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.
4500	17664	Parameter	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: High/low speed controller Type 8: Stepper motor controller Type 9: Sercos controller
4501	17665	Parameter	Value range: [1 ... 8]	Unit: 1
4502	17666	Parameter	"Controller operating mode not allowed" The value for the controller operating mode is not allowed.
4502	17666	Parameter	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.
4503	17667	Parameter	Value range: [0.0 ... 1.0]	Unit: %
4504	17668	Parameter	"Following error monitoring (position) not allowed" The value for the activation of the following error monitoring is not allowed.
4504	17668	Parameter	Value range: [0, 1]	Unit: 1
4505	17669	Parameter	"Following error (velocity) not allowed" The value for the activation of the following error monitoring (velocity) is not allowed.
4505	17669	Parameter	Value range: [0, 1]	Unit: 1
4506	17670	Parameter	"Following error window (position) not allowed" The value for the following error window (maximum allowable following error) is not allowed.
4506	17670	Parameter	Value range: [0.0, 10000.0]	Unit: e.g. mm

Error(Hex)	Error(Dec)	Error Type	Description
4507	17671	Parameter	"Following error filter time (position) not allowed" The value for the following error filter time (position) is not allowed.
4507	17671	Parameter	Value range: [0.0, 600.0]	Unit: s
4508	17672	Parameter	"Following error window (velocity) not allowed" The value for the following error window (velocity) is not allowed.
4508	17672	Parameter	Value range: [0.0, 10000.0]	Unit: e.g. m/min
4509	17673	Parameter	"Following error filter time (velocity) not allowed" The value for the following error filter time (velocity) is not allowed.
4509	17673	Parameter	Value range: [0.0, 600.0]	Unit: s
450A	17674	Parameter	“Controller Output Limitation” Improper The value for output limitation of the controller at the overall setpoint quantity is improper. The presetting amounts to `0.5` (`50` percent). Typically, this parameter is at work if to the motion controller device the velocity interface has been parameterized and the `NC` performs position control of the position on the controller.
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.
4510	17680	Parameter	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 proportion of the PID T1 controller).
4511	17681	Parameter	Value range: [0.0, 60.0]	Unit: s
4512	17682	Parameter	"Derivative action time Tv (controller) not allowed" position The value for the derivative action time is not allowed (D proportion of the PID T1 controller).
4512	17682	Parameter	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 proportion of the PID T1 controller). Suggested value: 0.1 * Tv
4513	17683	Parameter	Value range: [0.0, 60.0]	Unit: s
4514	17684	Function	"Activation of the automatic offset compensation not allowed" Activation of the automatic offset compensation 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.
4515	17685	Parameter	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%).
4516	17686	Parameter	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.
4517	17687	Parameter	Value range: [0.0, 1000000.0]	Unit: s
4518	17688	Parameter	"Proportional gain Kv (velocity controller) not allowed" The value for the proportional gain (Kv factor) is not allowed.
4518	17688	Parameter	Value range: [0.0, 10000.0]	Unit: 1
4519	17689	Parameter	“Reset time Tn (velocity controller) not allowed” The value for the integral-action time is not allowed (I proportion of the PID T1 controller).
4519	17689	Parameter	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” Improper The parameter for velocity filter time in seconds is improper (`P-T1` filter). This filter can be used within the `NC` for filtering an actual velocity or a velocity difference (`velocity error = setpoint velocity - actual velocity`) in special `NC` controllers (e.g. within the torque interface).
451C	17692	Parameter	Range of values: [0.0, 60.0]	Unit: s
451D	17693	Parameter	„Dead zone not allowed“ The value for the dead zone from the position error or the velocity error (system deviation) is not allowed (only for complex controller with velocity or torque interface).
451D	17693	Parameter	Value range: [0.0, 10000.0]	Unit: mm resp. mm/s
451F	17695	Parameter	“Proportionality Factor Kcp” Improper The parameter for the “proportional factor `Kcp`” of the slave coupling differential control is improper.
451F	17695	Parameter	Range of values: [0.0, 10000.0]	Unit: e.g. mm^2/mm
4520	17696	Parameter	”Rate time Tv (velocity controller) not allowed” The value for the derivative action time is not allowed (D proportion of the PID T1 controller).
4520	17696	Parameter	Value range: [0.0, 60.0]	Unit: s
4521	17697	Parameter	"Damping time Td (velocity controller) not allowed" The value for the damping time is not allowed (D proportion of the PID T1 controller). Suggested value: 0.1 * Tv
4521	17697	Parameter	Value range: [0.0, 60.0]	Unit: s
4522	17698	Parameter	“Limitation of the I Part” Improper The parameter for limiting the `I` part of a `PI` or `PID` controller is improper. This inner state quantity can be limited in percent (`1.0` refers to `100` percent).
4522	17698	Parameter	Range of values: [0.0 .. 1.0]	Unit: %
4523	17699	Parameter	“Limitation of the D Part” Improper The parameter for limitation of the `D` part of a `PI` or `PID` controller is improper. This inner state quantity may be limited in percent (`1.0` refers to `100` percent).
4523	17699	Parameter	Range of values: [0.0 .. 1.0]	Unit: %
4524	17700	Parameter	Parameter “Switching Off the I Part During Motion” is Improper The boolean parameter for switching off the `I` part during an active positioning is improper.
4524	17700	Parameter	Range of values: [0, 1]	Unit: 1
4525	17701	Parameter	Parameter “Filter Time for P-T2 Filter” Improper The time `T0` in seconds is as filter time for the velocity controller `P-T2` element improper. The filter time has to be smaller than twice the `NC-SAF` cycle time.
4525	17701	Parameter	Range of values: [0.0, 60.0]	Unit: s
4526	17702	Parameter	Velocity Observer: “Parameterized Mode” is Improper The parameterized mode (`0=OFF`, `1=LUENBERGER`) for the special `NC` controller velocity observer within the torque interface is improper.
4526	17702	Parameter	Range of values: [0, 1]	Unit: 1
4527	17703	Parameter	Velocity Observer: “Motor Torque Constant Kt or Kf” is Improper The parameter for the motor torque constant `Kt` (rotational motor) or `Kf` (linear motor) of the special `NC` controller velocity observer within the torque interface is improper.
4527	17703	Parameter	Range of values: [0.0 .. 100000.0]	Unit: Nm/A or N/A
4528	17704	Parameter	Velocity Observer: “Motor Moment of Inertia JM” is Improper The parameter for the motor moment of inertia J_M of the special `NC` controller velocity observer within the torque interface is improper.
4528	17704	Parameter	Range of values: [0.0001 .. 100000.0]	Unit: kg cm^2
4529	17705	Parameter	Velocity Observer: “Band Width f0” is Improper The parameter for the band width f₀ of the special `NC` controller velocity observer within the torque interface is improper. The band width has to be smaller than the reciprocal value of six times the `NC` cycle time (f₀ < 1/(6*T)).
4529	17705	Parameter	Range of values: [0.0 .. 10000.0]	Unit: Hz
452A	17706	Parameter	Velocity Observer: “Correction Factor kc” is Improper The parameter for the correction factor k_c of the special `NC` controller velocity observer within the torque interface is improper. The correction factor k_c implements the relation between current and acceleration or angular acceleration.
452A	17706	Parameter	Range of values: [0.0 .. 100.0]	Unit: s
452B	17707	Parameter	Velocity Observer: “Time Constant T for First Order Filter” is Improper The time constant `T` for the first order velocity filter (PID-T₂ or “Lead Lag”) of the specific `NC` controller velocity observer within the torque interface is improper. The correction factor k_c implements the relation between current and acceleration or angular acceleration.
452B	17707	Parameter	Range of values: [0.0 .. 100.0]	Unit: s
452C	17708	Parameter	Velocity Observer: “Amplitude Damping d for Second Order Filter” is Improper The high pass/ low pass amplitude damping d_HP or d_TP for the second order velocity filter (“Bi-Quad”) of the special `NC` controller velocity observer within the torque interface is improper.
452C	17708	Parameter	Range of values: [0.2 .. 10.0]	Unit: 1
452D	17709	Parameter	Velocity Observer: “Frequency fHP or Frequency fTP for Filters of Second Order” is Improper The high pass frequency f_HP or the low pass frequency f_TP for the second order velocity filter (“Bi-Quad”) of the specific `NC` controller velocity observer within the torque interface is improper.
452D	17709	Parameter	Range of values: [0.0, .. 10000.0]	Unit: Hz
4540	17728	Initialization	"Controller initialization" 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 controller).
4541	17729	Address	"Axis address" Controller does not know its axis, or the axis address has not been initialized.
4542	17730	Address	"Drive address" Controller does not know its drive, or the drive address has not been initialized.
4550	17744	Monitoring	"Following error monitoring (position)" With active following error monitoring (position) a following error exceedance has occurred, whose magnitude is greater than the following error window, and whose duration is longer than the parameterized following error filter time.
4551	17745	Monitoring	"Following error monitoring (velocity)" With active following error monitoring (velocity) a velocity following error exceedance has occurred, whose magnitude is greater than the following error window, and whose duration is longer than the parameterized following error filter time.
45A0	17824	Monitoring	"CONTROLERR_RANGE_AREA_ASIDE"
45A1	17825	Monitoring	"CONTROLERR_RANGE_AREA_BSIDE"
45A2	17826	Monitoring	"CONTROLERR_RANGE_QNENN"
45A3	17827	Monitoring	"CONTROLERR_RANGE_PNENN"
45A4	17828	Monitoring	"CONTROLERR_RANGE_AXISIDPRESP0"