8600 Master Encoder comm. not possible

Description

Refer to Diagnostic class (standard): 3

An error is detected while exchanging data with the SinCos master encoder via the serial interface of the encoder.

 CAUTION
INCORRECT ENCODER POSITIONING
Reset the PacDrive controller after you have acknowledged the 8600 Master Encoder comm. not possible error.
Failure to follow these instructions can result in injury or equipment damage.

Cause

Solution

Wiring error: The encoder cable is not plugged in correctly or is inoperable.

  • Verify the encoder cable and replace if necessary.

  • Reset the PacDrive controller.

Data is exchanged using the serial interface of the encoder during the functions FC_PhyEncGetPosition(), FC_PhyEncResetEncoder() and FC_PhyEncSetPosition().

The actual data exchange is performed by the system task (TASK_TYPE_PHY_ENC_JOB_Server). If the function is active, this task must query the serial interface on a regular basis (usually < 2 ms). Insufficiently allocated processing time may result in data loss.

The TASK_TYPE_PHY_ENC_JOB_Server system task runs at IEC priority 5 (same as system priority 225). If the above functions in the tasks are called with a priority of 1 to 4, this issue may result when the processing requirements are too high.

  • Verify and correct if necessary the cycle time.

  • Reset the PacDrive controller.

Example:

The FC_PhyEncGetPosition() function is triggered from a task with a priority of 4. The task normally requires 2.5 ms for processing. Increase the priority of the system task from 225 (or priority 5) to 224 (or priority 4) for example. FC_SetTaskPriority(lTaskType:=TASK_TYP_PHY_ENC_JOB_Server, lPriority:=224);

Cause

Solution

Detected hardware error: The SinCos encoder is inoperable.

  • Replace the encoder.

  • Reset the PacDrive controller.

Detected hardware error: The PacDrive LMC is inoperable.

Replace the controller.