4 Device settings
4.1 Behaviour in case of error
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Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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Tip!
It is reasonable to set a value ≥"4" in 0x10F1:2
to tolerate a failed PDO and prevent two PDO
failures in a row.
The following table lists some possible settings:
From version 01.02, an extrapolator is available in the i700 servo inverter for the motor control
which can extrapolate the setpoints for one cycle. If two PDO frames fail in a row, no extrapolation
takes place anymore. The last value is frozen.
Monitoring to EtherCAT line interruption
This monitoring mode generally checks whether there is an EtherCAT line interruption.
• If this is the case, the i700 servo inverter changes to the "Safe-Operational" status and triggers
an error (CiA402 error code 0x8181).
• This monitoring mode cannot be configured and functions with and without "Distributed Clock
mode" (DC mode).
0x10F1 - ECAT: Behaviour in case of error
Permitted PDO failures in a row Monitoring threshold (0x10F1:2)
0 1 ... 2
1 4 ... 5
2 7 ... 8
3 10 ... 11
Response of the device in the event of an error
Sub. Name Lenze setting Data type
1 Local Error Reaction 2: Device-specific status UNSIGNED_32
2 Synchronisation: Error threshold 20 UNSIGNED_32
Subindex 1: Internal device response
Selection list (Lenze setting printed in bold) Info
2 Device-specific status An error response is carried out by the i700 servo inverter
only.
Write access CINH OSC P RX TX UNSIGNED_32
Subindex 2: Synchronisation: Error threshold
Setting for PDO frame failure detection
• If the internal frame failure error counter reaches the value set here, the Servo-Inverter i700 changes to the
"Safe-Operational" status and triggers an error (CiA402 error code 0x8700).
• From version 01.04, the PDO frame failure detection is activated in the Lenze setting "20".
Setting range (min. value | unit | max. value) Lenze setting
03220
Write access CINH OSC P RX TX UNSIGNED_32
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