Encoder Errors
Error(Hex) | Error(Dec) | Error type | Description | |
|---|---|---|---|---|
4400 | 17408 | Parameter | Encoder ID not allowed The value for the encoder ID is not allowed, e.g. because it has already been assigned, is less than or equal to zero, or is greater than 255. | |
Value range: [1 ... 255] | Unit: 1 | |||
4401 | 17409 | Parameter | Encoder type not allowed The value for the encoder type is not allowed as it is not defined. | |
Value range: [1 ... 6] | Unit: 1 | |||
4402 | 17410 | Parameter | Encoder mode The value for the encoder mode (operation mode) is invalid. | |
Value range: [1, 2] | Unit: 1 | |||
4403 | 17411 | Parameter | Encoder count direction The flag for the encoder counting direction is not allowed. | |
Value range: [0, 1] | Unit: 1 | |||
4404 | 17412 | Initialization | Calibration state The flag for the calibration state is not allowed. | |
Value range: [0, 1] | Unit: 1 | |||
4405 | 17413 | Parameter | Encoder increments per physical encoder revolution The value for the number of encoder increments for each physical rotation of the encoder is not allowed. This value is used by the software for the calculation of encoder overruns and underruns. | |
Value range: [255, 0xFFFFFFFF] | Unit: INC | |||
4406 | 17414 | Parameter | Scaling factor The value for the scaling factor is not allowed. This scaling factor provides the weighting for the conversion of an encoder increment (INC) to a physical unit such as millimeters or degrees. | |
Value range: [0.000001, 100.0] | Unit: e.g. mm/INC | |||
4407 | 17415 | Parameter | Position offset (zero point offset) The value for the position offset of the encoder is not allowed. This value is added to the calculated encoder position, and is interpreted in the physical units of the encoder. | |
Value range: [-1000000.0, 1000000.0] | Unit: e.g. mm | |||
4408 | 17416 | Parameter | Modulo factor The value for the encoder's modulo factor is not allowed. | |
Value range: [1.0, 1.0E+9] | Unit: e.g. mm or degrees | |||
4409 | 17417 | Parameter | Position filter time The value for the actual position filter time is not allowed (P-T1 filter). | |
Value range: [0.0, 60.0] | Unit: s | |||
440A | 17418 | Parameter | Velocity filter time The value for the actual velocity filter time is not allowed (P-T1 filter). | |
Value range: [0.0, 60.0] | Unit: s | |||
440B | 17419 | Parameter | Acceleration filter time The value for the actual acceleration filter time is not allowed (P-T1 filter). | |
Value range: [0.0, 60.0] | Unit: s | |||
440C | 17420 | Initialization | Cycle time not allowed (internal error) The value of the SAF cycle time for the calculation of actual values is not allowed (e.g. is less than or equal to zero). | |
440D | 17421 | Initialization | Setting of the selected units is invalid Settings for modulo position, velocity etc. lead to an error. | |
440E | 17422 | Parameter | Actual position correction / measurement system error correction The value for the activation of the actual position correction ("measuring system error correction") is not allowed. | |
Value range: [0, 1] |
| |||
440F | 17423 | Parameter | Filter time actual position correction The value for the actual position correction filter time is not allowed (P-T1 filter). | |
Value range: [0.0, 60.0] | Unit: 1 | |||
4410 | 17424 | Parameter | Search direction for referencing cam inverted The value of the search direction of the referencing cam in a referencing procedure is not allowed. | |
Value range: [0, 1] | Unit: 1 | |||
4411 | 17425 | Parameter | Search direction for sync pulse (zero pulse) inverted The value of the search direction of the sync pulse (zero pulse) in a referencing procedure is not allowed. | |
Value range: [0, 1] | Unit: 1 | |||
4412 | 17426 | Parameter | Reference position The value of the reference position in a referencing procedure is not allowed. | |
Value range: [-1000000.0, 1000000.0] | Unit: e.g. mm | |||
4413 | 17427 | Parameter | Distance monitoring between activation of the hardware latch and occurrence of the sync pulse (obsolete) The flag for the distance monitoring between activation of the hardware latch and occurrence of the sync/zero pulse ("latch valid") is not allowed. | |
Value range: [0, 1] | Unit: 1 | |||
4414 | 17428 | Parameter | Minimum gap between activation of the hardware latch and occurrence of the sync pulse (obsolete) The value for the minimum gap in increments between activation of the hardware latch and occurrence of the sync/zero pulse ("latch valid") during a referencing procedure is not allowed. | |
Value range: [0, 65536] | Unit: INC | |||
4415 | 17429 | Parameter | External sync pulse (obsolete) The value of the activation or deactivation of the external sync pulse in a referencing procedure is not allowed. | |
Value range: [0, 1] | Unit: 1 | |||
4416 | 17430 | Parameter | Scaling of the noise rate is not allowed The value of the scaling (weighting) of the synthetic noise rate is not allowed. This parameter exists only in the simulation encoder and serves to produce a realistic simulation. | |
Value range: [0, 1000000] | Unit: 1 | |||
4417 | 17431 | Parameter | Tolerance window for modulo-start The value for the tolerance window for the modulo-axis-start is invalid. The value must be greater or equal than zero and smaller than the half encoder modulo-period (e.g. in the interval [0.0,180.0]). | |
Value range: [0.0, 180.0], Max: 0.5*modulo period | Unit: e.g. mm or degrees | |||
4418 | 17432 | Parameter | Encoder referencing mode The value for the encoder reference mode is not allowed, resp. is not supported for this encoder type. | |
Value range: [0, 5] | Unit: 1 | |||
4419 | 17433 | Parameter | Encoder evaluation direction The value for the encoder evaluation direction (log. counting direction) is not allowed. | |
Value range: [0, 3] | Unit: 1 | |||
441A | 17434 | Parameter | Encoder absolute dimensioning system The value for the encoder reference system is invalid: | |
Value range: [0, 2] | Unit: 1 | |||
441B | 17435 | Parameter | Encoder position initialization mode When starting the TC system the value for the encoder position initialization mode is invalid. | |
Value range: [0, 1] | Unit: 1 | |||
441C | 17436 | Parameter | Encoder sign interpretation (UNSIGNED / SIGNED data type) The value for the encoder sign interpretation (data type) for the encoder the actual increment calculation is invalid: | |
Value range: [0, 2] | Unit: 1 | |||
441D | 17437 | Parameter | Homing Sensor Source The value for the Encoder Homing Sensor Source is invalid or not supported for this encoder type. | |
Value range: [0, 16] | Unit: 1 | |||
4420 | 17440 | Parameter | Software end position monitoring minimum not allowed The value for the activation of the software end position monitoring minimum is not allowed. | |
Value range: [0, 1] | Unit: 1 | |||
4421 | 17441 | Parameter | Software end position monitoring maximum not allowed The value for the activation of the software end position monitoring maximum is not allowed. | |
Value range: [0, 1] | Unit: 1 | |||
4422 | 17442 | Function | Actual value setting is outside the value range. The "Set actual value" function cannot be executed because the new actual position is outside the intended value range. | |
Value range: [-1.0E10, 1.0E10] | Unit: e.g. mm | |||
4423 | 17443 | Parameter | Software end position minimum not allowed The value for the software end position minimum is not allowed. | |
Value range: [-1000000000.0, 1000000000.0] | Unit: e.g. mm | |||
4424 | 17444 | Parameter | Software end position maximum not allowed The value for the software end position maximum is not allowed. | |
Value range: [-1000000000.0, 1000000000.0] | Unit: e.g. mm | |||
4425 | 17445 | Parameter | Filter mask for the encoder raw value not allowed The value for the filter mask of the encoder raw value in increments is not allowed. | |
Value range: [0x0, 0xFFFFFFFF] | Unit: 1 | |||
4426 | 17446 | Parameter | Reference mask for the encoder raw value not allowed The value for the reference mask (increments per encoder revolution, absolute resolution) of the encoder raw value in increments is not allowed. This value is used, for example, for referencing an axis with the "Software Sync" referencing mode. | |
Value range: [0x0000000F, 0xFFFFFFFF] | Unit: 1 | |||
4427 | 17447 | Parameter | Parameter "Dead time compensation mode" (encoder) is invalid. The parameter for the dead time compensation mode on the NC encoder is invalid (OFF, ON with velocity, ON with velocity and acceleration). | |
Value range: [0, 1, 2] | Unit: 1 | |||
4428 | 17448 | Parameter | Parameter 'Control bits of the dead time compensation' (encoder) is invalid. The parameter for the control bits of the dead time compensation at the encoder is invalid (e.g. relative or absolute time interpretation). | |
Value range: [>0] | Unit: 1 | |||
4429 | 17449 | Parameter | Parameter 'time shift of dead time compensation mode' (encoder) is invalid. The parameter for the time shift of the dead time compensation (Time Shift in nanoseconds) at the encoder is invalid. | |
Value range: [-1.0E9 .. 1.0E9] | Unit: ns | |||
4430 | 17456 | Function | Hardware latch activation (encoder) Activation of the encoder hardware latch was implicitly initiated by the referencing procedure. If this function has already been activated but a latch value has not yet become valid ("latch valid"), another call to the function is refused with this error. | |
4431 | 17457 | Function | Activation of external hardware latch / touch probe function (encoder) The activation of the external hardware latch (only available for KL5101, SERCOS, AX2xxx) is initiated explicitly by an ADS command (called from the PLC program of the Visual Basic interface). If this function has already been activated, but the latch value has not yet been made valid by an external signal ("external latch valid" or "touch probe latched" or "real-time status bit"), another call to the function is refused with this error. It is also possible that this function cannot be executed because of another simultaneous function, such as referencing an incremental encoder axis. | |
4432 | 17458 | Function | External hardware latch activation (encoder) If a referencing procedure has previously been initiated and the hardware still signals a valid latch value ("latch valid"), this function must not be called. However, this error can never actually occur in practice. | |
4433 | 17459 | Function | Activation of external hardware latch / touch probe function (encoder) This function has been activated before and has not been finished since (the internal handshake communication between NC and I/O device is still active). In the meantime, a renewed activation is not allowed and is therefore rejected with an error. | |
4434 | 17460 | Monitoring | Encoder function is not supported An encoder function has been activated that is currently not released for use, or which is not even implemented. | |
4435 | 17461 | Monitoring | Encoder function is already active An encoder function cannot been activated because this functionality is already active. | |
4440 | 17472 | Initialization | Encoder initialization Encoder has not been initialized. Although the axis has been created, the rest of the initialization has not been performed: | |
4441 | 17473 | Address | Axis address The encoder does not have an axis, or the axis address has not been initialized. | |
4442 | 17474 | Address | Address I/O input structure Drive has no valid I/O input address in the process image. | |
4443 | 17475 | Address | Address I/O output structure The encoder does not have a valid I/O output address in the process image. | |
4450 | 17488 | Monitoring | Encoder counter underflow monitoring The encoder's incremental counter has underflowed. | |
4451 | 17489 | Monitoring | Encoder counter overflow monitoring The encoder's incremental counter has overflowed. | |
4460 | 17504 | Monitoring | Minimum software position limit (axis start) While monitoring for the minimum software position limit is active, an axis start has been performed on a position that is below the minimum software position limit. | |
4461 | 17505 | Monitoring | Maximum software position limit (axis start) While monitoring for the maximum software position limit is active, an axis start has been performed on a position that is above the maximum software position limit. | |
4462 | 17506 | Monitoring | Minimum software position limit (positioning process) While monitoring for the minimum software position limit is active, the actual position has fallen below the minimum software position limit. For servo axes - they are continuously guided - this limit is extended by the amount of the parameterized lag error window. | |
4463 | 17507 | Monitoring | Maximum software position limit (positioning process) While monitoring for the maximum software position limit is active, the actual position has exceeded the maximum software position limit. For servo axes - they are continuously guided - this limit is extended by the amount of the parameterized lag error window. | |
4464 | 17508 | Monitoring | Encoder hardware error The drive resp. the encoder system reports a hardware error of the encoder. An optional error code can probably be found in the message in the event display. | |
4465 | 17509 | Monitoring | Position initialization error at system startup When the actual position was initialized for the first time, it was outside the minimum and maximum end positions for all three initialization attempts (without overflow/underflow, with underflow/overflow). | |
4466 | 17510 | Monitoring | Invalid I/O data for more than n continuous NC cycles (encoder) The axis (encoder) has detected invalid encoder I/O data for more than n continuous NC cycles (NC SAF task) (e.g. n=3). Typically, an EtherCAT device is a "Working Counter Error" (WcState), which shows that the data transmission between I/O device and controller is disturbed. If this error is continuously present for a longer period of time, then this can lead to the loss of the referencing of the axis (the "Homed" flag is reset and the encoder gets the state "unreferenced"). Possible reasons for this error: An EtherCAT slave may have left its OP state, the real-time load on the controller is too high or the real-time jitter is too high. | |
4467 | 17511 | Monitoring | Invalid actual position (encoder) The I/O device returns an invalid actual position (for CANopen/CoE see bit 13 of encoder state "TxPDO data invalid" or "invalid actual position value"). | |
4468 | 17512 | Monitoring | Invalid I/O input data (error type 1) The monitoring of the "cyclic I/O input counter" (2-bit counter) has detected an error. The input data has not been updated for at least 3 NC-SAF cycles (the 2-bit counter shows a constant value for several NC-SAF cycles instead of increasing by exactly 1 from cycle to cycle). | |
4469 | 17513 | Monitoring | Invalid I/O input data (error type 2) The monitoring of the "cyclic I/O input counter" (2-bit counter) has detected an error. The quality of the input data, based on the 2-bit counter, is not sufficient (there is a simple statistical evaluation here that evaluates both GOOD cases and BAD cases and leads to an error if a specific threshold value is exceeded). | |
4470 | 17520 | Monitoring | SSI transformation faulty or not finished The SSI transformation of the FOX 50 module was faulty for some NC-cycles or did not finished respectively. | |
44A2 | 17570 | Monitoring | Internal error ENCERR_ADDR_CONTROLLER | |
44A3 | 17571 | Monitoring | Internal error ENCERR_INVALID_CONTROLLERTYPE | |