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 bigger than 255.

Value range: [1 ... 255]

Unit: 1

4401

17409

Parameter

"Encoder type not allowed" The value for the encoder type is unacceptable because it is not defined. Type 1: Simulation (incremental) Type 2: M3000 (24 bit absolute) Type 3: M31x0 (24 bit incremental) Type 4: KL5101 (16 bit incremental) Type 5: KL5001 (24 bit absolute SSI) Type 6: KL5051 (16 bit BISSI)

Value range: [1 ... 6]

Unit: 1

4402

17410

Parameter

"Encoder mode" The value for the encoder (operating) mode is not allowed. Mode 1: Determination of the actual position Mode 2: Determination of the actual position and the actual velocity (filter)

Value range: [1, 2]

Unit: 1

4403

17411

Parameter

"Encoder counting direction inverted?" The flag for the encoder counting direction is not allowed. Flag 0: Positive encoder counting direction Flag 1: Negative encoder counting direction

Value range: [0, 1]

Unit: 1

4404

17412

Initialization

"Referencing status" The flag for the referencing status is not allowed. Flag 0: Axis has not been referenced Flag 1: Axis has been referenced

Value range: [0, 1]

Unit: 1

4405

17413

Parameter

"Encoder increments for each physical encoder rotation" 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

Error(Hex)

Error(Dec)

Error Type

Description

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, 1000000.0]

Unit: e.g. mm

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

“Configuration of the selected units is invalid” E.g. settings for modulo position, velocity per minute 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]

Unit: 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: s

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 0: Positive direction Value 1: Negative direction

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 0: Positive direction Value 1: Negative direction

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

"Clearance monitoring between activation of the hardware latch and appearance of the sync pulse" (NOT IMPLEMENTED) The flag for the clearance monitoring between activation of the hardware latch and occurrence of the sync/zero pulse ("latch valid") is not allowed. Value 0: Passive Value 1: Active

Value range: [0, 1]

Unit: 1

4414

17428

Parameter

"Minimum clearance between activation of the hardware latch and appearance of the sync pulse" (NOT IMPLEMENTED) The value for the minimum clearance 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" (NOT IMPLEMENTED) The value of the activation or deactivation of the external sync pulse in a referencing procedure is not allowed. Value 0: Passive Value 1: Active

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], Max: 0.5*modulo-periode

Unit: e. g. mm or degree

4418

17432

Parameter

„Encoder reference 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. counter direction) is not allowed.

Value range: [0, 3]

Unit: 1

441A

17434

Parameter

„Encoder reference system“ The value for the encoder reference system is invalid (0: incremental, 1: absolute, 2: absolute+modulo).

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 (0: Default/not defined, 1: UNSIGNED, 2:/ SIGNED) is invalid.

Value range: [0, 2]

Unit: 1

441D

17437

Parameter

“Homing Sensor Source” The value for the encoder homing sensor source is not allowed, resp. is not supported for this encoder type.

Value range: [0, 16] 

Unit: 1

4420

17440

Parameter

"Software end location monitoring minimum not allowed" The value for the activation of the software location monitoring minimum is not allowed.

Value range: [0, 1]

Unit: 1

4421

17441

Parameter

"Software end location monitoring maximum not allowed" The value for the activation of the software location 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 carried out, because the new actual position is outside the expected range of values.

Value range: [-1000000.0, 1000000.0]

Unit: e.g. mm

4423

17443

Parameter

"Software end location minimum not allowed" The value for the software end location minimum is not allowed.

Value range: [-1000000000.0, 1000000000.0]

Unit: e.g. mm

4424

17444

Parameter

"Software end location maximum not allowed" The value for the software end location maximum is not allowed.

Value range: [-1000000000.0, 1000000000.0]

Unit: e.g. mm

4425

17445

Parameter

„Filter mask for the raw data of the encoder is invalid“ The value for the filter mask of the encoder raw data in increments is invalid.

Value range: [0, 0xFFFFFFFF]

Unit: 1

4426

17446

Parameter

„Reference mask for the raw data of the encoder is invalid“ The value for the reference mask (increments per encoder turn, absolute resolution) for the raw data of the encoder is invalid. E.g. this value is used for axis reference sequence (calibration) with the reference mode "Software Sync".

Value range: [0x0000000F, 0xFFFFFFFF]

Unit: 1

4427

17447

Parameter

Parameter Dead Time Compensation Mode (Encoder) is Invalid

The parameter for the mode of dead time compensation at the NC encoder is invalid (OFF, ON with velocity, ON with velocity and acceleration).

Range of values: [0, 1, 2]

Unit: 1

4428

17448

Parameter

Parameter “Control Bits of Dead Time Compensation” (Encoder) is Invalid

The parameter for the control bits of dead time compensation at the encoder is invalid (e.g. relative or absolute time interpretation).

Range of values: [>0]

Unit: 1

4429

17449

Parameter

Parameter “Time Related Shift of Dead Time Compensation Mode” (Encoder) is Invalid

The parameter for time related shift of dead time compensation (time shift in nanoseconds) at the encoder is invalid.

Range of values: [-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

"External hardware latch activation (encoder)" The activation of the external hardware latch (only available on the KL5101) 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"), another call to the function is refused with this error.

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. In practice, however, this error can almost never occur.

4433

17459

Function

"External hardware latch activation (encoder)" If this function has already been initiated and the hardware is still signaling that the external latch value is still valid ("extern latch valid"), a further activation should not be carried out and the commando will be declined with an error (the internal handshake communication between NC and IO device is still active). In that case the validity of the external hardware latch would immediately be signaled, although the old latch value would still be present.

4434

17460

Monitoring

"Encoder function 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 can not 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 (1. Initialization of axis I/O, 2. Initialization of axis, 3. Reset axis).

4441

17473

Address

"Axis address" The encoder does not have an axis, or the axis address has not been initialized.

4442

17474

Address

"I/O input structure address" The drive does not have a valid I/O input address in the process image.

4443

17475

Address

"I/O output structure address" 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 of the minimum software position limit is active, an axis start has been performed towards a position that lies below the minimum software position limit.

4461

17505

Monitoring

"Maximum Software Position Limit (Axis Start)"
While monitoring of the maximum software position limit is active, an axis start has been performed towards a position that lies above the maximum software position limit.

4462

17506

Monitoring

"Minimum Software Position Limit (Positioning Process)"
While monitoring of the minimum software position limit is active, the actual position has fallen below the minimum software position limit. In case of servo axes, which are moved continuously, this limit is expanded by the magnitude of the parameterized following error position window.

4463

17507

Monitoring

"Maximum Software Position Limit (Positioning Process)"
While monitoring of the maximum software position limit is active, the actual position has exceeded the maximum software position limit. In case of servo axes, which are moved continuously, this limit is expanded by the magnitude of the parameterized following error position window.

4464

17508

Monitoring

„Encoder hardware error“ The drive resp. the encoder system reports a hardware error of the encoder. An optimal error code is displayed in the message of the event log.

4465

17509

Monitoring

„Position initialization error at system start“ At the first initialization of the set position was this for all initialization trials (without over-/under-flow, with underflow and overflow ) out of the final position minimum and maximum.

4466

17510

Monitoring

Invalid IO data for more than n subsequent NC cycles (encoder)

The axis (encoder) has detected for more than n subsequent NC cycles (NC SAF task) invalid encoder IO data (e.g. n=3). Typically, regarding an EtherCAT member it is about a Working Counter Error (WcState) what displays that data transfer between IO device and controller is disturbed.

If this error is set for a longer period of time continuously, this situation can lead to losing the axis reference (the “homed” flag will be reset and the encoder will get the state “unreferenced”).

Possible reasons for this error: An EtherCAT slave may have left its OP state or there is a too high real time usage or a too high real time jitter.

4467

17511

Monitoring

Invalid Actual Position (Encoder)

The IO device delivers an invalid actual position (for CANopen/CoE look at bit 13 of encoder state “TxPDO data invalid” or “invalid actual position value”).

4468

17512

Monitoring

Invalid IO Input Data (Error Type 1)

The monitoring of the “cyclic IO input counter” (2 bit counter) has detected an error. The input data has not been refreshed for at least 3 NC SAF cycles (the 2 bit counter displays a constant value for multiple NC SAF cycles, instead of incrementing by exactly one from cycle to cycle).

4469

17513

Monitoring

Invalid IO Input Data (Error Type 2)

The monitoring of the “cyclic IO input counter” (2 bit counter) has detected an error. The quality of input data based on this two bit counter is not sufficient (there is here a simple statistic evaluation that evaluates GOOD cases and BAD cases and in exceeding a special limit value leads to an error).

4470

17520

Monitoring

"SSI transformation fault 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

"ENCERR_ADDR_CONTROLLER"

44A3

17571

Monitoring

"ENCERR_INVALID_CONTROLLERTYPE"