NC-PLC Errors

Error(Hex)	Error(dec)	Error type	Description
4B00	19200	Parameter	Axis was stopped. The axis was stopped during travel to the target position. The axis may have been stopped with a PLC command via ADS, a call via AXFNC, or by the TwinCAT development environment.
4B01	19201	Parameter	The axis cannot be started. The axis cannot be started because: the axis is in error state, the axis is executing another command, the axis is in protected mode, the axis is not ready for operation.
4B02	19202	Parameter	Control mode not permitted No target position control, and no position area control.
4B03	19203	Parameter	Axis is not moving. The position and velocity can only be restarted while the axis is physically in motion.
4B04	19204	Parameter	Mode invalid Examples: Invalid Direction with MC_MoveModulo. Inactive axis parameter Position correction with MC_BacklashCompensation.
4B05	19205	Parameter	Command not permitted Continuous motion in an unspecified direction Read/Write parameter: unsuitable type
4B06	19206	Parameter	Parameter is not correct Incorrect override: > 100 % or < 0 % Incorrect gear ratio: RatioDenominator = 0
4B07	19207	Parameter	Timeout axis function block After positioning all "MC_Move..."function blocks, check whether positioning was completed successfully. In the simplest case, the "AxisHasJob" flag of the NC axis is checked, which initially signifies that positioning was logically completed. Depending on the parameterization of the NC axis, further checks (quality criteria) are used: "Position range monitoring": If position range monitoring is active, the system waits for feedback from the NC. After positioning, the axis must be within the specified positioning range window. If necessary, the position controller ensures that the axis is moved to the target position. If the position controller is switched off (Kv=0) or weak, the target may not be reached. "Target position monitoring": If target position monitoring is active, the system waits for feedback from the NC. After positioning, the axis must be within the specified target position window for at least the specified time. If necessary, the position controller ensures that the axis is moved to the target position. If the position controller is switched off (Kv=0) or weak, the target may not be reached. Floating position control may lead to the axis oscillating around the window but not remaining inside the window. If the axis is logically at the target position (logical standstill) but the parameterized position window has not been reached, monitoring of the above-mentioned NC feedback is aborted with error 19207 (0x4B07) after a constant timeout of 6 seconds.
4B08	19208	Parameter	Axis is in protected mode. The axis is in protected mode (e.g. coupled) and cannot be moved.
4B09	19209	Parameter	Axis is not ready. The axis is not ready and cannot be moved.
4B0A	19210	Parameter	Error during referencing Referencing (homing) of the axis could not be started or was not successful.
4B0B	19211	Parameter	Incorrect definition of the trigger input The definition of the trigger signal for function block MC_TouchProbe is incorrect. The defined encoder-ID, the trigger signal or the trigger edge are invalid.
4B0C	19212	Function	Position latch was disabled. The function block MC_TouchProbe has detected that a touch probe cycle it had started was disabled. The reason may be an axis reset, for example.
4B0D	19213	Function	NC state feedback timeout A function was successfully sent from the PLC to the NC. An expected feedback in the axis status word has not arrived.
4B0E	19214	Function	Additional product not installed. The function is available as a supplement but is not installed on the system.
4B0F	19215	Function	No NC Cycle Counter Update The NcToPlc Interface or the NC Cycle Counter in the NcToPlc Interface was not updated.
Error numbers 0x4B10 .. 0x4B2F are used in TwinCAT NCI context:
4B10	19216	Function	M-function query missing. This error occurs if the M-function was confirmed, but the request bit was not set.
4B11	19217	Parameter	Zero shift index is outside the range. The index of the zero offset shift is invalid.
4B12	19218	Parameter	R parameter index or size is invalid. This error occurs if the R parameters are written or read but the index or size are outside the range.
4B13	19219	Parameter	Index for tool description is invalid. The index for the tool description is invalid.
4B14	19220	Function	Version of the cyclic channel interface does not match the requested function or the function block. This error occurs if an older TwinCAT version is used to call new functions of a later TcNci.lib version.
4B15	19221	Function	Channel is not ready for the requested function. The requested function cannot be executed, because the channel is in the wrong state. This error occurs during reverse travel, for example, if the axis was not stopped with ItpEStop first.
4B16	19222	Function	Requested function is not activated. The requested function requires explicit activation.
4B17	19223	Function	Axis is already in another group The axis has already been added to another group.
4B18	19224	Function	Block search could not be executed successfully. The block search has failed. Possible causes: Invalid block number
4B19	19225	Parameter	Blocksearch parameter invalid This error occurs if the function block ItpBlocksearch is called with invalid parameters (e.g. E_ItpDryRunMode, E_ItpBlockSearchMode).
4B20	19232	Function	Cannot add all axes This error occurs if an auxiliary axis is to be added to an interpolation group, but the function fails. It is likely that a preceding instruction of an auxiliary axis was skipped.
Error numbers 0x4B30 .. 0x4B3F are used in the TcMcCam-Lib (MC_NC_TableErrorCodes):
4B30	19248	Parameter	Pointer is invalid. A pointer to a data structure is invalid, e.g. Null. Data structure MC_CAM_REF was not initialized.
4B31	19249	Parameter	Memory size invalid The specification of the memory size (SIZE) for a data structure is invalid. Memory size is 0 or smaller than an element of the addressed data structure. Memory size is smaller than the requested amount of data. Memory size does not match other parameters, such as number of points, number of rows or number of columns.
4B32	19250	Parameter	Cam plate ID is invalid. The ID of a cam plate is not between 1 and 255.
4B33	19251	Parameter	Point ID is invalid. The ID of a point (interpolation point) of a motion function is less than 1.
4B34	19252	Parameter	Number of points is invalid. The number of points (interpolation points) of a cam plate to be read or written is less than 1.
4B35	19253	Parameter	MC table type is invalid. The type of a cam plate does not match the definition MC_TableType.
4B36	19254	Parameter	Number of rows invalid The number of rows (interpolation points) of a cam plate is less than 1.
4B37	19255	Parameter	Number of columns invalid The number of columns of a cam plate is invalid. The number of columns of a motion function is not equal 1. The number of columns of a standard cam plate is not equal 2. The number of columns does not match another parameter (ValueSelectMask).
4B38	19256	Parameter	Step size invalid The step size for the interpolation is invalid, e.g. less than or equal to zero.
Error numbers 0x4B0F, 0x4B40 .. 0x4B4F are used in several libraries (TcNc-Lib / Tc2_MC2_XFC-Lib):
4B40	19264	Monitoring	Terminal type not supported The terminal used is not supported by this function block.
4B41	19265	Monitoring	Register read/write error This error implies a validity error.
4B42	19266	Monitoring	Axis is enabled. The axis is enabled but should not be enabled for this process.
4B43	19267	Parameter	Incorrect size of the compensation table The specified table size (in bytes) does not match the actual size.
4B44	19268	Parameter	Positional deviation The minimum/maximum position in the compensation table does not match the position in the table description (ST_CompensationDesc).
4B45	19269	Parameter	Not implemented The requested function is not implemented in this combination.
4B46	19270	Parameter	Window not in the specified modulo range The parameterized min or max position is not in the specified modulo range.
4B47	19271	Monitoring	Buffer overflow The number of events has led to an overflow of the buffer and not all events could be acquired.
Error numbers 0x4B50 .. 0x4B5F are used in the TcMcCam-Lib :
Error numbers 0x4B60 .. 0x4B6F are used in the TcMc2-Lib in the buffered commands context:
4B60	19296	Monitoring	Motion command did not become active. A motion command has been started and has been buffered and confirmed by the NC. Nevertheless, the motion command did not become active (possibly due to a termination condition or an internal NC error).
4B61	19297	Monitoring	Motion command could not be monitored by the PLC. A motion command has been started and has been buffered and confirmed by the NC. The PLC has not been able to monitor the execution of this command and the execution status is unclear since the NC is already executing a more recent command. The execution state is unclear. This error may come up with very short buffered motion commands which are executed during one PLC cycle.
4B62	19298	Monitoring	Buffered command was terminated with an error. A buffered command was terminated with an error. The error number is not available, because a new command is already being executed.
4B63	19299	Monitoring	Buffered command was completed without feedback A buffered command was completed but there was no feedback to indicate success or failure.
4B64	19300	Monitoring	'BufferMode' is not supported by the command. The 'BufferMode' is not supported by this command.
4B65	19301	Monitoring	Command number is zero. The command number for queued commands managed by the system unexpectedly has the value 0.
4B66	19302	Monitoring	Function block was not called cyclically. The function block was not called cyclically. The command execution could not be monitored by the PLC, because the NC was already executing a subsequent command. The execution state is unclear.
Error numbers 0x4B70 .. 0x4B8F are used in the TcPlcInterpolation-Lib :
4B71	19313	Parameter	NCI Entry type invalid The FB FB_NciFeedTablePreparation was called with an unknown nEntryType.
4B72	19314	Function	NCI feed table full The table is full and therefore the entry is not accepted. Remedy: Transfer the contents to the NC kernel with the function block FB_NciFeedTable. If bFeedingDone = TRUE, the table can be reset in FB_NciFeedTablePreparation with bResetTable and then filled with new entries.
4B73	19315	Function	Internal error
4B74	19316	Parameter	ST_NciTangentialFollowingDesc: Tangential axis is not an auxiliary axis. The entry for tangential following contains a tangential axis that is not an auxiliary axis.
4B75	19317	Parameter	ST_NciTangentialFollowingDesc nPathAxis1 or nPathAxis2 is not a path axis. It is therefore not possible to determine the plane.
4B76	19318	Parameter	ST_NciTangentialFollwoingDesc nPathAxis1 and nPathAxis2 are the same. It is therefore not possible to determine the plane.
4B77	19319	Parameter	ST_NciGeoCirclePlane Circle incorrectly parameterized
4B78	19320	Function	Internal error An internal error has occurred in the calculation of the tangential following.
4B79	19321	Monitoring	Tangential following Monitoring of the deviation angle was activated during activation of tangential following (E_TfErrorOnCritical1), and an excessively large deviation angle was detected in the current segment.
4B7A	19322	Function	Reserved Reserved, currently not used.
4B7B	19323	Parameter	Tangential following The radius of the current arc is too small.
4B7C	19324	Parameter	FB_NciFeedTablePreparation pEntry is NULL
4B7D	19325	Parameter	FB_NciFeedTablePreparation The specified nEntryType does not match the structure type.
4B7E	19326	Parameter	ST_NciMFuncFast and ST_NciMFuncHsk The requested M-function is not between 0 and 159.
4B7F	19327	Parameter	ST_NciDynOvr The requested value for the dynamic override is not between 0.01 and 1
4B80	19328	Parameter	ST_NciVertexSmoothing Invalid parameter. This error is generated if a negative smoothing radius or an unknown smoothing type is encountered.
4B81	19329	Parameter	FB_NciFeedTablePrepartion The requested velocity is not in the valid range.
4B82	19330	Parameter	ST_Nci* Invalid parameter
Error numbers 0x4B90 .. 0x4B9F are used in the Tc3_MC2_AdvancedHoming-Lib (PLCopen Part 5: Homing Procedures):
4B90	19344	Parameter	Drive type The determined drive type is not supported.
4B91	19345	Parameter	Direction The direction is impermissible.
4B92	19346		SwitchMode The SwitchMode is impermissible.
4B93	19347		Mode The mode for the parameter handling is impermissible.
4B94	19348		Torque limits The parameterization of the torque limits is inconsistent.
4B95	19349		Lag error limit The parameterization of the position lag limit is impermissible (<=0).
4B96	19350		Distance limit The parameterization of the distance limit is impermissible (<0).
4B97	19351		Saving parameters An attempt was made to back up parameters again, although they have already been backed up.
4B98	19352		Restoring parameters An attempt was made to restore parameters, although none have been backed up.
4B9F	19359		Cancellation of a homing The abortion of a homing has failed.
Error numbers 0x4BA0 .. 0x4BAF are used in the TcNcKinematicTransformation-Lib :
4BA0	19360	Function	KinGroup error The kinematic group is in an error state. This error may occur if the kinematic group is in an error state or an unexpected state when it is called (e.g., simultaneous call via several function block instances).
4BA1	19361	Function	KinGroup timeout Timeout during call of a kinematic block
Error numbers 0x4BB0 .. 0x4BBF are used in the Tc2_MC2_Drive-Lib :
4BB0	19376	Function	Invalid axis position The current axis position or the axis position resulting from the new position offset exceeds the valid range of values.
4BB1	19377	Function	Position offset invalid The new position offset exceeds the valid range of values [AX5000: 2^31].
4BB2	19378	Function	Invalid axis position The current axis position or the axis position resulting from the new position offset falls below the valid range of values.
4BB3	19379	Function	Position offset invalid The new position offset falls below the valid range of values [AX5000: -2^31].
4BB4	19380	Function	Deviation of the activated feedback and/or storage location The activated feedback and/or storage location (AX5000: P-0-0275) differ from the parameterization on the function block.
4BB5	19381	Function	Reinitialization of the NC actual position has failed. The reinitialization of the actual NC position has failed, e.g., reference system = "ABSOLUTE (with single overflow)" & software end position monitoring is disabled.
4BB6	19382	Function	The setting or deletion of a position offset was rejected. The command to set or delete a position offset was rejected without feedback data, e.g., if the drive controller's firmware does not support the corresponding command.
4BB7	19383	Function	The setting or deletion of a position offset was rejected. The command to set or delete a position offset was rejected with feedback data. The information in the feedback data may contain further clues to the cause, e.g. if the firmware of the drive controller does not support the corresponding command.
4BB8	19384	Function	Firmware version invalid A firmware version >= 19 is required for the servo terminal.
4BB9	19385	Function	Different modulo settings The modulo settings on the drive controller and in the NC are different.
4BBA	19386	Function	Brake test failed The brake test has failed.
4BBB	19387	Function	Drive type not supported The determined drive or axis type is not supported.
4BBC	19388	Function	Command was aborted. The command was aborted by another command.
4BBD	19389	Function	Timeout The command was aborted due to timeout.
Error numbers 0x4BC0 .. 0x4BCF are used in the Tc3_DriveMotionControl-Lib :
4BC2	19394		Position offset invalid The new position offset exceeds the valid value range.
4BC3	19395		I/O data invalid I/O data are invalid or the terminal is in an error state.
4BC4	19396		ADS port not linked in the interface The ADS port variable of the terminal was not linked to the axis interface of the PLC and parameters of the terminal are to be changed.