Diagnostics and Error Messages 5-1
SERCANS SERCOS interface assembly
Diagnostics and Error Messages
5.1
Overview:
In the event of certain faults or exceptional situations, the program branches into specific error routines with defined responses:
Internal error
The internal hardware components are checked after switching on the
SCS assembly.
Possible errors are displayed via the 7 segment display "r".
System error
For system errors, the system parameter, "system error" is set and
transmitted to the NC control unit via the value 0x4000 in the interrupt
status register.
The error code is entered in parameter Y-0-0011.
SERCANS always switches to phase 0 in the event of a system fault, making error recovery possible. Once the fault is cleared, SERCANS starts a
new phase runup.
Axis-specific error
For axis-specific errors, the diagnostics status is set and transmitted to
the NC control unit with the value 0x01nn via the interrupt status register
(nn: axis structure bit). Some axis-specific errors also cause a system
error.
SERCANS remains in its current phase with system errors making error
recovery possible. Once the fault has been cleared, then either the control
unit or the user interface must activate a phase switch.
Example for error handling for axis specific error in the NC:
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iv
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r
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urI8
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hirpyrhrqurvrurqvr
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vr
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fehlerbehandlung_nc.wmf
Fig. 5-1: Example for error handling for axis specific error in the NC
DOK-SERCAN-SER-05VRS**-AW01-EN-P
5-2 Diagnostics and Error Messages
SERCANS SERCOS interface assembly
reset status
display 8
system error
error free
internal error
-> P0, Y-0-0015 = E001
display 0, 1, 2,
3, b, 5, 6, 7
display r
clear error
interrupt status Y-0-0011
register 0x4000
clear error
axis specific error
--interrupt status axes diagnosis
register 0x01nn display h
SESAN050.FH7
Fig. 5-2: System states
5.2
List of Diagnostics and Error Messages
Diagnoses and error messages are displayed via the LED and the 7segment display.
LED Diagnostics
The table below lists the diagnostics and error messages signalled to the
LEDs:
M1 or H3ERR
DL4
DL5
DL6
LED
yell.
LED
green
LED
red
Function
7-Seg.
LED
red
8.
off
Reset applied
off
End of reset
Internal error:
reset assemblies
on
Distortion display: the brightness of the red LED is a measure of the distortion of the optical input signal (see below).
Transmitter active: If assembly is transmitting telegrams into
SERCOS ring, then yellow LED (DL3) lights up.
on
Interrupt: Interrupt request from the SCS-V to the control unit.
on
Data access: The control unit is accessing the SCS-V assembly.
on
SYSFAIL:The SCS-V assembly is reset via bit 3 in control reg.
7. It activates SYSFAIL signal on VME bus.
only with SCS-V01.x
Fig. 5-3: LED diagnoses
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Diagnostics and Error Messages 5-3
SERCANS SERCOS interface assembly
Distortion Display (LED of M1 or H3ERR Display)
The distortion LED must be off at normal operation.
Possible error causes at lighting LED:
Drive switched off.
Fiber optic cable defective.
Optical transmission power of last drive before SERCANS wrongly
adjusted.
Hardware defect of SERCANS or drive.
Test mode activated (see "Test Mode", section 3.14).
Diagnoses on the 7 Segment Display
The following lists the diagnostics and fault messages of the 7 segment
display:
Error Free Case
M1
7-Seg.
Systemstatus
(see Fig. 9-3)
status message in system parameter
"system status" (Y-0-0015)
0xE001
phase 0
0xE011
phase 0, phase changeover active
0xE002
phase 1
0xE012
phase 1, phase changeover active
0xE003
phase 2
0xE013
phase 2, phase changeover active
0xE004
phase 3
0xE014
phase 3, phase changeover active
0xE005
phase 4: "ready"
5.
0xE006
test mode: zero bit stream
6.
0xE007
test mode: continuous light
0xE008
fiber optic ring not closed
8.
0x0000
reset
Fig. 5-4: Error free case
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5-4 Diagnostics and Error Messages
SERCANS SERCOS interface assembly
System Error
When having system errors an interrupt is initiated with 0x4000 in the
interrupt status register (see Fig. 6-4 Interrupt status register).
M1
7 seg.
Error in
phase
Reaction
System error
(see Fig. 9-3)
error messages in system parameter
"system error" (Y-0-0011)
phase 0
0x8005
drive address not correct
3-4
phase 0
0x8007
double AT failure
3-4
phase 0
0xF008
double MST failure
1-4
phase 0
0x8009
fiber optics cable disconnected
phase 0
0xF001
configuration error (command/actual value channel)
phase 0
0xF002
error in time slot calculation
0-4
phase 0
0xF003
incorrect phase from NC
0-4
phase 0
0xF004
SERCANS: internal error
phase 0
0xF005
lifecounter error
phase 0
0xF006
copy times too long
phase 0
0xF007
checksum error (Y parameter)
2-4
phase 0
0xF008
input signal SYNCIN failed
0-4
none
0xF009
error when storing system parameters or system parameter changed, the check of the minimum / maximum
values failed
0-4
none
0xF00A
one or several parameters are write protected (see
"Control Commands in Interrupt Register", section 6.2)
Fig. 5-5: System error
Axis Specific Error
When having specific errors an interrupt is initiated with 0x01nn (nn: axis
structure bit) in the interrupt status register.
M1
7 seg.
Error in
phase
Reaction
Diagnostics
status
Error messages in diagnostics text of the eight axis
(see Fig. 9-8) specific diagnostics channels (see Fig. 9-8)
2-4
phase 0
0x8006
HS timeout
phase 2
0xD002
changeover phase 2 -> 3 not possible
phase 3
0xD003
changeover phase 3 -> 4 not possible
2-4
phase 2-4
0xD004
command in drive cannot be executed
0-1
phase 0-1
0xC003
command channel presently not active
2-4
phase 2-4
0xD001
drive error (class 1 diagnostics, S-0-0011)
Fig. 5-6: Axis specific error
DOK-SERCAN-SER-05VRS**-AW01-EN-P
SERCANS SERCOS interface assembly
5.3
Diagnostics and Error Messages 5-5
Status Message Definitions
Display "0" : Phase 0 or phase 0, phase transition active
SERCANS sets communication phase 0.
Display "1" : Phase 1 or phase 1, phase transition active
SERCANS sets communication phase 1.
Display "2" : Phase 2 or phase 2, phase transition active
SERCANS sets communication phase 2.
Display "3" : Phase 3 or phase 3, phase transition active
SERCANS sets communication phase 3.
Display "b" : Phase 4 "ready to operate"
SERCANS sets communication phase 4. Power can be switched on and
the drives can be moved.
Display "5." : Test mode: Zero bit stream
Test mode "zero bit stream" was selected.
Reaction from SERCANS
SERCANS sends a zero bit stream and prevents phase runup.
Cause
Test mode activated via DIP switch SD1 switch 1.
Remedy
Set DIP switch SD1 switch 1 to off position.
Display "6." : Test mode: Continuous light
Test mode Continuous light was selected.
Reaction from SERCANS
SERCANS sends continuous light and prevents phase runup.
Cause
Test mode activated via DIP switch SD1 switch 2.
Remedy
Set DIP switch SD1 switch 2 to off position.
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5-6 Diagnostics and Error Messages
SERCANS SERCOS interface assembly
Display "7" : Fiber optic ring not closed
After a hardware reset from SERCANS the SERCOS ring was not closed.
SERCANS cannot receive ten sequential MST telegrams of phase 0.
Reaction from SERCANS
SERCANS remains in state fiber optic ring not closed until the fiber optic
ring is closed. It then conducts a runup itself into target phase (see parameter "phase initiation" Y-0-0014).
Cause
Fiber optic cable transposed or not correctly screwed on.
Fiber optic cable ring defective.
Data rate of drives and SERCANS have different settings.
The optical transmission power (for SERCANS see parameter
Y-0-0016) of a user on the SERCOS ring is set inadequate.
Drive defective.
Remedy
Check all fiber optic cables.
Check data rates,
SERCANS: see parameter Y-0-0003,
Drive: see manual of drive manufacturer
Optical transmission power of all users on SERCOS ring must be adjusted to the actual fiber optic cable length.
Display "8." : Reset
SERCANS is in reset. Communication with SercTop not possible.
Reaction from SERCANS
-
Cause
The control has not set bit 0 in config-register 2 or PC control register.
Remedy
Set bit 0 in config register 2 or PC control register or set reset behavior
to automatic runup (see "Reset Logic", section 3.9).
DOK-SERCAN-SER-05VRS**-AW01-EN-P
SERCANS SERCOS interface assembly
5.4
Diagnostics and Error Messages 5-7
Definition of Error Messages
Display "C" : Double AT failure or double MST failure
SERCANS did not receive two consecutive drive telegrams (AT) or did
not receive two consecutive master synchronization telegrams (MST)
from a drive.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
Fiber optic cable not correctly screwed on.
Fiber optic cable defective.
Drive defective.
The optical transmission power (for SERCANS see parameter
Y-0-0016) of a user on the SERCOS ring is set inadequate.
Remedy
Check all fiber optic cables.
Optical transmission power of all users on SERCOS ring must be adjusted to the actual fiber optic cable length.
Display "d" : NC/MMI service channel HS timeout
A drive has not toggled bit 0 in the drive status word (service transport
handshake) within ten SERCOS cycles as a result of a query via the service channel.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
Drive defective.
Remedy
Replace drive.
Contact Customer Service of the drive manufacturer.
DOK-SERCAN-SER-05VRS**-AW01-EN-P
5-8 Diagnostics and Error Messages
SERCANS SERCOS interface assembly
Display "E" : Transition: Phase2 3 not possible
SERCANS cannot switch from phase 2 to 3.
Reaction from SERCANS
SERCANS retains the transition command set and ends phase runup.
The diagnosis of the relevant drive is written into the diagnostics channel.
Cause
At least one drive refuses to move into phase 3 with command "communication phase 3 transition check" (S-0-0127).
Remedy
Clear error in drive affected (see help guidelines from drive manufacturer).
Display "F" : Transition: Phase 3 4 not possible
SERCANS cannot conduct phase transition from phase 3 to 4.
Reaction from SERCANS
SERCANS retains the transition command set and ends phase runup.
The diagnosis of the relevant drive is written into the diagnostics channel.
Cause
At least one drive refuses to move into phase 4 with command "communication phase 4 transition check" (S-0-0128).
Remedy
Clear error in drive affected (see help guidelines from drive manufacturer).
Display "H" : Command in drive cannot be executed or command
channel presently not activated
The NC has activated a SERCOS command via the command channel of
SERCANS. This cannot be executed in the relevant drive.
Reaction from SERCANS
SERCANS retains the command set and writes the diagnosis of the relevant drive into the diagnostics channel.
Cause
Diagnosis status D004: An error occurred in the drive during command
execution.
Diagnosis status C003: The NC has tried to start a command in phases 0 or 1.
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SERCANS SERCOS interface assembly
Diagnostics and Error Messages 5-9
Remedy
Diagnosis status D004: Check whether the limit conditions are correct
so that the drive can conduct the command.
Diagnosis status C003: Switch into communication phase 2 or 4 and
restart the command.
Display "h" : Drive error
A drive signals a drive error by setting the static status bit in drive status
for class 1 diagnostics.
Reaction from SERCANS
The diagnosis of the relevant drive is written into the diagnostics channel.
Cause
An error has occurred in the drive.
Remedy
Evaluate parameter "class 1 diagnostics" (S-0-0011), "diagnostic message" (S-0-0095) and "diagnostic message number" (S-0-0390) and then
eliminate the cause of the problem.
Display "A" : Drive addresses not correct
The phase changeover from phase 0 to phase 1 cannot be executed because the drive addresses entered in "list of drive addresses" (Y-0-0012)
could not be found in the ring.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
At least one drive address has been entered in Y-0-0012 which could
not be found in the ring.
After SERCANS detected that the fiber optic ring was closed, it was
broken in phase 1 again.
Remedy
Check drive addresses. It is allowed to have drive addresses in the
ring that are not entered in the "list of drive addresses" (Y-0-0012).
Check the fiber optic ring.
Check data rates,
SERCANS: see parameter Y-0-0003,
Drive: see application description of the drive manufacturer.
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5-10 Diagnostics and Error Messages
SERCANS SERCOS interface assembly
Display "L" : Fiber optics cable disconnected
The fiber optic ring was broken after it was recognized that it was closed.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
Fiber optic cable ring defective.
The optical transmission power (for SERCANS see parameter
Y-0-0016) of a user on the SERCOS ring is set inadequate.
Drive defective.
Remedy
Check all fiber optic cables.
Optical transmission power of all users on SERCOS ring must be adjusted to the actual fiber optic cable length.
Display "n" : Configuration error (command/actual value channel)
An error has occurred while configuring the cyclic telegram data with the
entries from command/actual value channel.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
Too many command or actual values have been configured.
Bit 15 has been set in Y-0-0039 or Y-0-0040 and the length entered in
low byte is too large.
Remedy
Reduce the amount of cyclic data (see parameters S-0-0016,
S-0-0024 in the drives).
Clear Y-0-0039 or Y-0-0040 or change the length of command or actual value channel.
DOK-SERCAN-SER-05VRS**-AW01-EN-P
SERCANS SERCOS interface assembly
Diagnostics and Error Messages 5-11
Display "o" : Error in time slot calculation
While calculation times for SERCOS transmission in phase 4, an error
occurred.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
The configured command or actual values are not supported by at
least one drive (see parameter Y-0-0021 - Y-0-0036) because the parameter number is not present or cannot be cyclically configured (see
parameter S-0-0187, S-0-0188).
The command value generator has been activated in SERCANS and a
mode set for which SERCANS wants to automatically cyclically configure parameters for cyclic transmission that are not present in the
drive or cannot be configured cyclically (see parameter S-0-0187,
S-0-0188). For example, some drives do not support "drive-internal
interpolation".
Remedy
Check whether the parmeters entered in relevant command and actual
value channels are allowed by the drive for cyclic transmission. (see
parameters Y-0-0021 - Y-0-0036 and parameters S-0-0187, S-0-0188)
Command value generator must be switched off or a different mode
selected.
Display "P" : Incorrect phase from the NC
The NC has set a target phase as SERCOS phase that is unequal to 0, 1,
2, 3 or 4.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
A target phase was set in parameter "phase initiation" (Y-0-0014) unequal
to 0, 1, 2, 3 or 4 and the command "change phase" (value 0x2000) triggered in the interrupt control register.
Remedy
Write a valid phase into parameter "phase initiation" (Y-0-0014).
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5-12 Diagnostics and Error Messages
SERCANS SERCOS interface assembly
Display "r" : SERCANS: Internal error
An internal error has occurred on SERCANS.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
Internal hardware test routines have not been properly completed.
Remedy
Chip enable signal of DPR for NC has to go to high when SERCANS is
switched on. If NC is not connected, then apply +5 volts to chip enable
signal with pull up resistor (10kOhm).
Contact Customer Service.
Display "U" : Error in lifecounter
NC and SERCANS monitor the transmission of new command and actual
values in each NC cycle. SERCANS increments the "Lifecounter SERCANS" (Y-0-0019) for this purpose and the NC does the same for "lifecounter NC" (Y-0-0020). The difference between the two is greater than
the maximum lifecounter differcence (Y-0-0018).
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
The NC is not using the "lifecounter NC" (Y-0-0020) properly.
Remedy
Check NC program.
If NC not connected: switch lifecounter monitoring off, to do so write 0
into Y-0-0018.
DOK-SERCAN-SER-05VRS**-AW01-EN-P
SERCANS SERCOS interface assembly
Diagnostics and Error Messages 5-13
Display "u" : Copy times too long
The copying of the actual values of the drive into the DPR is not yet completed at the time when the copying of the command values out of the
DPR into the MDT is to start. (S-0-0006 + transmission time of last AT +
Y-0-0037 > S-0-0089 - Y-0-0010, see "Synchronization", section 3.10).
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
Too many command values configured.
Too many actual values configured.
SERCOS cycle time too small for the number of real-time data to be
transmitted.
"Data rate" (Y-0-0003) too small to transmit the amount of data in the
cycle time.
Remedy
Configure fewer command values.
Configure fewer actual values.
Increase "SERCOS cycle time" (Y-0-0004).
Increase "data rate" (Y-0-0003).
Display "y" : Checksum error (Y parameter)
SERCANS checks all Y parameters for validity by means of a checksum.
Each parameter that passes this check, is entered in the "list of invalid Yparameters" (Y-0-0042).
Reaction from SERCANS
Communication phase 0 is set.
Cause
New SERCANS firmware has been downloaded.
EPROM defective.
Remedy
Write valid values into the parameters in "list of invalid Y-parameter"
(Y-0-0042).
Contact Customer Service.
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5-14 Diagnostics and Error Messages
SERCANS SERCOS interface assembly
Display "c" : Input signal SYNCIN failed
The exchange of real time data via the DPR between SERCANS and the
NC is synchronized by the synchronous master. If the NC is the "synchronous master" (Y-0-0002), then the SERCANS monitors the SYNCIN signal.
Reaction from SERCANS
Phase changeover back to communication phase 0.
Cause
The SYNCIN signal from the NC failed or is incorrect (see "Synchronization", section 3.10).
Remedy
Check the SYNCIN signal of the NC.
Check whether SYNCOUT mode is possible (SERCANS is synchronous master).
Display "J" : Error with system parameter storage
In interrupt control register the command "system parameter changed"
(value 0x0800) or command "store system parameters" (value 0x1000)
has been activated. An error occurred during this procedure.
Reaction from SERCANS
The activated command was not executed.
Cause
At least one parameter was detected as invalid during the plausibility
check. The invalid parameter is entered in the "list of invalid Y-parameters" (Y-0-0042).
Remedy
All parameters in "list of invalid Y-parameters" (Y-0-0042) must be chekked and valid values entered.
DOK-SERCAN-SER-05VRS**-AW01-EN-P
