I am currently designing a decentralized drive line with a customer and would appreciate your technical feedback on our safety concept.

System Architecture: 1x XCU and 12x IndraDrive Mi (KSM02).

Master Communication: EtherCAT.

Safety Setup:

-          Drive 1 (First Axis): KSM02 with SafeMotion (SD) option, controlled via FSoE.

-          Drives 2 to 11: KSM02 with STO (L3) option .

-          Drive 12 (Last Axis): KSM02 with SafeMotion (SD) option, controlled via FSoE.

-           All Axis are on the same Safety Zone

Is this configuration possible?

Is it possible to use the digital outputs on connector X141 (X141.1 and X141.2) on the first SafeMotion axis (Drive 1 with SD) to select the "Safe Torque Off (STO)" signal for the L3 axes (Drives 2–11)?

Thanks for your feedback.

Daniel

We have an application using 160Kw EFC5610 to run and control a 200KW motor.

Intermittently we are getting diagnosis 9 SC surge current.

It is possible to operate the motor up to the full speed of 1790 rpm without error occurring.

So therefore we have discounted the suggested causes of failure for motor Short Circuit or Inverter module failure.

Parameter set attached

Any thoughts?

Thanks in advance

I'm dealing with a persistent F2087 – Module group communication error on a single IndraDrive unit and I'm hoping someone has seen this before.

Drive details:

• Drive: HCS01.1E-W0018-A-03-B-ET-EC-NN-NN-NN-FW

• Firmware: FWA-INDRV*-MPB-20V32-D5-1-NNN-NN

• Communication: EtherCAT, connected to a ctrlX CORE

What happened:
The drive ran fine for a period, then the F2087 fault started appearing sporadically. Over time it became constant and non-resettable — even after restarting the EtherCAT bus, the ctrlX CORE, and the drive itself.

What we've already checked:

• EMC, grounding, and cabling have all been verified

• A second identical machine (same setup, FW MPB-20V26) runs without any issues

• The fault is isolated to this one drive

• The drive was swapped with a replacement unit — the fault did NOT follow the drive, meaning the replacement drive runs without issues in the same position

This points away from a pure hardware defect on the original drive and suggests something in the setup, configuration, or firmware may be the cause.

Has anyone experienced F2087 becoming non-resettable like this, and if so, what was the root cause?

Thanks in advance!

We are experiencing an intermittent fault on specific axes of the machine, the error occurs randomly. When we connected on the drive, everything seems ok.

When we try to reset the fault from the ctrlX webserver an other error occur.

Currently we need to power off the machine to get out of this situation.

Any advice ?

I am making some torque measurments on a protoype to see if I can consider downsizing an axis. That is why I need to be sure of the values and units.

With the following settings in the drive :

The torque is calculated as follow :

T = M / (Factor * 10^Exponent)

T : actual torque in [Nm]

M : arAxisStatus_gb[1].Data.ActValues.Torque

• So if M = 3, the actual torque T in [Nm] is : 3 / (1 * 10^-2) = 300 Nm ?

• What is the "Resolution" used for, is it the outcome of the Factor and Exponent parameters ?

• With this setting the output value must be divided by the "Resolution" value ?

I checked the documentation but the description of the parameters couldn't answer these interrogations.

Torque/force data scaling: Type (0x2906:01 / S-0-0086 / --) - Bosch Rexroth Product Information Portal

Thanks in advance for your support.

Thomas

it is observed that the Timezone could not be assigned while assigning the timer to ctrlX OS in ctrlX 04Vrs, requires manual assignment.. This was not noticed till ctrlX 03 vrs.

I was failed to call OpcUA method in PLC my PLC Program and get a Type Mismatch error even though I didn't get any error ID for the input/output arguments.

What I have done:

1. Use Datalayer Web UI to directly call method -> Works

2. Use UA.TestClient to call method -> Works

3. Use PLC CXA_OpcUaClient UA_MethodCall -> Failed
   From my OpcUA Server it shows method is executed. But PLC side get BadTypeMismatch error. All errorIDs_inputArgs and errorIDs_outArgs are shown as no-error.

Questions:

1. Does PLC OpcUA support multiple output arguement?

2. Could it be type mismatch and how to fix this error?
   Here is what I type mapping I use.
   UA_STRING -> STRING
   UA_FLOAT with array size 7 -> ARRAY OF [0..6] REAL

Version Info

PLC Engineering v3.6.4

PLC App v3.6.3

ctrlX OS v3.6.4

PLC Library: OpcUA Client v3.6.8

Method Info

datalayer address: "opcuaclient/PLCVGR/i=85/ns=1;s=LumiScanVGR/ns=1;s=GetBestResult"

0 input arguments

2 output arguments: string, float[7]

Code Snippet

// Declaration
InputArgumentsCount:     UINT;
OutputArgumentsCount:    UINT;
inArgs_empty: ARRAY[1..MAX_ELEMENTS_ARGUMENT] OF PLCVariable;
outArgs_returnCode: ARRAY[1..MAX_ELEMENTS_ARGUMENT] OF PLCVariable; 
outArgs_getBestResult: ARRAY[1..MAX_ELEMENTS_ARGUMENT] OF PLCVariable;
outVal_returnCode: STRING := '                   ';
outVal_bestPose: ARRAY [0..6] OF REAL;
errorIDs_inputArgs:  ARRAY [1..MAX_ELEMENTS_ARGUMENT] OF ErrorCodes; 
errorIDs_outArgs: ARRAY [1..MAX_ELEMENTS_ARGUMENT] OF ErrorCodes; 

// Partial Implementation
// Calling empty method, one input, one output method has already succeed.
	InputArgumentsCount  := 0;
	OutputArgumentsCount := 2;

	fbMethodCall(
	  Execute:= TRUE,
	  ConnectionHdl:= dwConnectionHandle,
	  MethodHdl:= aMethodHdls[9],
	  Timeout:= T#30S,
	  ValidateOutputArguments:= ValidateResults.Tolerant, 
	  InputArgumentsCount:= InputArgumentsCount, 
	  OutputArgumentsCount:= OutputArgumentsCount,
	  InputArguments:=inArgs_empty ,
	  OutputArguments:= outArgs_getBestResult,
	  OutputArgumentsErrorIDs=>errorIDs_outArgs ,
	  InputArgumentsErrorIDs=> errorIDs_inputArgs);
	  
	IF fbMethodCall.Error THEN
	  str_ErrorCode:=GetNameOfErrorCode(dwErrorCode:= fbMethodCall.ErrorID);
	  str_AddErrorInfo := fbMethodCall.ErrorString;
	  fbMethodCall(
		  Execute:= FALSE,
		  OutputArgumentsCount:= OutputArgumentsCount,
		  InputArguments:=inArgs_empty ,
		  OutputArguments:= outArgs_getBestResult,
		  OutputArgumentsErrorIDs=>errorIDs_outArgs ,
		  InputArgumentsErrorIDs=> errorIDs_inputArgs);
		state:=999;
	END_IF
	IF fbMethodCall.Done = TRUE THEN
	  fbMethodCall(
		  Execute:= FALSE,
		  OutputArgumentsCount:= OutputArgumentsCount,
		  InputArguments:=inArgs_empty ,
		  OutputArguments:= outArgs_getBestResult);
	  state := 70;
	END_IF

Example of what method will return

thanks and best regards,

Chih-Peng Chang