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.
4600	17920	Parameter	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.
4601	17921	Parameter	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).
4602	17922	Parameter	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
4603	17923	Parameter	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.
4604	17924	Parameter	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.
4605	17925	Parameter	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.
4606	17926	Parameter	Value range: [0.0, 5.0]	Unit: %
4607	17927	Parameter	‘Quadrant compensation factor’ The value for the quadrant compensation factor is impermissible.
4607	17927	Parameter	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.
4608	17928	Parameter	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.
4609	17929	Parameter	Value range: [0.01, 1.0]	Unit: %

Error(hex)	Error(dec)	Error Type	Description
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).
460A	17930	Parameter	Value range: [-1.0, 1.0]	Unit: %
460B	17931	Parameter	Parameter “Maximum Value for Output” is Improper The value for the maximum number of output digits of motion controllers (maximum output value) is improper. According to the used interface (e.g. position, velocity or torque/current). Regarding a velocity interface it is often about a signed `16` bit output value (± 32767).
460B	17931	Parameter	Range of values: [0x000000FF .. 0xFFFFFFFF]	Unit: INC or Digits
460C	17932	Parameter	Parameter “Internal Drive Control Word” is Improper The value as Internal Drive Control Word for the `NC` is improper. In this control word information from the system manager to the `NC` is contained what is evaluated at the `TC` start of the `NC`.
460C	17932	Parameter	Range of values: [>0]	Unit: 1
460D	17933	Parameter	Parameter “Internal Timer for RESET Behavior of Motion Controller” is Improper The special parameter that influences the internal timing behavior between the `NC` motion controller and the `IO` motion controller is improper.
460D	17933	Parameter	Range of values: [>5]	Unit: 1 (`NC` `SAF` Cycles)
460E	17934	Parameter	Parameter “Master Motion Controller ID” is Improper The parameter “master motion controller ID” is improper for a further `NC` motion controller in slave mode. An additional `NC` motion controller in slave mode can be used if this usage is about the same motion controller device on that different `NC` information for e.g. different operation modes are joined (e.g. velocity mode and torque mode). Note: This parameter is not accessible by the user directly, but can be influenced indirectly by the configuration of additional `NC` motion controllers below the `NC` axis.
460E	17934	Parameter	Range of values: [0 .. 255]	Unit: 1
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).
460F	17935	Parameter	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.
4610	17936	Parameter	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.
4611	17937	Parameter	Value range: [0, 0xFFFFFF]	Unit: 0.001 * 1/s
4612	17938	Parameter	‘Table ID is impermissible’ The value for the table ID is impermissible.
4612	17938	Parameter	Value range: [0, 255]	Unit: 1
4613	17939	Parameter	‘Table interpolation type is impermissible’ The value is impermissible as the table interpolation type.
4613	17939	Parameter	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).
4614	17940	Parameter	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’.
4615	17941	Parameter	Value range: [0, 1000000]	Unit: 1
4616	17942	Parameter	‘Drive acceleration output scaling impermissible’ The value is impermissible as drive acceleration/deceleration output scaling.
4616	17942	Parameter	Value range: [0, 1000000]	Unit: 1
4617	17943	Parameter	‘Drive position output scaling impermissible’ The value is impermissible as drive position output scaling.
4617	17943	Parameter	Value range: [0, 1000000]	Unit: 1
4618	17944	Parameter	Parameter “Dead Time Compensation Mode” (Motion Controller) is Invalid The parameter for the mode of dead time compensation of `NC` motion controllers is invalid (`OFF`, `ON` with velocity, `ON` with velocity and acceleration).
4618	17944	Parameter	Range of values: [0, 1, 2]	Unit: 1
4619	17945	Parameter	Parameter “Control Bits of Dead Time Compensation” (Motion Controller) is Invalid The parameter for “control bits of dead time compensation” of `NC` motion controllers is invalid (e.g. relative or absolute time interpretation).
4619	17945	Parameter	Range of values: [>0]	Unit: 1
461A	17946	Parameter	Parameter “Time Shift of Dead Time Compensation” (Motion Controller) is Invalid The parameter for the time shift of dead time compensation (time shift in nanoseconds) of the `NC` motion controller is invalid.
461A	17946	Parameter	Range of values: [-1.0E9 .. 1.0E9]	Unit: ns
461B	17947	Parameter	Parameter “Output Delay (Velocity)” is Invalid The parameter for an optional output delay within the velocity interface to the motion controller is invalid (output delay (velocity)). The maximum permitted delay time has to be smaller than `100` times the `NC` `SAF` cycle time.
461B	17947	Parameter	Range of values: [0.0 .. 0.1]	Unit: s
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).
461C	17948	Parameter	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).
461D	17949	Parameter	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).
461E	17950	Parameter	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.
4620	17952	Parameter	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.
4621	17953	Parameter	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).
4622	17954	Parameter	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).
4623	17955	Parameter	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).
4624	17956	Parameter	Value range: [0.0, 60.0]	Unit: s
4625	17957	Parameter	Parameter for the “Motion Controller Operation Mode” is Invalid The parameter for the motion controller operation mode (position mode, velocity mode, torque mode, …) is invalid. Possibly, an `NC` operation mode switching has been tried or at `TC` system start has been tried to activate a preconfigured operation mode. Annotations: The generic operation modes defined within the `NC` are realized by the `NC` motion controller specifically, i.e. in particular for the protocols `SERCOS`/ `SoE` and `CANopen`/ `CoE` (`DS402`). In this connection, protocol specific, motion controller specific or even customer specific peculiarities have to be obeyed (e.g. regarding `SERCOS`/ `SoE` merely in the `SERCOS` parameter range `S-0-0032` to `S-0-0035` predefined operation modes can be activated at runtime). Furthermore, not every generic `NC` operation mode can be converted into a motion controller specific operation mode (here gaps within the specification may exist). The generic `NC` operation mode `0` forms a special case. This value is used as a mark to activate an `NC` default operation mode (as long as this mark is known to the `NC`).
4625	17957	Parameter	Range of values: [0, >=1]	Unit: 1
4626	17958	Monitoring	Motion Controller Functionality is Not Supported A motion controller functionality has been set off that has not been released for usage or has not been implemented (e.g. writing or reading of a motion controller mode that is not supported by certain motion controllers). It is also possible that this functionality is merely not supported at times (e.g. because the motion controller device resides in error state or a motion controller enable is missing).
4627	17959	Function	DRIVEOPERATIONMODEBUSY. The activation of the motion controller controlling mode has failed because another object with `OID…` uses this interface already.
4628	17960	Monitoring	Motion Controller Operation Mode Switching has not been configured or the desired motion controller operation mode cannot be found There has not any motion controller operation mode switching been configured and thus no reading or writing of a motion controller operation mode is possible. Or the desired motion control operation mode has not been found in the list of the predefined motion controller operation modes (e.g. for `SoE`/ `SERCOS`). Annotation for `CoE` motion controllers: The reading or writing of the `CoE` Motion Control Operation Mode is merely possible if the `CoE` objects `0x6060` Modes Of Operation and `0x6061` Modes Of Operation Display can be found in the cyclic process data (`PDO` list) and a valid default operation mode has been configured. Annotation for `SoE` motion controllers: The reading or writing of the current `SoE` Motion Controller Operation Mode is merely possible if this operation mode has been predefined in one of the `SoE` Parameters `S-0-0032` to `S-0-0035`.
0x4630 … 0x463F: Error codes are reserved for external motion controller errors (e.g. stepper motor terminal or function block MC_PowerStepper).
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).