Table of Contents
DSS user interface
3–8
3.5
Important drive commands
3.5.1
Changing phases
When a drive is switched on, the rho robot control makes sure that the drive
passes 3 initialization phases until normal mode is reached in phase 4.
When the bus link is missing, the drive stops in phase "0".
Possible phases:
Various parameters can only be changed in certain initialization phases.
Therefore, during commissioning, you first have to switch the drive to the re-
quired phase before changing such parameters. Otherwise, you will receive
a fault message of the type "Date of parameter xy currently write-protected".
"Unable to change date of ...", or " ID number xy is unknown".
When the drive has been booted, the DSS has to be given authority for
phase change-over prior to the first phase change:
From this moment and until the drive is booted again, only the DSS can
change the phases of this drive instead of the rho control!
This condition is indicated in the "module configuration display" in the "DSS
master" area by the checked "phase" field (cf. figure on page 6–1).
Changing to the higher next phase:
D menu sequence
CONTROL " PHASE " INCREMENT, or
D click on
in the icon bar.
.
If you change the drive to phase 4 despite a rho communication
fault, error message F10 (communication error) will be displayed at
the inverter after a few seconds.
Clear the error message by specifying phase 0, 1, 2 or 3 again and
executing the "Reset class 1 error" command (cf. page 3–10).
You should not plug in the CAN cable unless the parameter down-
load on the rho has been deactivated, or after all parameters of the
P7xx group have been determined and transmitted to rho!
Changing back to phase 0:
D menu sequence
CONTROL " PHASE " DECREMENT, or
D click on
in the icon bar.
active phase
0
1
2
3
4
1070 066 037-101 (00.02) GB
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