Switch FBTYPE to 4 und save with HSAVE. Then switch FBTYPE back to the correct setting.

SIL (Safety Integrity Level) always refers to a complete system.

SILCL (Safety Integrity Level, Claim Limit) refers to a part of the system only.

MTBF (Mean Time Between Failures) describes the time between to failures.

MTTF (Mean Time To Failure) describes the time up to the first failure.

If this occurs when using a linear motor, the workaround is to:

1. Switch off the field current (MIMR = 0) before starting Wake & Shake
2. Set the current value back after Wake & Shake

A solution for this issue is in process.

If the safety card switches off when a ready-to-operate (BTB) servo amplifier is enabled (HWEnable), the solution is to:

1. Evaluate the signal "STO Acknowledge" of the safety card.
2. Enable the servo amplifier after receiving this ready to operate signal from the safety card.

Sending a fault reset command (CLRFAULT) while the safety door is open can generate a safety card error. 

CLRFAULT restarts the safety card.

The start conditions are not correct in this situation because the safety door is open. Send the CLRFAULT only if the start conditions of the machine are correct, i.e. the safety door is closed.

SDO data mismatch at StartUp SDO-Upload Error 0x 1800, SI 1: expected value: 0x181, received value: 0x40000181 From Firmware 2.51 the behavior referring to the COB-ID has been adapted to the CAN standard.

As long as TwinCAT isn't updated, the former S300/S700 behavior can be reset by setting BUSP1=1.

Please check the PROFIBUS manual for this.

First you need to import the GSD file (koll045d.gsd). The PLC will then offer you the drive as SR6xx. You need to configure the 4AX and the 6AX.

For each group (4AX and 6AX) the input addresses must be the same as the output addresses. The addresses for the 6AX must directly follow the addresses for the 4AX.

At “Properties – DP-Slave” the watchdog should be activated.

You do not need to get the card out of the drive. You do need to deactivate the watchdog:

• S400/S600:  in the window "Basic Setup" set "Ext. WD." to zero.
• S300/S700:  in the window "CAN-/ Field Bus Settings" set "External Watchdog" to zero.

Does the encoder use more than 25 bits? If yes, the explanation is that former firmware versions do not support these encoders. Update as below:

S400: use version 7.xx
S600: use version 6.xx

In all likelihood the application was installed in 2004. The old motor had a built-in EnDat encoder with small memory range. Heidenhain changed the memory range of EnDat encoders in 2005 (see FAQ Feedback).

EnDat encoders with expanded memory range can be evaluated with all S300/S700 drives and with S400/S600 drives from firmware version 4.94.

For applications with firmware version lower than 4.94, the firmware version 3.67 must be loaded, which has been produced for this purpose ([[File Selector]]).

AKM motors use resolvers manufactured by Harowe. Harowe defines vibration resistance with 10G (98m/s²) and shock resistance with 50G(490m/s²).

The Heidenhain encoder series (ECI/EQI 11xx, 13xx and ECN/EQN 11xx, 13xx) are defined according to IEC 60068-2-27 with a max. shock resistance of 102G (1000m/s²) for 6s.

• A faulty connection, such as a damaged cable, is the reason for this error message. Check to ensure the connection is tight and inspect the cable.
• An unsupported encoder produces the message "unknown type".

• incorrect sine signal at one of the threee motor phases
• sine signal weak or interrupted (within 360°)

Remark: no error message with S600!

By default, S300 and S700 check  the X1 sense lines (feedback voltage supply). In Master-Slave or Electr.Gearing operation no supply voltage is required and the sense lines are not connected.

Solution: Bit 20 of parameter DRVCNFG2 of the servo amplifier disables the supervision of the sense lines (DRVCNFG2=DRVCNFG2+1048576).

The table below gives an overview of the different encoder types with the serial number of the corresponding motors and the week of delivery for built in encoders with extended memory range.

The first encoder serial number has been defined beside the index: 15 187 112.

Both conditions (encoder index and serial number) must be fulfilled for real memory range change. Heidenhain says, that there could be a small range of encoders that don't fulfill both conditions but nevertheless have the extended memory range.