Further Error Codes

0x8120

33056

Environment

Invalid configuration for object (e.g., in TwinCAT 3 Engineering (XAE)). The static configuration of the object (parameters, init values, linked symbols) is incomplete or invalid, so the object cannot reach the target state.

0x8121

33057

Environment

Invalid environment for object (e.g., TcCOM object hierarchy or missing/faulty objects). The object cannot find one or more required parent or child objects in the TcCOM object hierarchy, or the referenced objects have an unexpected type.

0x8122

33058

Environment

Incompatible driver or object. A referenced driver or linked TcCOM object is not compatible with the calling object (e.g., wrong interface version or unsupported object type).

0x8124

33060

Function Block

Command execution does not terminate (e.g., MC_Reset does not signal DONE). A command did not deliver its Done signal within the expected time window. Typically occurs for reset, file or hardware operations when the peer does not respond.

0x8130

33072

Communication

Invalid ObjectID of Communication Target.

0x8131

33073

Communication

Communication Target expects Call in different Context.

0x8132

33074

Communication

Invalid State of Communication Target.

0x8134

33076

Communication

Communication with Communication Target cannot be established.

0x813b

33083

Parameter

Transition mode is invalid. The TransitionMode passed to the motion command is unknown or not supported by the current group.

0x813c

33084

Parameter

BufferMode is invalid. The BufferMode passed to the function block is unknown or not supported by the command (some commands accept only Aborting, others only Buffered).

0x813d

33085

Function Block

Only one active instance of function block per group is allowed. Another instance of this function block is already active on the same target (axis or group). A second concurrent instance is not allowed.

0x813e

33086

State

Command is not allowed in current group state. The function block was called in a group state in which this command is not permitted (e.g., a motion command in GroupDisabled/Disabled or GroupErrorStop/Error).

0x813f

33087

Function Block

Slave cannot synchronize. The slave cannot reach the SlaveSyncPosition with the given dynamics.

0x8140

33088

Parameter

Invalid value for one or more of the dynamic parameters (Acceleration, Deceleration, Jerk). One or more of the dynamic parameters (e.g. acceleration, deceleration or jerk) are invalid or cannot be satisfied, for example because a value is zero or negative, outside the permitted range, or no valid motion profile can be generated within the given constraints.

0x8141

33089

Parameter

IdentInGroup is invalid. The IdentInGroup value passed to MC_AddAxisToGroup or MC_RemoveAxisFromGroup is out of the allowed range or already used by another axis in the group.

0x8142

33090

Parameter

The number of axes in the group is incompatible with the axes convention. The number of axes in the group does not match the configured AxesConvention (e.g., a 3-axis convention with only two axes assigned).

0x8143

33091

Communication

Function block or respective command is not supported by target. The addressed target (e.g., axis, group or encoder axis) does not support the requested command, for example because an optional feature is not implemented or the target is of the wrong type.

0x8144

33092

State

Command queue full. Command queue is completely filled up and cannot accept additional commands until some commands are fully processed.

0x8145

33093

Function Block

Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.

0x8146

33094

Function Block

Invalid velocity value. The velocity was not set or the entered value is invalid.

0x8147

33095

Parameter

Invalid coordinate dimension. The dimension of the set coordinate interpretation does not meet the requirements.

0x8148

33096

Function Block

Invalid input value. At least one input of the function block is outside its allowed range or inconsistent with the other inputs.

0x8149

33097

Parameter

Unsupported dynamics for selected group kernel.

0x814a

33098

Parameter

The programmed position dimension is incompatible with the axes convention. The number of provided position coordinates does not match the axes convention configured for the group (e.g., a 2D position passed to a 3D convention).

0x814b

33099

Function Block

Path buffer is invalid, e.g., has an invalid address or is too small. The path buffer passed to MC_PathRef or a path function block has an invalid address or is too small for the intended path description.

0x814c

33100

Function Block

Path does not contain any element. An empty path buffer was passed to the path function block; it contains no path elements (e.g., lines or arcs).

0x814d

33101

Function Block

Provided path buffer is too small to store more path elements. While preparing further path elements (e.g., via MC_MoveLinearAbsolutePreparation) the path buffer became completely filled.

0x814e

33102

Parameter

Dimension or at least one value of transition parameters is invalid. The provided transition parameters are invalid, or the requested transition is not allowed in the current state, for example because their number or values do not match the selected TransitionMode or the affected elements.

0x814f

33103

Function Block

Invalid or incomplete input array. An array passed as input has an invalid length, an invalid address, or contains invalid entries relative to the passed size.

0x8150

33104

Function Block

Path length is zero. The requested path element has zero length, e.g., because start and target position are identical or the arc geometry is degenerate.

0x8151

33105

State

Command is not allowed in current axis state. If the axis has no controller enable, is in error or has been added to a group, some commands are not permitted.

0x8152

33106

State

TwinCAT system is shutting down and cannot complete request. A shutdown of the TwinCAT system was initiated while the command was being processed. Running and new jobs are aborted with this error.

0x8153

33107

Parameter

Configured axes convention and configured axes do not match. The type of at least one assigned element (e.g. an axis or a coordinate) does not match the type required by the configured axes convention or coordinate system.

0x8154

33108

Initialization

Invalid number of ACS axes. The number of ACS input axes does not match the number of ACS input axes expected by the kinematic transformation.

0x8155

33109

Initialization

Invalid number of MCS data. The number of MCS input data does not match the number expected by the kinematic transformation.

0x8156

33110

Initialization

Invalid value set for kinematic parameters. The numeric value set for the parameter does not reside within the respective definition range.

0x8158

33112

NC Programming

The given ACS values cannot be reached. The given ACS values result in an invalid machine configuration.

0x8159

33113

NC Programming

The set target positions cannot be reached. The set target positions reside outside the admissible working space.

0x815d

33117

NC Programming

Discontinuity in ACS axes detected. The inverse transformation from MCS space into the ACS space yields a jump in at least one axis position that cannot be traversed continuously.

0x8160

33120

NC Programming

Circle specification in path is invalid. The specification of a circle segment in the programmed interpolated path (e.g., via MC_MovePath) has an invalid or ambiguous description. Probably its center cannot be determined reliably.

0x8161

33121

NC Programming

Maximum stream lines reached. The maximum number of stream lines is limited. Please refer to function block documentation for details.

0x8163

33123

Function Block

Invalid first segment. The corresponding element can only be analyzed with a well-defined start point.

0x8164

33124

Function Block

Invalid auxiliary point. The auxiliary point is not well-defined.

0x8166

33126

Function Block

Invalid parameter for GapControlMode. Invalid parameter for GapControlMode, most likely in combination with the group parameter GapControlDirection.

0x8167

33127

External

Group got unsupported axis event (e.g., state change). Group got unsupported axis event (e.g., state change e.g., triggered by a single axis reset).

0x8168

33128

Parameter

Unsupported compensation type. The compensation type was either not set or is not supported by the addressed object.

0x8169

33129

Function Block

Master axis does not exist or cannot be used. The axis passed as master does not exist or has no cyclic mapping and therefore cannot be used as master (e.g., for camming or gearing).

0x816a

33130

External

Invalid or missing tracking transformation. This error occurs at MC_TrackConveyorBelt if at the CoordTransform input an invalid object ID is used or the object ID points to an object that is not supported as coordinate transformation.

0x816b

33131

Function Block

Position is not on track. Either track cannot be activated because actual position is not on track, or target position is not on active track or TrackPart.

0x816c

33132

Function Block

Axis does not have an activated track. The target track is not in the "Enabled" state.

0x816d

33133

NC Programming

Invalid compensation ObjectID. An object with this ObjectID does not exist or it is not of the right type (has to be a compensation).

0x816e

33134

Monitoring

Axis is in error because axis was not in target when InTargetAlarm timer expired. After reaching the setpoint, the actual position did not enter the InTarget window within the configured time (e.g. window too tight, weak controller tuning or mechanical friction).

0x816f

33135

State

Coupling would cause a cyclic dependency of axis (e.g., via MC_GearInPos). The requested master-slave coupling would create a cycle in the coupling hierarchy (an axis would be its own master directly or transitively).

0x8170

33136

Function Block

Axis was not added to an axes group. The command is not valid. The command requires the axis to be a member of an axes group (e.g. for coordinated motion), but the referenced axis is not assigned to any group.

0x817e

33150

State

Enabling of the mover is not allowed. Enabling of the mover is not allowed, because the mover is not present on the system. Check the state of the mover.

0x817f

33151

State

Drive has invalid state. The drive is not in the state required by the command (e.g. not ready, not enabled or in an error state).

0x8181

33153

Function Block

Parameters for gap control are invalid with the current configuration. Function block with gap control was triggered to an axis that is not in a CA group.

0x8182

33154

Monitoring

Software position limit violation. Software position limits of at least one axis have been or would have been violated by a command.

0x8183

33155

NC Programming

Target position is not reachable. There is no path available to the target position or target position is unreachable in general.

0x8185

33157

NC Programming

The mover or one of its relevant coordinates is busy. Either the whole mover or at least one of its coordinates relevant to the command are busy.

0x8186

33158

NC Programming

A collision has occurred or would occur. Either a collision has occurred or would occur if the command was executed.

0x8187

33159

NC Programming

Invalid track specification. The geometric extension of this track is incompatible with the already existing geometry of this or the other tracks.

0x8188

33160

NC Programming

Command not allowed in track state. The track state machine rejects the command in the current state (e.g. modifying geometry while the track is in the "Disabled" state).

0x8189

33161

Function Block

Invalid reference passed to function block. An invalid reference (or pointer) was used in a function block call. This can happen if a reference type is used before it was initialized.

0x818a

33162

NC Programming

Path is locked against modifications. The path was locked to further changes. However, it might be resettable.

0x818c

33164

Parameter

Position is out of modulo range. Position must be larger or equal to zero and less or equal to the modulus when using modulo positioning. When using modulo positioning, the target position is interpreted in consideration of the AdditionalTurns variable at the Options input.

0x818d

33165

Parameter

The specified value AdditionalTurns at the Options input is not allowed. The parameter AdditionalTurns must be zero for the specified value of the parameter direction.

0x818e

33166

Function Block

Master/Slave sync position incompatible with sync direction. The given sync positions require the slave moving in a direction which is not allowed while in synchronization phase.

0x8191

33169

State

Unexpected axis state. At least one axis has an unexpected state. This may occur if a group reset is active and an axis error occurs after the respective axis was successfully reset.

0x8192

33170

State

Invalid reference system. The reference system is unknown or invalid for this application.

0x8193

33171

State

Position not in reference system. The position is outside of the specified reference system.

0x8194

33172

State

A previous command is blocking execution. A previous command is still ongoing and simultaneous execution of both commands is impossible.

0x8195

33173

Parameter

Overflow of an encoder counter detected. The counter value of the encoder has an overflow. Verify settings of the encoder object of the axis.

0x8196

33174

Initialization

Invalid position or distance. The actual or specified position or distance could not be determined or is invalid.

0x8197

33175

Function Block

Invalid cyclic interface. The configuration of the cyclic interface is not valid.

0x8198

33176

Parameter

Invalid index. The used index does not exist or is invalid.

0x8199

33177

Function Block

Command not allowed. The command is not allowed in the current configuration.

0x819a

33178

NC Programming

Direction-dependent feed enable is missing. The execution of this command is not possible because of a missing direction-dependent feed enable.

0x819b

33179

NC Programming

Controller enable is missing. The controller enable of the axis was withdrawn during a movement. The dynamics of the setpoint did not correspond to zero dynamics.

0x819c

33180

NC Programming

Invalid path parametrization. A path was parametrized incorrectly.

0x819d

33181

NC Programming

The Motion UI has sovereignty for the controller enable. The PLC has handed over the controller enable and feed enable to the Motion UI.

0x819e

33182

State

Turnaround not allowed. A turnaround is not allowed or possible in the current situation.

0x81a0

33184

Function Block

Invalid path sequence. Commands may not be added to a path in this order.

0x81a1

33185

State

Encoder has invalid state. The encoder is not in the state required for the operation.

0x81a2

33186

Environment

I/O data for more than n consecutive MC cycles invalid. Hardware process data was invalid for several consecutive MC cycles (e.g. EtherCAT slave not in OP, WcState error).

0x81a3

33187

Environment

Encoder hardware error. The encoder hardware reports a fault or invalid position data.

0x81a4

33188

Environment

Lag monitor error (position). The position following error exceeded the allowed limit.

0x81a5

33189

Environment

Invalid encoder position. The position reported by the encoder is invalid (e.g. NaN, out of range or an implausible jump).

0x81a6

33190

Function Block

Position time conversion: time range exceeded (future). The requested time is further in the future than the available trajectory buffer covers.

0x81a7

33191

Function Block

Position time conversion: time range exceeded (past). The requested time is further in the past than the available history covers.

0x81a8

33192

Function Block

Position time conversion: no solution. No matching time could be found in the trajectory for the requested position (e.g. the position is not traversed or the trajectory is not monotonic).

0x81a9

33193

Parameter

Invalid acceleration value. The supplied acceleration value is invalid (e.g. not a finite number, negative or outside the permitted range).

0x81aa

33194

Parameter

Invalid deceleration value. The supplied deceleration value is invalid (e.g. not a finite number, negative or outside the permitted range).

0x81ab

33195

Parameter

Invalid jerk value. The jerk value used for the motion is invalid (e.g., negative, zero, or outside the permitted range of the mover or axis).

0x81ac

33196

Parameter

Invalid load value. The load value specified for a pressure or force command is invalid (e.g., NaN or outside the permitted range).

0x81ad

33197

Parameter

Invalid load ramp value. The load ramp value (rate of load build-up) is invalid (e.g., less than or equal to zero or NaN).

0x81ae

33198

Parameter

Invalid load ramp derivative value. The load ramp derivative (rate of change of the load build-up) is invalid (e.g., less than or equal to zero or NaN). The value is optional and may be left unused.

0x81af

33199

Function Block

Invalid object or object reference passed to function block. An invalid or missing object reference was passed to the function block (e.g., missing CamObject reference on MC_CamIn, MC_CamTableSelect or MC_CamScaling).

0x81b0

33200

Function Block

Object not allowed (e.g., object is already in use). The supplied object is not allowed in the current context (e.g., source and target are identical in CopyFrom(), the object is already used by another axis).

0x81b1

33201

Function Block

Invalid size passed to function block (e.g., invalid array size or invalid number of elements). An invalid size was passed to the function block (e.g., CamRef.NumberOfPoints less than two on MC_CamTableSelect).

0x81b2

33202

Function Block

The given cam activation settings are invalid. The activation settings of the cam table (e.g., ActivationMode and ActivationPosition) are invalid or inconsistent.

0x81b3

33203

Function Block

The given cam scaling is invalid. The supplied cam table scaling parameters are invalid (e.g., scale factor of zero, or master offset mode Auto which is not supported in the executed operation).

0x81b4

33204

Function Block

The given cam data point is invalid. At least one data point of the cam table is invalid (e.g., the first or last point is being ignored).

0x81b5

33205

Function Block

The specified gear ratio numerator or denominator is invalid. The numerator or denominator of the gear ratio is invalid (e.g., the denominator equals zero or is not a finite number) on MC_GearIn, MC_GearInPos or MC_LockIn.

0x81b6

33206

Function Block

The specified error reaction is invalid. The error reaction specified on the motion function block is invalid (e.g., unknown value in ErrorReactionToMaster or ErrorReactionToSlave on synchronization function blocks).

0x81b7

33207

Function Block

The specified time or duration is invalid.

0x81b8

33208

Parameter

No cam event was detected during homing. The axis did not detect the reference cam within the expected travel during homing.

0x81b9

33209

Parameter

No sync event was detected during homing. No sync event (e.g., encoder zero pulse) was detected during homing.

0x81ba

33210

Function Block

Invalid command type passed to function block. The command type passed to the function block does not match the command expected by it (e.g., a View function block is given a command of a different type than the one it views).

0x81bb

33211

Function Block

Invalid trigger reference for touch probe. The specified touch probe reference is invalid. This can occur if an invalid probe ID, edge type, or trigger mode was specified.

0x81bc

33212

Function Block

Axis is not configured as modulo axis. The command requires a modulo axis, but the axis is not configured as a modulo axis.

0x81bd

33213

Environment

No mover available. No appropriate mover available for the request.

0x81be

33214

Environment

Transfer error. Error during the transfer of a mover to another system.

0x81bf

33215

Environment

Data not available. Requested data is not available.

0x81c0

33216

Function Block

Slave sync direction and slave axis software enable state are incompatible. Traveling in slave sync direction specified in the function block has not been enabled.

0x8f2f -
0x8f50

36655 -
36688

Internal

Internal error.

0x8f56

36694

Internal

Internal error.

0x8f59

36697

Internal

Internal error.

0x8f5c -
0x8f62

36700 -
36706

Internal

Internal error.

0x8f65

36709

Internal

Internal error.

0x8f68 -
0x8fce

36712 -
36814

Internal

Internal error.

0x8fd0 -
0x8fff

36816 -
36863

Internal

Internal error.