GIDDINGS & LEWIS

PiC Application Note

Document Number: AN000042 Topic: SERCOS TROUBLE SHOOTING GUIDE

This guide provides the logical steps to bring a G & L SERCOS drive and other type of SERCOS drives through communication phases with the iC ro for !indows software" and also e#plains the use of SERCOS enhancement features in SERCOS Setup$ SERCOS ring connection The SERCOS module on the iC rac% can be & or '(ring module$ )f it*s a two(ring module then the ring on the right side" user is facing the module from the front" is ring & and the other one is ring '$ The port with gray color is the receiver port$ The white color port is the transmitter$ The same color code e#ists on the SERCOS drive$ +n easy way to remember this is that light is transmitted from light to dar%$ Connect the fiber optic cable from the transmitter port of the SERCOS module to the receiver port of the first drive, then from the transmitter port of first drive to receiver port of the second drive and so on up to - drives per ring$ .inally" connect the cable from the transmitter port of the last drive to the receiver port of the SERCOS module$ The light from the fiber optic cable can be seen if the cables are connected properly from one drive to another through the transmitter port after initiating SERCOS in the L/O scan$ Error 0'1 will be generated from ERR output of SCR2ERR function bloc% if cables are not connected properly" the drives will indicate phase 1 on the led display at the top of the drive$ Drive addressing
The rotary switch on top o the !ri"e is #se! to set the a!!resses or the !ri"es in the SE$C%S rin&' The a!!resses o the !ri"es ha"e to (e set ro) * to + (#t they !on,t ha"e to (e in n#)erical or!er' Each !ri"e )#st ha"e its own a!!ress' The a!!ress chan&es on the rotary switch will ta-e e ect only a ter the !ri"e power is cycle!' Do not lea"e any two !ri"es with the sa)e a!!ress in the rin&' Communication phases SE$C%S )#st &o thro#&h . co))#nication phases/
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Close the rin& in phase 04 I!enti y a5es in phase *4 Loa! co))#nication para)eters in phase 24 Loa! other para)eters in phase 04 E5chan&e cyclic !ata in phase 4' Initiating SERCOS in the Control The SC6INIT is calle! in the LD% pro&ra) with a transitional contact' SC6INIT sho#l! only (e calle! once' The %PTN inp#t or SC6INIT )#st (e 7ero' The #sers ha"e the option to stop the !ri"e in phase 2' So)e para)eters can only (e written in phase 2' The para)eter re8#ire)ents are co)pletely !epen!ent on the SE$C%S !ri"e (ein& #se!' In SE$C%S set#p4 stop in phase 2 an! 2 9(a#! are the !e a#lt set#p' :sers can choose to stop in phase 2 or not an! #se the !ri"e at 2 or 4 9(a#! (y clic-in& on the selection (o5' Typical settin&s are 4 9(a#! an! !o not pa#se in phase 2' I #sers !eci!e to loa! !ri"e para)eters in phase 2 this can (e acco)plishe! #sin& the start#p IDN list e5plaine! in the PiCPro So tware )an#al' SERCOS setup features The %nline;)en# in SE$C%S set#p contains power #l tools or tro#(le;shootin&' The $in& State #p!ates the stat#s o the SE$C%S rin&4 SE$C%S )o!#le ir)ware "ersion n#)(er4 an! the last co))#nication phase co)plete!' The Sla"e Stat#s3Control #p!ates the stat#s o the control an! stat#s wor! or a &i"en a5is' It is a &oo! i!ea to :ploa! Dri"e In or)ation as soon as the co))#nication has (een esta(lishe! s#ccess #lly to phase 2 or 4' This nee!s to (e !one only once or each !ri"e' This option allows the #sers to loa! all IDNs that are s#pporte! (y the !ri"e into the PC' The ile can (e "iewe! ro) the "iew )en#' The ile is store! in a stan!ar! co))a separate! te5t4 <CS=> or)at' The ilena)e with the e5tension 'cs" will ha"e all the a"aila(le IDN in or)ation/ IDN n#)(er4 na)e4 attri(#tes4 #nits4 )ini)#) "al#e4 )a5i)#) "al#e4 an! operation !ata' The so tware will loo- into this 'cs" ile to chec- or e5istin& IDNs an! their li)its each ti)e when #sers recei"e or sen! !ata into the !ri"e' The so tware will #se the ile to !eter)ine what eat#res are s#pporte! an! )ay not allow the #ser to select eat#res which are #ns#pporte! (y the !ri"e' $ecei"e I!ns an! $ecei"e Contin#o#s (oth rea! in or)ation ro) the !ri"e' The !i erence (etween the) is that $ecei"e Contin#o#s only allows #sers to rea! operation !ata4 #sers can rea! se"eral IDNs at a ti)e an! rea! the) contin#o#sly' $ecei"e I!ns allows #sers to rea! operation !ata4 lists or arrays4 an! also strin&s' $ecei"e I!ns can only rea! one IDN at a ti)e' Sen! I!ns option allows #sers to sen! operation !ata into the !ri"e' This tool is #se #l or pro&ra))er to !o tro#(le shootin&4 t#nin& the !ri"e4 etc'
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$e er to the PiCPro or Win!ows so tware )an#al or )ore in or)ation a(o#t these an! other eat#res' In ta(le * so)e o the pro(le)s which )ay (e enco#ntere! are e5plaine!' Ta(le *' Co))#nication tro#(le;shootin& Last Phase Possible Problem Completed Phase 0' Chec- to see i SE$C%S i(er optic ca(les connect properly an! are the correct type' S9A;?0. connectors sho#l! (e #se! with a *)) apperat#re' The (a#! rate )ay not (e the sa)e in the control an! the !ri"e' hat to loo! for and possible solution Loo- or re! li&ht on the trans)it ro) the control an! ret#rnin& to the recei"e' The ca(le )#st (e re)o"e! to see the li&ht' There are in!icator li&hts on the Cent#rion SE$C%S !ri"e' The re! LED will (e o i there is li&ht at the recei"e connection' Loo- in SE$C%S set#p' The !e a#lt settin& or the Cent#rion !ri"e is 4 9(a#!' Chec- to see i the rin& is !e ine! correctly in the SE$C%S set#p' Chec- the SC6INIT E$$ o#tp#t' Chec- to see i the SE$C%S )o!#le is in the slot in!icate! in SE$C%S set#p' Loo- at the scan li&ht on the control it will (e lit i the scan is r#nnin&' Chec- the a!!ress o all sla"e !e"ices an! co)pare the) to the selecte! a!!resses in SE$C%S set#p' Chec- to see i pa#se at phase 2 option in SE$C%S set#p selecte!' $ea! IDN S2* or in"ali! list o IDNs' Chan&e the operation !ata or those IDNs within "al#e ran&e an! insert those IDNs in the E!it Sla"e Start#p List' $ea! S*+ to !eter)ine i there are speci ic IDNs which )#st (e sent' Chec- to see i phase 0 co))#nication chec- passe! $ea! IDN S22 or in"ali! list o IDNs' Chan&e the operation !ata or those IDNs within "al#e ran&e an! insert those IDNs in the E!it Sla"e Start#p List' Also rea! IDN S*? to (e s#re all

The PiC?00 SE$C%S )o!#le )ay (e in the wron& slot' The scan in the control )ay not (e r#nnin&' Phase * Possi(le errors in phase 2 The a!!ress )ay (e incorrect' SC$6E$$ o#tp#ts !on,t show any error (#t the phase always stops at 2' The !ri"e )ay re8#ire a!!itional IDNs to (e set#p (e ore contin#in& to the ne5t phase4 or an in"ali! "al#e )ay ha"e (een sent'

Phase 0

The !ri"e )ay re8#ire a!!itional IDNs to (e set#p (e ore contin#in& to the ne5t phase4 or an in"ali! "al#e )ay ha"e (een sent

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Last Phase Completed

Possible Problem

The ir)ware in the control or !ri"e )ay not (e c#rrent

hat to loo! for and possible solution IDNs re8#ire! in phase 0 ha"e (een sent' Chec- to see i phase 4 co))#nication chec- passe!' Chec- to see i the SE$C%S ir)ware is co)pati(le with the c#rrent "ersion o PiCPro' PiCPro *0'* an! *0'2 #se SE$C%S ir)ware "ersion 2'*' PiCPro "ersion **'0 #ses ir)ware "ersion 2'2' :se %nline4 $in& State option to checor the ir)ware "ersion c#rrently #ses (y the SE$C%S )o!#le' SE$C%S )o!#le ir)ware can (e #p!ate! #sin& Downloa! @e5 option ro) the online )en#'

"unction bloc!s#$D"%s from PiCPro motion&lib for SERCOS A#nction (loc-s an! ASAB,s can also (e #se #l in tro#(leshootin& SE$C%S' SCA6$E=C allows #sers to rea! !ata o"er ser"ice channel' Data trans er can ta-e se"eral interr#pts to co)plete' This #nction (loc- is si)ilar to the $ecei"e IDN option in SE$C%S set#p' SCA6SEND allows #sers to sen! !ata o"er ser"ice channel' This wor-s the sa)e as Sen! I!n option in SE$C%S set#p' SC$6E$$ is #se! to chec- or co))#nication error' The o#tp#ts will show the sla"e n#)(er4 IDN n#)(er4 an! the type o error' All the SCS6CCCC #nction (loc-s wor- with the SE$C%S a5is an! all the SCA6CCCC #nction (loc-s wor- with the ser"o SE$C%S a5is' 96S$C$DL allows #sers to rea! a list #p to 400 IDNs ro) the !ri"e an! store in a te5t ile or)at' This :DAB #nctions si)ilar to :ploa! Dri"e I!ns ile ro) SE$C%S set#p option' 96S$CWTL allows #sers to sen! the list #p to 400 IDNs to the !ri"e a ter it,s e!ite!' 96S$CWT allows #sers to sen! #p to . IDNs to the !ri"e' This :DAB #nctions the sa)e as Sen! I!ns option in the SE$C%S set#p' 96S$C9%N allows #sers to rea! #p to . IDNs contin#o#sly' This :DAB #nctions the sa)e as $ecei"e Contin#o#s option in the SE$C%S set#p'

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96S$CP$C allows #sers to e5ec#te a proce!#re co))an!' This :DAB #nctions the sa)e as E5ec#te Proce!#re C9D option in SE$C%S set#p' Ser'o setup The ser"o a5is can (e initiali7e! only a ter co))#nications ha"e s#ccess #lly co)plete! phase 4' Both ee!(ac- an! o#tp#t type in ser"o set#p are SE$C%S' With PiCPro **4 #sers also ha"e to speci y whether the !ri"e is Cent#rion or other types o !ri"e' $e er to ST$TSE$= #nction (loc- in the A#nction3A#nction Bloc- $e erence G#i!e or error an! tro#(le shootin& with ser"o initiali7ation errors' Closing the ser'o loop The ena(le or SCA6CL%S #nction sho#l! (e !elaye! (y .0 )s a ter the ser"o initiali7ation4 <ST$TSE$=> #nction is calle!' Error D0 will (e &enerate! i the SCA6CL%S #nction (loc- is ena(le! too soon' The loop will not close4 in!icate! (y the CLSL%%PE #nction #ntil the !ri"e ena(le switch is )a!e' Se"eral o the SE$C%S #nctions ha"e an SE$$ o#tp#t in!icatin& a SE$C%S relate! error has occ#rre!' Ta(le 2 in!icates the error n#)(er an! so)e possi(le ca#ses o the pro(le)' List of SERCOS errors

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Table (& List of SERR errors

SERR # 3145

Description This )/6 does not e#ist$

Explanations Tips The )/6 is being read or written to isn*t supported by the SERCOS drive$ 7ave the drive in either phase ' or phase 3$ Select the Online from SERCOS setup$ 8pload the drive )/6s file for that particular drive and use it in SERCOS setup so that the controller can refer to the $csv file for e#isting )/6s$ The data in the )/6 is read only$ 8sually" )/6s cannot be accessed are used in communication by the iC controller and the drive$ /rive manufacturers have fi#ed data for some )/6s and they cannot be written to$ Contact Giddings & Lewis Technical Support and drive manufacturers$ )/6 doesn*t have a name associate with it$ Refer to the SERCOS specification for )/6 names and detailed description of )/6s$ Contact Giddings & Lewis Technical Support Contact Giddings & Lewis Technical Support )/6 name can*t be changed$ rogrammers may not change the name$ )/6 name can*t be changed$ rogrammers have to use the default name$ Contact Giddings & Lewis Technical Support Contact Giddings & Lewis Technical Support )/6 attribute cannot be changed$ rogrammers have to use the default attribute$ )/6 attribute cannot be written to in phase 3$ Refer to the )/6 manual to see if the )/6 is write protected$

3&19

The data for this )/6 may not be accessed$

-&4:

The name does not e#ist

-&43 -&49 -&4; -&45 &''41 &''4& &''4' &''4:

The name transmission is too short The name transmission is too long The name may not be changed The name is write(protected The attribute transmission is too short The attribute transmission is too long The attribute may not be changed The attribute is write protected at this time

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SERR # &;:-9

Description The units do not e#ist

Explanations Tips )/6 data does not have units associated with it$ Refer to the upload $csv file or SERCOS specification for )/6s that do and do not have units$ Contact Giddings & Lewis Technical Support Contact Giddings & Lewis Technical Support )/6 units cannot be changed$ rogrammers have to use default units$ The )/6 units cannot be written to in phase 3$ Refer to the )/6 manual to see when the )/6 may be written$ )t may be possible to pause the SERCOS drive in phase ' and insert it in the Edit Slave /ata in the SERCOS setup$ )/6 does not have a minimum value$ Contact Giddings & Lewis Technical Support Contact Giddings & Lewis Technical Support )/6 minimum value cannot be written to$ The default value cannot be changed )/6 minimum value can*t be written to$ Refer to the )/6 manual to see when the )/6 may be written )/6 doesn*t have ma#imum value$ Contact Giddings & Lewis Technical Support Contact Giddings & Lewis Technical Support )/6 ma#imum value can*t be written to$ The default value cannot be changed )/6 ma#imum value can*t be written to$ Refer to the )/6 manual to see when the )/6 may be written + two(byte data is being written to a four(byte memory location$ Change the data length to ' bytes$ + four(byte data is being written to a two(byte
1

&;:-; &;:-5 &;:-&;:-4

The units transmission is too short The units transmission is too long The units may not be changed The units are write(protected at this time

'13-& '13-' '13-: '13-3 '13-9 '3955 '395'3954 '39-1 '39-& '-;53

The minimum value does not e#ist The minimum value transmission is too short The minimum value transmission is too long The minimum value may not be changed The minimum value is write( protected The ma#imum value does not e#ist The ma#imum value transmission is too short The ma#imum value transmission is too long The ma#imum value may not be changed The ma#imum value is write( protected /ata is too short

'-;59

/ata is too long

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SERR #

Description

Explanations Tips memory location$ Change the data length to 3 bytes$

'-;5;

/ata may not be changed

/ata value is fi#ed" and it can only be read$ Refer to G & L SERCOS manual to see which )/6 can be read only" read or write in phase ' only" read or write in phase 3" and read in phase 3 only$ Some )/6s are write protected$ Chec% the reference manual to see at what phase the )/6s can be written to$ Select pause in phase ' in SERCOS set(up to write data to )/6s through Send )dns option from Online or else write it in the Edit Slave /ata in SERCOS set( up with the no pause in phase '$ <alue entered for this particular )/6 is out of its range$ The iC software will loo% into the drive idn file to chec% for the data range when data is entered$ Select view drive idns in SERCOS setup$ Enter a value that is e=ual or larger than the minimum allowed$ <alue entered for this particular )/6 is out of its range$ The iC software will loo% into the drive idn file to chec% for the data range when data is entered$ Select view drive idns in SERCOS setup$ Enter a value that is e=ual or smaller than the ma#imum allowed$ /rive manufacturers only support certain bits of some particular )/6s$ This error occurs when the controller tries to write bits aren*t supported by the drive$ Refer to the drive )/6 manual for supported bits$ Chec% the )/6 for valid bits and ma%e sure the correct bits are being sent to the drive$

'-;55

The data is write(protected at this time

'-;5-

The data is smaller than the minimum value

'-;54

The data is larger than the ma#imum value

'-;-1

The bit pattern for this )/6 is invalid

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Ta!le "# ERR # 1 &

List o$ ERR Description 6o error )/6 =ue was busy when called

Explanations Tips There is a limited number of )/6s which can be accessed at one time$ Control the number of )/6s being accessed by the program$

'

>uantity specified in the $+<+)L structure member is not large enough for received data$ +#is is not initiali?ed" is not a SERCOS a#is" or the slot@ring@slave specification is incorrect$ )nvalid data in /+T+ input structure$ Error reset function could not be completed$

The number of bytes for each )/6 received has to be counted and entered in the $+<+)L structure member in the SC+2SE6/" SC+2REC<" SCS2SE6/" SCS2REC< function$ Refer to G & L SERCOS manual for the )/6 numbers" data types" and their si?es$ Chec% the SERCOS setup and the Servo setup to ma%e sure the correct slot@ring@slave number was selected for each a#is$ Chec% to ma%e sure the a#is is initiali?ed AOB coil set from SC2)6)T and STRTSER<C in SERCOS setup and also in servo setup$ The input data structure for SC+2SE6/" SC+2REC<" SCS2SE6/" SCS2REC< are invalid$ Either wrong data type or out of acceptable range data$ SC+2ERST is used to reset the internal E2errors on the drive$ Refer to the List of SERR errors for the error number and possible solutions$ Da%e sure the SC2)6)T function is called only once and allowed to complete$ Da%e sure the SC2)6)T function is called only once and allowed to complete$ Too many )/6s are defined in SERCOS setup data$ Remove any unnecessary )/6s from the configuration list to ma%e the list smaller$ Too many )/6s are defined in SERCOS setup data$ Remove any unnecessary )/6s from the configuration list to ma%e the list smaller$

; 5 -

SERCOS ring & busy SERCOS ring ' busy SERCOS ring & configuration si?e error SERCOS ring ' configuration si?e error

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ERR # &1

Description .unction bloc% enable while already in process

&&

Eit : or bit - set in the procedure command ac%nowledgement 6ot enough pool memory available Change bit in status word was ?ero after reference complete The )/6 =ue was cleared during an )/6 transfer$ SERCOS module is unavailable for )/6 transfer because the phase(to(phase transition in progress is between phase ' and phase 3

Explanations Tips The same piece of information is being called twice$ The function bloc% didn*t have time to complete the first re=uest and was as%ed to wor% on the second re=uest$ Da%e sure the function bloc% is called only once and allowed to complete$ Either operation data invalid or procedure command error Da%e sure the setup bits and data are valid$ Contact Giddings & Lewis Technical Support Contact Giddings & Lewis Technical Support Typically caused by calling the SC2)6)T function while an )/6 is being read or written$ !ait until SC2)6)T gets done before starting to read or write to drive )/6s$ +ll of the SC+2 function bloc%s re=uired the drive to be in phase 3 and Servo a#is to be initiali?ed in order to write or receive data$ +ll of the SCR2 function bloc%s re=uired the drive to be in phase 3 in order to write or receive data$ Da%e sure drive is in phase 3 and servo a#is has been initiali?ed before calling the SC+2 function bloc%s$ Da%e sure drive is in phase 3 before calling SCR2 function bloc%s$ The iC allows the drive a certain amount of time to respond to the command$ +fter the time has passed with no response to the error is generated$ Chec% SCR2ERR function bloc% outputs for )/6s that cause conflict with the iC controller$ Refer to the communication trouble(shooting table for solutions$ The iC controller sets up communication parameter in phase '$ This communication lin% between the iC and the drive will be maintained at all time as long as the C 8 is scanning$ SERCOS cable maybe disconnected$ Da%e sure the cable connect to the right drive$

&' &: &3

&9

&;

Slave response time out

&5

The SERCOS module did not receive an e#pected +T response$

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*0

ERR # &&4

Description 6umber of SERCOS slot e=uals ?ero The SERCOS module did not receive an e#pected D/T response$

Explanations Tips SERCOS module reserved slots are from :(&:$ The iC controller set up communications parameters in phase '$ This communication lin% between the iC and the drive will be maintained at all times$ SERCOS fiber optic cables maybe damage or poorly connect$ Da%e sure SERCOS cables are properly connected to the right drive$ The SERCOS fiber optic cables are not properly connected" the baud rate on one of the devices may be incorrect" or the optic drive may not be powered on$ Da%e sure the fiber optic cable connects the transmitter to a receiver$ The baud rate is set correctly and all devices are powered on$ iC ro for !indows version &1$& & &1$' use SERCOS firmware version '$&$ iC ro for !indows version &&$1 uses SERCOS firmware version '$'$ Obtain the correct version of SERCOS firmware and use download he# from iC ro to download the firmware to the SERCOS module through the 4(pin /(Shell connector with the iC ro serial cable$ iC ro for !indows version &1$& & &1$' use SERCOS firmware version '$&$ iC ro for !indows version &&$1 uses SERCOS firmware version '$'$ Obtain the correct version of SERCOS firmware and follow the procedure outlined in the Software manual$ Recompile the SERCOS setup data with the current iC ro version$

'1

hase 1 detected that the ring is not complete$

'&

The SERCOS module firmware is outdated for the features re=uested from a newer version of the motion library$

''

The SERCOS module firmware is a newer version and the motion library is outdated and unable to interface$

':

'3

'9

The version of iC ro used to create the SERCOS setup data is outdated for the features re=uested from the library or the SERCOS module firmware$ The version of iC ro used to create the SERCOS setup data is a newer version and the library is unable to interface$ + two(ring SERCOS module was specified in SERCOS setup but the module is a one( ring SERCOS module$

Create a new SERCOS setup data with the current iC ro version$ 8se a two(ring SERCOS module or change the SERCOS setup to one(ring$

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**

ERR # :1 :& :' :: :3 :9

Description /rive status word Abit &:F&C indicates an error$ +n E(stop condition e#ists for this a#is in the iC411 )ncorrect phase number$ )ncorrect address error$ )ncorrect +T number error$ <ariable 3- is set to & and you attempt to close the loop

Explanations Tips This indicates an error has occurred in the drive$ The error can be read from the drive using )/6 S:41" S49" or )/6s S&&" S&'" and S&:$ The drive has indicated it has an error$ See ERR :1$ Contact Giddings & Lewis$ Contact Giddings & Lewis$ Contact Giddings & Lewis$ The servo software doesn*t have control over the a#is when variable 3- is set e=ual to &$ !rite 1 to variable 3- using !R)TE2S< to return the control of the a#is to servo software$ The input O T6 for SC2)6)T function bloc% must be ?ero$ There are a limited number of )/6s which may be read or written at one time$ /ata missingG !hen using SC+2RCIC and SC+2!CIC" ma%e sure that the number of byte counts for the D/T and +T in the SERCOS setup data match with the $S)HE member of the T+SB input structure$ Refer to .unction bloc% reference manual for proper use of these functions$

:; 334 91

O T6 input is invalid Service channel not ready when attempt to send@receive non(cyclic data 6o data to send or receive The value of the $S)HE member of the T+SB input structure does not match the byte count in the SERCOS module$

9&

The value of the $S)HE member of the D+)6 input structure does not match the byte count in the SERCOS module$ Error occurred calculating when D/T should occur$ Error occurred calculating when drive data valid Error occurred calculating when feedbac% data valid Error occurred calculating total time re=uired for communication cycle$

!hen using SC+2!CIC" ma%e sure that the number of byte counts for the D/T and +T in the SERCOS setup data match with the $S)HE member of the T+SB input structure$ Refer to .unction bloc% reference manual for proper use of these functions Contact Giddings & Lewis$ Contact Giddings & Lewis$ Contact Giddings & Lewis$ Contact Giddings & Lewis$

;9 ;; ;5 ;-

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*2

ERR # ;4 51 5& 5' 5: 53

Description Error occurred calculating cyclic data memory for SERCO6 processor$ Error occurred calculating cyclic data memory for internal memory map$ Error occurred calculating service channel memory map$ )ncorrect ring error$ )ncorrect +T count error$ C 8 on SERCOS module has too many tas%s during update$

Explanations Tips Contact Giddings & Lewis$ Contact Giddings & Lewis$ Contact Giddings & Lewis$ Contact Giddings & Lewis$ Contact Giddings & Lewis$ The C 8 on SERCOS module has limited time to perform re=uested tas%s for each update$ )f there are too many a#es" then the C 8 doesn*t have time to perform all the tas%s$ /ecrease the update time to a slower update rate or limit the amount of data re=uested in the service and cyclic channel per update$

&'-

&:;

&33

Slave error occurred$ Read Some )/6s cause conflict with the iC during SERR output to identify error$ communication phases$ The list of )/6s that are The SL< output indicates the invalid is stored in )/6 S''$ slave number$ Receive )dns from SERCOS setup Online to read invalid list of )/6s in )/6 S''$ /ata in those invalid )/6s are out of range or too different to cause the iC not to wor% properly$ Change the data value to an acceptable value and store them in the Edit Start 8p List in SERCOS setup$ Slave will not respond in The address on the drive is different from the address phase &$ The SL< output defined in SERCOS setup$ indicates the slave number$ Da%e sure the rotary switch set to the correct address defined in SERCOS setup$ Da%e sure the baud rate in the drive match with the baud rate in the SERCOS setup$ rocedure command error( The bits setup for procedure parameter is not The slave number can be supported by the drive$ viewed at the SL< output and the )/6 number at the )/6 Da%e sure the bits set up for the procedure command output$ are correct$

Re'ision )istor*
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Date: Fan#ary 204 2000 +uthor: Fa)es @#ynh Changes: %ri&inal

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*4