Controller Errors

Error(Hex)

Error(Dec)

Error type

Description

4500

17664

Parameter

Controller ID not allowed

The value for the controller 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

4501

17665

Parameter

Controller type not allowed

The value for the controller type is unacceptable because it is not defined.
Type 1: P-controller (position)
Type 7: Fast/creep controller
Type 8: Stepper motor controller
Type 9: Sercos controller

Value range: [1 ... 9]

Unit: 1

4502

17666

Parameter

Operation mode controller not allowed

The value for the controller operating mode is not allowed.

Value range: [1]

Unit: 1

4503

17667

Parameter

Weighting of the velocity pre-control not allowed

The value for the percentage weighting of the velocity pre-control is not allowed. The parameter is pre-set to 1.0 (100%) as standard.

Value range: [0.0 ... 1.0]

Unit: %

4504

17668

Parameter

Lag error monitor (position) not allowed

The value for the activation of the lag error monitor is not allowed.

Value range: [0, 1]

Unit: 1

4505

17669

Parameter

Lag monitoring (velocity) not allowed

The value for the activation of the lag error monitoring (velocity) is not allowed.

Value range: [0, 1]

Unit: 1

4506

17670

Parameter

Lag error window (position) not allowed

The value for the lag error window (maximum allowable lag error) is not allowed.

Value range: [0.0, 10000.0]

Unit: e.g. mm

4507

17671

Parameter

Lag error filter time (position) not allowed

The value for the lag error filter time (position) is not allowed.

Value range: [0.0, 600.0]

Unit: s

4508

17672

Parameter

Lag error window (velocity) not allowed

The value for the lag error window (velocity) is not allowed.

Value range: [0.0, 10000.0]

Unit: e.g. m/min

4509

17673

Parameter

Lag error filter time (velocity) not allowed

The value for the lag error filter time (velocity) is not allowed.

Value range: [0.0, 600.0]

Unit: s

450A

17674

Parameter

Controller output limitation (output limitation) not allowed

The value for the output limitation of the controller at the total manipulated variable is invalid. The default setting is 0.5 (50 percent). Typically, this parameter is effective if the velocity interface has been parameterized for the drive unit and the NC executes the position control of the position on the controller.

Value range: [0.0, 1.0]

Unit: %

4510

17680

Parameter

Proportional gain Kv or Kp (controller) not allowed

Position The value for the proportional gain (Kv factor or Kp factor) is not allowed.

Value range: [0.0, 10000.0]

Unit: e.g. mm/s/mm

4511

17681

Parameter

Integral action time Tn (controller) not allowed

Position The value for the integral action time is not allowed (I part of the PID T1 controller).

Value range: [0.0, 60.0]

Unit: s

4512

17682

Parameter

Rate time Tv (controller) not allowed

Position The value for the derivative action time is not allowed (D part of the PID T1 controller).

Value range: [0.0, 60.0]

Unit: s

4513

17683

Parameter

Damping time Td (controller) not allowed

Position The value for the damping time is not allowed (D part of the PID T1 controller).

Value range: [0.0, 60.0]

Unit: s

4514

17684

Function

Activation of the automatic offset calibration not allowed

Activation of the automatic offset calibration is only possible for certain types of controller (with no I component).

4515

17685

Parameter

Additional proportional gain Kv or Kp (controller) not allowed

Position The value for the second term of the proportional gain (Kv factor or Kp factor) is not allowed.

Value range: [0.0, 10000.0]

Unit: e.g. mm/s/mm

4516

17686

Parameter

Reference velocity for additional proportional gain Kv or Kp (controller) not allowed

Position The value for the reference velocity percentage data entry, to which the additional proportional gain is applied, is not allowed. The standard setting for the parameter is 0.5 (50%).

Value range: [0.0 ... 1.0]

Unit: %

4517

17687

Parameter

Proportional gain Pa (proportion) not allowed

Acceleration The value for the proportional gain (Pa factor) is not allowed.

Value range: [0.0, 1000000.0]

Unit: s

4518

17688

Parameter

Proportional gain Kv (controller) not allowed

Velocity The value for the proportional gain (Kv factor) is not allowed.

Value range: [0.0, 10000.0]

Unit: 1

4519

17689

Parameter

Integral action time Tn (controller) not allowed

Velocity The value for the integral action time is not allowed (I part of the PID T1 controller).

Value range: [0.0, 60.0]

Unit: s

451A

17690

Parameter

Reserved

Reserved, currently not used.

451B

17691

Parameter

Reserved

Reserved, currently not used.

451C

17692

Parameter

Velocity filter time not allowed

The parameter for the velocity filter time in seconds is invalid (P-T1 filter). This filter can be used in the NC for filtering an actual velocity or a velocity difference (Geschwindigkeitsfehler = Soll-Geschwindigkeit - Ist-Geschwindigkeit) in special NC controllers (e.g. in the torque interface).

Value range: [0.0, 60.0]

Unit: s

451D

17693

Parameter

Dead range not allowed

The value for the dead range (neutral zone) of the position error or the velocity error (control deviation) is not allowed (applies to more complex controllers with velocity or torque interface).

Value range: [0.0, 10000.0]

Unit: mm or mm/s

451F

17695

Parameter

Proportional gain Kcp not allowed

The parameter for the proportional gain Kcp of the slave coupling difference control is invalid.

Value range: [0.0, 10000.0]

Unit: e.g. mm^2/mm

4520

17696

Parameter

Rate time Tv (controller) not allowed

Velocity The value for the derivative action time is not allowed (D part of the PID T1 controller).

Value range: [0.0, 60.0]

Unit: s

4521

17697

Parameter

Damping time Td (controller) not allowed

Velocity The value for the damping time is not allowed (D part of the PID T1 controller). Suggested value: 0.1 * Tv

Value range: [0.0.. 60.0]

Unit: s

4522

17698

Parameter

Limitation of the I part not allowed

The parameter for limiting the I-part of a PI- or PID-controller is not allowed. This internal state variable can be limited in percentage (1.0 corresponds to 100 percent).

Value range: [0.0 .. 1.0]

Unit: %

4523

17699

Parameter

Limitation of the D part not allowed

The parameter for limiting the D-part of a PI- or PID-controller is not allowed. This internal state variable can be limited in percentage (1.0 corresponds to 100 percent).

Value range: [0.0 .. 1.0]

Unit: %

4524

17700

Parameter

Parameter 'Deactivation of the I part during travel' not allowed

The boolean parameter for switching off the I-part during active positioning is invalid.

Value range: [0, 1]

Unit: 1

4525

17701

Parameter

Parameter 'Filter time for P-T2 filter' not allowed

The time T0 in seconds is not permissible as a filter time for the P-T2 element of the velocity controller.
The filter time must be less than twice the NC SEC cycle time.

Value range: [0.0, 60.0]

Unit: s

4526

17702

Parameter

Velocity observer: 'Parameterized mode' is not allowed

The parameterized mode (0=OFF, 1=LUENBERGER) for the velocity observer of the special NC controller in the torque interface is not permitted.

Value range: [0, 1]

Unit: 1

4527

17703

Parameter

Velocity observer: 'Motor torque constant Kt or Kf' is not allowed

The parameter for the motor torque constant Kt (rotary motor) or Kf (linear motor) of the velocity observer of the special NC controller in the torque interface is invalid.

Value range: [0.0 .. 100000.0]

Unit: Nm/A or N/A

4528

17704

Parameter

Velocity observer: 'Motor moment of inertia JM' is not allowed

The parameter for the motor moment of inertia JM of the velocity observer of the special NC controller in the torque interface is invalid.

Value range: [0.0001 .. 100000.0]

Unit: kg cm^2

4529

17705

Parameter

Velocity observer: 'Bandwidth f0' is not allowed

The parameter for the bandwidth f0 of the velocity observer of the special NC controller in the torque interface is invalid. The bandwidth must be less than the reciprocal of 6 times the NC cycle time (f0 < 1/(6*T)).

Value range: [0.0 .. 10000.0]

Unit: Hz

452A

17706

Parameter

Velocity observer: 'Correction factor kc' is not allowed

The parameter for the correction factor kc of the velocity observer of the special NC controller in the torque interface is invalid. The correction factor kc establishes the relationship between current and acceleration or angular acceleration.

Value range: [0.0 .. 100.0]

Unit: s

452B

17707

Parameter

Velocity observer: 'Time constant T for 1st order filter' is not allowed

The time constant T for the 1st order velocity filter (PID-T2 or "Lead Lag") of the velocity observer of the special NC controller in the torque interface is not allowed. The correction factor kc establishes the relationship between current and acceleration or angular acceleration.

Value range: [0.0 .. 100.0]

Unit: s

452C

17708

Parameter

Velocity observer: 'Amplitude damping d for 2nd order filter' is not allowed

The high-pass/low-pass amplitude attenuation dHP or dTP for the 2nd order velocity filter ("bi-quad") of the velocity observer of the special NC controller in the torque interface is not allowed.

Value range: [0.2 .. 10.0]

Unit: 1

452D

17709

Parameter

Velocity observer: 'Frequency fHP or fTP for 2nd order filter' is not allowed

The high-pass/low-pass frequency fHP or fTP for the 2nd order velocity filter ("bi-quad") of the velocity observer of the special NC controller in the torque interface is not allowed.

Value range: [0.0, ... 10000.0]

Unit: Hz

4540

17728

Initialization

Controller initialization

The controller has not been initialized. Although the controller has been created, the rest of the initialization has not been performed (1. Initialization of controller, 2. Reset of controller).

4541

17729

Address

Axis address

The controller does not know its axis, or the axis address has not been initialized.

4542

17730

Address

Drive address

The controller does not know its drive, or the drive address has not been initialized.

4550

17744

Monitoring

Lag error monitor (position)

While the lag error monitor was active (position), the lag error was exceeded by an amount greater than the lag error window and which lasting longer than the parameterized lag error filter time.

4551

17745

Monitoring

Lag monitoring (velocity)

With active lag error monitoring (velocity) a velocity lag error exceedance has occurred, whose magnitude is greater than the lag error window, and whose duration is longer than the parameterized lag error filter time.

45A0

17824

Monitoring

Internal error

CONTROLERR_RANGE_AREA_ASIDE

45A1

17825

Monitoring

Internal error

CONTROLERR_RANGE_AREA_BSIDE

45A2

17826

Monitoring

Internal error

CONTROLERR_RANGE_QNENN

45A3

17827

Monitoring

Internal error

CONTROLERR_RANGE_PNENN

45A4

17828

Monitoring

Internal error

CONTROLERR_RANGE_AXISIDPRESP0