Corrected from:
- i700 servo inverter V01.09.03.10964
Response of the new version:
Reading out Hiperface SinCos absolute value encoder data via axis command (0x2822 = 14) while the motor shaft is not at standstill, i.e. the speed is too high, will always be rejected with the 'HipComFaultSpeedTooHigh' error message (0x7381).
What happens?
When reading out the data of the Hiperface absolute value encoder, the 'notPossibleBecauseEncoderUnknown' error message (0xFF17) is output unexpectedly.
When does this behaviour occur?
The 'notPossibleBecauseEncoderUnknown' error message (0xFF17) will be triggered under the following conditions:
Causal relationship:
Changing the number of encoder increments (0x2C42:1) automatically starts reading out the encoder data via Hiperface communication. If the motor shaft is still rotating while the data is being read out, the 'HipComFaultSpeedTooHigh' error message (0x7381) will be triggered as expected. As long as the motor shaft continues rotating, reading out will be started again and again. During reading out, the type code (0x2C41:1) will be temporarily set to 0.
Reading out the Hiperface encoder data will be started in parallel (asynchronously) via the axis command (0x2822=14).
The axis command monitors if 'Type code unequal 0' and will cancel the process with the 'notPossibleBecauseEncoderUnknown' error message (0xFF17) if type code = 0 is detected twice in a row at an interval of one second.
Which products are affected?
- i700 servo inverter
Short-term measures:
Only read out the encoder data via the axis command when the motor shaft is at standstill and with a sufficient time between reading out the encoder data and changing the number of increments of the Hiperface absolute value encoder.
Evaluation/recommendations:
Under normal operating conditions, the number of increments of the Hiperface absolute value encoder will in general not be changed, but only set once during commissioning.
In practical operation, the above-described behaviour will occur rather rarely.
