Command Error triggering causes

The "Command Error" is triggered in the following situations:

1) When an "UPD;" (update) command is received during the "AXISON;" command execution (transition to operation enable for CANopen);
2) When a cancelable call is received while another cancelable call is still ongoing;
3) When an "UPD;" (update) command for an S-Curve is received during another S-Curve profile execution;
4) When there are 11 functions / interrupts calls active and a 12^th function / homing / interrupt is sent to the drive.
5) When a "RET" (return from function) or "RETI" (return from interrupt) command is executed, without having a function / interrupt in execution;
6) When the imposed speed exceeds the DUAL USE European regulation limit.

Remark: In case of the last standard firmware version there is a limitation imposed by an European Union directive called "Dual Use". This limits the inverter output frequency to max 600Hz. In terms of speed, the max speed that is accepted can be computed as follows:

Vmax[rpm] = (60 * f) / pole_pairs

where: "f" is the inverter output frequency (600Hz, in this case)
            "pole_pairs" is the motor no. of pole pairs.

The exact cause for the "Command Error" triggering is displayed in the "DER - Detailed Error Register" or "DER2 - Detailed Error Register 2 * " from the "4_Drive Status" control panel.

* The "DER 2" register is available only on the iPOS4808, iPOS8010, iPOS8020 and iMOTIONCUBE drives.