Group Errors

4200

16896

Parameter

"Group ID not allowed"
The value for the group 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

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: High/low speed 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 instance, it has gone outside 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 instance, it has passed outside the value range, the slave location 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

A nonexpected internal error has occurred. The following situations may have caused this effect:

There is not enough TC router memory or Windows memory to establish the internal NC objects,

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

a fatal internal error in calculating a stop command or a halt command has occurred,

internal checking of NC own logic and algorithms (self-checking software),

nonexpected modes and cases that are not intended regularly, but are recognized being erroneous.

Note: Quite often in such an error situation an additional error message in the Windows event logger is thrown that can be helpful for a more detailed analysis by Beckhoff or by the user.

4205

16901

Parameter

"Invalid cycle time for statement execution task (SAF)" The value of the cycle time for the NC block execution task (SAF 1/2) is not allowed, because it has passed outside the value range.

Value range: [0.001 ... 0.1]

Unit: s

4206

16902

Initialization

"GROUPERR_RANGE_MAXELEMENTSINAXIS "

4207

16903

Parameter

"Invalid cycle time for the statement preparation task (SVB)" The value of the cycle time for the NC statement 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 (buffered operation) Value 1: Active (single-block operation)

Value range: [0, 1]

Unit: 1

4209

16905

Parameter

"Group deactivation not allowed" (INTERNAL ERROR) The flag for the deactivation or activation of the complete group is not allowed. Value 0: Group active Value 1: Group passive

Value range: [0, 1]

Unit: 1

420A

16906

Initialization

"Statement execution state (SAF state) not allowed" (INTERNAL ERROR) The value for the state of the block 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 new 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 set value generator address" A master/slave coupling is to be inserted into the group, but there is no valid address for the slave set value 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

Address Master Setpoint Generator

A group (e.g. FIFO group) does not own a master setpoint generator or a setpoint generator address has not been initialized. Possibly, 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 address 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

"Axis is blocked for commands while persistent NC data are queued" Axis is blocked for commands while waiting for valid IO 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 used scaling mode MASTER-AUTOOFFSET is invalid in this context because an existing reference table is missing.
This error can occur for example when adding cam tables without a unique reference to an existing cam table.

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 (gearing factor) of 0.0 is not allowed" A master/slave coupling with a gearing factor 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 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 generator (e.g. PTP master setpoint generator). This can be in general or only in a special situation.

421F

16927

Initialization

"Group initialization" Group has not been initialized. Although the group has been created, the rest of the initialization has not been performed (1. Initialization of group I/O, 2. Initialization of 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 instance, 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 set velocity is not allowed" The value requested for the set 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 locations. In other words, it is either less than the minimum software end location or larger than the maximum software end location. 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

"Movement smaller than one encoder increment" (INTERNAL ERROR) The distance 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 high/low speed axes if a loop movement 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 not ready during axis start" During an axis start it is ascertained that the drive is not ready. The following are possible causes: - the drive is in the error state (hardware error) - the drive is in the start-up phase (e.g. after an axis reset that was preceded by a hardware error) - the drive is missing the controller enable (ENABLE) Note: The time required for "booting" a drive after a hardware fault can amount to several seconds.

4226

16934

Monitoring

"Invalid parameters of the emergency stop." 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

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

4228

16936

Monitoring

"Requested traverse distance is not allowed" The requested traverse distance or looping distance is smaller than the braking distance of the two/speed 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 locations. In other words, it is either less than the minimum software end location or larger than the maximum software end location. 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 type absolute (two 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

"Set 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 set velocity (PTP and CNC) is not allowed, since the set velocity is by definition strictly positive, and with a set velocity of 0.0, division will generate an FPU exception.

4232

16946

Monitoring

"Loss of precision when trying a positioning" The positioning is so long in space or time that decimal parts loose there relevance 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 overflow (overshoot in the velocity)" The new dynamic with the parameterized jerk is so weak that a velocity overflow will occur (overshoot in the velocity). 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 set value generator" (INTERNAL ERROR) It is found that a slave axis within a group does not have a valid slave generator (set value generator). A slave axis and a slave set value 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" SVB memory allocation for dynamic entry in SAF table failed.

4241

16961

Function

"Table already contains an entry" (INTERNAL ERROR) SAF table entry abandoned, because, incorrectly, an entry already exists.

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" Start of compensation refused, because compensation is already active. It's also possible that the M/S axes are not active moved. Therefore an execution of the compensation is impossible.

4246

16966

Function

"Compensation not active" Stop of compensation refused, because 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 slave address given for on-line coupling/decoupling is invalid.

424A

16970

Function

"Coupling velocity invalid" The velocity of what is to become the master axis is 0, which means that on-line 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 on-line 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 type, actual position type or end position type is not allowed" The start type for a positioning task in invalid. Valid start types are ABSOLUTE (1), RELATIVE (2), CONTINUOUS POSITIVE (3), CONTINUOUS NEGATIVE (4), MODULO (5), etc. It is also possible that the types for setting a new actual position or for travel to a new end position are invalid.

4251

16977

Function

"Function not presently 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 of an internal state machine is invalid. This is an internal error.

4253

16979

Monitoring

"Reference cam became free too soon" During the referencing process for an axis it is moved in the direction of the 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

"Clearance monitoring between activation of the hardware latch and appearance of the sync pulse" When the clearance 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. This error is generated when that happens. (See parameters for the incremental encoder)

4255

16981

Memory

"No memory available" The dynamic memory allocation for the set value 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 run time the whole master/slave group is stopped by a run time 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 job (e.g. positioning command) while coupling is requested" A master/slave coupling of a certain slave type (e.g. linear coupling) cannot be executed. he master or intended slave axis is not in stand still state and is executing a job (e.g. positioning) at the same time as the coupling request received. 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 an cam is zero, etc.).

425C

16988

Parameter

"Slave type is incorrect" 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/estop is already active.

425E

16990

Function

"Maximum number of tables per slavegenerator 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 invalid". The used scaling is invalid in this context. Either the mode is not defined or yet not implemented or however it cannot in this constellation be put into action.
For example MASTER-AUTOOFFSET cannot be used when a cam table is coupled in relative mode because this is a contradiction.
Further MASTER-AUTOOFFSET cannot be used when a cam table is coupled for the first time because a relationship to an existing reference table is missing.

4260

16992

Monitoring

"Controller enable" Controller enable for the 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 referencing status" 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 can thus never directly be given a task.
Exception: see axis parameter "Allow motion commands to slave axis".

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 like e.g. “StopAndKeep” is sent to a logically inactive DXD group or to a group with the state channel override zero. Though, it is expected that for performing this command the NCI group resides actively in setpoint generation. This error can occur related to the functions “delete distance to go” and “measurement event (latch actual position)”.

4269

17001

Parameter

"Startposition=Setpoint 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 superimposed instruction are invalid" Invalid external parameters of the superimposed functionality (acceleration, deceleration, velocity, process velocity, length).

426C

17004

Parameter

"Invalid override type."

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 table).

426E

17006

Function

"Activation impossible: Master is standing" The required activation of the correction is impossible since the master axis is not moving. A synchronization is not possible, because the master axis standing and the slave axis is still not synchronous.

426F

17007

Function

"Activation mode not possible" The requested activation mode is not possible when the slave axis is moving. Otherwise the slave velocity would jump to zero.

4270

17008

Parameter

"Start parameter for the compensation is invalid" One of the dynamic parameters for the compensation is invalid (necessary condition): Acceleration (>0) Deceleration (>0) Process velocity (>0)

4271

17009

Parameter

"Start parameter for the compensation is invalid" Velocity camber is negative.

4272

17010

Parameter

"Start parameter for the compensation is 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 (calculated from the modulo-target-position) where the axis should stand at end of oriented stop is too near and will be run over.

4275

17013

Parameter

Group Parameter is Invalid

A group parameter is invalid. In this connection it may be e.g. a parameterized velocity, acceleration, deceleration, jerk or NC cycle time whose value has been parameterized smaller than or equal to zero.

4276

17014

Monitoring

Joint Error at Start of Setpoint Generation

At start of setpoint generation for e.g. a flying saw different parameters or states may lead to this error. E.g. dynamic parameters as acceleration, deceleration and jerk may be invalid (smaller than or equal to zero) or the NC cycle time or the override value may reside apart from the interval 0% to 100%.

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

The New Target Position is Invalid or Cannot be Reached

A new commanded target position is invalid because it has already been gone through or will be gone through while stopping with the currently active dynamic.

427A

17018

Monitoring

New Velocity for Moving or the Final Target Velocity is Invalid

For a newly commanded command the demanded moving velocity or the demanded final velocity (target velocity in the target position) is invalid. The moving velocity has to be greater than zero value and the final target velocity has always to be greater than or equal to zero (default case is zero value).

427B

17019

Monitoring

The Final Velocity or the New Target Position is Invalid

For a newly commanded command the demanded final velocity (target velocity in the target position) or the demanded target position is invalid. The final velocity has to be greater than or equal to zero (default case is zero value).

427C

17020

Monitoring

The New Moving Velocity is Invalid

The newly commanded moving velocity is invalid because it is smaller than or equal to zero or other reasons do not facilitate this velocity.

427D

17021

Monitoring

Internal Starting Mode is Invalid

For a newly commanded command this starting mode is invalid or is not permitted within this situation of movement. The user cannot influence the starting mode directly.

427E

17022

Monitoring

"A requested motion command could not be realized (BISECTION)" A requested motion command could not be realized using the requested parameters. The command has been executed best possible and this message is therefore to be understood just as a warning. Samples:
An axis motion command is requested while the axis is in a unfavorable dynamic situation (acceleration phase), in which the covered distance is too short or the velocity is clearly too high. Another possibility is a slave axis, which is decoupled in motion in an unfavorable dynamic situation and is afterwards given a motion 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 instance, 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

"The parameters of the oriented stop (O-Stop) are not admitted." The modulo-target position should not be smaller than zero and not larger or equal than the encoder mod-period ( e.g. in the interval [0.0,360.0] ).
Note: In the case of error the axis is safely stopped, but is afterwards not at the requested oriented position.

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 smaller 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 online change activation mode is invalid". The activation can be used with online scaling or with online modification of motion function. The used activation is invalid in this context. Either the mode is not defined or yet not implemented or however it cannot in this constellation be put into action (e.g. when linear tables are used with an unexpected cyclic activation mode NEXTCYCLE or NEXTCYCLEONCE).
In some case, the activation mode may be valid but the command cannot be executed due to a pending previous command.

4284

17028

Parameter

"The parameterized jerk rate is not permitted". The jerk rate is smaller than the minimum jerk rate. The minimum value for 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

"A activation cannot be executed due to a pending activation" A activation e.g. "CamIn", "CamScaling" or "WriteMotionFunction" cannot be executed due to a pending activation (e.g. "CamIn", "CamScaling", "WriteMotionFunction"). Only activation can be enabled.

4288

17032

Monitoring

"Illegal combination of different cycle times within an axis group" A logical axis group includes elements (axes) with different cycle times for a common setpoint generator and I/O-execution, resp. This situation can occur with Master/Slave-coupling or configuring 3D- and FIFO-groups (including path, auxiliary, and slave axes).

4289

17033

Monitoring

"Illegal motion reversal" Due to the actual dynamical state a motion reversal will happen. To avoid this motion reversal the axis command is not performed and the previous system state restored.

428A

17034

Monitoring

"Illegal moment for an axis command because there is an old axis command with activation position still active" The moment for the command is illegal because there is still an old command with activation position active (e.g. "go to new velocity at threshold position" or "reach new velocity at threshold position").

428B

17035

Monitoring

"Error in the 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 "reach 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

"Illegal decouple type when decoupling a slave axis" The decouple and restart command contains an invalid decouple type.

428E

17038

Monitoring

"Illegal target velocity when decoupling a slave axis" The decouple and restart command contains an illegal target velocity [1 < V <Vmax].

428F

17039

Monitoring

"The command new dynamic parameter cannot be performed since this would require a new target velocity"Das Kommando zum Aktivieren neuer Dynamikparameter wie Beschleunigung, Verzögerung und Ruck kann nicht durchgeführt werden, da dies eine neue beauftragte Fahrgeschwindigkeit erfordern würde.
This situation can occur, for example, if the axis is near the target position in an accelerated state and the dynamics parameter are chosen softer.

4290

17040

Monitoring

"A command with activation position cannot be performed because the axis is already in the brake phase" A command with activation position (threshold) e.g. "reach new velocity at position" cannot be performed 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

"Decouple routine of slave axis doesn't return a valid solution" Internal jerk scaling of decouple routine cannot evaluate a valid solution (decoupling slave axis and transform to master axis). The command is rejected because velocity can become too high, a reversal of movement can occur, or the target position can be passed.

4292

17042

Monitoring

"Command not be executed because the command buffer is full filled" 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 segment target velocity is not realized" The command is rejected, because the new target segment velocity Vrequ is not realizable and an internal optimizing is impossible.

4295

17045

Monitoring

"Successive commands have the same final position" Successive commands have the same final position. So the moving distance is zero.

4296

17046

Monitoring

"Logical positioning direction is inconsistent with the direction 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 positioning length is to small" The command is rejected because the remaining path length is too small.
E.g. when the buffer mode is used and the remaining positioning length in the actual segment is too small for getting the axis in a force free state or to reach the new target velocity at the change of segment.

429A

17050

Function

Restart has Failed

There is already a motion command within the PTP command buffer and a further new motion command that should have modified the current motion command by restart has failed.

429B

17051

Monitoring

„collect error for invalid start parameters“

This error refers to a wrong parameterization of the user (collect error). E. g. dynamic parameters like Velo, Acc or Dec could be equal or less than zero.

Or following errors:

- BaseFrequence < 0.0

- StartFrequence < 1.0

- StepCount < 1, StepCount > 200

- BaseAmplitude <= 0.0

- StepDuration <= 0.0

- StopFrequence >= 1/(2*CycleTime)

429C

17052

Monitoring

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

429D

17053

Monitoring

"Reference cam became not free" During the referencing process for an axis it is moved in the direction of the 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

"IO 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 instance, it is detected that the following 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. Note: A C1 transition is characterized by the two geometries being continuous, but having only a first differential that is continuous. 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"

Value range: (0.0 ... 180.0]

Unit: degree

42A3

17059

Parameter

"Radius of the tolerance sphere" is in an invalid rang

Value range: [0.0 ... 100.0]

Unit: e.g. mm

42A4

17060

Parameter

Not implemented.

42A5

17061

Parameter

"Start type"

Value range: [0,1]

Unit: 1

42A6

17062

Parameter

Not implemented.

42A7

17063

Parameter

"Blending" with given parameters not possible

42A8

17064

Parameter

Not implemented.

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 controls alterations to the dynamics is invalid. Parameter: 1. Absolute motion 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)

42AE

17070

Function

"The calculated end position differs from the end position in the nc instruction (internal error)."

42AF

17071

Parameter

"Calculate remaining chord length"
invalid value
Value range: [0,1]

42B0

17072

Function

"Set value generator SVB active" Starting the set value 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 set value 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 controls reduction of the velocity at segment transitions is invalid. Parameter: 1. Transitions with continuous first differential: VeloVertexFactorC1 2. Not once 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

"Unparameterized generator" (INTERNAL ERROR) The SVB generator is not yet parameterized and is therefore unable to operate.

42B8

17080

Address

"Unparameterized table" (INTERNAL ERROR) The table has no information concerning the address of the corresponding dynamic generator.

42BA

17082

Internal

"The calculation of the arc length of the smoothed path failed (internal error)."

42BB

17083

Parameter

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

42BC

17084

Internal

Error while calculating DXD-Software-Limit switches (internal error)

42BD

17085

Function

"NC-Block violates software limit switches of the group" At least one path axis with active software limit monitoring has violated the limit switches. Therefore the geometric entry is denied with an error.

42BE

17086

Parameter

“Internal error in the evaluation of a possible software limit switch violation for the segment with the block-number xx.” At least one path axis with active position limit monitoring has violated the limit switches.

42BF

17087

Parameter

Invalid reference speed type.

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

"Invalid table entry type" 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

"Invalid dimension" (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, or an angle of 0.0, or a radius of 0.0. or a height of 0.0.

42C9

17097

Parameter

"Set velocity less than or equal to 0.0 is invalid" A value less than or equal to 0.0 for the set velocity (CNC) is not allowed, since the set velocity is positive by definition, and a set 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

"Set value generator SAF active" Starting the set value generator (SAF) has been refused, since the SAF task is already active.

42CC

17100

Function

"CNC set value generation not active" Stop or change of override refused, because the set value generation is not active.

42CD

17101

Function

"CNC set value generation in the stop phase" Stop or change of override refused, because the set value 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

"Invalid table address" (INTERNAL ERROR) The table address given for the initialization of the set value generator is invalid, or no valid logger connection (report file) is present.

42D0

17104

Parameter

"Invalid table entry type" The given table entry type is unknown.

42D1

17105

Memory

"Memory allocation failed" Memory allocation for the table has failed.

42D2

17106

Memory

"Memory allocation failed" Memory allocation for the filter has failed.

42D3

17107

Parameter

"Invalid parameter" Filter parameter is not allowed.

42D4

17108

Function

"Delete Distance To Go failed" 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.

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

"Parameter of Motion Function (MF) table incorrect" The parameter 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

"Parameter of Motion Function (MF) table incorrect" The parameter of the Motion Function (MF) are invalid. This may refer to the first time created data set or to online changed data.
The error cause can be, that an active MF point (no IGNORE point) points at a passive MF point (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 incorrect" During positive motion of the master axis it has to be considered, that the master synchronous position is larger than the master coupling position ("to be in the future"). During negative motion of the master axis it has to be considered that the master synchronous position is smaller than the master coupling position.

42DF

17119

Monitoring

"Moving profile of synchronization generator declines dynamic limit of slave axis or required characteristic of profile" One of the parameterized checks has recognized an overstepping of the dynamic limits (max. velocity, max. acceleration, max. deceleration or max. jerk) of the slave axis, or an profile characteristic (e.g. overshoot or undershoot in the position or velocity) is incorrect.
See also further messages in the windows event log and in the message window of the System Manager.

42E0

17120

Parameter

"Invalid parameter" The encoder generator parameter is not allowed.

42E1

17121

Parameter

"Invalid parameter" 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 limit monitoring has violated the limit switches. Therefore the geometric entry is denied with an error.

42E5

17125

Function

"NC-Block type Bezier spline curve contains a cusp (singularity)" The Bezier spline curve contain a cusp, i.e. at a certain interior point both the curvature and the modulus of the velocity tend to 0 such that the radius of curvature is infinite.
Note: Split the Bezier curve at that point into two Bezier spline curves according to the de "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

"GROUPERR_RANGE_NOMOTIONWINDOW"

Value range: [0.0 ... 1000.0]

Unit: e.g. mm/s

42E9

17129

Parameter

"GROUPERR_RANGE_NOMOTIONFILTERTIME"

Value range: [0.0 ... 60.0]

Unit: s

42EA

17130

Parameter

"GROUPERR_RANGE_TIMEUNITFIFO"

Value range: (0.0 ... 1000.0]

Unit: s

42EB

17131

Parameter

"GROUPERR_RANGE_OVERRIDETYPE"

Value range: [1, 2]

Unit: 1

42EC

17132

Parameter

"GROUPERR_RANGE_OVERRIDECHANGETIME"

Value range: (0.0 ... 1000.0]

Unit: s

42ED

17133

Parameter

"GROUPERR_FIFO_INVALIDDIMENSION"
Note: Since TC 2.11 Build 1547 the FIFO-dimension (number of axes) has been increased from 8 to 16.

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

Unit: 1 (number of axes)

42EE

17134

Address

"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. The axis can be released by calling MC_Stop with Execute=FALSE or by using MC_Reset (TcMC2.Lib).

42F0

17136

Parameter

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

42F1

17137

Parameter

"Invalid reduction parameter for auxiliary axes" The velocity reduction parameters for the auxiliary axes are inconsistent.

42F2

17138

Parameter

"Invalid dynamic parameter for auxiliary axes" The dynamic parameters for the auxiliary axes are inconsistent.

42F3

17139

Parameter

"Invalid coupling parameter for auxiliary axes" The coupling parameters for the auxiliary axes are inconsistent.

42F4

17140

Parameter

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

42F6

17142

Parameter

"Invalid parameter" The limit for velocity reduction of the auxiliary axes is invalid. It has to be in the interval 0..1.0

42F8

17144

Parameter

"Block search - segment not found" The segment specified as a parameter could not be found by the end of the NC program.

Possible cause:

• nBlockId is not specified in the mode described by eBlockSearchMode

42F9

17145

Parameter

"Blocksearch – invalid remaining segment length" The remaining travel in the parameter fLength is incorrectly parameterized

42FB

17147

Internal

Internal Error in the Context of Coupled Axes (Slave Axes)

Fatal internal error using coupled axes (slave axes). Inconsistent internal state. Please, contact the support team.

42FC

17148

Parameter

Parameter for the Maximum Number of Jobs (Entries) to be Transferred is Invalid

The parameter that describes the maximum number of entries to transfer from the SVB to the SAF table per NC Cycle is invalid.

Range of values: [1, 20]

Unit: 1

42FF

17151

Monitoring

Customer Specific Error

In this connection it is about a customer specific monitoring function.