Group Errors

4200

16896

Parameter

Group ID not allowed

The value for the group ID is not allowed because, for example, it has already been assigned, is less than or equal to zero or is greater than 255.

Value range: [1 ... 255]

Unit: 1

4201

16897

Parameter

Group type not allowed

The value for the group type is unacceptable because it is not defined.
Type 1: PTP group with slaves (servo)
Type 4: DxD group with slaves (3D group)
Type 5: fast/creep group
Type 6: stepper motor group
Type 9: encoder group with slaves (servo)
…

Value range: [1 ... 12]

Unit: 1

4202

16898

Initialization

Master axis index not allowed

The value for the master axis index in an interpolating 3D group is not allowed, because, for example, it has left the value range.
Index 0: x-axis (first master axis)
Index 1: Y axis (second master axis)
Index 2: Z axis (third master axis)

Value range: [0, 1, 2]

Unit: 1

4203

16899

Initialization

Slave axis index not allowed (internal error)

The value for the slave axis index in a group is not allowed, because, for example, it has left the value range, the slave position to be used when inserting a new slave connection is already occupied, or because no slave is present when such a connection is being removed.
Index 0: first slave axis
Index 1: second slave axis
Index 2: etc.

Value range: [0 ... 7]

Unit: 1

4204

16900

Initialization

Internal error

An unexpected internal error has occurred. The following situations could be the cause:

Not enough TC router memory or Windows memory available to build the internal NC objects,

internal NC structures and links (pointers between the NC objects) are faulty or missing,

a fatal internal error has occurred in the calculation for a stop command,

internal checks of the NC own logic and algorithms (self-monitoring software),

unexpected modes and cases that are not regularly foreseen but are detected as erroneous.

Often in such an error situation an additional error message is output in the logger (Windows Event Viewer), which can be helpful for more detailed analysis by Beckhoff or the user.

4205

16901

Parameter

Cycle time for set execution task (SAF) not allowed

The value of the cycle time for the NC set execution task (SAF 1/2) is not allowed, because it has left the value range.

Value range: [0.001 ... 0.1]

Unit: s

4206

16902

Initialization

"GROUPERR_RANGE_MAXELEMENTSINAXIS "

4207

16903

Parameter

Cycle time for the set preparation task (SVB) not allowed

The value of the cycle time for the NC set preparation task (SVB 1/2) is not allowed, because it has passed outside the value range.

Value range: [0.001 ... 1.0]

Unit: s

4208

16904

Parameter

Single step mode not allowed

The flag for the activation or deactivation of single step mode is not allowed.
Value 0: passive (buffer mode)
Value 1: active (single step mode)

Value range: [0, 1]

Unit: 1

4209

16905

Parameter

Group (de)activation invalid (internal error)

The flag for (de)activating the full group is invalid.
Value 0: group active
Value 1: group passive

Value range: [0, 1]

Unit: 1

420A

16906

Initialization

Set execution state (SAF state) not allowed (internal error)

The value for the state of the set execution state machine (SAF state) is not allowed. This error occurs on passing outside the range of values, or if the state machine enters an error state.

Value range: [0 ... 5]

Unit: 1

420B

16907

Address

Channel address

The group does not have a channel, or the channel address has not been initialized.

420C

16908

Address

Axis address (master axis)

The group does not have a master axis (or axes) or the axis address(es) has (have) not been initialized.

420D

16909

Address

Master axis address

A master/slave coupling is to be inserted into the group, but there is no valid address for the leading master axis.

420E

16910

Address

Slave axis address

A master/slave coupling is to be inserted into the group, but there is no valid address for the slave axis.

420F

16911

Address

Slave setpoint generator address

A master/slave coupling is to be inserted into the group, but there is no valid address for the slave setpoint generator.

4210

16912

Address

Encoder address

An axis in the group does not have an encoder, or the encoder address has not been initialized.

4211

16913

Address

Controller address

An axis in the group does not have a controller, or the controller address has not been initialized.

4212

16914

Address

Drive address

An axis in the group does not have a drive, or the drive address has not been initialized.

4213

16915

Address

Master setpoint generator address

A group (e.g. FIFO group) does not have a master setpoint generator or the setpoint generator address has not been initialized. There may not be enough memory available.

4214

16916

Address

Axis interface NC to PLC address

Group/axis does not have an axis interface from the NC to the PLC, or the axis interface address has not been initialized.

4215

16917

Address

Slave axis address

An existing master/slave coupling is to be removed from the group, but there is no valid address for the slave axis.

4216

16918

Address

Table unknown

The table, respectively the table ID, is unknown. This table is used for the master/slave coupling or for the characteristic curve.

4217

16919

Address

NcControl address

The NcControl address has not been initialized.

4218

16920

Initialization

Command lock because persistent NC data is waiting to be transferred

Axis is blocked for commands while waiting for valid I/O data to accept the queued persistent NC data.

4219

16921

Function

The scaling mode MASTER-AUTOOFFSET is invalid because no reference table was found.

The scaling mode MASTER-AUTOOFFSET used is invalid in this context because no reference to an existing reference table can be established.
This error can occur, for example, when tables are added if no unique reference to an existing reference table can be established (e.g. because the reference is not unique, etc.).

421A

16922

Parameter

The master axis start position does not permit synchronization.

When a slave axis is being coupled on, the position of the master axis does not permit synchronization at the given synchronization positions.

421B

16923

Parameter

Slave coupling factor (gear ratio) of 0.0 is not allowed.

A master/slave coupling with a gear ratio of 0.0 is being created. This value is not allowed, since it does not correspond to any possible coupling, and division will generate an FPU exception.

421C

16924

Function

Insertion of master axis into group is not allowed.

A master axis is to be inserted into a group at a location that is already occupied by another master axis. Maybe the reconfiguration cannot be done, because this axis has got an existing slave coupling. This master/slave coupling must be revoked before.

421D

16925

Function

Deletion of master axis from group not allowed (internal error).

A master axis is to be removed from a location in a group that is not in fact occupied by master axis.

421E

16926

Function

Function/feature is not supported from the setpoint generator.

A function or feature is not supported from the setpoint generation (e.g. PTP master setpoint generator). This can be in general or only in a special situation.

421F

16927

Initialization

Group initialization

The group has not been initialized. Although the group has been created, the rest of the initialization has not been performed (1. initialization group I/O, 2. initialization group, 3. reset group).

4220

16928

Monitoring

Group not ready / group not ready for new task

The group is being given a new task while it is still in the process of executing an existing task. This request is not allowed because it would interrupt the execution of the previous task. The new task could, for example, be a positioning command, or the "set actual position" function. Precisely the converse relationships apply for the "set new end position" function. In that case, the group/axis must still be actively moving in order to be able to cause a change in the end position.

4221

16929

Monitoring

Requested target velocity is not allowed.

The value requested for the target velocity of a positioning task is less than or equal to zero, larger than the "maximum velocity" (see axis parameters), or, in the case of servo drives, is larger than the "reference velocity" of the axis (see drive parameters).

4222

16930

Monitoring

Requested target position is not allowed (master axis).

The requested value for the target position of a positioning task is not within the software end positions. In other words, it is either less than the minimum software end position or larger than the maximum software end position. This check is only carried out if the relevant end position monitoring is active.

4223

16931

Monitoring

No enable for controller and/or feed (master axis)

The axis enables for the master axis needed for positioning are not present. This can involve the controller enable and/or the relevant, direction-dependent feed enable (see axis interface PlcToNc).

4224

16932

Monitoring

Travel path smaller than one encoder increment (internal error)

The travel path that a group/axis is supposed to move is smaller than the physical significance of one encoder increment. In other words the movement is smaller than the scaling factor of the axis. The reaction to this is that the axis is reported as having logically finished without having actively moved. This means that an external error is not generated for the user.
This error is also issued for rapid/slow traverse axes if a looping distance with nonzero parameters is smaller than the sum of the creeping and braking distances. In such a case it is not meaningful to either exceed or to fail to reach the target position.

4225

16933

Monitoring

Drive hardware not ready to operate at axis start

During an axis start it is ascertained that the drive hardware is not ready to operate. This can be caused by the following reasons:
- the drive is in error state (hardware error)
- the drive is in the start-up phase (e.g. after an axis reset preceded by a hardware error)
- the drive lacks the controller enable (ENABLE)
The time required for the "start-up" of a drive after a hardware error can be in the range of several seconds.

4226

16934

Monitoring

The parameters of the emergency stop are invalid.

Either, both, the deceleration and the jerk are less than zero or one of the parameters is weaker than the corresponding parameter of the start data.

4227

16935

Function

Setpoint generator not active

The setpoint generator is inactive such that no instructions are accepted.

4228

16936

Monitoring

Requested travel path/looping distance is not allowed

The requested travel path or looping distance is smaller than the braking distance of the rapid/slow traverse axis.

4229

16937

Monitoring

Requested target position is not allowed (slave axis)

The value for the target position of a positioning task when calculated for the slave axis is not within the software end positions. In other words, it is either less than the minimum software end position or larger than the maximum software end position. This check is only carried out if the relevant end position monitoring is active.

422A

16938

Monitoring

No enable for controller and/or feed (slave axis)

The axis enables for one or more coupled slave axes needed for positioning are not present. This can involve the controller enable and/or the relevant, direction-dependent feed enable (see axis interface PlcToNc).

422B

16939

Parameter

The activation position (position threshold) is out of range of the actual positioning

The activation position (position threshold) of a new axis command (e.g. "new velocity activated at a position") is out of range. E.g. the activation position is before the actual position or behind the target position.

422C

16940

Parameter

The start or activation data of the external setpoint generation are not valid

This may be caused through:
1. The external setpoint generation is active and a new activation with a start type (1: absolute, 2: relative) unequal to the current one is send.
2. The internal setpoint generation is active (e.g. PTP) and the external one is activated with the start type absolute (2 setpoint generators of the type absolute are not possible).

422D

16941

Parameter

Velocity is not constant

For changing the dynamic parameter 'acceleration' und 'deceleration' the axis has to be in dynamic state without acceleration and deceleration (that means constant velocity).

422E

16942

Parameter

Jerk less than or equal to 0.0 is not allowed

A value less than or equal to 0.0 for the jerk (PTP and CNC) is not allowed, since the jerk is by definition positive, and with a jerk of 0.0, division will generate an FPU exception.

422F

16943

Parameter

Acceleration less than or equal to 0.0 is not allowed

A value less than or equal to 0.0 for the acceleration (PTP and CNC) is not allowed, since the acceleration is positive by definition, and an acceleration of 0.0 will not allow a motion to be generated.

4230

16944

Parameter

Absolute deceleration value less than or equal to 0.0 is not allowed

A value less than or equal to 0.0 for the absolute value of the deceleration (PTP and CNC) is not allowed, since the absolute value of the deceleration is positive by definition, and an absolute value of the deceleration of 0.0 will not allow a motion to be generated.

4231

16945

Parameter

Target velocity less than or equal to 0.0 is not allowed

A value less than or equal to 0.0 or outside the range from 10^-3 up to 10⁺¹⁰ for the target velocity (PTP and CNC) is not allowed, since the target velocity is by definition strictly positive, and with a target velocity of 0.0, division will generate an FPU exception.

4232

16946

Monitoring

Loss of resolution accuracy for requested positioning

The positioning is so long in space or time that decimal places become irrelevant and inaccuracies may occur during positioning (LOSS_OF_PRECISION).

4233

16947

Parameter

Cycle time less than or equal to 0.0 is not allowed

A value less than or equal to 0.0 for the cycle time (PTP and CNC) is not allowed, since the cycle time is by definition strictly positive, and with a cycle time of 0.0, division will generate an FPU exception.

4234

16948

Internal

PTP data type <intasdouble> range exceeded

Such extreme parameters have been supplied for the start task, the override or the new target position that the internal data type loses its precision.

4235

16949

Function

PTP LHL velocity profile cannot be generated (internal error)

Such extreme parameters have been supplied for the start task, the override or the new target position that it is not possible to generate a velocity profile of the type LHL (Low-High-Low).

4236

16950

Function

PTP HML velocity profile cannot be generated (internal error)

Such extreme parameters have been supplied for the override or the new target position that it is not possible to generate a velocity profile of the type HML (High-Middle-Low).

4237

16951

Address

Start data address is invalid

The address of the start data is invalid.

4238

16952

Parameter

Velocity override (start override) is not allowed

The value for the velocity override is not allowed, because it is less than 0.0% or more than 100.0% (see axis interface PlcToNc). Here, 100.0 % corresponds to the integral value 1000000 in the axis interface.
Value range: [0 ... 1000000]

4239

16953

Parameter

Start type not allowed

The start type supplied does not exist.

423A

16954

Monitoring

Velocity overshoot

The new dynamics with the parameterized jerk is so weak that a velocity overshoot is imminent under given boundary conditions. The command is therefore not supported.

423B

16955

Parameter

Start parameter for the axis structure is invalid

External or internal parameters for the start structure for a positioning task are invalid. Thus, for instance, the scaling factor, the SAF cycle time or the requested velocity may be less than or equal to zero, which is not allowed.

423C

16956

Parameter

Override generator initialization parameter invalid

One of the override generator (re)initialization parameters is invalid.

423D

16957

Monitoring

Slave axis has not setpoint generator (internal error)

It is found that a slave axis within a group does not have a valid slave generator (setpoint generator). A slave axis and a slave setpoint generator must always be present as a pair. This is an internal error.

423E

16958

Function

Table is empty

Either the SVB table or the SAF table does not contain any entries.

423F

16959

Function

Table is full

The SVB table or the SAF table has no more free lines.

4240

16960

Memory

No memory available

The SVB memory allocation for the dynamic entry in SAF table has failed.

4241

16961

Function

Table already contains an entry (internal error)

The SAF table entry was canceled because an entry already exists by mistake.

4242

16962

Function

Stop is already active

The stop instruction is not forwarded, because it has already been activated.

4243

16963

Function

Compensation has not been carried out over the full compensation section

The compensations start parameters do not permit compensation over the full section to be compensated. For this reason the compensation will be carried out over a smaller section.

4244

16964

Parameter

Internal parameters for the compensation are invalid (internal error)

Invalid internal parameters or start parameters of the lower-level generator

4245

16965

Function

Compensation active

The start of the compensation was refused, because the compensation is already active or the master/slave axis is not moved actively at all, which makes an execution of the compensation impossible.

4246

16966

Function

Compensation not active

The stop of the compensation was denied because the compensation is not active.

4247

16967

Function

Compensation type invalid

The type supplied for the section compensation is invalid. At the present time only compensation type 1 (trapezoidal velocity profile) is allowed.

4248

16968

Function

Axis address for compensation invalid (internal error)

The address of the master of slave axis on which the section compensation is to act is invalid. This is an internal error.

4249

16969

Address

Invalid slave address (internal error)

The specified slave address for online coupling/decoupling is invalid.

424A

16970

Function

Coupling velocities not allowed

The velocity of what is to become the master axis is 0, which means that online coupling is not possible.

424B

16971

Function

Coupling velocities not constant

The velocity of what is to become the master axis and the velocity of what is to become the slave axis are not constant, so that on-line coupling is not possible.

424C

16972

Parameter

Cycle time less than or equal to 0.0 is not allowed

A value less than or equal to 0.0 for the cycle time (Slave) is not allowed, since the cycle time is by definition strictly positive, and with a cycle time of 0.0, division will generate an FPU exception.

424D

16973

Function

Decoupling task not allowed

The slave axis is of such a type (e.g. a table slave) or is in such a state (master velocity 0) that online decoupling is not possible.

424E

16974

Function

Function not allowed

The function cannot logically be executed, e.g. some commands are not possible and not allowed for slave axes.

424F

16975

Parameter

No valid table weighting has been set

The weighting factor of each table is 0, so that no table can be read.

4250

16976

Function

Axis start type, actual position type or end position type not allowed

The start type for a positioning task in invalid. Valid start types are:
ABSOLUTE (1),
RELATIVE (2),
ENDLESS POSITIVE (3),
ENDLESS NEGATIVE (4),
MODULO (5),
, etc.
Furthermore, it is possible that the types for setting a new actual position or moving to a new end position are invalid.

4251

16977

Function

Function is not supported

An NC function has been activated that is currently not released for use, or which is not even implemented. This can be a command which is not possible or not allowed for master axes.

4252

16978

Monitoring

State of state machine invalid (internal error)

The state for one of the internal state machines is invalid. This is an internal error.

4253

16979

Monitoring

PLC reference cam became free too soon

During the referencing process for an axis it is moved in the direction of the PLC referencing cam, and is only stopped again when the cam signal is reached. After the axis has then also physically stopped, the referencing cam must remain occupied until the axis subsequently starts back down from the cam in the normal way.

4254

16980

Monitoring

Distance monitoring between activation of the hardware latch and appearance of the I/O sync pulse

When the distance monitoring is active, a check is kept on whether the number of increments between activation of the hardware latch and occurrence of the sync pulse (zero pulse) has become smaller than a pre-set value. If this case has occurred, this error will be generated (see parameters for the incremental encoder).

4255

16981

Memory

No memory available

The dynamic memory allocation for the setpoint generator, the SVB table or the SAF table has failed.

4256

16982

Monitoring

The table slave axis has no active table

Although the table slave axis has tables, none of the tables is designated as active. If this occurs during the runtime the whole master/slave group is stopped by a runtime error.

4257

16983

Function

Function not allowed

The requested function or the requested task is not logically allowed. An example for such an error message would be "set an actual position" for an absolute encoder (M3000, KL5001, etc.).

4258

16984

Function

Stopping compensation not allowed

It is not possible to stop the compensation, since compensation is already in the stopping phase.

4259

16985

Function

Slave table is being used

The slave table cannot be activated, because it is currently being used.

425A

16986

Function

Master or slave axis is processing a task (e.g. positioning command) while coupling is requested

A master/slave coupling of a certain slave type (e.g. linear coupling) cannot be executed, because either the master axis or the future slave axis is not at standstill, but executes a task (e.g. a positioning) at the coupling time. For this couple type this is not allowed.

425B

16987

Parameter

Slave (start) parameter is incorrect

One of the slave start/coupling parameters is not allowed (Coupling factor is zero, the master position scaling of a cam plate is zero, etc.).

425C

16988

Parameter

Slave type is wrong

The slave type does not match up to the (SVB) start type.

425D

16989

Function

Axis stop is already active

The axis stop/Estop is not initiated, because the stop is already active.

425E

16990

Function

Maximum number of tables per slave generator reached

The maximum number of tables per slave generator is reached (e.g. "MC_MultiCamIn" is limited to 4 tables).

425F

16991

Function

The scaling mode is not allowed

The used scaling is invalid in this context. Either the mode is not defined or not yet implemented or it cannot be implemented in this constellation.
For example, the MASTER-AUTOOFFSET mode cannot be used if relative coupling is performed, since there is a contradiction here.
Furthermore, the MASTER-AUTOOFFSET mode cannot be used when coupling for the first time, since no reference to an existing reference table coupling (reference table) can be established here.

4260

16992

Monitoring

Controller enable

The controller enable for an axis or for a coupled slave axis is not present (see axis interface PlcToNc). This error occurs if the controller enable is withdrawn while an axis or a group of axes (also a master/slave group) is being actively positioned. The error also occurs if a PTP axis or a coupled slave axis is started without controller enable.

4261

16993

Function

Table not found

No table exists with the ID prescribed or the table ID is not unique.

4262

16994

Function

Incorrect table type

The table referred to in the function is of the incorrect type.

4263

16995

Function

Single step mode

This error occurs if single step mode is selected for a group or axis and a new task is requested while one of the individual tasks is still being processed.

4264

16996

Function

Group task unknown (asynchronous table entry)

The group has received a task whose type or sub-type is unknown. Valid tasks can be single or multi-dimensional positioning tasks (Geo 1D, Geo 3D), referencing tasks, etc.

4265

16997

Function

Group function unknown (synchronous function)

The group has received a function whose type is unknown. Valid functions are "Reset", "Stop", "New end position", "Start/stop section compensation", "Set actual position", "Set/reset calibration state" etc.

4266

16998

Function

Group task for slave not allowed

Group tasks are usually only possible for master axes, not for slave axes. A slave axis only moves as an indirect result of a positioning task given to its associated master axis. A slave cannot therefore receive an order directly.
Exception: see axis parameter "Allow motion commands for slave axes"

4267

16999

Function

Group function for slave not allowed

Group functions are in principle only possible for master axes, not for slave axes. The only exception is represented by the "Start/stop section compensation" function, which is possible both for masters and for slaves. A slave cannot directly execute any other functions beyond this.

4268

17000

Function

NCI setpoint generator is inactive

An NCI command such as "StopAndKeep" is sent to a logically inactive DXD group or to a group with the channel override state zero. However, it is expected that the NCI group is actively in setpoint generation for the implementation of this command. This error can occur in connection with the functions "delete distance to go" and "measurement event (latch actual position)".

4269

17001

Parameter

Start position = target position

Invalid position parameters.

426A

17002

Parameter

Parameters of the delay-generator are invalid

Invalid external/internal parameters of the delay generator (delay time, cycle time, tics)

426B

17003

Parameter

External parameters of the compensation are invalid

Invalid external parameters of the superimposed functionality (acceleration, deceleration, velocity, process velocity, length)

426C

17004

Parameter

Invalid override type

The selected override type is invalid.

426D

17005

Function

Activation position under/overrun

The requested activation position is located in the past of the master (e.g. when exchanging a cam plate).

426E

17006

Function

Activation impossible: Master at standstill

The required activation of the correction is impossible since the master axis is not moving. An accurate synchronization is not possible, because the master axis is at standstill and the slave axis is not yet synchronized.

426F

17007

Function

Activation mode not possible

The requested activation mode is not possible when the slave axis is moving. Otherwise, the slave dynamics would be abruptly set to zero.

4270

17008

Parameter

Start parameter of the compensation invalid

One of the dynamic parameters of the compensation is invalid (necessary condition):
acceleration (>0)
deceleration (>0)
process velocity (>0)

4271

17009

Parameter

Start parameter of the compensation invalid

Velocity overshoot is negative.

4272

17010

Parameter

Start parameter of the compensation invalid

The section on which the compensation is to occur is not positive.

4273

17011

Monitoring

Target position under/overrun (internal error)

The position (calculated from the modulo target position) where the axis should stand at end of oriented stop has been run over.

4274

17012

Monitoring

Target position will be under/overrun (internal error)

The position designated for the end of the oriented stop (calculated from the modulo target position) is too close and will be overrun.

4275

17013

Parameter

Group parameter is invalid

A group parameter is invalid. This can be, for example, a parameterized velocity, acceleration, deceleration, jerk or NC cycle time whose value has been parameterized to be less than or equal to zero.

4276

17014

Monitoring

Group error at the start of the setpoint generation

When starting the setpoint generation, e.g. for the flying saw, different parameters or states can lead to this error. For example, dynamic parameters such as acceleration, deceleration and jerk may be invalid (less than or equal to zero), or the NC cycle time or the override value may be outside the range of 0-100 % at the start.

4277

17015

Monitoring

Dynamic parameters not permitted (internal error)

The dynamic parameters resulting from internal calculation like acceleration, deceleration and jerk are not permitted.

4279

17017

Monitoring

New target position is invalid or cannot be reached

A newly commanded target position is invalid, since it has either already been passed over or is passed over during a stop with the momentarily acting dynamics.

427A

17018

Monitoring

New travel velocity or final velocity is invalid

For a new command, either the required travel velocity or the required final velocity (target velocity in the target position) is invalid. The travel velocity must always be greater than zero and the final velocity must always be greater than or equal to zero (default case is zero).

427B

17019

Monitoring

New final velocity or new target position is invalid

For a new command, either the requested final velocity (target velocity in the target position) or the requested target position is invalid. The final velocity must always be greater than or equal to zero (default case is zero).

427C

17020

Monitoring

New travel velocity is invalid

A newly commanded travel velocity is invalid because it is either less than or equal to zero or other reasons do not allow this velocity.

427D

17021

Monitoring

Internal start mode is invalid

The start mode is invalid for a new command or is not permitted in this travel situation. A user cannot directly influence the start mode.

427E

17022

Monitoring

A requested movement command could not be realized (BISECTION)

A requested movement command could not be realized using the requested parameters. The movement command has been executed best possible and this message is therefore to be understood just as a warning. Examples:
An axis start is requested in motion in an unfavorable dynamic situation (acceleration phase) in which the travel distance is too short or the velocity is significantly too high. Another possibility is a slave axis that is decoupled during movement in an unfavorable dynamic situation and then given a start command, as in the previous case.

427F

17023

Monitoring

The new target position either has been overrun or will be overrun

The new target position either has been overrun or will be overrun, since until there it is impossible to stop. An internal stop command is commended.

4280

17024

Monitoring

Group not ready / group not ready for new task" (internal error / information)

The group is being given a new task while it is still in the process of executing an existing task. This request is not allowed because it would interrupt the execution of the previous task. The new task could, for example, be a positioning command, or the "set actual position" function. Precisely the converse relationships apply for the "set new end position" function. In that case, the group/axis must still be actively moving in order to be able to cause a change in the end position.

4281

17025

Parameter

Parameters of the oriented stop are not allowed.

The modulo target position must not be lower than zero and not greater than or equal to the encoder modulo period (e.g. in the interval [0.0,360.0] ).
Even in case of an error, the axis is stopped safely, but then it is not at the desired oriented position afterwards.

4282

17026

Monitoring

The modulo target position of the modulo-start is invalid.

The modulo target position is outside of the valid parameter range. So the position value should not be lower than zero and not greater or equal than the encoder modulo-period (e.g. in the interval [0.0,360.0] for the modulo start type "SHORTEST_WAY" (261)).

4283

17027

Parameter

The activation mode is not allowed.

The activation mode may have been used for online change, scaling, as well as for online change of the motion function. However, the activation mode used is not valid in this context. Either the mode is not defined or not yet implemented or it cannot be implemented in this constellation (e.g. if linear tables with an illegal cyclic activation mode NEXTCYCLE or NEXTCYCLEONCE are used).
In other cases the mode is valid in principle, but the command cannot be implemented because the function already executes a task.

4284

17028

Parameter

The parameterized jerk rate is not allowed.

The jerk rate is smaller than the minimum jerk rate. The minimum jerk rate is 1.0 (e.g. mm/s^3).

4285

17029

Parameter

The parameterized acceleration or deceleration is not permitted.

The parameterized acceleration or deceleration is lower than the permitted minimum acceleration. The value for minimum acceleration is calculated from minimum jerk rate and NC cycle time (minimum jerk rate multiplied with NC cycle time). The unit for example is mm/s^2.

4286

17030

Parameter

The parameterized velocity is not permitted.

The parameterized target velocity is lower than the minimum velocity (but the value zero is permitted). The value for minimum velocity is calculated from the minimum jerk rate and the NC cycle time (minimum jerk rate multiplied with the square of the NC cycle time). The unit for example is mm/s.

4287

17031

Monitoring

Activation cannot be executed due to a pending activation.

An activation, such as "CamIn", "CamScaling" or "WriteMotionFunction" cannot be executed due to a pending activation (e.g. "CamIn", "CamScaling", "WriteMotionFunction"). There can only be one activation at a time.

4288

17032

Monitoring

Illegal combination of different cycle times within an axis group

Within a logical axis group, different cycle times have been recognized for the common setpoint generation or for the I/O processing of an axis. This situation can occur both when creating a master/slave coupling and when configuring a 3D or FIFO group (inserting main, additional or slave axes).

4289

17033

Monitoring

Invalid axis motion reversal

Due to the current dynamic state (current velocity, acceleration and jerk) a motion reversal would be caused. To avoid this motion reversal the axis command is not performed and the previous system state restored.

428A

17034

Monitoring

Illegal command timing, because another instruction with future activation position is active.

A command cannot be accepted because another command with a future activation position is already valid at this time (e.g. "Approaching a new velocity from an activation position" or "Reaching a new velocity at an activation position").

428B

17035

Monitoring

Stop-calculation routine (internal error)

Due to an internal error in the stop-calculation routine the current commando cannot be performed. The previous system state is restored.

428C

17036

Monitoring

A command with activation position cannot fully be performed because the remaining path is too short.

A command with activation position (threshold) like "approaching a new velocity at a position" can be just partially executed because the path from the actual position to the activation position is too short.

428D

17037

Monitoring

Invalid decouple type

The command to release a slave coupling with subsequent restart command has been called with an invalid decoupling or restart type.

428E

17038

Monitoring

Illegal target velocity when decoupling a slave axis

The command to release a slave coupling with subsequent restart command has been called with an impermissible target velocity [1 < V < Vmax].

428F

17039

Monitoring

Activation new dynamic parameters cannot be performed.

The command to activate new dynamic parameters such as acceleration, deceleration and jerk cannot be executed, as this would require a new assigned travel velocity.
This error situation can occur, for example, if the axis is close to the target position in the accelerated state and the dynamics parameters are reduced.

4290

17040

Monitoring

A command with activation position cannot be executed because the axis is already in the brake phase.

A command with activation position (threshold) e.g. "approaching new velocity at position" cannot be executed because the axis is already in the brake phase and the remaining path from the actual position to the activation position is too short.

4291

17041

Monitoring

Jerk scaling of the decouple routine when decoupling a slave axis cannot find a valid solution.

Internal jerk scaling of decouple routine cannot evaluate a valid solution (decoupling slave axis and transform to master axis). Otherwise, an unexpected velocity overshoot, motion reversal or exceeding of the target position could occur.

4292

17042

Monitoring

Command cannot be executed because the command buffer is full.

The command is rejected because the command buffer is full filled.

4293

17043

Internal

Command is rejected due to an internal error in the Look Ahead (internal error).

The command is rejected due to an internal error in the "look ahead".

4294

17044

Monitoring

Command is rejected because the new travel velocity cannot be implemented.

The command is rejected, because the new travel velocity (target velocity) Vrequ is not realizable and an internal optimizing is impossible.

4295

17045

Monitoring

Successive commands have the same end position.

Successive commands have the same end position. So the travel path is zero.

4296

17046

Monitoring

Logical direction of travel of the axis is inconsistent with the parameterized direction of travel of the buffer command.

In the extended buffer mode, where the actual end position is replaced by the new buffer start position, the logical positioning direction is inconsistent with the direction of the buffer command (=> contradiction). A buffered command (BufferMode, BlendingLow, BlendingPrevious, BlendingNext, BlendingHigh) is rejected with error 0x4296 if the command is using the Beckhoff specific optional BlendingPosition but the blending position is located beyond the target position of the previous motion command.

4297

17047

Monitoring

Command is rejected because the remaining distance in the current segment is too short.

The remaining distance for positioning is not sufficient, therefore the command cannot be executed.
This can be the case, for example, in the BufferMode (BlendingMode), if the remaining distance in the current segment is not sufficient to travel without acceleration and to have reached a specified velocity at the segment change (depending on the BufferMode).

429A

17050

Function

Restart failed.

There is already a motion command in the PTP command buffer and another new motion command, which should modify the existing command by a restart, has failed.

429B

17051

Monitoring

Group error for invalid start parameters

This error refers to a wrong parameterization of the user (group error). For example, dynamic parameters such as Velo, Acc or Dec could be less than or equal to zero.
Other error cases:
- BaseFrequence < 0.0
- StartFrequence < 1.0
- StepCount < 1, StepCount > 200
- BaseAmplitude <= 0.0
- StepDuration <= 0.0
- StopFrequence >= 1/(2*CycleTime)

429C

17052

Monitoring

PLC referencing cam is not found.

During the referencing process for an axis it is moved in the direction of the PLC referencing cam. This referencing cam, however, was not found as expected (=> leads to the abortion of the referencing procedure).

429D

17053

Monitoring

PLC referencing cam has not been released again.

During the referencing process for an axis it is moved in the direction of the PLC referencing cam, and is only stopped again when the cam signal is reached. After the axis has also come to a physical standstill, the axis is subsequently started regularly from the cam again. In this case, the reference cam did not become free again as expected when driving down (=> leads to the abortion of the referencing procedure).

429E

17054

Monitoring

I/O sync pulse was not found (only when using hardware latch).

If the hardware latch is activated, a sync pulse (zero pulse) is expected to be found and a sync event triggered following the expiry of a certain time or a certain distance. If this is not the case, the reaction is an error and the abortion of the referencing procedure.

429F

17055

Function

The used buffer mode is unknown or not supported in this context.

The buffer mode used for a PTP command (e.g. ABORTING, etc.) is unknown or not supported in this context.

42A0

17056

Internal

Group/axis consequential error

Consequential error resulting from another causative error related to another axis within the group. Group/axis consequential errors can occur in relation to master/slave couplings or with multiple axis interpolating DXD groups. If, for example, it is detected that the lag error limit of a master axis has been exceeded, then this consequential error is assigned to all the other master axes and slave axes in this group.

42A1

17057

Parameter

Velocity reduction factor for C0/C1 transition is not allowed

A C0 transition describes two geometries which, while they are themselves continuous, no not have either continuous first or second differentials. The velocity reduction factor C0 acts on such transitions. A C1 transition is characterized by the fact that the two geometries have a continuous course, but are continuously differentiable only once. The velocity reduction factor C1 acts on such transitions.

Value range: [0.0 ... 1.0]

Unit: 1

42A2

17058

Parameter

Critical angle at segment transition not allowed

The angle at the segment transition is not allowed.

Value range: (0.0 ... 180.0]

Unit: degrees

42A3

17059

Parameter

Radius of the tolerance sphere

The radius of the tolerance sphere is outside the permitted range of values.

Value range: [0.0 ... 100.0]

Unit: e.g. mm

42A4

17060

Parameter

Reserved

Reserved, not currently used

42A5

17061

Parameter

Start type

Value range: [0,1]

Unit: 1

42A6

17062

Parameter

Reserved

Reserved, not currently used

42A7

17063

Parameter

Blending

Blending is not possible with the given parameters.

42A8

17064

Parameter

Reserved

Reserved, not currently used

42A9

17065

Parameter

Curve velocity reduction method not allowed (internal error)

The curve velocity reduction method does not exist.

42AA

17066

Parameter

Minimum velocity not allowed

The minimum velocity that has been entered is less than 0.0.

42AB

17067

Parameter

Power function input not allowed (internal error)

The input parameters in the power_() function lead to an FPU exception.

42AC

17068

Parameter

Dynamic change parameter not allowed

A parameter that regulates the change of dynamics is invalid.
Parameter:
1. Absolute path dynamics change: all parameters must be strictly positive.
2. Relative reduction c_f: 0.0 < c_f <= 1.0

42AD

17069

Memory

Memory allocation error (internal error)

An error occurred during memory allocation.

42AE

17070

Function

End position (internal error).

The calculated end position differs from the end position in the NC block

42AF

17071

Parameter

Calculate remaining path length

invalid value
Value range: [0,1]

42B0

17072

Function

Setpoint generator SVB active

Starting the setpoint generator (SVB, SAF) has been refused, since the SVB task is already active.

42B1

17073

Parameter

SVB parameter not allowed (internal error)

A parameter related to the internal structure of the setpoint generator (SVB) results in logical errors and/or to an FPU exception. Affects these parameters: Minimum velocity (>0.0), TimeMode, ModeDyn, ModeGeo, StartType, DistanceToEnd, TBallRadius.

42B2

17074

Parameter

Velocity reduction factor not allowed

A parameter that regulates the reduction of velocity at segment transitions is invalid.
Parameter:
1. Once continuously differentiable transitions: VeloVertexFactorC1
2. Not continuously differentiable transitions: VeloVertexFactorC0 CriticalVertexAngleLow, CriticalVertexAngleHigh.

42B3

17075

Parameter

Helix is a circle

The helix has degenerated to a circle, and should be entered as such.

42B4

17076

Parameter

Helix is a straight line

The helix has degenerated to a straight line, and should be entered as such.

42B5

17077

Parameter

Guider parameter not allowed

One of the guider's parameters leads to logical errors and/or to an FPU exception.

42B6

17078

Address

Invalid segment address (internal error)

The geometry segment does not have a valid geometry structure address or does not have a valid dynamic structure address.

42B7

17079

Parameter

Not parameterized generator (internal error)

The SVB generator is not yet parameterized and is therefore unable to operate.

42B8

17080

Address

Not parameterized table (internal error)

The table has no information concerning the address of the corresponding dynamic generator.

42BA

17082

Internal

Arc length of the smoothed path (internal error)

The calculation of the arc length of the smoothed path.

42BB

17083

Parameter

Tolerance sphere

The radius of the tolerance sphere is too small (smaller than 0.1 mm).

42BC

17084

Internal

DXD software end positions (internal error)

An error has occurred in the calculation of the DXD software end positions.

42BD

17085

Function

NC block violates software end positions of the group.

At least one path axis with active software end position monitoring has violated the limit switches. Therefore the geometric entry is denied with an error.

42BE

17086

Parameter

A path axis violates the end position.

At least one path axis with active position limit monitoring violates the limit switches.

42BF

17087

Parameter

Reference velocity type is invalid.

42C0

17088

Internal

Interpolating group contains axes of an incorrect axis type.

An interpolating 3D group may only contain continuously guided axes of axis type 1 (SERVO).

42C1

17089

Internal

Scalar product cannot be calculated

The length of one of the given vectors is 0.0.

42C2

17090

Internal

Inverse cosine cannot be calculated

The length of one of the given vectors is 0.0.

42C3

17091

Parameter

Table entry type invalid

The given table entry type is unknown.

42C4

17092

Parameter

Invalid DIN66025 information type (internal error)

The given DIN66025 information type is unknown. Known types: G0, G1, G2, G3, G17, G18, G19.

42C5

17093

Parameter

Dimension invalid (internal error)

The CNC dimension is unknown. Known dimensions: 1, 2, 3. Or: The CNC dimension is invalid for the given geometrical object. For a circle the dimension must be 2 or 3, while for a helix it must be 3.

42C6

17094

Parameter

Geometrical object is not a straight line.

The given object, interpreted as a straight line, has a length of 0.0.

42C7

17095

Parameter

Geometrical object is not a circle.

Interpreted as a circular arc, the given object has a length of 0.0, or an angle of 0.0 or a radius of 0.0.

42C8

17096

Parameter

Geometrical object is not a helix.

Interpreted as a circular arc, the given object has a length of 0.0, an angle of 0.0, a radius of 0.0 or a height of 0.0.

42C9

17097

Parameter

Target velocity less than or equal to 0.0 is invalid.

A value less than or equal to 0.0 for the target velocity (CNC) is not allowed, since the target velocity is positive by definition, and a target velocity of 0.0 cannot generate any motion.

42CA

17098

Address

Address for look-ahead invalid (internal error)

The address supplied for the look-ahead is invalid.

42CB

17099

Function

SAF setpoint generator already active

Starting the setpoint generator (SAF) has been refused, since the SAF task is already active.

42CC

17100

Function

CNC setpoint generation not active

The stop or override change was denied because the setpoint generation is not active.

42CD

17101

Function

CNC setpoint generation in the stop phase

The stop or override change was denied because the setpoint generation is in the stop phase.

42CE

17102

Parameter

Override not allowed

An override of less than 0.0 % or more than 100.0 % is invalid.

42CF

17103

Address

Table address invalid (internal error)

The table address given for the initialization of the setpoint generator is invalid, or no valid logger connection (report file) is present.

42D0

17104

Parameter

Table entry type invalid

The given table entry type is unknown.

42D1

17105

Memory

Memory allocation failed

The memory allocation for a table failed.

42D2

17106

Memory

Memory allocation failed

The memory allocation for a filter failed.

42D3

17107

Parameter

Parameter invalid

Filter parameter is not allowed.

42D4

17108

Function

Delete Distance to go not possible

Delete Distance to go (only interpolation) failed. This error occurred, if e.g. the command 'DelDTG' was not programmed in the actual movement of the NC program.

42D5

17109

Internal

The setpoint generator of the flying saw generates incompatible values (internal error).

42D6

17110

Function

Axis will be stopped since otherwise it will overrun its target position (old PTP setpoint generator).

If, for example, in case of a slave to master transformation for the new master a target position is commanded that will be overrun because of the actual dynamics the axis will be stopped internally to guarantee that the target position will not be overrun (old PTP setpoint generator).

42D7

17111

Function

Internal error in the transformation from slave to master

42D8

17112

Function

Wrong direction in the transformation of slave to master

42DA

17114

Parameter

Parameters of Motion Function (MF) table incorrect.

The parameters of the Motion Function (MF) are invalid. This may refer to the first time created data set or to online changed data.

42DB

17115

Parameter

Parameters of Motion Function (MF) table incorrect

The parameters of the Motion Function (MF) are invalid. This can refer to the data set created for the first time or to data changed online.
The cause of the error may be that, for example, an active MF point (i.e. not an IGNORE point) points to a passive MF point (i.e. IGNORE point).

42DC

17116

Monitoring

Internal error by using Motion Function (MF)

An internal error occurs by using the Function (MF). This error cannot be solved by the user. Please ask the TwinCAT Support.

42DD

17117

Function

Axis coupling with synchronization generator declined because of incorrect axis dynamic values

The axis coupling with the synchronization generator has been declined, because one of the slave dynamic parameter (machine data) is incorrect. Either the maximum velocity, the acceleration, the deceleration or the jerk is smaller or equal to zero, or the expected synchronous velocity of the slave axis is higher as the maximum allowed slave velocity.

42DE

17118

Function

Coupling conditions of synchronization generator not allowed.

If the direction of travel of the master axis is positive, the master synchronous position must be greater than the master coupling position ("i.e. lie in the future"). With negative master travel direction, the master synchronous position must be smaller than the master coupling position.

42DF

17119

Monitoring

Motion profile of synchronization generator declines dynamic limit of slave axis or required characteristic of profile.

One of the parameterized checks has detected an exceeding of the dynamic limits (max. velocity, max. acceleration, max. deceleration or max. jerk) of the slave axis or a profile property (e.g. overshoot or undershoot in position or velocity) is not allowed.
See also additional/further messages in the Windows Event Viewer and in the message window of the TwinCAT development environment.

42E0

17120

Parameter

Parameter invalid

The encoder generator parameter is not allowed.

42E1

17121

Parameter

Parameter invalid

The external (FIFO) generator parameter is not allowed.

42E2

17122

Function

External generator is active.

The external generator cannot be started, as it is already active.

42E3

17123

Function

External generator is not active.

The external generator cannot be stopped, as it is not active.

42E4

17124

Function

NC block with auxiliary axis violates software limit switches of the group.

At least one auxiliary axis with active software end position monitoring has violated the limit switches. Therefore the geometric entry is denied with an error.

42E5

17125

Function

NC block of Bezier curve (Bezier spline) type contains a singularity

The Bezier curve (Bezier spline) has a peak, i.e. at an inner point both the curvature and the magnitude of the velocity strive towards zero in such a way that the radius of curvature is infinite.
The Bezier curve should be divided at exactly this point according to the "Casteljau algorithm". This preserves the geometry and eliminates the interior singularity.

42E7

17127

Parameter

Value for dead time compensation not allowed

The value for the dead time compensation in seconds for a slave coupling to an encoder axis (virtual axis) is not allowed.

Value range: [0.0 ... 60.0]

Unit: s

42E8

17128

Parameter

Internal error

GROUPERR_RANGE_NOMOTIONWINDOW

Value range: [0.0 ... 1000.0]

Unit: e.g. mm/s

42E9

17129

Parameter

Internal error

GROUPERR_RANGE_NOMOTIONFILTERTIME

Value range: [0.0 ... 60.0]

Unit: s

42EA

17130

Parameter

Internal error

GROUPERR_RANGE_TIMEUNITFIFO

Value range: (0.0 ... 1000.0]

Unit: s

42EB

17131

Parameter

Internal error

GROUPERR_RANGE_OVERRIDETYPE

Value range: [1, 2]

Unit: 1

42EC

17132

Parameter

Internal error

GROUPERR_RANGE_OVERRIDECHANGETIME

Value range: (0.0 ... 1000.0]

Unit: s

42ED

17133

Parameter

Internal error

GROUPERR_FIFO_INVALIDDIMENSIO

The FIFO dimension (number of axes) has been increased from 8 to 16 from TwinCAT 2.11 Build 1547.

Value range: [1 ... 8] resp. [1 ... 16]

Unit: 1 (number of axes)

42EE

17134

Address

Internal error

GROUPERR_ADDR_FIFOTABLE

42EF

17135

Monitoring

Axis is locked for motion commands because a stop command is still active.

The axis/group is locked for motion commands because a stop command is still active. This lock can be released by calling the stop command with Execute=FALSE or by an axis reset (see also MC_Stop and MC_Reset in TcMC2.Lib).

42F0

17136

Parameter

Number of auxiliary axes invalid

The local number of auxiliary axes does not tally with the global number of auxiliary axes.

42F1

17137

Parameter

Reduction parameter for auxiliary axes invalid

The velocity reduction parameters for the auxiliary axes are inconsistent.

42F2

17138

Parameter

Dynamic parameters for auxiliary axes invalid

The dynamic parameters for the auxiliary axes are inconsistent.

42F3

17139

Parameter

Coupling parameters for auxiliary axes invalid

The coupling parameters for the auxiliary axes are inconsistent.

42F4

17140

Parameter

Auxiliary axis entry invalid

The auxiliary axis entry is empty (no axis motion).

42F6

17142

Parameter

Parameter invalid

The limit for velocity reduction of the auxiliary axes is invalid. It has to be in the interval [0..1].

42F8

17144

Parameter

BlockSearch - segment not found

The segment specified as parameter could not be found until the end of the NC program.
Possible cause:
- nBlockId is not specified in the mode described by eBlockSearchMode.
- 0 is not a valid nBlockId.

42F9

17145

Parameter

Blocksearch - Invalid remaining segment length

The remaining distance in the fLength parameter is incorrectly parameterized.

42FB

17147

Internal

Internal error in connection with coupled axes (slave axes)

Internal fatal error when using coupled axes (slave axes). Inconsistent internal state. Please contact our Support.

42FC

17148

Parameter

Parameter for maximum number of jobs (entries) to be transferred is invalid

The parameter describing the maximum number of entries to be transferred from the SVB to the SAF table per NC cycle is invalid.

Value range: [1, 20]

Unit: 1

42FF

17151

Monitoring

Customer-specific error

This is a customer-specific monitoring function.