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 System Manager.

4B01

19201

Parameter

"Axis cannot be started" The axis cannot be started because:

  • the axis is in error status,
  • 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 range 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

“Invalid mode”
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 parameters: type mismatch

4B06

19206

Parameter

"Parameter incorrect"

  • Incorrect override: > 100% or < 0%
  • Incorrect gear ratio: RatioDenominator = 0

4B07

19207

Parameter

"Timeout axis function block"

After positioning, all "MC_Move..." 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 measuring probe cycle it had started was disabled. The reason may be an axis reset, for example.

4B0D

19213

Function

"NC status 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 an additional product 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 the 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 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"

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

"Invalid block search parameter" This error occurs if the FB 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 library (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.

  • The value of the size parameter is 0 or less than the size of one element of the addressed data structure.
  • The value of the size parameter is less than the requested amount of data.
  • The value of the size parameter does not match other parameters as number of points, number of rows or number of columns.

4B32

19250

Parameter

"Cam table ID is invalid" The ID of a cam table is not between 1 and 255.

4B33

19251

Parameter

"Point ID is invalid" The ID of a point (sampling point) of a motion function is less than 1.

4B34

19252

Parameter

"Number of points is invalid" The number of points (sampling 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 (sampling points) of a cam table is less than 1.

4B37

19255

Parameter

"Number of columns invalid" The number of columns of a cam table is invalid.

  • The number of columns of a motion function is not equal 1
  • The number of columns of a standard cam table is not equal 2
  • The number of columns does not match another parameter (ValueSelectMask)

4B38

19256

Parameter

"Step size invalid". The increment 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

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 TcRemoteSyn-Lib:

Error numbers 0x4B60 .. 0x4B6F are used in the TcMc2-Libin 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 terminating 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

"Invalid NCI entry type". The FB FB_NciFeedTablePreparation was called with an unknown nEntryType.

4B72

19314

Function

"NCI feed table full" The table is full, and the entry is therefore not accepted.
Remedy:
Transfer the context of the table with FB_NciFeedTable to the NC kernel. 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" In the entry for the tangential following, a tangential axis was named 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 during calculation of 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

not implemented

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

Determined drive type is not supported

4B91

19345

Parameter

Direction is impermissible

4B92

19346

 

SwitchMode is impermissible

4B93

19347

 

Mode for the parameter handling is impermissible

4B94

19348

 

Parameterization of the torque limits is inconsistent

4B95

19349

 

Parameterization of the position lag limit is impermissible (<=0).

4B96

19350

 

Parameterization of the distance limit is impermissible (<0)

4B97

19351

 

An attempt was made to back up parameters again, although they have already been backed up.

4B98

19352

 

An attempt was made to restore parameters, although none have been backed up.

4B9F

19359

 

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 FB 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

The current axis position or the axis position resulting from the new position offset exceeds the valid range of values.

4BB1

19377

Function

The new position offset exceeds the valid range of values [AX5000: 2^31].

4BB2

19378

Function

The current axis position or the axis position resulting from the new position offset falls below the valid range of values.

4BB3

19379

Function

The new position offset falls below the valid range of values [AX5000: -2^31].

4BB4

19380

Function

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 actual NC position has failed, e.g., reference system = “ABSOLUTE (with single overflow)” & software end position monitoring is disabled.

4BB6

19382

Function

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 command to set or delete a position offset was rejected with feedback data. The information in the feedback data may contain further information about the cause.

e.g., if the drive controller's firmware does not support the corresponding command.

4BB8

19384

Function

A firmware version >= 19 is required for the servo terminal.

4BB9

19385

Function

The modulo settings on the drive controller and NC are different.

Error numbers 0x4BC0 .. 0x4BCF are used in the Tc3_DriveMotionControl-Lib:

4BC2

19394

 

The new position offset exceeds the valid value range.

4BC3

19395

 

I/O data are invalid or the terminal is in an error state.