TwinCAT NC Error Codes

Drive Errors

 
Error(hex)
Error(dec)
Error type
Description
4600
17920
Parameter
‘"Drive ID not allowed" The value for the drive 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
4601
17921
Parameter
‘Drive type impermissible’ The value for the drive type is impermissible, since it is not defined.
Value range: [1, 20]
Unit: 1
4602
17922
Parameter
‘Drive operating mode impermissible’ The value for the drive operating mode is impermissible (mode 1: standard).
Value range: [1]
Unit: 1
4603
17923
Parameter
"Motor polarity inverted?" The flag for the motor polarity is not allowed. Flag 0: Positive motor polarity flag 1: Negative motor polarity
Value range: [0, 1]
Unit: 1
4604
17924
Parameter
‘Drift compensation/speed offset (DAC offset)’ The value for the drift compensation (DAC offset) is impermissible.
Value range: [-100.0, 100.0]
Unit: e.g. m/min
4605
17925
Parameter
‘Reference speed (velocity pre-control)’ The value for the reference speed (also called velocity pilot control) is impermissible.
Value range: [0.0, 10000.0]
Unit: e.g. m/min
4606
17926
Parameter
‘Reference output in percent’ The value for the reference output in percent is impermissible. The value 1.0 (100 %) usually corresponds to a voltage of 10.0 V.
Value range: [0.0, 5.0]
Unit: %
4607
17927
Parameter
‘Quadrant compensation factor’ The value for the quadrant compensation factor is impermissible.
Value range: [0.0, 100.0]
Unit: 1
4608
17928
Parameter
‘Velocity reference point’ The value for the velocity reference point in percent is impermissible. The value 1.0 corresponds to 100 percent.
Value range: [0.01, 1.0]
Unit: %
4609
17929
Parameter
‘Output reference point’ The value for the output reference point in percent is impermissible. The value 1.0 corresponds to 100 percent.
Value range: [0.01, 1.0]
Unit: %
460A
17930
Parameter
‘Minimum or maximum output limits (output limitation)’ The value for the minimum and/or maximum output limit is impermissible. This will happen if the range of values is exceeded, the maximum limit is smaller than the minimum limit, or the distance between the minimum and maximum limits is zero. The minimum limit is initially set to –1.0 (-100 percent) and the maximum limit to 1.0 (100 percent).
Value range: [-1.0, 1.0]
Unit: %
460B
17931
Parameter
“DRIVEERR_RANGE_MAXINCREMENT”
460C
17932
Parameter
“DRIVEERR_RANGE_ DRIVECONTROLDWORD”
460D
17933
Parameter
“DRIVEERR_RANGE_ RESETCYCLECOUNTER”
460F
17935
Parameter
‘Drive torque output scaling impermissible’ The value is impermissible as drive torque output scaling (rotary motor) or as force output scaling (linear motor).
Value range: [0, 1000000]
Unit: 1
4610
17936
Parameter
„Drive velocity output scaling is not allowed“ The value for the drive velocity output scaling is not allowed.
Value range: [0, 1000000]
Unit: 1
4611
17937
Parameter
‘Profi Drive DSC proportional gain Kpc (controller) impermissible’ Positions The value for the Profi Drive DSC position control gain (Kpc factor) is impermissible.
Value range: [0, 0xFFFFFF]
Unit: 0.001 * 1/s
4612
17938
Parameter
‘Table ID is impermissible’ The value for the table ID is impermissible.
Value range: [0, 255]
Unit: 1
4613
17939
Parameter
‘Table interpolation type is impermissible’ The value is impermissible as the table interpolation type.
Value range: 0 (LINEAR), 2 (SPLINE)
Unit: 1
4614
17940
Parameter
‘Output offset in percent is impermissible’ The value is impermissible as an output offset in percent (+/- 1.0).
Value range: [-1.0, 1.0]
Unit: %
4615
17941
Parameter
‘Profi Drive DSC scaling for calculation of “Xerr” (controller) impermissible’ Positions: the value is impermissible as Profi Drive DSC scaling for the calculation of ‘Xerr’.
Value range: [0, 1000000]
Unit: 1
4616
17942
Parameter
‘Drive acceleration output scaling impermissible’ The value is impermissible as drive acceleration/deceleration output scaling.
Value range: [0, 1000000]
Unit: 1
4617
17943
Parameter
‘Drive position output scaling impermissible’ The value is impermissible as drive position output scaling.
Value range: [0, 1000000]
Unit: 1
461C
17948
Parameter
‘Drive filter type impermissible for command variable filter for the output position’ The value is impermissible as a drive filter type for the smoothing of the output position (command variable filter for the setpoint position).
Value range: [0, 2]
Unit: 1
461D
17949
Parameter
‘Drive filter time impermissible for command variable filter for the output position’ The value is impermissible as a drive filter time for the smoothing of the output position (command variable filter for the setpoint position).
Value range: [0.0, 1.0]
Unit: s
461E
17950
Parameter
‘Drive filter order impermissible for command variable filter for the output position’ The value is impermissible as a drive filter order (P-Tn) for the smoothing of the output position (command variable filter for the setpoint position).
Value range: [0, 10]
Unit: 1
4620
17952
Parameter
‘Bit mask for stepper motor cycle impermissible’ A value of the different stepper motor masks is impermissible for the respective cycle.
Value range: [0, 255]
Unit: 1
4621
17953
Parameter
‘Bit mask for stepper motor holding current impermissible’ The value for the stepper motor holding mask is impermissible.
Value range: [0, 255]
Unit: 1
4622
17954
Parameter
‘Scaling factor for actual torque (actual current) impermissible’ The value is impermissible as a scaling factor for the actual torque (or actual current).
Value range: [0, 1E+30]
Unit:
4623
17955
Parameter
‘Filter time for actual torque is impermissible’ The value is impermissible as a filter time for the actual torque (or the actual current) (P-T1 filter).
Value range: [0.0, 60.0]
Unit: s
4624
17956
Parameter
‘Filter time for the temporal derivation of the actual torque is impermissible’ The value is impermissible as a filter time for the temporal derivation of the actual torque (or actual current (P-T1 filter).
Value range: [0.0, 60.0]
Unit: s
4627
17959
Function
DRIVEOPERATIONMODEBUSY. The activation of the drive operation mode failed, because another object with OID ... is already using this interface.
0x4630 ... 0x463F: Error codes are reserved for external drive errors (e.g. stepper motor terminal or ‘MC_PowerStepper’ function block)
4630
17968
Monitoring
‘Overtemperature’ Overtemperature was detected or reported in the drive or terminal.
4631
17969
Monitoring
‘Undervoltage’ Undervoltage was detected or reported in the drive or terminal.
4632
17970
Monitoring
‘Wire break in phase A’ A wire break in phase A was detected or reported in the drive or terminal.
4633
17971
Monitoring
‘Wire break in phase B’ A wire break in phase B was detected or reported in the drive or terminal.
4634
17972
Monitoring
‘Overcurrent in phase A’ Overcurrent was detected or reported in phase A in the drive or terminal.
4635
17973
Monitoring
‘Overcurrent in phase B’ Overcurrent was detected or reported in phase B in the drive or terminal.
4636
17974
Monitoring
‘Torque overload (stall)’ A torque overload (stall) was detected or reported in the drive or terminal.
4640
17984
Initialization
‘Drive initialization’ Drive has not been initialized. Although the drive has been created, the rest of the initialization has not been performed (1. Initialization of drive I/O, 2. Initialization of drive, 3. Reset drive).
4641
17985
Address
‘Axis address’ Drive does not know its axis, or the axis address has not been initialized.
4642
17986
Address
‘Address IO input structure’ Drive has no valid IO input address in the process image.
4643
17987
Address
‘Address IO output structure’ Drive has no valid IO output address in the process image.
4650
18000
Monitoring
‘Drive hardware not ready to operate’ The drive hardware is not ready for operation. 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.
4651
18001
Monitoring
Error in the cyclic communication of the drive (Life Counter). Reasons for this could be an interrupted fieldbus or a drive that is in the error state.
4652
18002
Monitoring
‘Changing the table ID when active controller enable is impermissible’. Changing (deselecting, selecting) the characteristic curve table ID is not permissible when the controller enable for the axis is active.
4655
18005
Monitoring
‘Invalid IO data for more than ‘n’ continuous NC cycles’ The axis (encoder or drive) has detected invalid IO data (e.g. n=3) for more than ‘n’ continuous NC cycles (NC SAF task).
EtherCAT fieldbus: ‘working counter error ('WCState')’As a result it is possible that the encoder referencing flag will be reset to FALSE (i.e. the encoder is given the status ‘unreferenced’).
Lightbus fieldbus: ‘CDL state error ('CdlState')’
As a result it is possible that the encoder calibration flag will set to FALSE (that means uncalibrated).