Error 120 MOVIKIT^® – MultiAxisController

Cause

Measure

The acceleration ramps are too short.

Extend the acceleration ramps.

The wrong inverter control parameter has been selected.

Check the stiffness, freedom from play and inertia of the load in MOVISUITE®.

Position encoder inverted or not installed correctly on the track.

Check the installation and connection of the position encoder.

Wiring faulty.

Check wiring of encoder, motor, and line phases.

The P gain setting of the position controller is too small.

Increase the P gain in MOVISUITE® under [Position controller].

There is a mechanical stiffness or blockage.

– Check the mechanical components for stiffness.

– Check the mechanical components for blockage.

Lag error window setting too small.

Increase the lag error window in MOVISUITE® under [Monitoring functions].

Cause

Measure

The input variable of the MOVIKIT® EncoderInterface is inverted.

– Check whether the "xValueValid" input variable is low-active.

– Check the process data interconnection of the inverter.

The EtherCAT® encoder has detected an error.

– Check the startup parameters.

– Check the settings on the encoder.

– Check the wiring.

– Check interference sources (light beam interrupted, reflector, signal cables, etc.).

– Replace the encoder.

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

The library version does not match the code-generated IEC project.

– In MOVISUITE®, select [IEC project] in the controller configuration and update the project by clicking "Update IEC project".

– In MOVISUITE®, select [IEC project] in the controller configuration, activate the "Update/recreate software modules" parameter and update the project by clicking "Update IEC project".

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

The library version does not match the code-generated IEC project.

– In MOVISUITE®, select [IEC project] in the controller configuration and update the project by clicking "Update IEC project".

– In MOVISUITE®, select [IEC project] in the controller configuration, activate the "Update/recreate software modules" parameter and update the project by clicking "Update IEC project".

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

Cause

Measure

Wiring faulty.

Check wiring of encoder, motor, and line phases.

There is a mechanical stiffness or blockage.

– Check the mechanical components for stiffness.

– Check the mechanical components for blockage.

The skew error window setting is too small.

Increase the skew error window in MOVISUITE® under [Monitoring functions].

The skew compensation is not permitted.

Check the "Allow skew" parameter in MOVISUITE® under [MultiAxisController control function]. If the "Manual" setting has been defined, check the value of the IEC variables.

The compensation speed or compensation acceleration of the compensation controller is insufficient.

Check the maximum acceleration and speed in MOVISUITE® under [MultiAxisController control function].

The P gain setting for the skew compensation is too small.

Increase the P gain in MOVISUITE® under [MultiAxisController control function].

Cause

Measure

The status bit of status word 1 of an inverter is wrong. Bit 13 of status word 1 of the inverter must be "Encoder 2 referenced".

Change bit 13 to "Encoder 2 referenced" in MOVISUITE® under [Actual values] > [Status word 1].

Cause

Measure

Wrong actual position source of an inverter selected. The actual position source must be encoder 1.

Activate the "Position control" parameter for the motor encoder in MOVISUITE® under [Drive train DT1] and deactivate for the external encoder.

Cause

Measure

An external encoder has been activated in MOVISUITE® under [Basic settings] for an axis group member that is a double axis.

– Deselect the relevant external encoder in MOVISUITE® under [Basic settings].

– Use single-axis module with external encoder connection.

Cause

Measure

The wrong encoder source has been selected.

– Check the encoder source in MOVISUITE® under [MultiAxisController control function].

– Check the encoder source in MOVISUITE® under [Encoder evaluation].

No external encoder taken into consideration in MOVISUITE® under [Basic settings].

Take an external encoder into consideration in MOVISUITE® under [Basic settings].

Cause

Measure

The combined encoder evaluation has not been activated in MOVISUITE® under [Basic settings].

Activate "Combined encoder evaluation" in MOVISUITE® under [Basic settings].

The wrong encoder source has been selected.

– Check the encoder source in MOVISUITE® under [MultiAxisController control function].

– Check the encoder source in MOVISUITE® under [Encoder evaluation].

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

Cause

Measure

Too many axis group members declared as associated in MOVISUITE® under [Basic settings].

– Check the number of associated axis group members in MOVISUITE® under [Basic settings].

– Check the number of axis group members beneath the software node in MOVISUITE®.

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

Cause

Measure

Too many external encoders considered in MOVISUITE® under [Basic settings].

– Check in MOVISUITE® > [Basic settings] > External encoders.

– Check in MOVISUITE® > [Basic settings] > Associated axis group members.

Cause

Measure

The mechanical coupling between the two encoders is no longer present (e.g. by carrying wheel in the air).

Check mechanical coupling.

One of the encoders is blocked, e.g. by:

- Vertical drive is grounded.

- Blocked.

Clear the blockage.

The absolute distance window is too small.

Increase the absolute distance window.

The flexibility of the mechanical components is too large.

Check the mechanical components.

The slip window is too small.

Increase slip window.

The slip of the mechanical components is too large.

Check the mechanical components.

Too much encoder noise or quantization.

Consider the noise and quantization for the absolute distance window.

Cause

Measure

The speed of the encoder value is greater than the configured maximum speed.

Determine cause of high speed and rectify.

Maximum speed is too low.

Increase maximum speed.

Maximum acceleration or maximum deceleration is too low.

Increase maximum acceleration or maximum deceleration.

Too much encoder noise or quantization.

Consider the noise and quantization in the "Encoder noise and quantization" setting.

The acceleration or deceleration of the encoder value is greater than the configured maximum acceleration or maximum deceleration.

Determine cause of high acceleration or deceleration and rectify.

Cause

Measure

Monitoring time is too short.

Increase monitoring time.

Monitoring window is too small.

Increase size of monitoring window.

The distance covered since the dynamic violation is too great.

Rectify cause of excessive distance.

Cause

Measure

The data words for the load distribution in the fieldbus interface are set to 0.

Check the data words for the load distribution in the fieldbus interface.

The torque ratios for all axis group members have been set to 0.

Select a torque ratio > 0 for at least one axis group member in MOVISUITE® under [MultiAxisController control function].

Cause

Measure

The setpoint position of the lifting axis has not yet been set to the actual position.

Enable the lifting axis once only via enable signals after starting the controller.

Cause

Measure

The set error response is not supported.

Select valid error response (e.g. "No response", "Warning + No response" or "Error + Central stop profile").

Cause

Measure

The controller could not process the program code of the application in the selected cycle time.

– Increase cycle time.

– Change controller platform.

– Store program code on a second controller.

– Reduce the program code of the HighPrio task.

An error has occurred in the trace recording.

– Perform trace recording in the main task.

– Reduce trace variables.

Cause

Measure

The inverter type is not compatible with the PositionController or MultiAxisController add-on. The internal cycle time is set to MOVIDRIVE® modular.

Contact SEW-EURODRIVE Service.

Cause

Measure

The configuration in MOVISUITE® is faulty.

– Adjust and save parameter values.

– In MOVISUITE®, click "Apply all suggested values" under [Basic settings] > [Tools used].

At least one drive is overloaded.

– Reduce the payload, ramps or maximum speeds.

– Check the dimensions of the motors and inverters.

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

The library version does not match the code-generated IEC project.

– In MOVISUITE®, select [IEC project] in the controller configuration and update the project by clicking "Update IEC project".

– In MOVISUITE®, select [IEC project] in the controller configuration, activate the "Update/recreate software modules" parameter and update the project by clicking "Update IEC project".

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

The library version does not match the code-generated IEC project.

– In MOVISUITE®, select [IEC project] in the controller configuration and update the project by clicking "Update IEC project".

– In MOVISUITE®, select [IEC project] in the controller configuration, activate the "Update/recreate software modules" parameter and update the project by clicking "Update IEC project".

Cause

Measure

The set operating mode is not supported.

Select valid operating mode.

Cause

Measure

The library version does not match the code-generated IEC project.

– In MOVISUITE®, select [IEC project] in the controller configuration and update the project by clicking "Update IEC project".

– In MOVISUITE®, select [IEC project] in the controller configuration, activate the "Update/recreate software modules" parameter and update the project by clicking "Update IEC project".

Internal fault

– Restart the controller.

– Contact SEW‑EURODRIVE Service.

Cause

Measure

A control signal source with a higher priority is preventing access to an axis group member.

Switch off control signal source of the subordinate axis group member.

Cause

Measure

Internal fault

– Restart the controller.

– Contact SEW‑EURODRIVE Service.

Cause

Measure

Internal fault

Contact SEW-EURODRIVE Service.

Cause

Measure

An invalid reference travel type has been selected for the readjustment.

– Check reference travel type.

– Deactivate readjustment.

Cause

Measure

Referencing with activated readjustment with more than 2 axis group members has been started.

– Reduce number of subordinate axis group members.

– Deactivate the readjustment in MOVISUITE® under [Controller functions] > [Reference travel].

Cause

Measure

An invalid logical link of the hardware limit switches for the readjustment has been selected.

– Change the logical link of the hardware limit switches in MOVISUITE® under [Monitoring functions] > [Hardware limit switch].

– Deactivate the readjustment in MOVISUITE® under [Controller functions].

Cause

Measure

The library version does not match the code-generated IEC project.

– In MOVISUITE®, select [IEC project] in the controller configuration and update the project by clicking "Update IEC project".

– In MOVISUITE®, select [IEC project] in the controller configuration, activate the "Update/recreate software modules" parameter and update the project by clicking "Update IEC project".

Internal fault

– Restart the controller.

– Contact SEW‑EURODRIVE Service.

Cause

Measure

Internal fault

– Restart the controller.

– Contact SEW‑EURODRIVE Service.

Cause

Measure

The "Cascading" function has not been activated in MOVISUITE® under [Basic settings].

Activate the "Cascading" function in MOVISUITE® under [Basic settings].

Cause

Measure

The "Enabling of up to 4 axis group members" function has not been activated in MOVISUITE® under [Basic settings].

– Activate the "Enabling of up to 4 axis group members" function in MOVISUITE® under [Basic settings].

– Reduce number of subordinate axis group members to 2.

Cause

Measure

The "Torque priority" and "Skew priority" functions have not been activated in MOVISUITE® under [Basic settings].

– Activate the "Torque priority" and "Skew priority" functions in MOVISUITE® under [Basic settings].

– Do not change over priority at runtime.

The "Priority change at runtime" function has not been activated in MOVISUITE® under [Basic settings].

– Activate the "Priority change at runtime" function in MOVISUITE® under [Basic settings] > [Functions used].

– Do not change over priority at runtime.

Cause

Measure

The priority selected in MOVISUITE® under [MultiAxisController] > [Control function] does not match the priority under [Basic settings] > [Functions used].

Under [MultiAxisController] > [Control function] in MOVISUITE®, set the priority to match the priority under [Basic settings] > [Functions used].

Cause

Measure

Internal fault

– Restart the controller.

– Contact SEW‑EURODRIVE Service.

Cause

Measure

The number of associated axis group members is too small for referencing.

Check the number of axis group members in MOVISUITE® under [Basic settings].

Cause

Measure

The "Cornering" function is not activated in the priority of "Torque" balancing in MOVISUITE® under [MultiAxisController – Control function].

Set the "Cornering" setting to "positive direction of travel" or "negative direction of travel" in the priority of "Torque" balancing in MOVISUITE® under [MultiAxisController – Control function].

Cause

Measure

The fault can be caused as follows:

– The positive hardware limit switch was hit with a negative direction of rotation

or

– The negative hardware limit switch was hit with a positive direction of rotation.

– Check whether the hardware limit switch connections have been swapped.

– Check the effective direction of the drive.

Cause

Measure

The monitoring time for readjustment has been exceeded during referencing.

– Select a longer monitoring time.

– Increase search speed or search acceleration.

– Check function of hardware limit switch.

– Check user units.

– Check mechanical transmission elements.

Cause

Measure

The monitoring distance for readjustment has been exceeded during referencing.

– Select a longer monitoring distance.

– Increase search speed or search acceleration.

– Check function of hardware limit switch.

– Check user units.

– Check mechanical transmission elements.

Cause

Measure

Selected home position multiplied by 10 ^number of decimal places is greater than the DINT range of values.

Select home position multiplied by 10 ^number of decimal places that is less than the DINT range of values (-2147483648 to 2147483647).

Cause

Measure

The reference travel has been started with the non-permissible reference travel type "Deactivated".

Select a permitted reference travel type in MOVISUITE® under [Controller functions].

Cause

Measure

An axis group member has exited the "Interpolated speed control" drive function.

Check the following triggers by the inverter:

– Error responses

– STO, safety responses

– DI00

– Enable signals

Cause

Measure

At least one external encoder or low-resolution EtherCAT® encoder is required to use the "Absolute position of encoder" reference travel type.

– Connect an external encoder or low-resolution EtherCAT® encoder to each subordinate axis group at the lowest level.

– Configure the external encoder in MOVISUITE® under [Basic settings].

– Configure the external encoder/low-resolution EtherCAT® encoder in MOVISUITE® under [Encoder evaluation] > [Encoder source].

Cause

Measure

Not every subordinate axis group at the lowest level has an external encoder or low-resolution EtherCAT® encoder.

– Connect an external encoder or low-resolution EtherCAT® encoder to each subordinate axis group at the lowest level.

– Configure the external encoder at each subordinate axis group in MOVISUITE® under [Basic settings].

– Configure the external encoder/low-resolution EtherCAT® encoder at each subordinate axis group at the lowest level in MOVISUITE® under [Encoder evaluation] > [Encoder source].

Cause

Measure

The axis group member has exited the "Interpolated speed control" drive function by selecting the FCB 01 in the inverter.

Check the following triggers by the inverter:

– Error responses

– STO, safety responses

– DI00

Cause

Measure

The set error response for the "Axis group operation interrupted" error is not supported.

Select valid error response (e.g. "No response", "Warning + No response" or "Error + Central stop profile").

Cause

Measure

The set error response for the "Axis group operation interrupted by FCB 01" error is not supported.

Select valid error response (e.g. "No response", "Warning + No response" or "Error + Central stop profile").