REXROTH VisualMotion 9 - 566 Filter Sample Rate and Cutoff Frequency Mismatch; 567 ELS Config. Error, See Ext. Diag

3-50 Monitoring and Diagnostics VisualMotion 9 Troubleshooting Guide
DOK-VISMOT-VM*-09VRS**-WA02-EN-P
Remedy:
Refer to the extended diagnostics for details. Extended diagnostics can
be viewed by selecting Diagnostics ⇒
⇒⇒
⇒ System in VisualMotion Toolkit.
Extended Diagnostics C-0-0124 Description
Measuring wheel config error, S-0-0386
not found
This message appears if an invalid drive
firmware is used.
Optional encoder not configured as
measuring wheel encoder, P-0-0185
P-0-0185 is not set to 3 (Optional Encoder
as Measuring Wheel)
Encoder type 2 not configured, P-0-0075 Improper configuration of P-0-0075
Table 3-18: Axis %d: Configuration Error Extended Diagnostics
566 Filter sample rate and cutoff frequency mismatch
To ensure a stable system when using feedback device as a positioning
signal for a Real master or PID loop, the following calculation should be
used for the Digital Filter Cutoff Frequency.
Cutoff Frequency <
1
2 * Sampling Rate(sec.)
The sampling rate for a Real Master axis is the set phase 4 SERCOS
cycle time (S-0-0002), entered in seconds.
The sampling rate for a PID loop is the set PID Loop Time, entered in
seconds.
This error will be issued and the cutoff frequency will be set to the
maximum allowed value if the equation is violated.
567 ELS Config. Error, see ext. diag.
Due to the nature of rotary motion, the proper operation of ELS is limited
to velocities less than 180° per SERCOS cycle. Therefore, both the
generation and processing of motion in ELS are being limited to velocities
less than 180° per SERCOS cycle.
The maximum ELS velocity limit is calculated as a function of the current
SERCOS cycle time.
SERCOS
Cycle Time
Max. ELS Velocity Limit
(180° / SERCOS Cycle)
Max. ELS Velocity Limit
Less 1 RPM
2 ms 15,000 RPM 14,999 RPM
4 ms 7,500 RPM 7,499 RPM
8 ms 3,750 RPM 3,749 RPM
16 ms 1,875 RPM 1,874 RPM
Table 3-19: Maximum ELS Velocities
Cause:
The maximum velocity VM#_MAX_VEL (where # = Virtual Master
number) for the specified Virtual Master exceeds the Maximum ELS
Velocity for the current SERCOS cycle time. This error is issued with an
extended diagnostic.