Cause

This message is sent if CpuDrv detects an error in the phase value of the position transducer.

Some transducers require a specific phasing procedure after the transducer is started or alarmed.

Other types, such as the EnDat, must have the phase value stored in their internal nonvolatile memory by the corresponding IMD autotuning procedure

<axis>

Axis number (1-32)

<name>

Device type name (IMD, EC2-A).

From RTE 34.28.04, the device name is EC Drive

Output condition

Emergency: 7320h 01h 0000481700h

Effect

Resets the corresponding axis bit in the c0_done variable to zero

What to do

Alarm mask

am[<axis>].9

Alarm par prominent

Alarm type

ExtDev

Notes

From RTE v34.11.3 emergency messages are handled as alarms: to disable the new handling act on bit 0 of the variable sys_cfg.

From RTE v34.24.0 the alarm is also used for the EC2-A drive.

Alarm related to the SPIMD20 or EC2-A device connected on the EtherCAT network.

From RTE 34.28.04 the device name is EC Drive