warning no. 6............................................................................................................. 281
9.4.13 E2017 PLC - Warning no. 7............................................................................................................. 282
9.4.14 E2020 Differing DC bus voltages with parallel connection.............................................................. 282
9.4.15 E2021 Motor temperature outside of measuring range................................................................... 282
9.4.16 E2022 Collective warning of power section..................................................................................... 283
9.4.17 E2023 Current unbalance in parallel connection............................................................................. 283
9.4.18 E2024 Device blower defective....................................................................................................... 283
9.4.19 E2026 Undervoltage in power section............................................................................................. 284
9.4.20 E2031 Encoder 1 warning: Signal amplitude incorrect.................................................................... 284
9.4.21 E2037 Excessive position command difference warning................................................................ 285
9.4.22 E2040 Device overtemperature 2 prewarning................................................................................. 286
9.4.23 E2042 Encoder 2 warning: Encoder signals incorrect..................................................................... 287
9.4.24 E2043 Measuring encoder warning: Encoder signals incorrect...................................................... 288
9.4.25 E2048 Low battery voltage (encoder).............................................................................................. 288
9.4.26 E2049 Positioning velocity >= limit value........................................................................................ 289
9.4.27 E2050 Device overtemp. prewarning.............................................................................................. 290
9.4.28 E2051 Motor overtemp. prewarning................................................................................................ 291
9.4.29 E2053 Target position out of travel range....................................................................................... 292
9.4.30 E2054 Not homed............................................................................................................................ 293
9.4.31 E2055 Feedrate override S-0-0108 = 0........................................................................................... 294
9.4.32 E2056 Torque limit = 0.................................................................................................................... 294
9.4.33 E2058 Selected positioning block has not been programmed........................................................ 295
9.4.34 E2059 Velocity command value limit active.................................................................................... 296
9.4.35 E2061 Device overload prewarning................................................................................................. 296
9.4.36 E2063 Velocity command value > limit value.................................................................................. 298
9.4.37 E2070 Acceleration limit active........................................................................................................ 298
9.4.38 E2074 Encoder 1: Encoder signals disturbed................................................................................. 299
9.4.39 E2075 Encoder 2: Encoder signals disturbed................................................................................. 300
9.4.40 E2076 Measuring encoder: Encoder signals disturbed................................................................... 301
9.4.41 E2077 Absolute encoder monitoring, encoder 1 (encoder alarm)................................................... 301
9.4.42 E2078 Absolute encoder monitoring, opt. encoder (encoder alarm)............................................... 302
9.4.43 E2079 Absolute enc. monitoring, measuring encoder (encoder alarm).......................................... 302
9.4.44 E2086 Prewarning supply module overload.................................................................................... 303
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG XIII/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
9.4.45 E2092 Internal synchronization defective........................................................................................ 303
9.4.46 E2099 Power section warning......................................................................................................... 304
9.4.47 E2100 Positioning velocity of master axis generator too high......................................................... 304
9.4.48 E2140 CCD error at node................................................................................................................ 305
9.4.49 E2667 Machine archive is not up-to-date........................................................................................ 305
9.4.50 E2810 Drive system not ready for operation................................................................................... 305
9.4.51 E2811 Overtemp. in mains connection module/soft start module................................................... 306
9.4.52 E2814 Undervoltage in mains......................................................................................................... 306
9.4.53 E2816 Undervoltage in power section............................................................................................. 307
9.4.54 E2819 Mains failure......................................................................................................................... 307
9.4.55 E2820 Braking resistor overload prewarning................................................................................... 307
9.4.56 E2822 Mains connection temperature monitoring defective............................................................ 308
9.4.57 E2829 Not ready for power on......................................................................................................... 308
9.4.58 E2834 Switching off via OFF input.................................................................................................. 309
9.4.59 E2841 Prewarning: Mains connection overtemperature.................................................................. 309
Table of Contents
Page
10.1.29 C3400 Shift coordinate system procedure command...................................................................... 321
10.1.30 C3600 Command Motor data identification..................................................................................... 321
10.1.31 C3800 Command Apply motor holding brake.................................................................................. 322
10.1.32 C3900 Command Holding brake resurfacing.................................................................................. 322
10.1.33 C4000 SMO: Safe homing procedure command............................................................................. 322
10.1.34 C4100 Switch parameter set command.......................................................................................... 322
10.1.35 C4200 Drive-controlled oscillation command.................................................................................. 323
10.1.36 C4300 NC-controlled homing procedure command........................................................................ 323
10.1.37 C4400 Calculate displacement procedure command...................................................................... 323
10.1.38 C4500 Displacement to referenced system procedure command................................................... 323
10.1.39 C4600 Command Calculate motor control parameters................................................................... 324
10.1.40 C4800 Command Determine cogging torque compensation table.................................................. 324
10.1.41 C4900 PLC command..................................................................................................................... 324
10.1.42 C5200 Communication phase 4 transition check............................................................................ 324
10.1.43 C5300 sercos: Command SYNC delay measurement.................................................................... 325
10.1.44 C5600 Command Subsequent optimization of commutation offset................................................. 325
10.1.45 C6100 Command Activate IP settings............................................................................................. 325
10.1.46 C6300 Generate type plate command............................................................................................. 326
10.1.47 C6400 Reboot command................................................................................................................. 326
10.1.48 C6500 Archive device data.............................................................................................................. 327
10.1.49 C6600 Restore device data............................................................................................................. 327
10.1.50 C6700 Update of device data.......................................................................................................... 327
10.1.51 C6800 Control command device data archiving.............................................................................. 328
10.1.52 C7000 CCD: Command adjust slave addresses............................................................................. 328
10.1.53 C7100 CCD: Command Close ring................................................................................................. 328
10.1.54 C7200 CCD: Command Apply I/O configuration............................................................................. 328
10.1.55 C7400 CCD: Switching to phase 2.................................................................................................. 328
10.1.56 C7500 CCD: Switching to phase 4.................................................................................................. 329
10.1.57 C7600 Command Create parameter image.................................................................................... 329
10.1.58 C8000 SMO: Command Apply scaling............................................................................................ 329
10.1.59 C8100 SMO: Command Activate configuration mode..................................................................... 329
10.1.60 C8200 SMO: Command Exit configuration mode............................................................................ 330
10.1.61 C8300 SMO: Command Activate parameter image........................................................................ 330
10.1.62 C8400 SMO: Command Apply encoder configuration..................................................................... 330
10.1.63 C8500 SMO: Command Apply identification data........................................................................... 330
10.1.64 C8600 SMO: Command Measure position difference..................................................................... 330
10.1.65 C9100 Confirm power section configuration command................................................................... 330
10.1.66 C9900 Service function command................................................................................................... 331
10.2 Command errors................................................................................................................................. 331
10.2.1 Clearing command errors................................................................................................................ 331
10.2.2 C0101 Invalid parameters (-> S-0-0021)......................................................................................... 331
10.2.3 C0102 Limit error in parameter (-> S-0-0021)................................................................................. 332
10.2.4 C0103 Parameter conversion error (->S-0-0021)............................................................................ 332
10.2.5 C0104 Config. IDN for MDT not configurable.................................................................................. 333
10.2.6 C0105 Maximum length for MDT exceeded.................................................................................... 333
10.2.7 C0106 Config. IDNs for AT not configurable................................................................................... 334
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG XV/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
10.2.8 C0107 Maximum length for AT exceeded....................................................................................... 334
10.2.9 C0108 Time slot parameter > sercos cycle time............................................................................. 334
10.2.10 C0109 Telegram offset unsuitable................................................................................................... 335
10.2.11 C0110 Length of MDT (S-0-0010) odd............................................................................................ 335
10.2.12 C0111 ID9 + Record length - 1 > length MDT (S-0-0010)............................................................... 336
10.2.13 C0112 Set timing not permissible.................................................................................................... 336
10.2.14 C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error......................................................... 337
10.2.15 C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)......................................................................... 338
10.2.16 C0115 T2 too small......................................................................................................................... 338
10.2.17 C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010)............................................................... 338
10.2.18 C0118 Order of cyclic command value configuration incorrect....................................................... 339
10.2.19 C0132 Invalid settings for controller cycle times............................................................................. 339
10.2.20 C0133 FKM: Address conflict.......................................................................................................... 340
10.2.21 C0139 T2 (S-0-0089)+length MDT (S-0-0010)>TScyc (S-0-0002)................................................. 340
10.2.22 C0151 IDN for command value data container not allowed............................................................ 341
10.2.23 C0152 IDN for actual value data container not allowed.................................................................. 341
10.2.24 C0170 Config. IDNs for connection not configurable...................................................................... 342
10.2.25 C0171 Maximum length for connections exceeded......................................................................... 342
10.2.26 C0172 Delay measurement (S-0-1024) not carried out................................................................... 342
10.2.27 C0173 Connections (number) not configurable............................................................................... 343
10.2.28 C0174 Connection configuration not allowed.................................................................................. 343
10.2.29 C0175 Producer cycle time of a connection not correct.................................................................. 343
10.2.30 C0201 Invalid parameters (->S-0-0423).......................................................................................... 344
10.2.31 C0202 Parameter limit error (->S-0-0423)....................................................................................... 344
10.2.32 C0203 Parameter conversion error (->S-0-0423)............................................................................ 344
10.2.33 C0204 Inadmissible motor-amplifier combination............................................................................ 345
10.2.34 C0205 Invalid power parameters (-> logbook)................................................................................ 345
10.2.35 C0209 Incorrect encoder configuration........................................................................................... 345
10.2.36 C0210 Feedback 2 required (->S-0-0423)....................................................................................... 346
10.2.37 C0211 Invalid encoder configuration (3 active encoders)............................................................... 346
10.2.38 C0212 Invalid control section data (->S-0-0423)............................................................................. 347
10.2.39 C0213 SMO: Incorrect parameterization......................................................................................... 347
10.2.40 C0214 SMO: Incorrect configuration............................................................................................... 347
10.2.41 C0215 SMO: Error in encoder initialization..................................................................................... 350
10.2.42 C0216 SMO: SCM-OM switching not allowed................................................................................. 351
10.2.43 C0219 Max. travel range too large.................................................................................................. 351
10.2.44 C0220 Error when initializing position of encoder 1........................................................................ 351
10.2.45 C0221 Initialization velocity encoder 1 too high.............................................................................. 352
10.2.46 C0223 Invalid settings for controller cycle times............................................................................. 352
10.2.47 C0224 Error when initializing position of encoder 2........................................................................ 353
10.2.48 C0225 Initialization velocity encoder 2 too high.............................................................................. 353
10.2.49 C0227 Error when initializing position of measuring encoder.......................................................... 354
10.2.50 C0228 Initialization velocity measuring encoder too high................................................................ 354
10.2.51 C0229 Field bus: IDN for cycl. command val. not configurable....................................................... 355
10.2.52 C0230 Field bus: Max. length for cycl. command val. exceeded.................................................... 355
10.2.53 C0231 Field bus: IDN for cycl. actual val. not configurable............................................................. 355
XVI/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
10.2.54 C0232 Field bus: Length for cycl. actual values exceeded............................................................. 356
10.2.55 C0233 Field bus: Tcyc (P-0-4076) incorrect.................................................................................... 356
10.2.56 C0234 Field bus: P-0-4077 missing for cycl. command values....................................................... 356
10.2.57 C0238 Order of cyclic command value configuration incorrect....................................................... 357
10.2.58 C0239 IDN for command value data container not allowed............................................................ 357
10.2.59 C0240 IDN for actual value data container not allowed.................................................................. 358
10.2.60 C0241 Incorrect parameterization of motion task............................................................................ 358
10.2.61 C0242 Multiple configuration of a parameter (->S-0-0423)............................................................. 359
10.2.62 C0243 Brake check function not possible....................................................................................... 360
10.2.63 C0244 Act. modulo value cycle greater than max. travel range...................................................... 361
10.2.64 C0245 Operation mode configuration (->S-0-0423) not allowed..................................................... 361
10.2.65 C0250 Probe inputs incorrectly configured...................................................................................... 362
10.2.66 C0251 Error during synchronization to master communication....................................................... 362
10.2.67 C0252 Incorrect MLD initialization (write access->S-0-0423).......................................................... 363
10.2.68 C0253 Error in combination operation mode - encoder (->S-0-0423)............................................. 363
10.2.69 C0256 Safety technology configuration error.................................................................................. 364
10.2.70 C0258 Error in relation TNcyc (S-0-0001) to fine interpol............................................................... 364
10.2.71 C0259 MLD configuration error (->S-0-0423).................................................................................. 365
10.2.72 C0260 Incremental enc. emulator resol. cannot be displayed......................................................... 366
10.2.73 C0263 Serial number of motor has changed................................................................................... 367
10.2.74 C0265 Incorrect CCD address configuration................................................................................... 367
10.2.75 C0266 Incorrect CCD phase switch................................................................................................ 368
10.2.76 C0267 CCD timeout phase switch................................................................................................... 368
10.2.77 C0270 Error when reading encoder data => motor encoder........................................................... 369
10.2.78 C0271 Incorrect parameterization of motor encoder (hardware)..................................................... 369
10.2.79 C0272 Incorr. parameteriz. of motor enc. (mechanical system)...................................................... 370
10.2.80 C0273 Modulo value for motor encoder cannot be displayed......................................................... 370
10.2.81 C0274 Motor encoder unknown...................................................................................................... 371
10.2.82 C0275 Error when reading encoder data => optional encoder........................................................ 371
10.2.83 C0276 Incorrect parameterization of optional enc. (hardware)....................................................... 372
10.2.84 C0277 Incorr. parameteriz. of opt. enc. (mechanical system)......................................................... 372
10.2.85 C0278 Modulo value for optional encoder cannot be displayed...................................................... 373
10.2.86 C0279 Optional encoder unknown.................................................................................................. 373
10.2.87 C0280 Maximum travel range cannot be displayed internally......................................................... 374
10.2.88 C0281 Commutation via encoder-2 impossible............................................................................... 375
10.2.89 C0282 Sensorless posit. of synchr. motors, invalid ctrl parameters................................................ 375
10.2.90 C0283 Error during initialization of motor control (->S-0-0423)....................................................... 375
10.2.91 C0284 Invalid motor data in encoder memory (->S-0-0423)........................................................... 376
10.2.92 C0285 Type of construction of motor P-0-4014 incorrect................................................................ 376
10.2.93 C0286 Several motor encoders connected..................................................................................... 377
10.2.94 C0287 Error during initialization of motor data (->S-0-0423)........................................................... 377
10.2.95 C0288 Rotary scaling not allowed................................................................................................... 378
10.2.96 C0289 Error at init. of synchr. motor with reluctance torque........................................................... 378
10.2.97 C0290 Error when reading encoder data => measuring encoder................................................... 379
10.2.98 C0291 Incorr. parameterization of measuring enc. (hardware)....................................................... 380
10.2.99 C0292 Measuring encoder unknown............................................................................................... 380
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG XVII/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
10.2.100 C0293 Modulo value for measuring encoder cannot be displayed.................................................. 381
10.2.101 C0294 Incorrect measuring encoder configuration.......................................................................... 381
10.2.102 C0295 Internal display error during scaling conversion (NM).......................................................... 382
10.2.103 C0296 Error in initialization of absolute encoder monitoring........................................................... 382
10.2.104 C0297 Encoder type not possible for selected constr. type of motor.............................................. 382
10.2.105 C0298 Impossible to exit parameterization level............................................................................. 383
10.2.106 C0299 Configuration changed. Restart........................................................................................... 383
10.2.107 C0301 Measuring system unavailable............................................................................................. 384
10.2.108 C0302 Absolute evaluation of measuring system impossible......................................................... 384
10.2.109 C0303 Absolute encoder offset cannot be saved............................................................................ 385
10.2.110 C0304 Command cannot be executed under drive enable............................................................. 385
10.2.111 C0401 Switching not allowed.......................................................................................................... 385
10.2.112 C0403 Switching to CCD phase 2 impossible................................................................................. 386
10.2.113 C0404 SMO: Incorrect change of system state............................................................................... 386
10.2.114 C0501 Error clearing only in parameter mode................................................................................. 386
10.2.115 C0601 Homing only possible with drive enable............................................................................... 387
10.2.116 C0602 Distance home switch - reference mark erroneous............................................................. 387
10.2.117 C0603 Homing impossible with optional encoder............................................................................ 387
10.2.118 C0604 Homing impossible with absolute encoder........................................................................... 388
10.2.119 C0606 Reference mark not detected............................................................................................... 388
10.2.120 C0607 Reference cam input not assigned...................................................................................... 389
10.2.121 C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes...................................................... 389
10.2.122 C0609 Different travel directions parameterized............................................................................. 389
10.2.123 C0610 Absolute encoder offset could not be saved........................................................................ 390
10.2.124 C0611 Travel range greater than absolute range (distance-coded)................................................ 390
10.2.125 C0702 Default parameters not available......................................................................................... 391
10.2.126 C0703 Default parameters invalid................................................................................................... 391
10.2.127 C0704 Parameters not copyable..................................................................................................... 391
10.2.128 C0706 Error when reading the controller parameters..................................................................... 392
10.2.129 C0711 Loading requires determination of system parameters........................................................ 392
10.2.130 C0721 SMO: Load defaults procedure not possible........................................................................ 392
10.2.131 C0722 SMO: Error in load defaults procedure................................................................................ 393
10.2.132 C0723 SMO: Error in deactivation................................................................................................... 393
10.2.133 C0743 Error in activation of field bus profile settings...................................................................... 393
10.2.134 C0751 Parameter default value incorrect (-> S-0-0423).................................................................. 394
10.2.135 C0752 Locked with password.......................................................................................................... 394
10.2.136 C0761 Factory default values incorrect (->S-0-0423)...................................................................... 394
10.2.137 C0762 Locked with password.......................................................................................................... 395
10.2.138 C0763 Load defaults procedure (application data), invalid param.................................................. 395
10.2.139 C0799 An invalid index was set....................................................................................................... 395
10.2.140 C0902 Spindle positioning requires drive enable............................................................................ 396
10.2.141 C0903 Error during initialization...................................................................................................... 396
10.2.142 C0906 Error during search for zero pulse....................................................................................... 396
10.2.143 C1204 Error in offset calculation..................................................................................................... 397
10.2.144 C1208 No adjustment with asynchronous motor............................................................................. 397
10.2.145 C1209 Proceed to phase 4.............................................................................................................. 398
XVIII/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
10.2.146 C1211 Commutation offset could not be determined...................................................................... 398
10.2.147 C1212 Motion range exceeded during commutation....................................................................... 398
10.2.148 C1214 Command only possible with linear synchronous motor...................................................... 399
10.2.149 C1215 Command only possible in 'bb'............................................................................................ 399
10.2.150 C1216 Commutation determination not selected............................................................................ 399
10.2.151 C1217 Setting only possible in 'Ab'................................................................................................. 400
10.2.152 C1218 Automatic commutation: Current too low............................................................................. 400
10.2.153 C1219 Automatic commutation: Overcurrent.................................................................................. 401
10.2.154 C1220 Automatic commutation: Timeout........................................................................................ 401
10.2.155 C1221 Automatic commutation: Iteration without result.................................................................. 401
10.2.156 C1222 Error when writing offset parameters................................................................................... 402
10.2.157 C1223 Command execution impossible.......................................................................................... 402
10.2.158 C1224 Zero point shifting only possible in parameter mode........................................................... 403
10.2.159 C1225 Zero point shifting only possible with master password....................................................... 403
10.2.160 C1301 Class 1 diagnostics error at command start......................................................................... 403
10.2.161 C1402 Faulty reference mark signal................................................................................................ 404
10.2.162 C1801 Start requires drive enable................................................................................................... 404
10.2.163 C1802 No useful motor data............................................................................................................ 404
10.2.164 C1803 Inertia detection failed.......................................................................................................... 405
10.2.165 C1804 Automatic controller setting failed........................................................................................ 406
10.2.166 C1805 Travel range invalid.............................................................................................................. 406
10.2.167 C1806 Travel range exceeded........................................................................................................ 407
10.2.168 C1807 Determining travel range only via travel distance................................................................ 407
10.2.169 C1808 Drive not homed................................................................................................................... 408
10.2.170 C1809 Command start only possible with active position limits...................................................... 408
10.2.171 C1810 Drive optimization incorrectly configured............................................................................. 408
10.2.172 C2001 Command not enabled......................................................................................................... 409
10.2.173 C2101 Holding system check only possible with drive enable........................................................ 409
10.2.174 C2103 Holding brake: Torque too low............................................................................................. 409
10.2.175 C2104 Command execution impossible.......................................................................................... 410
10.2.176 C2105 Load of holding system greater than test torque.................................................................. 410
10.2.177 C2106 Test torque of holding system not reached.......................................................................... 411
10.2.178 C2108 Error when releasing the holding system............................................................................. 413
10.2.179 C2202 Error when writing data to non-volatile memory................................................................... 414
10.2.180 C2301 Error when reading non-volatile memory............................................................................. 414
10.2.181 C2302 Error when converting parameters....................................................................................... 414
10.2.182 C2402 Error when saving parameters............................................................................................. 415
10.2.183 C2801 Analog input not configured................................................................................................. 415
10.2.184 C2802 Oscillations of input signal outside tolerance range............................................................. 415
10.2.185 C2803 Measured values at zero point and max. value identical..................................................... 416
10.2.186 C2804 Automatic adjustment failed................................................................................................. 416
10.2.187 C3101 Act. modulo value cycle greater than max. travel range...................................................... 416
10.2.188 C3102 Drive is still in drive enable.................................................................................................. 416
10.2.189 C3201 Incorrect input for current..................................................................................................... 417
10.2.190 C3202 Incorrect input for voltage.................................................................................................... 417
10.2.191 C3203 Incorrect input for frequency................................................................................................ 417
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG XIX/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
10.2.192 C3204 Incorrect input for speed...................................................................................................... 418
10.2.193 C3205 Incorrect input for power factor............................................................................................ 418
10.2.194 C3206 Incorrect input for power...................................................................................................... 418
10.2.195 C3207 Type plate list incomplete.................................................................................................... 419
10.2.196 C3208 Error when writing parameters (->S-0-0423)....................................................................... 419
10.2.197 C3209 Command execution impossible.......................................................................................... 419
10.2.198 C3601 Motor not or not correctly connected................................................................................... 420
10.2.199 C3602 Determined values invalid.................................................................................................... 420
10.2.200 C3603 Device current limit too low.................................................................................................. 420
10.2.201 C3604 Error when writing parameters (->S-0-0423)....................................................................... 421
10.2.202 C3605 Motor turning........................................................................................................................ 421
10.2.203 C3606 Type of construction of motor not allowed........................................................................... 422
10.2.204 C3607 Motor revolution/motion impeded......................................................................................... 422
10.2.205 C3608 Incorrect motor phases or rotational direction of encoder.................................................... 422
10.2.206 C3609 Incorrect number of pole pairs or number of encoder lines................................................. 423
10.2.207 C3610 No encoder: Validation check impossible............................................................................ 423
10.2.208 C3611 Test velocity not reached..................................................................................................... 424
10.2.209 C3612 Command execution impossible.......................................................................................... 424
10.2.210 C3901 Resurfacing of holding brake only possible with drive enable............................................. 425
10.2.211 C3902 Error during resurfacing of holding brake............................................................................. 425
10.2.212 C3903 Command execution impossible.......................................................................................... 426
10.2.213 C4001 Encoder evaluation error during Safe homing procedure.................................................... 426
10.2.214 C4002 Incorrect SMO position feedback value............................................................................... 426
10.2.215 C4003 Home switch distance below minimum value...................................................................... 427
10.2.216 C4004 Faulty SMO reference signal............................................................................................... 427
10.2.217 C4101 Switching only possible without AF...................................................................................... 428
10.2.218 C4103 Preselect parameter set forbidden value............................................................................. 428
10.2.219 C4104 Error during parameter set switching (->S-0-0423).............................................................. 428
10.2.220 C4201 Oscillation requires drive enable.......................................................................................... 429
10.2.221 C4202 Oscillation command speed cannot be reached.................................................................. 429
10.2.222 C4302 Distance home switch - reference mark erroneous............................................................. 429
10.2.223 C4304 Homing impossible with absolute encoder........................................................................... 430
10.2.224 C4306 Reference mark not detected............................................................................................... 430
10.2.225 C4307 Reference cam input not assigned...................................................................................... 431
10.2.226 C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes...................................................... 431
10.2.227 C4601 Error when writing parameters (->S-0-0423)....................................................................... 431
10.2.228 C4801 Cogging torque compensation: Measuring vel. too high...................................................... 432
10.2.229 C4802 Cogging torque compensation: Measuring vel. too low....................................................... 432
10.2.230 C4803 Cogging torque compensation: Inadmissible acceleration................................................... 432
10.2.231 C4804 Cogging torque comp.: Err. when storing corr. val table...................................................... 433
10.2.232 C4805 Cogging torque comp.: Motor measuring system not homed.............................................. 433
10.2.233 C4806 Cogging torque compensation: Measuring range invalid..................................................... 433
10.2.234 C4901 PLC command error no. 1.................................................................................................... 434
10.2.235 C4902 PLC command error no. 2.................................................................................................... 434
10.2.236 C4903 PLC command error no. 3.................................................................................................... 434
10.2.237 C4904 PLC command error no. 4.................................................................................................... 435
XX/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
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Table of Contents
Page
10.2.238 C4910 PLC command timeout........................................................................................................ 435
10.2.239 C5301 sercos: Delay measurement failed....................................................................................... 435
10.2.240 C5601 Command requires drive enable.......................................................................................... 436
10.2.241 C5602 Axis blocked......................................................................................................................... 436
10.2.242 C5603 Timeout: Axis in motion........................................................................................................ 436
10.2.243 C6101 Incorrect IP settings............................................................................................................. 437
10.2.244 C6301 Command is password-protected........................................................................................ 437
10.2.245 C6302 IDN not permissible (->S-0-0423)........................................................................................ 438
10.2.246 C6303 Insufficient memory.............................................................................................................. 438
10.2.247 C6304 Type plate unknown............................................................................................................. 439
10.2.248 C6305 General type plate generation error..................................................................................... 439
10.2.249 C6310 Command not possible with this encoder type.................................................................... 439
10.2.250 C6311 Error when accessing encoder memory.............................................................................. 440
10.2.251 C6401 reboot command impossible................................................................................................ 440
10.2.252 C6501 Error when creating machine archive.................................................................................. 440
10.2.253 C6502 Error when reading device data........................................................................................... 441
10.2.254 C6503 Inconsistent backup of machine archive.............................................................................. 441
10.2.255 C6504 MLD boot project not on memory card................................................................................. 442
10.2.256 C6601 Error when accessing machine archive............................................................................... 442
10.2.257 C6602 Error when writing device data............................................................................................. 443
10.2.258 C6604 Error when reading device data........................................................................................... 444
10.2.259 C6605 Device data incompletely restored....................................................................................... 444
10.2.260 C6606 PLC user program is active.................................................................................................. 445
10.2.261 C6701 Error when accessing update archive.................................................................................. 445
10.2.262 C6702 Error when writing device data............................................................................................. 446
10.2.263 C6703 Warning - Incomplete update of device data....................................................................... 447
10.2.264 C6704 Machine archive is not up-to-date........................................................................................ 448
10.2.265 C6706 PLC user program is active.................................................................................................. 449
10.2.266 C7001 CCD: Impossible to adjust slave addresses........................................................................ 449
10.2.267 C7101 CCD: Impossible to close ring.............................................................................................. 449
10.2.268 C7201 CCD: Impossible to apply I/O configuration......................................................................... 450
10.2.269 C7401 CCD: Impossible to switch to phase 2................................................................................. 450
10.2.270 C7501 CCD: Impossible to switch to phase 4................................................................................. 450
10.2.271 C7601 Memory access impossible.................................................................................................. 451
10.2.272 C7602 Slave access impossible...................................................................................................... 451
10.2.273 C8001 SMO: Invalid scaling parameters ->S-0-0423...................................................................... 452
10.2.274 C8002 SMO: Not allowed to apply scaling...................................................................................... 452
10.2.275 C8101 SMO: Command execution impossible................................................................................ 452
10.2.276 C8213 SMO: Incorrect parameterization......................................................................................... 452
10.2.277 C8214 SMO: Incorrect configuration............................................................................................... 453
10.2.278 C8215 SMO: Incorrect encoder/scaling configuration..................................................................... 455
10.2.279 C8301 SMO: Incorrect parameter image......................................................................................... 455
10.2.280 C8302 SMO: Parameter image presently cannot be applied.......................................................... 456
10.2.281 C8401 SMO: Impossible to apply encoder type.............................................................................. 456
10.2.282 C8402 SMO: Impossible to apply encoder configuration................................................................ 456
10.2.283 C8403 SMO: Parameter for applying encoder configuration invalid................................................ 457
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG XXI/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Table of Contents
Page
10.2.284 C8501 SMO: Impossible to apply axis identification........................................................................ 457
10.2.285 C8502 SMO: Impossible to apply TUNID........................................................................................ 457
10.2.286 C8601 SMO: Encoder evaluation is inactive................................................................................... 458
10.2.287 C9101 Confirm power section configuration command error.......................................................... 458
10.2.288 C9901 Command execution impossible.......................................................................................... 459
Table of Contents
Page
Table of Contents
Page
Index.......................................................................................................................... 579
XXIV/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 25/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Introduction
1 Introduction
1.1 Trademark information
Introduction
Introduction
Switch off the control voltage and then switch it back on to clear the
error.
PM: The error can only be cleared in parameter mode (PM) by
executing command "C0500 Reset class 1 diagnostics, error reset".
● Critical SMO error:
(Attribute is only listed if relevant to the diagnostic message)
✓: The drive does not acknowledge safety; the safe state "Safety
Default" is established.
–: The drive acknowledges safety.
Editions of this documentation
Important facts which are to Boldface With the saturation method, this error is generated, when...
be highlighted in the body
text
Parameter names, diagnostic Quotation marks In parameter "S-0-0375, List of diagnostic numbers", the last
message names, function 50 diagnostic message numbers are...
designations
Introduction
1.3 Documentations
1.3.1 Drive systems, system components
Drive systems, system components
Introduction
1.3.2 Motors
Title Type of documentation Document typecode1) Material number
Rexroth IndraDyn … DOK-MOTOR*-… R911…
1.3.3 Cables
Title Kind of documentation Document typecode1) Material number
DOK-CONNEC-… R911…
1.3.4 Firmware
Title Type of documentation Document typecode1) Material number
Rexroth IndraDrive ... DOK-INDRV*-… R911…
Introduction
Before using Rexroth products, make sure that all the pre-requisites for an
appropriate use of the products are satisfied:
● Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar with
their appropriate use.
● If the products take the form of hardware, then they must remain in their
original state, in other words, no structural changes are permitted. It is
not permitted to decompile software products or alter source codes.
● Do not install damaged or faulty products or put them into operation.
● Make sure that the products have been installed in the manner
described in the relevant documentation.
The drive controllers may only be used with the accessories and
parts specified in this documentation. If a component has not
been specifically named, then it may neither be mounted nor
connected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware as
specified in the relevant Functional Descriptions.
● Applications for functional safety are only allowed if clearly and explicitly
specified in the application documentation "Integrated Safety
Technology". If this is not the case, they are excluded. Functional safety
is a safety concept in which measures of risk reduction for personal
safety depend on electrical, electronic or programmable control
systems.
● The information given in the application documentation with regard to
the use of the delivered components contains only examples of
applications and suggestions.
The machine and installation manufacturers must
– make sure that the delivered components are suited for their
individual application and check the information given in this
application documentation with regard to the use of the
components,
– make sure that their individual application complies with the
applicable safety regulations and standards and carry out the
required measures, modifications and complements.
● Commissioning of the delivered components is only allowed once it is
sure that the machine or installation in which the components are
installed complies with the national regulations, safety specifications and
standards of the application.
● Operation is only allowed if the national EMC regulations for the
application are met.
● The instructions for installation in accordance with EMC requirements
can be found in the section on EMC in the respective application
documentation.
The machine or installation manufacturer is responsible for compliance
with the limit values as prescribed in the national regulations.
● The technical data, connection and installation conditions of the
components are specified in the respective application documentations
and must be followed at all times.
National regulations which the user has to comply with
● European countries: In accordance with European EN standards
● United States of America (USA):
– National Electrical Code (NEC)
– National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
– Regulations of the National Fire Protection Association (NFPA)
● Canada: Canadian Standards Association (CSA)
● Other countries:
– International Organization for Standardization (ISO)
– International Electrotechnical Commission (IEC)
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the electric drive
and control system, it is unavoidable that some parts of these components
conduct dangerous voltage.
High housing voltage and high leakage current! Danger to life, risk of injury
by electric shock!
● Before switching on and before commissioning, ground or connect the
components of the electric drive and control system to the equipment
grounding conductor at the grounding points.
● Connect the equipment grounding conductor of the components of the
electric drive and control system permanently to the main power supply
at all times. The leakage current is greater than 3.5 mA.
● Establish an equipment grounding connection with a minimum cross
section according to the table below. With an outer conductor cross
section smaller than 10 mm2 (8 AWG), the alternative connection of two
equipment grounding conductors is allowed, each having the same
cross section as the outer conductors.
10 mm2 (8 AWG) -
16 mm2 (6 AWG) -
35 mm2 (2 AWG) -
● Make sure the safety fences and protective coverings are strong enough
to resist maximum possible kinetic energy.
● Mount emergency stopping switches in the immediate reach of the
operator. Before commissioning, verify that the emergency stopping
equipment works. Do not operate the machine if the emergency
stopping switch is not working.
● Prevent unintended start-up. Isolate the drive power connection by
means of OFF switches/OFF buttons or use a safe starting lockout.
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● Additionally secure vertical axes against falling or dropping after
switching off the motor power by, for example,
– mechanically securing the vertical axes,
– adding an external braking/arrester/clamping mechanism or
– ensuring sufficient counterbalancing of the vertical axes.
● The standard equipment motor holding brake or an external holding
brake controlled by the drive controller is not sufficient to guarantee
personal safety!
● Disconnect electrical power to the components of the electric drive and
control system using the master switch and secure them from
reconnection ("lock out") for:
– Maintenance and repair work
– Cleaning of equipment
– Long periods of discontinued equipment use
● Prevent the operation of high-frequency, remote control and radio
equipment near components of the electric drive and control system and
their supply leads. If the use of these devices cannot be avoided, check
the machine or installation, at initial commissioning of the electric drive
and control system, for possible malfunctions when operating such high-
frequency, remote control and radio equipment in its possible positions
of normal use. It might possibly be necessary to perform a special
electromagnetic compatibility (EMC) test.
DANGER
In case of non-compliance with this safety instruction, death or serious injury
will occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injury
could occur.
CAUTION
In case of non-compliance with this safety instruction, minor or moderate
injury could occur.
NOTICE
In case of non-compliance with this safety instruction, property damage could
occur.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 43/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Operating states
5 Operating states
5.1 Operating states of the drive controllers
The possible operating states are listed below in alphabetical order. The
operating states are displayed on the control panel of the device:
Ab "Drive ready"
See also: A0012 Control and power sections ready for operation
AC See also: A4000 Automatic drive check and adjustment
AE See also:
● A4001 Drive deceleration to standstill
● A4005 Drive decelerated by motor phase short circuit
● A4006 Drive decelerated in a controlled way
AF "Drive enable"
Depending on the operation mode used, a detailed description of the "AF"
display can be found under the respective diagnostic status message.
AH "Drive Halt"
See also: A0010 Drive HALT
AR "Automatic drive reaction"
Depending on the drive function used, the drive carries out an individual drive
reaction.
See also Functional Description of firmware "Quick stop via probe input".
AU See also: A4002 Drive in automatic mode
bb "Ready for operation"
See also: A0013 Ready for power on
BEM "Basic Ethernet Mode"
See also: A0025 Basic Ethernet Mode
CFG See also: A0023 WAIT_CFG
CON See also: A0024 Connection established
CM See also: A4003 Setting-up mode is active
DCC See also: A4010 Drive control command active
HP0 See also: A0030 Hot-plug phase 0
HP1 See also: A0031 Hot-plug phase 1
HP2 See also: A0032 Hot-plug phase 2
INI See also: A0004 Initialization
OM See also: A0051 Operating mode
OP See also: A0007 Operational
P0 "Phase 0" (only with sercos master communication)
See also: A0000 Communication phase 0
46/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Operating states
Operating states
Run PLC If the user opened the "Run PLC" display by pressing the arrow down and/or
arrow up keys and subsequently presses the ENTER key on the control
panel, the drive PLC and the boot project, if any is available, are started after
the booting process has been completed.
PROFIBUS "PROFIBUS" has been recognized as master communication and the hardware is checked.
CANopen Initialization was run after switch-on or after a reset.
PROFINET The controller has not yet established a connection.
EtherNet/IP The scanner has not yet established a connection.
EtherCAT Initialization was run after switch-on or after a reset.
Ethernet POWERLINK The network functionalities are initialized.
Tab. 7-1: Overview of diagnostic message "Initialization" for the various field
buses
See also Functional Description of firmware "Device control and state
machines"
A0004 - Attributes Display: INI
Diagnostic no.: A0004
Diagnostic no. as of 18VRS: 000A0004
CANopen After the initialization the bus coupler automatically, i.e. without external command,
changes over to the communication phase "Pre-Operational". It can be configured in
this communication phase, for the service data objects (SDOs) are already active,
whereas the process data objects (PDOs) are still disabled.
CAN application layer over After the initialization the drive automatically, i.e. without external command, changes
EtherCAT over to the communication phase "Pre-Operational". It can be configured in this
Servodrive profile over EtherCAT communication phase, for the service data objects (SDOs) are already active,
whereas the process data objects (PDOs) are still disabled.
Ethernet POWERLINK After the initialization and the first receipt of an SoC or SoA telegram from the MN
(as of firmware version 20) (managing node), the CN (controlled node) automatically switches to communication
phase "Pre-Operational 1" or "Pre-Operational 2". Both states are indicated by
diagnostic message "Pre-Operational". In this communication phase the CN can be
configured from the MN, for the service data objects (SDOs) are already active,
whereas the process data objects (PDOs) are still disabled.
CAN Application Layer over EtherCAT The producer data are generated by the drive and sent to
Servodrive Profile over EtherCAT the control. The consumer data are not yet taken over by the
drive.
Function "Drive Halt" is indirectly activated by the master via the master
communication interface by deleting the Drive Halt bit in parameter
56/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The drive is in special mode "safe standstill". Safety functions "Safe torque
off" (STO) / "Safe brake control" (SBC) are active.
Safety function "Safe brake control " (SBC) is not available for all
optional safety technology modules.
For HMS, HMD, HCS The diagnostic message "A0012 Control and power sections ready for
operation" signals that the drive has been supplied with control voltage and
power has been switched on. The drive is ready for power output.
For HMV The diagnostic message "A0012 Control and power sections ready for
operation" signals that the supply unit is ready to switch on the mains
contactor.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 57/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The diagnostic message "A0013 Ready for power on" signals that the drive
or supply unit has been provided with control voltage and that there isn't any
error present in the drive/supply unit.
The drive or the supply unit is ready for power on.
PROFIBUS The baud rate has been found, the drive is waiting for a parameterization telegram of
the master that contains its IDN [contained in the device data sheet].
PROFIBUS The drive controller has received a valid parameterization telegram and is now waiting for the
configuration telegram. In the configuration telegram, the master informs the drive which module it
expected for the input/output configuration.
The bus system is in the communication state "Basic Ethernet Mode". The
drive can be operated directly in existing Ethernet networks, if real-time data
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 59/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The bus system is in the communication state "Ready To Operate". The drive
provides cyclic actual values; cyclic command values are not yet processed.
See also functional description of firmware "Ethernet POWERLINK"
A0026 - Attributes Display: RTO
Diagnostic no.: A0026
Diagnostic no. as of 18VRS: 000A0026
The configuration of the port and the further configuration of the slaves take
place in this phase.
When hot plug phase 2 is completed, switching to further communication
phases is initiated.
A0032 - Attributes Display: HP2
Diagnostic no.: A0032
Diagnostic no. as of 18VRS: C30A0032
The drive is in the "Parameterization level 1" mode. In this status, the
monitoring functions of the position encoders and the motor temperature
sensor are deactivated. Although the master communication is in
communication phase 4, the drive can be parameterized as in communication
phase 3.
The axis was switched to the operating mode, but master communication is
not yet in the cyclic data exchange. In this state axis control is not yet
possible.
A0051 - Attributes Display: OM
Diagnostic no.: A0051
Diagnostic no. as of 18VRS: 000A0051
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 61/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The drive is in the "Torque control"" mode. It follows the torque command
value characteristic set by the master.
See also Functional Description of firmware "Torque/Force Control"
A0100 - Attributes Display: AF
Diagnostic no.: A0100
Diagnostic no. as of 18VRS: C00A0100
The drive is in the "Velocity control" mode. It follows the speed command
value characteristic set by the master. The speed control loop is closed in the
drive.
See also Functional Description of firmware "Velocity Control"
A0101 - Attributes Display: AF
Diagnostic no.: A0101
Diagnostic no. as of 18VRS: C00A0101
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position
command value characteristic, the drive follows the command value with a
lag error.
"Encoder 1" means that the encoder assigned by means of "P-0-0077,
Assignment motor encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Position Control with Cyclic
Command Value Input"
62/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position
command value characteristic, the drive follows the command value with a
lag error.
"Encoder 2" means that the encoder assigned by means of "P-0-0078,
Assignment optional encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Position Control with Cyclic
Command Value Input"
A0103 - Attributes Display: AF
Diagnostic no.: A0103
Diagnostic no. as of 18VRS: C00A0103
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position
command value characteristic, the drive follows the command value laglessly
(prerequisite: "P-0-0040, Velocity feedforward evaluation"=100%).
"Encoder 1" means that the encoder assigned by means of "P-0-0077,
Assignment motor encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Position Control with Cyclic
Command Value Input"
A0104 - Attributes Display: AF
Diagnostic no.: A0104
Diagnostic no. as of 18VRS: C00A0104
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. The master only specifies the position
command value characteristic, the drive follows the command value laglessly
(prerequisite: "P-0-0040, Velocity feedforward evaluation"=100%).
"Encoder 2" means that the encoder assigned by means of "P-0-0078,
Assignment optional encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Position Control with Cyclic
Command Value Input"
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 63/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
From the control unit the drive receives a position command value identical to
the target position of the distance to be traveled. The drive then generates
(interpolates) an internal position command value characteristic that complies
with the maximum values for the jerk, acceleration and velocity characteristic
determined by the master.
With a lag error the drive moves to the target position.
"Encoder 1" means that the encoder assigned by means of "P-0-0077,
Assignment motor encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Drive Internal Interpolation"
A0106 - Attributes Display: AF
Diagnostic no.: A0106
Diagnostic no. as of 18VRS: C00A0106
From the master the drive receives a position command value identical to the
target position of the distance to be traveled. The drive then generates
(interpolates) an internal position command value characteristic that complies
with the maximum values for the jerk, acceleration and velocity characteristic
determined by the master.
With a lag error the drive moves to the target position.
"Encoder 2" means that the encoder assigned by means of "P-0-0078,
Assignment optional encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Drive Internal Interpolation"
A0107 - Attributes Display: AF
Diagnostic no.: A0107
Diagnostic no. as of 18VRS: C00A0107
From the master the drive receives a position command value identical to the
target position of the distance to be traveled. The drive then generates
(interpolates) an internal position command value characteristic that complies
with the maximum values for the jerk, acceleration and velocity characteristic
determined by the master.
64/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
From the master the drive receives a position command value identical to the
target position of the distance to be traveled. The drive then generates
(interpolates) an internal position command value characteristic that complies
with the maximum values for the jerk, acceleration and velocity characteristic
determined by the master.
The drive laglessly moves to the target position (prerequisite: "P-0-0040,
Velocity feedforward evaluation"=100%).
"Encoder 2" means that the encoder assigned by means of "P-0-0078,
Assignment optional encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Drive Internal Interpolation"
A0109 - Attributes Display: AF
Diagnostic no.: A0109
Diagnostic no. as of 18VRS: C00A0109
The drive is in velocity control. Taking the gear ratio and the master axis
position into account, the command velocity is determined in the drive.
"Virtual master axis" means that the master axis position is calculated by the
control unit.
See also Functional Description of firmware "Velocity Synchronization with
Real/Virtual Master Axis"
A0110 - Attributes Display: AF
Diagnostic no.: A0110
The drive is in velocity control. The velocitiy command value is derived from
the master axis position. The master axis position is generated by the
measuring encoder.
See also Functional Description of firmware "Velocity Synchronization with
Real/Virtual Master Axis"
A0111 - Attributes Display: AF
Diagnostic no.: A0111
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 65/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measuring of the axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Phase Synchronization with
Real/Virtual Master Axis"
A0112 - Attributes Display: AF
Diagnostic no.: A0112
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measuring of the axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Phase Synchronization with
Real/Virtual Master Axis"
A0113 - Attributes Display: AF
Diagnostic no.: A0113
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measuring of the axis position). "Real master axis" means that the
master axis position is derived from the incremental encoder signals.
See also Functional Description of firmware "Phase Synchronization with
Real/Virtual Master Axis"
A0114 - Attributes Display: AF
Diagnostic no.: A0114
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value with a lag distance.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measuring of the axis position). "Real master axis" means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware "Phase Synchronization with
Real/Virtual Master Axis"
A0115 - Attributes Display: AF
Diagnostic no.: A0115
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value without any lag error.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measuring of the axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Phase Synchronization with
Real/Virtual Master Axis"
A0116 - Attributes Display: AF
Diagnostic no.: A0116
The drive is in position control. The position control loop is closed by means
of a position encoder in the drive. Taking the gear ratio and the master axis
position into account, the position command value is determined in the drive.
The drive follows the command value without any lag error.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measuring of the axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Phase Synchronization with
Real/Virtual Master Axis"
A0117 - Attributes Display: AF
Diagnostic no.: A0117
The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
The drive follows the command value with a lag distance.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
A0128 - Attributes Display: AF
Diagnostic no.: A0128
The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
The drive follows the command value with a lag distance.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measurement of axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
A0129 - Attributes Display: AF
Diagnostic no.: A0129
The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
The drive follows the command value with a lag distance.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). "Real master axis" means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
A0130 - Attributes Display: AF
Diagnostic no.: A0130
The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
The drive follows the command value with a lag distance.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measurement of axis position). "Real master axis" means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
A0131 - Attributes Display: AF
Diagnostic no.: A0131
The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
The drive follows the command value without any lag error.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
A0132 - Attributes Display: AF
Diagnostic no.: A0132
The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 69/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
The drive follows the command value without any lag error.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measurement of axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
A0133 - Attributes Display: AF
Diagnostic no.: A0133
The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
The drive follows the command value without any lag error.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). "Real master axis" means that the
master axis position is derived from the incremental encoder signals.
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
A0134 - Attributes Display: AF
Diagnostic no.: A0134
The drive is in the "cam" mode. The function has been derived from the
principle of the mechanical cam. There is a fixed position relation between
master axis and slave axis. The position command values are taken from a
table that is accessed by means of the master axis position.
The drive follows the command value without any lag error.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measurement of axis position). "Real master axis" means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware "Electronic Cam With Real/
Virtual Master Axis"
A0135 - Attributes Display: AF
Diagnostic no.: A0135
The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
70/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
The drive follows the command value with a lag distance.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measurement of axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "MotionProfile With Real/Virtual
Master Axis"
A0137 - Attributes Display: AF
Diagnostic no.: A0137
The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
The drive follows the command value with a lag distance.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measurement of axis position). "Real master axis" means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware "MotionProfile With Real/Virtual
Master Axis"
A0138 - Attributes Display: AF
Diagnostic no.: A0138
The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
The drive follows the command value with a lag distance.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 71/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). "Real master axis" means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware "MotionProfile With Real/Virtual
Master Axis"
A0139 - Attributes Display: AF
Diagnostic no.: A0139
The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
The drive follows the command value without any lag error.
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "MotionProfile With Real/Virtual
Master Axis"
A0140 - Attributes Display: AF
Diagnostic no.: A0140
The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
The drive follows the command value without any lag error.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measurement of axis position). "Virtual master axis" means that the
master axis position is calculated by the control unit.
See also Functional Description of firmware "MotionProfile With Real/Virtual
Master Axis"
A0141 - Attributes Display: AF
Diagnostic no.: A0141
The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
The drive follows the command value without any lag error.
72/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
"Encoder 1" means that the position encoder is mounted to the motor shaft
(indirect measurement of axis position). "Real master axis" means that the
master axis position is derived from the incremental encoder signals.
See also Functional Description of firmware "MotionProfile With Real/Virtual
Master Axis"
A0142 - Attributes Display: AF
Diagnostic no.: A0142
The drive is in the "MotionProfile" mode. The function has been derived from
the principle of the mechanical cam. There is a fixed position relation
between master axis and slave axis. Depending on the master axis position,
the position command values are generated from a given MotionProfile.
The drive follows the command value without any lag error.
"Encoder 2" means that the position encoder is mounted to the machine axis
(direct measurement of axis position). "Real master axis" means that the
master axis position is derived from the measuring encoder.
See also Functional Description of firmware "MotionProfile With Real/Virtual
Master Axis"
A0143 - Attributes Display: AF
Diagnostic no.: A0143
From the master the drive receives a position command value in the
"S-0-0282, Positioning command value" parameter. This position/distance,
when the status of bit 0 of parameter "S-0-0346, Positioning command
strobe"" changes, is copied to "S-0-0258, Target position" or, in the case of a
relative input, added to the value in "S-0-0430, Effective target position". The
drive then generates (interpolates) an internal position command value
characteristic in order to get from the current position to this target position.
This is done considering the limit values for velocity, acceleration and jerk in
the following parameters:
● "S-0-0193, Positioning Jerk",
● "S-0-0259, Positioning Velocity",
● "S-0-0260, Positioning Acceleration" and
● "S-0-0359, Positioning Deceleration".
With a lag error proportional to the velocity the drive moves to the target
position.
"Encoder 1" means that the encoder assigned by means of "P-0-0077,
Assignment motor encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Drive Controlled Positioning"
A0150 - Attributes Display: AF
Diagnostic no.: A0150
Diagnostic no. as of 18VRS: C00A0150
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 73/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
From the master the drive receives a position command value in the
"S-0-0282, Positioning command value" parameter. This distance, when the
status of bit 0 of parameter "S-0-0346, Positioning command strobe"
changes, is copied to "S-0-0430, Effective target position" or, in the case of a
relative input, added to the value in "S-0-0430, Effective target position". The
drive then generates (interpolates) an internal position command value
characteristic in order to get from the current position to this target position.
This is done considering the limit values for velocity, acceleration and jerk in
the following parameters:
● "S-0-0259, Positioning Velocity",
● "S-0-0260, Positioning Acceleration",
● "S-0-0359, Positioning Deceleration" and
● "S-0-0193, Positioning Jerk".
The drive laglessly moves to the target position (prerequisite: "P-0-0040,
Velocity feedforward evaluation"=100%).
"Encoder 1" means that the encoder assigned by means of "P-0-0077,
Assignment motor encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Drive Controlled Positioning"
A0151 - Attributes Display: AF
Diagnostic no.: A0151
Diagnostic no. as of 18VRS: C00A0151
From the master the drive receives a position command value in the
"S-0-0282, Positioning command value" parameter. This distance, when the
status of bit 0 of parameter "S-0-0346, Positioning command strobe"
changes, is copied to "S-0-0430, Effective target position" or, in the case of a
relative input, added to the value in "S-0-0430, Effective target position". The
drive then generates (interpolates) an internal position command value
characteristic in order to get from the current position to this target position.
This is done considering the limit values for velocity, acceleration and jerk in
the following parameters:
● "S-0-0259, Positioning Velocity",
● "S-0-0260, Positioning Acceleration",
● "S-0-0359, Positioning Deceleration" and
● "S-0-0193, Positioning Jerk".
With a lag error proportional to the velocity the drive moves to the target
position.
"Encoder 2" means that the encoder assigned by means of "P-0-0078,
Assignment optional encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Drive Controlled Positioning"
74/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
From the master the drive receives a position command value in the
"S-0-0282, Positioning command value" parameter. This distance, when the
status of bit 0 of parameter "S-0-0346, Positioning command strobe"
changes, is copied to "S-0-0430, Effective target position" or, in the case of a
relative input, added to the value in "S-0-0430, Effective target position". The
drive then generates (interpolates) an internal position command value
characteristic in order to get from the current position to this target position.
This is done considering the limit values for velocity, acceleration and jerk in
the following parameters:
● "S-0-0259, Positioning Velocity",
● "S-0-0260, Positioning Acceleration",
● "S-0-0359, Positioning Deceleration" and
● "S-0-0193, Positioning Jerk".
The drive laglessly moves to the target position (prerequisite: "P-0-0040,
Velocity feedforward evaluation"=100%).
"Encoder 2" means that the encoder assigned by means of "P-0-0078,
Assignment optional encoder->optional slot" is used as a control encoder.
See also Functional Description of firmware "Drive Controlled Positioning"
A0153 - Attributes Display: AF
Diagnostic no.: A0153
Diagnostic no. as of 18VRS: C00A0153
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position
command value characteristic.
When the operation mode is activated, any possible difference between
current actual position value and transmitted position command value is
traveled in drive-controlled form with a lag error.
"Encoder 1" means that the encoder assigned via "P-0-0077, Assignment
motor encoder->optional slot" is used as control encoder.
See also Functional Description of firmware "Position Control With Cyclic
Command Value Input"
A0154 - Attributes Display: AF
Diagnostic no.: A0154
Diagnostic no. as of 18VRS: 000A0154
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 75/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position
command value characteristic.
When the operation mode is activated, any possible difference between
current actual position value and transmitted position command value is
traveled in drive-controlled form with a lag error.
"Encoder 2" means that the encoder assigned via "P-0-0078, Assignment
optional encoder->optional slot" is used as control encoder.
See also Functional Description of firmware "Position Control With Cyclic
Command Value Input"
A0155 - Attributes Display: AF
Diagnostic no.: A0155
Diagnostic no. as of 18VRS: 000A0155
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position
command value characteristic.
When the operation mode is activated, any possible difference between
current actual position value and transmitted position command value is
traveled in drive-controlled form without lag error.
"Encoder 1" means that the encoder assigned via "P-0-0077, Assignment
motor encoder->optional slot" is used as control encoder.
See also Functional Description of firmware "Position Control With Cyclic
Command Value Input"
A0156 - Attributes Display: AF
Diagnostic no.: A0156
Diagnostic no. as of 18VRS: 000A0156
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position
command value characteristic.
When the operation mode is activated, any possible difference between
current actual position value and transmitted position command value is
traveled in drive-controlled form without lag error.
"Encoder 2" means that the encoder assigned via "P-0-0078, Assignment
optional encoder->optional slot" is used as control encoder.
76/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
7.71 A0160 Pos. ctrl drive-controlled with ctrl word of axis control‐
ler
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position
command value characteristic.
When the operation mode is activated, any possible difference between
current actual position value and transmitted position command value is
traveled under drive control.
Based on the axis control word (S-0-0520), the drive uses encoder 1 or
encoder 2 to control for the target position to be approached, either lagless or
with lag error (requirement: "P-0-0040, Velocity feedforward evaluation" =
100%).
The drive receives a position command value from the master in parameter
"S-0-0282, Positioning command value". If bit 0 of parameter "S-0-0346,
Positioning command value acceptance" changes its state, this distance is
copied to the value in "S-0-0430, Effective target position" or added in case in
relative specification. The drive now generates an internal position command
value characteristic (interpolated) in order to reach this target position from
the current position. This is achieved with the values parameterized for
velocity, acceleration and jerk taken into consideration in the following
parameters:
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 77/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The drive is in the "Position synchronization" mode. This means that the drive
is in position control and the position command values are derived from
master axis positions.
See also Functional Description of firmware "Synchronization Modes"
A0163 - Attributes Display: AF
Diagnostic no.: A0163
Diagnostic no. as of 18VRS: 000A0163
78/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The drive is in the "Velocity synchronization" mode. This means that the drive
is in velocity control and the velocity command values are derived from
master axis positions.
See also Functional Description of firmware "Synchronization Modes"
A0164 - Attributes Display: AF
Diagnostic no.: A0164
Diagnostic no. as of 18VRS: 000A0164
The drive is in position control. The position control loop is closed in the drive
by means of a position encoder. The master only presets the position
command value characteristic.
Based on the axis control word (S-0-0520), the drive uses encoder 1 or
encoder 2 to control for the target position to be approached, either lagless or
with lag error (requirement: "P-0-0040, Velocity feedforward evaluation" =
100%).
The drive receives from the master a position command value which is
identical with the target position of the travel path. The drive now generates
an internal position command value characteristic (interpolated) which keeps
to maximum values which have been defined by master for the jerk,
acceleration and velocity characteristics.
Based on the axis control word (S-0-0520), the drive uses encoder 1 or
encoder 2 to control for the target position to be approached, either lagless or
with lag error (requirement: "P-0-0040, Velocity feedforward evaluation" =
100%).
The drive is in position control with systematic lag distance. Encoder 1 (motor
encoder) provides the actual value. The command value profile is generated
in the drive. Target position, velocity, acceleration and jerk are determined by
a previously programmed positioning block According to the parameterization
of "P-0-4019, Positioning block mode", the target position shall be understood
as being absolute or as relative distance.
See also Functional Description of firmware "Positioning Block Mode"
A0206 - Attributes Display: AF
Diagnostic no.: A0206
Diagnostic no. as of 18VRS: 000A0206
The drive is in position control without lag distance. Encoder 2 provides the
actual value. The command value profile is generated in the drive. Target
position, velocity, acceleration and jerk are determined by a previously
programmed positioning block. According to the parameterization of
"P-0-4019, Positioning block mode", the target position shall be understood
as being absolute or as relative distance.
See also Functional Description of firmware "Positioning Block Mode"
A0211 - Attributes Display: AF
Diagnostic no.: A0211
Diagnostic no. as of 18VRS: 000A0211
The drive is in the specific safety technology state "SMO parameter mode"
(SPM).
See documentation for integrated safety technology "Safe Motion": "Safe
Motion state machine"
A0325 - Attributes Display: 1
Diagnostic no.: A0325
Diagnostic no. as of 18VRS: 060A0325
The readiness for quick stop and the detection of the quick stop signal
internally trigger the speed command value reset which causes the axis to be
shut down. This happens taking the following values into account:
● the current torque/force limit value for drives in closed-loop operation
● the maximum stator frequency change (P-0-0569) for drives in open-
loop operation
In the case of quick stop, the drive ignores the setting of command values by
the control master, decelerates in a drive-controlled way and remains in a
drive-internal operating mode until the readiness for quick stop is reset.
See also Functional Description of firmware "Quick Stop via Probe Input"
A0403 - Attributes Display: AR
Diagnostic no.: A0403
Diagnostic no. as of 18VRS: 000A0403
88/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The mains contactor is connected, the DC bus is charged and the DC bus
voltage is regulated to the command value (voltage control) or kept in the
command value range (voltage control, DC bus voltage floating).
A0500 - Attributes Display: LB
Diagnostic no.: A0500
Diagnostic no. as of 18VRS: 070A0500
The DC bus is currently charged to the rectified value of the mains voltage
("soft start"). If it is the first charging process after the control voltage is
switched on, the mains throttle connection is also checked.
Once the charging process is complete or after the final check on the mains
throttle is complete, the device switches to the status "A0502 Supply module
in operation".
A0503 - Attributes Display: charg
Diagnostic no.: A0503
Diagnostic no. as of 18VRS: 070A0503
7.112 A0504 Control section ready for oper., mains voltage not
available
Allocation Contained in 19VRS: «PSB»
Contained in 20VRS: «PSB»
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 89/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The control section of the supply module is free of errors and ready for
switching on the mains voltage.
There is no valid mains connected!
A0504 - Attributes Display: bb
Diagnostic no.: A0504
Diagnostic no. as of 18VRS: 070A0504
The control section and the power section of the supply module are ready for
charging the DC bus.
There is no valid mains for the device connected.
The mains contactor is switched off, the bbV relay is closed.
A0505 - Attributes Display: Bb
Diagnostic no.: A0505
Diagnostic no. as of 18VRS: 070A0505
The mains contactor is connected and the DC bus is charged to the mains
voltage crest value.
The energy supply to the DC bus usually only takes place via the diode
bridge of the rectifier. With high mains currents and a high DC bus voltage, a
temporary switch to the active DC bus voltage control takes place.
A0506 - Attributes Display: LB
Diagnostic no.: A0506
Diagnostic no. as of 18VRS: 000A0506
The braking resistor short-circuits the DC bus to reduce the DC bus voltage
as quickly as possible.
The drive
● is decelerated to standstill as set in the "P-0-0119, Best possible
deceleration" parameter
- or -
● conducts a speed command value reset.
The drive-integrated PLC (MLD) has permanent (or temporary) control over
the drive; this means that the drive is controlled by the drive-integrated PLC.
See also Application Manual "Rexroth IndraMotion MLD"
A4002 - Attributes Display: AU
Diagnostic no.: A4002
Diagnostic no. as of 18VRS: 000A4002
The "easy startup" mode is provided for controlling the drive manually.
When the "easy startup" mode has been activated, the display
switches between the drive address and the message "CM"
(Commissioning Mode).
In the "easy startup" mode, all motion commands of the PLC that is
integrated in the drive (IndraMotion MLD) or the master communication are
ignored.
The drive is in velocity control mode; command values are specified via
"P-0-1460, PLC/setting-up mode, velocity command value".
A4003 - Attributes Display: AF
Diagnostic no.: A4003
Diagnostic no. as of 18VRS: 000A4003
After the error had occurred, the drive was decelerated by a controlled
procedure.
A4006 - Attributes Display: AE
Diagnostic no.: A4006
Diagnostic no. as of 18VRS: 000A4006
When drive is switched on, the command value input is only applied after the
"Drive on" delay time. For motors with a holding brake, the "Drive on" delay
time corresponds to the brake delay that passes until the brake is released.
Control state of the drive:
● The drive is in position control if an operation mode with position control
has been configured.
● The drive is in velocity control with command value="0" if position
control has not been configured in the operation mode.
A4007 - Attributes Display: AC
Diagnostic no.: A4007
Diagnostic no. as of 18VRS: 000A4007
When drive enable is switched off, drive enable is only removed after the
"Drive off" delay time. For motors with a holding brake, the "Drive off" delay
time corresponds to the brake delay that passes until the brake is applied.
The drive is in velocity control with command value="0".
A4008 - Detailed diagnostics 000D002C
7.125 A4009 Motor phase short circuit with drive enable switched
off
Allocation Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Motor phase short circuit with drive enable switched off cannot be
combined with the safety function "Safe torque off (STO)".
Error messages
8 Error messages
8.1 Fatal system errors (F9xxx)
8.1.1 Behavior in the Case of Fatal System Errors
In the case of fatal system errors, there is a grave problem in the drive
system (e.g. watchdog error, processor crash, ...) which does no longer allow
regular operation of the drive. Due to a hardware or firmware error, the drive
firmware is no longer operable; clearing an error is no longer possible.
In this case, the drive reacts automatically as follows:
Drive Behavior ● All digital outputs are set to "0".
Safety technology: Safe feedback is deactivated!
● The "ready for operation" relay opens, this also switches power off in
case the wiring is correct.
● The output stage is locked, this disables the drive torque.
● The brake output is deactivated; if a self-holding brake is used, it is
applied!
● A diagnostic message of the pattern F9xxx (fatal system error) is output
at the display.
Commissioning Steps After a fatal system error has occurred, the drive can only be put into
operation again when:
1. The 24V supply is completely switched off and on so that a restart of the
drive is carried out (incl. booting process and initialization).
2. The drive is run up to the operating mode again.
3. Power is switched on again.
Cause Remedy
Error messages
Cause Remedy
An error occurred in the firmware (general software error). Please contact our service department.
The drive was switched off by the firmware.
Cause Remedy
Firmware-side watchdog timer was triggered (general Replace device, contact our service department
firmware error). Drive was switched off by firmware.
Cause Remedy
A fatal processor error has occurred. Device was switched Switch drive off and then on again.
off by firmware (torque-free). If processor error is still displayed, please contact our
service department
The hardware-side runtime monitor had triggered. The drive was switched
off.
Error messages
Cause Remedy
Cause Remedy
The programming module contains a firmware which does Replace programming module. Ensure that the firmware on
not match the device. The programming modules have been the programming module matches the controller:
switched ● MPCxxVyy for Advanced devices
● MPBxxVyy for Basic devices
● MPExxVyy for Economy devices
● MPMxxVyy for multi-axis devices
There is an error in the firmware saved on the programming Replace the programming module or replace the firmware
module (general firmware or hardware error). The drive was on the programming module
switched off
The programming module is faulty Replace programming module
The control section is faulty Replace the control section or controller
Cause Remedy
An error occurred when controller had been booted Replace programming module; replace control section or
drive controller
Error messages
Cause Remedy
A fatal processor error occurred or the runtime monitor of Switch drive off and then on again.
the control processor triggered. If error is still displayed, please contact our service
The drive was switched off (torque-free). department
Fatal Errors During Operation When a fatal error occurs during operation, control (or U/f control) of the drive
is no longer ensured; therefore, drive enable is immediately removed in case
of these errors and the holding brake - if available - is switched on.
Depending on the setting in "P-0-0119, Best possible deceleration", bit 8,
D.C. braking can be additionally activated.
Error messages
3. The drive must be in the operating mode again and power must be
switched on again ("Ab").
4. Drive enable must be switched on again (positive edge).
Cause "F8000" is a collective diagnostic message for the following fatal hardware
errors:
● "F8060 Overcurrent in power section" and
● "F8069 +/-15-volt DC error"
Normally, "F8000" is not visible on the display of the drive controller because
"F8060 Overcurrent in power section" or "F8069 +/-15-volt DC error" will be
displayed shortly afterwards.
Reading the Exact Cause of an An external control unit cannot recognize the exact cause of the error; the
Error at an External Control Unit exact cause of the error, however, can be detected via the service channel by
re-reading "S-0-0390, Diagnostic message number" and "S-0-0095,
Diagnostic message".
Remedy The particular cause of the error can be found in the diagnostic message
which follows error F8000 ("F8060 Overcurrent in power section" or "F8069
+/-15-volt error").
Error Reaction The error reaction defined for fatal errors (F8xxx) is executed on the spot.
F8000 - Attributes Display: F8000
Diagnostic no.: F8000
Diagnostic no. as of 18VRS: 000F8000
CiA error code: 5080
Error can be cleared: –
Cause Remedy
The communication bus between the power parts is faulty ● Check wiring
● Check grounding
If there are no faults in the wiring and grounding, the parallel
connection module (HCP01.1-P001) is faulty and must be
replaced
Error messages
Cause Remedy
8.2.5 F8010 Autom. commutation: Max. motion range when moving back
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
The axis moved away from its initial position during the commutation setting
process.
With the saturation method, this error is generated when the maximum
motion range was exceeded and "moving back to start position" had been
set.
With the sine-wave method, this error is generated independent of the setting
"moving back to start position".
Cause Remedy
Positive feedback of motor; commutation offset Check motor encoder signals. To do this, move motor
determination generated incorrect value for "P-0-0521, knowing manufacturer-side setting for sense of rotation or
Effective commutation offset". velocity polarity and check actual position values with regard
to polarity and validation.
If necessary, invert polarity of motor encoder or invert two
motor phases. Carry out commutation setting again.
Positive feedback of motor after motor replacement Check whether direction of motion (sense of rotation) of
(servicing) due to connection error. motor complies with that of motor encoder. If not, invert
direction of motion of motor (invert phases) or of motor
encoder.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 101/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
During commutation setting process, axis got into Set "search direction for sine-wave method" to "increase of
resonance. amplitude with priority" in "P-0-0522, Control word for
commutation setting"
- or -
Reduce value in "P-0-0507, Test frequency for angle
acquisition" in order modify excitation frequency for sine-
wave method compared to resonance frequency of axis.
Due to low friction of mechanical system, axis moved away With saturation method, switch off "moving back to start
from its initial position at start of commutation offset setting. position", if possible on axis-side!
With sine-wave method, determine new start values for
P-0-0506 and P-0-0507! To do this, set P-0-0506 to "0" and
start command C1200!
The sine-wave method for commutation setting could not determine any
value for the commutation offset.
Cause Remedy
Axis could not carry out required motion Check axis for stiffness or blocking; if necessary, reduce
friction (lubrication, guiding device of trailing cable
installation) or remove blocking
- or -
Set "search direction for sine-wave method" to "increase of
amplitude with priority" in "P-0-0522, Control word for
commutation setting"
- or -
Increase value in "P-0-0506, Amplitude for angle acquisition"
in order to increase excitation amplitude for sine-wave
method compared to frictional force of axis.
During commutation setting process, axis got into resonance Set "search direction for sine-wave method" to "increase of
frequency with priority" in "P-0-0522, Control word for
commutation setting"
- or -
Reduce value in "P-0-0507, Test frequency for angle
acquisition" in order modify excitation frequency for sine-
wave method compared to resonance frequency of axis
Motor has not been supplied with current Check motor connection
102/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Sine-wave method without success, although axis has Try with manually input values if automatic search for motor-
required freedom of motion and doesn't show any specific values for "P-0-0506, Amplitude for angle
resonance phenomena acquisition" and "P-0-0507, Test frequency for angle
acquisition" doesn't provide any result in spite of several
repetitions.
Signals of motor encoder do not reflect motion process of Check motor encoder signals. To do this move motor
axis; encoder cables of 2 drives possibly mixed up knowing manufacturer-side setting for sense of rotation or
- or - velocity polarity and check actual position values with regard
to polarity and validation.
Incorrect polarity of encoder signals
During commutation setting (sine-wave method) the axis left the allowed
actual position value range.
Cause Remedy
Heavy axis motion due to too high drive torque or force Reduce value contained in "P-0-0506, Amplitude for angle
generation during commutation setting acquisition"
- and / or -
Increase value contained in "P-0-0507, Test frequency for
angle acquisition"
External forces or torques cause axis to move out of allowed Check mechanical axis system for occurrence of external
actual position value range forces, e.g. due to trailing cable installation, vertical load etc.
Cogging force or torque causes axis to move out of allowed Make sure that, during commutation setting by means of
actual position value range sine-wave method, cogging forces of motor do not cause
position limits to be exceeded near limits of actual position
value range
The actual current value amplitude resulting from commutation setting with
the saturation method is monitored. When it does not exceed a minimum
threshold, the error F8013 is generated.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 103/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Actual current value amplitude is not sufficient for exact Increase signal voltage ("P-0-0506, Amplitude for angle
determination of commutation offset acquisition" or reduce signal frequency ("P-0-0507, Test
frequency for angle acquisition" and restart commutation
setting process.
- or -
Enter value "0" in "P-0-0506, Amplitude for angle
acquisition" Appropriate value for P-0-0506 is thereby
automatically determined during commutation setting
process.
- or -
Reduce value of "P-0-0517, Commutation: required
harmonics component", if approx. 30 similar values are
determined for "P-0-0521, Effective commutation offset" with
repeated commutation setting for different motor positions
(drive remains in "Ab"). Reduce "P-0-0517, Commutation:
required harmonics component" until command error F8013
no longer occurs; finally check function several times!
Cause Remedy
Amplitude of actual current value is higher than allowed Reduce signal voltage ("P-0-0506, Voltage amplitude for
maximum current angle acquisition") or increase signal frequency ("P-0-0507,
Test frequency for angle acquisition").
- or -
With "P-0-0506, Voltage amplitude for angle acquisition"=0
start automatic determination of appropriate values.
Error messages
Saturation Method During the execution of the automatic commutation offset determination (after
drive enable) an error was detected.
Cause Remedy
An error occurred in internal signal generator used for Switch drive off and on again. If error continues to be
determining commutation offset. signaled, contact our service department.
Sine-Wave Method The commutation setting with motion by means of the sine-wave method is
completed when the axis, after commutation offset determination, has been
moved back to the initial position at which it was before the start. If this is
impossible, the error F8015 is generated.
Cause Remedy
Axis cannot be moved back to position at which it was at Check mechanical axis system, remove blocking or
beginning of commutation determination. stiffness.
Cause Remedy
The current generated during the automatic determination of Check if the controller is able to supply a sufficiently high
the commutation offset could not cause any saturation current to the motor (see "S-0-0109, motor peak current"
effects in the motor. and "S-0-0110, amplifier peak current"). If the maximum
The required motor current is approx. 1.5 times the current current of the controller is too low, exchange the drive
at standstill ("S-0-0111, motor current at standstill") controller for a bigger one
- or -
Change the position of the movable part of the motor in
respect to the fixed part and restart command "P-0-0524,
C1200 Commutation offset setting command"
- or -
Contact the customer service and install an absolute
measuring system if the motor does not permit automatic
commutation
Error messages
Cause Remedy
It was impossible to determine initial position of rotor. Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
Rotor was moving during transient oscillation of rotor Make sure that rotor does not turn during commutation
position estimation. process.
An error occurred when rotor angles determined before and Make sure that rotor does not turn during commutation
after commutation adjust were compared. process.
- and/or -
Adjust parameter values of "P-0-0506, Amplitude for angle
acquisition", "P-0-0507, Test frequency for angle acquisition"
and "P-0-0517, Commutation: required harmonics
component" or start search mode.
- and/or -
Check whether parameter values of sensorless positioning
of synchronous motors correspond to specification.
Determined commutation offset is wrong. Adjust parameter values of "P-0-0506, Amplitude for angle
- and/or - acquisition", "P-0-0507, Test frequency for angle acquisition"
and "P-0-0517, Commutation: required harmonics
Rotor was moving during saturation method. component" or start search mode.
Error messages
temperature model has reached the absolute limit value set for the device,
the device goes torque-free in order to protect it against destruction.
The error can only be cleared when the device has cooled down.
Cause Remedy
Overtemperature (heat sink) due to overload of device Switch drive off and let it cool down. Check mechanical
system and drive sizing (on average, working power may not
exceed continuous power of drive)
For liquid-cooled devices: Check dimensioning of cooling
system (see documentation with part number R911309636)
Ambient temperature too high. Specified performance data Reduce ambient temperature, e.g. by cooling the control
is valid up to an ambient temperature of 40 °C cabinet
Heat sink of device is dirty Clean heat sink
Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for
position in control cabinet ventilating heat sink
Device-internal blower failed If blower fails, replace device or power section
Failure of air conditioning for control cabinet Check air conditioning of control cabinet
Incorrect dimensioning of control cabinet with regard to heat Check dimensioning of control cabinet
dissipation
For liquid-cooled devices: Connect cooling system
No cooling system connected
For liquid-cooled devices: Check cooling system and remove error
Error in cooling system, e.g. coolant pump defective or filter
clogged; thereby flow rate too small / inlet temperature of
coolant too high
Error messages
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Encoder defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
The DC bus voltage is monitored. If the DC bus voltage briefly reaches the
maximum permissible value (this value depends on the power section used,
e.g. 900 V), the warning E8025 is generated first of all.
The release of the axes is switched off so that the axes no longer feed back
into the mains.
As the DC bus voltage has not fallen below the switch-off threshold despite
this measure, the error F8025 is output.
Cause Remedy
The energy fed back into the DC bus by the machine Reduce the feedback power through lower acceleration
mechanics during braking was so high that it could not be values.
dissipated by the supply unit within the feed back time. This - or -
caused the DC bus voltage to rise to an impermissible value.
Correct drive design.
- or -
Ensure that the supply unit has adequate dimensions with
regard to braking energy requirements; if the dimensions of
the braking resistor are not adequate, use additional braking
resistor where necessary.
No braking resistor connected or connection or cable faulty. Connect braking resistor or check connection.
108/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
F8xxx error at high speeds (field weakening area) on a Check whether the braking resistor value in the DC bus
synchronous motor. exceeds the maximum permissible value for the motor;
reduce the braking resistor value to or below the permissible
value if necessary.
Device fault on the supply unit (error in the DC bus voltage Replace the power section of the supply unit
measurement)
Cause Remedy
Special mode "safe standstill" was selected with active Remove drive enable before selection
control. - or -
Check control / wiring
Drive enable was set in special mode "safe standstill". Go to normal operation before setting drive enable
- or -
Check control / wiring
The controller monitors the motor / mains current (=controller output current)
flowing through the power transistors. If this current exceeds the allowed
value of the power transistors, the power transistors are switched off for their
own protection.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 109/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Cause Remedy
The sum of the effective motor currents is monitored for Check insulation of motor lines.
devices of the IndraDrive ML range. Check insulation of controller.
The sum of the motor currents is greater than half the
nominal current of the device.
Cause Remedy
Communication with one of the optional cards (HCP) faulty Replace the faulty optional card
(For information on mounting and dismounting components,
see documentation "Rexroth IndraDrive ML, Drive Systems
with HMU05")
Internal optional assembly faulty Replace device
Error messages
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Encoder defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
Error messages
Cause Remedy
Drive controllers of HCQ/HCT type with digital I/O extension: Connect external 24V supply
External 24V supply (connection point X70) missing
Sporadic failure of communication to control section Switch device off and then on again
peripherals
Communication to control section peripherals is impossible Replace hardware
Cause Remedy
A problem occurred while processing the diagnostic 1. Make a backup of all parameters.
messages of the drive. In too short a time too many 2. Have a look at the diagnostic trace to find out which
diagnostic messages were reported which could not be diagnostic messages were signaled last. A warning or
processed by the diagnostic system. an error is likely to have been cyclically signaled. This
diagnostic message usually appears repeatedly in the
diagnostic trace.
3. Now, switch the drive off and back on. During re-
commissioning see to it that the relevant diagnostic
message is not cyclically generated.
Then get in contact with our service department and forward
the parameter backup to them.
The current in the power transistors has exceeded the maximum allowed
device peak current (cf. "S-0-0110, Amplifier peak current").
Cause Remedy
External 24 V supply is not sufficiently overload-proof Check overload withstand capability of external 24 V power
supply unit and replace it, if necessary
Short circuit in motor or motor cable Check motor cable and motor for short circuit
Power section of drive controller is defective Replace drive controller
112/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Current loop parameterized differently Check current loop parameterization (cf. motor data sheet)
and correct it if necessary after having contacted our service
department
Voltage fluctuations in DC bus too high because system Reduce system impedance, e.g. increase feed wire cross
impedance too high sections
Restrictions of Correct Monitoring ● Safe monitoring of individual phases is only possible with a speed
Function command value of >10 U/min.
● The monitoring function also triggers if the motor has been incorrectly
parameterized (e.g. the value parameterized for "P-0-4004, Magnetizing
current" is much higher than the actually available magnetizing current).
Cause Remedy
At least one line phase of motor has not been connected to Check motor cable connection (check assignment motor
drive controller or line break has occurred connection↔axis).
Check individual motor phases from connection at drive
controller for line break and high ohmic resistance
For a double-axis device, the two motor power connections Check whether assignment of motor connections is correct
were interchanged or generally incorrect axis assignment for the axes
was made between motor and controller
Motor winding (U, V, W) has burned out Check motor winding by means of ohmmeter and replace
motor, if necessary
Voltage boost too low in U/f operation Adjust P-0-0568 until magnetizing current flows at standstill
(P-0-0440 corresponds to P-0-4004)
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 113/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Motor incorrectly parameterized Compare motor data in drive to actual motor data
(see also Functional Description of firmware "Rexroth
Motors" and "Determining the Parameter Values of Third-
Party Motors")
Power section defective Replace drive controller
Cause Remedy
Error in the external DC24 V voltage supply Check the external voltage supply
Power section faulty Replace device
Error messages
When the error F8070 occurs, the motors within the drive system
immediately go torque-free. Possibly existing self-holding motor
holding brakes apply.
Cause Remedy
Supply cable for control voltages defective Check and, if necessary, replace supply cable for control
voltages and connector
Overload of power supply unit for control voltage Check supply voltage at power supply unit
Power supply unit defective Check and, if necessary, replace power supply unit
Short circuit in wiring of supply voltage Check wiring for short circuit
Cause Remedy
Application error: Power supply unit not suited for control Use appropriate power supply unit for the device
voltage supply
Power supply unit defective Replace power supply unit
Electrical data: See Project Planning Manuals for the drive controllers, index
entry "Control voltage"
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 115/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Incorrect parameterization of sensorless positioning of Check whether parameter values of sensorless positioning
synchronous motors. of synchronous motors correspond to specification.
Rotor position incorrectly determined. Check whether preset limit values are complied with.
Possible causes:
● Acceleration too high
● Speed too high
● Instability in speed control loop
● Power line defective
Error messages
● The actual velocity at the motor shaft is greater than 20 rpm (or
20 mm/min for linear motors).
● Actual acceleration and control deviation have different signs.
Cause Remedy
Motor phases (U, V, W) interchanged so that commutation Check motor cable connection and correct phase
of motor is incorrect assignment, if necessary
Incorrect encoder arrangement Correct encoder arrangement (inverting rotational direction
of encoder can possibly resolve problem)
Velocity loop setting incorrect Check velocity loop setting according to Functional
Description/Application Manual
Commutation offset incorrect Replace motor (in the case of MHD, MKD, MKE motors); in
the case of kit motors, make commutation settings
Drive is operated in voltage-controlled form (without Deactivate velocity loop monitoring in P-0-0556
encoder; U/f control); with this drive function, velocity loop
monitoring does not make sense
Motor encoder defective Replace motor encoder (or motor)
Error messages
Cause Remedy
"S-0-0040, Velocity feedback value" has exceeded the Check and, if necessary, correct parameterization of
1.125-fold value of one of the parameterized velocity limit "S-0-0091, Bipolar velocity limit value", "S-0-0038, Positive
values velocity limit value" and "S-0-0039, Negative velocity limit
value".
MPx06 and above: Within the parameterized standstill
window (S-0-0124), the actual velocity is not monitored with
regard to the limits resulting from S-0-0091, S-0-0038 and
S-0-0039.
Velocity control loop unstable or too heavily oscillating due Check and, if necessary, correct parameterization of velocity
to incorrect parameterization controller
All firmware products not requiring export licenses released ● Check operability: Does the drive follow a preset
as of 2014-12-311) (functional packages "0: open-loop velocity command value? If necessary, ensure
package" or "1: closed-loop package"): operability by repeating commissioning.
The actual velocity values reached in open-loop operation ● Sensorless motor operation: Check slip compensation.
correspond to an inverter output frequency ≥ 600 Hz. In the case of over-compensation, the velocity
feedback value can be higher than the velocity
command value. If necessary, reduce velocity
command value or rated slip frequency (P-0-0600).
● Check whether another connected motor "tows" the
motor to a higher velocity.
Error messages
Cause Remedy
One of the parameters of the power section is invalid (e.g., Check the content of list "S-0-0021, IDN-list of invalid
checksum error) or contains an inadmissible value. operation data for CP2", note down the IDNs (ident
numbers/parameters) contained therein, and then please
contact Rexroth customer service.
Control and/or power section defective Replace drive controller
Collective message for fatal power section errors, which are transmitted by
the power section. The diagnostic number transmitted by the power section is
entered in the log book.
Cause Remedy
Unknown diagnosis of the power section for the control Use latest firmware for the control section
section
During the initialization of the drive, the control section is checked for correct
function. An error was detected during this check.
Cause Remedy
Special case for MPx16: Firmware upgrade to higher According to instructions, put drive into ready-for-operation
firmware version. status again
This error occurs once at first start of drive after firmware (see Application Manual " Firmware Replacement").
upgrade. Drive can only be switched to operating mode again after
control voltage once was switched off and on again.
Control section configuration not allowed, because an Switch drive off and on again. If error occurs again, replace
optional module is not supported by firmware control section by different control section with appropriate
configuration.
If necessary, contact our service department
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 119/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Firmware used is not suitable, i.e. hardware and firmware do Select suitable firmware by means of Functional Description
not match or Version Notes / Release Notes (see index entry
"Supported control sections")
Hardware defect on control section Switch drive off and on again. If error still occurs, contact our
service department and, if necessary, replace control
section or entire drive controller
During the initialization of the drive the power section is checked for correct
function. An error was detected during this check.
Cause Remedy
Hardware and firmware do not match Check Firmware Release Notes or Firmware Version Notes
and, if necessary, use latest firmware release.
Parameter "P-0-1510, Circuit board code power section" Switch drive off and on again. If error occurs again, check
stored on power section is invalid or was incorrectly written. content of "P-0-1510, Circuit board code power section" and
contact our service department!
Maybe you have to replace power section or entire drive
controller.
Hardware defect on power section Replace power section or entire drive controller.
Error messages
Cause Remedy
The firmware does not support the type of power section at Replace firmware. Use a firmware version or a firmware
hand release that supports the type of power section.
- or -
Replace the power section. Use a type of power section that
is supported by the used firmware version and release.
The power section may only be replaced by Rexroth service
engineers. Please contact our customer service.
In addition, IndraDrive C / IndraDrive M as of MPx-18: Replace the power section. Use a power section that was
The hardware of the power section is outdated. manufactured in 2007 or later.
The HCS02, HCS03, HCS04, HMS and HMD power The power section may only be replaced by Rexroth service
sections are only supported by control section Cxx02.x if engineers. Please contact our customer service.
they were manufactured in 2007 or later [see indication "FD"
on the name plate of the power section (example: 07W49
means year 2007, week 49)]. Older hardware of these
device types is no longer supported.
Cause Remedy
During firmware replacement, there is an attempt to copy Use firmware that matches control section
firmware to controller which does not match
Inappropriate control section Use control section that matches firmware
Safety technology incorrectly configured for double-axis Check control section configuration
device
Error messages
Cause Remedy
Hardware of control section is defective Replace control section or entire drive controller; use
hardware configuration of same type
Cause Remedy
Cause Remedy
Firmware of an optional module programmed in invalid form Carry out firmware update (again). If error occurs
- or - repeatedly, it is necessary to replace control section or drive
controller
An error occurred during firmware update
122/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
"Error reaction active" has been set in P-0-1800.0.1/ Locate faulty slave and remove cause of error for this slave
P-0-1600 (CCD: Configuration) and an F8 error has
occurred in a slave
Cause Remedy
Sampling ratio of dynamization pulses too low on one or on Check wiring of inputs and outputs and remove error
both selection channels
In the case of selection by active safety unit: Test pulse Replace safety unit
generation is inappropriate or defective
Error messages
Cause Remedy
The safety technology cyclically tests the switch-off channels for their
function. If an error is detected twice in the same function (STO or SBC) and
the same channel within 9 tests, an immediate error reaction is initiated (safe
and functional output stage switch-off and brake activation).
124/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Holding brake has been parameterized in P-0-0525; there is Set P-0-0525, bit 2="0" (no holding brake available)
no holding brake available
Minimum current of brake has fallen below threshold value Please check:
● the brake connection
● the brake configuration
● the brake used
The switch-off signals are faulty, because the shielding of Check shielding of motor cable for damage.
the motor cable is defective Make sure that shielding of motor cable is directly connected
- or - to housing of respective drive controller (see also Project
the shielding of the motor cable has not been correctly Planning Manual, material number R911344988).
wired.
Error in switch-off channels STO or SBC Clear error by selecting and deselecting safety functions on
safety option. Then acknowledge error message.
If error occurs repeatedly, replace drive controller.
The diagnostic unit of the safety technology monitors its function. In case an
error is detected, an immediate error reaction (safe and functional output
stage switch-off and brake activation) is initiated.
Cause Remedy
Firmware update was carried out after drive controller had Switch power supply off and on again. Then repeat firmware
been in "AF" update
System error within diagnostic unit of safety technology (e.g. Switch power supply off and on again
watchdog) If error occurs repeatedly, replace drive controller
Error messages
During the first run-up after switching on the control voltage an error was
detected when checking the safety technology configuration parameters.
Cause Remedy
Configuration parameters not verified Verify parameters (list of unverified parameters: P-0-3233)
Configuration parameters outside of allowed value range 1. Check and correct value
2. Verify parameters (list of unverified parameters:
P-0-3233)
An error occurred during the first run-up after switching on the control
voltage. The SMO parameter mode was not reached.
Cause Remedy
When command C8200 is started, SMO is not in First, activate configuration mode (C8100) so that it can be
configuration mode, so command is not executed terminated
If the auxiliary function "Safe homing procedure" is used: Assign a value unequal zero to the "Safe homing procedure
The tolerance window for the Safe homing procedure tolerance window" (P-0-3253.0.4)
(P-0-3253.0.4) has been parameterized with "0"
126/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Scaling: Make sure that the data reference is the same
The data reference for position, velocity and acceleration ● Position data: P-0-3222.0.1
data is not equally parameterized ● Velocity data: P-0-3223.0.1
● Acceleration data: P-0-3224.0.1
The scaling type for velocity and acceleration data is not Make sure that the scaling type is the same
equally parameterized ● Velocity data: P-0-3223.0.1
● Acceleration data: P-0-3224.0.1
The scaling unit for position, velocity and acceleration data Make sure that the scaling unit is the same
is not equally parameterized (mixed inch/metric) ● Position data: P-0-3222.0.1
● Velocity data: P-0-3223.0.1
● Acceleration data: P-0-3224.0.1
Scaling: Select an allowed data reference
The selection "Data reference at the motor shaft" - with load
encoder - is not allowed
Scaling: The rotation position resolution has to be entered as the
The rotation position resolution is not correct value 360 × 10Exp (Exp="0..7")
Error messages
Cause Remedy
IO mapper inputs: IO mapper block "Binary-to-bit decoder":
Input signals not in order Check the list of source IDNs (P-0-3330.x.2) for gaps.
IO mapper inputs: "Binary-to-bit decoder":
Only safety bus allowed Check the source IDN (in P-0-3330.x.2) for P-0-3340
IO mapper inputs: Check the IO mapper block types (P-0-3330.x.1).
The IO mapper block type is not allowed Only values from "0" to "7" are allowed.
IO mapper inputs: Use an IDN from the list of possible source IDNs
The source IDN is not allowed (P-0-3330.x.2)
When the drive controller is switched on, the following checks are made in
the initialization of the SMO encoder:
● Parameterization of the encoder
● Encoder signal test
● Test of the optional safety technology module
If one of the checks reveals an error, this command error is generated.
Cause Remedy
An error was detected with regard to an inactive SMO during the state
change between the "condition as supplied" and "functional commissioning".
The state change can take place with the following actions:
● While configuring functional commissioning (P-0-3201)
● After switching on the control voltage during the first run-up
128/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
When the safety technology was started, an error was detected that prevents
further operation.
1. Switch drive off and then on again.
2. If the error continues to be reported, save all of the parameters (see
Functional Description "Loading, Saving and Backing Up Parameters").
3. Contact our service department.
F8319 - Attributes Display: F8319
Diagnostic no.: F8319
Diagnostic no. as of 18VRS: 060F8319
CiA error code: F0D6
Error can be cleared: ✓
Critical SMO error: ✓
Error messages
Cause Remedy
The control voltage was switched on. Check the password level (P-0-3230).
Although a valid safety technology password was detected, ● If P-0-3230="0", switch off the control voltage and then
the SMO parameter mode could not be activated. switch it back on.
If the error occurs repeatedly, please contact our
service department.
● If P-0-3230="2", please call "Error/diagnostic memory"
dialog in IndraWorks (axis context menu in the Project
Explorer: Diagnostics ▶ Error/diagnostic memory) and
remove the errors that occurred in the execution of the
command C8200.
The safety technology password was assigned for the first 1. Switch off the control voltage and then switch it back
time. on.
Although the password was valid, the safety technology 2. Assign a new valid safety technology password.
could not be activated.
(The safety technology password entered originally was
discarded.)
130/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
An attempt was made to load a parameter image and an 1. Please call "Error/diagnostic memory" dialog in
error occurred in the process. IndraWorks (axis context menu in the Project Explorer:
Diagnostics ▶ Error/diagnostic memory).
2. If the error/diagnostic memory contains errors that
occurred when command C8300 was executed, repair
these errors.
3. In addition, make sure that the parameter image
originates from a pattern axis that was completely
commissioned and validated.
4. Load the parameter image again.
The control voltage was switched on and no valid safety Assign new password following the requirements for the
technology password was detected. safety technology password ("P-0-3230.0.1, SMO:
Password")
If the auxiliary function "Safe homing procedure" is used: Assign a value unequal zero to the "Safe homing procedure
The tolerance window for the Safe homing procedure tolerance window" (P-0-3253.0.4)
(P-0-3253.0.4) has been parameterized with "0"
8.2.55 F8330 SMO: Configuration data record has not been activated
Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Cause Remedy
A new parameter set with a changed SMO parameter image To continue to operate safety technology, activate changed
was loaded. parameter image as follows:
On the control panel, acknowledge the message "Load New
Safety?" by pressing the "Enter" key
- or -
Start the command "C8300 SMO: Command Activate
parameter image"
Error messages
Safety technology, change in ope‐ In the transition to safety technology operating status "EMERGENCY STOP"
rating status or special mode "Safe standstill" using the safety function "Safe stop 1" (SS1)
in the "time priority format" (P-0-3280.0.1, bit 1="0"), the drive is not able to
reach standstill within the parameterized maximum transition time.
Safety technology, change in operating status
Cause Remedy
Parameterization for transition time for NC-controlled Check parameterization of transition time from normal
transition from normal operation into special mode "Safe operation into special mode "Safe standstill" (P-0-3280.0.2)
stand still" is too low. and correct accordingly
Parameterization for transition time for NC-controlled Check parameterization of transition time between safe
transition from special mode into another special mode is operating states (P-0-3280.0.3) and correct accordingly
too low.
Drive enable is still set Make sure that drive enable is removed
In "SS1 time prioritized" with deceleration monitoring ● For drive-controlled transition, stopping process takes
(P-0-3280.0.1, bit 1="0" and bit 2="1"), parameterized place via "P-0-0119, Best possible deceleration" so
deceleration is too low and/or is not adjusted for that error reaction parameterized in drive has to be
parameterized tolerance time. checked.
● For NC-controlled transition, check deceleration
parameterized in control unit
"NC-controlled stopping process" was activated by mistake Check configuration of operation mode transitions and
correct accordingly (P-0-3280.0.1); i. e. activate "drive-
controlled standstill"
F7 error reaction In the transition to "Safe standstill error" the drive is not able to reach
standstill within the parameterized maximum transition time; F8350 is a
resulting error from error F7050.
F7 error reaction
Cause Remedy
Parameterization of tolerance time for reaction to F7 error is Check tolerance time for reaction to F7 error and correct
too low accordingly (P-0-3263.0.7)
Drive enable is still set Make sure that drive enable is removed
Parameterized deceleration is too low or not adjusted to For drive-controlled transition, stopping process takes place
parameterized tolerance time via "P-0-0119, Best possible deceleration" so that error
reaction parameterized in drive has to be checked.
In the transition into "Safe standstill error" (SMD-E), the drive is not able to
reach standstill at the parameterized deceleration.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
If "drive reaction to errors of category F7" is set, deceleration ● Check parameterization of drive deceleration
caused by drive is insufficient (P-0-0119)
● Check torque limit (P-0-0109)
Current actual velocity is exceeded when F7 error occurs ● Check controller settings and adjust if necessary
during acceleration procedures ● Check parameterization of P-0-3263.0.2 and
P-0-3263.0.3
Current actual velocity is exceed when velocity window ● Check controller settings and adjust if necessary
SMD-E is reached ● Check parameterization of P-0-3280.0.4
Incorrect parameterization Check parameter settings and change them, if necessary:
● P-0-3263.0.2
● P-0-3263.0.3
● P-0-3263.0.4
● P-0-3263.0.5
● P-0-3263.0.7
Cause Remedy
Drive enable was set while safety function "Safe torque off Go to normal operation before setting drive enable
(STO)" was active - or -
Check control / wiring
Special mode "safe standstill" was selected with active Remove drive enable before selection
control - or -
Check control / wiring
Error messages
Cause Remedy
An error was detected during check of interrupting circuit Check brake wiring for short circuit or wire break
If brake wiring is error-free:
Start command "S-0-0099, C0500 Reset class 1
diagnostics" to clear the error and then set drive enable
again.
If error occurs repeatedly, replace drive controller.
Safety function "Safe Brake Control (SBC)" was configured Deselect "Safe Brake Control (SBC)" configuration in
although no brake has been connected P-0-3265.0.1
If a HAT02 control module has been connected to a control Make sure to use a control section of the Cxx02.1 type that
section of the Cxx02.1 type: was manufactured in production week 14W39 or later (see
Maybe control section was manufactured before production type plate, field 6)
week 14W39, it is not suited for use in conjunction with
HAT02 control module
In order to lock the output stage in a safe way when the safety technology
has detected an error, the correct functioning of the interrupting circuit is
cyclically checked. This is done on the one hand during the actions "release
output stage" and "lock output stage", on the other hand statically while the
output stage is being enabled or locked. The corresponding hardware
realization ensures that this is possible without repercussion on the PWM
control signals.
An error was detected while locking the output stage or in the cyclic check of
the output stage lock of the safety function "Safe torque off (STO)".
Cause Remedy
An error was detected during check of interrupting circuit Start command "S-0-0099, C0500 Reset class 1
diagnostics" in order to clear error and then set drive enable
again.
If error occurs repeatedly, replace drive controller.
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Error messages
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Measuring system defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Channel 1 and channel 2 provide different data Restart drive
Hardware defect on control section of drive Replace control section or entire drive controller
Cause Remedy
A non-supported performance setting was made for the Check the parameters "P-0-0556, Config word of axis
drive controller" (bit 2 and bit 5) and "P-0-0001, Switching
frequency of the power output stage"
An inadmissible hardware configuration is used Please contact our service department
A wiring error on the mains choke was identified after the power supply was
connected.
Cause Remedy
The mains choke is connected incorrectly (e.g. incorrect Check and correct the connection of the mains choke; the
rotational direction of the mains phases) connections to the mains choke must be as short as
possible and twisted
Error messages
Cause Remedy
The mains voltage crest value has risen above the Check the mains voltage (connection voltage range, see
permissible maximum value. documentation "Rexroth IndraDrive ML, drive systems with
HMU05").
Use an impedance matching transformer where necessary
The DC bus voltage is monitored. The error is triggered when the maximum
value is exceeded.
Cause Remedy
The energy fed back into the DC bus by the machine Reduce the feedback power through lower acceleration
mechanics during braking was so high that it could not be values
dissipated by the supply unit within the feed back time. This - or -
caused the DC bus voltage to rise to an impermissible value
Correct drive design
- or -
Ensure that the supply unit has adequate dimensions with
regard to braking energy requirements; if the dimensions of
the braking resistor are not adequate, use additional braking
resistor where necessary
The mains supply voltage (input alternating voltage) is too Check the input alternating voltage (alternating voltage/3-
high phase)
No braking resistor (HLR) / braking unit (HLT) connected or Connect braking resistor (HLR) / braking unit (HLT) or check
connection or cable faulty connection
F8xxx error at high speeds (field weakening area) on a Check whether the braking resistor value in the DC bus
synchronous motor exceeds the maximum permissible value for the motor;
reduce the braking resistor value to or below the permissible
value if necessary
The parameterization of the supply unit is incorrect, e.g. Check parameterization
● feedback deactivated
● Current limit value too low
● …
Error messages
The power was switched off due to potential overload of the braking resistor.
If the DC bus voltage exceeds the current switch-on threshold of the braking
resistor ("P-0-0833, Braking resistor threshold") following generator-based
operation, the braking resistor is switched on to limit the DC bus voltage. The
load of the braking resistor is shown in "P-0-0844, Thermal load of braking
resistor". If the load of the braking resistor increases to 110%, the error
F8820 is shown.
The error can only be cleared when its cause has been removed.
Once the cause of the error has been removed, the braking
resistor must be checked for functionality!
Cause Remedy
The mains contactor was opened so that the fed back Only switch off the mains contactor if the supplied axes are
energy of the supplied axes had to be absorbed by the not in operation.
braking resistor. The energy absorption capacity of the
braking resistor is exhausted.
The release of the power supply was switched off, even Only switch off the power supply when the axes are at a
though the supplied axes were still active, so that the fed standstill.
back energy of the supplied axes had to be absorbed by the
braking resistor. The energy absorption capacity of the
braking resistor is exhausted.
The permissible delay of the connected drives is too high. Reduce the delay of the connected drives.
Switch the additional capacities in the DC bus to enable the
fed back energy to be saved.
The rotary drive energy is too high. Reduce the maximum speed or check the dimensions of the
supply module and increase the dimensions of the supply
module if necessary.
Cause Remedy
Error messages
Cause Remedy
Hardware error in power section Switch device off and then on again.
If error occurs repeatedly, replace device
Drive controller The total current of the three motor phases is not equal to "0". A ground fault
was then detected in the motor wire by the drive controller. After the output
stage is switched off, the ground fault current does not decay or only decays
slowly.
Cause Remedy
Ground fault in a motor wire Check the insulation of the motor cable with a measuring
device and remove the ground fault. If the motor cable is not
faulty, there is an error on the device or a connection
Ground fault in a controller of the drive system Replace device
Supply unit The total current of the three motor phases is not equal to "0". A ground fault
was then detected in the DC bus line by the supply unit. After the output
stage is switched off, the ground fault current does not decay or only decays
slowly.
Cause Remedy
Ground fault in a DC bus line Check the insulation of the DC bus line with a measuring
device. If the DC bus cable is not faulty, there is an error on
the device or a connection
Error messages
Cause Remedy
The configuration of the drive saved in the master power Execute command C9100 to confirm the configuration; then
section has changed, e.g. restart device
● Number of slave power sections
● Configuration between power supply and drive
The number of power sections connected in parallel and Execute command C9100 to confirm the configuration; then
saved in the master power section has changed restart device
Power sections with different DC bus continuous output / Only connect identical power sections in parallel
maximum current are connected in parallel
The optional cards HPC01 are not recognised Dismantle the optional cards HPC01 and install them again
to remove contact problems
- or -
Replace optional cards HPC01
- or -
Replace the power section
(For information on mounting and dismounting components,
see documentation "Rexroth IndraDrive ML, Drive Systems
with HMU05")
During power supply configuration: Check the communication connection of the HNA bus
The mains connection module is not recognised between the optional card HPC01 (XG32) and the mains
connection module HNA (XG32); replace cable if necessary
- or -
Replace optional cards HPC01
- or -
Replace the mains connection module HNA
(For information on mounting and dismounting components,
see documentation "Rexroth IndraDrive ML, Drive Systems
with HMU05")
Basic device parameters are incorrect Contact our service department; the device may have to be
replaced if necessary
Cause Remedy
Asymmetry of the internal DC bus capacities was identified Switch the device off and on. If the error still occurs, replace
the device
Error messages
The error F8838 is generated when the current in the braking resistor circuit
is rising in an inadmissible way.
Cause Remedy
Resistance value of connected braking resistor is too low. Connect braking resistor unit with higher resistance value
(take specification into account!).
Short circuit at braking resistor connection. Remove short circuit
The motor / mains current is monitored by the power section. If the current
rises to over 1.3 - 1.5 times the device peak current, the power transistors are
switched off. After the output stage is switched off, the over-current does not
decay or only decays slowly.
Cause Remedy
Incorrect current controller parameterization Check the current controller parameterization and correct
following consultation with customer service:
● "S-0-0106, Current loop proportional gain 1",
"S-0-0107, Current loop integral action time 1"
See application description for firmware "MPx":
"Current controller"
and/or
● "S-0-1708.0.11, Mains current controller proportional
gain", "S-0-1708.0.12, Mains current controller integral
action time"
See application description for firmware "PSB": "Mains
current control"
For motors from Bosch Rexroth with encoder data memory, Check whether the values in "S-0-0106, Current loop
the values for current controller parameterization do not proportional gain 1" and "S-0-0107, Current loop integral
correspond to the values in the encoder data memory action time 1" correspond to the values in the encoder data
memory ("P-0-2106, Current loop proportional gain 1, type
plate" and "P-0-2107, Current loop integral action time 1,
type plate")
Notice: The calculation of "S-0-0106, Current loop
proportional gain 1" is dependent on "P-0-0001, Switching
frequency of the power output stage" and "P-0-0556, Axis
controller control word"!
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 141/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
For motors from Bosch Rexroth without encoder data Check whether the values in "S-0-0106, Current loop
memory, the values for current controller parameterization proportional gain 1" and "S-0-0107, Current loop integral
do not correspond to the manufacturer specifications action time 1" correspond to the manufacturer specifications
For motors from third-party manufacturers, the output data Check whether the output data for calculating the parameter
for calculating the parameter values is not correct values is correct
Inverter: short-circuit between the motor phases Check the impedance between the motor phases
Check for short-circuits on the cable and connections
Supply unit: short circuit in the DC bus Check for short-circuit between L+ and L- and remove if
possible or replace damaged components
Device defective Replace device
Collective message for fatal power section errors, which are transmitted by
the power section and result in the immediate switch-off of the mains
contactor.
The diagnostic number transmitted by the power section is entered in the log
book.
Cause Remedy
Unknown diagnosis of the power section for the control Use latest firmware for the control section
section
Error messages
If the F7 error reaction is not complete after the time period entered in
"P-0-3263.0.7, SMO: Error reaction F7 tolerance time" has expired, then the
error message "F8350 Timeout standstill" is generated. As soon as the axis
stops and the error reaction is complete, the axis acknowledges safety.
Commissioning Steps After a safety technology error (F7xxx) has occurred, the drive can only be
put into operation again when:
1. The actual cause of the error was recognized and removed (e.g.
incorrect parameterization of velocity thresholds or time windows).
2. The error message was cleared by the error clearing command (cf.
"S-0-0099, C0500 Reset class 1 diagnostics").
3. The drive is in the operating mode again and power was switched on
again ("Ab").
4. Drive enable was switched on again (0-1 edge).
The velocity feedback value has exceeded the maximum homing velocity.
The maximum homing velocity is monitored, because "Safe homing
procedure" was activated, but the "Safe reference" is missing.
Cause Remedy
Safe homing procedure is active (P-0-3253.0.1) and the Make sure the velocity feedback value (P-0-3258) is smaller
status of the SMO encoder position feedback value is than "P-0-3253.0.5 SMO: Maximum homing velocity" until
"relative" (P-0-3256). the status for the "Safe reference" (P-0-3256) has been set.
The velocity feedback value (P-0-3258) has exceeded the - or -
maximum homing velocity (P-0-3253.0.5) in this state. Check whether "Safe homing procedure" is actually
required; this is the case if, e.g., safety functions of the safe
absolute positions are used (SLP, SLE, SMP, SCA). Change
the parameterization of P-0-3253.0.1, if "Safe homing
procedure" is not required.
Error messages
In the special mode "safe motion" with configured safety function "Safely-
limited increment", the monitoring function makes sure that the values do not
leave the parameterized position window (increment).
The bipolar position window is activated with the start of the special mode.
For the duration of the special mode, the drive can freely move within the
limits of the position window.
Cause Remedy
At least one of the position windows relevant for special Check parameterization of position windows and adjust it to
mode "safe motion" has been incorrectly parameterized desired travel targets.
Position window:
● "P-0-3290.1.3, SMO: Safety-limited increment 1" or
● "P-0-3290.2.3, SMO: Safety-limited increment 2" or
● ...
● "P-0-3290.16.3, SMO: Safely-limited increment 16"
After troubleshooting, start command "S-0-0099, C0500
Reset class 1 diagnostics" in order to clear error an then set
drive enable again
Command value input is incorrect; i.e. drive moves to invalid Check command value input in control unit and adjust target
target positions positions according to travel range or required target
positions.
After troubleshooting, start command "S-0-0099, C0500
Reset class 1 diagnostics" in order to clear error an then set
drive enable again
8.3.4 F7011 SMP, SLP: Safe position limit value, positive exceeded
Allocation Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Cause Remedy
With active safety function "Safely-monitored position (SMP)" or "Safely-limited position (SLP)"
The allowed positive absolute position limit was exceeded. Check command value input and adjust it in accordance with
the value parameterized in "P-0-3290.x.4, SMO: Position
limit value, positive"
- or -
Check whether the positive position limit has been
parameterized correctly (P-0-3290.x.4).
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Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
The actual position of the drive is outside of the allowed 1. Start command "S-0-0099, C0500 Reset class 1
positive absolute position limit and the drive moved at a diagnostics" to clear the error.
velocity greater than "P-0-3253.0.5, SMO: Max. homing 2. Set drive enable again.
velocity".
3. When moving back to the allowed position range,
- or - make sure the drive moves at a velocity smaller than
The actual position of the drive is outside of the allowed "P-0-3253.0.5, SMO: Max. homing velocity" and does
positive absolute position limit. When moving back to the not leave the parameterized standstill window
allowed position range, the drive kept moving in the positive (P-0-3270.0.3).
direction by a distance greater than parameterized in
"P-0-3270.0.3, SMO: Standstill window for safe direction".
Only with active safety function "Safely-limited position (SLP)"
The drive was moved in the direction of the positive position In the case of movements in the direction of the positive
limit with a velocity at which the deceleration capacity no position limit, reduce the drive velocity so that the
longer suffices for the drive to come to standstill within the deceleration capacity suffices for the drive to come to
positive position limit. standstill within the positive position limit.
- or -
Check whether the positive position limit has been
parameterized correctly (P-0-3290.x.4).
8.3.5 F7012 SMP, SLP: Safe position limit value, negative exceeded
Allocation Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Cause Remedy
With active safety function "Safely-monitored position (SMP)" or "Safely-limited position (SLP)"
The allowed negative absolute position limit was exceeded. Check command value input and adjust it in accordance with
the value parameterized in "P-0-3290.x.5, SMO: Position
limit value, negative"
- or -
Check whether the negative position limit has been
parameterized correctly (P-0-3290.x.5).
The actual position of the drive is outside of the allowed 1. Start command "S-0-0099, C0500 Reset class 1
negative absolute position limit and the drive moved at a diagnostics" to clear the error.
velocity greater than "P-0-3253.0.5, SMO: Max. homing 2. Set drive enable again.
velocity Max. Homing velocity".
3. When moving back to the allowed position range,
- or - make sure the drive moves at a velocity smaller than
The actual position of the drive is outside of the allowed "P-0-3253.0.5, SMO: Max. homing velocity" and does
negative absolute position limit. When moving back to the not leave the parameterized standstill window
allowed position range, the drive kept moving in the negative (P-0-3270.0.3).
direction by a distance greater than parameterized in
"P-0-3270.0.3, SMO: Standstill window for safe direction".
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 145/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Only with active safety function "Safely-limited position (SLP)"
The drive was moved in the direction of the negative position In the case of movements in the direction of the negative
limit with a velocity at which the deceleration capacity no position limit, reduce the drive velocity so that the
longer suffices for the drive to come to standstill within the deceleration capacity suffices for the drive to come to
negative position limit. standstill within the negative position limit.
- or -
Check whether negative position limit has been
parameterized correctly (P-0-3290.x.5).
Cause Remedy
In special mode "safe motion", velocity threshold Check command value input and adjust it according to
parameterized in parameter setting
● P-0-3290.1.2, SMO: Safely-limited speed 1 - or -
or Check parameter setting and change it, if necessary.
● P-0-3290.2.2, SMO: Safely-limited speed 2 Afterwards start command "S-0-0099, C0500 Reset class 1
or diagnostics" in order to clear error and then set drive enable
again
● ...
● P-0-3290.16.2, SMO: Safely-limited speed 16
was exceeded
In the special mode "Safe motion" with configured safety function "Safely-
monitored transient oscillation" monitoring takes place so that the
parameterized velocity limit is not exceeded for a longer period than the
parameterized time period
146/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
In the special mode "Safe motion" (with active safety Check command value input and adjust it according to
function "Safely-monitored transient oscillation") the parameter setting
"Safely-reduced speed" (P-0-3290.x.8) was exceeded for - or -
longer than the tolerance time period (P-0-3290.x.7)
Check parameter setting and change it, if necessary.
Afterwards start command "S-0-0099, C0500 Reset class 1
diagnostics" in order to clear error and then set drive enable
again
Cause Remedy
The cyclic CSos stack processing is not active in a safety Restart drive by switching off the control voltage and then
technology channel. switching it back on.
Please contact our service department, if error occurs again
in spite of the drive being restarted.
When monitoring of the safe maximum speed has been configured (see
"P-0-3270.0.1"), the drive in normal operation and in special mode monitors
the current actual velocity.
When the velocity threshold parameterized in "P-0-3270.0.2" is exceeded,
the error F7020 is generated.
Cause Remedy
Velocity threshold was incorrectly parameterized Check and, if necessary, increase parameter setting of
"P-0-3270.0.2"
Incorrect command value input; i.e. velocity command value Check command value input in control unit or, for drive-
too high internal interpolation, check parameterized positioning data
(cf. "S-0-0259, Positioning velocity" or "P-0-4007,
Positioning block velocity")
Error messages
Cause Remedy
The drive was moved in the direction of the positive position Check whether the value in "P-0-3270.0.4, SMO: Safe end
limit with a velocity at which the deceleration capacity no position limit value, positive" has been parameterized
longer suffices for the drive to come to standstill within the correctly. ATTENTION: If the value is increased, make sure
positive position limit. this does not cause damage to machines or personal injury!
- or -
In the case of movements in the direction of the positive
position limit, reduce the drive velocity so that the
deceleration capacity suffices for the drive to come to
standstill within the positive position limit.
The allowed positive absolute position limit was exceeded Check command value input and adjust it in accordance with
the value parameterized in "P-0-3270.0.4, SMO: Safe end
position limit value, positive".
- or -
Check whether the value in "P-0-3270.0.4, SMO: Safe end
position limit value, positive" has been parameterized
correctly.
The actual position of the drive is outside of the allowed When moving back to the allowed position range, make sure
positive absolute position limit and the drive moved at a the drive moves at a velocity smaller than "P-0-3253.0.5,
velocity greater than "P-0-3253.0.5, SMO: Max. homing SMO: Max. homing velocity" and does not leave the
velocity". standstill window parameterized in "P-0-3270.0.3, SMO:
Standstill window for safe direction".
The actual position of the drive is outside of the allowed Check whether the value in "P-0-3270.0.3, SMO: Standstill
positive absolute position limit. When moving back to the window for safe direction" has been parameterized correctly.
allowed position range, the drive kept moving in the positive ATTENTION: If the value is increased, make sure this does
direction by a distance greater than parameterized in not cause damage to machines or personal injury!
"P-0-3270.0.3, SMO: Standstill window for safe direction". - or -
When moving back to the allowed position range, make sure
the drive moves at a velocity smaller than "P-0-3253.0.5,
SMO: Max. homing velocity" and does not leave the
standstill window parameterized in "P-0-3270.0.3, SMO:
Standstill window for safe direction".
Error messages
Cause Remedy
The drive was moved in the direction of the negative position Check whether the value in "P-0-3270.0.5, SMO: Safe end
limit with a velocity at which the deceleration capacity no position limit value, negative" has been parameterized
longer suffices for the drive to come to standstill within the correctly. ATTENTION: If the value is increased, make sure
negative position limit. this does not cause damage to machines or personal injury!
- or -
In the case of movements in the direction of the negative
position limit, reduce the drive velocity so that the
deceleration capacity suffices for the drive to come to
standstill within the negative position limit.
The allowed negative absolute position limit was exceeded Check command value input and adjust it in accordance with
the value parameterized in "P-0-3270.0.5, SMO: Safe end
position limit value, negative".
- or -
Check whether the value in "P-0-3270.0.5, SMO: Safe end
position limit value, negative" has been parameterized
correctly.
The actual position of the drive is outside of the allowed When moving back to the allowed position range, make sure
negative absolute position limit and the drive moved at a the drive moves at a velocity smaller than "P-0-3253.0.5,
velocity greater than "P-0-3253.0.5, SMO: Max. homing SMO: Max. homing velocity" and does not leave the
velocity". standstill window parameterized in "P-0-3270.0.3, SMO:
Standstill window for safe direction".
The actual position of the drive is outside of the allowed Check whether the value in "P-0-3270.0.3, SMO:
negative absolute position limit. When moving back to the Stillstandsfenster sichere Bewegungsrichtung" has been
allowed position range, the drive kept moving in the negative parameterized correctly. ATTENTION: If the value is
direction by a distance greater than parameterized in increased, make sure this does not cause damage to
"P-0-3270.0.3, SMO: Standstill window for safe direction". machines or personal injury!
- or -
When moving back to the allowed position range, make sure
the drive moves at a velocity smaller than "P-0-3253.0.5,
SMO: Max. homing velocity" and does not leave the
standstill window parameterized in "P-0-3270.0.3, SMO:
Standstill window for safe direction".
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 149/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
In the safety function "Safe operational stop" the axis is monitored for
standstill. The bipolar pos. window use for this is activated when the safe
operational stop starts.
Cause Remedy
"P-0-3285.0.2, SMO: Parameterization of monitoring window Change parameterization of "P-0-3285.0.2, SMO: Monitoring
for safe operational stop" is wrong. window for safe operational stop " appropriately
Incorrect command values are preset by drive or external Check command value input and adjust it according to
control unit parameter setting
While safety function "Safe direction" is executed, the drive is monitored with
regard to whether it inadmissibly moves against the parameterized direction
of motion by more than the distance parameterized in "P-0-3270.0.3, SMO:
Standstill window for safe direction of motion". If yes, error F7031 is
generated.
150/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Incorrect command value input Adjust command value input according to parameterized
direction of motion and monitoring window "P-0-3270.0.3,
SMO: Standstill window for safe direction of motion"
Incorrect parameterization of direction of motion Check parameter setting for direction of motion and change
it, if necessary.
● "P-0-3270.0.1, Configuration of global safety
technology functions"
or
● "P-0-3290.1.1, Configuration of safe motion 1"
or
● "P-0-3290.2.1, Configuration of safe motion 2"
or
● ....
or
● "P-0-3290.16.1, Configuration of safe motion 16"
Faulty parameterization of "P-0-3270.0.3, SMO: Standstill Check for faulty parameterization of "P-0-3270.0.3, SMO:
window for safe direction of motion" Standstill window for safe direction of motion" and change, if
necessary
The cause of the error can be read via the detailed diagnostics of
the zone master.
Cause Remedy
The zone node in normal operation receives the signal Switch zone master into error-free state
"Normal operation locked" (see P-0-3266.0.1) via the zone
bus
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 151/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
The safety zone module signals an error in the safety door control/safety door
feedback.
Error reaction If this error occurs, the safety zone module switches off the outputs "DYN",
"SZA", "SZE" and "SDL".
The zone master locks normal operation via the zone bus; i.e. all zone nodes
are kept in the safe state or are transitioned into the safe state by the drive
reaction to error F7032.
152/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
In connection with the telegrams and signals from the "HSZ" safety zone
module, errors were detected.
Subsequently, the 16 input signals as well as the signals for "zone errors",
"zone acknowledgement" and "safe door locking" are internally set to fail-safe
values.
The cause of the error can be read via the detailed diagnostics.
Cause Remedy
No node was configured as a zone master in the safety zone Configure last zone node in ring as zone master
(P-0-3266.0.2)
Last axis before the safety zone module was not configured Check and correct configuration (P-0-3266.0.2)
as a zone master
Multiple zone masters were configured in the safety zone
Zone bus output and input were directly connected at zone Establish correct zone bus connections
node
Connection from safety zone module to first zone node is
missing
A zone node1) has no control voltage Switch on control voltage at the respective zone node1)
A zone node1) is in SCM configuration mode Exit configuration mode (command C8200)
The safety function "Safety zone acknowledgement" (SZA) Configure safety function "Safety zone acknowledgement"
is not active in a zone node1) (SZA) in the zone node (P-0-3266.0.2)
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 153/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
An axis1) is independent regarding safety (not a zone node), Remove the axis from the safety zone (pull the connectors
but connected to the safety zone at X42 and X43)
The safety technology is not active at a zone node1) Carry out initial commissioning
In the transition to a safe state the drive is not able to reach the new target
velocity/standstill within the parameterized maximum transition time.
Safety technology, change in ope‐ After respective transition time has expired, depending on the selected safety
rating status technology operating status, the following checks are made:
Active operating status Selected operating Relevant parameters Actual velocity below the Drive enable
status parameterized threshold? deleted?
Error messages
Active operating status Selected operating Relevant parameters Actual velocity below the Drive enable
status parameterized threshold? deleted?
*1): "x"=1...16
P-0-3280.0.2, SMO: Max. transition time normal oper. to safe
standstill
P-0-3280.0.3, SMO: Max. transition time between safe ope‐
rating states
P-0-3280.0.4, SMO: Max. transition time normal oper. to safe
motion
P-0-3255, SMO: Velocity threshold for safe standstill
P-0-3290.x.2, SMO: Safely-limited speed
Cause Remedy
Parameterization of the maximum transition time from Check parameterization of P-0-3280.0.2 and correct
normal operation to special mode "Safe standstill" is too low accordingly
Parameterization of the maximum transition time from Check parameterization of P-0-3280.0.3 and correct
special mode to another special mode is too low accordingly
Parameterization of the maximum transition time from Check parameterization of P-0-3280.0.4 and correct
normal operation to special mode "Safe motion" is too low accordingly
Parameterization of the velocity threshold for safe standstill Check parameterization of P-0-3255 and correct accordingly
is too low
Parameterization of safety-limited speed is too low Check parameterization of P-0-3290.x.2 and correct
accordingly
Drive enable is still set Make sure that drive enable is removed
"NC-controlled stopping process" was activated by mistake Check configuration of operation mode transitions and
correct accordingly (P-0-3280.0.1); i. e. activate "drive-
controlled standstill"
Parameterized deceleration is too low or not adjusted to ● For drive-controlled transition, stopping process takes
parameterized tolerance time place via "P-0-0119, Best possible deceleration" so
that error reaction parameterized in drive has to be
checked.
● For NC-controlled transition, check deceleration
parameterized in control unit
F3 error reaction After the tolerance time for the F3 error reaction has expired, the following
checks are made:
Active operating status Selected operating Relevant parameters Actual velocity below the Drive enable
status parameterized threshold? deleted?
*1): "x"=1...16
P-0-3263.0.6, SMO: Error reaction F3 tolerance time
P-0-3255, SMO: Velocity threshold for safe standstill
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 155/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Parameterization for F3 error reaction is too low Check parameterization of P-0-3263.0.6 and correct
accordingly
Parameterization of the velocity threshold for safe standstill Check parameterization of P-0-3255 and correct accordingly
is too low
Drive enable is still set Make sure that drive enable is removed
Parameterized deceleration is too low or not adjusted to For drive-controlled transition, stopping process takes place
parameterized tolerance time via "P-0-0119, Best possible deceleration" so that error
reaction parameterized in drive has to be checked.
In the transition to a safe state the drive is not able to reach the selected
special mode with the parameterized deceleration.
The error is generated by the safety function "Safely-monitored deceleration"
(SMD) during a change in safety technology operating status or monitoring of
the F3 error reaction if the current actual velocity of the drive is not within the
parameterized veloc. envelope curve.
Safety technology, change in operating status
Cause Remedy
If transitions between safety technology operating states are Adjust command value input (deceleration caused by NC) to
NC-controlled (P-0-3280.0.1, bit 0="0"), deceleration caused values parameterized in P-0-3280.0.2, P-0-3280.0.3,
by NC is insufficient P-0-3280.0.4
If transitions between safety technology operating states are ● Check parameterization of drive deceleration
drive-controlled (P-0-3282.0.1, bit 0="1"), deceleration (P-0-0119)
caused by drive is insufficient ● Check torque limit (P-0-0109)
Overshooting the actual velocity when selecting safety ● Check controller settings and adjust if necessary
technology operating states during acceleration procedures ● Check parameterization of P-0-3280.0.6 and
P-0-3280.0.7
156/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Overshooting the actual velocity when reaching "velocity ● Check controller settings and adjust if necessary
window SMD" ● Check parameterization of P-0-3280.0.8
Incorrect parameterization ● P-0-3280.0.1
● P-0-3280.0.2
● P-0-3280.0.3
● P-0-3280.0.4
● P-0-3280.0.6
● P-0-3280.0.7
● P-0-3280.0.8
● P-0-3280.0.9
Cause Remedy
If "drive reaction to errors of category F3" is set, deceleration ● Check parameterization of drive deceleration
caused by drive is insufficient (P-0-0119)
● Check torque limit (P-0-0109)
Current actual velocity is exceeded when F3 error occurs ● Check controller settings and adjust if necessary
during acceleration procedures ● Check parameterization of P-0-3263.0.2 and
P-0-3263.0.3
Overshooting the actual velocity when reaching "velocity ● Check controller settings and adjust if necessary
window SMD-E" ● Check parameterization of P-0-3280.0.4
Incorrect parameterization Check parameter settings and change them, if necessary:
● P-0-3263.0.2
● P-0-3263.0.3
● P-0-3263.0.4
● P-0-3263.0.5
● P-0-3263.0.6
Error messages
Cause Remedy
In an NC-controlled safety technology operating state Safety technology operating state transitions into the special
transition, the control unit prematurely terminated the mode "Safe standstill" or "EMERGENCY STOP"
transition into the selected operating state (P-0-3261.0.1). The transition is only permitted to be terminated prematurely
The target velocity of the selected operating state was not if the actual velocity is within the parameterized standstill
yet reached. window (P-0-3238)
Safety technology operating state transitions into the special
mode "Safe motion"
The transition is only permitted to be terminated prematurely
if the actual velocity is within the parameterized velocity
window of the selected motion mode (P-0-3290.x.2)
The error was generated in the context of machine acceptance (check point
"Error reaction") to check the reaction of the drive in case of an F7 error (see
P-0-3211).
F7100 - Attributes Display: F7100
Diagnostic no.: F7100
Diagnostic no. as of 18VRS: 060F7100
CiA error code: F0CA
Error can be cleared: ✓
Critical SMO error: –
Error messages
3. The error message was cleared by the error clearing command (cf.
"S-0-0099, C0500 Reset class 1 diagnostics").
4. The drive is in the operating mode again and power was switched on
("Ab").
5. Drive enable was switched on again (0-1 edge).
A non-fatal system error has occurred. The drive is decelerated using the
configured F6 error reaction.
Cause Remedy
The diagnostic system has detected an undefined diagnostic Make a backup of all parameters.
message Then get in contact with our service department and forward
the parameter backup to them.
Cause Remedy
Control encoder valid at activation of synchronous operation In parameter mode (PM), select, via "S-0-0520, Axis control
mode with outer position control loop is not initialization word", encoder with regard to which "P-0-0753, Position
encoder for actual position value in actual value cycle. actual value in actual value cycle" is to be initialized.
Make sure that, when activating a synchronous operation
mode with outer position control loop, control encoder
defined via "S-0-0520, Axis control word" is initialization
encoder of "P-0-0753, Position actual value in actual value
cycle".
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 159/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
When the "electronic motion profile" mode is active, a check is run during the
transition from one motion step to the next whether a motion step was
skipped.
Except for the transition from the last motion step to the first motion step (and
vice versa), the motion step number may only change by 1.
Cause Remedy
Master axis velocity ("P-0-0777, Effective master axis Reduce master axis velocity
velocity") is so high that master axis distance ("P-0-0227, - or -
Cam table, access angle") traveled in one position loop
clock is greater than width of a motion step Increase width of motion step (distance of two master axis
initial positions in "P-0-0705, List of master axis initial
positions, set 0" or "P-0-0712, List of master axis initial
positions, set 1")
- or -
Reduce position loop clock (see Functional Description of
firmware "Performance Data")
In the "MotionProfile" mode, the drive monitors whether the defined motion
profile (max. 8 individual motion steps) is verisimilar. The error is generated if
a motion profile that has not passed the validation checks is activated with
the drive having been enabled. Depending on whether set 0 or set 1 had
been selected, a number is displayed in parameter "P-0-0702, MotionProfile,
diagnosis, set 0" or "P-0-0709, MotionProfile, diagnosis, set 1".
Cause Remedy
1: Master axis initial positions of motion steps used are not Check list "P-0-0705, List of master axis initial positions,
increasing set 0" or "P-0-0712, List of master axis initial positions,
set 1"
2: In the case of absolute motion profile, sum of individual Check list "P-0-0707, List of distances, set 0" or "P-0-0714,
distances is not "0" or a multiple of "S-0-0103, Modulo List of distances, set 1"
value"
160/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
21…28: Checked motion step is "rest in velocity" or "velocity Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
in velocity". Following step consists of profile which is not List of motion step modes, set 0" or "P-0-0713, List of
"velocity in rest" or "velocity in velocity". motion laws, set 1"/"P-0-0713, List of motion step modes,
Number of checked motion step can be taken from second set 1"
digit of diagnostic message number
31…38: Checked motion step is "rest in velocity" or "velocity Check list "P-0-0708, List of slave axis velocities, set 0" or
in velocity". Following step consists of profile which is either "P-0-0715, List of slave axis velocities, set 1"
"velocity in rest" or "velocity in velocity". Velocities of step
that was checked and following step do not match.
Number of checked motion step can be taken from second
digit of diagnostic message number
41…48: Checked motion step is "velocity in rest" or "velocity Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
in velocity". Previous step consists of profile which is not List of motion step modes, set 0" or "P-0-0713, List of
"rest in velocity" or "velocity in velocity". motion laws, set 1"/"P-0-0713, List of motion step modes,
Number of checked motion step can be taken from second set 1"
digit of diagnostic message number
51…58: Checked motion step is "velocity in rest" or "velocity Check list "P-0-0708, List of slave axis velocities, set 0" or
in velocity". Previous step consists of profile which is either "P-0-0715, List of slave axis velocities, set 1"
"rest in velocity" or "velocity in velocity". Velocities of step
that was checked and previous step do not match.
Number of checked motion step can be taken from second
digit of diagnostic message number
61…68: 1st table element of a cam table used is unequal "0" Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
or cam table is invalid. List of motion step modes, set 0" or "P-0-0713, List of
Number of rejected cam table can be taken from second motion laws, set 1"/"P-0-0713, List of motion step modes,
digit of diagnostic message number set 1"
71...78: Checked motion step is "velocity in rest", "velocity in Check list "P-0-0707, List of distances, set 0" or "P-0-0714,
velocity" or "rest in velocity". Distance of motion step List of distances, set 1"
inadmissibly is "0"
Number of checked motion step can be taken from second
digit of diagnostic message number
81...88: Checked motion step is "rest in rest with limited ● Reduce distance of step (P-0-0707 or P-0-0714)
velocity". Indicated maximum slave axis velocity would be ● Increase maximum slave axis velocity (P-0-0708 or
exceeded and segmentation into the three partial steps "rest P-0-0715)
in velocity", "constant velocity" and "velocity in rest" is
impossible. ● Reduce master axis velocity (P-0-0704 or P-0-0711)
Error messages
When the cam mode is active, the drive monitors whether one of the cam
tables contains invalid elements or is incomplete.
Cause Remedy
One of cam tables is invalid Check cam tables and, if necessary, reload them
("P-0-0072, Cam table 1", "P-0-0092, Cam table 2",
"P-0-0780, Cam table 3", "P-0-0781, Cam table 4",
"P-0-0782, Cam table 5", "P-0-0783, Cam table 6",
"P-0-0784, Cam table 7" or "P-0-0785, Cam table 8").
In case of doubt, contact installation programmer or machine
manufacturer
Absolute initialization of the effective master axis position (P-0-0776) was not
possible with activated operation mode "Position synchronization".
Cause Remedy
When operation mode "Position synchronization" is Adjust "P-0-0084, Number of bits per master axis revolution"
activated, the resulting master axis position (P-0-0775) is - or -
multiplied by the electronic gear and the fine adjustments
and is then limited to 2P-0-0084 increments (one revolution of Select P-0-0775 with activated operation mode "Position
the master axis). If the amount of the result that is not yet synchronization" such that the requirement described under
"Cause" is met
limited to 2P-0-0084 increments exceeds a value of 231-1
increments, the effective master axis position (P-0-0776) is (See also Functional Description "Master Axis Adjustment" /
initialized incorrectly. In this case, the drive generates error index entry "Gear function, electronic")
F6006.
When switching the active operation mode, the drive was switched to a non-
initialized operation mode.
162/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
For the operation modes that can be selected, please see descriptions of the
operation mode parameters:
● S-0-0032, Primary operation mode
● S-0-0033, Secondary operation mode 1
● S-0-0034, Secondary operation mode 2
● S-0-0035, Secondary operation mode 3
● S-0-0284, Secondary operation mode 4
● S-0-0285, Secondary operation mode 5
● S-0-0286, Secondary operation mode 6
● S-0-0287, Secondary operation mode 7
Cause Remedy
Via "S-0-0134, Master control word" (for sercos or Enter desired operation mode in selected operation mode
"P-0-4077, Field bus: Control word" (for field bus), an parameter
operation mode was selected that had not been initialized
(e.g., S-0-0032="0")
In synchronization modes with outer position control loop, the internal path
generator (2nd order interpolator) is used for double-step synchronization or
for the additional trapezoidal movement to the additive position command
value (S-0-0048).
The internal path generator is also used to travel a change in "Additive
master axis position".
In all cases, the path generator monitors the residual path to be traveled and
the braking distance to find out whether they exceed the numeric range.
Cause Remedy
The PLC integrated in the drive (Rexroth IndraMotion MLD) triggers error
F6010 in the case of configuration errors, runtime errors or task watchdogs.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 163/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Error reaction The PLC is not started or all tasks of the PLC are stopped. The drive is
always decelerated by zeroing the velocity command value; that is, the error
reaction cannot be set by the user.
Troubleshooting A more detailed diagnosis for narrowing the cause of error down is shown in
"P-0-1365, PLC error message".
The following cases must be distinguished for troubleshooting:
● For removing the error in a freely programmed application, it is
necessary to modify the PLC program or the task configuration with the
programming system.
● For a technology function made available by Bosch Rexroth, please see
the corresponding documentation for instructions on troubleshooting.
See also the IndraLogic or IndraWorks Online Help
See also the documentation on error handling of IndraMotion MLD "Rexroth
IndraMotion MLD"
F6010 - Detailed diagnostics 00370025
00370027
The drive checks automatically whether the motor, after drive enable has
been switched off or when an error event occurs, was shut down within the
delay time parameterized in "S-0-0273, Maximum drive off delay time".
If not, error F6024 is generated.
Closed-Loop "Shut down" means that the velocity of the motor is smaller than 10 rpm
(rotary)/10 mm/min (linear) or the velocity of the motor is smaller than the
standstill window (S-0-0124), when S-0-0124 is smaller than 10 rpm (rotary)/
10 mm/min (linear).
Open-Loop ● D.C. braking is deactivated: (P-0-0579 = "0"):
"Shut down" means that the calculated actual velocity of the motor is
smaller than 10 rpm (rotary)/10 mm/min (linear).
● D.C. braking is activated: (P-0-0579 > "0"):
"Shut down" means that
164/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Incorrect parameterization of "S-0-0273, Maximum drive off Adjust delay time (S-0-0273) or acceleration (S-0-0372) to
delay time" or "S-0-0372, Drive Halt acceleration bipolar" acceleration capacity of drive
Torque/force limitation incorrectly parameterized or current Check torque/force limitation and current limitation
limitation active due to thermal overload (see also Functional Description of firmware "Current and
Torque/Force Limitation")
Incorrect motor connection Check and, if necessary, correct motor connection
Hardware defect on power section Replace control section or entire drive controller
Error messages
Cause Remedy
Command value set for drive causes axis position outside of 1. Clear error and switch power on.
positive travel range/position limit value ("S-0-0049, Positive 2. Set drive enable and input a command value leading
position limit value" or "S-0-0050, Negative position limit back to allowed travel range.
value").
Contact machine manufacturer in order to find out
cause of incorrect command value.
"S-0-0049, Positive position limit value" or "S-0-0050, Check and, if necessary, correct parameter setting of
Negative position limit value" incorrectly parameterized "S-0-0049, Positive position limit value" or "S-0-0050,
Negative position limit value".
When the position limit values are at the end of possible Increase "S-0-0278, Maximum travel range"
travel range (+/- "S-0-0278, Maximum travel range"), - or -
exceeding of travel range can no longer be unequivocally
detected by means of actual position values. Therefore, Reduce position limit values so that defined deceleration is
overflow monitoring is carried out which generates error still possible within defined travel range.
Error messages
Cause Remedy
Command value set for drive causes axis position outside of 1. Clear error and switch power on.
positive travel range/position limit value ("S-0-0049, Positive 2. Set drive enable and preset command value that leads
position limit value"). back to the allowed travel range.
Contact machine manufacturer in order to clarify cause
of incorrect command value.
"S-0-0049, Positive position limit value" incorrectly Check and, if necessary, correct parameterization of
parameterized. "S-0-0049, Positive position limit value".
Cause Remedy
Command value set for drive causes axis position outside of 1. Clear error and switch power on
negative travel range/position limit value ("S-0-0050, 2. Set drive enable and preset command value that leads
Negative position limit value"). back to the allowed travel range.
Contact machine manufacturer in order to clarify cause
of incorrect command value.
"S-0-0050, Negative position limit value" incorrectly Check and, if necessary, correct parameterization of
parameterized "S-0-0050, Negative position limit value".
Error messages
Cause Remedy
E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and
clarify cause of triggering
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs and correct it, if
control section necessary
E-Stop switch or cable connection defective or incorrectly Check function and wiring of E-Stop switch
wired
Control section or digital inputs on control section defective Replace control section or entire drive controller
The compliance with the allowed travel range is monitored on the hardware
side via two travel range limit switches. When the travel range has been
exceeded, one of the two limit switches is activated, if the limit switches were
correctly mounted.
The error F6042 is generated, if
168/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
● the controller detects that both travel range limit switches have been
simultaneously activated and
● exceeding the travel range is handled as an error (setting in "P-0-0090,
Travel range limit parameter")
Cause Remedy
Due to incorrect mounting, axis simultaneously activates Mount travel range limit switches in such a way that they are
both travel range limit switches activated shortly before axis end position is reached. Make
sure the braking distance is sufficient.
Travel range limit switches were incorrectly connected Connect travel range limit switches correctly; check
compliance with switching logic set in "P-0-0090, Travel
range limit parameter"
Switching logic of travel range limit switches does not Check switching logic with regard to realized wiring, adjust it
correspond to realized wiring in "P-0-0090, Travel range limit parameter" if necessary
The drive provides a function for monitoring travel range limit switches
(external hardware limit switches).
Cause Remedy
Travel range limit switch situated in positive direction (see 1. Clear error (reset button or error clearing command)
Project Planning Manual for motor) was activated because and switch power on.
axis is outside of travel range that was defined by means of 2. Set drive enable and preset command value that leads
travel range limit switches. back to the allowed travel range.
Incorrect parameterization of digital inputs and outputs on Correct configuration of digital inputs/outputs and correct it,
control section if necessary.
Travel range limit switch or cable is defective or incorrectly Check function and wiring of travel range limit switch.
wired
Control section or digital inputs on control section defective Replace control section or entire drive controller.
Error messages
The drive provides a function for monitoring travel range limit switches
(external hardware limit switches).
Cause Remedy
Travel range limit switch situated in negative direction (see 1. Clear error (reset button or error clearing command)
Project Planning Manual for motor) was activated because and switch power on.
axis is outside of travel range that was defined by means of 2. Set drive enable and preset command value that leads
travel range limit switches. back to the allowed travel range.
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs and correct it, if
control section. necessary.
Travel range limit switch or cable is defective or incorrectly Check function and wiring of travel range limit switch.
wired.
Control section or digital inputs on control section defective. Replace control section or entire drive controller.
Error messages
to be traveled and the braking distance are monitored to find out whether
they exceed the numeric range.
Cause Remedy
Due to command value input, a residual path greater than Check command value input, positioning velocity or
231 has built up. potentiometer value
Note: As the internal position resolution is determined by the
travel range (the maximum distance resulting from -travel
range to +travel range is less than 231), this can only occur
for axes with modulo scaling. Even for axes with modulo
scaling, the behavior is only possible if several relative
distances are preset without the axis being able to follow.
Calculated braking distance is greater than 231 Increase "S-0-0278, Maximum travel range"
- or -
Increase deceleration in "S-0-0359, Positioning
deceleration", "S-0-0372, Drive Halt acceleration bipolar" or
"P-0-4063, Positioning block deceleration"
Cause Remedy
In "drive-controlled positioning" mode, target position points Check relative positioning input (S-0-0282, Positioning
to wrong direction command value)
Direction of rotation of "modulo axis" incorrectly Check command value mode that has been set (S-0-0393,
parameterized for drive-controlled positioning processes Command value mode)
In "positioning block mode", target position points to wrong Check relative positioning input (P-0-4006, Positioning block
direction target position)
There is an attempt to jog to the wrong direction Jogging only in allowed direction of rotation (S-0-0346,
Positioning control word)
Error messages
Cause Remedy
"Error reaction active" has been set in P-0-1800.0.1/ Locate faulty slave and remove cause of error for this slave
P-0-1600 (CCD: Configuration)and an F6 or F7 error has
occurred in a slave; the CCD master reacts with Emergency
stop (velocity command value reset)
Cause Remedy
Incorrect velocity command values are preset by drive or Check command value specification (P-0-0048) and adjust
external control unit according to parameterization of standstill window
(S-0-0124)
"P-0-3285.0.2, SMO: Parameterization of monitoring window Change parameterization of "P-0-3285.0.2, SMO: Monitoring
for safe operational stop" is wrong. window for safe operational stop " appropriately
Error messages
1. The error reaction has been completed, i.e. the drive has stopped
(v="0"!).
2. The cause of the error was removed.
3. The error message was cleared by the error clearing command (cf.
"S-0-0099, C0500 Reset class 1 diagnostics").
4. The drive is in the operating mode again and power was switched on
("Ab").
5. Drive enable was switched on again (0-1 edge).
Master Communication sercos The master synchronization telegram (MST) was not received in the drive in
several successive sercos cycles. The number of allowed failures is set in
S-0-1003.
Cause Remedy
Different sercos cycle times in master and slave Check sercos cycle times in master and slave and adjust
them, if necessary
Disturbance in sercos interface (general) Replace control section or entire drive controller
Master Communication CANopen The synchronization telegram was not received in the drive in two successive
cycles.
Cause Remedy
Sync master does not transmit Sync telegram Check whether a bus node was configured as Sync master.
Check Sync master to see whether it is in an error state
CAN bus interrupted Check bus line
Disturbance in CANopen interface (general) Replace control section or entire drive controller
Error messages
sercos master communication A consumer connection violates the selected monitoring criterion.
Cause Remedies
Synchronous monitoring has been preset for a connection ● Check bus line and connector
and the NewData bit of the connection does not toggle in the ● Change line topology to ring topology
preset cycle
● Increase value in "S-0-1050.x.11, sercos connection:
The number of successive connection failures has exceeded Allowed data losses"
the limit value of "S-0-1050.x.11, sercos connection: Allowed
data losses".
Too many telegrams fail due to disturbances.
CANopen master communication The Real-time Data Telegram (RDT) was not received in the drive in two
successive field bus cycles.
Cause Remedy
PDO master does not transmit any more cyclic telegrams to Switch master on and start cyclic communication; see
drive control unit manual
Bus line disturbed Check bus line and connector
Disturbance in CANopen interface (general) Replace control section or entire drive controller
EtherCAT master communication In the status "Operational" (OP), the (command value) telegram was not
received in the drive in two successive bus cycles.
Cause Remedy
All master communications A consumer connection violates the requirement of an active operation mode.
Cause Remedy
Some operation modes only allow one single command Check settings for producer of connection (can be bus
value failure in the active state, independent of the allowed master or another slave):
communication failures. Monitoring only takes place in the ● Incorrect connection type setting (P-0-1807.x.1 /
operation modes "position control with cyclic command S-0-1050.x.1):
value input" and "position synchronization."
Bit 1-0="00".
● Incorrect producer cycle time:
The same cycle time has to be set for the producer
and consumer of a connection.
Error messages
Cause Remedy
Error in sercos master module of control Error can only be corrected after having consulted
manufacturer of the control
The specified order was not complied with during phase progression.
Cause Remedy
Error in sercos master module of control Error can only be corrected after having consulted
manufacturer of the control
Cause Remedy
Error in sercos master module of control Error can only be corrected after having consulted
manufacturer of the control
Error messages
An attempt was made from the sercos master to implement a phase switch
without waiting for the drive to indicate readiness.
Cause Remedy
Error in sercos master module of control Error can only be corrected after having consulted
manufacturer of the control
The cyclic communication via the master communication interface failed after
the master communication interface had been initialized and commissioned.
The drive generates this error in the following cases:
● Within the monitoring time entered in P-0-4075 no telegram with
command values or heartbeat has been received (not with EtherCAT,
Ethernet POWERLINK and sercos)
- or -
● The control was switched to "stop" and the drive is under torque.
- or -
● The control removed the drive from the master communication group
and the drive is under torque.
Error messages
Ethernet POWERLINK
Cause Remedy
The master does not send cyclic PReq telegrams Check state of master
(PReq=PollRequest)
The bus connection has been interrupted Inspect cable and interface
EMC problems in the transmission path Inspect shielding and routing of cables
EtherCAT
Cause Remedy
Communication phase 0 was given, although the drive First remove drive enable and then set communication
enable was set. phase 0.
The Ethernet connection has been interrupted in phase Check Ethernet cable/connector
"PreOp", "SafeOp" or "Op"
EtherNet/IP Only class-1 connections are monitored, which means that no new output
data were received from the master within the watchdog time.
Cause Remedy
Master does not exchange cyclic output data. Check master state.
The Ethernet connection has been interrupted Check Ethernet cable and, if applicable, switch
EMC problems in the transmission path Inspect shielding and routing
Network load too high Switch off unnecessary Ethernet communication; if required,
establish separate network for EtherNet/IP
CANopen Depending on the set type of node monitoring, the "node-guarding request"
(cyclic node monitoring) or the "heartbeat telegram" is monitored.
Cause Remedy
The master does not send a node monitoring telegram Check master state.
The bus connection has been interrupted Inspect cable and interface
EMC problems in the transmission path Inspect shielding and routing
Bus load too high Check communication settings (or communication load).
Bus terminating resistor defective Check whether bus terminating resistors have been installed
at the remotest bus nodes.
PROFIBUS The master must address the slave within the monitoring time.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 177/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Master does not exchange cyclic output data. Check master state.
The bus connection has been interrupted Inspect cable and interface
EMC problems in the transmission path Inspect shielding and routing
Bus terminating resistor defective Check whether bus terminating resistors have been installed
at the remotest bus nodes. Bus terminating resistors are not
allowed to be installed at any of the other nodes
PROFINET The consumer (drive) monitors the reception of the cyclic data from the
provider (control unit) by means of a monitoring interval.
Cause Remedy
Master does not exchange any cyclic output data. Check master state.
The Ethernet connection has been interrupted Check Ethernet cable and, if applicable, switch
EMC problems in the transmission path Inspect shielding and routing
Network load too high Switch off unnecessary Ethernet communication; if required,
establish separate network for PROFINET
sercos
Cause Remedy
Communication phase 0 was given, although the drive First remove drive enable and then set communication
enable was set. phase 0.
Cause Remedy
MultiEthernet interface is overloaded; I/O data of cyclic Please contact our service department
communication cannot be transmitted to drive
Error messages
The master tries to establish communication with an I/O length that does not
correspond to the I/O length parameterized in the drive.
Cause Remedy
Different length for input data or output data than drive ● Check parameter set in drive
expects in "P-0-4071, Field bus: Length of cyclic command ● Adjust master configuration
value data channel" and "P-0-4082, Field bus: Length of
cyclic actual value data channel" was configured in master
The "RtcW_" variables of the integrated PLC were not written to the
corresponding parameters twice in succession or were not written in time.
Cause Remedy
See also
● Rexroth IndraMotion MLD, Application Manual, index entry "Real-time
channel"
● Rexroth IndraMotion MLD, Library Description, index entry
"MX_SynchronControl"
F4016 - Attributes Display: F4016
Diagnostic no.: F4016
Error can be cleared: –
Error in the sercos master module of control; an attempt was made from the
sercos master to implement a phase switch with a sequence that the drive
detected as incorrect.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 179/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
A timeout occurred in the drive during phase switch Error can only be corrected after having consulted
(individual switching sections took too long) manufacturer of the control
- or -
The master switched the phase without prior announcement
(new phase in MST without setting CPS bit).
- or -
Drive was switched on while sercos was already in a higher
phase.
Error in the sercos master module of control; an attempt was made from the
sercos master to implement a phase switch with a sequence that the slave
detected as incorrect.
Cause Remedy
After a phase switch the bus master does not start with the Error can only be corrected in consultation with the
announced phase. manufacturer of the control. The bus master does not
behave in conformity with standards. No remedy possible in
the slave
The sercos topology was changed from "Loop-back with Forward" (LF) to
"NRT mode".
Cause Remedy
Both sercos cables were simultaneously removed Plug in sercos cables and restart phase progression by
master
Cable break has occurred (defective cable) Replace cable and restart phase progression by master
Error messages
Cause Remedy
E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and clear
error (reset key or error clearing command). Afterwards
switch power on again and clarify cause of triggering of E-
Stop
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs on control
control section section and correct it, if necessary
E-Stop switch or cable connection defective or incorrectly Check function and wiring of E-Stop switch
wired
Control section or digital inputs on control section defective Replace control section or entire drive controller
Error messages
Cause Remedy
The CCD master has detected a double cyclic telegram Remove error in the transmission path
failure
- or -
"Error reaction active" has been set in P-0-1800.0.1/
P-0-1600 (CCD: Configuration) and the slave signals a
communication error
Cause Remedy
A new PLC project was loaded in the sercos communication A new PLC project with modified assignment of I/O data is
phase 4 of the MLD-M-/ CCD group. only permitted to be loaded in communication phase 2 of the
In the new PLC project, assignment of inputs/outputs of the MLD-M/ CCD group.
I/O slaves to the input and output display of the PLC was
changed, which resulted in incorrect assignment of I/O data
in the PLC program.
The communication phase of the MLD-M-/ CCD group was
switched back after communication phase 2.
Error messages
Cause Remedy
Ring buffer activated for the function "Synchronization on Use P-0-1816.0.5 to increase target gap for input and output
non-synchronous master communication" has detected an data in ring buffer.
overflow. Over an extended period more data were removed - or -
than included or more included than removed. Normally, this
is compensated for with a correction of nominal value of Correct offset of master communication cycle time to
system time in drive controller. IndraDrive.
Maximum permanent difference between master "Offset of master communication cycle time to IndraDrive" is
communication cycle time and system timer in drive the difference between cycle time in control unit and set
controller is 1000 ppm of master communication cycle time. CCD cycle time.
A greater deviation always results in error F4142. Example: In a field bus-master communication, CCD cycle
time (S-0-0001) is set to 2000 ms, but control unit sends
command values only every 2005 ms. A deviation of +/- 2ms
can be compensated; in this case, the difference of the
actual cycle time to set cycle time is too great. The non-
synchronous control unit is forced to send command values
approx. every 2000 ms on average.
Error messages
If block type 6: "Protected AND with reset protection" is used in the "IO
mapper inputs", the inputs "Start" and "Reset" are monitored for compliance
with a minimum pulse duration (P-0-3332.0.1).
Cause Remedy
Pulse duration of "Start" input is less than parameterized Check pulse duration of "Start" input or value of
time in P-0-3332.0.1 P-0-3332.0.1
Pulse duration of "Reset" input is less than parameterized Check pulse duration of "Reset" input or value of
time in P-0-3332.0.1 P-0-3332.0.1
Error messages
The error was generated in the context of machine acceptance (check point
"Error reaction") to check the reaction of the drive in case of an F3 error (see
P-0-3211).
F3100 - Attributes Display: F3100
Diagnostic no.: F3100
Diagnostic no. as of 18VRS: 060F3100
CiA error code: F0A7
Error can be cleared: ✓
Critical SMO error: –
Cause Remedy
The axis was operated for 15 minutes in SMO operating Carry out validation of axis configuration (see documentation
mode (SOM), sub-state "State machine of the Safe Motion for integrated safety technology "Safe Motion": "Axis
profile" without a validated axis configuration. validation")
Cause Remedy
The axis has been in the following state for at least 15 Establish "Safe reference"
minutes: Note: After a risk assessment, the parameterization can be
● "Safe homing procedure" has been activated such that the warning E3112 is signaled instead of the
(P-0-3253.0.1) erroro F3112 (P-0-3253.0.1).
● The axis is in the operating mode "SMO application"
(P-0-3231)
● "Safe reference" is missing (P-0-3256)
The error can be cleared even if its cause has not yet been
removed; the time monitoring is restarted by clearing the error.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 185/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Drive had been put into operation and drive enable was set; Brake check ("P-0-0541, C2100 Holding system check
after 15 minutes, drive generates error F3115 command") must be carried out within 15 minutes after drive
was put into operation and drive enable was set
Time set in "P-0-0550, Time interval holding system check" Clear error; drive is operational again. Brake check must be
has elapsed since last brake check carried out within 15 minutes (with drive enable) ("P-0-0541,
C2100 Holding system check command")
Cause Remedy
Read access to memory faulty. Delete error and then reconfigure P-0-3212.
"P-0-3212, SMO: Code words for tests" was not able to be
initialized with its data backup.
186/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
When checking the safe inputs of the safety zone module (HSZ01), differing
states between the signals from channel 1 and channel 2 were detected.
Cause Remedy
The zone master of the safety zone detects invalid states between the control
of the safety door [see P-0-3321 ("Safe door locking output, channel 1" and
"Safe door locking output, channel 2")] and the readback signals of the safety
door (see P-0-3266.0.3).
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 187/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
The zone master locks normal operation via the zone bus; i.e. all zone nodes
are kept in a safe state or are transitioned into a safe state by the drive
reaction to error F7032.
The "safety of safety zone" status is signaled with "zone not safe" (see
P-0-3266.0.1).
The cause of the error can be read via the detailed diagnostics of
the zone master.
The error can only be cleared if the zone master has returned to
an error-free state.
Cause Remedy
Readback signals of the safety door are not configured Check the configuration [see documentation of the safety
technology "Safe Motion", "Safe door locking (SDL)"]
● Error in wiring Check wiring / mechanics of safety door
● Break of contact
● Defective relay
● Short circuit
The safety door is locked too slowly. A tolerance time of 1 Ensure that the safety door is locked within 1 second after
second is tolerated between the control of the safety door the safety door has been controlled
and the state change of the readback signals; this time is not
parameterizable
Error messages
When the diagnostic unit detects an error, the error F3134 is generated and
the parameterized error reaction is carried out. In addition, a safety
technology error reaction takes place after 30 minutes which switches off the
output stage via two channels and activates the brake.
In the case of a short circuit or "stuck at high" of the selection channels, there
is a maximum delay of 2 hours until a functional error reaction is initiated, or
2.5 hours until the safety technology error reaction is initiated.
Cause Remedy
Cause Remedy
An error was detected in conjunction with the zone node Make sure the zone bus connector contacts at X42/X43 and
telegrams; discrepancy error: the signaled zone states differ the zone bus connection lines are okay; replace cable, if
necessary
Cause Remedy
Selection of a motion mode ("SMM 1" to "SMM 16") in A motion mode can be selected using safe bus
special mode "Safe motion" is not unequivocal; either there communication or safe inputs; check the selection.
is no SMM signal active or multiple SMM signals are active Correct the maximum allowable time during which either no
(see "P-0-3261, SMO: State machine control word") SMM signals or multiple SMM signals can be active during
selection of motion modes (P-0-3280.0.5)
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 189/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
The parameterized maximum time for the activation of the enabling control
has been exceeded.
Error Reaction The drive is shut down according to the parameterization in "P-0-3263.0.1,
SMO: Configuration of stopping process". The drive automatically switches to
"Safe stop 1" and the output stage is switched off via two channels.
Cause Remedy
Enabling control was activated too long Remove enabling signal before parameterized time is over;
parameterizable activation times of enabling control:
● P-0-3290.1.6, SMO: Maximum activation time 1
● P-0-3290.2.6, SMO: Maximum activation time 2
● ...
● P-0-3290.16.6, SMO: Maximum activation time 16
Parameterization of maximum activation time of enabling Check parameterization and change it, if necessary:
control does not make sense ● P-0-3290.1.6, SMO: Maximum activation time 1
● P-0-3290.2.6, SMO: Maximum activation time 2
● ...
● P-0-3290.16.6, SMO: Maximum activation time 16
Enabling control is defective or incorrectly wired Check and, if necessary, replace/correct enabling control
and wiring
After having removed the cause, start the command "S-0-0099, C0500 Reset
class 1 diagnostics" in order to clear the error and then set drive enable
again.
F3142 - Detailed diagnostics 0053000C
0054000C
Error messages
The safety zone module reports a dynamization error. Please check wiring on
safety zone module.
The cause of the error can possibly be specified further via the detailed
diagnostics.
F3152 - Attributes Display: F3152
Diagnostic no.: F3152
Diagnostic no. as of 18VRS: 060F3152
CiA error code: F0B3
Error can be cleared: ✓
Critical SMO error: –
The safety zone module reports an error regarding the status signals "zone
error" (SZE) or "zone safety" (SZA).
Cause Remedy
Error messages
The SMO reference signal is statically evaluated (P-0-3253.0.1) and the Safe
reference has been established (P-0-3256).
The SMO reference signal (P-0-3253) shows high level although the axis is
outside of the SMO reference position (P-0-3253.0.3 ± P-0-3253.0.4). The
Safe reference is cleared because the SMO reference signal is no longer
unequivocal.
Cause Remedy
Tolerance window (P-0-3253.0.4) too small Remove cause and execute command C4000
SMO home switch/reference cam was shifted
"Stuck at High" of SMO reference signal (P-0-3253)
"Sporadic" high level (disturbances) of SMO reference signal
(P-0-3253)
The SMO reference signal was not detected within the defined position range
during the time interval in which the Safe reference would have had to be
cyclically checked.
Cause Remedy
The SMO reference signal (P-0-3253) was not detected Repeat command C4000 to set the status of the SMO
within the position range P-0-3253.0.3 ± P-0-3253.0.4 during encoder position feedback value to "safely homed" again
the time interval in which the Safe reference would have had (P-0-3256).
to be cyclically checked (P-0-3253.0.6). Make sure that the drive is moved over the SMO reference
position at a velocity < P-0-3253.0.5 for subsequent
reference position checks.
Error messages
Cause Remedy
In the "SMO application" system state (P-0-3231), the 1. Using the diagnostic memory, analyze whether or not
standard encoder evaluation signals one of the following one of the warnings mentioned under "Cause" had
warnings occurred before the error F3167 occurred.
● E2074 or E2077 2. Eliminate the cause of the warning using the
● E2075 or E2078 description of the diagnostic message.
● E2076 or E2079 3. Repeat command C4000 to set the status of the SMO
encoder position feedback value to "safely homed"
The status of the SMO encoder position feedback value is again (P-0-3256).
set to "relative" (P-0-3256).
The safety technology monitors its processor systems during run-up and
cyclically for errors in memory (RAM and Flash). If errors are detected, a
corresponding error reaction is initiated.
Cause Remedy
System error with memory (RAM, Flash) of processor Switch power supply off and then on again.
systems of safety technology If error occurs repeatedly, replace drive controller.
Error messages
Cause Remedy
The inputs differ ● Check the control for consistency, inconsistent inputs
are tolerated for a maximum of 2 ms.
● Check the wiring.
If error occurs repeatedly, replace drive controller.
The state of the output does not match the control Check the wiring for connection to VCC or GND.
If error occurs repeatedly, replace drive controller.
Incorrect dynamization of the output If error occurs repeatedly, replace drive controller.
Error messages
Cause Remedy
This error may have one of the following causes: Remove disturbances:
● In the "CIP Safety on sercos" stack, a protocol error ● Check grounding
has occurred in the cyclic protocol [CRC: Cyclic ● Check shielding
Redundancy Check].
Replace cable / device if necessary
● In the "CIP Safety on sercos" stack, a protocol error
occurred in the cyclic protocol. If time errors occur regularly during safe cyclic transmission:
● An error has occurred during data transfer between the Adjust connection configuration in control project (cancel
host and the optional safety technology module. time requirements for I/O cycle time and timeout)
● An error occurred during internal processing of the During connection establishment or termination:
safety technology protocols.) ● Does the set predefined configuration match the
● Errors have occurred during management of individual project?
"CIP Safety Assemblies". ⇒ Adjust the device setting ("P-0-3342.0.1, SMO:
● In the "CIP Safety on sercos" stack, a time error has Predefined Configuration consuming connection
occurred in the cyclic protocol. Safety-Bus" or "P-0-3343.0.1, SMO: Predefined
Configuration producing connection Safety-Bus") or
● An error has occurred during setup or termination of a readjust in project.
"CIP Safety" connection.
● Does the set TUNID match the project?
The connection is not activated.
⇒ Relaunch the device or adjust setting in project.
● Was the originator changed (new originator ID)?
⇒ Reset device using the command "Command
Activate parameter image"; a new originator is
accepted.
● Was safety technology activated and a TUNID
assigned before the control unit attempted connection
setup?
A false stack state was detected while the "CIP Safety on Configure connection correctly.
sercos" stack is running.
Errors have occurred in the program sequence while the Configure connection correctly.
"CIP Safety on sercos" stack is running. Prevent "soft errors" from infiltrating this section.
- or -
Error in the state machine of "Safety Supervisor".
- or -
Error in internal state machine of the "CIP Safety on sercos"
stack.
- or -
Error in the internal, non-volatile data management of the
"CIP Safety on sercos" stack.
Error messages
Cause Remedy
An internal error has occurred in the FSoE stack or its Restart drive by switching control voltage off and on again.
adjustment layer If error occurs again, check the configuration.
If error occurs again in spite of drive restart and correct
configuration, please contact our service department; they
can read out the exact cause of error by means of detailed
diagnostics.
Cause Remedy
Incorrect parameterization of FSoE stack Check configuration and correct it, if necessary.
If error occurs again in spite of correct configuration, please
contact our service department; they can read out the exact
cause of error by means of detailed diagnostics.
Cause Remedy
Error messages
Cause Remedy
Error when checking the data length.
Change F-module in F-host or parameterization in drive
The selected F-module does not match the parameterization controller
in P-0-3342.0.1 and P-0-3343.0.1 (predefined configuration).
Error during cross comparison of useful data (F-output) If error occurs repeatedly, replace drive controller
With the connection running (DATAEX), the PROFIsafe stack has detected a
watchdog timeout or another communication error (e.g., CRC error).
Cause Remedy
A watchdog timeout was detected If watchdog errors occur regularly in safe cyclic
transmission: Adjust the connection configuration in the F-
host (cancel time requirements for I/O cycle time and
timeout).
Check and, if necessary, correct watchdog time set in F-host
A communication error (e.g., CRC error) was detected Check communication path.
Remove disturbances: Check grounding, check shielding. If
necessary, replace cables / device.
Error messages
3. The error message was cleared by the error clearing command (cf.
"S-0-0099, C0500 Reset class 1 diagnostics").
4. Drive enable was switched on again (0-1 edge).
Cause Remedy
Cable break Check / replace the wiring of the parallel switching bus
Faulty parallel connection module HCP01.1-P001 Check parallel connection module and replace if necessary
Error messages
Cause Remedy
Control encoder valid at activation of synchronous operation In parameter mode (PM), select, via "S-0-0520, Control word
mode with outer position control loop is not initialization of axis controller", encoder with regard to which "P-0-0753,
encoder for actual position value in actual value cycle. Position actual value in actual value cycle" is to be
initialized.
Make sure that, when activating a synchronous operation
mode with outer position control loop, control encoder
defined via "S-0-0520, Control word of axis controller" is
initialization encoder of "P-0-0753, Position actual value in
actual value cycle".
When the operating mode "electronic motion profile" is active, a check is run
during the transition from one motion step to the next to find out whether a
motion step was skipped.
Except for the transition from the last to the first motion step (or vice versa),
the motion step number may only change by 1.
Cause Remedy
Master axis velocity ("P-0-0777, Effective master axis Reduce master axis velocity
velocity") is so high that master axis distance ("P-0-0227, - or -
Cam shaft profile, access angle") covered in one position
loop clock is greater than width of one motion step Increase width of motion step (distance of two master axis
initial positions in "P-0-0705, List of master axis initial
positions, set 0" or "P-0-0712, List of master axis initial
positions, set 1")
- or -
Reduce position loop clock (see Functional Description of
firmware " Performance Data").
In the "MotionProfile" mode, the drive monitors whether the defined motion
profile (max. 8 individual motion steps) is verisimilar. The error is generated if
a motion profile that has not passed the validation checks is activated with
the drive having been enabled. Depending on whether set 0 or set 1 was
selected, a number is displayed in parameter "P-0-0702, MotionProfile,
diagnosis, set 0" or "P-0-0709, MotionProfile, diagnosis, set 1".
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 199/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
1: Master axis initial positions of motion steps used are not Check list "P-0-0705, List of master axis initial positions,
increasing set 0" or "P-0-0712, List of master axis initial positions,
set 1"
2: In the case of absolute motion profile, sum of individual Check list "P-0-0707, List of distances, set 0" or "P-0-0714,
distances is not "0" or a multiple of "S-0-0103, Modulo List of distances, set 1"
value"
3: In case of relative motion profile, number of motion steps Check parameter "P-0-0703, Number of motion steps, set 0"
is smaller than "2" or "P-0-0710, Number of motion steps, set 1"
21…28: Checked motion step is "rest in velocity" or "velocity Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
in velocity". Following step consists of profile which is not List of motion step modes, set 0" or "P-0-0713, List of
"velocity in rest" or "velocity in velocity". motion laws, set 1"/"P-0-0713, List of motion step modes,
Number of checked motion step can be taken from second set 1"
digit of diagnostic message number
31…38: Checked motion step is "rest in velocity" or "velocity Check list "P-0-0708, List of slave axis velocities, set 0" or
in velocity". Following step consists of profile which is either "P-0-0715, List of slave axis velocities, set 1"
"velocity in rest" or "velocity in velocity". Velocities of step
that was checked and following step do not match.
Number of checked motion step can be taken from second
digit of diagnostic message number
41…48: Checked motion step is "velocity in rest" or "velocity Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
in velocity". Previous step consists of profile which is not List of motion step modes, set 0" or "P-0-0713, List of
"rest in velocity" or "velocity in velocity". motion laws, set 1"/"P-0-0713, List of motion step modes,
Number of checked motion step can be taken from second set 1"
digit of diagnostic message number
51…58: Checked motion step is "velocity in rest" or "velocity Check list "P-0-0708, List of slave axis velocities, set 0" or
in velocity". Previous step consists of profile which is either "P-0-0715, List of slave axis velocities, set 1"
"rest in velocity" or "velocity in velocity". Velocities of step
that was checked and previous step do not match.
Number of checked motion step can be taken from second
digit of diagnostic message number
61…68: 1st table element of a cam table used is unequal Check list "P-0-0706, List of motion laws, set 0"/"P-0-0706,
"0", cam table is invalid, or wrong table format is set. List of motion step modes, set 0" or "P-0-0713, List of
Number of rejected cam table can be taken from second motion laws, set 1"/"P-0-0713, List of motion step modes,
digit of diagnostic message number set 1".
Ensure that the table corresponds to the "new" format and
the setting in "P-0-0086, Configuration word synchronous
operation modes" is selected accordingly.
200/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
71...78: Checked motion step is "velocity in rest", "velocity in Check list "P-0-0707, List of distances, set 0" or "P-0-0714,
velocity" or "rest in velocity". Inadmissibly, distance of List of distances, set 1"
motion step is "0"
Number of checked motion step can be taken from second
digit of diagnostic message number
81...88: Checked motion step is "rest in rest with limited ● Reduce distance of step (P-0-0707 or P-0-0714)
velocity". Indicated maximum slave axis velocity would be ● Increase maximum slave axis velocity (P-0-0708 or
exceeded and segmentation into the three partial steps "rest P-0-0715)
in velocity", "constant velocity" and "velocity in rest" is
impossible. ● Reduce master axis velocity (P-0-0704 or P-0-0711)
When the cam mode is active, the drive monitors whether one of the cam
tables contains invalid elements or is incomplete.
Cause Remedy
One of cam tables is invalid Check cam tables and, if necessary, reload them
("P-0-0072, Cam table 1", "P-0-0092, Cam table 2",
"P-0-0780, Cam table 3" or "P-0-0781, Cam table 4").
In case of doubt, contact installation programmer or machine
manufacturer
When switching the active operation mode, the drive was switched to a non-
initialized operation mode.
For the operation modes that can be selected, please see descriptions of the
operation mode parameters:
● S-0-0032, Primary operation mode
● S-0-0033, Secondary operation mode 1
● S-0-0034, Secondary operation mode 2
● S-0-0035, Secondary operation mode 3
● S-0-0284, Secondary operation mode 4
● S-0-0285, Secondary operation mode 5
● S-0-0286, Secondary operation mode 6
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 201/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Drive-integrated PLC (IndraMotion MLD) or one of following Enter desired operation mode in selected operation mode
control words were used to select an operation mode that parameter
was not initialized (e.g., S-0-0032="0"):
● "S-0-0134, Master control word" (with sercos)
● "P-0-4077, Field bus: control word" (with field bus)
● "P-0-4028, Device control word"
● "P-0-0120, Control word easy startup"
In the initialization phase (after activation of the drive), the controller checks
whether the connected motor corresponds to the type designation in
"S-0-0141, Motor type". If not, error F2008 is generated and the controller
prompts the user to load the motor-specific control loop parameter values
from the encoder memory of the motor (the display of the control panels
shows "RL").
Cause Remedy
Error messages
During the transition checks for the communication phases 3 and 4, the
operating data (parameter values) are subsequently verified; parameters with
invalid operating data (normally only all new parameters) are output in the
parameters "S-0-0021, IDN list of invalid operating data for communication
phase 2" or "S-0-0022, IDN list of invalid operating data for communication
phase 3".
Cause Remedy
Drive is started with new firmware for the first time or a By clearing error via control panel, all parameter values are
version update was carried out due to which number of non- cleared and set to original values (default values).
volatile parameters has changed. - or -
Error is cleared by starting command "S-0-0099, C0500
Reset class 1 diagnostics". Parameters that can be read
from memory remain at their last stored value, all
parameters that cannot be read from the memory (new
parameters) are set to default values and marked as being
invalid.
Parameter memory (programming module or internal Check programming module and replace it, if necessary, or
memory) is defective so that error F2009 keeps reappearing. replace control section or entire drive controller.
Error messages
Cause Remedy
Conflict with last stored parameters of digital inputs/outputs Check following parameter contents and correct them, if
necessary:
● P-0-0300, Digital I/Os, assignment list
● P-0-0301, Digital I/Os, bit numbers
Error messages
Tip: With the firmware versions MPx08/MPx17 and above, the diagnostic
message text can be edited via the integrated PLC. This allows meaningful
and language-dependent diagnostic messages to be assigned.
F2012 - Attributes Display: F2012
Diagnostic no.: F2012
Diagnostic no. as of 18VRS: 000F2012
CiA error code: F08D
Error can be cleared: ✓
Error messages
Error messages
Cause Remedy
Overtemperature (heat sink) due to overload of device Switch drive off and let it cool down. Check mechanical
system and drive dimensioning (working power mustn't
exceed, on average, continuous power of drive)
For liquid-cooled devices: Check dimensioning of cooling
system (see documentation with part number R911309636)
Ambient temperature too high. Specified performance data Reduce ambient temperature, e.g. by cooling the control
are valid up to an ambient temperature of 40 C cabinet
Heat sink of device is dirty Clean heat sink
Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for
position in control cabinet ventilating heat sink
Device-internal blower failed If blower fails, replace device or power section
Failure of air conditioning for control cabinet Check air conditioning of control cabinet
Incorrect dimensioning of control cabinet with regard to heat Check dimensioning of control cabinet
discharge
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 207/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
For liquid-cooled devices: Connect cooling system
No cooling system connected
For liquid-cooled devices: Check cooling system and remove error
Error in cooling system, e.g. coolant pump defective or filter
clogged; thereby flow rate too small / inlet temperature of
coolant too high
Cause Remedy
Motor shutdown temperature incorrectly parameterized Check and correct parameterization of "S-0-0204, Motor
shutdown temperature" by means of motor or temperature
sensor data sheet
Motor is overloaded. Effective torque demanded from motor Check dimensioning of motor. In the case of installations
has been above allowed continuous torque for a too long that have been operated for a long time, check whether
time drive conditions have changed (with regard to dirt
accumulation, friction, moved masses etc.)
Line interruption, ground fault or short circuit in line for motor Check line for motor temperature monitoring for line
temperature monitoring interruption, ground fault or short circuit
Instability in speed control loop Check parameterization of speed control loop
For liquid-cooled motors: Connect cooling system
No cooling system connected
For liquid-cooled motors: Check cooling system and remove error
Error in cooling system, e.g. coolant pump defective or filter
clogged; thereby flow rate too small / inlet temperature of
coolant too high
Error messages
The device temperature measured in the power section is too low and does
not allow the output stage to be operated.
The supply unit refuses to charge the DC bus.
Cause Remedy
Ambient temperature too low. The specified performance Increase ambient temperature by means of appropriate
data apply at an ambient temperature of 0 °C and above measures
Device is defective Replace device
Cause Remedy
Interruption or short circuit in line for motor temperature Check motor connection and cable for interruption and short
monitoring circuit
Temperature sensor in motor is defective Use replacement temperature sensor (if available) or
replace motor
Only for Rexroth motors of lines 2AD, ADF or 1MB: Observe minimum allowed ambient temperature (see
Motor temperature stays below allowed ambient documentation of respective motor line)
temperature range
Drive controller is defective Replace drive controller or power section
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 209/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
When setting drive enable, the drive must be ready; i. e. it must signal drive
status "Ab" [in device status word (P-0-0115) bit 15="1" and bit 14="0" must
be set].
However, if the drive only signals "bb" (ready for operation), the drive
generates this error message.
Cause Remedy
Drive enable (AF) was indicated before power supply was Check logic for activating drive in connected control unit
switched on
- or -
Drive enable (AF) was indicated although drive is still in
parameterization mode
Safety function "Safe torque off" (STO) is active First deselect safety function before drive enable is set
E-Stop function is active as warning E4034. First deselect E-Stop before drive enable is set
Module bus reaction E8058 is active; i. e. axis is locking First, bring drives in module group to an error-free state
drive enable because another drive in drive package is before setting drive enable
signaling an error
210/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
The DC bus voltage value is monitored by the drive controller and the supply
unit.
Cause Remedy
Power is switched off without previous drive deactivation by Check logic for activating drive in connected control unit
means of drive enable ("AF")
Failure in power supply or overload of power supply Check power supply; for HCS02, particularly check wiring of
mains supply to connection X3
Mains failure Check cause of mains failure, switch mains voltage on again
Temporary supply unit overload Reduce processing cycle of machine
Cause Remedy
One mains phase has failed. Check mains connection. Check allowed power
consumption for single-phase operation.
Drive oscillates. Oscillation might possibly not be Check command torque of drive to know whether it
mechanically visible, therefore check command torque. corresponds to expected load cycle. Check settings of
velocity control loop and position control loop.
On mains side, allowed power is exceeded. Check consumed power of controller or drive system. If
necessary, use additions DC bus capacitors, mains choke or
DC bus choke.
Drive loads DC bus impulsively Check application
Error messages
If the position control loop is closed, the drive monitors whether or not it can
follow the preset position command value. For this purpose, a model position
feedback value is calculated in the drive and compared to the actual position
feedback value. If the difference between the calculated and actual position
feedback value exceeds the value entered in "S-0-0159, Monitoring window",
the drive apparently cannot follow the preset command value and the error
F2028 is generated.
Cause Remedy
Parameterized monitoring window is too small Check and, if necessary, correct content of "S-0-0159,
Monitoring window"
Command acceleration too high due to incorrect command Reduce acceleration input of control unit (see control unit
value input by control unit manual)
Numerical value in "S-0-0092, Bipolar torque/force limit Check content of "S-0-0092, Bipolar torque/force limit value"
value" too low and set it to the maximum value allowed for the application
The axis is blocked or sluggish Check mechanical system and remove sluggishness
Faulty or non-optimized control loop parameters Check control loop setting (e.g., "S-0-0104, Position
controller Kv-factor", "S-0-0100, Velocity controller
proportional gain", "P-0-0556, Control word of axis
controller")
The drive acceleration capacity was exceeded Check drive sizing
Error messages
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Measuring system defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
Cause Remedy
Initial commissioning was not or incompletely carried out. Carry out initial commissioning
Motor encoder was replaced Carry out initial commissioning
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 213/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Motor connections (U, V, W) were mixed up. Check and if necessary correct motor connection.
Values in "P-0-0508, Commutation offset" and/or "P-0-3008, Check value stored in "P-0-0508, Commutation offset"; carry
Commutation offset, encoder memory" were manipulated. out initial commissioning again, if required.
In cyclic operation, the difference between actual position value 1 and actual
position value 2 (see also "P-0-0391, Actual position value difference
encoder1 - encoder2") is compared to "S-0-0391, Monitoring window
feedback 2". If the absolute value of the difference is greater than the
monitoring window and both encoders have been homed, the error F2036 is
generated.
The drive carries out the error reaction parameterized in "P-0-0119, Best
possible deceleration" and the reference bits of both encoders are cleared
("S-0-0403, Position feedback value status").
Cause Remedy
Parameters for encoder 2 incorrect Check "S-0-0115, Position feedback 2 type" and "S-0-0117,
Resolution of feedback 2"
Mechanical system between motor shaft and encoder 2 Check "S-0-0121, Input revolutions of load gear", "S-0-0122,
incorrectly parameterized Output revolutions of load gear" and "S-0-0123, Feed
constant"
Mechanical system between motor shaft and encoder 2 is Increase "S-0-0391, Monitoring window feedback 2", switch
not rigid (e.g., gear backlash, slip) and monitoring window is off in the case of gear with slip
too small
Maximum allowed slip exceeded with active measuring Check or switch off "P-0-0244, Monitoring window of slip in
wheel mode %"
Encoder cable defective Replace encoder cable
Maximum input frequency of encoder interface exceeded Reduce velocity
Encoder 2 not mounted to driven axis Set "S-0-0391, Monitoring window feedback 2" to "0" (switch
monitoring function off)
214/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Incorrect encoder gear settings Check relevant encoder parameters and correct them, if
necessary:
● "P-0-0121, Gear 1 motor-side (motor encoder)" /
"P-0-0122, Gear 1 encoder-side (motor encoder)"
● "P-0-0124, Gear 2 load-side (optional encoder)" /
"P-0-0125, Gear 2 encoder-side (optional encoder)"
● "S-0-0121, Input revolutions of load gear" /
"S-0-0122, Output revolutions of load gear"
Position data reference of an absolute encoder incorrect Execute "S-0-0447, C0300 Set absolute position procedure
command"
When the drive is running in the operation mode "position control with cyclic
command value input", the incoming position command values (cf.
"S-0-0047, Position command value") are monitored. If the position difference
between two successive position command values is greater than or equal to
the value in "S-0-0091, Bipolar velocity limit value", the position command
value monitor is activated and the error F2037 is generated, if this has been
configured via the list parameter "P-0-0173, List of configurable axis-specific
monitoring functions" in list element 1.
Cause Remedy
Value in "S-0-0091, Bipolar velocity limit value" too low Check and, if necessary, correct parameterization of
"S-0-0091, Bipolar velocity limit value"
Incorrect command value set by control unit Contact control unit manufacturer or programmer
Error messages
Cause Remedy
Ambient temperature too high. Specified performance data Reduce ambient temperature, e.g. by cooling the control
are valid up to an ambient temperature of 40 C. cabinet.
Heat sink of device is dirty. Clean heat sink
Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for
position in control cabinet. ventilating heat sink.
Blower of device is defective. Replace device
Error messages
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Encoder defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Encoder defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 217/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Battery voltage has fallen below allowed value Clear error and immediately arrange for and prepare battery
to be replaced. [Battery replacement is described in the
Project Planning Manual "Rexroth IndraDrive Cs" (index
entry "Battery, replacement").]
MPx-18 and above: If E2048 is generated, the battery is not
replaced and the 24 V control voltage is switched off, the
drive signals F2048 after restart and during phase switch to
"OM" or "P4". The reference to the mechanical system is
hereby cleared.
Error messages
Cause Remedy
There was an attempt to preset a new positioning command Check command value in control unit and make sure that
value x(k+2) while drive was moving to target position of new positioning command value x(k+2) is only preset when
positioning command value x(k) positioning command value x(k+1) was accepted and drive
moves to corresponding target position
Incorrect command value acceptance (toggling of "S-0-0346, Check control program and only toggle bit 0 of "S-0-0346,
Positioning control word") in control unit causes positioning Positioning control word" once for each new positioning
command value to be accepted several times command value, because every change of the bit causes
current positioning command value to be accepted.
Incorrect positioning mode for "approaching target" was set Set positioning mode "immediately moving to new target" for
in "S-0-0346, Positioning control word". "approaching target" in "S-0-0346, Positioning control word".
Cause Remedy
When target position of a sequential block has been Preset sequential block in time (before target position has
reached, there is no new positioning block in target position been reached)
preset memory
Positioning block mode by mistake set to "sequential block Check positioning block mode and switch off sequential
without intermediate stop". block processing, if necessary ("S-0-0346, Positioning
control word").
Error messages
In the drive, the number of the increments or lines output within the position
loop cycle (Basic: TA = 500 µs, Advanced: TA = 250 µs) is monitored to
make sure that the maximum allowed frequency of the incremental encoder
signals of 4,000 kHz is not exceeded; otherwise, a position offset would occur
due to "lost increments".
Cause Remedy
Resolution set in "P-0-0901.x.3, Encoder emulation Reduce number of increments of incremental encoder
resolution" is too high for travel velocity emulator in "P-0-0901.x.3, Encoder emulation resolution"
- or -
Reduce travel velocity
With incremental encoder emulation, a check is run at the end of each output
interval (= position loop clock) to find out whether all increments to be output
have been output before the next increment output is started. Exceeding the
runtime or hardware errors can cause overlapping that is detected during the
check and signaled by the error F2054.
Cause Remedy
Runtime internally exceeded Switch off all functions which are not required (e.g. analog
output). If this does not help to remove the error, replace
control section or entire drive controller and inform our
service department
Hardware error Replace control section or entire drive controller and inform
our service department
220/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
During "High" control of one or more digital outputs of the interface X37
(digital inputs/outputs) on the optional module "DA", no "High" signal
(+24 VDC) is output.
Cause Remedy
No "high" signal (+24 VDC) is output despite "high" control of one of several
digital outputs of the digital I/O extension at optional module "OM1"/"OM2".
The error can only be cleared when the cause of the error has
been removed.
Cause Remedy
Error messages
Cause Remedy
Position limit values ("S-0-0049, Positive position limit Check parameterization of position limit values and adjust it
value", "S-0-0050, Negative position limit value") incorrectly according to desired travel range ("S-0-0049, Positive
parameterized position limit value" has to be greater than "S-0-0050,
Negative position limit value")
Position limit value monitor has been activated although it is Deactivate position limit value monitor if it is not needed
not needed (e.g., in modulo operation)
In the case of relative interpolation, value for travel range Check preset travel range (cf. "S-0-0258, Target position")
was set too high or several travel ranges that are added and, if necessary, adjust it in control unit program
cause effective target position (cf. "S-0-0430, Effective target
position") to be outside of position limits
In the case of absolute interpolation, preset target position is Check preset target position (cf. "S-0-0258, Target position"
incorrect or "S-0-0282, Positioning command value") and, if
necessary, adjust it in control unit program (only enter
"S-0-0258, Target position" within position limit values)
In "positioning block mode" one or more target positions Check parameterized target positions in "P-0-4006,
have been incorrectly parameterized or incorrect positioning Positioning block target position" and block selection
block is selected (P-0-4026, Positioning block selection). In addition, check
block selection via respective master communication (e.g.,
field bus or digital I/Os).
Error messages
In operating modes that are using the internal path generator (interpolation,
positioning, positioning block mode and spindle positioning), the residual path
to be traveled and the braking distance are monitored to find out whether the
numeric range is exceeded.
Cause Remedy
Due to command value input a residual path was generated Check command value input, positioning velocity or
that is greater than 2^31. potentiometer value
Note:
As the internal position resolution is determined by the travel
range (from -travel range to +travel range the resulting max.
distance is less than 2^31), this can only occur with axes
with modulo scaling. In this case only if relative distances
are stringed together several times without the axis being
able to follow.
Calculated braking distance is greater than 2^31 Increase "S-0-0278, Maximum travel range"
- or -
Increase deceleration in "S-0-0359, Positioning
deceleration", "S-0-0372, Drive Halt acceleration bipolar" or
"P-0-4063, Positioning block deceleration".
Cause Remedy
In operating mode "drive-controlled positioning", target Check relative positioning input ("S-0-0282, Positioning
position points to wrong direction. command value")
Rotational direction of "modulo axis" incorrectly Check command value mode that was set ("S-0-0393,
parameterized for drive-controlled positioning procedures Command value mode")
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 223/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
In operating mode "positioning block mode", target position Check relative positioning input ("P-0-4006, Positioning
points to wrong direction. block target position").
You are trying to jog in wrong direction. Jogging only in allowed rotational direction ("S-0-0346,
Positioning control word")
The residual path to be traveled and the braking distance are monitored to
find out whether the numeric range is exceeded.
Cause Remedy
Braking distance of axis is greater than position value range Increase "P-0-0771, Virtual master axis, positioning
that can be displayed. acceleration"
Deceleration value that was set ("P-0-0771, Virtual master
axis, positioning acceleration") is too low.
Braking distance of axis is greater than position value range Reduce "P-0-0770, Virtual master axis, positioning velocity"
that can be displayed.
Velocity value that was set ("P-0-0770, Virtual master axis,
positioning velocity") is too high.
With the internal master axis generator it is possible to jog the virtual master
axis in both directions and preset relative distances in both directions.
Cause Remedy
Due to setting in "P-0-0756, Virtual master axis, scaling Input command value direction according to parameter
type", position data of virtual master axis are to be setting in "P-0-0769, Virtual master axis, command value
processed in modulo format and positive or negative mode".
rotational direction was selected in "P-0-0769, Virtual master
axis, command value mode". Input command value leads to
wrong direction.
224/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Drive control is synchronized via two phase control loops (Phase Locked
Loop - PLL) on the bus interface (sercos, PROFIBUS, INTERBUS,…).
Monitoring the proper function of synchronization means monitoring the
respective control deviation of the two PLLs for an allowable threshold. If it is
exceeded, this error message is generated.
Cause Remedy
Incorrect couplings due to faulty connection of master Check and, if necessary, correct connection of master
communication result in synchronization problems communication (including shield)
Synchronization cycle of master fluctuates severely due to Check field bus master and ensure a clean, constant
software or hardware error in master (e. g. jittering of MST synchronization cycle
for sercos)
Master communication hardware (e. g. optional sercos Replace control section or entire drive controller
module) of the drive controller is defective
The holding brake current is monitored when the holding brake has been
controlled. If the holding brake current is outside of the allowed range, the
error F2068 is generated.
Furthermore, the holding brake of controllers of the IndraDrive Cs type is
monitored for wire break. If wire break has occurred, the error F2068 is
generated, too.
If the activation of brake control causes problems with wire break monitoring,
wire break monitoring can be deactivated (see "P-0-0525, Holding brake
control word").
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 225/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Supply voltage for holding brake has not been correctly Check the supply voltage
connected or is outside of tolerance (24 V +/-5 %)
Motor cable has been incompletely connected ● Check motor cable
● Check whether motor cable shield has been connected
over a large surface at the controller
Motor holding brake is defective Replace motor
Drive controller is defective Replace drive controller
The error is triggered, when the supply voltage of the motor holding brake
leaves its allowed range.
Cause Remedy
Error in control voltage supply Check wiring of control voltage. Check whether control
voltage has dropped. Check sizing of power supply unit. If
necessary, replace power supply unit.
Distributed drive controllers "KMS" only: Error in wiring of Check wiring of brake control lines
brake
Distributed drive controllers "KMS" only: Faulty brake Check brake
Distributed drive controllers "KMS" only: Brake incorrectly Check sizing of brake
sized
Hardware defective Replace controller or motor/controller unit
Error messages
When switching off a drive with a motor encoder that can be evaluated in
absolute form, the current actual position is stored in the drive. When
switching the drive on again, the current position is compared to the position
stored when the drive was switched off the last time. If the deviation is
greater than the value in "P-0-0095, Absolute encoder monitoring window for
motor encoder", the error message F2074 is generated.
Cause Remedy
While switched off, axis was moved by more than value Make sure displayed position is correct in relation to
entered in "P-0-0095, Absolute encoder monitoring window machine zero point. Then clear error and, if necessary,
for motor encoder". reestablish position data reference
Value entered in "P-0-0095, Absolute encoder monitoring Check parameterization of "P-0-0095, Absolute encoder
window for motor encoder" is too low for existing encoder monitoring window for motor encoder" and increase
resolution so that normal encoder jitter already causes monitoring window
monitor to be triggered
Amplifier replaced without parameter update Clear error and establish position data reference
Change in parameters of mechanical system (gear, feed Clear error and establish position data reference
constant, ...)
Motor encoder defective Replace motor or motor encoder
When switching off a drive with an optional encoder that can be evaluated in
absolute form, the current actual position is stored in the drive. When
switching the drive on again, the current position is compared to the position
stored when the drive was switched off the last time. If the deviation is
greater than the value in "P-0-0096, Absolute encoder monitoring window for
opt. encoder", the error message F2075 is generated.
Error messages
Cause Remedy
While switched off, axis was moved by more than value Make sure displayed position is correct in relation to
entered in "P-0-0096, Absolute encoder monitoring window machine zero point. Then clear error and, if necessary,
for opt. encoder" reestablish position data reference
Value entered in "P-0-0096, Absolute encoder monitoring Check parameterization of "P-0-0096, Absolute encoder
window for opt. encoder" is too low for existing encoder monitoring window for opt. encoder" and increase monitoring
resolution so that normal encoder jitter will already cause window
monitor to be triggered.
Encoder defective or encoder replacement Replace encoder, clear error and establish position data
reference
Amplifier replaced without parameter update Clear error and establish position data reference
Change in parameters of mechanical system (gear, feed Clear error and establish position data reference
constant, ...)
When switching off a drive with a measuring encoder that can be evaluated in
absolute form, the current actual position is stored in the drive. When
switching the drive on again, the current position is compared to the position
stored when the drive was switched off the last time. If the deviation is
greater than the value in "P-0-0097, Absolute encoder monitoring window for
measuring encoder", the error message F2076 is generated.
Cause Remedy
While switched off, axis was moved by more than value Make sure displayed position is correct in relation to
entered in "P-0-0097, Absolute encoder monitoring window machine zero point. Then clear error and, if necessary,
for measuring encoder". reestablish position data reference
Value entered in "P-0-0097, Absolute encoder monitoring Check parameterization of "P-0-0097, Absolute encoder
window for measuring encoder" is too low for existing monitoring window for measuring encoder" and increase
encoder resolution so that normal encoder jitter already monitoring window
causes monitor to be triggered
228/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Encoder defective or encoder replacement Replace encoder, clear error and establish position data
reference
Amplifier replaced without parameter update Clear error and establish position data reference
Change in parameters of mechanical system (gear, feed Clear error and establish position data reference
constant, ...)
Cause Remedy
Hardware of control section or power section defective. Replace power section or control section resp. entire drive
controller.
This error is signaled by the supply to the drives via the module bus. It has
high priority and...
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 229/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Cause Remedy
Failure of control voltage supply of a module bus node while Supply all devices of "drive system" with control voltage.
the "drive system" is ready for power output or in operation.
Disturbance on module bus Identify and remove sources of disturbance
Incorrect signal timing on module bus Identify and replace faulty device.
Module bus cable defective Identify and replace defective module bus cable, replace
device, if necessary.
Error messages
Cause Remedy
Sporadically occurring failure (firmware error) Clear error and contact customer service to ask for firmware
update
Hardware in control section defective If error occurs repeatedly, replace control section or entire
drive
Programming module defective If error occurs repeatedly, replace programming module
Access to the external memory card is not possible because the file system
structure is defective.
Initialization was aborted; booting of the drive is continued.
Cause Remedy
File system structure is defective. Following causes are NOTICE! The action described below may lead to data loss;
possible: the user is responsible for taking this action.
● Voltage was interrupted during write access to memory Insert memory card in PC and execute CHKDSK
card [drive:] /F to correct error on memory card ([drive:]
● Memory card or control panel was removed during identifies drive containing memory card).
write access
Cause Remedy
Failure occurs sporadically (firmware error) Clear error and contact our service department in order to
get a firmware update.
Encoder cable defective or bad shielding Clear error. Replace defective encoder cable or improve
shielding.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 231/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Encoder memory or encoder electronics is defective. Clear error. Replace encoder or motor
Hardware defect on control section Replace control section or entire drive controller
Cause Remedy
Failure occurs sporadically (firmware error) Clear error and contact our service department in order to
get a firmware update.
Encoder cable defective or bad shielding Clear error. Replace defective encoder cable or improve
shielding.
Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor.
Hardware defect on control section Replace control section or entire drive controller.
The commutation offset value stored in the motor encoder memory was
detected to be invalid.
Error messages
Cause Remedy
Failure occurs sporadically (firmware error) Clear error. Then execute command "P-0-0524, C1200
Commutation offset setting command"; if error occurs again
contact our service department in order to get a firmware
update.
Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor. Then execute
command "P-0-0524, C1200 Commutation offset setting
command".
Cause Remedy
Sporadically occurring failure (firmware error) Clear error and contact our service department to get a
firmware update
Defective encoder cable or bad shielding Clear error. Replace defective encoder cable or improve
shielding
Defective encoder memory or encoder electronics Clear error. Replace encoder or motor
Hardware defect on control section Replace control section or entire drive controller
Error messages
Collective message for non-fatal power section errors, which are transmitted
by the power section. The diagnostic number transmitted by the power
section is entered in the log book.
Cause Remedy
Unknown diagnosis of the power section for the control Use latest firmware for the control section
section
Cause Remedy
During the PM→OM transition, the axis slide is not in the 1. Switch axis to PM.
defined initial position required for the motor function! 2. Clear error.
3. Bring axis slide to defined initial position to activate the
axis limit switch.
(The switching state is displayed in "P-0-0522, Control
word for commutation setting".)
4. Switch axis to OM.
Error messages
Cause Remedy
Failure occurs sporadically (firmware error) Clear error and contact our service department for firmware
update
Hardware defective Should error occur repeatedly, control section or entire
device has to be replaced
Cause Remedy
Memory card inserted incorrectly or defective Clear error, check memory card or insert correctly, and
reboot drive.
If error occurs again on access to memory card, replace
memory card.
Memory card formatted incorrectly 1. Switch drive off.
2. Use PC to format memory card with FAT16. NOTICE!
When memory card is formatted, all data stored on it is
lost. Before formatting the memory card, save the data
which has been stored on it.
3. Insert memory into the slot provided at the drive
controller control panel.
Memory card used is no Rexroth card Use a Rexroth memory card; foreign cards may cause driver
failures on initialization.
Error messages
Cause Remedy
Cause Remedy
An F2 or F3 error has occurred in a CCD slave and "error Locate faulty slave and remove cause of error for this slave
reaction active" has been set in P-0-1800.0.1/P-0-1600
(CCD: Configuration)
An F8 error has occurred in a CCD slave and "best possible Locate faulty slave and remove cause of error for this slave
deceleration" has been set in P-0-1800.0.1/P-0-1600 (CCD:
Configuration) as the reaction to an F8 error
The commanding of a remote axis is faulty in the MLD-M Locate faulty function block and remove error using the
master. (For example, motion function block function block error outputs
"MC_MoveRelative" with "Acceleration"=0)
Error messages
Cause Remedy
Faulty command triggering in MLD-S (single-axis Locate faulty function block and remove error by means of
application) function block error outputs.
- or -
Faulty command triggering of local axis (axis1) in MLD-M
master. (For example, motion function block such as
"MC_MoveRelative" with "Acceleration"=0).
Cause Remedy
Switched on without reference Clear error and establish position data reference again.
(at initial commissioning or caused, e.g., by changes to
parameters that characterize the mechanical system or
affect position evaluation)
Switched on without reference Clear error and establish position data reference.
(after motor or encoder was replaced)
Encoder defective Replace motor or encoder, clear error and establish position
data reference.
Change in parameters of mechanical system (gearbox, feed Clear error and establish position data reference.
constant, ...)
Amplifier replaced without parameter update Clear error and establish position data reference.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 237/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Switched on without reference after replacing device with Clear error and establish position data reference.
loaded, axis-specific parameter values (according to list from - or -
"S-0-0192, IDN-list of backup operation data")
Clear error, then load parameter values of "P-0-0195, IDN
list of retain data (replacement of devices)", if it had been
possible to save them directly before the device was
replaced. Check correctness of restored position data
reference.
F2048 (low battery voltage) was entered in the error memory Re-establish power supply for encoder memory.
(P-0-0192) in addition to F2174 Replace battery (see F2048) or eliminate cable break.
Encoder memory is not supplied with power because battery
power is no longer sufficient or there is cable break in supply
line.
Cause Remedy
Switched on without reference Clear error and establish position data reference again
(At initial commissioning or caused, e.g., by changes to
parameters that characterize the mechanical system or
affect position evaluation)
Switched on without reference Clear error and establish position data reference
(after encoder was replaced)
Encoder 2 defective Replace encoder, clear error and establish position data
reference
Change in parameters of mechanical system (gearbox, feed Clear error and establish position data reference
constant, ...)
238/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Amplifier replaced without parameter update Clear error and establish position data reference
Switched on without reference after replacing device with Clear error and establish position data reference
loaded, axis-specific parameter values (according to list from - or -
"S-0-0192, IDN-list of backup operation data")
Clear error, then load parameter values of "P-0-0195, IDN
list of retain data (replacement of devices)", if it had been
possible to save them directly before the device was
replaced. Check correctness of restored position data
reference
Cause Remedy
Switched on without reference Clear error and establish position data reference
(At initial commissioning or caused, e.g., by changes to
parameters that characterize the mechanical system or
affect position evaluation)
Encoder defective Replace measuring encoder, clear error and establish
position data reference
Switched on without reference Clear error and establish position data reference
(after measuring encoder was replaced)
Controller replaced without parameter update Clear error and establish position data reference
Error messages
With active modulo scaling, the drive limits its actual position values to the
value parameterized in "S-0-0103, Modulo value", otherwise to the value
parameterized in "S-0-0278, Maximum travel range". As these values
possibly cannot be exactly represented, systematic errors of position overrun
are corrected in the drive.
Cause Remedy
"S-0-0103, Modulo value" or "S-0-0278, Maximum travel Check and, if necessary, correct "S-0-0103, Modulo value"
range" have been incorrectly parameterized and not and "S-0-0278, Maximum travel range".
adjusted to the application.
Drive was moved so rapidly that recalculation no longer Reduce drive velocity at position overrun.
works correctly.
Depending on scaling, the drive limits the actual position values to the
maximum travel range or to the modulo value. As these values possibly
cannot be exactly represented, systematic errors of position overrun are
corrected in the drive.
Cause Remedy
The encoder speed was so high that recalculation no longer Reduce encoder speed
works correctly. - or -
Change "S-0-0103, Modulo value"
Error messages
Depending on the scaling, the drive limits the measuring encoder position
feedback values to the position range determined by "P-0-0765, Modulo
factor measuring encoder" and "P-0-0084, Number of bits per master axis
revolution", or to the defined modulo value of 360,0000 degrees. See
"P-0-0330, Control word of measuring encoder", bit 2. As these values
possibly cannot be exactly represented, errors are corrected in the drive.
Cause Remedy
The encoder speed was so high that recalculation no longer Reduce encoder speed
works correctly.
During the initialization of the drive, the parameterization of the interfaces for
Ethernet communication is checked. An error was detected during this check.
Cause Remedy
Unallowed configuration of parameters for Ethernet Set parameters for Ethernet communication (TCP/IP) to
communication (TCP/IP): valid values:
IP address and gateway address are not in the same IP ● P-0-1531, Engineering: IP address
network ● P-0-1532, Engineering: Network mask
- or - ● P-0-1533, Engineering: Gateway address
IP address and gateway address are identical ● P-0-4089.00.13, Master communication: IP address
● P-0-4089.0.14, Master communication: Network mask
● P-0-4089.00.15, Master communication: Gateway
address
● S-0-1020, Master comm. engineering over IP: IP
address
● S-0-1021, Master comm. engineering over IP: Network
mask
● S-0-1022, Master comm. engineering over IP:
Gateway address
As of MPx17VRS, in addition:
● P-0-1641, CCD: IP address
● P-0-1642, CCD: Network mask
● P-0-1643, CCD: Gateway address
Due to storage problems, internal configuration of IP stack Due to a hardware problem, it is necessary to replace drive
was inadmissibly terminated controller
Error messages
Cause Remedy
A slave address greater than 250 is used in the CCD ring Set all slave addresses to values smaller than 250
The device address/master communication address of the Set an address smaller than 255 for the CCD master
CCD master has a value greater than 255
Cause Remedy
Input value at analog input is less than minimum value of Check wiring of analog input; if necessary, re-establish
voltage measuring range ("Voltage signals" setting in contact with voltage source
"P-0-0255, Analog input, hardware configuration") - or -
Check value range of voltage source
Input value at analog input is less than minimum value of Check wiring of analog input; if necessary, re-establish
current measuring range ("Current signals" setting in contact with current source
"P-0-0255, Analog input, hardware configuration") - or -
Check value range of current source
Error messages
Cause Remedy
At least one phase is missing Check mains fuses and replace if necessary
The mains voltage is too low Measure the mains voltage and compare it with the
permissible value range
The mains frequency is outside the specified range Measure the mains frequency and compare it with the
permissible value range
Cause Remedy
Error during the DC bus charging process (could also be Check the connections / wiring at the mains connection
caused by short circuit / ground fault or line break of the DC module (HNA) including DC bus wiring
bus)
If a drive controller with motor has been connected to the Check the motor for short circuit to ground (motor phase -
DC bus: Error during the DC bus charging process due to ground)
short circuit to ground at the motor
Error in mains contactor control Check the mains contactor wiring including the acknowledge
message (XG34 / XG40); if necessary, replace mains
contactor
Mains connection module (HNA) is defective Replace mains connection module
The mains voltage crest value has dropped below the permissible minimum
value.
Cause Remedy
Mains voltage below the minimum value (connection voltage Use impedance matching transformer
range, see documentation "Rexroth IndraDrive ML, drive
systems with HMU05").
Error messages
The mains voltage crest value has risen above the permissible maximum
value.
Cause Remedy
The mains voltage crest value has risen above the Check the mains voltage. Use an impedance matching
permissible maximum value (connection voltage range, see transformer where necessary
documentation "Rexroth IndraDrive ML, drive systems with
HMU05")
During the soft start process (loading the DC bus capacity), the course of the
DC bus voltage is monitored. Significant deviations point to a fault in the
power section and are diagnosed with the error F2816.
Cause Remedy
Short-circuit in the DC bus Check DC bus wiring and remove short-circuit if present
Load on the DC bus Check the DC bus wiring and, if there is a faulty connection
on an external braking resistor, correct the connection
Insulation error in the DC bus Check the DC bus wiring. If the wiring is ok, there may be an
insulation error within the device or other devices connected
to the DC bus. To identify the faulty device, gradually
remove the connected devices from the drive system
(remove wiring)
End value of the DC bus voltage is not reached within a Check whether there is a fault on the actuator connected
maximum time externally to the DC bus.
Impermissible voltage fluctuations in the supply network. Check the mains voltage
The mains voltage dropped impermissibly during the soft
start process
HMU05 (used as supply unit), HMV01, HMV02: Thermal Check the number of ON-OFF switching cycles
overload of the soft start switching
HMU05 (used as supply unit): Thermal overload of the Check the cooling of the mains throttles
mains throttles
Device is faulty Replace the device
Error messages
A single-phase mains failure, which lasted longer than the tolerated phase
failure time, was detected.
Cause Remedy
A mains failure, which lasted longer than the tolerated mains failure time, was
detected for a supply unit of the HMV type or a converter of the HCS/ HCT/
HCQ type.
Cause Remedy
Mains failure (permanent or temporary) Search and remove cause of mains failure
Mains circuit breakers defective Replace mains circuit breakers
Power was switched off due to possible overload of the braking resistor.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 245/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
If the DC bus voltage exceeds the current switch-on threshold of the braking
resistor ("P-0-0833, Braking resistor threshold") as a result of regenerative
operation of the drive, the braking resistor is switched on to limit the DC bus
voltage. The load of the braking resistor is displayed in "P-0-0844, Braking
resistor load". When the load rises to 110%, error F2820 is displayed.
After having eliminated the cause of the error, check the braking
resistor for operability!
The error can only be cleared, when its cause has been removed.
Cause Remedy
Allowed deceleration of connected drives too high Reduce deceleration of connected drives
Energy absorption capacity of braking resistor is exhausted Switch power supply off with a delay in the case of drive
OFF or E-STOP (for regenerative supply units) or reduce
velocity
Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum velocity
Continuous regenerative power and/or rotary drive energy is Reduce maximum velocity or check dimensioning of braking
too high resistor and, if necessary, increase dimensioning
Braking resistor is defective or has not been connected For external braking resistor, visually check wiring and
resistor component. If necessary, correct wiring or replace
braking resistor.
If internal braking resistor is defective, replace device.
The error can occur for devices of both the HCS and the HMV
type. There are different causes and remedies for both device
types!
Devices of the HCS type An error has occurred in the control of the external braking resistor.
Cause Remedy
Control of braking resistor has detected inadmissibly high Check braking resistor for correct resistance value. If
current. necessary, use braking resistor with higher resistance value.
Terminal connectors for external braking resistor have been Remove short circuit, connect braking resistor correctly, if
short-circuited. necessary.
246/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Devices of the HMV type An error has occurred in the control of the internal braking resistor.
Cause Remedy
Cause Remedy
Temperature monitoring line interrupted or short-circuited Check connection of KNK mains filter to the supply unit.
Check temperature sensor connection line for mains filter
and corresponding terminals with regard to interruption and
short circuit.
Defective temperature sensor in mains filter Replace mains filter
Defective supply unit Replace supply unit
The error can only be cleared, when its cause has been removed.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 247/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
For devices of type "HCS", this error message is generated Increase value of braking resistor switch-on voltage
when the parameterized braking resistor switch-on voltage is (corresponding list element in "P-0-0858, Data of external
too low. (The braking resistor would already be active with braking resistor"
correct DC bus voltage.) - or -
Select different reference value for switch on voltage of
braking resistor in "P-0-0860, Converter configuration"
As of MPx18: Value of "P-0-0853, MMax. DC bus voltage, Check value of P-0-0853; if necessary, adjust amount of
motor" is too low with respect to respective mains voltage. mains voltage with transformer.
NOTICE! Motor can be damaged if motor voltage is too high!
Do not parameterize value of P-0-0853 such that it is greater
than respective motor specification.
The mains contactor could not be connected or fell off during operation.
Cause Remedy
Missing supply voltage ● Check the wiring of the mains contactor control
● Check the supply voltage of the mains contactor
Missing feedback of the acknowledgement contacts Check the wiring of the mains contactor acknowledgement
contacts (XG40)
Mains contactor control (XG34) does not switch If you have checked that the points outlined above are
met / correct, the device is faulty and has to be replaced
Unbalance on the DC bus was detected for the supply unit / converter.
248/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Unbalance on the DC bus Switch device off/on; if error continues occurring, replace
device
Cause Remedy
Temperature monitoring line interrupted or short-circuited Check mains connection to supply unit.
Check temperature sensor connection line for mains
connection and corresponding terminals with regard to
interruption and short circuit.
The supply unit is overloaded. Reduce load. To prevent the supply unit from being switched
off, this can also be done temporarily by the control unit.
Check sizing of the installation.
In the case of installations that have been operated for a
long time, check whether drive conditions have changed
(with regard to dirt accumulation, friction, moved masses
etc.).
If an external cooling system is available: Check sizing of
cooling system.
Fan has failed Check cooling system
- or -
Defective coolant pump
- or -
Cooling circuit not connected
Cooling system dirty Clean heat sink. In the case of water cooling: Check flow
and clean pipes, if necessary.
Ambient temperature too high Check whether or not ambient temperature exceeds
temperature allowed according to Project Planning Manual.
Check control cabinet cooling system. An air conditioning
unit is possibly required.
Bad transmission in cooling system Check device mounting on external cooling system.
Retighten mounting screws. If necessary, use heat transfer
compound in accordance with mounting instructions. Ensure
plane connection.
Heat transmission by convection or heat conduction by Check inward flow of cooling air. Increase distance between
neighboring devices or parts the devices. Thermally insulate heat sources on the external
cooling system.
Missing or bad convection Ensure free inward flow of cooling air
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 249/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Cause Remedy
Incorrect control cabinet sizing with regard to heat Check control cabinet sizing
dissipation
Device-internal cooling has failed Replace mains connection
Defective temperature sensor in mains filter Replace mains filter
Defective supply unit Replace supply unit
The current in the mains-side power section has exceeded the maximum
allowed value. The power supply is switched off.
Cause Remedy
Error code
Hexadecimal Decimal Explanation
Error messages
Error code
Hexadecimal Decimal Explanation
0x2005 8197 Name is write-protected at this time
0x3002 12290 Attribute transmission too short
0x3003 12291 Attribute transmission too long
0x3004 12292 Attribute cannot be changed (read only)
0x3005 12293 Attribute is write-protected at this time
0x4001 16385 No units
0x4002 16386 Unit transmission too short
0x4003 16387 Unit transmission too long
0x4004 16388 Unit cannot be changed (read only)
0x4005 16389 Unit is write-protected at this time
0x5001 20481 No minimum input value
0x5002 20482 Minimum input value transmission too short
0x5003 20483 Minimum input value transmission too long
0x5004 20484 Minimum input value cannot be changed (read only)
0x5005 20485 Minimum input value is write-protected at this time
0x6001 24577 No maximum input value
0x6002 24578 Maximum input value transmission too short
0x6003 24579 Maximum input value transmission too long
0x6004 24580 Maximum input value cannot be changed (read only)
0x6005 24581 Maximum input value is write-protected at this time
0x7002 28674 Operation data transmission too short
0x7003 28675 Operation data transmission too long
0x7004 28676 Operation data cannot be changed (read only)
0x7005 28677 Operation data is write-protected at this time (reason: communication phase or
mode)
0x7006 28678 Operation data is smaller than the minimum input value
0x7007 28679 Operation data is greater than the maximum input value
0x7008 28680 Invalid operation data (e.g. IDN not supported, invalid bit number, invalid bit
combination, invalid list length)
0x7009 28681 Operation data write protected by a password
0x700A 28682 Operation data is write protected, it is configured cyclically (IDN is configured in
the MDT or AT. Therefore writing via the service channel is not allowed).
0x700B 28683 Invalid indirect addressing (e.g., data container, list handling)
0x700C 28684 Operation data is write protected, due to other settings (e.g., parameter,
operation mode, drive enable, drive on etc.)
0x7010 28688 Procedure command already active
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 251/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Error messages
Error code
Hexadecimal Decimal Explanation
0x7011 28689 Procedure command not interruptible
0x7012 28690 Procedure command at this time not executable (e.g., in this phase the
procedure command cannot be activated)
0x7013 28691 Procedure command not executable (invalid or false parameters)
Warnings (Exxxx)
9 Warnings (Exxxx)
9.1 Fatal warnings (E8xxx)
9.1.1 Behavior in the Case of Fatal Warnings
There are different drive reactions in the case of warnings of category E8xxx;
they are described under the cause/remedy descriptions of the warnings.
Cause Remedy
Energy regenerated to DC bus by mechanical machine Reduce regenerative power by lower acceleration values
system during braking process was so high that supply unit - or -
couldn't dissipate it during regeneration time. This caused
DC bus voltage to rise to inadmissible value Correct sizing of drive
- or -
Sufficiently dimension supply unit as regards braking energy
requirements; if necessary, use additional braking resistor if
existing braking resistor has been under-dimensioned
Mains supply voltage (alternating input voltage) too high Check mains supply voltage (alternating voltage/3-phase)
No braking resistor connected or connection or cable Connect braking resistor or check connection
defective
F8xxx error at high speed (field weakening range) of a Check whether braking resistance value in DC bus exceeds
synchronous motor maximum value allowed for motor; if necessary, reduce
braking resistance value to or below allowed value
The DC bus voltage value is monitored by the drive controller and the supply
unit.
Drive Controllers HMS, HMD, If the DC bus voltage falls below the minimum value determined for the drive
HCS (see value of "P-0-0114, Undervoltage threshold") or it reacts to "DC bus not
ok" of the module bus, the device generates the warning E8026 if "fatal
warning" has been set in "P-0-0118, Power supply, configuration" with regard
to the reaction to undervoltage.
254/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Supply Unit HMV01.1R If the DC bus voltage falls by 80 V below the command value of 750 V direct
voltage (DC670 V), the warning E8026 is displayed at the device and "DC
bus not ok" is signaled via the module bus. The circuit is not interrupted yet!
Cause Remedy
Power is switched off without previous drive deactivation by Check logic for activating drive in connected control unit
means of drive enable ("AF")
Malfunction or overload of power supply Check power supply
Mains failure Check cause of mains failure, switch mains voltage on again
Cause Remedy
Special mode "safe standstill" was selected with active Remove drive enable before selection
control. - or -
Check control / wiring
Drive enable was set in special mode "safe standstill". Go to normal operation before setting drive enable
- or -
Check control / wiring
The controller monitors the motor current supplied by the power section
(=controller output current).
If the controller output current is larger than 1.2 times the "S-0-0110,
Amplifier peak current" or if the controller output current is larger than the
product of "P-0-4013, Current limit value of demagnetization" and "S-0-0109,
Motor peak current", the output stage of the power section is blocked until the
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 255/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Incorrect current controller parameterization Check the current controller setting ("S-0-0106, Current loop
proportional gain 1", "S-0-0107, Current loop integral action
time 1" and correct if necessary following consultation with
customer service
For motors from Bosch Rexroth with encoder data memory Check whether the values in "S-0-0106, Current loop
(MHD, MKD, MKE), the values for current controller proportional gain 1" and "S-0-0107, Current loop integral
parameterization do not correspond to the values in the action time 1" correspond to the values in the encoder data
encoder data memory memory ("P-0-2106, Current loop proportional gain 1,
encoder memory" and "P-0-2107, Current loop integral
action time 1, encoder memory")
Notice: The calculation of "S-0-0106, Current loop
proportional gain 1" is dependent on "P-0-0001, Switching
frequency of the power output stage" and "P-0-0556, Axis
controller control word"!
For motors from Bosch Rexroth without encoder data Check whether the values in "S-0-0106, Current loop
memory, the values for current controller parameterization proportional gain 1" and "S-0-0107, Current loop integral
do not correspond to the manufacturer specifications action time 1" correspond to the manufacturer specifications
(see commissioning software)
For motors from third-party manufacturers, the output data Check whether the output data for calculating the parameter
for calculating the parameter values is not correct values is correct
The drive provides a function for monitoring an allowable travel range using
software limit switches that can be parameterized.
Drive reaction If bit 7…4 ="4"hex is parameterized in P-0-0119, then the drive is decelerated
with the ramp parameterized in S-0-0138 when this warning occurs.
If bit 7…4 ≠"4"hex is parameterized in P-0-0119, then the drive reacts with
velocity command value reset when this warning occurs, without
consideration of an acceleration limit. P-0-0109 specifies available torque /
available force.
256/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
A command value was specified for the drive, which results Specify a command value that moves back into allowable
in a axis position outside of positive travel range/position travel range.
limit Contact machine manufacturer to clarify cause of faulty
command value
Faulty parameterization of positive travel range/position limit Check and, if necessary, correct parameterization of
"S-0-0049, Positive position limit value"
The drive provides a function for monitoring an allowable travel range using
software limit switches that can be parameterized.
Drive reaction If bit 7…4 ="4"hex is parameterized in P-0-0119, then the drive is decelerated
with the ramp parameterized in S-0-0138 when this warning occurs.
If bit 7…4 ≠"4"hex is parameterized in P-0-0119, then the drive reacts with
velocity command value reset when this warning occurs, without
consideration of an acceleration limit. P-0-0109 specifies available torque /
available force.
Cause Remedy
A command value was specified for the drive, which results Specify a command value that moves back into allowable
in a axis position outside of negative travel range/position travel range.
limit Contact machine manufacturer to clarify cause of faulty
command value
Faulty parameterization of positive travel range/position limit Check and, if necessary, correct parameterization of
"S-0-0050, Negative position limit value"
Warnings (Exxxx)
Cause Remedy
E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and
clarify cause of triggering
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs on control
control section section and correct it, if necessary
E-Stop switch or cable connection defective or incorrectly Check function and wiring of E-Stop switch
wired
Control section or digital inputs on control section defective Replace control section or entire drive controller
The warning E8040 is generated when the "stall protection loop" takes effect
and changes the working point of the machine for its relief.
258/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
The warning E8041 is generated when the current limitation loop takes effect
and reduces the output voltage due to overvoltage.
Cause Remedy
"S-0-0109, Motor peak current" incorrectly parameterized Check content of "S-0-0109, Motor peak current" and
increase it, if necessary
Short circuit at output of power output stage (e.g. in motor Check motor connection and motor for short circuit and
cable or in motor) replace cable or motor, if necessary
Power output stage in drive controller defective Replace drive controller
The compliance with the allowed travel range of linear axes is monitored on
the hardware side via two travel range limit switches. When the travel range
has been exceeded, one of the two limit switches is activated, if the limit
switches were correctly mounted.
The warning E8042 is generated if
● the controller detects that both travel range limit switches have been
simultaneously activated and
● exceeding the travel range is handled as a fatal warning (setting in
"P-0-0090, Travel range limit parameter")
Warnings (Exxxx)
Drive reaction If bit 7…4 ="4"hex is parameterized in P-0-0119, then the drive is decelerated
with the ramp parameterized in S-0-0138 when this warning occurs.
If bit 7…4 ≠"4"hex is parameterized in P-0-0119, then the drive reacts with
velocity command value reset when this warning occurs, without
consideration of an acceleration limit. P-0-0109 specifies available torque /
available force.
Cause Remedy
Due to incorrect mounting, axis simultaneously activates Mount travel range limit switches in such a way that they are
both travel range limit switches activated shortly before axis end position is reached. Make
sure the braking distance is sufficient.
Travel range limit switches were incorrectly connected Connect travel range limit switches correctly; check
compliance with switching logic set in "P-0-0090, Travel
range limit parameter"
Switching logic of travel range limit switches does not Check switching logic with regard to realized wiring, adjust it
correspond to realized wiring in "P-0-0090, Travel range limit parameter" if necessary
The drive provides a function for monitoring travel range limit parameters
(external hardware limit switches). This monitor has to be activated and
parameterized via "P-0-0090, Travel range limit parameter".
The warning is generated if
● the controller detects that the positive travel range limit switch has been
activated and
● exceeding the travel range is handled as a fatal warning (setting in
"P-0-0090, Travel range limit parameter")
Drive reaction If bit 7…4 ="4"hex is parameterized in P-0-0119, then the drive is decelerated
with the ramp parameterized in S-0-0138 when this warning occurs.
If bit 7…4 ≠"4"hex is parameterized in P-0-0119, then the drive reacts with
velocity command value reset when this warning occurs, without
consideration of an acceleration limit. P-0-0109 specifies available torque /
available force.
Cause Remedy
The travel range limit parameter lying in the positive Set drive controller enable and specify a command value
direction (see motor configuration) was activated because that move back into the allowable travel range again
the axis is located outside of the travel range defined by the
travel range limit switch
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs on control
control section section and correct it, if necessary
260/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Travel range limit switch or cable is defective or wired Check function and wiring of travel range limit switch
incorrectly
Control section or digital inputs on control section defective Replace control section or entire drive controller
The drive provides a function for monitoring travel range limit parameters
(external hardware limit switches). This monitor has to be activated and
parameterized via "P-0-0090, Travel range limit parameter".
The warning is generated if
● the controller detects that the negative travel range limit switch has been
activated and
● exceeding the travel range is handled as a fatal warning (setting in
"P-0-0090, Travel range limit parameter")
Drive reaction If bit 7…4 ="4"hex is parameterized in P-0-0119, then the drive is decelerated
with the ramp parameterized in S-0-0138 when this warning occurs.
If bit 7…4 ≠"4"hex is parameterized in P-0-0119, then the drive reacts with
velocity command value reset when this warning occurs, without
consideration of an acceleration limit. P-0-0109 specifies available torque /
available force.
Cause Remedy
The travel range limit parameter lying in the negative Set drive controller enable and specify a command value
direction (see motor configuration) was activated because that move back into the allowable travel range again
the axis is located outside of the travel range defined by the
travel range limit switch
Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs on control
control section section and correct it, if necessary
Travel range limit switch or cable is defective or wired Check function and wiring of travel range limit switch
incorrectly
Control section or digital inputs on control section defective Replace control section or entire drive controller
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 261/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
In order to protect the motors against thermal destruction in the case of peak
loads occurring for a very short time, the thermal work load of the motor is
continuously calculated in the controller by means of a motor temperature
model.
If the maximum possible motor current is reduced, due to the current thermal
motor load, compared to the content of "S-0-0109, Motor peak current", the
drive generated the warning E8055. As a consequence thereof the drive can
no longer follow the command values preset by a control unit.
Cause Remedy
Too high acceleration torque/too high acceleration force Reduce acceleration by adjusted command value profile
demanded
Overload of drive by too high continuous load Reduce overload in the case of long machining phases
Too high process or machining force (e.g. infeed) Reduce process or machining force
Mechanical changes in axis (e.g. friction, load conditions,...) Check mechanical system and, if necessary, optimize load
conditions and/or friction conditions
In order to protect the devices against thermal destruction, the thermal load
of the output stage in devices with digital current control is continuously
calculated by a temperature model, depending on the measured current.
262/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
For HCS, HMS, HMD If the thermal load exceeds 97% (displayed in "P-0-0141, Thermal drive
load"), the continuous current limitation is activated and the warning E8057 is
generated. As a consequence thereof the drive can no longer follow the
command values preset by a control unit.
Cause Remedy
Device is not adjusted to requirements of application or Check dimensioning of drive and, if necessary, use more
motor powerful device
Too high acceleration torque/too high acceleration force Reduce acceleration by adjusted command value profile
demanded
Overload of drive by too high continuous load Reduce overload in the case of long machining phases
Too high process or machining force (e.g. infeed) Reduce process or machining force
Mechanical changes in axis (e.g. friction, load conditions,...) Check mechanical system and, if necessary, optimize load
conditions and/or friction conditions
This fatal warning can occur for drive controllers in operation that are
interconnected via the module bus. If one of these drive controllers in
operation signals an error via the module bus, the drives that are to react to
signaled errors ("package reaction") react with shutdown. The reacting drives
display the warning E8058, the supply unit displays "E2810 Drive system not
ready for operation".
The settings for error messages and error reactions for devices that are
interconnected via the DC bus and module bus are made in "P-0-0118,
Power supply, configuration".
Cause Remedy
Error message of one or several drives of a drive system Identify drive or drives signaling an error. Remove cause of
error at respective drive or drives
Warnings (Exxxx)
Cause Remedy
"Controlled motor operation" / "closed-loop operation" Reduce preset maximum acceleration value to allow drive to
Acceleration capacity of drive has been exceeded. In follow position or velocity command value characteristic
operating modes "position control" and "velocity control", this
means that there is an ever-increasing position deviation
(lag error) between command value and actual value
"Controlled motor operation" / "closed-loop operation" Reduce maximum velocity command value in such a way
Velocity command value is higher than maximum velocity of that values of P-0-0535 or P-0-0536 are not reached when
drive. Drive limits output value of velocity loop (torque accelerating or at maximum velocity.
command value) so that output voltage of controller, If possible, use controlled supply unit (HMV-R); with
depending on load, does not exceed value of "P-0-0535, uncontrolled supply unit increase supply voltage, if
Motor voltage at no load" or "P-0-0536, Maximum motor necessary
voltage"
"Controlled motor operation" / "closed-loop operation" Increase values of "S-0-0082, Torque/force limit value
Torque/force limit values incorrectly set positive", "S-0-0083, Torque/force limit value negative",
"S-0-0092, Bipolar torque/force limit value" and "P-0-0109,
Torque/force peak limit", if necessary
"Controlled motor operation" / "closed-loop operation" Check contents of "S-0-0106, Current loop proportional gain
Current loop incorrectly parameterized for motors without 1" and "S-0-0107, Current loop integral action time 1" and
feedback data memory (e.g. kit motors or third-party motors) correct them, if necessary.
See also Functional Description of firmware "Automatic
Setting of Motor Control"
"Controlled motor operation (FXC)" Reduce current at standstill ("P-0-0532, Premagnetization
Controller cannot permanently provide required current at factor" × "P-0-4004, Magnetizing current") by lower value of
standstill of asynchronous motor P-0-0532
- or -
Use controller with higher continuous current (type current)
"Open-loop operation" / "U/f-controlled motor operation" Maximum change of velocity with which drive can follow
Acceleration capacity of controlled drive has been exceeded command values is determined by motor. This possibly
(velocity command value ramp too steep) requires adjustment of "P-0-0569, Maximum stator
frequency change"
Warnings (Exxxx)
The axis is configured such that it reacts to zone errors with this
fatal warning (P-0-3266.0.2). The reaction occurs in accordance
with "P-0-3263.0.1, SMO: Configuration of stopping process" (bit
0-3).
Cause Remedy
A zone node signaled an error via the zone bus [see Switch axis of zone that signaled the error into error-free
P-0-3266.0.1 (bit for error status of safety zone)]. state
Cause Remedy
Power is switched off without previous drive deactivation by Check logic for activating drive in connected control unit
means of drive enable ("AF")
Malfunction or overload of power supply Check power supply
Mains failure Check cause of mains failure, switch mains voltage on again
Warnings (Exxxx)
The master synchronization telegram (MST) was not received in the drive in
several successive sercos cycles. The number of allowed failures is set in
S-0-1003.
Cause Remedy
Different sercos cycle times in master and slave Check sercos cycle times in master and slave and adjust
them, if necessary
Disturbance in sercos interface (general) Replace control section or entire drive controller
Cause Remedy
Synchronous monitoring has been preset for a connection Producer of connection (can be bus master or another
and NewData bit of connection does not toggle in preset slave) does not work correctly
cycle
Too many telegrams fail due to disturbances Check bus line and connector
266/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Invalid communication phase was set by sercos master Cause can only be remedied by consulting the control unit
module (phase >4) (see also F4003) manufacturer
When the device had been switched back from a Cause can only be remedied by consulting the control unit
communication phase, it was not switched to communication manufacturer
phase 0 (error in sercos master module of control unit) (see
also F4005)
EtherCAT
Cause Remedy
Double MDT failure in phase "Op" without enabling Check bus timing
Note: If the warning occurs when the phase is switched back
from "Op", you can ignore the warning.
Double MDT failure in phase "Op" with enabling (warning is Check bus timing
only generated when "P-0-4088, Master communication,
configuration" has been parameterized such that a warning
is to be generated instead of a drive error reaction initiated
in case communication fails, otherwise F4002)
Wiring of EtherCAT cables is not correct Make sure that EtherCAT cable for incoming signals has
been plugged in connection point X25 P1 [or X23 P1 (if
available)] and EtherCAT cable for outgoing signals has
been plugged in X24 P2 [or X22 P2 (if available)]
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 267/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Other field buses (CANopen, In "P-0-4088, Master communication, configuration", bus failure was
PROFIBUS, ...) configured as a warning.
Warning E4005 is generated in the following cases:
● No telegram with command values was received within the monitoring
time stored in P-0-4075.
- or -
● The control unit was switched to "Stop".
- or -
● The control unit took the drive out of the master communication group.
Cause Remedy
See F4009 See F4009
Cause Remedy
Cause Remedy
Synchronous monitoring has been preset for a consumer Producer of connection (can be bus master or another
connection and NewData bit of connection does not toggle slave) does not work correctly
in preset cycle
Too many telegrams fail due to disturbances Check bus line and connector
Warnings (Exxxx)
An error is present while the index check is carried out in the multiplex
channel. In the case of cyclic data exchange, the index is monitored for
pointing to a non-initialized section in the list when the lists Data container A:
Configuration list command value-x are accessed.
Cause Remedy
Via "S-0-0368, Data container A: Addressing" an index Select only indices (layers), in which parameters are
(layer) was selected in which no parameters have been entered, by means of the low-byte of "S-0-0368, Data
entered. container A: Addressing".
"Fill" the configuration lists for command values (S-0-0370,
S-0-0490, S-0-0491,…, S-0-0496) with parameters.
An error is present while the index check is carried out in the multiplex
channel. In the case of cyclic data exchange, the index is monitored for
pointing to a non-initialized section in the list when the lists Data container A:
Configuration list command value-x are accessed.
Cause Remedy
Via "S-0-0368, Data container A: Addressing" an index Select only indices (layers), in which parameters are
(layer) was selected in which no parameters have been entered, by means of the high-byte of "S-0-0368, Data
entered. container A: Addressing".
"Fill" the configuration lists for actual values (S-0-0371,
S-0-0500, S-0-0501,…, S-0-0506) with parameters.
Warnings (Exxxx)
Cause Remedy
Save was not scanned in phase 1 or address 0 is set Set correct slave address
Save was deactivate by control unit Check sercos master configuration
Cause Remedy
MultiEthernet interface is overloaded; I/O data of cyclic Please contact our service department
communication cannot be transmitted to drive
Cause Remedy
More CCD slaves than allowed have been connected to Reduce number of connected CCD slaves
CCD master Note: Maximum number of axes depends on CCD cycle time
and data length
Warnings (Exxxx)
Cause Remedy
Multiple use of a CCD slave address; actual topology Correct slave address in the slave/the slaves (P-0-4025,
(P-0-1801.0.3/P-0-1603) and command topology Drive address of master communication)
(P-0-1801.0.2/P-0-1636) do not match. Addresses must be
unequivocal here
A CCD slave that does not exist in the CCD group was Correct P-0-1801.0.10/P-0-1601 in accordance with
configured in P-0-1801.0.10/P-0-1601 (addresses of drives connected CCD slaves
configured in CCD group)
A CCD slave that does not exist in the CCD group was Correct P-0-1801.0.11/P-0-1604 in accordance with
configured in P-0-1801.0.11/P-0-1604 (addresses of I/Os connected CCD slaves
configured in CCD group) - or -
Assign the addresses to the slaves using the command
C7000
In P-0-1801.0.10/P-0-1601 Connect all configured CCD slaves correctly
- or -
in P-0-1801.0.11/P-0-1604, an incorrectly connected CCD
slave was configured
When the CCD group powers up to phase 0, 1 or 2, the CCD slaves are
monitored for correct reaction. Warning E4014 is generated if the behavior of
one or more slaves is not correct. There may be the following error
symptoms:
● The CCD slave ignores phase switching and continues to transmit
● The CCD slave does not resume transmitting after completed phase
switching
● The list of scanned CCD slaves is not stable (the list must be completely
identical for phase 0)
● No communication on port 1 or port 2
● No CCD slave scanned [only if P-0-1801.0.10/P-0-1601 (CCD:
Addresses of projected drives) is also empty, otherwise E4013]
● The MST that was transmitted is not received correctly
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 271/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
● A CCD slave has been connected that is not supported by the CCD
master
Cause Remedy
sercos plug-in connectors are loose or defective Check sercos plug-in connectors and replace them, if
necessary
One of the CCD slaves is defective Replace CCD slave
In sercos phase 4 the CCD master has detected that the actual topology
differs from the command typology.
Cause Remedy
The composition of a modular I/O has changed since the previous CCD
phase progression. The content of parameter S-0-1500.0.3 (List of Module
272/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Type Codes) in a modular I/O is not identical with the content of parameter
"P-0-1634.x.1, CCD: Module type codes of the modular I/Os".
As a result, there may be cases where the inputs or outputs are not operated
correctly because modules of the modular I/O have been exchanged.
Cause Remedy
New modular I/O was added to CCD group Start command "P-0-1620.0.31, C7200 CCD: Command
Apply I/O configuration" or write to parameter P-0-1634.x.1
Changes were made to known modular I/O in CCD group. Undo changes to modular I/O
Modules were exchanged or replaced by other modules or - or -
new modules were added
Inform CCD master about changes with command C7200
"CCD: Command Apply I/O configuration"
- or -
Write correct values to parameter P-0-1634.x.1
The sercos ring was interrupted. The sercos topology was changed from
"Fast Forward" (FF) to "Loop-back with Forward" (LF).
Cause Remedy
Master has changed topology via Device Control (C-Dev) Carry out ring recovery by master
(S-0-1044)
- or -
A neighboring slave has changed its topology
One of the two sercos cables was removed Plug in sercos cable and afterwards carry out ring recovery
by master
Cable break has occurred (defective cable) Replace cable and afterwards carry out ring recovery by
master
In the CCD phase 0, the CCD master has detected that one of the connected
Sercos slaves does not support SWC (Single Wire Coexistence).
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 273/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
One of the Sercos slaves connected to the CCD master Only run slaves allowing SWC at the CCD master (e.g.,
does not support SWC (Single Wire Coexistence) IndraDrive with version MPx20V06 and above)
- or -
In P-0-1800.0.1, bit 14, deselect the SWC option
Cause Remedy
During the hot plug phase startup, an error occurred, which A remedy can only provided in conjunction with the bus
cannot be assigned to another, specific hot plug diagnostic master.
message.
Cause Remedy
The value parameterized in "S-0-1002, sercos cycle time Parameterize a sercos cycle time (S-0-1002) in the bus
(tScyc)" is not supported by the slave. master, which is supported by the slave.
Cause Remedy
The value parameterized in "S-0-1010, sercos: Lengths of Parameterize MDT lengths in the bus master that conform
MDTs" is not supported. with standards (see description of S-0-1010).
Warnings (Exxxx)
Cause Remedy
The value parameterized in "S-0-1012, sercos: AT lengths" Parameterize AT lengths in the bus master that are in
is not supported. conformity with standards (see description of S-0-1012).
Cause Remedy
The value parameterized in "S-0-1027.0.1, sercos: Parameterize an MTU in the bus master1) (S-0-1027.0.1),
Requested MTU" is not supported. which is supported by the slave.
Cause Remedy
The value parameterized in "S-0-1017, sercos: NRT Parameterize an NRT transmission time (S-0-1017) in the
transmission time" is not supported. bus master, which is supported by the slave.
Cause Remedy
The bus mater interrupted "hot plug" during the hot plug A remedy can only be provided in the bus master, e.g. by
phase startup. The drive controller automatically switched restarting the hot plug phase startup.
back to the NRT mode.
Warnings (Exxxx)
Cause Remedy
During hot plug phase 1 or 2 the bus master requested the A remedy can only be provided in the bus master, e.g. by
hot plug slave to jump back to hot plug phase 0 (HP0). restarting from hot plug phase 0.
Cause Remedy
The axis has been in the following state for at least 15 Establish "Safe reference"
minutes:
● "Safe homing procedure" has been activated
(P-0-3253.0.1)
● The axis is in the operation mode "SMO application"
(P-0-3231)
● "Safe reference" is missing (P-0-3256)
If the drive is in "special mode Safe motion" and one of the safety
functions "Safely-limited end position (SLE)", "Safely-limited
position (SLP)" or "Safely-monitored position (SMP)" is active, the
error F3112 is generated (regardless of P-0-3253.0.1, bit 4).
Warnings (Exxxx)
Cause Remedy
The SMO reference signal (P-0-3253) has not been Move drive over the SMO reference position at a velocity <
detected within the position range P-0-3253.0.3 ± P-0-3253.0.5.
P-0-3253.0.4 since the time interval began in which the Safe
reference is to be cyclically checked (P-0-3253.0.6).
Additional notes:
● In parallel with this warning, the status bit "time interval status for
checking the Safe reference" is set in P-0-3256.
● The time interval is restarted after the check was carried out
successfully or after the command C4000 was executed successfully.
See also documentation "Integrated Safety Technology", index entry "Safe
homing procedure"
E3113 - Attributes Display: E3113
Diagnostic no.: E3113
Diagnostic no. as of 18VRS: 060E3113
Cause Remedy
Drive had been put into operation and drive enable was set; Brake check (P-0-0541, C2100 Holding system check
after 5 minutes, drive generates warning E3115 command) must be carried out within 15 minutes after drive
was put into operation and drive enable was set
Space of time since last holding brake check has Start brake check within 15 minutes after occurrence of
approached time interval parameterized in "P-0-0550, Time E3115 (P-0-0541, C2100 Holding system check command)
interval holding system check" by 15 minutes or less
Warnings (Exxxx)
Cause Remedy
Wrong F-module or no F-module selected in PROFINET In the PROFINET master, select an F-module from the
master device data sheet that matches the current parameterization
in P-0-3342.0.1 and P-0-3343.0.1
Parameterization in P-0-3342.0.1 and P-0-3343.0.1 does not
Adjust parameterization in P-0-3342.0.1 and P-0-3343.0.1
match the F-module selected in the PROFINET master
Cause Remedy
A problem occurred while processing the diagnostic 1. Make a backup of all parameters.
messages of the drive. In too short a time too many 2. Have a look at the diagnostic trace to find out which
diagnostic messages are/were signaled so that the diagnostic messages were signaled last. A warning or
diagnostic trace became inconsistent. The warning does not an error is likely to have been cyclically signaled. This
have any direct inluence on the drive function diagnostic message usually appears repeatedly in the
diagnostic trace.
3. Now, switch the drive off and back on. During re-
commissioning see to it that the relevant diagnostic
message is not cyclically generated.
Then get in contact with our service department and forward
the parameter backup to them.
Warnings (Exxxx)
Cause Remedy
The prewarning threshold set in P-0-0322.0.2 for Increase the value of "P-0-0322.0.2, Prewarning threshold -
performance utilization has been exceeded. performance utilization".
Please note that in the case of a utilization of capacities >
90 % the reaction to acyclic communication requests may be
slower, MLD computer assignments may be reduced and
the processing times for commands increased.
In the case of loading > 95 % trouble-free operation can no
longer be ensured, through to possible CPU watchdogs
(F9003).
Tip: The averaged performance utilization is shown in
P-0-0322, Performance load.
Change the performance setting (P-0-0556, Config word of
axis controller).
Increase the master communication cycle time
Reduce the configured cyclic process data
Deactivate the optional firmware functions if not required
(position switch, probe function, ...).
Cause Remedy
The communication bus between the power parts is faulty ● Check wiring
● Check grounding
If there are no faults in the wiring and grounding, the parallel
connection module (HCP01.1-P001) is faulty and must be
replaced
With the active "velocity synchronization" mode, the drive monitors the
synchronous velocity command value to find out whether it exceeds the
velocity limit value.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 279/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
The master axis velocity resulting from the configured Reduce master axis velocity
master axis is too high
Parameterized velocity limit value is too low Check and correct parameterization of "S-0-0091, Bipolar
velocity limit value", "S-0-0038, Positive velocity limit value",
"S-0-0039, Negative velocity limit value"
If a firmware not requiring an export license is used: Reduce velocity command value to allowed value
Velocity command values corresponding to an inverter
output frequency ≥ 600 Hz were preset in open-loop
operation
Warnings (Exxxx)
Warnings (Exxxx)
Warnings (Exxxx)
Cause Remedy
Incorrect power / DC bus wiring Check the power / DC bus wiring of the parallel connected
power sections
If the power / DC bus wiring is correct, there may be a fault Contact customer service, the device may have to be
in the device replaced
The lower limit of the allowed surrounding air temperature range of Rexroth
motors is 0 °C. If temperatures are very low (below -20 °C), there is the acute
danger that the motor encoder fails and the shaft bearing and housing are
damaged. The KTY84 type temperature sensor installed in the motor
windings of Rexroth motors allows measuring temperatures below the
allowed temperature range. If the motor temperature falls below -20 °C
(MPx17 and above: -40 °C), warning E2021 is output.
Warnings (Exxxx)
Cause Remedy
Motor temperature measured by temperature sensor KTY84 Warning disappears automatically when motor is heated up
is below -20 °C (MPx17 and above: -40 °C) to values above -20 °C by load or higher ambient
temperature (MPx17 and above: -40 °C)
Cause Remedy
Unknown diagnosis of the power section for the control Use latest firmware for the control section
section
Cause Remedy
The speed of the internal device fan deviates too far from the load-dependent
command value.
284/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
The DC bus voltage level is monitored by the drive controller and the supply
unit.
Cause Remedy
Power switch-off without deactivating the drive via the drive Check logic for activating drive in connected control unit
enable (DR) beforehand
Fault or overload on the power supply Check the power supply
Mains failure Check the cause of the mains failure, reconnect the mains
voltage
Temporary power supply overload Reduce machining cycle of the machine
Warnings (Exxxx)
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Measuring system defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
When the drive is running in the operation mode "position control with cyclic
command value input", the incoming position command values (cf.
"S-0-0047, Position command value") are monitored. If the position difference
between two successive position command values is greater than or equal to
the value in "S-0-0091, Bipolar velocity limit value", the position command
value monitor is activated and the warning E2037 is generated, if this has
been configured via the list parameter "P-0-0173, List of configurable axis-
specific monitoring functions" in list element 1. The controller does not carry
out any other error reaction. As an alternative, the error "F2037 Excessive
position command difference" can be configured for this error case in the
parameter P-0-0173 in list element 1.
286/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Value in "S-0-0091, Bipolar velocity limit value" too low Check and, if necessary, correct parameterization of
"S-0-0091, Bipolar velocity limit value"
Incorrect command value set by control unit Contact control unit manufacturer or programmer
Cause Remedy
Ambient temperature too high. Specified performance data Reduce ambient temperature, e.g. by cooling the control
are valid up to an ambient temperature of 40 C. cabinet
Heat sink of device is dirty Clean heat sink
Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for
position in control cabinet ventilating heat sink
Blower of device is defective Replace device
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 287/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Encoder defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
Warnings (Exxxx)
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Encoder defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
Warnings (Exxxx)
With the firmware MPx-18 and above, the battery voltage is measured
cyclically during operation; if the voltage falls below the allowed value, the
warning E2048 is output.
Cause Remedy
Battery voltage has fallen below allowed value To avoid loss of reference, the battery has to be replaced
before the 24V control voltage is switched off. [Battery
replacement is described in the Project Planning Manual
"Rexroth IndraDrive Cs" (index entry "Battery,
replacement").]
Warnings (Exxxx)
● ...
Cause Remedy
Incorrect velocity has been preset (parameterized or Check parameterization or cyclic command value of control
cyclically preset value is too high) (cf. "S-0-0259, Positioning unit and set value for used preset velocity smaller than value
velocity", "S-0-0041, Homing velocity", "P-0-4007, from "S-0-0091, Bipolar velocity limit value", "S-0-0038,
Positioning block velocity" [i], "S-0-0222, Spindle positioning Positive velocity limit value" or "S-0-0039, Negative velocity
speed", "S-0-0091, Bipolar velocity limit value", "S-0-0038, limit value"
Positive velocity limit value", "S-0-0039, Negative velocity Note: Specified velocity is also affected by S-0-0108; check
limit value") S-0-0108.
"S-0-0091, Bipolar velocity limit value", "S-0-0038, Positive Check parameter contents of "S-0-0091, Bipolar velocity
velocity limit value" or "S-0-0039, Negative velocity limit limit value", "S-0-0038, Positive velocity limit value" and
value" incorrectly parameterized "S-0-0039, Negative velocity limit value". Check whether
parameter possibly has been assigned to an analog input or
is contained in cyclic data
Analog input to which "S-0-0091, Bipolar velocity limit Check wiring and function of analog input and, if necessary,
value", "S-0-0038, Positive velocity limit value" or "S-0-0039, replace cable or control section, or the entire drive controller
Negative velocity limit value" was assigned is defective or
not connected
Warnings (Exxxx)
Cause Remedy
Amplifier overtemperature (heat sink) due to overload of Switch drive off and let it cool down, check mechanical
drive (overcurrent) system as well as drive dimensioning (working power
mustn't exceed, on average, continuous power of drive)
Ambient temperature too high. Specified performance data Reduce ambient temperature, e. g. by cooling the control
are valid up to an ambient temperature of 40 °C cabinet
Heat sink of device is dirty Clean heat sink
Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for
position of control cabinet ventilating heat sink
Failure of internal blower If blower fails, replace device or power section
Failure of air conditioning for control cabinet Check air conditioning of control cabinet
Incorrect dimensioning of control cabinet with regard to heat Check dimensioning of control cabinet
discharge
Cause Remedy
Incorrect parameterization of "S-0-0201, Motor warning Check and correct parameterization of "S-0-0201, Motor
temperature" warning temperature" by means of motor or temperature
sensor data sheet Check temperature display (S-0-0383) of
motor
As of MPx17: Incorrect parameterization of "P-0-0468, Check parameterization of temperature model (P-0-4034,
Prewarning threshold of therm. motor load" P-0-4035, P-0-4037). Check motor load and prewarning
threshold (P-0-0446, P-0-0468)
Motor is overloaded. Effective torque demanded from motor Check dimensioning of motor and reduce motor load, e.g.,
has been above allowed continuous torque for a too long by reducing feedrate in cutting operations. Or, in case of
time installations that have been operated for a long time, check
whether drive conditions have changed (with regard to dirt
accumulation, friction, moved masses, etc.)
Line interruption, ground fault or short circuit in line for motor Check line for motor temperature monitoring for line
temperature monitoring interruption, ground fault or short circuit
292/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Instability in speed control loop Check parameterization of speed control loop
Fan / cooling system defective Check fan / cooling system
When the position limit value monitor has been activated and the
target position is outside of the allowed travel range, a warning bit
is set in "S-0-0012, Class 2 diagnostics". In addition, the message
"S-0-0323, Target position outside of travel range" is set.
Up to MPx04: The positioning procedure is started.
As of MPx05: The positioning procedure is not started.
Cause Remedy
Position limit values ("S-0-0049, Positive position limit Check parameterization of position limit values and adjust it
value", "S-0-0050, Negative position limit value") incorrectly according to desired travel range ("S-0-0049, Positive
parameterized position limit value" has to be greater than "S-0-0050,
Negative position limit value")
Position limit value monitor has been activated although it is Deactivate position limit value monitor if it is not needed
not needed (e.g., in modulo operation)
In the case of relative interpolation, value for travel range Check preset travel range (cf. "S-0-0258, Target position")
was set too high or several travel ranges that are added and, if necessary, adjust it in control unit program
cause effective target position (cf. "P-0-0050, Effective target
position") to be outside of position limits
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 293/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
In the case of absolute interpolation, preset target position is Check preset target position (cf. "S-0-0258, Target position"
incorrect or "S-0-0282, Positioning command value") and, if
necessary, adjust it in control unit program (only enter
"S-0-0258, Target position" within position limit values)
In "positioning block mode" one or more target positions Check parameterized target positions in "P-0-4006,
have been incorrectly parameterized or incorrect positioning Positioning block target position" and block selection
block is selected ("P-0-4026, Positioning block selection"). In addition, check
block selection via respective master communication (e.g.,
field bus or digital I/Os).
Before a motion is carried out, a check is run in the case of operation modes
with drive-internal position command value generation (drive-internal
interpolation, drive-controlled positioning and positioning block mode) to find
out whether, with absolute target position preset ("S-0-0258, Target position"
or "S-0-0282, Positioning command value" or "P-0-4006, Positioning block
target position"), the measuring system used for positioning (cf. operation
mode selection) has been homed.
When the warning E2054 appears, the drive stops or does not
accept the target position or the positioning block. A warning bit is
set in parameter "S-0-0012, Class 2 diagnostics".
Cause Remedy
Absolute positioning was started although position data Establish absolute position data reference by starting
reference of drive had not yet been established [drive has command "S-0-0148, C0600 Drive-controlled homing
not been homed (cf. "S-0-0403, Position feedback value procedure command" or "S-0-0447, C0300 Set absolute
status")] position procedure command"
Warnings (Exxxx)
Cause Remedy
Parameter "S-0-0108, Feedrate override" was set to "0" Set feedrate override > "0" so that drive moves. Full velocity
is reached with 100%.
For devices with analog inputs: feedrate override via analog Apply voltage > "0" proportionally to desired velocity (+10 V
input has been activated and voltage at analog input is "0" corresponds to 100% of velocity) alternative: deactivate
feedrate override
Infeed potentiometer of connected control unit was set to "0" Carefully actuate infeed potentiometer, check analog signal
or is incorrectly evaluated and evaluation
Analog input used for feedrate override or connecting cable Check and if necessary replace cable and control section
is defective
To protect the drive and the connected mechanics from mechanical overload,
the maximum torque or the maximum force can be limited to permissible
values.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 295/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
One of the torque/force-limited parameters has the value "0" Check the parameters "S-0-0082, Torque/force limit value
positive", "S-0-0083, Torque/force limit value negative",
"S-0-0092, Bipolar torque/force limit value" and "P-0-0109,
Torque/force peak limit" and enter a "correct" limit value (not
"0")
One of the torque/force-limiting parameters is assigned to an Apply a voltage larger than "0" proportional to the desired
analogue input and the voltage on the analogue input is "0" torque/force limit value
Note: The assessment of the analogue input defines the
weighting of the analogue input voltage
(see also firmware functional description "Analogue inputs")
The potentiometer of the connected control is on "0" or is Actuate the potentiometer carefully, check the analogue
evaluated incorrectly signal and evaluation
The cable connected to the analogue input for the torque/ Check cable and replace if necessary
force limitation is faulty
The analogue input used for the torque/force limitation is Replace control section or entire drive controller
faulty
A motor without encoder memory is used, where the motor Load the motor parameters via the motor database saved in
data is not yet set and the maximum permissible currents the commissioning software
(S-0-0109, S-0-0111,…) are still on "0"
When the warning E2058 appears, the drive stops or does not
accept the selected positioning block. In parameter "S-0-0012,
Class 2 diagnostics" a warning bit is set.
296/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Positioning block data of currently selected block are not Check positioning block data ("P-0-4006, Positioning block
available target position", "P-0-4007, Positioning block velocity",
"P-0-4008, Positioning block acceleration", "P-0-4009,
Positioning block jerk", and "P-0-4019, Positioning block
mode") and correct respective parameters
Incorrect positioning block selection via field bus or digital Check "P-0-4026, Positioning block selection" and control. If
inputs necessary, also check wiring and connection of digital I/Os
Incorrect configuration of digital inputs causes unwanted Check configuration of digital inputs and correct it
positioning block selection accordingly
The drive permanently monitors the effective velocity command value (sum of
velocity command values at controller input) and limits it.
Cause Remedy
Cyclic command value preset by control unit is incorrect or Check cyclic command value and, if necessary, adjust
too high control program
Parameterized velocity limit value is too low Check and correct parameterization of "S-0-0091, Bipolar
velocity limit value"
All firmware products not requiring export licenses released Reduce velocity command value to allowed value.
as of 2014-12-312) (functional packages "0: open-loop
package" or "1: closed-loop package"):
Velocity command values corresponding to an inverter
output frequency ≥ 600 Hz were preset in open-loop
operation
Warnings (Exxxx)
Cause Remedy
Inappropriate value of "P-0-0441, Drive load warning Increase value of "P-0-0441, Drive load warning threshold" if
threshold" necessary
Overload of drive (e.g., due to excessive infeed during Switch drive off and let it cool down. Check drive sizing and
machining or high acceleration to high speed) command value profile
Changes in mechanical system with regard to friction and If installations have been operated for a prolonged time
moved masses period, check drive conditions for changes in mechanical
system
Warnings (Exxxx)
Cause Remedy
Cyclic command value preset by control unit is incorrect or Check cyclic command value and, if necessary, adjust
too high control program
Parameterized velocity limit value is too low Check and correct parameterization of "S-0-0091, Bipolar
velocity limit value", "S-0-0038, Positive velocity limit value",
"S-0-0039, Negative velocity limit value"
All firmware products not requiring export licenses released Reduce velocity command value to allowed value.
as of 2014-12-313) (functional packages "0: open-loop
package" or "1: closed-loop package"):
Velocity command values corresponding to an inverter
output frequency ≥ 600 Hz were preset in open-loop
operation
Warnings (Exxxx)
Cause Remedy
Value in "S-0-0138, Bipolar acceleration limit value" too low Check and, if necessary, correct parameterization of
"S-0-0138, Bipolar acceleration limit value"
Incorrect command value set by control unit Contact control unit manufacturer or programmer
Preset acceleration value was greater than or equal to value Reduce acceleration value used
parameterized in "S-0-0138, Bipolar acceleration limit value" ● S-0-0042, Homing acceleration
● S-0-0260, Positioning acceleration
● S-0-0359, Positioning deceleration
● S-0-0372, Drive Halt acceleration bipolar
● S-0-0429, Emergency halt deceleration
● P-0-0057, Return acceleration
● P-0-0142, Synchronization acceleration
● P-0-0170, Drive optimization, acceleration
● P-0-0687, Additive position command value,
positioning acceleration
● P-0-1201, Ramp 1 pitch
● P-0-1203, Ramp 2 pitch
● P-0-1211, Deceleration ramp 1
● P-0-1223, List of acceleration ramps
● P-0-1224, List of deceleration ramps
● P-0-4008, Positioning block acceleration
For absolute measuring systems, the position generation via the incremental
track signals (SIN/COS) is monitored by cyclic comparison to the absolute
position of the encoder. This allows detecting disturbances of the analog
encoder signals.
MPx16, measuring system "EnDat2.1": Monitoring takes place in the velocity
range of 0 to 30 rpm or 30 mm/min; beyond this range, cyclic monitoring of
the position is impossible.
As of MPx17, measuring systems "EnDat2.1" and "HIPERFACE": Monitoring
takes place in the velocity range of 0 to 30 rpm or 1,000 mm/min; beyond this
range, cyclic monitoring of the position is impossible.
Warnings (Exxxx)
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Measuring system defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
For absolute measuring systems, the position generation via the incremental
track signals (SIN/COS) is monitored by cyclic comparison to the absolute
position of the encoder. This allows detecting disturbances of the analog
encoder signals.
MPx16 As of MPx17
EnDat2.1 x x
Encoder
HIPERFACE - x
0 to 30 rpm or 0 to 30 rpm or
Velocity range*
30 mm/min 1,000 mm/min
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Measuring system defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
Warnings (Exxxx)
For absolute measuring systems, the position generation via the incremental
track signals (SIN/COS) is monitored by cyclic comparison to the absolute
position of the encoder. This allows detecting disturbances of the analog
encoder signals.
MPx16 As of MPx17
EnDat2.1 x x
Encoder
HIPERFACE - x
0 to 30 rpm or 0 to 30 rpm or
Velocity range*
30 mm/min 1,000 mm/min
Cause Remedy
Defective encoder cable or cable shielding Check cable to measuring system and replace it, if
necessary
Measuring system defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Hardware defect on control section of drive Replace control section or entire drive controller
Warnings (Exxxx)
Cause Remedy
Defective measuring system Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Cause Remedy
Measuring system defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
Warnings (Exxxx)
Cause Remedy
Measuring system defective Check measuring system and replace it, if necessary
Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if
measuring systems necessary
Measuring system dirty Clean or replace measuring system
The supply signals a warning regarding imminent overload via the module
bus. The warning is displayed at the drive controllers and can be evaluated
by the control master via the master communication. If there is no relief, the
module bus message "error supply module" and power off (F2086) can
occur.
Cause Remedy
Imminent overload of power supply Reduce required power by lower infeed velocity of tools.
Check dimensioning of supply
Max. energy absorption capacity of braking resistor almost Check dimensioning of braking resistor and, if necessary,
reached increase dimensioning
The drive is told by the NC cycle time in which intervals new cyclic command
values must be received and have been processed. The warning E2092 is
generated, when the parameterized processing clock ["S-0-0001, NC cycle
time (TNcyc)"] differs from the effective processing clock of the cyclic
command values.
304/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Master communication with synchronization ability Master communication master must toggle "IPOSYNC" bit
(EtherCAT) correctly (see description of master communication)
If NC cycle time is greater than sercos cycle time, master
communication master must toggle "IPOSYNC" bit of master
control word; if this is not the case or takes place incorrectly,
warning E2092 is generated
Master communication with synchronization ability (sercos) Producer of synchronous consumer connection must toggle
With synchronous consumer connection, producer must "new data" bit at point of time TPcyc
transmit new data to consumer at a defined point of time.
Producer signals this to consumer by toggling bit1 ("new
data" bit) of "S-0-1050.x.8, sercos connection: Connection
control (C-Con)". Producer did not toggle this bit at point of
time TPcyc.
Collective message for warnings, which are transmitted by the power section.
The diagnostic number transmitted by the power section is entered in the log
book.
Cause Remedy
Unknown diagnosis of the power section for the control Use latest firmware for the control section
section
Cause Remedy
Positioning velocity of master axis generator exceeds Reduce positioning velocity (P-0-0770, Virtual master axis,
velocity limit value. Velocity is limited to limit value. positioning velocity)
- or -
Increase velocity limit value (P-0-0762, Virtual master axis,
velocity limit value)
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 305/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
In a CCD slave or in CCD master, an error of class 1 Remove error in CCD slave or CCD master
diagnostics has occurred
In a CCD slave or in CCD master, a motion function block Remove error in PLC program
with faulty parameters was called in drive-integrated PLC
(IndraMotion MLD-M) [see also "P-0-1367, PLC
configuration", bit 7]
Cause Remedy
Device data to backup were changed by command C6700. Execute command C6500 for updating machine archive with
Machine archive on external memory card is no longer up- device data from update.
to-date. - or -
Execute command C6600 to restore device data from
machine archive.
Warnings (Exxxx)
Power on is impossible in this case, the supply unit or the converter signal
E2810 on the display.
Cause Remedy
Error message of one or several components of a drive Identify component/components which signals/signal an
system error. Remove cause of error at component/components
Cause Remedy
The permissible ambient temperature is exceeded Make sure that the maximum permissible ambient
temperature is not exceeded.
The inlets/outlets of the cooling air flow are blocked Ensure that the minimum distances on the cooling air inlets
and outlets are complied with and the cooling air can
circulate unimpeded
The device fan is faulty Replace the device
The crest value of the mains voltage during operation has fallen below the
parameterized threshold value. The threshold value can be individually set by
the user via "P-0-0810, Minimum mains crest value".
Cause Remedy
Mains voltage falls under load Check dimensioning of mains connection, increase feed wire
cross section or use matching transformer, if necessary
Mains voltage too low at power on Use matching transformer
Warnings (Exxxx)
Cause Remedy
DC bus voltage drops due to temporary overload Check drive dimensioning incl. devices connected at DC bus
Required acceleration currents are too high Reduce command acceleration by adjusting travel profile
Faulty mains connection (e.g. loose contact) Check mains connection
"P-0-0114, Undervoltage threshold" has not been adjusted Check and, if necessary, correct content of "P-0-0114,
to conditions in mains Undervoltage threshold"
Cause Remedy
A temperature model, taking the continuous power and the maximum energy
absorption of the braking resistor into account, is calculated for the thermal
load of the braking resistor. When the thermal load reaches the warning
threshold, this warning is output and bit 1 is set in "S-0-0012, Class 2
diagnostics".
MPx16VRS: The warning threshold is fixed to 90%.
308/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Allowed deceleration of connected drives is too high Reduce deceleration of connected drives
Energy absorption capacity of braking resistor is almost Switch power off with a delay in the case of OFF or E-STOP
exhausted (for regenerative supply units)
Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum drive speed of
application
Braking resistor connection is interrupted Check wiring of external braking resistor
Continuous regenerative power and/or rotary drive energy is Check sizing of braking resistor; increase sizing if necessary
too high
As of MPx17: Parameterization of "P-0-0469, Prewarning Parameterize "P-0-0469, Prewarning threshold of therm.
threshold of therm. load of braking resistor" is wrong load of braking resistor" correctly
Cause Remedy
Temperature monitoring line interrupted or short-circuited Check connection of KNK mains filter to the supply unit.
Check temperature sensor connection line for mains filter
and corresponding terminals with regard to interruption and
short circuit.
Defective temperature sensor in mains filter Replace mains filter
Defective supply unit Replace supply unit
The mains voltage for power supply cannot yet be switched on for the
converter; the device is not yet ready for charging the DC bus capacitors.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 309/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Warnings (Exxxx)
Cause Remedy
Resistors for charging DC bus capacitors still are thermally Wait until converter clears warning E2829
loaded due to last charging process
The "supply units" IndraDrive ML (HMV054) ) are controlled via the master
communication; i.e. the mains contactor is switched on/off and the enable
signal is set via the control word of the supply units (S-0-1720.0.1).
Despite active master communication, the supply unit can be switched off at
the HNA05 mains connection module (XG33:4 and XG33:5), or it can be
prevented from being switched on.
Cause Remedy
OFF contact (XG33:4 and XG33:5) opens while supply unit Remove the supply unit enable signal (S-0-1720.0.1).
switched on OFF signal wiring possibly has to be modified.
OFF contact (XG33:4 and XG33:5) has opened and the
supply unit enable signal is set via the master
communication
Warnings (Exxxx)
Cause Remedy
The supply unit is overloaded. Reduce load. To prevent the supply unit from being switched
off, this can also be done temporarily by the control unit.
Check sizing of the installation.
In the case of installations that have been operated for a
long time, check whether drive conditions have changed
(with regard to dirt accumulation, friction, moved masses
etc.).
If an external cooling system is available: Check sizing of
cooling system.
Fan has failed Check cooling system
- or -
Defective coolant pump
- or -
Cooling circuit not connected
Cooling system dirty Clean heat sink. In the case of water cooling: Check flow
and clean pipes, if necessary.
Ambient temperature too high. Check whether or not ambient temperature exceeds
temperature allowed according to Project Planning Manual.
Check control cabinet cooling system. An air conditioning
unit is possibly required.
Bad transmission in cooling system Check device mounting on external cooling system.
Retighten mounting screws. If necessary, use heat transfer
compound in accordance with mounting instructions. Ensure
plane connection.
Heat transmission by convection or heat conduction by Check inward flow of cooling air. Increase distance between
neighboring devices or parts the devices. Thermally insulate heat sources on the external
cooling system.
Missing or bad convection Ensure free inward flow of cooling air
Incorrect control cabinet sizing with regard to heat Check control cabinet sizing
dissipation
Device-internal cooling has failed Replace mains connection
The command for setting the absolute position ("S-0-0447, C0300 Set
absolute position procedure command") has been activated.
See also Functional Description of firmware "Establishing Position Data
Reference for Absolute Measuring Systems"
C0300 - Attributes Display: C03
Diagnostic no.: C0300
Diagnostic no. as of 18VRS: C00C0300
The command for switching to the parameter mode was started via
parameter "S-0-0420, C0400 Activate parameterization level 1 procedure
command".
C0400 - Attributes Display: C04
Diagnostic no.: C0400
Diagnostic no. as of 18VRS: C20C0400
312/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Only those errors can be cleared that were removed! Errors that
are still present after clearing will cause the error message to be
generated again.
The message "C07_0" on the display of the drive controller shows that the
command "C0700 Load defaults proced. command (motor-spec. controller
val.)" was activated.
The command can be started as follows:
● Via the parameter "S-0-0262, C07_x Load defaults procedure
command" or
● Via the control panel of the drive controller or
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 313/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
The message "C07_1" on the display of the drive controller shows that the
"C0710 Command Load power-supply specific controller values" has been
activated
The command can be started as follows:
1. In "P-0-4090, Configuration for loading default values", enter the value
"0x0006".
2. Start "S-0-0262, C07_x Load defaults procedure command".
The message "C07_2" on the display of the drive controller shows that the
command "C0720 SMO: Load default procedure command" was activated.
The command can be started as follows:
1. Enter the value "0x0005" in the parameter "P-0-4090, Configuration for
loading default values".
2. Start "S-0-0262, C07_x Load defaults procedure command".
Message "C07_3" on the display of the drive controller shows that command
"C0730 Load defaults procedure command (MLD)" was activated.
The command can be started as follows:
1. Enter the value "0x0002" in the parameter "P-0-4090, Configuration for
loading default values".
2. Start "S-0-0262, C07_x Load defaults procedure command".
The message "C07_4" on the display of the drive controller shows that the
command "C0740 Command Activate field bus profile settings" was
activated. The command execution sets user-defined parameters depending
on the field bus profile to their default values.
The command can be started as follows:
1. Enter the value "0x0004" in the parameter "P-0-4090, Configuration for
loading default values".
2. Start "S-0-0262, C07_x Load defaults procedure command".
Via the control unit the "S-0-0152, C0900 Position spindle command"
parameter was activated.
See also Functional Description of firmware "Spindle Positioning"
C0900 - Attributes Display: C09
Diagnostic no.: C0900
Diagnostic no. as of 18VRS: C00C0900
The command for setting the coordinate system ("S-0-0197, C3300 Set
coordinate system procedure command") was activated.
See also Functional Description of firmware "Shifting the Position Data
Reference for Relative and Absolute Measuring Systems"
C3300 - Attributes Display: C33
Diagnostic no.: C3300
Diagnostic no. as of 18VRS: C00C3300
The command for shifting the coordinate system ("S-0-0199, C3400 Shift
coordinate system procedure command") was activated.
See also Functional Description of firmware "Shifting the Position Data
Reference for Relative and Absolute Measuring Systems"
C3400 - Attributes Display: C34
Diagnostic no.: C3400
Diagnostic no. as of 18VRS: C00C3400
● With rotary motors, make sure the motor shaft can move freely!
● With linear motors, check motion range (see P-0-0601) and only start
C3600 when the axis is in a collision-free initial position!
The command "P-0-0543, C3800 Command Apply motor holding brake" was
started.
While the command is executed the motor holding brake is applied.
See also Functional Description of firmware "Motor Holding Brake"
C3800 - Attributes Display: C38
Diagnostic no.: C3800
Diagnostic no. as of 18VRS: 000C3800
The command for rebooting the drive (S-0-1350, Reboot command) was
activated.
"C64" flashing on the display of the control panel signals that command
S-0-1350 was started.
"C65" flashing on the display of the control panel signals that the command
P-0-0665 was started.
C6500 - Attributes Display: C65
Diagnostic no.: C6500
Diagnostic no. as of 18VRS: 000C6500
"C66" flashing on the display of the control panel signals that the command
"P-0-0666, C6600 Command Restore device data" was started.
"C67" flashing on the display of the control panel signals that the command
"P-0-0667, C6700 Command update of device data" was started.
"C68" flashing on the display of the control panel signals that command
"P-0-0664, C6800 Control command device data archiving" was started.
While the command is executed, the comparative data of the CCD master
and, in case of cross communication (CCD), the comparative data of the
CCD slaves are read. This data is compared with the data stored in the
machine archive to determine the status of the device data archive. The
status is filed in "P-0-0669, Device data archiving, status".
C6800 - Attributes Display: C68
Diagnostic no.: C6800
Diagnostic no. as of 18VRS: 000C6800
The command for adjusting the slave addresses was activated [P-0-1801.0.5/
P-0-1635 (C7000 CCD: Command Adjust slave addresses)].
See also Functional Description of firmware "Cross communication (CCD)"
C7000 - Attributes Display: C70
Diagnostic no.: C7000
Diagnostic no. as of 18VRS: 000C7000
The command for switching to the CCD phase 2 was started (MPx-17:
P-0-1620.0.5/P-0-2418, MPx-18 and above: P-0-1802.0.1/P-0-2334).
See also Functional Description of firmware "Cross communication (CCD)"
C7400 - Attributes Display: C74
Diagnostic no.: C7400
Diagnostic no. as of 18VRS: 000C7400
The command for switching to the CCD phase 4 was started (MPx-17:
P-0-1620.0.6/P-0-2419, MPx-18 and above: P-0-1802.0.2/P-0-2335).
See also Functional Description of firmware "Cross communication (CCD)"
C7500 - Attributes Display: C75
Diagnostic no.: C7500
Diagnostic no. as of 18VRS: 000C7500
The firmware polls the components when the control voltage is switched on.
The error "F8835 Inconsistency in power section configuration" is output, if
the number of universal inverters or the mains connection component has
changed since the last switch-on.
You have to carry out the following steps if the error F8835 occurs:
1. Make sure all desired components are available by checking the overall
system.
2. If all desired components are available, the currently recognized
configuration of the overall system has to be confirmed by the command
C9100.
C9100 - Attributes Display: C91
Diagnostic no.: C9100
Diagnostic no. as of 18VRS: 000C9100
Only the Bosch Rexroth customer service is allowed to use the command
C9900 (P-0-0260). The command is used to execute specific functions for
debugging and setting the devices.
Parameters involved in the command and their functions:
● P-0-0261: Selection of functions
● P-0-0262: Status of functions
● P-0-0263: Control of functions
C9900 - Attributes Display: C9900
Diagnostic no.: C9900
Diagnostic no. as of 18VRS: 000C9900
Cause Remedy
Data block elements required in communication phase 3 are Write allowed operating data to parameters affected.
missing or invalid (Affected parameters can be taken from list "S-0-0021, IDN-
list of invalid operation data for CP2")
A change was made in "P-0-2003, Selection of functional Check content of "P-0-2003, Selection of functional
packages". Then you failed to reboot before trying to switch packages" and reboot (i.e., switch device off and on again)
to operating mode.
A change of functional packages was made in "P-0-2003, Correct list parameters affected. (Affected parameters can
Selection of functional packages" which has an effect on be taken from list "S-0-0021, IDN-list of invalid operation
customer- and application-specific parameters lists (e.g., data for CP2".)
S-0-0279) Problem can also be remedied by loading basic parameters
("S-0-0262, C07_x Load defaults procedure command" with
appropriate setting in "P-0-4090, Configuration for loading
default values")
Internal data memory defective Contact our service department
Cause Remedy
Parameter values required in communication phase 3 are Write allowed values to parameters (cf. minimum/maximum
outside their allowed range of values (minimum or maximum value) (these parameters can be taken from list "S-0-0021,
value) IDN list of invalid operating data for communication
phase 2")
Cause Remedy
Parameter values required in communication phase 3 Write allowed values to parameters (these parameters can
cannot be processed be taken from list "S-0-0021, IDN list of invalid operating
data for communication phase 2")
Cause Remedy
In "S-0-0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S-0-0015,
(configured telegram) was set Telegram type parameter"
In "S-0-0024, Config. list of the master data telegram" there In "S-0-0024, Config. list of the master data telegram" those
were some parameters entered that are not contained in parameters have to be entered that are contained in
"S-0-0188, List of configurable data in the MDT" "S-0-0188, List of configurable data in the MDT"
Cause Remedy
In "S-0-0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S-0-0015,
(configured telegram) was set Telegram type parameter"
Length of configured data record in MDT that is determined Reduce number of configured parameters in MDT
by "S-0-0024, Config. list of the master data telegram" ("S-0-0024, Config. list of the master data telegram")
exceeds the maximum allowed value entered in "S-0-0186,
Length of the configurable data record in the MDT"
Cause Remedy
In "S-0-0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S-0-0015,
(configured telegram) was set Telegram type parameter"
In "S-0-0016, Custom amplifier telegram configuration list" In "S-0-0016, Custom amplifier telegram configuration list"
there were some parameters entered that are not those parameters have to be entered that are contained in
contained in "S-0-0187, List of configurable data in the "S-0-0187, List of configurable data in the AT"
AT"
Cause Remedy
In "S-0-0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S-0-0015,
(configured telegram) was set Telegram type parameter"
Length of configured data record in AT that is determined by Reduce number of configured parameters in AT in
"S-0-0016, Custom amplifier telegram configuration list", "S-0-0016, Custom amplifier telegram configuration list"
exceeds maximum allowed value entered in "S-0-0185,
Length of the configurable data record in the AT"
Cause Remedy
At least one of the following time slot parameters is not Correct the respective time slot parameter(s).
correct: Contact machine manufacturer or installation programmer
● S-0-1006, sercos: AT0 transmission starting time (t1) MPx17V06 and above: The faulty parameter is shown in
● S-0-1007, sercos: Feedback acquisition starting time S-0-0021
(t4)
● S-0-1017, sercos: NRT transmission time
The definition of the times for the time slot parameters is the
responsibility of the control unit manufacturer and is specified by
sercos.
Cause Remedy
At least one parameterized telegram offset fails to meet the Check offsets in the following parameters:
following criteria: ● S-0-1009, sercos: Device Control (C-Dev) offset in
● Telegram offset outside of telegram MDT
● Telegram offset and length outside of telegram ● S-0-1011, sercos: Device Status (S-Dev) offset in AT
● Telegram offset in prohibited range (e.g., hot plug field) ● S-0-1013, sercos: SVC offset in MDT
● Telegram offset and length of several parameter ● S-0-1014, sercos: SVC offset in AT
overlap each other ● S-0-1050.x.3, sercos connection: Telegram
● Telegram offset fails to comply with 16-bit alignment assignment
Note: The definition of the telegram offsets is the
responsibility of the control unit manufacturer.
As of MPx17V06: The faulty parameter is shown in S-0-0021
Cause Remedy
The parameter "S-0-0010, Length of master data telegram" The parameter "S-0-0010, Length of master data telegram"
contains an odd value. This is not allowed. must be parameterized with even values.
Cause Remedy
Parameterization of "S-0-0009, Position of data record in Correct parameterization of "S-0-0009, Position of data
MDT" and "S-0-0010, Length of master data telegram" is record in MDT" and "S-0-0010, Length of master data
incorrect telegram"
Cause Remedy
Parameters "S-0-0001, NC cycle time (TNcyc)" or "S-0-0001, NC cycle time (TNcyc)" or "S-0-0002, sercos
"S-0-0002, sercos cycle time (tScyc)" incorrectly set. cycle time (tScyc)" have to be set correctly.
Settings of 500 µs for ADVANCED control section (or 1 ms
for BASIC control section) or integral multiples of 1 ms are
allowed.
Cause Remedy
The parameterized bus cycle time (S-0-1002 or S-0-0002) is The bus cycle time parameterization in the bus master has
not supported for the slave to be adjusted to the specified rules: see description of
parameter S-0-1002 or S-0-0002.
The number of IDNs configured in the connections is not Reduce the number of IDNs in the connections.
supported with the current slave setting.
Cause Remedy
Parameters "S-0-0001, NC cycle time (TNcyc)" and/or The value of "S-0-0001, NC cycle time (TNcyc)" must be
"S-0-0002, sercos cycle time (TScyc)" are set incorrectly equal to or a multiple of "S-0-0002, sercos cycle time
(TScyc)".
Correct parameters "S-0-0001, NC cycle time (TNcyc)"
and/or "S-0-0002, sercos cycle time (TScyc)" accordingly
Cause Remedy
The value for "S-0-0007, Feedback acquisition starting time Correct "S-0-0007, Feedback acquisition starting time (T4)".
(T4)" is incorrect The maximum allowable value for "S-0-0007, Feedback
acquisition starting time (T4)" is calculated from "S-0-0002,
sercos cycle time (TScyc)" and "S-0-0005, Minimum
feedback acquisition time (T4min)" as follows:
S-0-0007 > S-0-0002 - S-0-0005
Cause Remedy
The value set for "S-0-0089, MDT Transmit starting time Correct "S-0-0089, MDT Transmit starting time (T2)"
(T2)" is incorrect. The drive cannot function with this value
Cause Remedy
The value for "S-0-0008, Command value valid time (T3)" is Check the parameterization of "S-0-0089, MDT Transmit
within the value for "S-0-0089, MDT Transmit starting time starting time (T2)" and "S-0-0008, Command value valid
(T2)". This can cause access problems in the sercos time (T3)" and correct, if necessary.
communication
The chronology of the processing of cyclic command value data in the drive
has the order in which the configured IDNs have been entered in a
configuration list:
● EtherCAT: "S-0-0024, Config. list of the master data telegram"
● sercos: "S-0-1050.x.6, sercos connection: Configuration list"
The following parameters are available for using multiplex mode in the cyclic
command value telegram:
● "S-0-0360, Data container A: Command value 1",
● "S-0-0362, Data container A: List index command values" and
● "S-0-0368, Data container A: Addressing"
If more than one of these parameters has been configured in the cyclic
command value telegram, their correct order is checked in the command
"S-0-0127, C0100 Communication phase 3 transition check".
Cause Remedy
Incorrect order of relevant parameters in cyclic command Observe correct order of parameters in cyclic command
value telegram value telegram:
Parameters S-0-0362, S-0-0366 and S-0-0368 must
precede parameters S-0-0360 and S-0-0450 to S-0-0456 in
cyclic command value telegram
Cause Remedy
Parameterized performance setting, switching frequency of Check performance setting and select corresponding
output stage and type of PWM cycle of output stage are settings for device and application (P-0-0556).
incompatible.
Check switching frequency and set in accordance with
device and application as well as selected performance level
(P-0-0001).
Only for MPB/MPC, as of MPx-16V04:
Check type of PWM cycle and set in accordance with device
and application as well as selected performance level
(P-0-0045, bit 7 and 11).
Cause Remedy
Cause Remedy
Sum of transmit starting time of master data telegram Parameterize a lower value for transmit starting time of
(S-0-0089, MDT Transmit starting time (T2)) specified by the master data telegram (S-0-0089, MDT Transmit starting time
master and data set length of master data telegram (T2))
(S-0-0010, Length of master data telegram) exceeds sercos
cycle time [S-0-0002, sercos cycle time (Tscyc)]. This
means that master data telegram overlaps master
synchronization telegram (MST)
10.2.22 C0151 IDN for command value data container not allowed
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Cause Remedy
A command value configuration list (S-0-0370 and S-0-0490 Check parameters "S-0-0370, Data container A:
to S-0-0496) contains one or several IDNs that aren't configuration list command value-1" and "S-0-0490, Data
existing or not contained in "S-0-0188, List of configurable container A: configuration list command value 2" to
data in the MDT" "S-0-0496, Data container A: configuration list command
value 8" for incorrect IDNs and correct them
10.2.23 C0152 IDN for actual value data container not allowed
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Cause Remedy
An actual value configuration list (S-0-0371 and S-0-0500 to Check parameters "S-0-0371, Data container A:
S-0-0506) contains one or several IDNs that aren't existing configuration list feedback value-1" and "S-0-0500, Data
or not contained in "S-0-0187, List of configurable data in the container A: configuration list feedback value 2" to
AT" "S-0-0506, Data container A: configuration list feedback
value 8" for incorrect IDNs and correct them
Cause Remedy
In configuration of sercos connections (S-0-1050.x.6, sercos Allowed IDNs for consumer connections:
connection: Configuration list) an inadmissible IDN was "S-0-0134, Master control word" and all IDNs from
parameterized. "S-0-0188, List of configurable data in the MDT"
Cause Remedy
In configuration of sercos connections, allowed connection Reduce number of IDNs in "S-0-1050.x.6, sercos
length was exceeded; i.e. total length of all configured IDNs connection: configuration list".
in "S-0-1050.x.6, sercos connection: Configuration list"
exceeds value in "S-0-1050.x.4, sercos connection: Max.
length of connection".
Cause Remedy
Command "S-0-0127, C0100 Communication phase 3 Carry out command "S-0-1024, C5300 sercos: SYNC delay
transition check" was not carried out or was aborted with an measuring procedure command" and then restart command
error. "S-0-0127, C0100 Communication phase 3 transition
check".
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 343/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Parameterized connections in S-0-1050 cannot be realized, Arrange connections of slave better in telegram (put them
because resources of sercos FPGA have been exceeded. one after another). (Can only be corrected by bus master or
configurator.)
Cause Remedy
For a sercos connection, a configuration has been set which "S-0-1050.x.1, sercos connection: Configuration" must be
is not supported by drive controller/firmware checked in all sercos connections and must be compared to
allowed configurations in Parameter Description
As of MPx17V06: "S-0-1050.x.7, sercos connection: check connection
For the sercos connections, a connection capability was capability" in all sercos connections and compare with
assigned too often. maximum allowed assignment "S-0-1060.x.3, sercos
connection type: Max. quantity of this conn. capability"
Cause Remedy
For a sercos connection, a producer cycle time has been set "S-0-1050.x.10, sercos connection: Producer cycle time"
which is not supported by drive controller/firmware must be checked in all sercos connections and compared
with allowed producer cycle times in the Parameter
Description
Cause Remedy
Data block elements required in operating mode are missing Write allowed operating data to respective parameters.
or invalid (Respective parameters can be taken from list "S-0-0423,
IDN-list of invalid op. data for parameterization level")
Cause Remedy
Parameter values required in operating mode are outside of Write allowed values to parameters (cf. min./max. value).
their allowed range of values (minimum or maximum value) (Respective parameters can be taken from list "S-0-0423,
IDN-list of invalid op. data for parameterization level")
Cause Remedy
Parameter values required in operating mode cannot be Write allowed values to parameters. (Respective parameters
processed can be taken from list "S-0-0423, IDN-list of invalid op. data
for parameterization level")
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 345/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Drive recognized that a motor which is not supported was Use supported motor type
connected.
Cause Remedy
When the drive was switched from the parameter to the operating mode, an
incorrect position encoder configuration was recognized.
Cause Remedy
The current position encoder is incorrectly configured. Set a valid configuration in the drive.
The configured position encoder does not work properly. Check connection cable to the encoder or replace encoder.
Cause Remedy
Bit for measuring wheel mode has been set in "P-0-0185, Parameterize encoder 2 in "P-0-0075, Encoder type 2
Control word of encoder 2 (optional encoder)". Measuring (optional encoder)"
wheel mode requires second encoder which has not been - or -
parameterized
Deselect function "measuring wheel mode" in "P-0-0185,
Control word of encoder 2 (optional encoder)"
Bit for redundant motor encoder has been set in "P-0-0185, Parameterize encoder 2 in "P-0-0075, Encoder type 2
Control word of encoder 2 (optional encoder)". Second (optional encoder)"
encoder, however, has not been parameterized - or -
Deselect redundant motor encoder in "P-0-0185, Control
word of encoder 2 (optional encoder)"
Cause Remedy
More than 3 encoders were configured; only two encoders Reduce number of configured encoders to a maximum of
are allowed for MPB and MPM . two encoders. For this purpose, deactivate the affected
encoders.
Cause Remedy
Reading error due to hardware defect If possible, replace hardware; otherwise contact our service
department
Cause Remedy
Cause Remedy
Cause Remedy
Signal control of outputs: Check the "discrete outputs":
The source IDN is not allowed Use an IDN from the list of possible source IDNs
- or - (P-0-3335.0.3)
Cause Remedy
Cause Remedy
"Safe Motion state machine" is in SMO configuration mode Execute command C8200 to terminate SMO configuration
(SCM) (see also P-0-3231) mode
While the command "C0200" is executed an error with regard to the scaling
of the drive was detected.
Cause Remedy
"S-0-0278, Maximum travel range" incorrectly Check and, if necessary, reduce parameterization of
parameterized. Defined travel range is too large S-0-0278. Value of "S-0-0278, Maximum travel range" is to
be selected in such a way that resulting internal position
resolution guarantees correct commutation of motor.
Inappropriate measuring system (resolution) for maximum Check resolution of measuring system and, if necessary,
travel range to be displayed use a different measuring system
While the command "C0200" is executed, the following checks are carried
out for initializing encoder 1 (motor encoder):
● Communication with encoder
● Generation of position (absolute position and incremental track)
● Error in absolute position
If one of the above checks fails, the command error "C0220" is generated.
352/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Motor encoder cable defective Check and, if necessary, replace motor encoder cable
Motor encoder defective or error in micro controller of Replace motor
measuring system
Measuring system interface defective Have measuring system interface replaced by service
department
For encoders with absolute and incremental track, absolute Absolute position was shifted deliberately: Parameterize
position was shifted in relation to incremental track "position initialization without incremental track" (see
S-0-0277)
Absolute position was shifted by a defect: Check other
causes mentioned
Cause Remedy
Velocity for initialization of encoder 1 was too high Reduce velocity during encoder initialization [comply with
initialization velocity (encoder-related); rotary: <30 rpm (for
EnDat with encoder resolution > 2048DP: <5 rpm), linear:
<30 mm/min (MPx16) or <1000 mm/min (as of MPx17)]
DP Division periods
For removing command errors see "Command Errors"
C0221 - Attributes Display: C0221
Diagnostic no.: C0221
Diagnostic no. as of 18VRS: 020C0221
While the command "C0200" is executed, the following checks are carried
out for initializing encoder 2 (optional encoder):
● Communication with encoder
● Generation of position (absolute position and incremental track)
● Error in absolute position
If one of the above checks fails, the command error "C0224" is generated.
Cause Remedy
Cause Remedy
Velocity for initialization of encoder 2 was too high Reduce velocity during encoder initialization [comply with
initialization velocity (encoder-related); rotary: <30 rpm (for
EnDat with encoder resolution > 2048DP: <5 rpm), linear:
<30 mm/min (MPx16) or <1000 mm/min (as of MPx17)]
DP Division periods
For removing command errors see "Command Errors"
C0225 - Attributes Display: C0225
Diagnostic no.: C0225
Diagnostic no. as of 18VRS: 020C0225
354/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
While the command "C0200" is executed, the following checks are carried
out for initializing the measuring encoder:
● Communication with encoder
● Generation of position (absolute position and incremental track)
● Error in absolute position
If one of the above checks fails, the command error "C0227" is generated.
Cause Remedy
Cause Remedy
Velocity for initialization of measuring encoder was too high Reduce velocity during encoder initialization [comply with
initialization velocity (encoder-related); rotary: <30 rpm (for
EnDat with encoder resolution > 2048DP: <5 rpm), linear:
<30 mm/min (MPx16) or <1000 mm/min (as of MPx17)]
DP Division periods
For removing command errors see "Command Errors"
C0228 - Attributes Display: C0228
Diagnostic no.: C0228
Diagnostic no. as of 18VRS: 020C0228
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 355/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
10.2.51 C0229 Field bus: IDN for cycl. command val. not configurable
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
During the execution of the command "C0200" an error with regard to the
telegram configuration of master communication was detected.
Cause Remedy
In operating data of "P-0-4081, Field bus: config. list of cyclic In "P-0-4081, Field bus: config. list of cyclic command value
command value data ch." there is an IDN that is not data ch." enter allowed IDN (cf. "S-0-0188, List of
contained in "S-0-0188, List of configurable data in the MDT" configurable data in the MDT")
10.2.52 C0230 Field bus: Max. length for cycl. command val. exceeded
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
During the execution of the command "C0200" an error with regard to the
axis-specific telegram configuration of a local axis of master communication
was detected.
Cause Remedy
Sum of data widths of all IDNs entered in "P-0-4081, Field Reduce number of IDNs entered in "P-0-4081, Field bus:
bus: Config. list of cyclic command value data ch." Config. list of cyclic command value data ch."
exceeds maximum value
10.2.53 C0231 Field bus: IDN for cycl. actual val. not configurable
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
During the execution of the command "C0200" an error with regard to the
telegram configuration of master communication was detected.
Cause Remedy
In operating data of "P-0-4080, Field bus: config. list of cyclic In "P-0-4080, Field bus: config. list of cyclic command value
command value data ch." there is an IDN that is not data ch." enter allowed IDNs (cf. "S-0-0187, List of
contained in "S-0-0187, List of configurable data in the AT" configurable data in the AT")
10.2.54 C0232 Field bus: Length for cycl. actual values exceeded
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Cause Remedy
Sum of data widths of all IDNs entered in "P-0-4080, Field Reduce number of IDNs entered in "P-0-4080, Field bus:
bus: Config. list of cyclic command actual data ch." exceeds Config. list of cyclic actual value data ch."
maximum value
Cause Remedy
While command C0200 was executed, error in Observe allowed input values (minimum/maximum values)
parameterization of P-0-4076 was detected. of "P-0-4076, Field bus: Process data - updating clock"; step
size of allowed input values: 1 ms
10.2.56 C0234 Field bus: P-0-4077 missing for cycl. command values
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
During the execution of the command "C0200" an error with regard to the
telegram configuration of master communication was detected.
Cause Remedy
Operating data of "P-0-4081, Field bus: config. list of cyclic According to profile type configure one of both control words
command value data ch." contains neither "P-0-4077, Field in "P-0-4081, Field bus: config. list of cyclic command value
bus: control word" nor "P-0-4068, Field bus: control word data ch."
IO". At least one control word has to be contained
The chronology of the processing of cyclic command value data in the drive
has the order in which the configured IDNs have been entered in the
parameter for cyclic command value configuration. The following parameters
are available for using the multiplex mode in the cyclic command value
telegram:
● S-0-0360, Data container A: command value 1,
● S-0-0362, Data container A: list index command values and
● S-0-0368, Data container A: Addressing
If more than one of these parameters has been configured in the cyclic
command value telegram, their correct order is checked in the command
"S-0-0422, C0200 Exit parameterization level procedure command".
Cause Remedy
Incorrect order of relevant parameters in cyclic command Observe correct order of parameters in cyclic command
value telegram value telegram:
Parameters S-0-0362, S-0-0366 and S-0-0368 in cyclic
command value telegram have to be located before
parameters S-0-0360 and S-0-0450 to S-0-0456
10.2.58 C0239 IDN for command value data container not allowed
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Cause Remedy
A command value configuration list (S-0-0370 and S-0-0490 Check parameters "S-0-0370, Data container A:
to S-0-0496) contains one or several IDNs that aren't configuration list command value-1" and "S-0-0490, Data
existing or not contained in "S-0-0188, List of configurable container A: configuration list command value 2" to
data in the MDT" "S-0-0496, Data container A: configuration list command
value 8" for incorrect IDNs and correct them
10.2.59 C0240 IDN for actual value data container not allowed
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Cause Remedy
An actual value configuration list (S-0-0371 and S-0-0500 to Check parameters "S-0-0371, Data container A:
S-0-0506) contains one or several IDNs that aren't existing configuration list feedback value-1" and "S-0-0500, Data
or not contained in "S-0-0187, List of configurable data in the container A: configuration list feedback value 2" to
AT" "S-0-0506, Data container A: configuration list feedback
value 8" for incorrect IDNs and correct them
Cause Remedy
Motion task in synchronism with master communication: Motion task cycle time corresponds to NC cycle time
Motion task cycle time resulting from configuration is not (TNcyc) (S-0-0001): Minimum allowed cycle time is 1000 µs.
allowed. Other values are allowed in steps of 1000 µs.
Cause Remedy
For a multi-axis device, a device-specific function has been Read IDNs entered in "S-0-0423, IDN-list of invalid op. data
activated in more than one axis (e.g. position switch for parameterization level" to find out function activated in
activated in two axes or encoder emulation activated in two both axes. Then deactivate function in one of both axes
axes)
For cyclic parameter write, a parameter was simultaneously Read IDNs entered in "S-0-0423, IDN-list of invalid op. data
configured in different interfaces. It is impossible, however, for parameterization level" to detect and remove multiple
to simultaneously write data to same parameter from configuration.
different interfaces.
Note: "Interfaces" means as well analog and digital inputs as
complete bus systems.
Cause Remedy
Holding brake is not controlled Activate holding brake control in parameter "P-0-0525,
Holding brake control word"
"P-0-0540, Torque of motor holding brake" is too low Parameterize "P-0-0540, Torque of motor holding brake"
correctly by means of data sheet of brake or motor.
10.2.63 C0244 Act. modulo value cycle greater than max. travel range
Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Cause Remedy
Calculated modulo value for actual value cycle is greater Check parameterization of "S-0-0278, Maximum travel
than value parameterized in "S-0-0278, Maximum travel range" and if necessary adjust it to modulo value for actual
range" value cycle
- or -
Check parameterization of modulo value for actual value
cycle and adjust it to "S-0-0278, Maximum travel range"
Cause Remedy
An operation mode with control on the basis of encoder 2 Select control on the basis of encoder 1 (motor encoder) or
has been configured; however, encoder 2 is not existent or connect encoder 2 and assign interface ("P-0-0078,
the interface has not been assigned. Assignment optional encoder->optional slot").
The operation mode configured is not permissible in Increase cycle time of master communication:
conjunction with the selected cycle time of master ● Basic firmware: Synchronization modes ≥ 1 ms only
communication.
● Economy firmware: Interpolation modes ≥ 2 ms only
Cause Remedy
At least one of both probes was activated in "S-0-0169, Assign probe or probes (S-0-0401 / S-0-0402) to digital
Probe control parameter", but not assigned to any digital inputs via "P-0-0300, Digital I/Os, assignment list" and
input "P-0-0306, Digital inputs, assignment connector and pin".
For the allowed digital inputs provided for this purpose, see
Project Planning Manual "Drive Controllers, Control
Sections".
Probes were accidentally activated Deactivate probes in "S-0-0169, Probe control parameter"
Cause Remedy
Hardware defect on control section Replace control section or entire drive controller
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 363/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Internal error or control section defective Please contact our service department
Cause Remedy
Operating modes were parameterized which obligatorily Correct settings for primary mode of operation and
require an optional encoder or operating modes were secondary oper. modes (S-0-0032 to S-0-0035 and
parameterized for which a certain encoder mustn't be set S-0-0284 to S-0-0287)
- or -
"P-0-0077, Assignment motor encoder->optional slot" and
"P-0-0078, Assignment optional encoder ->optional slot"
- and -
check motor control which was set (U/f, FXC, FOC) (see
Functional Description of firmware "Motor Control")
364/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
During the execution of the command "C0200", an error was detected during
checks of the safety technology configuration.
Cause Remedy
An electrically clamping brake was configured for the use of Correct P-0-0525
the safety technology option "L4" (see "P-0-0525, Holding - or -
brake control word").
use allowed brake.
The safety function "SBC" is used for a safety technology Correct P-0-0525:
option "Sx" (Safe Motion) and an electrically clamping main Only self-holding (electrically releasing) servo brakes are
drive brake was configured (see "P-0-0525, Holding brake allowed when the safety function "SBC" is used.
control word").
During the execution of the command "C0200", a check is run, when the
cubic fine interpolator or the interpolator according to contour ("P-0-0187,
Position command processing mode" = "1" or "2") is used, to find out whether
the selected NC cycle time is supported by the respective fine interpolator.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 365/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
"S-0-0001, NC cycle time (TNcyc)" incorrectly parameterized Select appropriate "S-0-0001, NC cycle time (TNcyc)".
Allowed NC cycle times, when using cubic fine interpolator
or fine interpolator according to contour, depend on relation
of NC cycle time (S-0-0001) and position loop clock
(P-0-0556, Control word of axis controller).
Allowed clock relations:
● From 1 to 8 in steps of one
● From 10 to 16 in steps of two
● From 20 to 32 in steps of four
Example [allowed NC cycle times with Advanced
performance (position loop clock=250 µs)]:
● 250 µs to 2000 µs
● 2500 µs to 4000 µs
● 5000 µs to 8000 µs
Cubic fine interpolation or fine interpolation according to Use linear fine interpolator ("P-0-0187, Position command
contour cannot be used with present NC cycle time processing mode" = "0")
("S-0-0001, NC cycle time (TNcyc)")
Cause Remedy
In "P-0-1367, PLC configuration", permanent control was (Local) axis can be controlled either via field bus
set, but in "P-0-4084, Field bus: Profile type" the "operating (P-0-4084=FFFE) or via MLD (P-0-1367, bit 4=1); it is
mode neutral" profile was not set (P-0-4084=FFFD) impossible to have both settings at the same time
A parameter required for MLD-M could not be written Check whether the parameter is contained in S-0-0279, IDN-
list of password-protected operation data; if yes, remove the
parameter from the list of S-0-0279.
If the parameter is not contained in S-0-0279 and cannot be
written nevertheless, please contact our service department.
Cause Remedy
Resolution of emulated signal does not match modulo Reduce resolution entered in "P-0-0901.x.3, Encoder
range / travel range emulation resolution"
- or -
Reduce "S-0-0278, Maximum travel range"
Cause Remedy
The drive controller has detected that the serial number of There are two options to eliminate the error:
the connected "MSM" type motor has changed, meaning ● 1. option (with this procedure, the diagnostic motor
that the motor was replaced. data currently stored in the drive controller are set to
Note: The diagnostic motor data currently stored in the drive the value "0" the next time the drive is switched from
controller are unchanged for the time being (see "Remedy")! PM to OM)
Delete the value in P-0-2055. The next time the drive
is switched from PM to OM, the serial number of the
replacement motor is applied to P-0-2055.
- or -
● 2. option [with this procedure, the diagnostic motor
data currently stored in the drive controller (such as
the operating hours) are not changed the next time the
drive is switched from PM to OM, but are retained as
the initial values of the replacement motor]
Enter the serial number of the replacement motor
(S-0-1300.20.12) in P-0-2055.
Cause Remedy
The address of a sercos slave not contained in Check P-0-1801.0.10/P-0-1601 (CCD: Addresses of
P-0-1801.0.2/P-0-1636 (CCD: Command typology configured drives) or P-0-1801.0.11/P-0-1604 (CCD:
addresses) is contained in P-0-1801.0.10/P-0-1601 (CCD: Addresses of configured I/Os) and check addresses of
Addresses of configured drives) or P-0-1801.0.11/P-0-1604 connected slaves; if necessary, change address at slave or
(CCD: Addresses of configured I/Os) of the CCD master. carry out remote address assignment.
- or - Note: If the address of a slave is changed, a new sercos
The same address was entered in P-0-1801.0.10/P-0-1601 phase progression must be carried out via phase 0. The
(CCD: Addresses of configured drives) and in connected slaves are scanned in phase 0.
P-0-1801.0.11/P-0-1604 (CCD: Addresses of configured
I/Os).
Cause Remedy
After command "C0200 Exit parameterization level Check in P-0-1801.0.10/P-0-1630 (CCD: Diagnosis) and
procedure command" is started, CCD master attempts to correct faulty parameter, if any.
bring sercos slaves to phase 4 by starting commands C01 - or -
and C52 in CCD slaves; thus, all required slave parameters
are written. Check configuration of CCD process data:
Command error occurred in CCD slave during one of these ● P-0-1803.x.11/P-0-1621 (CCD: Configuration list
actions. master communication cmd values)
● P-0-1803.x.12/P-0-1622 (CCD: Configuration list
master communication actual values)
● P-0-1805.x.1/P-0-1623 (CCD: Configuration list master
cmd values)
● P-0-1805.x.2/P-0-1624 (CCD: Configuration list actual
master values)
● P-0-1805.x.3/P-0-1625 (CCD: Configuration list slave
cmd values)
● P-0-1805.x.4/P-0-1626 (CCD: Configuration list actual
slave values)
- or -
Eliminate cause of command error in CCD slave.
Cause Remedy
One or more sercos slaves from P-0-1801.0.10/P-0-1601 Locate faulty sercos slave(s) and remove cause of error for
(CCD: Addresses of configured drives) or P-0-1801.0.11/ this (these) slave(s)
P-0-1604 (CCD: Addresses of configured I/Os) do not react
to service channel communication
Transition command "S-0-0127, C0100 Communication Locate faulty sercos slave(s) and remove cause of error for
phase 3 transition check" or "S-0-0128, C5200 this (these) slave(s)
Communication phase 4 transition check" is not completed
or only completed with error in one or more sercos slaves
10.2.77 C0270 Error when reading encoder data => motor encoder
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
During the execution of the command "C0200" an error during the reading of
the encoder data from the data memory of the motor encoder was detected.
Cause Remedy
During the execution of the command "C0200" an error with regard to the
parameterization of the motor encoder hardware was detected.
370/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Parameterization "P-0-0074, Encoder type 1 (motor Check whether parameterized encoder type matches
encoder)" does not match interface card (e.g. EN1 with interface card that has been plugged in
EnDat encoder)
In the case of "current control with motor encoder" (see Enter value appropriate for motor encoder in "P-0-0074,
"P-0-0045, Control word of current controller"), "operation Encoder type 1 (motor encoder)"
without encoder" was detected to have been set in
"P-0-0074, Encoder type 1 (motor encoder)"
Parameterization in "P-0-0077, Assignment motor encoder- Correct assignment of motor encoder and optional slot in
>optional slot" is incorrect parameter "P-0-0077, Assignment motor encoder->optional
slot"
During the execution of the command "C0200" an error was detected with
regard to the scaling that has been set and the selected motor encoder type
(e.g. rotary scaling with linear motor).
Cause Remedy
Incorrect encoder type ("S-0-0277, Position feedback 1 Check and, if necessary, correct "S-0-0277, Position
type") feedback 1 type"
Parameterized scaling ("S-0-0076, Position data scaling Check and, if necessary, correct "S-0-0076, Position data
type") is incorrect scaling type"
Parameterized type of construction of motor ("P-0-4014, Correct "P-0-4014, Type of construction of motor"
Type of construction of motor") is not correct
Maximum travel range ("S-0-0278, Maximum travel range") Make input greater than "0" for "S-0-0278, Maximum travel
was incorrectly input range"
During the execution of the command "C0200" an error with regard to the
modulo value for the motor encoder was detected.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 371/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Parameterized value for "S-0-0103, Modulo value" is greater Correct content of "S-0-0103, Modulo value" or value of
than maximum travel range (cf. "S-0-0278, Maximum travel "S-0-0278, Maximum travel range"
range")
Parameterized value for "S-0-0103, Modulo value" cannot Correct content of "S-0-0103, Modulo value" or gear ratios
be internally displayed with gear ratios that have been set that have been set ["S-0-0121, Input revolutions of load
(S-0-0121/S-0-0122, P-0-0121/P-0-0122) gear"/"S-0-0122, Output revolutions of load gear";
"P-0-0121, Gear 1 motor-side (motor encoder)"/"P-0-0122,
Gear 1 encoder-side (motor encoder)"]
During the execution of the command "C0200" an error with regard to the
motor encoder was detected. The content of "P-0-1000, Kind of encoder 1,
encoder memory" is invalid and therefore the parameterized motor encoder is
not allowed (e.g. rotary scaling with linear encoder).
Cause Remedy
10.2.82 C0275 Error when reading encoder data => optional encoder
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
During the execution of the command "C0200" an error during the reading of
the encoder data from the data memory of the optional encoder was
detected.
372/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
During the execution of the command "C0200" an error with regard to the
parameterization of the hardware of the optional encoder was detected.
Cause Remedy
Parameterization "P-0-0075, Encoder type 2 (optional Correct parameterization of "P-0-0075, Encoder type 2
encoder)" does not match interface card (e.g. EN1 with (optional encoder)"
EnDat encoder)
"P-0-0078, Assignment optional encoder->optional slot" Correct parameterization of "P-0-0078, Assignment optional
incorrect encoder->optional slot"
During the execution of the command "C0200" an error was detected with
regard to scaling that was set and the selected motor encoder type (e.g.
rotary scaling with linear optional encoder).
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 373/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Incorrect encoder type ("S-0-0115, Position feedback 2 Check and, if necessary, correct "S-0-0115, Position
type") feedback 2 type"
Parameterized scaling ("S-0-0076, Position data scaling Check and, if necessary, correct "S-0-0076, Position data
type") is incorrect scaling type"
During the execution of the command "C0200" an error with regard to the
modulo value for the optional encoder was detected.
Cause Remedy
Parameterized value for "S-0-0103, Modulo value" is greater Correct content of "S-0-0103, Modulo value" or value of
than maximum travel range (cf. "S-0-0278, Maximum travel "S-0-0278, Maximum travel range"
range")
Parameterized value for "S-0-0103, Modulo value" cannot Correct content of "S-0-0103, Modulo value" or gear ratios
be internally displayed with gear ratios that have been set that have been set ["S-0-0121, Input revolutions of load
(S-0-0121/S-0-0122, P-0-0121/P-0-0122) gear"/"S-0-0122, Output revolutions of load gear";
"P-0-0121, Gear 1 motor-side (motor encoder)"/"P-0-0122,
Gear 1 encoder-side (motor encoder)"]
Encoder resolution ("S-0-0117, Feedback 2 Resolution") Check and, if necessary, correct parameterization of
incorrectly parameterized "S-0-0117, Feedback 2 Resolution"
Resolution of encoder does not match required modulo Replace encoder
range
During the execution of the command "C0200" an error with regard to the
optional encoder was detected. The content of "P-0-1010, Kind of encoder 2,
encoder memory" is invalid and therefore the parameterized optional encoder
is not allowed (e.g. rotary scaling with linear encoder).
374/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
In the case of absolute scaling, the maximum travel range is the overflow limit
of the position feedback values. If this travel range cannot be correctly
displayed internally so that error-free position generation is impossible, this
error is generated.
Cause Remedy
"S-0-0278, Maximum travel range" incorrectly parameterized Check "S-0-0278, Maximum travel range" and reduce it, if
necessary
S-0-0116 / S-0-0117 incorrectly set (e.g., value "0") Check "S-0-0116, Resolution of feedback 1" / "S-0-0117,
Resolution of feedback 2" and correct them, if necessary
Value for "S-0-0278, Maximum travel range" is inadmissible, Check "S-0-0278, Maximum travel range" and change value,
although it might be within the respective absolute encoder if necessary (take respective absolute encoder range into
range account!)
Position resolution of a pole pair or of the pole pair distance "P-0-0018, Number of pole pairs/pole pair distance" has
is too low. It is impossible to internally display the value "0" or a value that is too low (wrong unit might have
commutation offset value exactly enough been set). Check "P-0-0018, Number of pole pairs/pole pair
distance" and correct it, if necessary
Value of feed constant S-0-0123 is "0" in the case of linear Enter a value greater than "0" in S-0-0123
scaling - or-
Set rotary scaling
Cause Remedy
Parameterized mechanical system does not allow ● Reduce maximum travel range ("S-0-0278, Maximum
unequivocal commutation via optional measuring system travel range")
● Adjust gear ("S-0-0121, Input revolutions of load gear";
"S-0-0122, Output revolutions of load gear"; ...)
● Use appropriate encoder (e.g. multi-turn)
Cause Remedy
Sensorless positioning of synchronous motors was Use parameter file made available by Bosch Rexroth
incorrectly parameterized
Incorrect motor control mode was parameterized Check parameters P-0-0045, P-0-4014 and P-0-0074
Parameter file made available by Bosch Rexroth is defective Please contact our service department
Cause Remedy
An error was detected during adjust of type of construction Check and correct parameters in "S-0-0423, IDN-list of
of motor, encoder type, kind of current control invalid op. data for parameterization level"
An error was detected in enabling of functional packages There was an attempt to activate sensorless positioning of
synchronous motors in functional package open-loop.
Check and correct parameters in "S-0-0423, IDN-list of
invalid op. data for parameterization level"
Cause Remedy
Cause Remedy
A motor without encoder data memory was connected Parameterize "P-x-4014, Type of construction of motor"
correctly or connect a motor with encoder data memory
Note: "x" in parameter number is a wild card for parameter
set; e.g. "P-0-4014" for first parameter set.
A motor with encoder data memory was connected, but data Check whether "P-0-2141, Motor type, encoder memory"
stored in memory are incomplete or encoder line resp. contains correct type designation of connected motor. If not,
encoder is defective contact our service department.
If "P-0-2141, Motor type, encoder memory" cannot be read,
replace encoder line or motor encoder
During the execution of the command "C0200" two motor encoders were
detected during the encoder configuration check.
Cause Remedy
Two encoders were detected; in their data memories a valid Replace one of encoders by encoder without valid motor
and known motor type string is contained in "P-0-2141, type string
Motor type, encoder memory"
Encoder connectors of neighboring axes were interchanged Check axis assignment of encoder connectors and assign to
correct axis
Cause Remedy
During the execution of the command "C0200" an error was detected with
regard to scaling that was set and the selected motor type (e.g. rotary scaling
although a linear motor is used). The phase switch to communication phase 4
is prevented.
Cause Remedy
Although a linear motor is used, rotary scaling was selected Check and correct respective scaling parameter(s) or use a
in at least one of the following parameters: linear encoder
● S-0-0044, Velocity data scaling type
● S-0-0076, Position data scaling type
● S-0-0086, Torque/force data scaling type
● S-0-0160, Acceleration data scaling type
Cause Remedy
Incomplete or invalid entries in parameters for initialization of Check parameter contents and enter data supplied by motor
synchronous motor manufacturer in above parameters. If error is generated in
spite of correct data, please contact our service department
Initialization for synchronous motor with reluctance torque Correct setting in "P-0-4014, Type of construction of motor"
was run although synchronous motor without reluctance
torque is used
10.2.97 C0290 Error when reading encoder data => measuring encoder
Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Cause Remedy
Interference caused by incorrect shielding or defective Check encoder cable (incl. shielding) and, if necessary,
encoder cable replace or run it correctly
Encoder defective Check encoder function and, if necessary, replace encoder
Measuring encoder option on control section is defective Replace control section or entire drive controller
Incorrect parameterization of "P-0-0076, Encoder type 3 Check content of "P-0-0076, Encoder type 3 (measuring
(measuring encoder)" encoder)" and correct it in such a way that measuring
encoder is correctly assigned to optional slot
380/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
During the execution of the command "C0200" an error with regard to the
parameterization of the hardware of the measuring encoder was detected.
Cause Remedy
During the execution of the command "C0200" an error with regard to the
measuring encoder was detected. The content of "P-0-1020, Kind of
encoder 3, encoder memory" is invalid and the measuring encoder therefore
is not allowed.
Cause Remedy
Cause Remedy
Value parameterized for "P-0-0765, Modulo factor Correct content of "P-0-0765, Modulo factor measuring
measuring encoder" cannot be displayed internally with gear encoder" or measuring gear settings ("P-0-0127, Input
that was set revolutions of measuring gear" and "P-0-0128, Output
revolutions of measuring gear")
"P-0-0327, Encoder resolution of measuring encoder" Check and, if necessary, correct content of "P-0-0327,
incorrectly parameterized Encoder resolution of measuring encoder"
During the execution of the command "C0200" an error with regard to the
measuring encoder configuration was detected.
Cause Remedy
At least one of selected operating modes is synchronization Check and, if necessary, correct parameterization of
mode (velocity synchronization, phase synchronization or operating mode parameters ("S-0-0032, Primary mode of
electronic cam shaft) and control encoder of synchronization operation"; "S-0-0033, Secondary operation mode 1";
mode has simultaneously been configured as measuring "S-0-0034, Secondary operation mode 2";...) if
encoder. This configuration is not useful. synchronization mode is not required.
If synchronization mode is required, deactivate measuring
encoder or use additional encoder as measuring encoder.
Cause Remedy
During conversion of physical data to internal data format, Contact our service department
display limits were exceeded so that parameters internally
could not be displayed correctly.
Cause Remedy
Only encoders without HIPERFACE or EnDat interface: Deactivate cyclic absolute encoder monitoring (S-0-0277,
Encoder is not supported. S-0-0115, P-0-0328)
Only encoders with HIPERFACE interface: Error in Contact our service department.
calculation of an internal monitoring threshold Short-term remedy: Deactivate cyclic absolute encoder
monitoring (S-0-0277, S-0-0115, P-0-0328)
10.2.104 C0297 Encoder type not possible for selected constr. type of motor
Allocation Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
The selected encoder type is not supported by the parameterized motor type.
Cause Remedy
"P-0-0074, Encoder type 1 (motor encoder)" selected Change or deactivate encoder type
incorrectly
"P-0-4014, Motor type" selected incorrectly Set correct motor type
Cause Remedy
During firmware download there was an attempt to switch to Wait until firmware download has been completed before
operating mode switching to operating mode
After a boot error (F81xx error) there was an attempt to 1. Terminate command
switch to operating mode 2. Clear boot error (F81xx error)
3. Remove cause
4. Reboot drive
Cause Remedy
"P-0-2003, Selection of functional packages" contains Restart drive in order to apply functional package selection
functional package selection not corresponding to active of P-0-2003 to P-0-2004
functional package selection (cf. "P-0-2004, Active functional
packages")
Incorrect functional package selection in "P-0-2003, Set value in "P-0-2003, Selection of functional packages" to
Selection of functional packages" value in "P-0-2004, Active functional packages"
In "P-0-4089.0.1, Master communication: Protocol", Switch drive off and on again to apply change in
selection of field bus protocol was changed "P-0-4089.0.1, Master communication: Protocol"
During the execution of the command "set absolute position" (C0300), the
measuring system selected via parameter "S-0-0448, Set absolute position
control" was detected to be unavailable.
Cause Remedy
Cause Remedy
When executing the command for setting absolute measuring (C0300) the
offset of the encoder zero point with regard to the machine zero point is
determined and stored in the data memory of the encoder. It was impossible
to store the offset correctly.
Cause Remedy
Communication between encoder and drive is disturbed Check encoder cable and repair it, if necessary
- or -
Replace encoder
Cause Remedy
Command was activated under drive enable Deactivate drive enable. Then restart command.
- or -
If you want to execute command under drive enable, bit 2
must have been set in "S-0-0448, Set absolute position
control".
Cause Remedy
Command for switching to parameterization level 1 was Terminate command and switch drive enable off, then
started via parameter "S-0-0420, C0400 Activate command can be started again
parameterization level 1 procedure command", although
drive enable had been activated
386/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
The attempt to bring CCD slaves to CCD phase 2, 30 Check communication with CCD slaves
seconds after start of command "S-0-0420, C0400 Activate
parameterization level 1 procedure command" has failed
due to communication problem with CCD slaves
During the execution of the error clearing command (C0500) an error was
detected.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 387/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
There was an attempt to clear error "F8022 Enc. 1 error: Switch drive to communication phase 2 by means of
sign. amplitude (can be cleared in ph.2)" in communication command "P-0-4023, C0400 Communication phase 2
phase 4 (operating mode). This is only possible in transition" and start error clearing command again.
communication phase 2 (parameterization mode).
Cause Remedy
Command was started without drive enable. This is not Enable drive and start command again.
allowed.
Cause Remedy
Evaluation of home switch has been switched on Read value from parameter "S-0-0298, Reference cam shift"
("S-0-0147, Homing parameter"). Distance between selected and apply it to parameter "S-0-0299, Home switch offset"
home switch edge and reference mark to be evaluated is - or -
outside of allowed range.
Shift reference cam
Cause Remedy
Optional encoder has been parameterized as homing Parameterize motor encoder as homing encoder in
encoder in "S-0-0147, Homing parameter" although optional "S-0-0147, Homing parameter"
encoder does not exist
Optional encoder has not been activated Activate optional encoder in "P-0-0075, Encoder type 2
(optional encoder)"
Cause Remedy
Via the encoder selection in "S-0-0147, Homing parameter", First activate the "S-0-0447, C0300 Set absolute position
an absolute measurement system was selected. The procedure command" and then start the "S-0-0148, C0600
command for drive-controlled homing can only be carried Drive-controlled homing procedure command"; this
out if the "S-0-0447, C0300 Set absolute position procedure establishes the absolute position data reference.
command" was activated beforehand.
Cause Remedy
Reference marks do not occur in expected position Check measuring system to be homed and corresponding
difference wiring
- or -
Check and, if necessary, correct setting of "P-0-0153,
Optimum distance home switch-reference mark"
Value set in "P-0-0153, Optimum distance home switch- Correct setting of "P-0-0153, Optimum distance home
reference mark" does not match encoder that is used switch-reference mark"
Cause Remedy
Home switch hasn't been assigned to any digital input Assign home switch ("S-0-0400, Home switch") to a digital
input via parameter "P-0-0300, Digital I/Os, assignment list"
10.2.121 C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Cause Remedy
Drive-controlled homing at positive stop or travel range limit Modify control information for homing in "S-0-0147, Homing
switch with modulo axes isn't a useful combination and parameter" in a useful way
therefore not allowed!
Cause Remedy
Travel directions for homing and positioning were differently Parameterize travel directions in "S-0-0147, Homing
parameterized parameter" and "S-0-0393, Command value mode" in such a
way that they match
Cause Remedy
When the command for drive-controlled homing (C0600) had been executed,
an error with regard to the travel range was detected.
Cause Remedy
The effective travel range (S-0-0278 × 2) is greater than the Make sure that the effective travel range (S-0-0278 × 2) is
absolute encoder range; the unequivocal reference position less than or equal to the absolute encoder range.
cannot be determined with the homing procedure. The absolute encoder range is calculated as follows:
NOTES: Rotary scaling
● If load gear (S-0-0121/S-0-0122) and feed constant ● Motor encoder with scaling at motor:
(S-0-0123) were parameterized, this has an effect on
the travel range (S-0-0278). In addition, the encoder Absolute encoder range = 1 revolution =
gearboxes have to be taken into account 360° × P-0-0121/P-0-0122
(encoder 1: P-0-0121/P-0-0122, encoder 2: P-0-0124/ ● Motor encoder with scaling at load:
P-0-0125) .
Absolute encoder range =
● The absolute encoder range furthermore depends on
the following factors: 360° × P-0-0121/P-0-0122 × S-0-0121/S-0-0122
Cause Remedy
Control loops of motors with motor encoder data memory Data sheets of Rexroth motors are made available by the
are adjusted to connected digital drive by activating service department. Enter controller parameters.
controller parameters stored in it.
Message C0702 on display of drive controller signals that no
data memory is available at connected motor.
Cause Remedy
Default parameters are read from motor encoder data Check connection to motor encoder. Replace motor, if
memory. At least one of these parameters is invalid. necessary.
Cause Remedy
It was impossible to load default values for motor-specific Load appropriate firmware version to controller; observe
control loop parameters, available in encoder memory, to motor type and motor encoder type
respective parameters. Firmware version is incompatible
with motor or motor encoder
Performance and switching frequency setting do not match Correct performance setting in "P-0-0556, Control word of
axis controller" and switching frequency setting in "P-0-0001,
Switching frequency of the power output stage"
Cause Remedy
Cause Remedy
The system parameters (DC bus capacity and inductance at Load the DC bus of the power supply once by closing main
commutation choke) required for the command are not yet and mains contactor (S-0-1720.0.1, Power supply control
verified or are invalid. word) (soft start) and bring the power supply into the
operating condition "A0502" (display indication "Lb"). The
verification is carried out during the soft start phase.
Cause Remedy
Password dependent write protection on parameters is Remove password dependent write protection on
active (see "P-0-3220, SMO: Password level") parameters by writing "P-0-3263.0.1, SMO: Password"
Internal error Abort command and restart.
If error occurs again, contact our service department.
Cause Remedy
Cause Remedy
Field bus is currently exchanging process data with field bus Terminate cyclic process data exchange (example:
master/controller CANopen master switches drive from "Operational" to "Pre-
Operational")
Cause Remedy
Drive parameters were write-protected by means of Deactivate write protection by entering the password. Then
parameter "S-0-0267, Password". Diagnostic message restart command.
C0752 signals that command C0750 was started without
first deactivating customer password.
Cause Remedy
Content of parameter P-0-0660.0.1 could not be interpreted Write content of a parameter backup to P-0-0660.0.1 to
without error (data status valid, but content does not comply activate configurable factory default values.
with required format, e.g. all list elements="0xffffffff"). If there isn't any parameter backup available, P-0-0660.0.1
can be cleared (set actual length to "0"), but in this case the
configurable factory default values aren't active anymore!
Cause Remedy
Drive parameters were write-protected by means of Deactivate write protection by entering password. Then
parameter "S-0-0267, Password". Diagnostic message restart command.
C0762 signals that command C0760 was started without
first deactivating customer password.
Cause Remedy
P-0-3075 not contained in encoder memory or invalid data Contact the machine manufacturer
status of P-0-3075 - or -
Execute command "P-0-0660, C6300 Generate type plate
command" to store a valid P-0-3075 in encoder memory
At the time the command "C0700 Load defaults proced. command (motor-
spec. controller val.)" was started, no valid value had been entered in
"P-0-4090, Configuration for loading default values".
396/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
During the execution of the command for spindle positioning (C0900) an error
was detected.
Cause Remedy
At start of "S-0-0152, C0900 Position spindle command", Set drive enable before starting command
drive was not yet in drive enable
During the execution of the command for spindle positioning (C0900) an error
was detected.
Cause Remedy
At start of "S-0-0152, C0900 Position spindle command", For incremental measuring systems, check whether
respective encoder had not yet been initialized (homed) "S-0-0400, Home switch" was assigned to a digital input.
Assignment, connection and function of home switch must
have been realized (only when home switch is evaluated)!
For absolute measuring systems, check whether drive is in
reference. If this is not the case, establish absolute position
data reference, e.g. by "S-0-0447, C0300 Set absolute
position procedure command"
During the execution of the command for spindle positioning (C0900) an error
was detected.
Cause Remedy
Homing procedure integrated in spindle positioning was not Check parameterization of spindle positioning and of drive-
executed successfully. Encoder zero mark was not found or controlled homing procedure, especially encoder and home
it was impossible to assign it correctly. switch combination used.
- or -
Check encoder parameterization.
- or -
Check distance zero pulse - home switch.
- or -
Carry out drive-controlled homing in order to check homing
procedure.
Cause Remedy
Drive controller is not in phase 4 (ready for operation, Switch drive controller to phase 4 and then execute
display: bb; with sine-wave and saturation method, display: command "P-0-0524, C1200 Commutation offset setting
Ab); the command "P-0-0524, C1200 Commutation offset command" again.
setting command" can only be executed in phase 4.
The axis left the allowed actual position value range while commutation
settings were made.
Cause Remedy
Command was started while axis was still moving Wait until axis has come to standstill and restart command
Axis was moved by mechanical force Exclude influence of mechanical force
Parameter values for "P-0-0506, Amplitude for angle Reduce parameter values for "P-0-0506, Amplitude for angle
acquisition" and "P-0-0507, Test frequency for angle acquisition" and "P-0-0507, Test frequency for angle
acquisition" are too high Possibly, mechanical axis acquisition". They can also be set to default values of 25%
conditions, such as friction and load due to weight, have for "P-0-0506, Amplitude for angle acquisition" and 500 Hz
changed for "P-0-0507, Test frequency for angle acquisition".
Cause Remedy
Cause Remedy
Drive is not yet ready for operation ("bb") Bring drive to ready for operation status ("bb")
- or -
Drive is already in drive enable ("AF")
Cause Remedy
There wasn't any mode for commutation determination Set a mode for commutation determination in parameter
selected "P-0-0522, Commutation setting control word"
Cause Remedy
Drive was not ready at start of command, display did not 1. Switch drive to communication phase 4, if there isn't
read "Ab" any error present, display reads "bb" ("betriebsbereit"
= ready for operation)
2. Switch power on, drive goes to operating mode,
display reads "Ab" ("Antrieb bereit" = drive ready)
3. Now start command C1200
The actual current value amplitude resulting from commutation setting with
the saturation method is monitored. If it does not exceed a minimum
threshold when the command "P-0-0524, C1200 Commutation offset setting
command" is executed, the command error C1218 is generated.
Cause Remedy
Actual current value amplitude is Increase signal voltage (P-0-0506, Amplitude for angle acquisition) or reduce signal
not sufficient for exact frequency (P-0-0507, Test frequency for angle acquisition) and restart commutation
determination of commutation setting process
offset - or -
Enter value "0" in "P-0-0506, Amplitude for angle acquisition". Appropriate value for
P-0-0506 is thereby automatically determined during commutation setting process
- or -
Reduce value of "P-0-0517, Commutation: required harmonics component", if approx.
30 similar values are determined for "P-0-0521, Effective commutation offset" with
repeated commutation setting for different motor positions (drive remains in "Ab").
Reduce "P-0-0517, Commutation: required harmonics component" until command
error C1218 no longer occurs; finally check function several times!
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 401/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
The actual current is higher than the allowed maximum Reduce the signal voltage ("P-0-0506, Voltage amplitude for
current. angle acquisition") or increase the signal frequency
("P-0-0507, Test frequency for angle acquisition").
- or -
With P-0-0506 = 0 start the automatic determination of
appropriate values.
Cause Remedy
An error occurred in signal generator Switch drive off and on again. If error continues to be
signaled, contact our service department
Cause Remedy
Type current of controller too low Use controller that can supply motor with sufficiently high current (for Rexroth kit
motors, required minimum current for magnetic saturation effects is approx. 2.0...2.5-
fold continuous current at standstill).
If without success, check whether sine-wave method can be used for commutation
offset setting
Test current generated in motor is Manually increase value of "P-0-0506, Amplitude for angle acquisition" or reduce
too low value of "P-0-0507, Test frequency for angle acquisition" so that higher test current is
generated.
If without success, check whether sine-wave method can be used for commutation
offset setting
Cause Remedy
For at least one of parameters P-0-0508, P-0-0521 or Execute command C1200 again
P-0-3008 it was impossible to write determined commutation - or -
offset value to it
Check wiring for noise immunity
- or -
Replace sensor of encoder
- or -
Contact our service department, if necessary
Cause Remedy
An attempt was made to start command while safety While safety function STO or SBC is active, command
function "Safe torque off" (STO) or "Safe brake control" cannot be executed
(SBC) was active
An attempt was made to start command in connection with When synchronous motors are positioned without encoder,
encoderless positioning of synchronous motors command cannot be executed
Cause Remedy
The command "P-0-0524, C1200 Commutation offset setting Zero point shifting: Switch the drive controller to parameter
command" was started in the operating mode. It is mode, enter the master password and restart the command.
impossible to execute the command [zero point/ Determining the commutation offset: Set "P-0-0522, Control
commutation offset shifting ("P-0-0522, Control word for word for commutation setting", bit 13="0", and restart the
commutation setting", bit 13="1")] in the operating mode command.
10.2.159 C1225 Zero point shifting only possible with master password
Allocation Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Cause Remedy
The command "P-0-0524, C1200 Commutation offset setting Zero point shifting: Enter the master password and restart
command" was started to shift the zero point/commutation the command.
offset ("P-0-0522, Control word for commutation setting", Determining the commutation offset: Set "P-0-0522, Control
bit 13="1"). Shifting the zero point is only possible with the word for commutation setting", bit 13="0", switch the drive
master password. controller to the operating mode and restart the command.
Cause Remedy
Cause Remedy
Drive enable not set at command start Set drive enable and restart command C1800
The motor data are checked for plausibility when starting the automatic
setting of axis control (C1800).
Cause Remedy
One of the following parameters has a value ≤ "0", which For Rexroth motors with encoder data memory: Saved
would result in incorrect calculation of controller parameters: motor parameters are written by service personnel or
● "P-0-0051, Torque/force constant" replacing motor
● "P-0-0018, Number of pole pairs/pole pair distance" For Rexroth motors without encoder data memory and for
third-party motors: User writes motor parameters with
● "S-0-0110, Amplifier peak current" correct values
For faulty device type current (S-0-0110): Parameters saved
in power section are written by service personnel or
replacing device
Automatic axis control setting was aborted; mass inertia (sum of rotor
moment of inertia and load moment of inertia) could not be determined.
Cause Remedy
Cause Remedy
Sum total from P-0-0510 and P-0-4010 equal to "0" Parameterized P-0-0510 and P-0-4010
Cause Remedy
Oscillating mechanical systems In many cases, a stable result can be achieved by restarting command C1800 with a
(resonances) larger damping factor (P-0-0163), and thus, lower dynamics.
- or - This damping factor can then still be reduced until control loop behaves as desired.
Highly noisy encoder signals If resonance frequencies of system are known, resonance positions are to be
damped with filters (P-0-1120) before starting command C1800.
Using a filter in velocity control loop can be advantageous even with very noisy
encoder signals.
Test velocity equal to "0" Parameterize "P-0-0171, Drive optimization, velocity"
Cause Remedy
Travel range defined by both limits P-0-0166 and P-0-0167 Define travel range such that it is greater than or equal to
or by P-0-0169 is too small. minimum required travel range:
● Rotary motors: 90 degrees of an electrical rotation
(elec. rotation = mechanical rotation / Number of pole
pairs)
● Linear motors: Quarter of a pole distance
Value for negative end position of drive optimization Enter meaningful values for P-0-0166 and P-0-0167.
(P-0-0166) is greater than value for positive end position
(P-0-0167)
During automatic axis control setting, the defined travel range is continuously
monitored. This travel range can be defined as follows:
● Enter limits in P-0-0166 and P-0-0167
- or -
● Define a relative travel range in P-0-0169 (required for Modulo axes).
If the travel ranges is exceeded, the command error C1806 is output. The
drive remains in position control in the start position (position at command
start). Here the motion data from parameters "P-0-0171, Drive optimization,
velocity" and "P-0-0170, Drive optimization, acceleration" are taken as a
basis.
Cause Remedy
Actual position has exceeded defined travel range Increase travel range
Travel range defined for measuring run is insufficient Increase "P-0-0171, Drive optimization, velocity"
Reduce "P-0-0161, Drive optimization: Periodic time"
When the travel range for the automatic axis control setting was
parameterized, the modulo scaling was not taken into account. An
unequivocal assignment of absolute end positions is not possible due to the
periodic, recurring position range with modulo scaling. This problem does not
occur if a relative travel range is specified.
Cause Remedy
There was an attempt to parameterize travel range via Set travel range by parameterizing "P-0-0169, Drive
"P-0-0166, Drive optimization, end position optimization, travel distance"
negative" / "P-0-0167, Drive optimization, end position
positive". In this case, travel range can only be
parameterized directly
Cause Remedy
Linear motor hasn't been homed Establish reference; then record table for cogging torque compensation
(see also Functional Description of firmware "Cogging Torque Compensation")
10.2.170 C1809 Command start only possible with active position limits
Allocation Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Cause Remedy
The subsequent optimization function of automatic control Activate position limit values, e.g. via bit 4 of S-0-0055, and
loop setting was started via the control panel without the restart subsequent optimization.
position limits being active.
Cause Remedy
The configuration of at least one of the parameters Execute command "C1800 Automatic control loop setting"
P-0-0161, P-0-0164, P-0-0165, P-0-0166, P-0-0167, again via P-0-0162 or IndraWorks. See Functional
P-0-0169, P-0-0170 and P-0-0171 was changed since the Description of firmware "Automatic setting of axis control"
command "C1800 Automatic control loop setting" had been
started the last time.
Starting the automatic control loop setting via the control
panel for subsequent optimization is only possible if the
configuration of the mentioned parameters was not changed
since the command had been started the last time.
The execution of the command "Release motor holding brake" (C2000) was
aborted by an error.
Cause Remedy
The command can only be executed if it is alloed by bit 5 in Set bit 5 in parameter P-0-0525 to "1"
parameter "P-0-0525, Holding brake control word"
An attempt was made to start the command while safety When using an optional module "Safe Torque Off" (L
function "Safe brake control" (SBC) was active option):
While safety function "Safe brake control" (SBC) is active,
the command cannot be executed
When using an optional module "Safe Motion" (S option):
1. In P-0-3265.0.1 (configuration of safe braking and
holding function), enable the releasing of the holding
brake while safety function "Safe brake control" is
active.
2. Restart command C2000.
10.2.173 C2101 Holding system check only possible with drive enable
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Cause Remedy
Command "P-0-0541, C2100 Brake check command" was Switch drive to "AF", then start command C2100
activated, but drive enable ("AF") had not been set.
When the command "P-0-0541, C2100 Holding system check command" had
been executed, the holding torque of the brake was detected to be too low.
410/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Due to storage, brake is covered with an oxide layer. Start command "P-0-0544, C3900 Command Abrasion of
- or - holding brake" for holding system check again to reestablish
full brake torque by repeated resurfacing of holding break.
Brake is wetted with oil or grease.
If brake torque is still too low after several attempts to
- or - reestablish it, brake or motor must be replaced.
Brake is worn.
The command "P-0-0541, C2100 Holding system check command" could not
be started.
Cause Remedy
Brake control has not been activated in parameter Activate brake control in parameter "P-0-0525, Holding
"P-0-0525, Holding brake control word" brake control word"
Value in "P-0-0540, Torque of holding brake" is "0" Enter correct value for "P-0-0540, Torque of holding brake"
To reliably block the axis, the holding torque or the holding force
has to be greater than the load due to weight of the axis.
Therefore, the test torque or the test force has to be greater than
the load due to weight, too.
Cause Remedy
Load due to weight is greater than nominal load which was Remedy during initial commissioning:
input (if "P-0-0547, Nominal load of holding system" is Determine load due to weight of axis and compare it to value
unequal to "0") input in "P-0-0547, Nominal load of holding system". If
necessary, correct (increase) value.
Remedy during operation of axis drive:
DANGER! Hazardous movements! Danger to life, risk of
injury, serious injury or property damage! Check why load
due to weight of axis was increased compared to initial
commissioning.
Reduce load due to weight
- or -
Determine load due to weight of axis and compare it to value
input in "P-0-0547, Nominal load of holding system". If
necessary, increase value in "P-0-0547, Nominal load of
holding system". Check drive sizing!
Load due to weight is greater than holding torque or holding Remedy during initial commissioning:
force of holding brake (if "P-0-0547, Nominal load of holding Determine load due to weight of axis and compare it to value
system"="0") of "P-0-0540, Torque of holding brake". Mount stronger
holding brake, if necessary.
Remedy during operation of axis drive:
DANGER! Hazardous movements! Danger to life, risk of
injury, serious injury or property damage! Check why load
due to weight of axis compared to initial commissioning is
higher than "P-0-0540, Torque of holding brake".
Reduce load due to weight
- or -
Determine load due to weight of axis and compare it to value
of "P-0-0540, Torque of holding brake". Mount stronger
holding brake, if necessary. Check drive sizing!
Cause Remedy
Static limitation of drive torque or drive force is active Check or increase static torque or force limit values so that
1.3-fold value of "P-0-0547, Nominal load of holding system"
(if P-0-0547 is unequal "0") or "P-0-0540, Torque of holding
brake" (if P-0-0547="0") is possible. By way of trial, set
maximum values, if necessary:
● "S-0-0092, Bipolar torque/force limit value"
● "S-0-0082, Torque/force limit value positive"
● "S-0-0083, Torque/force limit value negative"
● "P-0-0109, Torque/force peak limit"
Dynamic limitation of drive torque or drive force is active and Check dynamic limitations (static limit values mustn't be
"P-0-0547, Nominal load of holding system" is unequal "0" effective!).
If value displayed in "P-0-0444, Actual value peak torque
limit" does not allow 1.3-fold of "P-0-0547, Nominal load of
holding system", drive is underdimensioned! Check thermal
load of motor and controller. Replace overloaded
component(s) by appropriate component(s), if necessary.
Dynamic limitation of drive torque or drive force is active and Check dynamic limitations (static limit values mustn't be
"P-0-0547, Nominal load of holding system"="0" effective!).
If value displayed in "P-0-0444, Actual value peak torque
limit" does not allow 1.3-fold of "P-0-0540, Torque of holding
brake", check whether value depending on axis load can be
input in "P-0-0547, Nominal load of holding system". If not,
controller is underdimensioned! Replace controller by an
appropriate one, if necessary.
If value of "P-0-0547, Nominal load of holding system" is Remedy during initial commissioning:
unequal "0": Determine force due to weight of axis and compare it to
Input of nominal load of axis ("P-0-0547, Nominal load of value entered in "P-0-0547, Nominal load of holding
holding system") is greater than actual load due to weight. system". If "P-0-0547, Nominal load of holding system" is
This means that load current demanded from controller greater and no check for "increased holding torque or
cannot be made available for test duration. Dynamic holding force" is to be run, set (reduce) "P-0-0547, Nominal
limitation of drive torque or drive force is active load of holding system" according to load due to weight.
If check is to be run for entered value, controller is
underdimensioned; see remedy for "Dynamic limitation of
drive torque or drive force is active"
Remedy during operation of axis drive:
DANGER! Dangerous movements! Danger to life, risk of
injury, serious injury or property damage! Check is run for
holding torque or holding force of holding brake. Controller is
underdimensioned.
If possible, carry out remedy during initial commissioning
(see above)
- or -
Mount controller with sufficiently high continuous current,
see remedy for "Dynamic limitation of drive torque or drive
force is active"
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 413/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
If "P-0-0547, Nominal load of holding system"="0": Remedy during initial commissioning:
Holding torque or holding force of holding brake is greater Determine load due to weight of axis and compare it to value
than actual load due to weight of axis. of "P-0-0540, Torque of holding brake". If load due to weight
This means that load current demanded from controller requires less holding torque than "P-0-0540, Torque of
cannot be made available for test duration. Dynamic holding brake" displays and no check for "increased holding
limitation of drive torque or drive force is active torque or holding force" is to be run, enter actual load due to
weight in "P-0-0547, Nominal load of holding system". In this
way, actual axis load is checked in the future. Otherwise,
controller is underdimensioned, see remedy for "Dynamic
limitation of drive torque or drive force is active"
Remedy during operation of axis drive:
DANGER! Dangerous movements! Danger to life, risk of
injury, serious injury or property damage! Check is run for
holding torque or holding force of holding brake. Controller is
underdimensioned.
If possible, carry out remedy during initial commissioning
(see above)
- or -
Mount controller with sufficiently high continuous current,
see remedy for "Dynamic limitation of drive torque or drive
force is active"
Cause Remedy
Incorrect control of holding system, holding system does not Check wiring
release - or -
If third-party brake was connected:
Check parameter setting
Test torque for releasing holding system set too low Increase value in parameter "P-0-0545, Test torque for
releasing holding system"
Increased breakaway torque of axis due to increased friction Remove malfunction in installation
within installation, etc.
Cause Remedy
It was impossible to address active, non-volatile memory First restart command "S-0-0264, C2200 Backup working
(internal flash memory or programming module) without memory procedure command". If error occurs again, then
error. replace programming module if necessary, then restart
command. If error occurs again, contact our service
department.
Cause Remedy
It was impossible to read active, non-volatile memory Restart command. If error occurs again, contact our service
(internal flash memory or programming module) without department. Have control section checked for functional
error. safety.
Cause Remedy
When reading parameters from active, non-volatile memory, Enter faulty parameter values correctly by hand and save
an error occurred. them again in non-volatile memory.
Cause Remedy
It was impossible to address active, non-volatile memory Restart command "S-0-0293, C2400 Selectively backup
(internal flash memory or programming module) without working memory procedure command". If error occurs again,
error. then replace programming module, if necessary, and restart
command. If error occurs again, contact our service
department.
During the execution of the command for adjusting the analog input
(P-0-0220, C2800 Analog input adjust command) an error was detected. The
execution of the command was aborted.
Cause Remedy
Command for automatic adjust of analog input was started Check parameter "P-0-0218, Analog input, control
although there hadn't any analog input been configured on parameter". In this parameter an analog input has to be
drive controller assigned for selected analog input assignment
The quality of the reference signal used is checked during the execution of
the command "P-0-0220, C2800 Analog input adjustment command".
Cause Remedy
The reference voltage used for amplification adjustment Check the input signal used for adjustment with regard to its
fluctuates by more than 1 % of the input voltage range accuracy; use a different calibration signal, if necessary
The input voltage for zero point adjustment is not exactly "0" Short-circuit analog inputs using a wire jumper
and fluctuates by more than 1 % of the input voltage range
10.2.185 C2803 Measured values at zero point and max. value identical
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
During the execution of the command "P-0-0220, C2800 Analog input adjust
command" an error was detected. The execution of the command was
aborted.
Cause Remedy
During zero point and gain adjust, the same voltage value Voltage provided at input has to be modified between two
was provided at analog input steps of adjust (voltage value for zero adjust: 0 V, voltage
value for gain adjust: maximum input voltage)
The command "P-0-0220, C2800 Analog input adjust command" was aborted
due to an unspecified error. Please contact our service department.
C2804 - Attributes Display: C2804
Diagnostic no.: C2804
Diagnostic no. as of 18VRS: 000C2804
10.2.187 C3101 Act. modulo value cycle greater than max. travel range
Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
The command error C3101 is generated when the calculated modulo value
for the actual value cycle is greater than the maximum travel range
("S-0-0278, Maximum travel range").
C3101 - Attributes Display: C3101
Diagnostic no.: C3101
Diagnostic no. as of 18VRS: 000C3101
Cause Remedy
Drive enable has been set and command "P-0-0071, C3100 To be able to carry out the command, drive enable has to be
Recalculate actual value cycle" was started removed
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 417/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
List element 1 (rated current) in "P-0-4032, Motor type plate Value for rated current must lie within following limits:
data" is outside of meaningful limits Rated current > 0,01 × Control unit peak current and
Rated current < 10 × Control unit peak current
Cause Remedy
List element 2 (rated voltage) in "P-0-4032, Motor type plate Value for rated voltage must lie between 10 V and 2000 V
data" is outside of meaningful limits
Cause Remedy
List element 3 (rated frequency) in "P-0-4032, Motor type Value for rated frequency must lie between 5 Hz and
plate data" is outside of meaningful limits 3000 Hz
Cause Remedy
Relationship of list element 4 (rated speed) in "P-0-4032, Correct list element 4 (rated speed) in "P-0-4032, Motor type
Motor type plate data" to rated frequency is not meaningful, plate data"
i. e. number of pole pairs cannot be calculated
Cause Remedy
Power factor of motor is outside of meaningful limits List element 5 (power factor cos phi in "P-0-4032, Motor type
plate data" must lie between 0.5 and 0.999
Cause Remedy
Relationship of list element 6 (rated power) in "P-0-4032, Correct values in "P-0-4032, Motor type plate data" and
Motor type plate data" to electrical power resulting from restart command "P-0-4033, C3200 Command Calculate
other rated data is not meaningful. motor data"
Mechanical power output must be less than effective
electrical power of the motor at measuring point because a
degree of efficiency of less than 1 is assumed. Likewise,
mechanical power output less than 40% of effective
electrical power is not plausible
Cause Remedy
List length of parameter "P-0-4032, Motor type plate data" is Please check: To calculate motor and controller parameters
less than 6 elements or at least one element has a value of from the motor type plate, a value greater than "0" must be
"0" entered in all 6 list elements of "P-0-4032, Motor type plate
data"
While the command "P-0-4033, C3200 Command Calculate motor data" was
carried out, an error occurred while writing a parameter for motor control
(e. g. violation of limit values).
Cause Remedy
At least one list element in "P-0-4032, Motor type plate data" Correct values in "P-0-4032, Motor type plate data" and
does not have a meaningful value, so that at least one restart command "P-0-4033, C3200 Command Calculate
parameter is outside of the allowable limits in calculation of motor data"
motor data.
Cause Remedy
Command C3200 can only be carried out for an If an asynchronous motor is connected, parameterize
asynchronous motor "P-0-4014, Motor type" accordingly; otherwise, C3200
cannot be used
Cause Remedy
Cause Remedy
Type plate data not entered correctly Check values, correct them if necessary, then successively
calculate "C3200 Command Calculate data for
asynchronous motor" and start "C3600 Command Motor
data identification"
Cause Remedy
Controller cannot make sufficient measuring current If possible, reduce value in "P-0-0001, Switching frequency
available of the power output stage"
- or -
use controller with higher type current
Cause Remedy
Type plate data not entered correctly Check values, correct them if necessary, then successively
start "C3200 Command Calculate data for asynchronous
motor" and "C3600 Command Motor data identification"
Cause Remedy
Command C3600 had been started when motor was still Start command C3600 when motor in standstill
moving
Cause Remedy
MPx16: With the MPx16 firmware, C3600 can only be used for
Command C3600 was started for a synchronous motor asynchronous motors; if necessary, use "C4600 Calculate
motor control parameters"
The command for motor data identification (C3600) was Execute the command for motor data identification (C3600)
started for a linear motor with the configuration "with motor with the configuration "without motor motion" (P-0-0601)
motion"; this configuration is not possible for linear motors
The command for motor data identification (C3600) was Select an appropriate configuration for the motor in
started for a linear or synchronous motor with the P-0-0601 and restart the command C3600
configuration "determine magnetizing characteristic"; this
configuration is not possible for linear motors and
synchronous motors
Cause Remedy
Cause Remedy
Cause Remedy
Value in "P-0-0018, Number of pole pairs/pole pair distance" Check values in "P-0-0018, Number of pole pairs/pole pair
and encoder lines (or resolution) entered in "S-0-0116, distance" and "S-0-0116, Resolution of feedback 1", if
Resolution of feedback 1" do not match. necessary also with regard to settings for motor encoder
gear (if any) ("P-0-0121, Gear 1 motor-side (motor
encoder)" / "P-0-0122, Gear 1 encoder-side (motor
encoder)").
Cause Remedy
If not present, an encoder cannot be checked for validity of There is no remedy for motors without encoder.
its sense of rotation as compared to that of motor If the motor has an attached encoder, check proper
connection to controller. Then enter required values in
P-0-0074 (motor encoder) and P-0-0077 (motor encoder
interface)
Cause Remedy
If supply is unregulated [HMV (type "E", feed), HCS]: If possible, adjust line voltage until requirement is met.
Nominal motor voltage and speed are too high as compared Observe permitted line voltage range!
with line voltage (requirement: Umotor_nom < 150% ULN). - or -
Reduce nominal motor data until requirement is met.
Observe corresponding motor data (nominal speed, voltage,
power)!
If supply is regulated [HMV (type "R", feedback)]: Reduce nominal motor data until requirement is met.
Nominal motor voltage and speed are too high as compared Observe corresponding motor data (nominal speed, voltage,
with maximum output voltage of controller (requirement: power)!
Umotor_nom < 100% DC voltage of DC bus).
Motor cannot follow drive-internal velocity command value. Flatten acceleration ramp by reducing P-0-0569 accordingly;
Acceleration ramp is too steep! ramp-up time should be at least 1 second.
If synchronous motors fail to start nevertheless: Additionally
increase value in P-0-0602!
Cause Remedy
An attempt was made to start command while safety Deselect safety function STO and SBC
function "Safe torque off" (STO) or "Safe brake control"
(SBC) was active
As of MPx18:
Axis in "PM" Switch axis to "OM"
Errors in module bus Repair errors in module bus node(s)
E-Stop enabled Deselect the E-Stop signal
An attempt was made to start command during enabled Deselect the function to switch to normal operation
special mode [special mode "EMERGENCY STOP" (SMES),
special mode "Safe standstill" (SMST) or special mode "Safe
motion" (SMM)].
Control section ready for operation ("bb") Turn power supply on
10.2.210 C3901 Resurfacing of holding brake only possible with drive enable
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Cause Remedy
Command was activated without drive enable ("AF") having Switch drive to "AF", then start command "P-0-0544, C3900
been set Command Holding brake resurfacing"
Cause Remedy
Cause Remedy
Resurfacing of brake is impossible, because motor Check whether there are torque limitations active in drive or
generates less torque than holding torque of brake whether controller has been sufficiently dimensioned
Sum of load due to weight and brake torque is greater than Reduce load due to weight, if possible
motor peak torque
Cause Remedy
Brake control has not been activated in parameter Activate brake control in parameter "P-0-0525, Holding
"P-0-0525, Holding brake control word" brake control word"
Value in "P-0-0540, Torque of holding brake" is "0" Enter correct value for "P-0-0540, Torque of holding brake"
Velocity limit value is too low to resurface holding brake Value greater than or equal to 100 min-1 or 100 mm/min
must be parameterized in S-0-0091
Cause Remedy
P-0-3256 shows the current SMO encoder evaluation status: Evaluate P-0-3256, eliminate cause of error and execute
The encoder evaluation has not been commissioned, is not command C4000 again
active or signals an error.
Cause Remedy
SMO reference signal activated outside of expected position Eliminate cause of error and execute command C4000
window; i.e. position feedback value (P-0-3257) at that point again
of time was unequal the reference position ± tolerance
window (P-0-3253.0.3 ± P-0-3253.0.4)
Standard firmware has incorrect position data reference
Position feedback value of standard firmware incorrectly
applied (wrong point of time / wrong value)
At the time when SMO within the scope of command C4000
detects that standard firmware has been homed (S-0-0403),
it applies the position feedback value of the standard
firmware (P-0-3257 with value of S-0-0051 or S-0-0053,
maximum deviation: P-0-3253.0.4).
Cause Remedy
Minimum distance between home switch of standard Change parameterization or home switch arrangement so
firmware and SMO reference position was not observed that distance between home switch of standard firmware
and SMO reference position is at least as big as Safe
homing procedure tolerance window (P-0-3253.0.4),
multiplied by the factor 2.
Then execute command C4000 again.
Cause Remedy
SMO reference signal too short Reduce homing velocity and/or increase SMO home switch
range
SMO home switch bounces Reduce bouncing of SMO home switch, e.g. by replacing the
switch and/or modifying the homing velocity
SMO reference signal disturbed Check line routing or shield line
Oscillations on the SMO reference signal Eliminate cause of error (check wiring / connections)
428/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Parameter set switching with parameter group "encoder Remove drive enable ("AF") before starting command
parameters" was started although axis still is in "AF"
Cause Remedy
Value entered in parameter "S-0-0217, Preselect parameter Before starting "C4100 Switch parameter set command", set
set command" is greater than value in "P-0-2217, Parameter value in "S-0-0217, Preselect parameter set command" to
set switching, preselection range" valid value
Cause Remedy
A calculation error occurred during parameter set switching IDN of parameter which caused error is displayed in
"S-0-0423, IDN-list of invalid data for parameterization
levels". Write valid value to displayed parameter
Cause Remedy
At start of command, drive wasn't yet ready for power output Before starting C4200 switch power on and set drive enable
Cause Remedy
Value of "S-0-0157, Velocity window" is zero Set "S-0-0157, Velocity window" to valid value greater zero
Motor is blocked or speed is too low due to high degree of Check mechanical drive system for blocking or stiffness
friction
Cause Remedy
Distance between home switch edge and next reference Read value from parameter "S-0-0298, Reference cam shift"
mark determined by controller is not inside allowed range and take it over to parameter "S-0-0299, Home switch
offset"
- or -
Shift reference cam by value of "S-0-0299, Home switch
offset"
Cause Remedy
Reference marks do not occur in expected position Check measuring system to be homed and corresponding
difference wiring
- or -
Check and, if necessary, correct setting of "P-0-0153,
Optimum distance home switch-reference mark"
Value set in "P-0-0153, Optimum distance home switch- Correct setting of "P-0-0153, Optimum distance home
reference mark" does not match encoder that is used switch-reference mark"
Cause Remedy
Home switch hasn't been assigned to any digital input Assign home switch ("S-0-0400, Home switch") to a digital
input via parameter "P-0-0300, Digital I/Os, assignment list"
Home switch was connected to NC but "S-0-0147, Homing Correct setting of respective bit of "S-0-0147, Homing
parameter" was incorrectly parameterized parameter"
10.2.226 C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Cause Remedy
NC-controlled homing at positive stop or travel range limit Modify control information for homing in "S-0-0147, Homing
switch with modulo axes isn't a useful combination and parameter" in a useful way
therefore not allowed!
Cause Remedy
Motor data weren't correctly entered in motor parameters Check values, correct them if necessary, then start "C4600
Command Calculate motor control parameters" again
Incorrect motor data Check motor data, if necessary consult motor manufacturer.
After entering corrected values start "C4600 Command
Calculate motor control parameters" again
432/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Position command value characteristic specified by control Check position command value characteristic of control
master or command value box resulted in too high master or command value box and, if necessary, reduce
measuring velocity at motor time-dependent position command value increase; if
applicable, take available gear ratio into account.
Cause Remedy
Position command value characteristic specified by control Check position command value characteristic of control
master or command value box resulted in a measuring master or command value box and, if necessary, increase
velocity at motor that is too low time-dependent position command value increase; if
applicable, take available gear ratio into account.
Cause Remedy
Position command value characteristic specified by control Check position command value characteristic of control
master or command value box resulted in too high master or command value box and, if necessary, change it
acceleration during measured value recording for cogging so that motor moves at constant velocity in measured value
torque/force compensation recording range (see "P-0-1133, Status word of cogging
torque compensation")
10.2.231 C4804 Cogging torque comp.: Err. when storing corr. val table
Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Cause Remedy
Active non-volatile memory couldn't be addressed without Restart "P-0-1138, C4800 Command Determine cogging
error torque compensation table"; should error occur repeatedly,
please contact our service department
10.2.232 C4805 Cogging torque comp.: Motor measuring system not homed
Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Cause Remedy
Motor encoder (relative) of a rotary motor didn't yet have Before starting command "P-0-1138, C4800 Command
position data reference Determine cogging torque compensation table", make motor
turn until reference mark of motor encoder is read
Motor encoder (relative) of a linear motor didn't yet have Before starting command "P-0-1138, C4800 Command
position data reference Determine cogging torque compensation table", establish
position data reference
Cause Remedy
Selection of modulo position format For modulo axes, only cogging torque compensation with
relative position reference is possible.
⇒ Select cogging torque compensation with relative position
reference.
Value for lower position limit of cogging torque Parameterize value for lower position limit of cogging torque
compensation is greater than or equal to value for upper compensation such that it is less than value for upper
position limit (P-0-1145 ≥ P-0-1146). position limit (P-0-1145 < P-0-1146).
Cause Remedy
PLC program has generated "PLC command error no. 1" Check in program description to see how to react to C4901
Cause Remedy
PLC program has generated "PLC command error no. 2" Check in program description to see how to react to C4902
Cause Remedy
PLC program has generated "PLC command error no. 3" Check in program description to see how to react to C4903
Cause Remedy
PLC program has generated "PLC command error no. 4" Check in program description to see how to react to C4904
Cause Remedy
PLC program was not started Start PLC program and then execute "P-0-1449, C4900 PLC
command" again
An incorrect PLC program was loaded Correct PLC program, load it and then execute "P-0-1449,
C4900 PLC command" again
Cause Remedy
Parameterization for execution of command is incomplete; Enter valid value in "S-0-1015, sercos: Ring delay"
measurement cannot be started
Measurement was unsuitable, because deviations in Repeat measurement
measured values were too big
Measurement was unsuitable, because topology changed Repeat measurement
during measuring process
Cause Remedy
Command for subsequent optimization of commutation Switch drive to "AF" and then restart command "P-0-0518,
offset setting was started, but drive is not in "AF" C5600 Command subsequent optimization of commutation
offset"
Cause Remedy
To successfully carry out command for subsequent Remove axis blocking and then restart command "P-0-0518,
optimization of commutation offset setting, motor/axis must C5600 Command subsequent optimization of commutation
be able to freely move by some degrees; this is not the case offset"
Cause Remedy
External motion mechanically coupled Remove external motion; uncouple motor, if necessary
Axis has very long post-pulse oscillation Reduce oscillation time of axis, generate slight additional
friction at axis, if necessary
Cause Remedy
The settings for the IP address, network mask and gateway Correct modified settings of the IP communication for the
address for one or several interfaces do not match. relevant interfaces and execute command C6100 again.
Cause Remedy
When nameplate data were being generated ("configurable Enter control password.
factory default values" or "application data in the encoder (The control password is determined by the manufacturer
memory" or "motor data for third-party motor") the control and is valid for the individual firmware; it is available from
password was not entered. the manufacturer only on demand).
When the nameplate data "motor data for a motor from Enter master password.
Bosch Rexroth" were generated, the master password was (The master password is determined by the manufacturer
not entered. and is exclusively available to the Bosch Rexroth
development and service staff).
Cause Remedy
In S-0-1300.20.3 an impermissible manufacturer code was Enter permissible manufacturer code in S-0-1300.20.3.
entered (must be >"0").
In P-0-0660.0.3 the IDN of a nameplate parameter was Determine the incorrect IDN on the basis of S-0-0423 and
entered. remove it from P-0-0660.0.3.
In P-0-0660.0.3 the IDN of a non-existent parameter was Determine the incorrect IDN on the basis of S-0-0423 and
entered. remove it from P-0-0660.0.3.
In P-0-0660.0.3 the IDN of a write-protected parameter was Determine the incorrect IDN on the basis of S-0-0423 and
entered. remove it from P-0-0660.0.3.
In P-0-0660.0.3 the IDN of a non-buffered parameter was Determine the incorrect IDN on the basis of S-0-0423 and
entered. remove it from P-0-0660.0.3.
In P-0-0660.0.3 more IDNs were entered than can be Determine the incorrect IDN on the basis of S-0-0423 and
processed. remove this and the subsequent IDNs from P-0-0660.0.3
While generating the nameplate, a general error has Check configuration in P-0-0660.0.3. P-0-0660.0.129 may
occurred. contain notes on this problem.
Cause Remedy
The data volume of the type plate to be generated is greater Reduce number of parameters in P-0-0660.0.3.
than what the selected type plate parameter can accept. TIP: The size of the type plate memory can be determined
on the basis of the maximum length of the type plate
parameter (e.g., encoder with HIPERFACE® interface:
600 bytes, encoder with EnDat® 2.1, 2.2 and ACURO®link:
2.3 kB at most, application data 1 kB)
Cause Remedy
In P-0-3100 an impermissible encoder memory version has Enter a permissible encoder memory version in P-0-3100; at
been entered. present, only encoder memory versions 4.1 to 4.6 and 7.1
are allowed.
In P-0-3100 encoder version 7.1 has been entered, but in Correct the order of the configuration parameters in
P-0-0660.0.3, P-0-3071 has not been entered as first P-0-0660.0.3.
parameter.
Enter version 4.1 to 4.6 in P-0-3100. List P-0-0660.0.3 Read S-0-0423 and remove relevant parameter from list
contains parameters that cannot be assigned to this memory P-0-0660.0.3.
version.
Cause Remedy
Cause Remedy
Encoder type plate data can only be stored for encoders Check parameterization.
with one of the following interfaces: Use appropriate encoder.
● HYPERFACE®
● EnDat® 2.1 or 2.2
● ACURO®link
Cause Remedy
An error occurred when the encoder memory was accessed. Check parameterization.
Replace encoder.
Cause Remedy
During the execution of the command C6500 an error has occurred during
the creation of the machine archive on the external memory card.
For the error that has occurred, see the "Backup.log" text file;
"Backup.log" can be found in the "Backup" directory on the
external memory card.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 441/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Not enough available memory space on external memory Use memory card with more memory space or delete
card unrequired files from memory card, then execute command
C6500 again
External memory card was not or not correctly formatted Format memory card and execute command C6500 again.
CAUTION! When memory card is formatted, all data stored
on it are lost. Before formatting the memory card, save the
data which have been stored on it.
External memory card has not (or not completely) been Plug memory card in controller and execute command
plugged in SD card slot provided for this purpose C6500 again
External memory card is defective Check memory card and execute command C6500 again
If diagnostic message is displayed repeatedly: Replace
memory card
Memory card slot in control panel is defective Check memory card slot and replace control panel, if
necessary
During the execution of the command C6500, an error occurred when the
backup device data of the drive controller or a CCD slave had been read.
For the error that has occurred, see the "Backup.log" text file;
"Backup.log" can be found in the "Backup" directory on the
external memory card.
Cause Remedy
Incorrect parameter access to a CCD Check cross communication (CCD) and
slave execute command C6500 again
Incorrect access to firmware of a CCD Check cross communication (CCD) and
slave execute command C6500 again
Error when starting or stopping command Check cross communication (CCD) and
C2200 execute command C6500 again
The command for archiving the device data (C6500) was terminated with
error.
442/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Write access to one or several parameters during archiving Execute command C6500 again
procedure of device data
During archiving procedure of device data, a PLC program Execute command C6500 again
was stopped or started, this temporarily changed the value
of S-0-0531.
PLC programs should be stopped or started before
command C6500 is started.
During archiving procedure of device data, a PLC program Execute command C6500 again
was loaded to the drive
Cause Remedy
The boot project is in the internal flash memory. Move the boot project to the memory card (see parameter
P-0-1367, bit 8).
The additional package MLD has been activated, but no Deactivate the additional package MLD (see parameter
boot project has been loaded. P-0-2003, bit 9).
During the execution of the command C6600 an error has occurred during
the access to the machine archive on the external memory card.
For the error that has occurred, see the "Backup.log" text file;
"Backup.log" can be found in the "Backup" directory on the
external memory card.
Cause Remedy
External memory card has not (or not completely) been Plug external memory card in control panel and execute
plugged in slot provided for this purpose command C6600 again
It was impossible to unpack files contained in machine Use external memory card with higher storage capacity or
archive. delete unrequired files from external memory card, then
Not enough available memory space on external memory execute command C6600 again
card.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 443/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Machine archive is faulty. Check file "Backup\Archive\Backup.zip"
Error occurs with manually created or modified machine
archive, or in the case of incorrect transmission of machine
archive to external memory card.
Machine archive does not exist or has been incorrectly Check whether file "Backup\Archive\Backup.zip" generated
named by command C6500 is available
External memory card is defective Check external memory card and execute command C6600
again.
If diagnostic message is displayed repeatedly: Replace
external memory card and create machine archive again
(execute command C6500).
Slot for external memory card in control panel is defective Check slot and replace control panel, if necessary
Before replacing or formatting the external memory card, save the data
stored on it to avoid data loss.
During the execution of the command C6600, an error occurred when the
device data had been written.
For the error that has occurred, see the "Backup.log" text file;
"Backup.log" can be found in the "Backup" directory on the
external memory card.
444/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Incorrect access to a parameter of the drive controller or of a Check cross communication (CCD) and execute command
CCD slave C6600 again
- or -
Determine faulty parameter and cause of error, remove error
and execute command C6600 again.
Check cross communication (CCD) and execute command
Incorrect access to firmware of a CCD slave
C6600 again
Error when starting or stopping command C2200 Check cross communication (CCD) and execute command
C6600 again
- or -
Too many commands are active. Stop all commands
running on drive controller and on CCD slaves and execute
command C6600 again.
During the execution of the command C6600, an error occurred when device
data had been read.
For the error that has occurred, see the "Backup.log" text file;
"Backup.log" can be found in the "Backup" directory on the
external memory card.
Cause Remedy
Incorrect parameter access to the drive controller or to a Check cross communication (CCD) and execute command
CCD slave C6600 again
- or -
Determine faulty parameter and cause of error, remove error
and execute command C6600 again.
Cause Remedy
One or several parameters contained in machine archive are 1. Determine faulty parameter.
unknown in the drive controller or in one of the CCD slaves. 2. Check and manually correct configuration of drive
Note: This cause normally is only to be expected for a controller or CCD slave with regard to faulty
manipulated machine archive, if the individual parts of the parameter.
machine archive are incompatible. 3. Save "Backup.zip" file ("Backup\Archive" directory).
4. Execute command C6500.
⇒ Machine archive is created again!
One or several parameter values contained in machine 1. Determine faulty parameter.
archive are invalid. 2. Check and manually correct configuration of drive
Note: This cause normally is only to be expected for a controller or CCD slave with regard to faulty
manipulated machine archive, if the individual parts of the parameter.
machine archive are incompatible. 3. Save "Backup.zip" file ("Backup\Archive" directory).
4. Execute command C6500.
⇒ Machine archive is created again!
In exceptional cases, it may be necessary to write parameter
values in a certain order; this is not supported by command
C6600. In this case, repeat command C6600 until it is
completed without error.
Enabling of functional packages could not be activated Drive controller or CCD slave must be manually restarted
(command C6400)
Cause Remedy
PLC has been started; in this case, a PLC application Stop PLC before starting command "C66"
program cannot be restored
During the execution of the command "C67" an error has occurred during the
access to the update archive or individual device data files.
For the error that has occurred, see the "Backup.log" text file;
"Backup.log" can be found in the "Backup" directory on the
external memory card.
Cause Remedy
External memory card has not (or not completely) been Plug external memory card in control panel and execute
plugged in slot provided for this purpose command C6700 again
Update archive is faulty Check file of "*.zip" file type in "User\Update\Archiv"
directory
It was impossible to unpack files contained in update Use external memory card with higher storage capacity or
archive. delete unrequired files from external memory card, then
Not enough available memory space on external memory execute command C6700 again
card.
External memory card is defective Check external memory card and execute command C6700
again.
If diagnostic message is displayed repeatedly: Replace
external memory card
Slot for external memory card in control panel is defective Check slot and replace control panel, if necessary
Before replacing or formatting the external memory card, save the data
stored on it to avoid data loss.
During the execution of the command "C67", an error occurred when the
device data had been written.
For the error that has occurred, see the "Backup.log" text file;
"Backup.log" can be found in the "Backup" directory on the
external memory card.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 447/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Incorrect access to a parameter of the drive controller or of a Check cross communication (CCD) and execute command
CCD slave C6700 again
- or -
Determine faulty parameter and cause of error, remove error
and execute command C6700 again.
Check cross communication (CCD) and execute command
Incorrect access to firmware of a CCD slave
C6700 again
Error when starting or stopping command C2200 Check cross communication (CCD) and execute command
C6700 again
- or -
Too many commands are active. Stop all commands
running on drive controller and on CCD slaves and execute
command C6700 again.
The update of the backup device data (command "C67") could not be
completely executed in the drive controller or in a CCD slave.
For the error that has occurred, see the "Backup.log" text file;
"Backup.log" can be found in the "Backup" directory on the
external memory card.
448/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
One or several parameters contained in machine archive are Undo update by calling command C6600.
unknown in the drive controller or in one of the CCD slaves. - or -
Note: This cause normally is to be expected when the 1. Determine faulty parameter.
device data in the update are incompatible with the current
drive configuration. 2. Check and manually correct configuration of drive
controller or CCD slave with regard to faulty
parameter.
One or several parameter values contained in machine Repeat command C6700.
archive are invalid. - or -
Note: This cause normally is to be expected when the Undo update by calling command C6600.
device data in the update are incompatible with the current
drive configuration. In exceptional cases, it may be - or -
necessary to write parameter values in a certain order; this 1. Determine faulty parameter.
is not supported by command C6700. 2. Check and manually correct configuration of drive
controller or CCD slave with regard to faulty
parameter.
Enabling of functional packages could not be activated Drive controller or CCD slave must be manually restarted
(command C6400)
Cause Remedy
Machine archive available on external memory card is not 1. Execute command C6500.
up-to-date. 2. Execute command C6700.
Note: The update of the device data was not started.
Additional information: To update the backup device data,
an up-to-date machine archive must be available on the
external memory card. This is required to allow you to undo
an update via the command C6600.
When exiting parameterization level, machine archive was Restore the backup device data:
checked; machine archive available on external memory 1. Execute command C6600.
card is not up-to-date.
2. Execute transition command C0200.
Additional information: P-0-0668 can be parameterized in
such a way that, when exiting the parameterization level, the - or -
device data are compared to the data saved in the machine
archive; if the data do not match, this command error is Update the machine archive:
triggered. 1. Execute command C6500.
2. Execute transition command C0200.
Cause Remedy
PLC has been started; in this case, a PLC application Stop PLC before starting command "C67"
program cannot be updated
Cause Remedy
During execution of command C7000 and within the scope Switch CCD slaves to phase 2:
of remote address assignment, an attempt is made to write For example, switch CCD master to parameter mode
corresponding addresses of CCD slaves ("S-0-1040, Drive
address of master communication") such as parameterized - or -
in P-0-1801.0.2/P-0-1636 (CCD: Command typology). This Execute command C7400
is impossible, as CCD slaves are not in phase 2.
Cause Remedy
CCD group is not in sercos phase 4 Switch CCD group to sercos phase 4
Double ring is already existing (command execution was -
unnecessary)
There is not connection between last slaves of lines Check connection between last slaves of lines (green link
LED).
New ring delay could not be transferred to slave(s) Restart command
While the command for applying the CCD I/O configuration (P-0-1620.0.31,
C7200 CCD: Command Apply I/O configuration) was executed, an error
occurred; the CCD I/O configuration cannot be applied.
Cause Remedy
CCD group is not in sercos phase 2 Switch CCD group to sercos phase 2 using command
"P-0-1620.0.5, C7400 CCD: Switching to phase 2"
An error occurred during the execution of the command for switching to the
CCD phase 2 (C7400); it is impossible to switch to the CCD phase 2.
Cause Remedy
Configured slaves were not recognized in CCD phase 0 Observe note in P-0-1810.0.10/P-0-1630 of CCD master.
Check slave configuration or connected slaves.
Master does not receive its transmitted telegrams Check sercos wiring
Switching to CCD phase 1 was not possible Observe note in P-0-1810.0.10/P-0-1630 of CCD master
Switching to CCD phase 2 was not possible Observe note in P-0-1810.0.10/P-0-1630 of CCD master
An error occurred during the execution of the command for switching to the
CCD phase 4 (C7500); it is impossible to switch to the CCD phase 4.
Cause Remedy
Error occurred in timing calculation of CCD master. Maybe Observe note in P-0-1810.0.10/P-0-1630 of CCD master
sercos timing cannot be set due to number of slaves or
selected CCD mode.
An error occurred while telegram structure was checked. Observe note in P-0-1810.0.10/P-0-1630 of CCD master
Maybe, it is not possible to transmit desired parameters
cyclically or combine them in master-slave lists
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 451/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Error in transition command "S-0-0127, C0100 Observe note in S-0-0021 of faulty slave
Communication phase 3 transition check" of slaves
Error in transition command "S-0-0128, C5200 Observe note in S-0-0022 of faulty slave
Communication phase 4 transition check" of slaves
Cause Remedy
External memory not plugged or plugged incorrectly Check whether external memory is plugged correctly
External memory defective Replace external memory
Slot of external memory defective Check slot and replace drive controller/control section if
necessary
Write access to external memory denied Check for simultaneously running actions (e.g., commands
also writing to external memory) and deactivate them if
necessary
Cause Remedy
Cause Remedy
SMO operating status is not "SMO configuration mode" Check P-0-3231 and, if necessary, activate configuration
mode (execute C8100)
Incorrect password level (≠"1") Check P-0-3230 and, if necessary, deactivate password
dependent write protection of password protected safety
technology parameters (P-0-3230.0.1)
Cause Remedy
Cause Remedy
Configuration parameters not verified Verify parameters (list of unverified parameters: P-0-3233)
Configuration parameters outside of allowed value range 1. Check and correct value
2. Verify parameters (list of unverified parameters:
P-0-3233)
Cause Remedy
When command C8200 is started, SMO is not in First, activate configuration mode (C8100) so that it can be
configuration mode, so command is not executed terminated
Scaling: Make sure that the data reference is the same
The data reference for position, velocity and acceleration ● Position data: P-0-3222.0.1
data is not equally parameterized ● Velocity data: P-0-3223.0.1
● Acceleration data: P-0-3224.0.1
The scaling type for velocity and acceleration data is not Make sure that the scaling type is the same
equally parameterized ● Velocity data: P-0-3223.0.1
● Acceleration data: P-0-3224.0.1
The scaling unit for position, velocity and acceleration data Make sure that the scaling unit is the same
is not equally parameterized (mixed inch/metric) ● Position data: P-0-3222.0.1
● Velocity data: P-0-3223.0.1
● Acceleration data: P-0-3224.0.1
454/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Scaling: Select an allowed data reference
The selection "Data reference at the motor shaft" - with load
encoder - is not allowed
Scaling: The rotation position resolution has to be entered as the
The rotation position resolution is not correct value 360 × 10Exp (Exp="0 - 7")
Cause Remedy
IO mapper inputs: Check P-0-3330.x.2: The required inputs of the IO mapper
The list of source IDNs is incomplete block type have to be entered
If the auxiliary function "Safe homing procedure" is used: Assign a value unequal zero to the "Safe homing procedure
The tolerance window for the Safe homing procedure tolerance window" (P-0-3253.0.4)
(P-0-3253.0.4) has been parameterized with "0"
Cause Remedy
Command C8300 was started without previously loading a Before executing command C8300, a parameter image must
parameter image. be loaded by loading a parameter set.
Loaded image is incompatible or defective. Load valid parameter set.
Cause Remedy
Safety technology is active. Drive is not in "SMO 1. Switch SMO into configuration mode (execute C8100)
configuration mode" (SCM). - or -
Deactivate SMO
2. Restart C8300
Cause Remedy
Acceptance of encoder type is not possible; encoder type Check encoder configuration, if necessary replace encoder
set in standard firmware (P-0-3242.x.1) is not permissible as or motor
a safety technology encoder (P-0-3242.x.1)
Cause Remedy
Acceptance of encoder configuration is not possible in this 1. Start command C8100 to activate SMO configuration
operating status; safety technology parameters are write- mode.
protected. 2. Set SMO password.
3. Restart command C8400 to accept encoder
configuration.
Cause Remedy
At least one parameter of encoder configuration in standard Check encoder parameters of standard firmware for validity
firmware is invalid. and, in necessary, rewrite.
Cause Remedy
P-0-3235.0.2 cannot be applied because "P-0-3235.0.4, Check "P-0-3235.0.4, SMO: Axis identification: Control
SMO: Axis identification: Control word" is configured word" and set correctly
incorrectly.
P-0-3235.0.2 cannot be applied because it is not verified. Verify P-0-3235.0.2
P-0-3235.0.2 cannot be applied because "P-0-3235.0.1, Carry out "C0720 SMO: Load defaults procedure command"
SMO: Active axis identifier" no longer has the default value.
P-0-3235.0.2 cannot be applied because identifier has too Check P-0-3235.0.2 and assign allowed character strings
few characters.
P-0-3235.0.2 cannot be applied because identifier has too
many characters.
P-0-3235.0.2 cannot be applied because identifier has same
character string as "P-0-3230.0.1, SMO: Password".
Cause Remedy
Cause Remedy
Encoder evaluation is inactive; safety technology is in 1. Start command C8200 to activate SMO
configuration mode. parameterization mode. (In SMO operation mode,
encoder evaluation is also active.)
2. Restart command C8600 and then stop to measure
position difference.
Cause Remedy
An error occurred when the command C9100 had been Please contact our service department; the device or an
written; the internal communication with the power section is individual component possibly needs to be replaced
disturbed
Cause Remedy
When the command is started mains voltage is applied Disconnect the drive controller from the mains and make
sure it is disconnected permanently
While command was executed the braking resistor was Prior to starting the command do not overload the braking
overloaded resistor or allow it to cool down
The "DC bus short circuit" function (ZKS) was activated via the
terminal strip X32 at the HMV.
When the phase failure lasts for a longer time, the error "F2818
Phase failure" is generated.
Cause Remedy
Cause Remedy
At least one phase is missing Check mains circuit breakers and replace them, if necessary
Mains voltage is too low Measure mains voltage and compare it to allowed range of
values
Mains frequency is outside of specified range Measure mains frequency and compare it to allowed range
of values
"Error DC bus voltage, mains failure" is signaled via the module bus and
E8814 displayed at the device. Power is switched off!
According to the situation in the mains, the diagnostic message is only
displayed for a short time.
Cause Remedy
Crest value of mains voltage has fallen below allowed Use matching transformer
minimum value (supply voltage range see documentation
"Rexroth IndraDrive Supply Units and Power Sections")
"Error DC bus voltage, mains failure" is signaled via the module bus and
E8815 displayed at the device. Power is switched off!
According to the situation in the mains, the diagnostic message is only
displayed for a short time.
Cause Remedy
Crest value of mains voltage has exceeded allowed Check mains voltage. If necessary, use matching
maximum value (supply voltage range see documentation transformer
"Rexroth IndraDrive Supply Units and Power Sections")
A single-phase mains failure, which lasted longer than the tolerated phase
failure time, was detected for a supply unit of the HMV type.
"Error DC bus voltage, mains failure" is signaled via the module bus and
E8818 displayed at the device. Power is switched off!
According to the situation in the mains, the diagnostic message is only
displayed for a short time.
464/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
HMV01.1E Approx. 2s
HMV01.1R, HMV02.1R Approx. 2s
Cause Remedy
Cause Remedy
At least one phase is missing Check and, if necessary, replace mains circuit breakers.
Mains voltage is too low Measure mains voltage and compare it to allowed value
range.
Mains frequency is outside of specified range Measure mains frequency and compare it to allowed value
range.
Cause Remedy
Crest value of mains voltage has exceeded allowed Check mains voltage. If necessary, use matching
maximum value (supply voltage range see documentation transformer
"Rexroth IndraDrive Supply Units and Power Sections")
From the mentioned hardware indices upwards, the error can only
be reset by switching the device off, in order to call attention to
possible application errors [e.g. "coasting" of a synchronous
motor at high speed (field weakening range) with a DC bus
braking resistor value inadmissibly high for the motor].
Cause Remedy
See "E8025 Overvoltage in power section" See "E8025 Overvoltage in power section"
HMV01.1E approx. 2 s
HMV01.1R, HMV02.1R approx. 2 s
Cause Remedy
Cause Remedy
Ground fault in a motor line within drive system Take controllers of drive system successively out of device
- or - group on control voltage and power voltage side, until error
no longer occurs. By doing this identify faulty drive.
Ground fault in a controller of drive system
Check insulation of motor cable with measuring device. If
motor cable is not defective, there is a device or connection
error.
Cause Remedy
Due to wiring or control error, contact "ZKS" ["DC bus short Check control. "Netz EIN" ("mains ON") has to be opened
circuit"] (X32.8) or contact "Netz AUS" ["mains OFF"] (X32.6/ simultaneously with or before "ZKS" ("DC bus short circuit")
X32.7) was opened while contact "Netz EIN" ["mains ON"] and N"etz AUS" ("mains OFF").
(X32.4/X32.5) still had been close.
Mains contactor could not be switched Check wiring of interface.
Check voltages at interfaces X32, X14 (HMV0x.xR) or at L1,
L2 and L3 (HMV0x.xE).
Contactor control has detected an error Replace device
Cause Remedy
Cause Remedy
The supply units (as of listed hardware indices) also generate the
diagnostic message in the "Bb" state. Via the Bb1 contact1)
prevent the activation of the mains contactor.
HMV01.1E-W0030 A36
HMV01.1E-W0075 A37
HMV01.1E-W0120 A40
HMV01.1R-W0018 A48
HMV01.1R-W0045 A49
HMV01.1R-W0065 A50
HMV01.1R-W0120 A09
HMV02.1R-W0015 A14
Cause Remedy
A second supply unit connected in parallel, a DC bus Remove cause of error at respective supply unit, DC bus
resistor unit or an inverter/converter signals a supply error resistor unit or inverter/converter; then clear error
1) Bb1 contact: see "Control circuits for the mains connection" in the Project Planning
Manual of the drive system and "Connection point X31" in the Project Planning
Manual of HMV supply units
468/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Cause Remedy
Cause Remedy
Power demanded by drives is too high Use drives with lower peak current
Power demanded by drives is too high Reduce allowed acceleration of axis or reduce final velocity
to which acceleration takes place
Cause Remedy
Mains choke was incorrectly connected Check and correct connection of mains choke; connections
to mains choke must be as short as possible and twisted
→ See also documentation "Drive System, Project Planning
Manual", chapter "Connection to Mains Choke and Mains
Filter" (for an overview of reference documentations on the
drive system and the system components, see: "Reference
Documentations")
Cause Remedy
With the MPx-20 firmware, the color and flashing pattern of the
H14 LED were changed. For the significance of the LED please
refer to the corresponding table.
Off Supply unit not switched on Check and, if necessary, switch on the 24-V
supply
Cable interrupted Check cable and connector X18
Hardware defective Replace hardware
Flashing green Drive is error-free (phases 2, 3 and 4); in If necessary, read exact status via "S-0-0095,
phase 4, drive is ready for drive enable ("Bb") Diagnostic message"
Green Power on and DC bus voltage available Drive is error-free in operation and runs according
("Ab") to inputs
Drive in control ["AF", "AH" or drive command
active (Cxxxs)]
Flashing green- Switching command active (C01xx/C02xx) If necessary, read exact status via "S-0-0095,
yellow Switching command error (C01xx/C02xx) Diagnostic message"
Firmware update running Do not interrupt the 24-V supply and do not unplug
Loader active connectors while the firmware is being updated
Yellow Fatal warning (E8xxx) Do not interrupt the 24-V supply and do not unplug
connectors while the firmware is being updated
Flashing red- Drive is error-free (phase 0), but not yet If necessary, read exact status via "S-0-0095,
yellow ready for drive enable ("Bb") Diagnostic message"
Flashing red- Baud rate scan (P-1) If necessary, read exact status via "S-0-0095,
green Diagnostic message"
Flashing red Error (F2xxx, F3xxx, F6xxx, F7xxx, F8xxx) Read exact status via "S-0-0095, Diagnostic
message" and execute service function
LED Significance
Color / flashing pattern 1) Measures
Off Supply unit not switched on
Check 24V supply and switch it on, if not yet done
Cable interrupted
Check cable and connector
Hardware defective
Replace hardware
Flashing green Firmware update active
Loader active
Identification
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 475/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
LED Significance
Color / flashing pattern 1) Measures
Flashing red Firmware update error
Repeat firmware update
● All warnings
● Command errors
Read detailed state via "S-0-0095, Diagnostic
message"
All errors (except F4xxx)
Read detailed state via "S-0-0095, Diagnostic
message" and carry out service function
Communication error (F4xxx)
If necessary, read detailed state via "S-0-0095,
Diagnostic message"
Red Booting phase
Wait until booting phase is over (approx. 2 minutes)
System error (F9xxx)
● Switch off and on; replace hardware, if
necessary
● Check whether programming module has been
plugged
1) Flashing pattern: One square corresponds to a duration of
250 ms; the arrow marks the end of a cycle; abbreviations on
the squares: GN = LED permanently lit green, RD = LED per‐
manently lit red, -- = LED is off
Tab. 12-2: LED displays
476/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Flashing green
Active, at least one safe connection Ready and at least one active connection
Flashing red-green
Flashing red-green
Abortion of connections Faulty abortion of at least one active
connection
Flashing red
Critical error Critical connection error
The device does not have a valid IP address or has been switched off.
Off
The device has run up with a valid IP address, but does not have a cyclic connection.
Flashing green
The I/O connection has been established without error.
Flashing red
The "Duplicate-IP-Adress-Check" showed that the IP address which was set already exists
in the network.
Flashing red-green
EtherCAT
LED: Color / flashing pattern 1) Significance Description
Flashing red
Synchronization error ● The drive controller has not been
synchronized to the EtherCAT master
Red, one LED lighting up ● Communication error of the drive
controller
Timeout - watchdog ● Timeout while cyclic process data are
monitored
Red, two LEDs lighting up ● Watchdog of the EtherCAT master
sercos III
LED: Color / flashing pattern 1) Description Prio 2)
Off
CP0 (communication phase 0 active) 6
Flashing orange-green
CP2 (communication phase 2 active) 6
Flashing orange-green
CP3 (communication phase 3 active) 6
Flashing orange-green
CP4 (communication phase 4 active) 6
Flashing green
Application error 4
(Sub-device/device error [C1D])
Flashing red-orange
MST warning 4) 3
(S-0-1045, sercos: Device Status [S-Dev], bit15)
Flashing red-green
Communication error 2
(Sub-device/device error [C1D])
Permanently lit red
Identification 1
(S-0-1044, sercos: Device Control [C-Dev], bit15)
Flashing orange
Internal watchdog 0
Flashing red
PROFINET IO
LED: Color / flashing pattern Significance
The device does not have a valid IP address or has been switched off.
Off
The device has run up with a valid IP address, but does not have a cyclic connection.
Flashing green
The I/O connection has been established without error.
Flashing red
The "Duplicate-IP-Adress-Check" showed that the IP address which was set already exists
in the network.
Flashing red-green
Red Safety technology signals without Check the safety technology wiring for short-
errors circuits.
(Error is stored until the device is
turned off.)
H52.1 Off E-Stop not activated Deactivate E-Stop, if necessary
E-Stop Red E-Stop active (/E_Stop) Activate E-Stop, if necessary (see connection
point X50)
Red Supply unit signals errors (/Bb_V) Check power supply, see also "F2086 Error
supply module"
Red Supply unit signals warning Check supply unit, see also "E2086 Prewarning
supply module overload"
H52.4 Off DC bus voltage (L+; L-) too low Switch power on at supply unit
DC Bus In Module bus is not connected (if Connect the module bus (connection point X1)
H54 green)
Green DC bus voltage (L+; L-) without None
error (Ud), regular status
Red DC bus voltage (L+; L-) at output Check fuses F4, F5 and replace them, if
X54 not okay necessary
LED Significance
Color / flashing pattern 1) Measures
Off Supply unit not switched on
Check 24V supply and switch it on, if not yet done
Cable interrupted
Check cable and connector
Hardware defective
Replace hardware
484/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
LED Significance
Color / flashing pattern 1) Measures
Flashing green Firmware update active
Loader active
Identification
● All warnings
● Command errors
Read detailed state via "S-0-0095, Diagnostic
message"
All errors (except F4xxx)
Read detailed state via "S-0-0095, Diagnostic
message" and carry out service function
Communication error (F4xxx)
If necessary, read detailed state via "S-0-0095,
Diagnostic message"
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 485/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
LED Significance
Color / flashing pattern 1) Measures
Red Booting phase
Wait until booting phase is over (approx. 2 minutes)
System error (F9xxx)
● Switch off and on; replace hardware, if
necessary
● Check whether programming module has been
plugged
1) Flashing pattern: One square corresponds to a duration of
250 ms; the arrow marks the end of a cycle; abbreviations on
the squares: GN = LED permanently lit green, RD = LED per‐
manently lit red, -- = LED is off
Tab. 12-9: LED displays
486/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 487/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Permanently lit
green
Errors present: See diagnostic display (e. g. F3152) on the drive controller
Fixing: See firmware documentation "Diag. Messages"
Flashing red
● Hardware error
● Firmware error
Permanently lit ● Communication error
red
Diagnostic display: F7033
Flashing green
Active, at least one safe connection Ready and at least one active connection
Flashing red-green
Flashing red-green
Abortion of connections Faulty abortion of at least one active
connection
Flashing red
Critical error Critical connection error
Reset
Red
Data
Green
Flashing yellow-red Faulty level of switching state signals Check wiring at Feedback 1 and R
2) Feedback 2
Invalid switch position Check switch position PO
Red Device defective Replace device PO
01: Incorrect filename in Cause: An invalid file name was given when reading
read request (ReadRequest) via TFTP.
--* Remedy: Only possible "ReadRequest" is "Firmware". With this
request, currently active firmware is read from device (cf.
S-0-0030).
02: Unknown filename in write Cause: An invalid file name was given for firmware download
request --* (WriteRequest).
Remedy: Select firmware file compatible with device.
03: Update not allowed - Axis Cause: Drive is in operating mode, firmware download is
still in OM --* impossible in this mode.
Remedy: Switch to parameter mode (PM).
04: Update not allowed - Cause: Loader presently is unavailable.
Loader unavailable --*
Remedy: Wait for a short time and restart firmware download.
05: Internal flash access An internal error has occurred.
error (driver assign) FL: E ACC Possible cause: Connection aborted
Remedy: Restart drive.
06: Internal flash access An internal error has occurred.
error (driver release) FL: E ACC Possible cause: Connection aborted
Remedy: Restart drive.
07: Error during programming Cause: Error during firmware update.
data Remedy: Restart update. If this message is transmitted again,
storage medium is defective. In this case, replace either
FL:F2100
programming module or control section.
Note: Only Rexroth service engineers or especially trained
users are allowed to replace the control section.
08: FWA file error - No valid firmware available
incorrect IBF format Cause: Firmware file selected for firmware update has no valid
FL:E FW
format.
Remedy: Select different firmware file for firmware update.
09: FWA file error - Hardware
FL:F8120 See "F8120 Invalid control section"
not supported
10: Error during data Cause: Error during data check.
verification FL:F CKS Remedy: Repeat firmware download; if error occurs again,
please contact our service department.
11: FWA file error - CRC Checksum error
checksum incorrect Cause: Checksums of programmed modules are calculated
after firmware download. Calculated and entered checksums
FL:F CKS
were detected to differ.
Remedy: Repeat firmware download; if error occurs again,
please contact our service department.
12: File error - incorrect Cause: In checking selected file, incorrect length was
data length FL:E FW determined.
Remedy: Select file with correct length.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 499/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
61: Reboot not Cause: Device is in operation mode. Reboot via TFTP not
allowed - device --* allowed in this operation mode.
still in OM Remedy: Switch device to parameter mode.
62: Reboot not Cause: Reboot via TFTP request only possible after firmware
allowed - no previous --* download.
update Remedy: Execute reboot using alternative option.
*: If no display is indicated (--), display has not changed: i. e. display active when error occurred remains active.
18.4 FL: DL
Brief Description: Download -> Shutdown carried out successfully
The firmware update was started successfully. Thus, the drive is in the shut-
down mode. Operation of the axis is no longer possible.
FL: DL: The firmware loader is active
LD: DL: The loader in the control section is active
18.5 FL:ERASE
Brief Description: Clearing active
The loader (FL:ERASE = firmware loader, LD:ERASE = loader in control
section) is in the clearing mode. The requested memory range / module is
being cleared.
"FL: CKS" means firmware loader and "LD: CKS" means loader
in control section.
18.8 FL:E FW
Brief Description: Warning: No valid firmware available
Cause Remedy
Firmware file selected for firmware update has no valid Select different firmware file for firmware update
format
18.9 FL:E LD
Brief Description: Warning: No valid loader available
Cause Remedy
Loader contained in internal memory is defective, therefore Carry out firmware update (by means of IndraWorks or
deleting of firmware is impossible another TFTP client program)
18.10 FL:F9002
Brief Description: Error: Operating system error
See "F9002 Error internal RTOS function call"
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 501/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
18.11 FL:F2100
Brief Description: Error: Internal memory defective
See "F2100 Incorrect access to command value memory"
Cause Remedy
Checksums of programmed modules are calculated after Carry out firmware update again; should error occur again,
firmware update. Calculated and entered checksums were please contact our service department
detected to be different
Cause Remedy
An access conflict to flash memory has occurred during Start firmware update again. If error continues occurring,
firmware update drive must first be rebooted. Then start firmware update
again
18.14 FL:F8122
Brief Description: Error: Control section defective
An error occurred during firmware update.
Cause Remedy
Hardware of control section is defective Replace control section or entire drive controller; use
hardware configuration of same type
18.15 FL:F8120
Brief Description: Error: Firmware does not support hardware
See "F8120 Invalid control section/firmware combination"
502/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 503/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Replacing Defective Drive Compo‐ If a defective component must be replaced, the following aspects have to be
nents observed:
● Only Rexroth service engineers or especially trained users are allowed
to replace the control section. The replacement of the entire drive
controller is described in the Project Planning Manual for the power
section.
● Only Rexroth service engineers are allowed to replace options of the
control section.
● The replacement of the supply unit is described in the Project Planning
Manual for the supply unit.
● In case devices fail within the warranty period, the defective
components must be returned to Bosch Rexroth; for addresses and
telephone numbers, please see the printed documentation (chapter
"Service and Support") or the Internet (http://www.boschrexroth.com).
Checks and Repairs If checks or repairs are required, the following aspects apply:
504/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
● Checks and repairs may only be carried out by the Rexroth service
department or by especially trained staff.
● For checks at the installation, the corresponding safety regulations must
be complied with.
● Repair of drive components at the machine can be very time-
consuming. For this reason, replace defective drive components
completely.
Before a drive error is cleared, the cause for the occurrence of the
error should be investigated and permanently removed.
508/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
CiA mapping
22 CiA mapping
CiA402 number Sercos number Number Display
CiA mapping
CiA mapping
CiA mapping
CiA mapping
CiA mapping
CiA mapping
CiA mapping
CiA mapping
Detailed diagnostics
Detailed diagnostics
000D0006
Switched off by DC deceleration
000D0007
Switched off by controlled deceleration
000D0009
Shutdown by F6 error
000D000A
Switched off by master communication error
000D000B
Switched off without error
000D000C
Switched off by F2 error
000D000D
Switched off from drive initialization
000D000E
Switched off from "drive on" delay time
000D002A
Drive switched off from "drive off" delay time
000D002C
Shutdown by F2 error
000D7FFF
System time was set.
000F0005
Velocity command value > positive limit value
000F0006
Velocity command value < negative limit value
524/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00190020
Performance load (P-0-0322) exceeds the prewarning threshold
(P-0-0322.0.2)
0019002B
The position controller interrupt (monitored part) was interrupted by the
velocity controller interrupt.
001D0003
Motor load warning threshold reached (thermal model)
The load of the thermal model for monitoring the motor has reached the
prewarning threshold.
001E0002
Impossible to stop command C1600 Parking axis procedure command
0022006E
Motor measurement warning threshold reached (sensor)
The motor temperature sensor shows a temperature higher than the
prewarning threshold. Note: The prewarning threshold is reduced opposite
the parameter S-0-0201 to protect the rotor against overheating at high
speed
00220070
Motor measurement warning threshold reached (sensor)
The motor temperature sensor shows a temperature higher than the
prewarning threshold. Note: The prewarning threshold is reduced opposite
the parameter S-0-0201 to protect the rotor against overheating at high
speed.
00270052
Type plate generation, current parameter set invalid for Generate type plate
command
The Generate type plate command (e.g., for encoder memory version 4) can
only be executed with parameter set 0 selected. Higher parameter sets are
not supported.
002700C8
Type plate generation: Control password has to be set
The control password has to be entered to generate type plates of the
"configurable factory default values" or "application-specific type plate in
encoder memory" types.
002700C9
Type plate generation: Master password has to be set
The master password has to be entered to generate type plates of the "BRC
motor" type.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 525/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
002700CA
Type plate generation: Vendor code is not allowed
An inadmissible vendor code was detected in S-0-1300.20.3 during the
generation of a type plate of the "motor type plate" type.
002700CB
Type plate generation: Type plate contains type plate parameter
A type plate parameter was detected in the type plate configuration list during
type plate generation. This is not allowed.
002700CC
Type plate generation: Type plate contains write-protected parameter
A write-protected parameter was detected in the type plate configuration list
during type plate generation. This is not allowed.
002700CD
Type plate generation: Type plate contains unbuffered parameter
An unbuffered parameter was detected in the type plate configuration list
during type plate generation. This is not allowed.
002700CE
Type plate generation: Type plate contains unknown parameter
A parameter that is nonexistent or masked in the present configuration was
detected in the type plate configuration list during type plate generation. This
is not allowed.
002700CF
Type plate generation: Type plate generation error (->P-0-0660.0.129)
A type plate generation error was detected. For diagnostics see
P-0-0660.0.129.
002700D0
Type plate generation: too many IDNs in the configuration
More IDNs than can be processed were listed in the type plate configuration
list during type plate generation.
002700D2
Type plate generation: Type plate contains unknown parameter
A parameter that is nonexistent or masked in the present configuration was
detected in the type plate configuration list during type plate generation. This
is not allowed.
002700D3
Type plate generation: Type plate contains unknown parameter
A parameter that is nonexistent or masked in the present configuration was
detected in the type plate configuration list during type plate generation. This
is not allowed.
526/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
002700D4
Type plate generation: Unknown type plate parameter.
A parameter not representing an allowed type plate was detected in the type
plate configuration list during type plate generation.
00270141
Error when buffering P-0-0660.0.1
Impossible to buffer the parameter "P-0-0660.0.1" within the "Generate type
plate" command.
00270142
Error when buffering P-0-0660.0.1
Impossible to buffer the parameter "P-0-0660.0.1" within the "Generate type
plate" command.
002A0012
Control loop default values incorrectly calculated
The control loop parameters are calculated from the values for commutation
choke and the DC bus capacitance when the DC bus is charged. The
calculation was incorrect. Possible cause: The inductance or capacitance
was too small.
002A0015
Control loop default values not recalculated
The control loop default values were not recalculated, because the
capacitance deviation from the last measurement was smaller than 30%.
00340003
Maximum output frequency > 599 Hz
Max. output frequency > 599Hz
00370025
PLC project is incompatible with firmware and has not been loaded.
Please adjust the device version in the project. If it is impossible to select the
appropriate device version, you need a more recent IndraWorks version or an
installable device that can be provided by our Support as an IW package.
00370027
Memory card for boot project is not available
Storage of the boot project on memory card has been activated in the MLD
configuration (P-0-1367), but no memory card was found.
00370028
Stepper1: Conversion factor position stepper format to position display format
is >= 1.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 527/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00370029
Stepper2: Conversion factor position stepper format to position display format
is >= 1.
0037002A
Stepper3: Conversion factor position stepper format to position display format
is >= 1.
0037002B
Stepper4: Conversion factor position stepper format to position display format
is >= 1.
0037002C
Stepper5: Conversion factor position stepper format to position display format
is >= 1.
0037002D
Stepper6: Conversion factor position stepper format to position display format
is >= 1.
00370032
Stepper1: "S-0-0278.1.0, Maximum travel range" outside of value range
00370033
Stepper2: "S-0-0278.2.0, Maximum travel range" outside of value range
00370034
Stepper3: "S-0-0278.3.0, Maximum travel range" outside of value range
00370035
Stepper4: "S-0-0278.4.0, Maximum travel range" outside of value range
00370036
Stepper5: "S-0-0278.5.0, Maximum travel range" outside of value range
00370037
Stepper6: "S-0-0278.6.0, Maximum travel range" outside of value range
0037003C
Stepper1: "S-0-0103.1.0, Modulo value" outside of value range
528/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0037003D
Stepper2: "S-0-0103.2.0, Modulo value" outside of value range
0037003E
Stepper3: "S-0-0103.2.0, Modulo value" outside of value range
0037003F
Stepper4: "S-0-0103.4.0, Modulo value" outside of value range
00370040
Stepper5: "S-0-0103.5.0, Modulo value" outside of value range
00370041
Stepper6: "S-0-0103.6.0, Modulo value" outside of value range
003A0064
Normal operation (NO) activated.
003A0065
Parking axis activated.
003A0066
PM activated.
003A0067
Drive is in SCM.
003A0517
Encoder function inadmissibly parameterized, see S-0-0423
003A06AB
The configuration for the safety bus (P-0-3345) requires a different master
communication bus protocol (P-0-4089.0.1)
003A06F7
Incompatible parameterization (S-0-0055 with P-0-3221.0.1 / S-0-0076 with
P-0-3222.0.1 / S-0-0078 with P-0-3222.0.2 / S-0-0079 with P-0-3222.0.3)
003C001F
Incorrect master axis configuration (P-0-1820.0.1 / P-0-1820.0.2)
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 529/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500081
Inadmissible SSI encoder baud rate: Interface 1
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500082
Inadmissible SSI encoder baud rate: Interface 2
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500083
Inadmissible SSI encoder baud rate: Interface 3
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500084
Inadmissible SSI encoder baud rate: Interface 4
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500085
Inadmissible SSI encoder baud rate: Interface 5
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500086
Inadmissible SSI encoder baud rate: Interface 6
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500091
Inadmissible SSI encoder baud rate: Interface 101
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500092
Inadmissible SSI encoder baud rate: Interface 102
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500093
Inadmissible SSI encoder baud rate: Interface 103
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500094
Inadmissible SSI encoder baud rate: Interface 104
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500095
Inadmissible SSI encoder baud rate: Interface 105
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
530/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500096
Inadmissible SSI encoder baud rate: Interface 106
The baud rate parameterized in S-0-0602.x.7 has to be >= 1MHz
00500121
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
1
00500122
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
2
00500123
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
3
00500124
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
4
00500125
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
5
00500126
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
6
00500131
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
101
00500132
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
102
00500133
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
103
00500134
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
104
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 531/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500135
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
105
00500136
Inadmissible SSI encoder baud rate parameterized in S-0-0602.x.7: Interface
106
00500140
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 0
00500141
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 1
00500142
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 2
00500143
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 3
00500144
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 4
00500145
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 5
00500146
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 6
00500147
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 7
0050014C
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface 12
00500150
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface
100
00500151
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface
101
532/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500152
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface
102
00500153
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface
103
00500154
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface
104
00500155
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface
105
00500156
Inadmissible SSI encoder coding parameterized in S-0-0602.x.7: Interface
106
005002C1
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 1
005002C2
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 2
005002C3
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 3
005002C4
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 4
005002C5
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 5
005002C6
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 6
005002D1
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 101
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 533/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005002D2
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 102
005002D3
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 103
005002D4
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 104
005002D5
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 105
005002D6
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 106
005002E1
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 1
005002E2
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 2
005002E3
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 3
005002E4
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 4
005002E5
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 5
005002E6
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 6
005002F1
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 101
005002F2
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 102
534/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005002F3
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 103
005002F4
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 104
005002F5
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 105
005002F6
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 106
00500321
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 1
00500322
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 2
00500323
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 3
00500324
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 4
00500325
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 5
00500326
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 6
00500331
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 101
00500332
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 102
00500333
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 103
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 535/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500334
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 104
00500335
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 105
00500336
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 106
00500341
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 1
00500342
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 2
00500343
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 3
00500344
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 4
00500345
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 5
00500346
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 6
00500351
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 101
00500352
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 102
00500353
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 103
00500354
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 104
536/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500355
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 105
00500356
Initialization S-0-0602.x.1, physical encoder type unknown: Interface 106
00500DE0
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 0
00500DE1
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 1
00500DE2
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 2
00500DE3
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 3
00500DE4
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 4
00500DE5
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 5
00500DE6
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 6
00500DF1
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 101
00500DF2
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 102
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 537/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500DF3
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 103
00500DF4
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 104
00500DF5
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 105
00500DF6
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 106
00500E00
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 0
00500E01
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 1
00500E02
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 2
00500E03
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 3
00500E04
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 4
00500E05
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 5
00500E06
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 6
538/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500E11
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 101
00500E12
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 102
00500E13
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 103
00500E14
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 104
00500E15
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 105
00500E16
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 106
00500E20
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 0
00500E21
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 1
00500E22
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 2
00500E23
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 3
00500E24
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 4
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 539/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500E25
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 5
00500E26
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 6
00500E31
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 101
00500E32
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 102
00500E33
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 103
00500E34
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 104
00500E35
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 105
00500E36
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 106
00500E40
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 0
00500E41
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 1
00500E42
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 2
540/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00500E43
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 3
00500E44
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 4
00500E45
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 5
00500E46
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 6
00500E51
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 101
00500E52
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 102
00500E53
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 103
00500E54
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 104
00500E55
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 105
00500E56
Inadmissible encoder parameterized in "S-0-0602.x.1, Phys. encoder type":
Interface 106
005011C0
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 0
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 541/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005011C1
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 1
005011C2
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 2
005011C3
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 3
005011C4
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 4
005011C5
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 5
005011C6
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 6
005011D1
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 101
005011D2
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 102
005011D3
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 103
005011D4
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 104
005011D5
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 105
542/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005011D6
Inadmissible HIPERFACE encoder coding parameterized in S-0-0602.x.7:
Interface 106
005017C0
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 0)
005017C1
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 1)
005017C2
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 2)
005017C3
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 3)
005017C4
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 4)
005017C5
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 5)
005017C6
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 6)
005017D1
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 101)
005017D2
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 102)
005017D3
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 103)
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 543/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005017D4
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 104)
005017D5
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 105)
005017D6
TTL encoder initialization: Resolution cannot be displayed in binary form
(interface 106)
00508160
Encoder line is not okay SSI encoder: Interface 0
00508161
Encoder line is not okay SSI encoder: Interface 1
00508162
Encoder line is not okay SSI encoder: Interface 2
00508163
Encoder line is not okay SSI encoder: Interface 3
00508164
Encoder line is not okay SSI encoder: Interface 4
00508165
Encoder line is not okay SSI encoder: Interface 5
00508166
Encoder line is not okay SSI encoder: Interface 6
00508171
Encoder line is not okay SSI encoder: Interface 101
00508172
Encoder line is not okay SSI encoder: Interface 102
00508173
Encoder line is not okay SSI encoder: Interface 103
544/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00508174
Encoder line is not okay SSI encoder: Interface 104
00508175
Encoder line is not okay SSI encoder: Interface 105
00508176
Encoder line is not okay SSI encoder: Interface 106
005082C0
SSI encoder, encoder error bit has been set: Interface 0
005082C1
SSI encoder, encoder error bit has been set: Interface 1
005082C2
SSI encoder, encoder error bit has been set: Interface 2
005082C3
SSI encoder, encoder error bit has been set: Interface 3
005082C4
SSI encoder, encoder error bit has been set: Interface 4
005082C5
SSI encoder, encoder error bit has been set: Interface 5
005082C6
SSI encoder, encoder error bit has been set: Interface 6
005082D1
SSI encoder, encoder error bit has been set: Interface 101
005082D2
SSI encoder, encoder error bit has been set: Interface 102
005082D3
SSI encoder, encoder error bit has been set: Interface 103
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 545/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005082D4
SSI encoder, encoder error bit has been set: Interface 104
005082D5
SSI encoder, encoder error bit has been set: Interface 105
005082D6
SSI encoder, encoder error bit has been set: Interface 106
00510017
Absolute scaling: Invalid OEM parameter P-0-1022.
00510019
Absolute position has not yet been set (retain data backup).
0051001C
Encoder replacement was detected.
0051001D
At least one of the values for position factor, control word, position resolution
or modulo value has changed.
0051001F
Absolute scaling: "P-0-0179, Absolute encoder buffer 3 (measuring encoder)"
is invalid.
00510020
Modulo scaling: "P-0-1022, Absolute encoder offset 3, encoder memory" is
invalid.
00510026
Position offset P-0-0052 greater than monitoring window P-0-0097
00510027
Measuring encoder battery undervoltage
0051022A
Motor encoder: Sercos encoder error, multiple master communication
telegram failures
0051022B
Motor encoder: Sercos encoder error, multiple CCD telegram failures
546/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0051022C
Optional encoder: Sercos encoder error, multiple master communication
telegram failures
0051022D
Optional encoder: Sercos encoder error, multiple CCD telegram failures
0051022E
Measuring encoder: Sercos encoder error, multiple master communication
telegram failures
0051022F
Measuring encoder: Sercos encoder error, multiple CCD telegram failures
00510230
Sercos encoder: multiple master communication telegram failures
00510231
Sercos encoder: multiple CCD telegram failures
0053000A
No unequivocal SMM selection (no SMM signal or multiple SMM signals
active in P-0-3261).
0053000B
Non-configured special mode "Safe motion” selected.
0053000C
Enabling control activated longer than parameterized maximum time
(P-0-3290.x.6).
0053000D
Position window (P-0-3290.x.3) exceeded.
0053000E
Velocity threshold (P-0-3290.x.2) exceeded.
0053000F
Velocity threshold (P-0-3290.x.8) exceeded longer than maximum allowed
time window (P-0-3290.x.7).
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 547/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00530010
Velocity threshold (P-0-3270.0.2) exceeded.
00530011
Position window (P-0-3285.0.2) exceeded.
00530012
Position limit value (P-0-3270.0.3) exceeded in negative direction.
00530013
Position limit value (P-0-3270.0.3) exceeded in positive direction.
00530014
Selected SMO operating status not reached within the maximum transition
time.
00530015
Velocity limit exceeded during transition to the selected SMO operating
status.
00530016
Premature change in operating status due to NC-Ready bit even though
target velocity has not yet been reached.
00530018
Velocity limit exceeded during transition to standstill.
00530032
Switching to OM not possible because the drive is still in SCM. SCM first has
to be terminated with C8200.
00530033
Invalid password; initial password "INDRASAVE" was activated.
0053004B
Signal control outputs: Source IDN not allowed.
0053004C
IO mapper inputs: The maximum number of instances has been exceeded.
0053004D
IO mapper inputs: A command signal is used more than once.
548/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0053004E
IO mapper inputs: Command IDN not allowed.
0053004F
IO mapper inputs: Command bits not allowed.
00530050
IO mapper inputs: Input signals in incorrect order.
00530051
IO mapper inputs: Only "safety bus" allowed
00530052
IO mapper inputs: List of source IDNs incomplete.
00530055
Data reference of position, velocity and acceleration not the same.
00530056
Scaling type of position, velocity and acceleration not the same.
00530057
Scaling unit of position, velocity and acceleration not the same (inch and
metric).
00530058
Data reference at the motor shaft not allowed with load encoder.
00530059
Incorrect rotation position resolution; only multiples of 360 degrees allowed.
00530074
Missing axis validation
00530085
Faulty switching from OM to PM. Reboot drive.
00530086
C8100 only allowed in PM.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 549/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00530087
C8200 only allowed in SCM.
00530089
C8300 only allowed when "Safe Motion" is inactive.
0053008A
Activating "Safe Motion" not allowed in OM.
To activate "Safe Motion", the drive has to be in PM.
0053008B
Deactivating "Safe Motion" only possible in PM or SCM.
0053008C
Impossible to switch from SCM to PM (C8200), because a critical SMO error
is present.
0053008D
Invalid signal "Status Error of safety zone": Check configuration and zone bus
connections.
0053008E
Invalid signal "Zone status 'safety'": Check configuration and zone bus
connections.
00530090
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
00530091
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
00530092
Invalid safety door control: Check configuration and wiring.
00530093
Invalid safety door control: Check configuration and wiring.
00530095
Configuration error: Check configuration in P-0-3266.0.2 (bit 0, 1, 5).
550/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00530096
Signal control inputs: Pulse duration less than minimum.
00530097
Signal control inputs: Maximum pulse duration exceeded.
00530098
IO mapper inputs: IO mapper block type not allowed.
005300A4
IO mapper inputs: IO mapper block type not allowed.
005300C8
Error in exponent for the position.
005300C9
Error in the scaling type for the position
005300CA
Error in exponent for the velocity.
005300CB
Error in the scaling type for the velocity.
005300CC
Error in exponent for the acceleration.
005300CD
Error in the scaling type for the acceleration.
00530150
IO mapper inputs: Source IDN not allowed.
00530151
IO mapper inputs: Source bit not allowed.
00530200
P-0-3235.0.4 incorrectly parameterized.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 551/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00530201
Axis identifier (P-0-3235.0.2) not verified.
Only verified proposed axis identifiers are applied.
00530202
P-0-3235.0.1 is not equal to the default value.
Command C8500 can only be executed if P-0-3235.0.1 is at the default
value.
00530203
Axis identifier (P-0-3235.0.2) too long.
Only axis identifiers with a maximum length of 44 characters are accepted.
00530204
Axis identifier (P-0-3235.0.2) too short.
Only axis identifiers with a length of at least three characters are accepted.
00530205
Axis identifier (P-0-3235.0.2) same as SMO password (P-0-3230.0.1).
00530206
Incorrect length of proposed TUNID.
The proposed TUNID entered in parameter S-0-1800.0.18 does not have the
correct length of 10 bytes.
00530207
TUNID is not equal to the default value.
Command C8500 was not able to be executed because S-0-1800.0.19 no
longer corresponds with its default value.
00530208
S-0-1800.0.18 not verified.
00530211
Switching not possible because not all configuration parameters have been
verified.
00530212
Switching not possible because not all configuration parameters are within
the allowed value range.
00530219
Switching not possible because not all parameters have been verified.
552/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0053021A
Switching not possible because not all parameters are within the allowed
value range.
0053021C
Switching not possible because no SMO axis identifier has been assigned
yet.
0053021D
Switching impossible, because the axis validation (P-0-3210.0.2) has not
been verified.
00530261
Default values could not be loaded; image creation could not be deactivated.
Command C0720 was not able to be executed because the parameter image
creation could not be deactivated.
00530262
Default values could not be loaded; deactivation of safety technology
unsuccessful.
Command C0720 was not able to be executed because the safety
technology could not be deactivated.
00530263
Error in load defaults procedure.
An error occurred while loading the default values. One or more parameters
was not set to its default value.
00530264
Command C0720 cannot be executed at password level 2 (P-0-3230).
0053029B
C8300 only allowed in SCM.
Parameter image presently cannot be applied, because the axis is in PM or
OM. To apply it, switch to SCM.
005302A5
Error in parameter image.
005302A6
Command was started without previously loading a parameter image.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 553/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005302BE
Parameter image has incorrect SMO axis identifier Parameter image to be
activated contains an SMO axis identifier which does not comply with the
active SMO axis identifier of the device.
00530423
No valid safety technology operating status selected.
00530425
Safely-monitored deceleration with trend monitoring to Safe standstill
(P-0-3280.0.1, bit 3="0") not possible with drive-controlled transition
(P-0-3280.0.1, bit 1="1").
00530426
Configuration error: F7xx error reaction has been configured in different ways
in P-0-0119 (bits 4-7) and P-0-3263.0.1 (bits 4-7).
00530427
Configuration error: NC/MLD error reaction has been configured in different
ways in P-0-0117 (bit 0 and bit 1) and P-0-3263.0.1 (bit 16).
00530428
A safety function with position or velocity monitoring has been parameterized
but no encoder was configured.
00530450
Switching to SCM (command C8100) not allowed with unlocked safety door.
0053046B
Configuration error: NC/MLD error reaction (P-0-3263.0.1, bit 16="1")
impossible in the case of drive-controlled operation mode transition to
standstill (P-0-3280.0.1, bit 0="1").
00530475
Error in safety zone module telegram. Check zone bus wiring.
00530479
Safety zone module signals temperature error.
0053047A
Safety zone module signals 24V error. Supply voltage above tolerance.
554/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0053047B
Safety zone module signals 24V error. Supply voltage below tolerance.
0053047D
Safety zone module signals "no zone master detected". (Last axis before the
safety zone module must have been configured as a zone master.)
00530480
Safety zone telegrams detected at X42, although Safe Motion is not active.
00530486
Configuration error: F3xx error reaction has been configured in different ways
in P-0-0119 (bits 0-3) and P-0-3263.0.1 (bits 0-3).
0053049E
Configuration error: P-0-3266.0.2, bit 0="1", although with the hardware used
Safe Motion does not support zone setup via the safety zone module. (Only
allowed with S4/S5 option.)
005304A0
The firmware build configuration used is not allowed to be operated on this
hardware.
005304A5
Impossible to switch from SCM to PM (C8200), because a critical SMO error
is present.
005304AF
Impossible to execute command C0200, because "Safe Motion" waits for
C8300 ("Load new safety").
00530526
Invalid status signal "Error of safety zone": Check configuration and zone bus
connections.
00530527
Invalid signal "Zone status 'safety'": Check configuration and zone bus
connections.
00530528
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 555/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00530529
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
0053052A
Invalid safety door control: Check configuration and wiring.
00530569
Master does not respond with correct TUNID
Check TUNID in master, or master tries to establish a connection with the
wrong slave.
005305C7
When P-0-3235.0.5 (identification data image) had been checked, an error
(faulty CRC or invalid length) was detected.
00530663
Input pair 1 discrepancy error (X41 1.1 - X41 2.1)
00530664
Input pair 2 discrepancy error (X41 1.2 - X41 2.2)
00530665
Input pair 3 discrepancy error (X41 1.3 - X41 2.3)
00530666
Input pair 4 discrepancy error (X41 1.4 - X41 2.4)
00530667
Input pair 5 discrepancy error (X41 1.5 - X41 2.5)
00530668
Input pair 6 discrepancy error (X41 1.6 - X41 2.6)
00530669
Input pair 7 discrepancy error (X41 1.7 - X41 2.7)
0053066A
Input pair 8 discrepancy error (X41 1.8 - X41 2.8)
556/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005306A1
Error when switching from CM to PM, because invalid assemblies were
specified.
When Safe communication via CIP Safety (P-0-3345="1") or Fail Safe over
Ethercat (P-0-3345="2") has been selected, this error can occur if either an
invalid consuming assembly (P-0-3342.0.1) or an invalid producing assembly
was selected.
005306AD
PROFIsafe: Invalid F-Device address
005306AE
PROFIsafe: Invalid F-Host address
005306B2
PROFIsafe: Faulty CRC of F-parameters
005306B4
PROFIsafe: Wrong F-module selected
005306C6
Local IO: Safe local output not enabled
The Safe local output is not available for the safety technology option "SB".
005306C7
Special mode with absolute position selected and Safe reference missing
005306C9
Safe reference missing and P-0-3257 >= P-0-3253.0.5
005306CB
Tolerance window (P-0-3253.0.4) should not be zero
005306CC
Incompatible position scaling (S-0-0076 with P-0-3222.0.1 / S-0-0078 with
P-0-3222.0.2 / S-0-0079 with P-0-3222.0.3)
005306CD
Position evaluation in modulo format (P-0-3222.0.1) for Safe absolute
position is not supported in this firmware release.
005306CE
SLP: Velocity towards positive position limit value (P-0-3290.x.4) too high
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 557/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005306CF
SLP: Velocity towards negative position limit value (P-0-3290.x.5) too high
005306D0
SLP/SMP: Positive position limit value (P-0-3290.x.4) exceeded
005306D1
SLP/SMP: Negative position limit value (P-0-3290.x.5) below minimum
005306D2
SLP/SMP return motion check Positive position limit value exceeded
005306D3
SLP/SMP return motion check: Negative position limit value below minimum
005306D4
SLP/SMP: Rerturn velocity to allowed position range (P-0-3290.x.4) greater
than P-0-3253.0.5
005306D5
SLP/SMP: Rerturn velocity to allowed position range (P-0-3290.x.5) greater
than P-0-3253.0.5
005306D6
SMP: Positive position limit value (P-0-3290.x.4) exceeded
005306D7
SMP: Negative position limit value (P-0-3290.x.5) below minimum
005306D8
SMP return motion check: Positive position limit value exceeded
005306D9
SMP return motion check: Negative position limit value below minimum
005306DA
SLE: Velocity towards positive position limit value (P-0-3270.0.4) too high
005306DB
SLE: Velocity towards negative position limit value (P-0-3270.0.5) too high
558/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005306DC
SLE: Positive position limit value (P-0-3270.0.4) exceeded
005306DD
SLE: Negative position limit value (P-0-3270.0.5) below minimum
005306DE
SLE return motion check: Positive position limit value exceeded
005306DF
SLE return motion check: Negative position limit value below minimum
005306E0
SLE: Rerturn velocity to allowed position range (P-0-3270.0.4) greater than
P-0-3253.0.5
005306E1
SLE: Rerturn velocity to allowed position range (P-0-3270.0.5) greater than
P-0-3253.0.5
005306E7
Safety function SLP active, without Safe reference
005306E8
Safety function SMP active, without Safe reference
005306E9
Safety function SLE active in special mode "Safe motion", without Safe
reference
005306ED
SLE in normal operation (P-0-3277.0.1; bit 2 = 1) and global SLE
(P-0-3270.0.1; bit 2 = 1) were configured at the same time
005306EE
SLP/SLE safety function configuration with F7 error reaction torque disable in
P-0-3263.0.1 is not allowed
005306EF
Safety function SLE: Velocity without Safe reference greater than
P-0-3253.0.5
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 559/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005306F1
The requirements for executing the command C4000 have not been fulfilled
005306F4
The proposed axis identifier has not been verified.
005306F5
PROFIsafe F-Device address cannot be changed, since it is no longer at
default value. Execute load defaults procedure for SMO to set the PROFIsafe
F-Device address to the default value again.
005306F6
No safety field bus active, check configuration
005306F8
Scaling type invalid or not supported by the SLE/SLP/SMP safety functions
005306F9
End position limit value, positive (P3270.0.4) greater than end position limit
value, negative (P-0-3270.0.5)
005306FA
End position limit value, negative (P-0-3270.0.5) outside modulo range
(P-0-3221.0.6)
005306FB
End position limit value, positive (P-0-3270.0.4) outside modulo range
(P-0-3221.0.6)
005306FC
Position limit value, positive (P3290.x.4) greater than position limit value,
negative (P3290.x.5)
005306FD
Position limit value, negative (P-0-3290.x.5) outside modulo range
(P-0-3221.0.6)
005306FE
Position limit value, positive (P-0-3290.x.4) outside modulo range
(P-0-3221.0.6)
560/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0053071A
SLE, SMP, SLP safety function configuration without "Safe homing
procedure" configuration (bit 0 in "P-0-3253.0.1)
00530727
Error in scaling configuration or encoder configuration
Cause: The firmware does not support the combination of mounting position,
data reference of position data, position data processing format, position data
scaling type and encoder type of design. Remedy: Check parameterization
(see Application Manual)
00530728
Limit value of position feedback value difference of channel 1 and channel 2
cannot be displayed
Check parameterization; if necessary, adjust position scaling exponent.
00530729
Limit value of position feedback value difference of channel 1 and channel 2
cannot be displayed
Check parameterization; if necessary, adjust position scaling exponent.
00530732
Invalid SMO reference signal (too short / disturbed)
00530733
Invalid SMO reference signal (too short / disturbed / no standstill)
00530739
Incompatible SMO parameter image
The SMO parameter image (P-0-3232.0.0) is incompatible with the running
firmware (e.g., after firmware downgrade).
0053073A
SLE, SLP: Invalid scaling of decimal place setting -> overflow in
normalization factor calculation
0053073D
With rotary ACURO®link encoders, the resolution has to be 2^n
0053073E
Linear ACURO®link encoders are not supported
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 561/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00530742
Switching off encoder monitoring in normal operation (P-0-3242.1.2, bit 12) is
not allowed, because "Safe reference" or SMS, SLE, SCA, SDI (in normal
operation) has been configured.
00530743
SCA: Invalid configuration of direction-dependent cam evaluation (allowed
setting: 0, 1, 2, 3)
00530744
More than 8 multiple cams have been parameterized.
00530745
SCA: Cam range (P-0-3271.0.n) + switching hysteresis (P-0-3270.0.3)
outside of modulo range/travel range (P-0-3221.0.6/P-0-3221.0.7)
00530746
Safety function SCA configured without "Safe homing procedure"
configuration (P-0-3253.0.1, bit 0)
00530747
SCA: Invalid scaling of decimal place setting "P-0-3222.0.2" -> overflow in
normalization factor calculation
0053074F
Invalid encoder type in parameter P-0-3242.x.1
00530C11
Configuration error: Phys. encoder resolution configured in different ways in
standard firmware (S-0-0116, S-0-0117 or S-0-0602.x.3) and Safe Motion
(P-0-3242.x.3).
00530C12
Configuration error: Rotational direction of encoder configured in different
ways in standard firmware (S-0-0115, S-0-0277 or S-0-0602.x.2) and Safe
Motion (P-0-3242.x.2).
0053311D
Wrong telegrams received from zone bus predecessor, because it has not
been configured as a zone node, but as a zone master, for example.
0054000A
No unequivocal SMM selection (no SMM signal or multiple SMM signals
active in P-0-3261).
562/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0054000B
Non-configured special mode "Safe motion" was selected.
0054000C
Enabling control activated longer than parameterized maximum time
(P-0-3290.x.6).
0054000D
Position window (P-0-3290.x.3) exceeded.
0054000E
Velocity threshold (P-0-3290.x.2) exceeded.
0054000F
Velocity threshold (P-0-3290.x.8) exceeded longer than maximum allowed
time window (P-0-3290.x.7).
00540010
Velocity threshold (P-0-3270.0.2) exceeded.
00540011
Position window (P-0-3285.0.2) exceeded.
00540012
Position limit value (P-0-3270.0.3) exceeded in negative direction.
00540013
Position limit value (P-0-3270.0.3) exceeded in positive direction.
00540014
Selected SMO operating status not reached within the maximum transition
time.
00540015
Velocity limit exceeded during transition to the selected SMO operating
status.
00540016
Premature change in operating status due to NC-Ready bit even though
target velocity has not yet been reached.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 563/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00540018
Velocity limit exceeded during transition to standstill.
00540032
Switching to OM not possible because the drive is still in SCM. SCM first has
to be terminated with C8200.
00540033
Invalid password; initial password "INDRASAVE" was activated.
0054004B
Signal control of outputs: Source IDN not allowed.
0054004C
IO mapper inputs: The maximum number of instances has been exceeded.
0054004D
IO mapper inputs: A command signal is used more than once.
0054004E
IO mapper inputs: Command IDN not allowed.
0054004F
IO mapper inputs: Command bits not allowed.
00540050
IO mapper inputs: Input signals in incorrect order.
00540051
IO mapper inputs: Only "safety bus" allowed
00540052
IO mapper inputs: List of source IDNs incomplete.
00540055
Data reference of position, velocity and acceleration not the same.
00540056
Scaling type of position, velocity and acceleration not the same.
564/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00540057
Scaling unit of position, velocity and acceleration not the same (inch and
metric).
00540058
Data reference at motor shaft not allowed with load encoder.
00540059
Incorrect rotation position resolution, only multiples of 360 degrees allowed.
00540074
Missing axis validation
00540085
Faulty switching from OM to PM. Reboot drive.
00540086
C8100 only allowed in PM.
00540087
C8200 only allowed in SCM.
00540089
C8300 only allowed when "Safe Motion" is inactive.
0054008A
Activating "Safe Motion" not allowed in OM.
To activate "Safe Motion", the drive has to be in PM.
0054008B
Deactivating "Safe Motion" only possible in PM or SCM.
0054008C
Impossible to switch from SCM to PM (C8200), because a critical SMO error
is present.
0054008D
Invalid signal "Status Error of safety zone": Check configuration and zone bus
connections.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 565/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0054008E
Invalid signal "Zone status 'safety'": Check configuration and zone bus
connections.
00540090
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
00540091
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
00540092
Invalid safety door control: Check configuration and wiring.
00540093
Invalid safety door control: Check configuration and wiring.
00540095
Configuration error: Check configuration in P-0-3266.0.2 (bit 0, 1, 5).
00540096
Signal control inputs: Pulse duration less than minimum.
00540097
Signal control inputs: Maximum pulse duration exceeded.
00540098
IO mapper inputs: IO mapper block type not allowed.
005400A4
IO mapper inputs: IO mapper block type not allowed.
005400C8
Error in exponent for the position.
005400C9
Error in the scaling type for the position
005400CA
Error in exponent for the velocity.
566/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005400CB
Error in the scaling type for the velocity.
005400CC
Error in exponent for the acceleration.
005400CD
Error in the scaling type for the acceleration.
00540150
IO mapper inputs: Source IDN not allowed.
00540151
IO mapper inputs: Source bit not allowed.
00540200
P-0-3235.0.4 incorrectly parameterized.
00540201
Axis identifier (P-0-3235.0.2) not verified.
Only verified proposed axis identifiers are applied.
00540202
P-0-3235.0.1 is not equal to the default value.
Command C8500 can only be executed if P-0-3235.0.1 is at the default
value.
00540203
Axis identifier (P-0-3235.0.2) too long.
Only axis identifiers with a maximum length of 44 characters are accepted.
00540204
Axis identifier (P-0-3235.0.2) too short.
Only axis identifiers with a length of at least three characters are accepted.
00540205
Axis identifier (P-0-3235.0.2) same as SMO password (P-0-3230.0.1).
00540206
Incorrect length of proposed TUNID.
The proposed TUNID entered in parameter S-0-1800.0.18 does not have the
correct length of 10 bytes.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 567/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00540207
TUNID is not equal to the default value.
Command C8500 was not able to be executed because S-0-1800.0.19 no
longer corresponds with its default value.
00540208
S-0-1800.0.18 not verified.
00540211
Switching not possible because not all configuration parameters have been
verified.
00540212
Switching not possible because not all configuration parameters are within
the allowed value range.
00540219
Switching not possible because not all parameters have been verified.
0054021A
Switching not possible because not all parameters are within the allowed
value range.
0054021C
Switching not possible because no SMO axis identifier has been assigned
yet.
0054021D
Switching impossible, because the axis validation (P-0-3210.0.2) has not
been verified.
00540261
Default values could not be loaded; image creation could not be deactivated.
Command C0720 was not able to be executed because the parameter image
creation could not be deactivated.
00540262
Default values could not be loaded; deactivation of safety technology
unsuccessful.
Command C0720 was not able to be executed because the safety
technology could not be deactivated.
00540263
Error in load defaults procedure.
568/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
An error occurred while loading the default values. One or more parameters
was not set to its default value.
00540264
Command C0720 cannot be executed at password level 2 (P-0-3230).
0054029B
C8300 only allowed in SCM.
Parameter image presently cannot be applied, because the axis is in PM or
OM. To apply it, switch to SCM.
005402A5
Error in parameter image.
005402A6
Command was started without previously loading a parameter image.
005402BE
Parameter image has incorrect SMO axis identifier. Parameter image to be
activated contains an SMO axis identifier which does not comply with the
active SMO axis identifier of the device.
00540423
No valid safety technology operating status selected.
00540425
Safely-monitored deceleration with trend monitoring to Safe standstill
(P-0-3280.0.1, bit 3="0") not possible with drive-controlled transition
(P-0-3280.0.1, bit 1="1").
00540426
Configuration error: F7xx error reaction has been configured in different ways
in P-0-0119 (bits 4-7) and P-0-3263.0.1 (bits 4-7).
00540427
Configuration error: NC/MLD error reaction has been configured in different
ways in P-0-0117 (bit 0 and bit 1) and P-0-3263.0.1 (bit 16).
00540428
A safety function with position or velocity monitoring has been parameterized
but no encoder was configured
00540450
Switching to SCM (command C8100) not allowed with unlocked safety door.
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 569/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
0054046B
Configuration error: NC/MLD error reaction (P-0-3263.0.1, bit 16="1")
impossible in the case of drive-controlled operation mode transition to
standstill (P-0-3280.0.1, bit 0="1").
00540475
Error in safety zone module telegram. Check zone bus wiring.
00540479
Safety zone module signals temperature error.
0054047A
Safety zone module signals 24V error. Supply voltage above tolerance.
0054047B
Safety zone module signals 24V error. Supply voltage below tolerance.
0054047D
Safety zone module signals "no zone master detected". (Last axis before the
safety zone module must have been configured as a zone master.)
00540480
Safety zone telegrams detected at X42, although Safe Motion is not active.
00540486
Configuration error: F3xx error reaction has been configured in different ways
in P-0-0119 (bits 0-3) and P-0-3263.0.1 (bits 0-3).
0054049E
Configuration error: P-0-3266.0.2, bit 0="1", although with the hardware used
Safe Motion does not support zone setup via the safety zone module. (Only
allowed with S4/S5 option.)
005404A0
The firmware build configuration used is not allowed to be operated on this
hardware.
005404A5
Impossible to switch from SCM to PM (C8200), because a critical SMO error
is present.
570/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005404AF
Impossible to execute command C0200, because "Safe Motion" waits for
C8300 ("Load new safety").
00540526
Invalid status signal "Error of safety zone": Check configuration and zone bus
connections.
00540527
Invalid signal "Zone status 'safety'": Check configuration and zone bus
connections.
00540528
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
00540529
Invalid signal "Enabling of normal operation": Check configuration and zone
bus connections.
0054052A
Invalid safety door control: Check configuration and wiring.
00540569
Master does not respond with correct TUNID
Check TUNID in master, or master tries to establish a connection with the
wrong slave.
005405C7
When P-0-3235.0.5 (identification data image) had been checked, an error
(faulty CRC or invalid length) was detected.
00540663
Input pair 1 discrepancy error (X41 1.1 - X41 2.1)
00540664
Input pair 2 discrepancy error (X41 1.2 - X41 2.2)
00540665
Input pair 3 discrepancy error (X41 1.3 - X41 2.3)
00540666
Input pair 4 discrepancy error (X41 1.4 - X41 2.4)
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 571/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00540667
Input pair 5 discrepancy error (X41 1.5 - X41 2.5)
00540668
Input pair 6 discrepancy error (X41 1.6 - X41 2.6)
00540669
Input pair 7 discrepancy error (X41 1.7 - X41 2.7)
0054066A
Input pair 8 discrepancy error (X41 1.8 - X41 2.8)
005406A1
Error when switching from CM to PM, because invalid assemblies were
specified.
When Safe communication via CIP Safety (P-0-3345="1") or Fail Safe over
Ethercat (P-0-3345="2") has been selected, this error can occur if either an
invalid consuming assembly (P-0-3342.0.1) or an invalid producing assembly
was selected.
005406AD
PROFIsafe: Invalid F-Device address
005406AE
PROFIsafe: Invalid F-Host address
005406B2
PROFIsafe: Faulty CRC of F-parameters
005406B4
PROFIsafe: Wrong F-module selected
005406C6
Local IO: Safe local output not enabled
The Safe local output is not available for the safety technology option "SB".
005406C7
Special mode with absolute position selected and Safe reference missing
005406C9
Safe reference missing and P-0-3257 >= P-0-3253.0.5
572/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005406CB
Tolerance window (P-0-3253.0.4) should not be zero
005406CC
Incompatible position scaling (S-0-0076 with P-0-3222.0.1 / S-0-0078 with
P-0-3222.0.2 / S-0-0079 with P-0-3222.0.3)
005406CD
Position evaluation in modulo format (P-0-3222.0.1) for Safe absolute
position is not supported in this firmware release.
005406CE
SLP: Velocity towards positive position limit value (P-0-3290.x.4) too high
005406CF
SLP: Velocity towards negative position limit value (P-0-3290.x.5) too high
005406D0
SLP/SMP: Positive position limit value (P-0-3290.x.4) exceeded
005406D1
SLP/SMP: Negative position limit value (P-0-3290.x.5) below minimum
005406D2
SLP/SMP return motion check: Positive position limit value exceeded
005406D3
SLP/SMP return motion check: Negative position limit value below minimum
005406D4
SLP/SMP: Rerturn velocity to allowed position range (P-0-3290.x.4) greater
than P-0-3253.0.5
005406D5
SLP/SMP: Rerturn velocity to allowed position range (P-0-3290.x.5) greater
than P-0-3253.0.5
005406D6
SMP: Positive position limit value (P-0-3290.x.4) exceeded
005406D7
SMP: Negative position limit value (P-0-3290.x.5) below minimum
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 573/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005406D8
SMP return motion check: Positive position limit value exceeded
005406D9
SMP return motion check: Negative position limit value below minimum
005406DA
SLE: Velocity towards positive position limit value (P-0-3270.0.4) too high
005406DB
SLE: Velocity towards negative position limit value (P-0-3270.0.5) too high
005406DC
SLE: Positive position limit value (P-0-3270.0.4) exceeded
005406DD
SLE: Negative position limit value (P-0-3270.0.5) below minimum
005406DE
SLE return motion check: Positive position limit value exceeded
005406DF
SLE return motion check: Negative position limit value below minimum
005406E0
SLE: Rerturn velocity to allowed position range (P-0-3270.0.4) greater than
P-0-3253.0.5
005406E1
SLE: Rerturn velocity to allowed position range (P-0-3270.0.5) greater than
P-0-3253.0.5
005406E7
Safety function SLP active, without Safe reference
005406E8
Safety function SMP active, without Safe reference
574/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005406E9
Safety function SLE active in special mode "Safe motion", without Safe
reference
005406ED
SLE in normal operation (P-0-3277.0.1; bit 2 = 1) and global SLE
(P-0-3270.0.1; bit 2 = 1) were configured at the same time
005406EE
SLP/SLE safety function configuration with F7 error reaction torque disable in
P-0-3263.0.1 is not allowed
005406EF
Safety function SLE: Velocity without Safe reference greater than
P-0-3253.0.5
005406F1
The requirements for executing the command C4000 have not been fulfilled
005406F4
The proposed axis identifier has not been verified.
005406F5
PROFIsafe F-Device address cannot be changed, since it is no longer at
default value. Execute load defaults procedure for SMO to set the PROFIsafe
F-Device address to the default value again.
005406F6
No safety field bus active, check configuration
005406F8
Scaling type invalid or not supported by the SLE/SLP/SMP safety functions
005406F9
End position limit value, positive (P3270.0.4) greater than end position limit
value, negative (P-0-3270.0.5)
005406FA
End position limit value, negative (P-0-3270.0.5) outside modulo range
(P-0-3221.0.6)
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 575/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
005406FB
End position limit value, positive (P-0-3270.0.4) outside modulo range
(P-0-3221.0.6)
005406FC
Position limit value, positive (P3290.x.4) greater than position limit value,
negative (P3290.x.5)
005406FD
Position limit value, negative (P-0-3290.x.5) outside modulo range
(P-0-3221.0.6)
005406FE
Position limit value, positive (P-0-3290.x.4) outside modulo range
(P-0-3221.0.6)
0054071A
SLE, SMP, SLP safety function configuration without "Safe homing
procedure" configuration (bit 0 in "P-0-3253.0.1)
00540727
Error in scaling configuration or encoder configuration
Cause: The firmware does not support the combination of mounting position,
data reference of position data, position data processing format, position data
scaling type and encoder type of design. Remedy: Check parameterization
(see Application Manual)
00540728
Limit value of position feedback value difference of channel 1 and channel 2
cannot be displayed
Check parameterization; if necessary, adjust position scaling exponent.
00540729
Limit value of position feedback value difference of channel 1 and channel 2
cannot be displayed
Check parameterization; if necessary, adjust position scaling exponent.
00540732
Invalid SMO reference signal (too short / disturbed)
00540733
Invalid SMO reference signal (too short / disturbed / no standstill)
576/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00540739
Incompatible SMO parameter image
The SMO parameter image (P-0-3232.0.0) is incompatible with the running
firmware (e.g., after firmware downgrade).
0054073A
SLE, SLP: Invalid scaling of decimal place setting -> overflow in
normalization factor calculation
0054073D
With rotary ACURO®link encoders, the resolution has to be 2^n
0054073E
Linear ACURO®link encoders are not supported
00540742
Switching off encoder monitoring in normal operation (P-0-3242.1.2, bit 12) is
not allowed, because "Safe reference" or SMS, SLE, SCA, SDI (in normal
operation) has been configured.
00540743
SCA: Invalid configuration of direction-dependent cam evaluation (allowed
setting: 0, 1, 2, 3)
00540744
More than 8 multiple cams have been parameterized.
00540745
SCA: Cam range (P-0-3271.0.n) + switching hysteresis (P-0-3270.0.3)
outside of modulo range/travel range (P-0-3221.0.6/P-0-3221.0.7)
00540746
Safety function SCA configured without "Safe homing procedure"
configuration (P-0-3253.0.1, bit 0)
00540747
SCA: Invalid scaling of decimal place setting "P-0-3222.0.2" -> overflow in
normalization factor calculation
0054074F
Invalid encoder type in parameter P-0-3242.x.1
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 577/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00540C11
Configuration error: Phys. encoder resolution configured in different ways in
standard firmware (S-0-0116, S-0-0117 or S-0-0602.x.3) and Safe Motion
(P-0-3242.x.3).
00540C12
Configuration error: Rotational direction of encoder configured in different
ways in standard firmware (S-0-0115, S-0-0277 or S-0-0602.x.2) and Safe
Motion (P-0-3242.x.2).
0054311D
Wrong telegrams received from zone bus predecessor, because it has not
been configured as a zone node, but as a zone master, for example.
00730B10
Encoder line is not okay (wire break error) SSI encoder: Interface 0
00730B11
Encoder line is not okay (wire break error) SSI encoder: Interface 1
00730B12
Encoder line is not okay (wire break error) SSI encoder: Interface 2
00730B13
Encoder line is not okay (wire break error) SSI encoder: Interface 3
00730B14
Encoder line is not okay (wire break error) SSI encoder: Interface 4
00730B15
Encoder line is not okay (wire break error) SSI encoder: Interface 5
00730B16
Encoder line is not okay (wire break error) SSI encoder: Interface 6
00730B20
Encoder line is not okay (wire break error) SSI encoder: Interface 0
00730B21
Encoder line is not okay (wire break error) SSI encoder: Interface 1
578/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Detailed diagnostics
00730B22
Encoder line is not okay (wire break error) SSI encoder: Interface 2
00730B23
Encoder line is not okay (wire break error) SSI encoder: Interface 3
00730B24
Encoder line is not okay (wire break error) SSI encoder: Interface 4
00730B25
Encoder line is not okay (wire break error) SSI encoder: Interface 5
00730B26
Encoder line is not okay (wire break error) SSI encoder: Interface 6
Detailed Diagnostics
Detailed diagnostics are generated by the drive if it is required to determine
the exact diagnosis.
See chapter "Basics on Device Diagnosis", subsection "Diagnostic System" -
"Detailed Diagnostics"
FFFFFFFF
System start / reboot
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 579/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
Index
0…9 00500DE5......................................................... 536
000D000A......................................................... 523 00500DE6......................................................... 536
000D000B......................................................... 523 00500DF1......................................................... 536
000D000C......................................................... 523 00500DF2......................................................... 536
000D000D......................................................... 523 00500DF3......................................................... 537
000D000E......................................................... 523 00500DF4......................................................... 537
000D002A......................................................... 523 00500DF5......................................................... 537
000D002C......................................................... 523 00500DF6......................................................... 537
000D0006......................................................... 523 00500E00.......................................................... 537
000D0007......................................................... 523 00500E01.......................................................... 537
000D7FFF......................................................... 523 00500E02.......................................................... 537
000D0009......................................................... 523 00500E03.......................................................... 537
000F0005.......................................................... 523 00500E04.......................................................... 537
000F0006.......................................................... 523 00500E05.......................................................... 537
01: Incorrect filename in read request.............. 498 00500E06.......................................................... 537
001D0003......................................................... 524 00500E11.......................................................... 538
001E0002.......................................................... 524 00500E12.......................................................... 538
02: Unknown filename in write request............. 498 00500E13.......................................................... 538
002A0012.......................................................... 526 00500E14.......................................................... 538
002A0015.......................................................... 526 00500E15.......................................................... 538
03: Update not allowed - Axis still in OM.......... 498 00500E16.......................................................... 538
003A06AB......................................................... 528 00500E20.......................................................... 538
003A06F7......................................................... 528 00500E21.......................................................... 538
003A0064.......................................................... 528 00500E22.......................................................... 538
003A0065.......................................................... 528 00500E23.......................................................... 538
003A0066.......................................................... 528 00500E24.......................................................... 538
003A0067.......................................................... 528 00500E25.......................................................... 539
003A0517.......................................................... 528 00500E26.......................................................... 539
003C001F......................................................... 528 00500E31.......................................................... 539
04: Update not allowed - Loader unavailable.... 498 00500E32.......................................................... 539
05: Internal flash access error (driver assign)... 498 00500E33.......................................................... 539
06: Internal flash access error (driver release). 498 00500E34.......................................................... 539
07: Error during programming data................... 498 00500E35.......................................................... 539
08: FWA file error - incorrect IBF format........... 498 00500E36.......................................................... 539
09: FWA file error - Hardware not supported.... 498 00500E40.......................................................... 539
10: Error during data verification....................... 498 00500E41.......................................................... 539
11: FWA file error - CRC checksum incorrect... 498 00500E42.......................................................... 539
12: File error - incorrect data length.................. 498 00500E43.......................................................... 540
20: FWA read not allowed - axis still in OM...... 499 00500E44.......................................................... 540
21: FWA read not allowed - update active........ 499 00500E45.......................................................... 540
22: Error reading FWA data.............................. 499 00500E46.......................................................... 540
31: Update not allowed - other update active... 499 00500E51.......................................................... 540
32: File error - incorrect IBF Format.................. 499 00500E52.......................................................... 540
50: Axis ready for update.................................. 499 00500E53.......................................................... 540
52: Update of <filename> successful................ 499 00500E54.......................................................... 540
53: Communication timeout during update....... 499 00500E55.......................................................... 540
60: Reboot not allowed - update active............. 499 00500E56.......................................................... 540
61: Reboot not allowed - device still in OM....... 499 00530C11......................................................... 561
62: Reboot not allowed - no previous update... 499 00530C12......................................................... 561
73A0 (CiA): F2131............................................ 234 00540C11......................................................... 577
00500DE0......................................................... 536 00540C12......................................................... 577
00500DE1......................................................... 536 718A (CiA): F8012............................................ 102
00500DE2......................................................... 536 718B (CiA): F2021............................................ 208
00500DE3......................................................... 536 718C (CiA): F8013............................................ 102
00500DE4......................................................... 536 718D (CiA): F2022............................................ 209
580/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
Index
Index
Index
Index
Index
Index
Index
A0117 Phase synchr. lagless, encoder 2, A0166 Drive-internal interpolat. with ctrl
virtual master axis............................................... 66 word of axis controller......................................... 78
A0118 Phase synchr. lagless, encoder 1, re‐ A0206 Positioning block mode, encoder 1.......... 79
al master axis...................................................... 66 A0207 Positioning block mode lagless, en‐
A0119 Phase synchr. lagless, encoder 2, re‐ coder 1................................................................ 79
al master axis...................................................... 67 A0210 Positioning block mode, encoder 2.......... 79
A0128 Cam, encoder 1, virtual master axis........ 67 A0211 Positioning block mode lagless, en‐
A0129 Cam, encoder 2, virtual master axis........ 67 coder 2................................................................ 80
A0130 Cam, encoder 1, real master axis............ 67 A0300 Condition as supplied SMO: Output
A0131 Cam, encoder 2, real master axis............ 68 stage locked........................................................ 80
A0132 Cam, lagless, encoder 1, virt. master A0301 Special mode Safe motion 1 active......... 80
axis...................................................................... 68 A0302 Special mode Safe motion 2 active......... 80
A0133 Cam, lagless, encoder 2, virt. master A0303 Special mode Safe motion 3 active......... 81
axis...................................................................... 68 A0304 Special mode Safe motion 4 active......... 81
A0134 Cam, lagless, encoder 1, real master A0305 Special mode Safe motion 5 active......... 81
axis...................................................................... 69 A0306 Special mode Safe motion 6 active......... 82
A0135 Cam, lagless, encoder 2, real master A0307 Special mode Safe motion 7 active......... 82
axis...................................................................... 69 A0308 Special mode Safe motion 8 active......... 82
A0136 MotionProfile, encoder 1, virtual mas‐ A0309 Special mode Safe motion 9 active......... 83
ter axis................................................................ 69 A0310 Special mode Safe motion 10 active....... 83
A0137 MotionProfile, encoder 2, virtual mas‐ A0311 Special mode Safe motion 11 active....... 83
ter axis................................................................ 70 A0312 Special mode Safe motion 12 active....... 84
A0138 MotionProfile, encoder 2, real master A0313 Special mode Safe motion 13 active....... 84
axis...................................................................... 70 A0314 Special mode Safe motion 14 active....... 84
A0139 MotionProfile, encoder 1, real master A0315 Special mode Safe motion 15 active....... 85
axis...................................................................... 70 A0316 Special mode Safe motion 16 active....... 85
A0140 MotionProfile lagless, encoder 1, vir‐ A0320 EMERGENCY STOP active.................... 85
tual master axis................................................... 71 A0321 Special mode Safe standstill active
A0141 MotionProfile lagless, encoder 2, vir‐ with STO............................................................. 86
tual master axis................................................... 71 A0322 Special mode Safe standstill active
A0142 MotionProfile lagless, encoder 1, real with SOS............................................................. 86
master axis.......................................................... 71 A0323 SMO configuration mode active.............. 86
A0143 MotionProfile lagless, encoder 2, real A0324 SMO: Normal operation........................... 86
master axis.......................................................... 72 A0325 SMO parameter mode active................... 87
A0150 Drive-controlled positioning, encoder 1... 72 A0326 SMO parking axis active.......................... 87
A0151 Drive-controlled positioning, encoder A0327 SMO not active: Output stage not locked 87
1, lagless............................................................. 73 A0403 Quick stop with probe detection is active 87
A0152 Drive-controlled positioning, encoder 2... 73 A0500 Supply module in voltage control............. 88
A0153 Drive-controlled positioning, encoder VM Lb........................................................... 461
2, lagless............................................................. 74 A0501 Supply module in current control............. 88
A0154 Position mode drive controlled, en‐ A0502 Supply module in operation..................... 88
coder 1................................................................ 74 VM Lb........................................................... 461
A0155 Position mode drive controlled, en‐ A0503 DC bus charging active........................... 88
coder 2................................................................ 75 VM charg...................................................... 461
A0156 Position mode lagless, encoder 1 A0504 Control section ready for oper.,
drive controlled.................................................... 75 mains voltage not available................................. 88
A0157 Position mode lagless, encoder 2 A0505 Power supply module ready for oper‐
drive controlled.................................................... 75 ation.................................................................... 89
A0160 Pos. ctrl drive-controlled with ctrl A0506 Supply module in rectifier mode.............. 89
word of axis controller......................................... 76 A0520 DC bus quick discharge active................ 89
A0161 Drive-controlled posit. with ctrl word VM ZKS........................................................ 461
of axis controller.................................................. 76 A0800 Unknown operating mode
A0162 Positioning block mode............................ 77 VM AF.......................................................... 462
A0163 Position synchronization.......................... 77 A4008 "Drive off" delay time............................... 92
A0164 Velocity synchronization.......................... 78 A4007 "Drive on" delay time............................... 92
A0165 Position control with control word of A4000 Automatic drive check and adjustment.... 89
axis controller...................................................... 78 A4005 Drive decelerated by motor phase
short circuit.......................................................... 91
588/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
A4006 Drive decelerated in a controlled way...... 91 C0151 IDN for command value data contain‐
A4001 Drive deceleration to standstill................. 90 er not allowed.................................................... 341
A4002 Drive in automatic mode.......................... 90 C0152 IDN for actual value data container
A4004 Drive without controller enable................ 91 not allowed........................................................ 341
A4009 Motor phase short circuit with drive C0170 Config. IDNs for connection not con‐
enable switched off............................................. 92 figurable............................................................ 342
A4003 Setting-up mode is active........................ 90 C0171 Maximum length for connections ex‐
A4010 Drive control command active................. 92 ceeded.............................................................. 342
Ab........................................................................ 45 C0172 Delay measurement (S-0-1024) not
AC....................................................................... 45 carried out......................................................... 342
Additional documentations.................................. 28 C0173 Connections (number) not configurable 343
AE....................................................................... 45 C0174 Connection configuration not allowed... 343
AF....................................................................... 45 C0175 Producer cycle time of a connection
AH....................................................................... 45 not correct......................................................... 343
Appropriate use................................................... 31 C0200 Exit parameterization level procedure
Applications.................................................... 31 command.......................................................... 311
AR....................................................................... 45 C0201 Invalid parameters (->S-0-0423)........... 344
AU....................................................................... 45 C0202 Parameter limit error (->S-0-0423)........ 344
C0203 Parameter conversion error (-
B >S-0-0423)........................................................ 344
bb.................................................................. 45, 47 C0204 Inadmissible motor-amplifier combi‐
Bb........................................................................ 47 nation................................................................ 345
BEM.................................................................... 45 C0205 Invalid power parameters (-> logbook).. 345
C0209 Incorrect encoder configuration............. 345
C C0210 Feedback 2 required (->S-0-0423)........ 346
C0100 Communication phase 3 transition C0211 Invalid encoder configuration (3 ac‐
check................................................................. 311 tive encoders)................................................... 346
C0101 Invalid parameters (-> S-0-0021).......... 331 C0212 Invalid control section data (-
C0102 Limit error in parameter (-> S-0-0021)... 332 >S-0-0423)........................................................ 347
C0103 Parameter conversion error (- C0213 SMO: Incorrect parameterization.......... 347
>S-0-0021)........................................................ 332 C0214 SMO: Incorrect configuration................. 347
C0104 Config. IDN for MDT not configurable... 333 C0215 SMO: Error in encoder initialization....... 350
C0105 Maximum length for MDT exceeded..... 333 C0216 SMO: SCM-OM switching not allowed.. 351
C0106 Config. IDNs for AT not configurable..... 334 C0219 Max. travel range too large.................... 351
C0107 Maximum length for AT exceeded......... 334 C0220 Error when initializing position of en‐
C0108 Time slot parameter > sercos cycle coder 1.............................................................. 351
time................................................................... 334 C0221 Initialization velocity encoder 1 too high 352
C0109 Telegram offset unsuitable.................... 335 C0223 Invalid settings for controller cycle
C0110 Length of MDT (S-0-0010) odd............. 335 times................................................................. 352
C0111 ID9 + Record length - 1 > length C0224 Error when initializing position of en‐
MDT (S-0-0010)................................................ 336 coder 2.............................................................. 353
C0112 Set timing not permissible..................... 336 C0225 Initialization velocity encoder 2 too high 353
C0113 Relation TNcyc (S-0-0001) to TScyc C0227 Error when initializing position of
(S-0-0002) error................................................ 337 measuring encoder........................................... 354
C0114 T4 > TScyc (S-0-0002) - T4min C0228 Initialization velocity measuring en‐
(S-0-0005)......................................................... 338 coder too high................................................... 354
C0115 T2 too small........................................... 338 C0229 Field bus: IDN for cycl. command val.
C0116 T3 (S-0-0008) within MDT (S-0-0089 not configurable................................................ 355
+ S-0-0010)....................................................... 338 C0230 Field bus: Max. length for cycl. com‐
C0118 Order of cyclic command value con‐ mand val. exceeded.......................................... 355
figuration incorrect............................................ 339 C0231 Field bus: IDN for cycl. actual val. not
C0132 Invalid settings for controller cycle configurable...................................................... 355
times................................................................. 339 C0232 Field bus: Length for cycl. actual val‐
C0133 FKM: Address conflict........................... 340 ues exceeded.................................................... 356
C0139 T2 (S-0-0089)+length MDT C0233 Field bus: Tcyc (P-0-4076) incorrect..... 356
(S-0-0010)>TScyc (S-0-0002)........................... 340 C0234 Field bus: P-0-4077 missing for cycl.
command values............................................... 356
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 589/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
C0238 Order of cyclic command value con‐ C0284 Invalid motor data in encoder memo‐
figuration incorrect............................................ 357 ry (->S-0-0423).................................................. 376
C0239 IDN for command value data contain‐ C0285 Type of construction of motor
er not allowed.................................................... 357 P-0-4014 incorrect............................................ 376
C0240 IDN for actual value data container C0286 Several motor encoders connected....... 377
not allowed........................................................ 358 C0287 Error during initialization of motor da‐
C0241 Incorrect parameterization of motion ta (->S-0-0423).................................................. 377
task................................................................... 358 C0288 Rotary scaling not allowed.................... 378
C0242 Multiple configuration of a parameter C0289 Error at init. of synchr. motor with re‐
(->S-0-0423)...................................................... 359 luctance torque................................................. 378
C0243 Brake check function not possible......... 360 C0290 Error when reading encoder data =>
C0244 Act. modulo value cycle greater than measuring encoder........................................... 379
max. travel range.............................................. 361 C0291 Incorr. parameterization of measur‐
C0245 Operation mode configuration (- ing enc. (hardware)........................................... 380
>S-0-0423) not allowed..................................... 361 C0292 Measuring encoder unknown................ 380
C0250 Probe inputs incorrectly configured....... 362 C0293 Modulo value for measuring encoder
C0251 Error during synchronization to mas‐ cannot be displayed.......................................... 381
ter communication............................................. 362 C0294 Incorrect measuring encoder configu‐
C0252 Incorrect MLD initialization (write ac‐ ration................................................................. 381
cess->S-0-0423)............................................... 363 C0295 Internal display error during scaling
C0253 Error in combination operation mode conversion (NM)................................................ 382
- encoder (->S-0-0423)..................................... 363 C0296 Error in initialization of absolute en‐
C0256 Safety technology configuration error.... 364 coder monitoring............................................... 382
C0258 Error in relation TNcyc (S-0-0001) to C0297 Encoder type not possible for selec‐
fine interpol....................................................... 364 ted constr. type of motor................................... 382
C0259 MLD configuration error (->S-0-0423)... 365 C0298 Impossible to exit parameterization
C0260 Incremental enc. emulator resol. can‐ level................................................................... 383
not be displayed................................................ 366 C0299 Configuration changed. Restart............. 383
C0263 Serial number of motor has changed.... 367 C0300 Set absolute position procedure com‐
C0265 Incorrect CCD address configuration.... 367 mand................................................................. 311
C0266 Incorrect CCD phase switch.................. 368 C0301 Measuring system unavailable.............. 384
C0267 CCD timeout phase switch.................... 368 C0302 Absolute evaluation of measuring
C0270 Error when reading encoder data => system impossible............................................. 384
motor encoder................................................... 369 C0303 Absolute encoder offset cannot be
C0271 Incorrect parameterization of motor saved................................................................ 385
encoder (hardware)........................................... 369 C0304 Command cannot be executed under
C0272 Incorr. parameteriz. of motor enc. drive enable...................................................... 385
(mechanical system)......................................... 370 C0400 Activate parameterization level 1 pro‐
C0273 Modulo value for motor encoder can‐ cedure command.............................................. 311
not be displayed................................................ 370 C0401 Switching not allowed............................ 385
C0274 Motor encoder unknown........................ 371 C0403 Switching to CCD phase 2 impossible.. 386
C0275 Error when reading encoder data => C0404 SMO: Incorrect change of system state 386
optional encoder............................................... 371 C0500 Reset class 1 diagnostics, error reset... 312
C0276 Incorrect parameterization of optional C0501 Error clearing only in parameter mode.. 386
enc. (hardware)................................................. 372 C0600 Drive-controlled homing procedure
C0277 Incorr. parameteriz. of opt. enc. (me‐ command.......................................................... 312
chanical system)............................................... 372 C0601 Homing only possible with drive enable 387
C0278 Modulo value for optional encoder C0602 Distance home switch - reference
cannot be displayed.......................................... 373 mark erroneous................................................. 387
C0279 Optional encoder unknown.................... 373 C0603 Homing impossible with optional en‐
C0280 Maximum travel range cannot be dis‐ coder................................................................. 387
played internally................................................ 374 C0604 Homing impossible with absolute en‐
C0281 Commutation via encoder-2 impossible 375 coder................................................................. 388
C0282 Sensorless posit. of synchr. motors, C0606 Reference mark not detected................ 388
invalid ctrl parameters....................................... 375 C0607 Reference cam input not assigned........ 389
C0283 Error during initialization of motor C0608 Pos. stop a. HW lim. switch not al‐
control (->S-0-0423).......................................... 375 lowed f. modulo axes........................................ 389
590/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
C0609 Different travel directions parameter‐ C1216 Commutation determination not se‐
ized................................................................... 389 lected................................................................ 399
C0610 Absolute encoder offset could not be C1217 Setting only possible in 'Ab'................... 400
saved................................................................ 390 C1218 Automatic commutation: Current too
C0611 Travel range greater than absolute low..................................................................... 400
range (distance-coded)..................................... 390 C1219 Automatic commutation: Overcurrent.... 401
C0700 Load defaults proced. command C1220 Automatic commutation: Timeout.......... 401
(motor-spec. controller val.).............................. 312 C1221 Automatic commutation: Iteration
C0702 Default parameters not available........... 391 without result..................................................... 401
C0703 Default parameters invalid..................... 391 C1222 Error when writing offset parameters.... 402
C0704 Parameters not copyable...................... 391 C1223 Command execution impossible........... 402
C0706 Error when reading the controller pa‐ C1224 Zero point shifting only possible in
rameters............................................................ 392 parameter mode................................................ 403
C0710 Command Load power-supply specif‐ C1225 Zero point shifting only possible with
ic controller values............................................ 313 master password............................................... 403
C0711 Loading requires determination of C1300 Positive stop drive procedure com‐
system parameters........................................... 392 mand................................................................. 316
C0720 SMO: Load defaults procedure com‐ C1301 Class 1 diagnostics error at com‐
mand................................................................. 314 mand start......................................................... 403
C0721 SMO: Load defaults procedure not C1400 Command Get marker position............. 316
possible............................................................. 392 C1402 Faulty reference mark signal................. 404
C0722 SMO: Error in load defaults procedure.. 393 C1500 Cancel reference point procedure
C0723 SMO: Error in deactivation.................... 393 command.......................................................... 317
C0730 Load defaults procedure command C1600 Parking axis command.......................... 317
(MLD)................................................................ 314 C1800 Command Drive optimization/
C0740 Command Activate field bus profile command value box.......................................... 317
settings.............................................................. 315 C1801 Start requires drive enable.................... 404
C0743 Error in activation of field bus profile C1802 No useful motor data............................. 404
settings.............................................................. 393 C1803 Inertia detection failed........................... 405
C0750 Load defaults procedure command C1804 Automatic controller setting failed......... 406
(factory settings)............................................... 315 C1805 Travel range invalid............................... 406
C0751 Parameter default value incorrect (-> C1806 Travel range exceeded.......................... 407
S-0-0423).......................................................... 394 C1807 Determining travel range only via
C0752 Locked with password........................... 394 travel distance................................................... 407
C0761 Factory default values incorrect (- C1808 Drive not homed.................................... 408
>S-0-0423)........................................................ 394 C1809 Command start only possible with ac‐
C0762 Locked with password........................... 395 tive position limits.............................................. 408
C0763 Load defaults procedure (application C1810 Drive optimization incorrectly config‐
data), invalid param.......................................... 395 ured................................................................... 408
C0799 An invalid index was set........................ 395 C2001 Command not enabled.......................... 409
C0900 Position spindle command.................... 316 C2000 Command Release motor holding
C0902 Spindle positioning requires drive brake................................................................. 318
enable............................................................... 396 C2100 Command Holding system check.......... 318
C0903 Error during initialization........................ 396 C2101 Holding system check only possible
C0906 Error during search for zero pulse......... 396 with drive enable............................................... 409
C1200 Commutation offset setting command... 316 C2103 Holding brake: Torque too low.............. 409
C1204 Error in offset calculation....................... 397 C2104 Command execution impossible........... 410
C1208 No adjustment with asynchronous C2105 Load of holding system greater than
motor................................................................. 397 test torque......................................................... 410
C1209 Proceed to phase 4............................... 398 C2106 Test torque of holding system not
C1211 Commutation offset could not be de‐ reached............................................................. 411
termined............................................................ 398 C2108 Error when releasing the holding sys‐
C1212 Motion range exceeded during com‐ tem.................................................................... 413
mutation............................................................ 398 C2200 Backup working memory procedure
C1214 Command only possible with linear command.......................................................... 318
synchronous motor........................................... 399 C2202 Error when writing data to non-vola‐
C1215 Command only possible in 'bb'.............. 399 tile memory....................................................... 414
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 591/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
C2300 Load working memory procedure C3903 Command execution impossible........... 426
command.......................................................... 319 C4001 Encoder evaluation error during Safe
C2301 Error when reading non-volatile homing procedure............................................. 426
memory............................................................. 414 C4004 Faulty SMO reference signal................. 427
C2302 Error when converting parameters........ 414 C4003 Home switch distance below mini‐
C2400 Selectively backup working memory mum value........................................................ 427
procedure command......................................... 319 C4002 Incorrect SMO position feedback value. 426
C2402 Error when saving parameters.............. 415 C4000 SMO: Safe homing procedure com‐
C2800 Analog input adjustment command....... 319 mand................................................................. 322
C2801 Analog input not configured................... 415 C4100 Switch parameter set command............ 322
C2802 Oscillations of input signal outside C4101 Switching only possible without AF....... 428
tolerance range................................................. 415 C4103 Preselect parameter set forbidden
C2803 Measured values at zero point and value................................................................. 428
max. value identical.......................................... 416 C4104 Error during parameter set switching
C2804 Automatic adjustment failed.................. 416 (->S-0-0423)...................................................... 428
C3100 Recalculate actual value cycle.............. 320 C4200 Drive-controlled oscillation command.... 323
C3101 Act. modulo value cycle greater than C4201 Oscillation requires drive enable........... 429
max. travel range.............................................. 416 C4202 Oscillation command speed cannot
C3102 Drive is still in drive enable.................... 416 be reached........................................................ 429
C3200 Command Calculate motor data............ 320 C4300 NC-controlled homing procedure
C3201 Incorrect input for current...................... 417 command.......................................................... 323
C3202 Incorrect input for voltage...................... 417 C4302 Distance home switch - reference
C3203 Incorrect input for frequency.................. 417 mark erroneous................................................. 429
C3204 Incorrect input for speed........................ 418 C4304 Homing impossible with absolute en‐
C3205 Incorrect input for power factor.............. 418 coder................................................................. 430
C3206 Incorrect input for power........................ 418 C4306 Reference mark not detected................ 430
C3207 Type plate list incomplete...................... 419 C4307 Reference cam input not assigned........ 431
C3208 Error when writing parameters (- C4308 Pos. stop a. HW lim. switch not al‐
>S-0-0423)........................................................ 419 lowed f. modulo axes........................................ 431
C3209 Command execution impossible........... 419 C4400 Calculate displacement procedure
C3300 Set coordinate system procedure command.......................................................... 323
command.......................................................... 320 C4500 Displacement to referenced system
C3400 Shift coordinate system procedure procedure command......................................... 323
command.......................................................... 321 C4600 Command Calculate motor control
C3600 Command Motor data identification....... 321 parameters........................................................ 324
C3601 Motor not or not correctly connected..... 420 C4601 Error when writing parameters (-
C3602 Determined values invalid..................... 420 >S-0-0423)........................................................ 431
C3603 Device current limit too low................... 420 C4800 Command Determine cogging torque
C3604 Error when writing parameters (- compensation table........................................... 324
>S-0-0423)........................................................ 421 C4801 Cogging torque compensation:
C3605 Motor turning......................................... 421 Measuring vel. too high..................................... 432
C3606 Type of construction of motor not al‐ C4802 Cogging torque compensation:
lowed................................................................. 422 Measuring vel. too low...................................... 432
C3607 Motor revolution/motion impeded.......... 422 C4803 Cogging torque compensation: Inad‐
C3608 Incorrect motor phases or rotational missible acceleration......................................... 432
direction of encoder.......................................... 422 C4804 Cogging torque comp.: Err. when
C3609 Incorrect number of pole pairs or storing corr. val table......................................... 433
number of encoder lines................................... 423 C4805 Cogging torque comp.: Motor meas‐
C3610 No encoder: Validation check impos‐ uring system not homed.................................... 433
sible................................................................... 423 C4806 Cogging torque compensation:
C3611 Test velocity not reached...................... 424 Measuring range invalid.................................... 433
C3612 Command execution impossible........... 424 C4900 PLC command....................................... 324
C3800 Command Apply motor holding brake... 322 C4901 PLC command error no. 1..................... 434
C3900 Command Holding brake resurfacing.... 322 C4902 PLC command error no. 2..................... 434
C3901 Resurfacing of holding brake only C4903 PLC command error no. 3..................... 434
possible with drive enable................................. 425 C4904 PLC command error no. 4..................... 435
C3902 Error during resurfacing of holding C4910 PLC command timeout.......................... 435
brake................................................................. 425
592/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
C5200 Communication phase 4 transition C7600 Command Create parameter image...... 329
check................................................................. 324 C7601 Memory access impossible................... 451
C5300 sercos: Command SYNC delay C7602 Slave access impossible....................... 451
measurement.................................................... 325 C8000 SMO: Command Apply scaling............. 329
C5301 sercos: Delay measurement failed........ 435 C8001 SMO: Invalid scaling parameters -
C5600 Command Subsequent optimization >S-0-0423......................................................... 452
of commutation offset........................................ 325 C8002 SMO: Not allowed to apply scaling........ 452
C5601 Command requires drive enable........... 436 C8100 SMO: Command Activate configura‐
C5602 Axis blocked.......................................... 436 tion mode.......................................................... 329
C5603 Timeout: Axis in motion......................... 436 C8101 SMO: Command execution impossible. 452
C6100 Command Activate IP settings.............. 325 C8200 SMO: Command Exit configuration
C6101 Incorrect IP settings............................... 437 mode................................................................. 330
C6300 Generate type plate command.............. 326 C8213 SMO: Incorrect parameterization.......... 452
C6301 Command is password-protected.......... 437 C8214 SMO: Incorrect configuration................. 453
C6302 IDN not permissible (->S-0-0423).......... 438 C8215 SMO: Incorrect encoder/scaling con‐
C6303 Insufficient memory............................... 438 figuration........................................................... 455
C6304 Type plate unknown.............................. 439 C8300 SMO: Command Activate parameter
C6305 General type plate generation error...... 439 image................................................................ 330
C6310 Command not possible with this en‐ C8301 SMO: Incorrect parameter image.......... 455
coder type......................................................... 439 C8302 SMO: Parameter image presently
C6311 Error when accessing encoder memory 440 cannot be applied.............................................. 456
C6400 Reboot command.................................. 326 C8400 SMO: Command Apply encoder con‐
C6401 reboot command impossible................. 440 figuration........................................................... 330
C6500 Archive device data............................... 327 C8401 SMO: Impossible to apply encoder type 456
C6501 Error when creating machine archive.... 440 C8402 SMO: Impossible to apply encoder
C6502 Error when reading device data............ 441 configuration..................................................... 456
C6503 Inconsistent backup of machine ar‐ C8403 SMO: Parameter for applying encod‐
chive.................................................................. 441 er configuration invalid...................................... 457
C6504 MLD boot project not on memory card.. 442 C8500 SMO: Command Apply identification
C6600 Restore device data.............................. 327 data................................................................... 330
C6601 Error when accessing machine archive. 442 C8501 SMO: Impossible to apply axis identi‐
C6602 Error when writing device data.............. 443 fication............................................................... 457
C6604 Error when reading device data............ 444 C8502 SMO: Impossible to apply TUNID......... 457
C6605 Device data incompletely restored........ 444 C8600 SMO: Command Measure position
C6606 PLC user program is active................... 445 difference.......................................................... 330
C6700 Update of device data........................... 327 C8601 SMO: Encoder evaluation is inactive..... 458
C6701 Error when accessing update archive... 445 C9100 Confirm power section configuration
C6702 Error when writing device data.............. 446 command.......................................................... 330
C6703 Warning - Incomplete update of de‐ C9101 Confirm power section configuration
vice data............................................................ 447 command error.................................................. 458
C6704 Machine archive is not up-to-date......... 448 C9900 Service function command.................... 331
C6706 PLC user program is active................... 449 C9901 Command execution impossible........... 459
C6800 Control command device data archiv‐ CFG..................................................................... 45
ing..................................................................... 328 charg................................................................... 47
C7000 CCD: Command adjust slave ad‐ CM....................................................................... 45
dresses............................................................. 328 Commutation offset setting............................... 316
C7001 CCD: Impossible to adjust slave ad‐ CON.................................................................... 45
dresses............................................................. 449 Confirm SMO-Identification?............................. 495
C7100 CCD: Command Close ring................... 328 Connection error mains choke, F8813.............. 469
C7101 CCD: Impossible to close ring............... 449 Contactor control error, F2834.......................... 466
C7200 CCD: Command Apply I/O configura‐ Contactor monitoring error, F2837.................... 466
tion.................................................................... 328
C7201 CCD: Impossible to apply I/O config‐ D
uration............................................................... 450 DC bus charging active, A0503........................ 461
C7400 CCD: Switching to phase 2................... 328 DC bus quick discharge active, A0520............. 461
C7401 CCD: Impossible to switch to phase 2... 450 DCC.................................................................... 45
C7500 CCD: Switching to phase 4................... 329 Detailed Diagnostics........................................... 43
C7501 CCD: Impossible to switch to phase 4... 450
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 593/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
Device overload shutdown, F8057.................... 468 E2058 Selected positioning block has not
Diagnostic display been programmed............................................. 295
KCU02 (LED H49, H52.1…H54).................. 481 E2059 Velocity command value limit active...... 296
KMV (LED H14)........................................... 483 E2061 Device overload prewarning.................. 296
KSM/KMS (LED H14).................................. 472 E2063 Velocity command value > limit value.... 298
Diagnostic Memory............................................. 43 E2070 Acceleration limit active......................... 298
Documentation E2074 Encoder 1: Encoder signals disturbed... 299
Additional documentations............................. 28 E2075 Encoder 2: Encoder signals disturbed... 300
Overview........................................................ 28 E2076 Measuring encoder: Encoder signals
Reference documentations............................ 28 disturbed........................................................... 301
Drive system....................................................... 33 E2077 Absolute encoder monitoring, encod‐
er 1 (encoder alarm)......................................... 301
E E2078 Absolute encoder monitoring, opt.
E2001 Diagnostic trace S-0-1303.0.10 over‐ encoder (encoder alarm)................................... 302
flow warning...................................................... 277 E2079 Absolute enc. monitoring, measuring
E2005 One-time telegram failure, power encoder (encoder alarm)................................... 302
section parallel bus........................................... 278 E2086 Prewarning supply module overload..... 303
E2004 Performance load prewarning thresh‐ E2092 Internal synchronization defective......... 303
old exceeded..................................................... 277 E2099 Power section warning.......................... 304
E2009 Synchronous velocity command val‐ E2100 Positioning velocity of master axis
ue > limit value.................................................. 278 generator too high............................................. 304
E2010 Position control with encoder 2 not E2140 CCD error at node................................. 305
possible............................................................. 279 E2667 Machine archive is not up-to-date......... 305
E2011 PLC - Warning no. 1.............................. 279 E2810 Drive system not ready for operation..... 305
E2012 PLC - Warning no. 2.............................. 280 E2811 Overtemp. in mains connection mod‐
E2013 PLC - Warning no. 3.............................. 280 ule/soft start module.......................................... 306
E2014 PLC - Warning no. 4.............................. 280 E2814 Undervoltage in mains........................... 306
E2015 PLC - Warning no. 5.............................. 281 E2816 Undervoltage in power section.............. 307
E2016 PLC - Warning no. 6.............................. 281 E2818 Phase failure
E2017 PLC - Warning no. 7.............................. 282 VM E2818.................................................... 462
E2020 Differing DC bus voltages with paral‐ E2819 Mains failure.......................................... 307
lel connection.................................................... 282 E2820 Braking resistor overload prewarning.... 307
E2021 Motor temperature outside of meas‐ E2822 Mains connection temperature moni‐
uring range........................................................ 282 toring defective.................................................. 308
E2022 Collective warning of power section...... 283 E2829 Not ready for power on.......................... 308
E2023 Current unbalance in parallel connec‐ E2834 Switching off via OFF input.................... 309
tion.................................................................... 283 E2841 Prewarning: Mains connection over‐
E2024 Device blower defective......................... 283 temperature....................................................... 309
E2026 Undervoltage in power section.............. 284 E3112 Safe reference missing.......................... 275
E2031 Encoder 1 warning: Signal amplitude E3113 Prewarning: End of reference posi‐
incorrect............................................................ 284 tion check time interval..................................... 275
E2037 Excessive position command differ‐ E3115 Prewarning, end of brake check time
ence warning..................................................... 285 interval.............................................................. 276
E2040 Device overtemperature 2 prewarning.. 286 E3460 PROFIsafe: Wrong F-module selected.. 276
E2042 Encoder 2 warning: Encoder signals E4006 Communication module overload.......... 267
incorrect............................................................ 287 E4009 Invalid addressing actual value data
E2043 Measuring encoder warning: Encoder container A........................................................ 268
signals incorrect................................................ 288 E4008 Invalid addressing command value
E2048 Low battery voltage (encoder)............... 288 data container A................................................ 268
E2049 Positioning velocity >= limit value.......... 289 E4005 No command value input via master
E2050 Device overtemp. prewarning................ 290 communication.................................................. 266
E2051 Motor overtemp. prewarning.................. 291 E4002 RTD telegram failure............................. 265
E2053 Target position out of travel range......... 292 E4007 sercos: Consumer connection failed..... 267
E2054 Not homed............................................. 293 E4001 Sync telegram failure............................. 265
E2055 Feedrate override S-0-0108 = 0............ 294 E4010 Slave not scanned or address 0............ 268
E2056 Torque limit = 0...................................... 294 E4011 Communication watchdog: Overload
of cyclic communication.................................... 269
594/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
E4012 Maximum number of CCD slaves ex‐ F0A8 (CiA): F3101............................................ 184
ceeded.............................................................. 269 F0A9 (CiA): F3112............................................ 184
E4013 Incorrect CCD addressing..................... 270 F0AA (CiA): F3115............................................ 185
E4014 Incorrect phase switch of CCD slaves... 270 F0AB (CiA): F3119............................................ 185
E4016 CCD: Topology error............................. 271 F0AC (CiA): F3131........................................... 186
E4017 CCD: Unknown I/O configuration.......... 271 F0AD (CiA): F3132........................................... 186
E4020 sercos: Ring interruption (FF to LF)....... 272 F0AE (CiA): F3134............................................ 187
E4021 CCD: Not all slaves support SWC......... 272 F0AF (CiA): F3141............................................ 188
E4040 sercos: Hot-plug error............................ 273 F0B0 (CiA): F3142............................................ 189
E4041 sercos: HP0 Cycle Time invalid............. 273 F0B1 (CiA): F3150............................................ 189
E4042 sercos: HP0 MDT length invalid............ 273 F0B2 (CiA): F3151............................................ 190
E4043 sercos: HP0 AT length invalid............... 274 F0B3 (CiA): F3152............................................ 190
E4044 sercos: HP0 MTU size invalid................ 274 F0B4 (CiA): F3153............................................ 190
E4045 sercos: HP0 NRT window invalid.......... 274 F0B5 (CiA): F3304............................................ 192
E4046 sercos: HP supported removed............. 274 F0B6 (CiA): F3360............................................ 192
E4047 sercos: HP enabled removed................ 275 F0B7 (CiA): F3450............................................ 193
E8025 Overvoltage in power section................ 253 F0B8 (CiA): F3451............................................ 194
E8026 Undervoltage in power section.............. 253 F0BA (CiA): F4150............................................ 182
E8027 STO/SBC while drive enabled............... 254 F0BB (CiA): F7010............................................ 143
E8028 Overcurrent in power section................. 254 F0BC (CiA): F7011........................................... 143
E8029 Positive position limit exceeded............. 255 F0BD (CiA): F7012........................................... 144
E8030 Negative position limit exceeded........... 256 F0BE (CiA): F7013............................................ 145
E8034 Emergency-Stop activated.................... 257 F0BF (CiA): F7014............................................ 145
E8040 Torque/force actual value limit active.... 257 F0C0 (CiA): F7020............................................ 146
E8041 Current limit active................................. 258 F0C1 (CiA): F7030............................................ 149
E8042 Both travel range limit switches acti‐ F0C2 (CiA): F7031............................................ 149
vated................................................................. 258 F0C3 (CiA): F7032............................................ 150
E8043 Positive travel range limit switch acti‐ F0C4 (CiA): F7033............................................ 151
vated................................................................. 259 F0C5 (CiA): F7034............................................ 151
E8044 Negative travel range limit switch ac‐ F0C6 (CiA): F7035............................................ 152
tivated............................................................... 260 F0C7 (CiA): F7050............................................ 153
E8055 Motor overload, current limit active........ 261 F0C8 (CiA): F7051............................................ 155
E8057 Device overload, current limit active...... 261 F0C9 (CiA): F7052............................................ 156
E8058 Drive system not ready for operation..... 262 F0CA (CiA): F7100........................................... 157
E8260 Torque/force command value limit F0CC (CiA): F8027........................................... 108
active................................................................. 263 F0CD (CiA): F8300........................................... 122
E8300 SMO: Error within the safety zone......... 264 F0CE (CiA): F8301........................................... 123
E8399 Error in processing of diagnostic F0CF (CiA): F8302............................................ 123
message........................................................... 264 F0D0 (CiA): F8303............................................ 124
E8802 PLL is not synchronized F0D1 (CiA): F8304............................................ 124
VM E8802.................................................... 462 F0D2 (CiA): F8313............................................ 125
E8814 Undervoltage in mains F0D3 (CiA): F8314............................................ 125
VM E8814.................................................... 463 F0D4 (CiA): F8315............................................ 127
E8815 Overvoltage in mains F0D5 (CiA): F8316............................................ 127
VM E8815.................................................... 463 F0D6 (CiA): F8319............................................ 128
E8818 Phase failure F0D7 (CiA): F8320............................................ 128
VM E8818.................................................... 463 F0D8 (CiA): F8321............................................ 128
E8819 Mains failure.......................................... 264 F0D9 (CiA): F8323............................................ 129
Electric drive system........................................... 33 F0DA (CiA): F8324........................................... 129
Error Memory...................................................... 43 F0DB (CiA): F8330........................................... 130
Error messages of serial communication.......... 249 F0DC (CiA): F8350........................................... 130
Error supply shutdown, F2840.......................... 467 F0DD (CiA): F8351........................................... 131
Error/Diagnostic Memory.................................... 43 F0DE (CiA): F8352........................................... 132
F0DF (CiA): F8353............................................ 132
F F0E0 (CiA): F8354............................................ 133
F0A6 (CiA): F3010............................................ 183 F0E1 (CiA): F8355............................................ 134
F0A7 (CiA): F3100............................................ 184 F0E2 (CiA): F8356............................................ 134
F0E4 (CiA): F8359............................................ 134
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 595/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
Index
F2175 Loss of encoder 2 reference.................. 237 F3119 Error in initialization of P-0-3212............ 185
F2176 Loss of measuring encoder reference... 238 F3131 Control error, safe inputs of HSZ........... 186
F2177 Encoder 1 modulo limitation error.......... 238 F3132 SDL validation error............................... 186
F2178 Encoder 2 modulo limitation error.......... 239 F3134 Dynamization time interval incorrect...... 187
F2179 Modulo limitation error of measuring F3135 Zone bus error....................................... 188
encoder............................................................. 239 F3141 Operating status selection validation
F2190 Incorrect Ethernet configuration............. 240 error.................................................................. 188
F2191 No automatic CCD slaves IP configu‐ F3142 Activation time of enabling control ex‐
ration................................................................. 241 ceeded.............................................................. 189
F2270 Analog input, wire break........................ 241 F3150 Safety zone module: Temperature
F2802 Error in mains synchronization.............. 241 monitoring error................................................. 189
F2802 PLL is not synchronized F3151 Safety zone module: 24 volt error.......... 190
VM F2802.................................................... 464 F3152 Safety zone module: DYN error............. 190
F2813 Mains connection function error............. 242 F3153 Safety zone module: SZE/SZA error..... 190
F2814 Undervoltage in mains........................... 242 F3165 Faulty SMO reference signal................. 191
VM F2814.................................................... 464 F3166 Reference position check failed............. 191
F2815 Overvoltage in mains............................. 243 F3167 Encoder evaluation warning.................. 192
VM F2815.................................................... 464 F3304 SMO: System error................................ 192
F2816 Softstart fault power supply unit............. 243 F3360 SMO: Local I/O system error................. 192
F2817 Overvoltage in power section F3450 CSS stack error..................................... 193
VM F2817.................................................... 465 F3451 FSoE stack error.................................... 194
F2818 Phase failure.......................................... 244 F3452 FSoE stack connection error................. 195
VM F2818.................................................... 465 F3460 PROFIsafe error.................................... 195
F2819 Mains failure.......................................... 244 F3461 PROFIsafe connection error.................. 196
F2820 Braking resistor overload....................... 244 F4009 Bus failure.............................................. 175
F2821 Error in control of braking resistor.......... 245 F4004 Error during phase progression............. 174
F2822 Mains connection temperature moni‐ F4005 Error during phase regression............... 174
toring defective.................................................. 246 F4003 Invalid communication phase shutdown 174
F2825 Switch-on threshold braking resistor F4006 Phase switching without ready signal.... 175
too low............................................................... 246 F4002 RTD telegram failure.............................. 172
F2833 Ground fault in motor line F4001 Sync telegram failure............................. 172
VM F2833.................................................... 466 F4011 Communication watchdog: Overload
F2834 Contactor control error........................... 247 of cyclic communication.................................... 177
VM F2834.................................................... 466 F4012 Incorrect I/O length................................ 177
F2835 Mains contactor wiring error F4016 PLC double real-time channel failure..... 178
VM F2835.................................................... 466 F4017 sercos: Incorrect sequence during
F2836 DC bus balancing monitor error............. 247 phase switch..................................................... 178
F2837 Contactor monitoring error F4019 sercos: Incorrect sequence upon
VM F2837.................................................... 466 phase start........................................................ 179
F2840 Error supply shutdown F4020 sercos: Cable break (L+F to NRT)......... 179
VM F2840.................................................... 467 F4034 Emergency-Stop activated..................... 180
F2841 Shutdown: Mains connection over‐ F4140 CCD communication error..................... 181
temperature....................................................... 248 F4141 CCD: IO configuration changed............. 181
F2860 Overcurrent in mains-side power sec‐ F4142 CCD: Ring buffer overflow..................... 181
tion.................................................................... 249 F4150 CSAL error............................................. 182
VM F2860.................................................... 468 F6002 Assignment of encoder for synchroni‐
F2890 Invalid device code zation is not allowed.......................................... 158
VM F2890.................................................... 468 F6005 Cam table invalid................................... 161
F2891 Incorrect interrupt timing F6004 Error in MotionProfile............................. 159
VM F2891.................................................... 468 F6006 Incorrect initialization of effective
F2892 Hardware variant not supported master axis position.......................................... 161
VM F2892.................................................... 468 F6008 Internal overflow when calculating
F3010 SMO: IO mapper inputs error................ 183 positioning profile.............................................. 162
F3100 F3 test error during machine accept‐ F6003 Motion step skipped............................... 159
ance test........................................................... 184 F6001 Non-fatal system error........................... 158
F3101 Axis validation missing........................... 184 F6007 Switching to non-initialized operation
F3112 Safe reference missing.......................... 184 mode................................................................. 161
F3115 Brake check time interval exceeded...... 185 F6010 PLC runtime error.................................. 162
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 597/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
F6024 Maximum braking time exceeded.......... 163 F8014 Automatic commutation: Overcurrent.... 103
F6028 Position limit value exceeded (overflow) 164 F8015 Automatic commutation: Timeout.......... 104
F6029 Positive position limit exceeded............. 165 F8016 Automatic commutation: Iteration
F6030 Negative position limit exceeded........... 166 without result..................................................... 104
F6034 Emergency-Stop activated..................... 167 F8017 Automatic commutation: Incorrect
F6042 Both travel range limit switches acti‐ commutation adjustment................................... 105
vated................................................................. 167 F8018 Device overtemperature shutdown........ 105
F6043 Positive travel range limit switch acti‐ F8022 Enc. 1: Enc. signals incorr. (can be
vated................................................................. 168 cleared in ph. 2)................................................ 106
F6044 Negative travel range limit switch ac‐ F8025 Overvoltage in power section................ 107
tivated............................................................... 169 F8027 STO/SBC while drive enabled............... 108
F6058 Internal overflow by positioning input..... 169 F8028 Overcurrent in power section................. 108
F6059 Incorrect command value direction F8033 Ground fault in motor line...................... 109
when positioning............................................... 170 F8034 Communication error, power section
F6140 CCD slave error (emergency halt)......... 171 modules............................................................ 109
F6200 Velocity command value > standstill F8042 Encoder 2 error: Signal amplitude in‐
window in SOS.................................................. 171 correct............................................................... 110
F7009 Homing velocity exceeded..................... 142 F8044 Device-internal module communica‐
F7010 Safely-limited increment exceeded........ 143 tion disturbed.................................................... 110
F7011 SMP, SLP: Safe position limit value, F8055 Incorrect processing of diagnostic
positive exceeded............................................. 143 message........................................................... 111
F7012 SMP, SLP: Safe position limit value, F8057 Device overload shutdown
negative exceeded............................................ 144 VM F8057.................................................... 468
F7013 Velocity threshold exceeded.................. 145 F8060 Overcurrent in power section................. 111
F7014 Timeout in safely-monitored transient F8064 Interruption of motor phase.................... 112
oscillation.......................................................... 145 F8069 Error in device-internal power supply.... 113
F7015 SMO: Cross data comparison error....... 146 F8070 Control voltage failure............................ 113
F7020 Safe maximum speed exceeded........... 146 F8071 Overvoltage of control voltage............... 114
F7023 SLE: Safe position limit value, posi‐ F8076 Error in error angle loop......................... 115
tive exceeded.................................................... 147 F8078 Speed loop error.................................... 115
F7024 SLE: Safe position limit value, nega‐ F8079 Velocity limit value exceeded................. 116
tive exceeded.................................................... 148 F8091 Power section defective......................... 117
F7030 Position window for safe operating F8099 Fatal error in power section................... 118
stop exceeded................................................... 149 F8100 Error when initializing the parameter
F7031 Incorrect direction of motion.................. 149 handling............................................................ 118
F7032 Forced zone safety................................ 150 F8102 Error when initializing power section..... 119
F7033 Safety zone module: Hardware error..... 151 F8118 Invalid power section/firmware combi‐
F7034 Safety zone module: SDL error............. 151 nation................................................................ 120
F7035 Zone bus error....................................... 152 F8120 Invalid control section/firmware com‐
F7050 Maximum transition time exceeded....... 153 bination............................................................. 120
F7051 Safely-monitored deceleration excee‐ F8122 Control section defective....................... 121
ded.................................................................... 155 F8128 Error when initializing an optional in‐
F7052 Selected target velocity exceeded......... 156 terface............................................................... 121
F7100 F7 test error during machine accept‐ F8129 Incorrect optional module firmware........ 121
ance test........................................................... 157 F8140 Fatal CCD error..................................... 122
F8003 Communication error with mains con‐ F8300 Dynamization pulse width incorrect....... 122
nection module.................................................. 100 F8301 Error when checking selection signals... 123
F8000 Fatal hardware error................................ 99 F8302 Error when checking switch-off chan‐
F8001 Telegram failure, power section par‐ nels STO/SBC................................................... 123
allel bus............................................................... 99 F8303 System error STO/SBC......................... 124
F8010 Autom. commutation: Max. motion F8304 SMO: System error................................ 124
range when moving back.................................. 100 F8313 SMO: Incorrect parameterization........... 125
F8011 Commutation offset could not be de‐ F8314 SMO: Incorrect configuration................. 125
termined............................................................ 101 F8315 SMO: Error in encoder initialization....... 127
F8012 Autom. commutation: Max. motion F8316 SMO: Incorrect change of system state. 127
range................................................................. 102 F8319 SMO: INIT system error......................... 128
F8013 Automatic commutation: Current too F8320 SMO: Invalid module/firmware combi‐
low..................................................................... 102 nation................................................................ 128
598/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
Index
KMS02 PL........................................................................ 46
H14 LED...................................................... 472 PLC ?.................................................................. 49
H25 H26 LED............................................... 476 PLC error.................................. 203, 204, 205, 206
KMV03 PLL is not synchronized, E8802....................... 462
LED H14...................................................... 483 PLL is not synchronized, F2802........................ 464
KSM02 PM....................................................................... 46
H14 LED...................................................... 472 PO....................................................................... 46
H25 H26 LED............................................... 476 PRM.................................................................... 46
Protective extra-low voltage................................ 37
L
Lb........................................................................ 47 R
LB........................................................................ 47 Reference documentations................................. 28
LED RL....................................................................... 46
H2................................................................ 487 RTO..................................................................... 46
H14 (KMV)................................................... 483 Run PLC............................................................. 50
H14 (KSM/KMS).......................................... 472
H25 and H26................................................ 489 S
H25 H26 (KSM/KMS)................................... 476 SAFE................................................................... 46
H49, H52.1…H54 (KCU02).......................... 481 Safety instructions for electric drives and
HAT02.......................................................... 493 controls............................................................... 33
HNA05......................................................... 491 SCM.................................................................... 46
Hxx05........................................................... 491 sercos service channel error codes.................. 249
Mains connection module HNA05................ 491 Service hotline.................................................. 511
Optional safety technology module.............. 489 SMES.................................................................. 46
Safety zone module HSZ01......................... 487 SMM.................................................................... 46
Load new Safety?............................................... 50 SMST1................................................................ 46
SMST2................................................................ 46
M SOP.................................................................... 46
Mains contactor wiring error, F2835................. 466 Starting/stopping the PLC after booting.............. 49
Means of representation State-of-the-art.................................................... 31
Conventions of notation................................. 27 STO..................................................................... 46
Notations........................................................ 27 Stop PLC............................................................. 49
Notes.............................................................. 27 Supply module in operation, A0502.................. 461
Supply module in voltage control, A0500.......... 461
O Support............................................................. 511
OM...................................................................... 45 Synchronous motor........................................... 316
OP....................................................................... 45
Operating states.................................................. 45 T
Hxx05............................................................. 46 TFTP ErrorFrame.............................................. 498
Supply unit..................................................... 46 01: Incorrect filename in read request......... 498
Overcurrent in mains-side power section, 02: Unknown filename in write request........ 498
F2860................................................................ 468 03: Update not allowed - Axis still in OM..... 498
Overvoltage in mains, E8815............................ 463 04: Update not allowed - Loader unavail‐
Overvoltage in mains, F2815............................ 464 able.............................................................. 498
Overvoltage in power section, F2817............... 465 05: Internal flash access error (driver as‐
sign)............................................................. 498
P 06: Internal flash access error (driver re‐
P0........................................................................ 45 lease)........................................................... 498
P1........................................................................ 46 07: Error during programming data.............. 498
P2........................................................................ 46 08: FWA file error - incorrect IBF format...... 498
P3........................................................................ 46 09: FWA file error - Hardware not suppor‐
P4........................................................................ 46 ted................................................................ 498
PA....................................................................... 46 10: Error during data verification.................. 498
PELV................................................................... 37 11: FWA file error - CRC checksum in‐
Phase failure, E2818......................................... 462 correct.......................................................... 498
Phase failure, E8818......................................... 463 12: File error - incorrect data length............. 498
Phase failure, F2818......................................... 465 20: FWA read not allowed - axis still in OM. 499
600/601 Bosch Rexroth AG DOK-INDRV*-GEN1-DIAG**-RE09-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Index
U
Undervoltage in mains, E8814.......................... 463
Undervoltage in mains, F2814.......................... 464
Unknown operating mode, A0800..................... 462
Use
Appropriate use.............................................. 31
Inappropriate use........................................... 32
V
VM AF............................................................... 462
VM charg........................................................... 461
VM E2818......................................................... 462
VM E8802......................................................... 462
VM E8814......................................................... 463
VM E8815......................................................... 463
VM E8818......................................................... 463
VM F2802......................................................... 464
VM F2814......................................................... 464
VM F2815......................................................... 464
VM F2817......................................................... 465
VM F2818......................................................... 465
VM F2833......................................................... 466
VM F2834......................................................... 466
VM F2835......................................................... 466
VM F2837......................................................... 466
VM F2840......................................................... 467
VM F2860......................................................... 468
VM F2890......................................................... 468
VM F2891......................................................... 468
VM F2892......................................................... 468
VM F8057......................................................... 468
VM F8813......................................................... 469
VM F9004......................................................... 469
VM Lb................................................................ 461
VM ZKS............................................................. 461
Z
ZKS..................................................................... 47
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P Bosch Rexroth AG 601/601
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Diagnostic Messages
Notes
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 9352 18 0
Fax +49 9352 18 8400
www.boschrexroth.com/electrics
*R911326738*
R911326738
DOK-INDRV*-GEN1-DIAG**-RE09-EN-P