SIMOTION Technology Package Cam Alarms - RELKO

Preface, Contents

Technology Package Cam I

Technology Package Cam_ext II

Appendices

Command Type NumbersA

12.2004 Edition

Technology Package CamAlarms

Diagnostics Manual

SIMOTION

6AU1900-1AD32-0BA0

-2� Siemens AG, 2004. All rights reserved

Technology Package CamAlarms, 12.2004 Edition

!Danger

indicates that death or serious injury will result if proper precautions are not taken.

!Warning

indicates that death or serious injury may result if proper precautions are not taken.

!Caution

with a safety alert symbol, indicates that minor injury may result if proper precautions are not taken.

Caution

without a safety alert symbol, indicates that property damage may result if proper precautions are nottaken.

Notice

indicates that an unintended result or situation can occur if the corresponding information is not taken intoaccount.

If more than one level of danger exists, the warning notice for the highest level of danger is used. A warn-ing notice accompanied by a safety alert symbol indicating a risk of bodily injury can also indicate a risk ofproperty damage.

Qualified personnelThe device/system may only be set up and operated in conjunction with this documentation. Only quali-fied personnel should be allowed to commission and operate the device/system. Qualified persons aredefined as persons who are authorized to commission, ground, and tag equipment, systems, and circuitsin accordance with established safety standards.

Correct usageNote the following:

!Warning

The device may only be used for the applications described in the catalog or the technical description,and only in combination with the equipment, components, and devices of other manufacturers that havebeen approved or recommended by Siemens.

This product can only function correctly and safely if it is transported, stored, set up, and installedcorrectly, and operated and maintained as recommended.

TrademarksAll names identified by � are registered trademarks of Siemens AG. Other names in this publication maybe trademarks whose use by third parties for their own purposes could violate the rights of the owner.

Safety notesThis manual contains notices that you must observe in order to ensure your personal safety, as well as toprevent damage to property. The notices referring to your personal safety are highlighted by a safety alertsymbol; notices referring to property damage alone have no safety alert symbol. These notices are shownbelow in order of decreasing danger:

We have checked the contents of this manual for agreement with thehardware and software described. Since discrepancies cannot be precludedentirely, we cannot guarantee full agreement. However, the informationcontained in this document is reviewed regularly and any necessarycorrections included in subsequent editions.

Disclaimer of LiabilityCopyright Siemens AG, 2004. All rights reserved

The reproduction, transmission, or use of this document or its contents is notpermitted without express written authority. Offenders will be liable fordamages. All rights, including rights created by patent grant or registration ofa utility model or design, are reserved.

Siemens AGAutomation & DrivesMotion Control SystemsP.O. Box 3180, D–91050 ErlangenFederal Republic of Germany

� Siemens AG, 2004.Subject to change without prior notice.

Siemens Aktiengesellschaft Technology Package Cam Alarms

Preface-3� Siemens AG, 2004. All rights reservedTechnology Package Cam Alarms, 12.2004 Edition

Preface

This document is part of the SIMOTION Diagnostics Documentation Packagewith

Order no.: 6AU1900-1AD32-0BA0 12.2004 Edition

Information modules in this documentation

This diagnostics manual consists of 2 parts and provides an overview of thealarms of the technology packages Cam and Cam_ext. It serves as a supple-ment and reference work for the SIMOTION functional descriptions.

The Cam technology package is part of the Cam_ext technology package.

The alarm numbers are assigned to the respective technology object and listed innumerical order below.

The Cam technology object contains the following technology objects:

� Drive axis (driveAxis)

� Output cam (camType)

� Cam track (camTrackType)

� Measuring input (measuringInputType)

� External encoder (externalEncoderType)

� Positioning axis (posAxis)

� Following axis (followingAxis)

� Following object (followingObjectType)

� Cam

The Cam_ext technology object contains the following technology objects:

� Addition object (AdditionObjectType)

� Fixed gear (FixedGearType)

� Formula object (FormulaObjectType)

� Controller object (ControllerObjectType)

� Sensor (SensorType)

The command type numbers of the individual system functions are listed in Ap-pendix A.

Preface

Preface-4� Siemens AG, 2004. All rights reserved

Technology Package Cam Alarms, 12.2004 Edition

Scope

This reference list is valid for SIMOTION Kernel Version 3.2.

Local response

With the settable local response, the user defines how the technology object is torespond in the event of an alarm and how further commands for the technologyobject are to be processed.

The programmable local responses can be parameterized by the user for eachalarm. Local responses are described at the beginning of each chapter on the re-spective technology object and listed in ascending priority.

Only one response can be in progress at any given time. This is the response withthe highest priority of all the alarms pending at that particular point in time. When aresponse occurs, the command decoder is stopped. Any programmed commandissued subsequently is rejected.

Command processing can be continued as soon as the alarm has been acknowl-edged. If an alarm requires a Power ON due to its global error response, it cannotbe acknowledged. Please refer to the functional description for Motion Control Ba-sic Functions.

References for technology objects

The functions for driveAxis and posAxis and for externalEncoder are describedin the functional description Motion Control Technology Object Axis Electric/hydraulic External Encoders.

The configuration and functions of the camType, camTrackType and measuringInput technology objects are described in the functional description Motion Control Technology Objects, Output Cam and Measuring Input.

The configuration and functions of the followingObjectType and cam technologyobjects are described in the functional description Motion Control, SynchronousOperation.

The configuration and functions of the FixedGearType, FormulaObjectType,ControllerObjectType, SensorType and AdditionObjectType technology ob-jects are described in the functional description Motion Control Advanced Technol-ogy Objects.

Preface

Preface-5� Siemens AG, 2004. All rights reservedTechnology Package Cam Alarms, 12.2004 Edition

SIMOTION documentation

An overview of the SIMOTION documentation is provided in a separate list of ref-erences.

The list of references list is supplied on the “SIMOTION SCOUT” CD. In printed documentation, the list of references is supplied with every documenta-tion package.

The Bibliography can be ordered separately using the following order number:

Order no.: 6AU1900-1AA32-0BA0 12.2004 Edition

SIMOTION documentation consists of 10 documentation packages contain-ing approximately 50 SIMOTION documents and documents for other products(e.g., SINAMICS).

The following documentation packages are available for SIMOTION V3.2:

� How to Use the SIMOTION Engineering System

� SIMOTION System and Function Descriptions

� SIMOTION Diagnostics

� SIMOTION Programming

� SIMOTION Programming – Reference Lists

� SIMOTION C230

� SIMOTION P350

� SIMOTION D4xx

� SIMOTION Supplementary Documentation

� SIMOTION Function Library

Hotline and Internet addresses

If you have any questions, please contact our hotline (worldwide):

A&D Technical Supports Phone: +49 (180) 50 50 222Fax: +49 (180) 50 50 223E-mail: [email protected]

If you have any questions, suggestions, or corrections regarding the documenta-tion, please send them to the following fax number or e-mail address:

Fax: +49 (9131) 98 2176E-mail: [email protected]

E-mail: [email protected]

E-mail: [email protected]

Preface

Preface-6� Siemens AG, 2004. All rights reserved


Siemens Internet address

The latest information about SIMOTION products can be found on the Internet un-der:

� General informationhttp://www.siemens.de/simotion (German)http://www.siemens.com/simotion (international)

� Products supporthttp://www4.ad.siemens.de/view/cs/de/10805436

Additional support

We offer courses to help you get started with SIMOTION.

Please contact your regional training center or our main training center at D-90027Nuremberg, phone +49 (911) 895 3202.

http://www.siemens.de/simotion

http://www.siemens.com/simotion

http://www4.ad.siemens.de/view/cs/de/10805436

Contents-7� Siemens AG, 2004. All rights reservedTechnology Package Cam Alarms, 12.2004 Edition

Contents

Technology Package Cam Part I-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Technology Package Cam_ext Part II-571. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 driveAxis 1-37

Possible local responses 1-37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20001 Internal error (Parameter1: /1/%d, Parameter2: /2/%d, Parameter3:/3/%d, Parameter4: /4/%d) 1-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20002 Insufficient memory (Parameter1: /1/%d, Parameter2: /2/%d,Parameter3: /3/%d, Parameter4: /4/%d) 1-39. . . . . . . . . . . . . . . . . . . . . . . . . . . .

20003 No object configuration (Parameter1: /1/%d, Parameter2: /2/%d,Parameter3: /3/%d, Parameter4: /4/%d) 1-40. . . . . . . . . . . . . . . . . . . . . . . . . . . .

20004 At the logical address: /1/%d (bit number, if required: /2/%d) a driver(type: /3/%d) could be requested (error number: /4/%d) 1-41. . . . . . . . . . . . . . .

20005 Device type: /3/%d, log. address: /1/%d faulty. (Bit: /2/%d,reason: 0x/4/%Xh) 1-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20006 Error in configuration(category: /1/%d, error number: /2/%d) 1-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20007 Interconnection error (category: /1/%d, context: /2/%d,context parameter1: /3/%d, context parameter2: /4/%d) 1-52. . . . . . . . . . . . . .

20008 Cannot assign USER_DEFAULT to system variables 1-54. . . . . . . . . . . . . . . . .

20009 The permissible deviation between encoders (/1/%d) and (/2/%d)has been exceeded 1-54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20010 A restart is necessary to activate the configuration data 1-55. . . . . . . . . . . . . .

20011 Error when activating the configuration (category: /1/%d,error number: /2/%d) 1-56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20012 Restart not executed (reason: /1/%d) 1-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20014 At the logical address: /1/%d (optional log. address:/2/%d and bit no.: /3/%d of the enable output), a driver(type: /4/%d) could not be requested 1-64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30001 Illegal parameter (parameter index according to standard sequencein the system functions: /1/%d, command type: /4/%X) 1-65. . . . . . . . . . . . . . .

30002 Command aborted (reason: /1/%d, command type: /4/%X) 1-66. . . . . . . . . . . .

30003 Command aborted due to full command buffer(command type: /4/%X) 1-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30004 Unknown command (command type: /4/%X) 1-69. . . . . . . . . . . . . . . . . . . . . . . .

30005 Ambiguous commandId (number of commands with specified ID:/1/%d, command type: /4/%X) 1-70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents

Contents-8� Siemens AG, 2004. All rights reserved


30006 Cannot execute command due to current object state(command type: /4/%X) 1-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30007 The error cannot be reset due to its configuration 1-72. . . . . . . . . . . . . . . . . . . .

30008 A connection to a technology object required for this operationdoes not exist (command type: /4/%X) 1-73. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30009 Command rejected due to suspension of command decodingon addressed technology object (command type: /4/%X) 1-74. . . . . . . . . . . . . .

30010 Command not available (command type: /4/%X) 1-75. . . . . . . . . . . . . . . . . . . . .

30011 Parameter unavailable (parameter index according tostandard sequence in the system functions: /1/%d,command type: /4/%X) 1-76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30012 Command cannot be started synchronously (command type: /4/%X) 1-77. . .

30013 Synchronous start of the command using IMMEDIATELYmergeMode (command type: /4/%X) 1-78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30014 Coordinate system not offset due to the internal traversingrange limit being exceeded (Parameter1: /1/% /1/%d,command type: /2/%X) 1-79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30015 A technology required for this command was not configured(technology: /1/%d, command type: /4/%X) 1-80. . . . . . . . . . . . . . . . . . . . . . . . .

40001 Illegal state change on axis 1-81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40002 Programmed velocity is limited 1-82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40003 Programmed acceleration (type: /1/%d) is limited 1-83. . . . . . . . . . . . . . . . . . . .

40004 Programmed jerk (type: /1/%d) is limited 1-84. . . . . . . . . . . . . . . . . . . . . . . . . . . .

40005 Enable signal(s) missing (Parameter1: /1/%X) and/orincorrect mode (Parameter2: /2/%d) 1-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40006 Programmed velocity is zero 1-86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40007 Programmed acceleration (type: /1/%d) is zero 1-86. . . . . . . . . . . . . . . . . . . . . .

40008 Programmed jerk (type: /1/%d) is zero 1-87. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40009 Velocity limit is zero 1-87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40010 Acceleration limit (type: /1/%d) is zero 1-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40011 Programmed jerk limit (type: /1/%d) is zero 1-88. . . . . . . . . . . . . . . . . . . . . . . . .

40012 Dynamic restrictions (type: /1/%d) violated 1-89. . . . . . . . . . . . . . . . . . . . . . . . . .

40013 Programmed stop time restricted by acceleration limits 1-90. . . . . . . . . . . . . . .

40014 Command not possible on virtual axis (command type: /4/%X) 1-91. . . . . . . . .

40015 Error in accessing specified cam 1-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40016 The specified cam has not been interpolated 1-92. . . . . . . . . . . . . . . . . . . . . . . .

40017 Cam start point outside definition range 1-92. . . . . . . . . . . . . . . . . . . . . . . . . . . .

40018 Dynamic response of motion profiles (type: /1/%d)violated (reason: /2/%d) 1-93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40019 Error while accessing the motion interface 1-94. . . . . . . . . . . . . . . . . . . . . . . . . .

40020 Dynamic response of the setpoints on the motion interface(type: /1/%d) violated (reason: /2/%d) 1-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents


40021 StopEmergency command abort due to a pendingstop response of the same or higher priority 1-96. . . . . . . . . . . . . . . . . . . . . . . . . .

40022 Programmed pressure limiting is limited 1-97. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40023 Programmed increase in pressure limiting limited 1-98. . . . . . . . . . . . . . . . . . . . .

40024 Programmed increase in pressure limiting is zero 1-98. . . . . . . . . . . . . . . . . . . . .

40025 Maximum increase in pressure limiting is zero 1-99. . . . . . . . . . . . . . . . . . . . . . . .

40026 Dynamic response of pressure/pressure limiting profiles(type: /1/%d) violated (reason: /2/%d) 1-100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50001 Drive failure 1-101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50002 Limiting frequency of measuring system exceeded 1-101. . . . . . . . . . . . . . . . . . .

50003 Speed acceleration setpoint limitation active 1-102. . . . . . . . . . . . . . . . . . . . . . . .

50005 Speed setpoint monitoring active (Parameter1: /1/%d) 1-103. . . . . . . . . . . . . . . .

50006 Zero mark monitoring 1-104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50007 Hardware limit switch (Parameter1: /1/%d, Parameter2: /2/%d) 1-105. . . . . . . .

50008 Timeout waiting for standstill signal 1-106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50009 Limit switch active: (Parameter1: /1/%d) only one traversingdirection possible 1-106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50010 Error while reading or writing data set (category: /1/%d,error number: /2/%d) 1-107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50011 Limit range of the incremental actual value exceeded(Parameter1: /1/%d) 1-115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50012 Drive does not support the selected function (Parameter1: /1/%d) 1-116. . . . . .

50013 Overshoot/undershoot of permissible range limits(logical address: /1/%d, reason: /2/%d) 1-117. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50014 Permissible system deviation of pressure controller exceeded 1-118. . . . . . . . .

50015 Level overflow of IPO not detected 1-118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50016 Backstop limitation active 1-119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50017 Manipulated variable monitoring active at Q/F output(Parameter1: /1/%d) 1-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50101 Reference model monitoring window exceeded 1-121. . . . . . . . . . . . . . . . . . . . . .

50109 Starting force window monitoring error 1-121. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50110 Full-scale force monitoring error 1-122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50111 Pressure controller is operating at the limit 1-122. . . . . . . . . . . . . . . . . . . . . . . . . .

2 outputCamType 2-123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


20001 Internal error (Parameter1: /1/%d, Parameter2: /2/%d,Parameter3: /3/%d, Parameter4: /4/%d) 2-123. . . . . . . . . . . . . . . . . . . . . . . . . . . .


Contents






20006 Error in configuration (category: /1/%d, error number: /2/%d) 2-130. . . . . . . . . .



20009 Reserved error 2-133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




20014 At the logical address: /1/%d (optional log. address:/2/%d and bit no.: /3/%d of the enable output),a driver (type: /4/%d) could not be requested 2-137. . . . . . . . . . . . . . . . . . . . . . . .












30012 Command cannot be started synchronously(command type: /4/%X) 2-147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Contents


40001 Error in output cam limitation (output cam position: /1/%d) 2-150. . . . . . . . . . . .

40003 Illegal range specification in parameters (parameter: /1/%d) 2-151. . . . . . . . . . .

3 camTrackType 3-153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .










20009 Reserved error 3-163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




20014 At the logical address: /1/%d (optional log. address: /2/%d andbit no.: /3/%d of the enable output), a driver (type: /4/%d)could not be requested 3-167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .









Contents









40003 Illegal range specification in parameters (parameter: /1/%d) 3-180. . . . . . . . . . .

4 measuringInputType 4-181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .





20004 At the logical address: /1/%d (bit number, if required: /2/%d)a driver (type: /3/%d) could be requested (error number: /4/%d) 4-184. . . . . . .





20009 Reserved error 4-191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




20014 At the logical address: /1/%d (optional log. address: /2/%dand bit no.: /3/%d of the enable output), a driver (type: /4/%d)could not be requested 4-195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30001 Illegal parameter (parameter index according to standardsequence in the system functions: /1/%d, command type: /4/%X) 4-196. . . . . .




Contents












40001 Measurement not possible on virtual axis 4-207. . . . . . . . . . . . . . . . . . . . . . . . . . .

40002 Measurement task not possible during homing of assigned axis 4-208. . . . . . . .

40003 Measuring input not switched within validity range ofmeasurement task 4-208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40004 Validity range of measurement task not recognized 4-209. . . . . . . . . . . . . . . . . .

40005 Simultaneous access of several measuring inputs toone encoder is not possible 4-209. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40006 Configuration of measurement inputs in an externaldevice not correct 4-210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40007 Measurement task was aborted by external device 4-210. . . . . . . . . . . . . . . . . . .

40008 Measurement task has been aborted due to a drive or encoder error 4-211. . .

5 externalEncoderType 5-213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .







Contents






20009 Reserved error 5-230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




20014 At the logical address: /1/%d (optional log. address: /2/%d and bit no.:/3/%d of the enable output), a driver (type: /4/%d)could not be requested 5-240. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30001 Illegal parameter (parameter index according to standardsequence in the system functions: /1/%d, command type: /4/%X) 5-241. . . . . .







30008 A connection to a technology object required for thisoperation does not exist (command type: /4/%X) 5-247. . . . . . . . . . . . . . . . . . . .






30014 Coordinate system not offset due to the internal traversing rangelimit being exceeded (Parameter1: /1/% /1/%d,command type: /2/%X) 5-253. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



40102 Encoder zero mark not found during homing 5-256. . . . . . . . . . . . . . . . . . . . . . . .

Contents


40103 Error in homing configuration data (Parameter1: /1/%d) 5-257. . . . . . . . . . . . . . .

40110 Error triggered on slave during synchronous operation(error number: /1/%d) 5-258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40124 Offset cannot be compensated. 5-258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40125 Setpoint output delay deactivated in the master 5-259. . . . . . . . . . . . . . . . . . . . .

40301 Connection with slave failed (assignment: /1/%d) 5-260. . . . . . . . . . . . . . . . . . . .

40302 Sign-of-life monitoring for the slave in distributed synchronous operation is deactivated 5-261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40303 Local and slave interpolation cycle clock are different 5-261. . . . . . . . . . . . . . . . .

40304 Offset cannot be determined 5-262. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50001 Drive failure 5-262. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .








50010 Error while reading or writing data set (category: /1/%d,error number: /2/%d) 5-267. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .









50102 Dynamic following error monitoring window exceeded 5-278. . . . . . . . . . . . . . . .

50103 Warning limits of dynamic following error monitoring reached 5-278. . . . . . . . . .

50106 Positioning monitoring error 5-279. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50107 Standstill monitoring error 5-279. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50108 Clamping monitoring error 5-280. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Contents




6 posAxis 6-283. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .























Contents







30014 Coordinate system not offset due to the internal traversingrange limit being exceeded (Parameter1: /1/% /1/%d,command type: /2/%X) 6-325. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



















40018 Dynamic response of motion profiles (type: /1/%d) violated(reason: /2/%d) 6-339. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



40021 StopEmergency command abort due to a pending stop responseof the same or higher priority 6-342. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40022 Programmed pressure limiting is limited 6-343. . . . . . . . . . . . . . . . . . . . . . . . . . . .

40023 Programmed increase in pressure limiting limited 6-343. . . . . . . . . . . . . . . . . . . .

40024 Programmed increase in pressure limiting is zero 6-344. . . . . . . . . . . . . . . . . . . .

Contents



40025 Maximum increase in pressure limiting is zero 6-344. . . . . . . . . . . . . . . . . . . . . . .


40101 Homing output cam not found 6-346. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



40104 Error in software limit switch specification (Parameter1: /1/%d) 6-349. . . . . . . .

40105 Position limited to software limit switch (Parameter1: /1/%d) 6-350. . . . . . . . . . .

40106 Software limit switch (Parameter1: /1/%d) approached 6-350. . . . . . . . . . . . . . .

40107 Software limit switch (Parameter1: /1/%d) is crossed 6-351. . . . . . . . . . . . . . . . .

40108 Axis is not homed 6-351. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40109 Error on synchronizing two encoders (reason: /1/%d) 6-352. . . . . . . . . . . . . . . . .


40111 Internal traversing range limit (Parameter1: /1/%d) approached 6-353. . . . . . . .

40112 Internal traversing range limit (Parameter1: /1/%d) is crossed 6-354. . . . . . . . .

40120 Programmed pressure is limited 6-354. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40121 Programmed pressure rise is limited 6-355. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40122 Programmed pressure rise is zero 6-355. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40123 Maximum pressure rise is zero 6-356. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




40302 Sign-of-life monitoring for the slave in distributed synchronous operation is deactivated 6-359. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



50001 Drive failure 6-362. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .








Contents


50010 Error while reading or writing data set(category: /1/%d, error number: /2/%d) 6-368. . . . . . . . . . . . . . . . . . . . . . . . . . . . .


50012 Drive does not support the selected function(Parameter1: /1/%d) 6-376. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .















7 followingAxis 7-387. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



20002 Insufficient memory (Parameter1: /1/%d, Parameter2: /2/%d, Parameter3: /3/%d, Parameter4: /4/%d) 7-389. . . . . . . . . . . . . . . . . . . . . . . . . . . .

20003 No object configuration (Parameter1: /1/%d, Parameter2: /2/%d, Parameter3: /3/%d, Parameter4: /4/%d) 7-390. . . . . . . . . . . . . . . . . . . . . . . . . . . .

20004 At the logical address: /1/%d (bit number, if required: /2/%d) a driver (type: /3/%d) could be requested (error number: /4/%d) 7-391. . . . . . . . . . . . . . .





Contents





20011 Error when activating the configuration (category: /1/%d, error number: /2/%d) 7-406. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


20014 At the logical address: /1/%d (optional log. address:/2/%d and bit no.: /3/%d of the enable output), a driver(type: /4/%d) could not be requested 7-415. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .














30014 Coordinate system not offset due to the internal traversing rangelimit being exceeded (Parameter1: /1/% /1/%d,command type: /2/%X) 7-429. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .







Contents














40018 Dynamic response of motion profiles (type: /1/%d) violated(reason: /2/%d) 7-443. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



40021 StopEmergency command abort due to a pending stop responseof the same or higher priority 7-446. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40022 Programmed pressure limiting is limited 7-447. . . . . . . . . . . . . . . . . . . . . . . . . . . .

40023 Programmed increase in pressure limiting limited 7-447. . . . . . . . . . . . . . . . . . . .

40024 Programmed increase in pressure limiting is zero 7-448. . . . . . . . . . . . . . . . . . . .

40025 Maximum increase in pressure limiting is zero 7-448. . . . . . . . . . . . . . . . . . . . . . .


40101 Homing output cam not found 7-450. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



40104 Error in software limit switch specification (Parameter1: /1/%d) 7-453. . . . . . . .

40105 Position limited to software limit switch (Parameter1: /1/%d) 7-454. . . . . . . . . . .

40106 Software limit switch (Parameter1: /1/%d) approached 7-454. . . . . . . . . . . . . . .

40107 Software limit switch (Parameter1: /1/%d) is crossed 7-455. . . . . . . . . . . . . . . . .

40108 Axis is not homed 7-455. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40109 Error on synchronizing two encoders (reason: /1/%d) 7-456. . . . . . . . . . . . . . . . .


40111 Internal traversing range limit (Parameter1: /1/%d) approached 7-457. . . . . . . .

Contents



40112 Internal traversing range limit (Parameter1: /1/%d) is crossed 7-458. . . . . . . . .

40120 Programmed pressure is limited 7-458. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40121 Programmed pressure rise is limited 7-459. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40122 Programmed pressure rise is zero 7-459. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40123 Maximum pressure rise is zero 7-460. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



40201 Synchronous operation tolerance exceeded on gearing axis(active monitoring system: /1/%d) 7-462. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40202 Dynamic response of synchronous operation setpoints(type: /1/%d) violated (reason: /2/%d) 7-463. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


40302 Sign-of-life monitoring for the slave in distributedsynchronous operation is deactivated 7-465. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



50001 Drive failure 7-467. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .








50010 Error while reading or writing data set(category: /1/%d, error number: /2/%d) 7-474. . . . . . . . . . . . . . . . . . . . . . . . . . . . .









Contents










8 followingObjectType 8-493. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .










20009 Reserved error 8-503. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .









Contents


























50004 Error while changing cam 8-526. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50005 Deactivation of synchronous operation aborted 8-527. . . . . . . . . . . . . . . . . . . . . .

50006 Synchronous operation activated/deactivated directly 8-527. . . . . . . . . . . . . . . .

50007 Error when activating/deactivating synchronous operation 8-528. . . . . . . . . . . . .

50008 Long-term stability cannot be maintained for the gearing 8-528. . . . . . . . . . . . . .

50009 Changing the dynamic behavior of the master results in adynamic response violation during synchronization anddesynchronization 8-529. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50101 The programmed master is not configured 8-529. . . . . . . . . . . . . . . . . . . . . . . . . .

50102 Master is not assigned or configured or is defective(reason: /1/%d) 8-530. . . .

Contents


50103 Master and slave values can only be read out if a synchronousoperation relationship is active 8-531. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50104 Master and slave values cannot be read out during synchronizationand desynchronization 8-531. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50105 No master value can be defined for a specified slave value 8-532. . . . . . . . . . .

50106 No slave value can be defined for a specified master value 8-532. . . . . . . . . . .

50107 Specified synchronization path or desynchronization path is lessthan or equal to zero 8-533. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50108 Synchronization position is ’AT_THE_END_OF_CAM_CYCLE’but camming is not active. 8-533. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50109 Synchronization position is AT_THE_END_OF_CAM_CYCLEbut the master mode is not RELATIVE 8-534. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50110 An absolute position synchronous operation cannot be calledfollowing a velocity synchronous operation 8-534. . . . . . . . . . . . . . . . . . . . . . . . . .

50201 Connection with master failed (assignment: /1/%d) 8-535. . . . . . . . . . . . . . . . . . .

50202 Sign-of-life monitoring for the master in distributed synchronousoperation is deactivated 8-536. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50203 Local and master interpolation cycle clock are different 8-536. . . . . . . . . . . . . . .

50204 Connection in startup phase 8-537. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


50206 Loss of synchronization with master on assigned controller indistributed synchronous operation 8-538. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50207 Master setpoint is outside the permissible range (reason: /1/%d) 8-539. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 camType 9-541. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .








20007 Interconnection error (category: /1/%d, context: /2/%d, context parameter1: /3/%d, context parameter2: /4/%d) 9-549. . . . . . . . . . . . . . . . . . . . .

Contents




20009 Reserved error 9-551. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .















30011 Parameter unavailable (parameter index according to standardsequence in the system functions: /1/%d, command type: /4/%X) 9-563. . . . . .



30015 A technology required for this command was not configured (technology: /1/%d, command type: /4/%X) 9-566. . . . . . . . . . . . . . . . . . . . . . . . .

40001 Write access to function denied (command type: /4/%X) 9-566. . . . . . . . . . . . . .

40002 Read access to function denied (command type: /4/%X) 9-567. . . . . . . . . . . . . .

40003 Illegal range specification in the parameters(command type: /4/%X) 9-567. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40004 Segment with length zero will not be inserted in the function(start and end point = /1/%lf) 9-568. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40005 The point (/1/%lf) is not within the definition range (/2/%lf, /3/%lf)of the function (representation: /4/%d). 9-568. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents


40006 The point (/1/%lf) is not within the value range (/2/%lf, /3/%lf)of the function (representation: /4/%d). 9-569. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40007 Access to interpolated function denied (command type: /4/%X). 9-569. . . . . . . .

40008 Required property violated during interpolation 9-570. . . . . . . . . . . . . . . . . . . . . . .

10 AdditionObjectType 10-573. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .








20007 Interconnection error (category: /1/%d, context: /2/%d, context parameter1: /3/%d, context parameter2: /4/%d) 10-581. . . . . . . . . . . . . . . . . . . . .


20009 Reserved error 10-583. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .











Contents











40001 Interface could not be activated (interface: 0x/1/%Xh) 10-599. . . . . . . . . . . . . . . .

40002 Modulo configuration is not taken over from the interconnectedoutput vector 10-600. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11 FixedGearType 11-601. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .





20004 At the logical address: /1/%d (bit number, if required: /2/%d) adriver (type: /3/%d) could be requested (error number: /4/%d) 11-604. . . . . . . . .





20009 Reserved error 11-611. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




Contents


20014 At the logical address: /1/%d (optional log. address: /2/%d and bit no.:/3/%d of the enable output), a driver (type: /4/%d)could not be requested 11-615. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .





30005 Ambiguous commandId (number of commands withspecified ID: /1/%d, command type: /4/%X) 11-620. . . . . . . . . . . . . . . . . . . . . . . . .











40002 Modulo configuration is not taken over from the interconnectedoutput vector 11-629. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

50008 Long-term stability cannot be maintained for the gearing 11-629. . . . . . . . . . . . . .

50101 The programmed master is not configured 11-630. . . . . . . . . . . . . . . . . . . . . . . . . .

50102 Master is not assigned or configured or is defective (reason: /1/%d) 11-630. . . .

12 FormulaObjectType 12-631. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .





Contents








20009 Reserved error 12-641. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




















Contents


40301 Error when translating a formula expression(formula number: /1/%d, reason: /2/%d) 12-658. . . . . . . . . . . . . . . . . . . . . . . . . . . .

40302 Warning when translating a formula expression(formula number: /1/%d, reason: /2/%d) 12-659. . . . . . . . . . . . . . . . . . . . . . . . . . . .

40303 Division by ’0’ when calculating a formula expression(formula number: /1/%d) 12-659. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40304 Overflow when calculating a formula expression(formula number: /1/%d) 12-660. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40305 Underflow when calculating a formula expression(formula number: /1/%d) 12-660. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40306 Function result when calculating a formula expression(formula number: /1/%d) 12-661. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40307 Invalid formula number specified (formula number: /1/%d,reason: /2/%d) 12-662. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13 ControllerObjectType 13-663. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .





20004 At the logical address: /1/%d (bit number, if required: /2/%d) a driver (type: /3/%d) could be requested (error number: /4/%d) 13-666. . . . . . . . . . . . . . .

20005 Device type: /3/%d, log. address: /1/%d faulty.(Bit: /2/%d, reason: 0x/4/%Xh) 13-667. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


20007 Interconnection error (category: /1/%d, context: /2/%d, context Parameter1: /3/%d, context Parameter2: /4/%d) 13-671. . . . . . . . . . . . . . . . . . . . .


20009 Reserved error 13-673. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .







Contents





30005 Ambiguous commandId (number of commandswith specified ID: /1/%d, command type: /4/%X) 13-683. . . . . . . . . . . . . . . . . . . . .










40001 Actual value in violation of upper limit 13-689. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40002 Actual value in violation of lower limit 13-690. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40003 Setpoint in violation of upper limit 13-690. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40004 Setpoint in violation of lower limit 13-691. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

40005 Feedforward control variable in violation of upper limit 13-691. . . . . . . . . . . . . . . .

40006 Feedforward variable in violation of lower limit 13-692. . . . . . . . . . . . . . . . . . . . . . .

40007 Permissible system deviation exceeded 13-692. . . . . . . . . . . . . . . . . . . . . . . . . . . .

14 SensorType 14-693. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .





20004 At the logical address: /1/%d (bit number, if required: /2/%d)a driver (type: /3/%d) could be requested(error number: /4/%d) 14-696. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Contents




20009 Reserved error 14-703. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .




20014 At the logical address: /1/%d (optional log. address: /2/%d andbit no.: /3/%d of the enable output), a driver (type: /4/%d) couldnot be requested 14-707. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .











30011 Parameter unavailable (parameter index according to standardsequence in the system functions: /1/%d, command type: /4/%X) 14-715. . . . . .





A Command Type Numbers of the Individual Commands A-721. . . . . . . . . . . . . . . . . . . .

Contents



Part ITechnology Package CamAlarms

driveAxis 1

outputCamType 2

camTrackType 3

measuringInputType 4

externalEncoderType 5

posAxis 6

followingAxis 7

followingObjectType 8

camType 9

1-36� Siemens AG, 2004. All rights reserved


1-37� Siemens AG, 2004. All rights reservedTechnology Package Cam Alarms, 12.2004 Edition

driveAxis

Possible local responses

NONENo response

DECODE_STOPAbort command processing

END_OF_MOTION_STOPStop once the active motions are complete

MOTION_STOPStop motion with programmed values

MOTION_EMERGENCY_STOPStop motion with maximum limit values

MOTION_EMERGENCY_ABORTStop motion with maximum limit values and abort active commands

FEEDBACK_EMERGENCY_STOPStop motion following emergency stop ramp and abort all active commands

OPEN_POSITION_CONTROLStop motion with speed setpoint 0 and abort all active commands

RELEASE_DISABLEStop motion with controller disable and abort all active commands

1

driveAxis



20001 Internal error (Parameter1: /1/%d, Parameter2: /2/%d, Parameter3: /3/%d,Parameter4: /4/%d)

CauseThis alarm indicates internal error states providing information about the cause andlocation of the error in association with the related error number.

Meaning of alarm parameters

Parameter1: Error source

Parameter2 to 4: Error number

RemedyA detailed description of the system error alarm is not provided. Should a systemerror of this type occur, note the alarm number, the alarm text, and the internalsystem error number specified in the alarm and contact: SIEMENS AG A&D MC, Hotline.

Acknowledgment / responsePower On / STOP

Default setting for local responseRELEASE_DISABLE

Programmable local responsesRELEASE_DISABLE

driveAxis


20002 Insufficient memory (Parameter1: /1/%d, Parameter2: /2/%d, Parameter3:/3/%d, Parameter4: /4/%d)

CauseThe memory required by the system is no longer available. This alarm can occurboth during power up and after program calls.


Parameter1: Area in which the error occurred.

1–Command decoding

2–Interpolator

3–Controller

4–Manipulated variable output

5–Encoder system

6–Technology package

Parameters 2 to 4 are area-specific. They are not fully utilized by all areas.

Command decoding area:

Parameter2 and Parameter4 refer to the command in which the error occurred.

Parameter2: Command return value

Parameter4: Command type

Remedy

� Reduce the size of the ST code.

� Reduce the number of technology objects.

� Reduce the number of interpolation points for cams, if present.


Default setting for local responseFEEDBACK_EMERGENCY_STOP

Programmable local responsesFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

driveAxis



20003 No object configuration (Parameter1: /1/%d, Parameter2: /2/%d, Parameter3:/3/%d, Parameter4: /4/%d)

CauseError in system configuration. The configuration data for a software tool could notbe found.




2–Interpolator

3–Controller


5–Encoder system






RemedyCheck the accuracy of the configuration data in your project. When commands arecalled on technology objects, the technology objects must be configured.

Acknowledgment / responseReset fault memory / START TechnologicalFaultTask

Default setting for local responseNONE

Programmable local responsesNONEDECODE_STOPEND_OF_MOTION_STOPMOTION_STOPMOTION_EMERGENCY_STOPMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

driveAxis


20004 At the logical address: /1/%d (bit number, if required: /2/%d) a driver (type:/3/%d) could be requested (error number: /4/%d)

CauseThe driver of a physical device or the device itself is not available.


Logical address:

This is the address configured on the technology object.

Bit number:

For bit driver only; bit number

Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver

6–ByteWrite driver

7–WordRead driver

8–WordWrite driver

9–DWordRead driver

10–DWordWrite driver

Error number: Specification of error

1000 = “General driver configuration error”

Remedy

� Connect a suitable device.

� Check the device (function, connections, terminals).

� Check the topological configuration in HWConfig.

� Compare configuration of HWConfig and technology object.

� Contact the hotline.

Acknowledgment / responsePower On / START TechnologicalFaultTask



driveAxis



20005 Device type: /3/%d, log. address: /1/%d faulty. (Bit: /2/%d, reason: 0x/4/%Xh)

CauseThe driver of a physical device or the device itself has failed or is faulty. When thisalarm occurs, the error cause must be evaluated in the external device (drive orencoder).


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Logical address:This is the address configured on the technology object.

Bit number:For bit driver type = 3 or 4 only; bit number

Reason:0–Not defined (e.g., for binary I/O)

� Type = 1

0x0001h: Fault message from drive (note: On PROFIBUS drives, whichsupport acyclic communication in accordance with PROFIdrive V3,the error number/numbers of the drives is/are displayed in thediagnostic buffer, e.g., on Masterdrives MC).

0x0002h: DP: Drive signal “control requested” failed

0x0004h: DP: Drive switched off itself

0x0008h: Slot for drive data is not available in the project

0x0010h: Actuator driver does not have a connection to the drive data

0x0020h: Actuator driver was not initialized during power up

0x0080h: DP: Difference between configuration data and drive parameters

0x4000h: DP: Drive on bus failed (station failure)

0x8000h: Sign of life of drive faulty or failed

driveAxis


� Type = 2

0x0000h: The number of permissible changes in the actual value of the maximum velocity of the absolute-value encoder has beenexceeded

0x0001h: Fault message from encoder (note: The error number/numbers is/are displayed in the diagnostic buffer)

0x0002h: General hardware error of encoder

0x0004h: Encoder contaminated

0x0008h: Slot for encoder data is not available in the project

0x0010h: Encoder driver does not have a connection to the encoder data

0x0020h: Encoder driver was not initialized during power up

0x0040h: Error when reading the absolute value of the encoder

0x0080h: DP: Difference between the configuration data and the encoder parameters

0x0100h: Zero mark monitoring of encoder

0x4000h: DP: Encoder on bus failed (station failure)

0x8000h: DP: Sign of life of encoder has malfunctioned or failed. (Note: For an encoder whose data are transferred in a drive message together with actuator data, the actuator sign of life applies for the encoder, e.g., a standard message 3 in accordance with PROFIdrive).

� Type = 3 to 10

0x0000h: Additional information, not assigned

Note:Codings for the reason of the failure can also occur in combination. Theindividual codings are then added to form a coding sum, which is displayed(e.g., 0x0005 = 0x0001 + 0x0004). A reason for failure marked as DP can only be present on PROFIBUS devices.

driveAxis



RemedyCheck the device with respect to function and connections (reason 0x0001,0x0002, 0x0004, 0x4000, 0x8000).

� Check the topological configuration in HW Config (with reason 0x0008).

� For PROFIBUS drives or encoders, compare the configuration of HWConfig, thetechnology object, and the drive parameter assignment.For:

Reason 0x0040:

– Compare the encoder type in the drive or encoder parameter P979 with theconfiguration data of the technology object.

Reason 0x0080:

– Compare the message frame type in the drive or encoder parameter P922with HW Config and the configuration data of the technology object.

– Compare the encoder type, resolution, multiplier and, with absoluteencoders, the data length in the drive or encoder parameter P979 with theconfiguration data of the technology object.

– Compare the parameterization named in reason 0x8000 (reason 0x8000 canoccur as secondary fault).

Reason 0x8000:

– Compare the cycle clock parameters of HW Config (PROFIBUS line, SlaveOM for drive or encoder) and the execution system. Tmapc and servo mustbe parameterized with the same cycle clock period!

� System fault, contact the hotline (reason 0x0008, 0x0010, 0x0020).




driveAxis


20006 Error in configuration (category: /1/%d, error number: /2/%d)

CauseThis alarm indicates error states caused by a faulty or inconsistent configuration.The technology objects perform a plausibility check on the configuration. Errors areidentified by the error codes below.


Category: Area in which the error occurred.


2–Interpolator

3–Controller


5–Encoder system

6–Technology object


500 = “TO in illegal status for configuration”

501 = “More configuration data expected than received”

502 = “Invalid data in configuration”

503 = “Version conflict in configuration”

1000 = “General configuration error”

2000 = “Error in actuator system configuration”

2001 = “Outside of limits of manipulated variable”

2003 = “Error in load gear ratios”

2004 = “Error in maximum velocity”

2005 = “Maximum velocity greater than maximum attainable velocity”

2006 = “Drive not suitable for torque-controlled or torque-limited operation”

2007 = “Linear stepper motor not implemented”

2008 = “Right-aligned format for direct output not implemented”

2009 = “Illegal value in resolution for direct output”

2010 = “Missing configuration data for actuator system”

2011 = “Missing configuration data for additional actuator system”

2012 = “The backstop range (min to max) does not contain a zero point”

2014 = “Drive or message frame not suitable for torque superimposition”

2015 = “Gear ratios less than or equal to 0”

2016 = “Resolution for stepper motor is 0”

2017 = “Illegal value for the configuration data maxSpeed”

2018 = “Illegal value for the configuration data maxVelocity”

2019 = “Limits of a configuration data exceeded”

2020 = “Limits for the max. acceleration exceeded”

2021 = “Illegal values for dead-zone compensation”

2022 = “Illegal values for sliding-friction compensation”

driveAxis



2023 = “Illegal values for backstop range”

2024 = “Error in sliding-friction compensation parameter”

3000 = “Error in encoder system”


3002 = “Invalid axis type selected”

3003 = “Leadscrew pitch is 0”

3004 = “Modulo axis selected with modulo value less than or equal to 0”

3005 = “Illegal specification(s) in the encoder data (incremental / absolute, etc.)”

3006 = “Illegal number of encoders selected”

3007 = “Illegal incremental encoder number”

3008 = “Illegal data combination for homing with incremental encoder”

3009 = “Illegal encoder number”

3010 = “Illegal data on SSI encoder”



3013 = “Illegal measuring gear data, DRIVE assembly type (e.g., factor = 0)”


3015 = “Illegal measuring gear data, LOAD assembly type (e.g., factor = 0)”

3016 = “Illegal data set number (e.g., factor = 0)”

3017 = “Encoder data sequence and number of encoders do not match”



3020 = “Illegal encoder system / actuator system simulation selected”.

3021 = “Illegal encoder number or incorrect number of data sets”


3023 = “Illegal data for ratio of external attachment (e.g., factor = 0)”

3024 = “Path/rotation of external attachment = 0”

3025 = “Illegal value for monitoring of actual velocity”

3026 = “Illegal encoder number in SSI encoder configuration”

3027 = “Illegal message format in SSI encoder configuration”

3028 = “Illegal baud rate in SSI encoder configuration”

3029 = “Illegal SSI state in SSI encoder configuration”

3030 = “Illegal encoder number in data set”

3031 = “Encoder number in data set not configured”

3032 = “Illegal numerator factor in data set”

3033 = “Illegal denominator factor in data set”

3034 = “Illegal data set number”

3035 = “Data set number not configured”

3036 = “Encoder not configured”

3037 = “Homing of ENDAT encoder with zero mark not possible”

3038 = “Homing of CAM negative edge onboard not possible”

3039 = “On-the-fly homing of ENDAT encoder with zero mark not possible”

driveAxis


3040 = “On-the-fly homing of CAM negative edge onboard not possible”

3041 = “Factors for adjusting encoder data to the mechanics are outside the permissible range of values”.

3042 = “Illegal data combination for homing wit external encoder”.

3043 = “The incremental position of the encoder is outside the permissible range of values”.


3045 = “Illegal value for resolution of linear measuring system”

3046 = “Illegal value for filter of actual-velocity encoder”

3047 = “Illegal value for smoothing of actual-value encoder”

3048 = “Illegal value for smoothing of actual-value encoder with actual-valuecoupling”

3049 = “Illegal DSC encoder selection”

3050 = “Configuration of encoder system not completed correctly”

3051 = “Error in configuration of the sensor data or the stepper motor”

3052 = “Actual-value type (position, interval, velocity) not implemented”

3053 = “Only homing with CAM possible for stepper motor”

3054 = “Only on-the-fly homing with CAM possible for stepper motor”

3055 = “Stepper motor only possible with a real axis”

3056 = “Only one encoder permissible with stepper motor”

3057 = “DSC encoder is not a DP encoder”

3058 = “Illegal message frame of the DSC encoder”

3059 = “Modulo value too small”

3060 = “Configuration differential measurement position faulty”.

3061 = “Illegal data in range configuration of the differential measurement position”.

4000 = “Error in controller”4001 = “Negative acceleration specified”4002 = “Unknown ’FipoType’ requested”4003 = “Error in runtime system, ratio of controller cycle clock to interpolator

cycle clock incorrect”.4004 = “Requested filter arrangement not possible”4005 = “Reserve for later use”4006 = “Maximum limit is lower than minimum”4007 = “Reserve for later use”4008 = “Error in configuration data for controller”4009 = “Reserve for later use”4010 = “Reserve for later use”4011 = “Reserve for later use”4012 = “Reserve for later use”4013 = “Requested controller type is not available”4014 = “Error in controller factors”4015 = “Feedforward control activated, kpc < 0 or kpc > 150”

driveAxis



4016 = “Reserve for later use”







4023 = “Feedforward control activated, kpc <= 0”

4024 = “Model reference monitoring: Error in value of tolerance window”

4025 = “Error in limit value for standstill signal”

4026 = “Error in parameter for positioning monitoring”

4027 = “Reference model and dynamic following error monitoring activated, not possible at the same time”.

4028 = “Sampling time parameter calculated incorrectly”

4029 = “Too many data sets requested”

4030 = “Error in runtime system, ratio of controller cycle clock to interpolator cycle clock incorrect”.

4031 = “Error in time constant for emergency stop ramp generator (positionTimeConstant)”.

4032 = “Feedforward control active, but fine interpolator type is DIRECT”

4033 = “Default data set outside limits”

4034 = “Maximum number of data sets not possible”

4035 = “Unknown data set alternating mode”

4036 = “Following error monitoring not activated/deactivated in all data sets”.

4037 = “Model reference monitoring not activated/deactivated in all data sets”.

4038 = “Different controller type in data sets”

4039 = “Feedforward control activated/deactivated in data sets”

4040 = “Time constant is 0”

4041 = “Error in dynamic adaptation parameter”

4042 = “System variable initialization could not be read”

4043 = “Driver simulation not implemented”

4044 = “Connection for stepper motors not implemented”

4045 = “Maximum velocity cannot be reached, maximum drive speed or a normalization factor incorrect”.

4046 = “DSC requires motor encoder data to be specified”

4047 = “Drive or message frame type not suitable for DSC”

4048 = “Error in clamping monitoring parameter. ’No identifier’ is not permitted for the fixed end stop identifier”

4049 = “Without sensor, monitoring of the actual velocity by ’DynamicControl’ not possible”.

4050 = “Inconsistent PROFIBUS parameterization; the sum of Ti and To is greater than one DP clock cycle”

driveAxis


4051 = “Error in manipulated variable limit parameter of force/pressure controller”

4052 = “Error in starting force/pressure monitoring parameter”

4053 = “Error in full-scale force/pressure monitoring parameter”

4054 = “Starting force/pressure monitoring tolerance less than tolerance of full-scale pressure monitoring”

4055 = “Error in force/pressure system deviation monitoring parameter”

4056 = “Different activation/deactivation of the control difference monitoring of the force/pressure controller not permitted in data sets”

4057 = “Different manipulated variable inversion of the force/pressure controller not permitted in data sets”

4058 = “Different force/pressure sensor types not permitted in data sets”

4059 = “Different activation/deactivation of the anti windup not permitted in data sets”

4060 = “Kd factor of the PID_ACTUAL controller is greater than 1”

4061 = “Time constant of the process model T1 <= T2”

4062 = “Illegal actuator type selection”

4063 = “Error in sliding friction compensation parameter”

4064 = “Error in offset application parameter”

4065 = “Feedforward control for force/pressure control not implemented”

4066 = “Error in standstill monitoring parameter”

4067 = “Following error monitoring: minVelocity must not be greater than or equal to maxVelocity”

4068 = “velocityTimeConstant when using a dead-time element for feedforward balancing too great”

4069 = “The system-related dead times are less than 0 after the calculation of additionalTime”

4070 = “Controller types not equal to DIRECT require the configuration of an encoder”

4071 = “Illegal values for delayTimeToActivate of the standstill signal”

4072 = “The IO device for the positive HW limit switch is not available”

4073 = “The IO device for the negative HW limit switch is not available”

4074 = “Limits of a controller parameter exceeded”

4075 = “Limit for emergency-stop-ramp brake delay exceeded”

4076 = “Limit for a substitute time constant exceeded”

4077 = “Limit for velocityTimeConstant exceeded”

4078 = “Error in value for configuration of QFDynamicData”

4079 = “Error in value for model reference monitoring”

4080 = “Error in following error monitoring parameter”

4081 = “Error in clamping monitoring parameter”

4082 = “Error in value for configuration of DynamicData”

driveAxis



4083 = “Error in value for configuration of PV controller”

4084 = “Incomplete configuration data for controller”

4085 = “Error in value for configuration of SystemDeadTimeData”

4086 = “Pressure control only possible with closed speed controller”

4087 = “DSC and compensation of valve characteristic not possible”

4088 = “DSC not possible on hydraulic axes”

4089 = “Time constant of dynamic compensation T1 <= T2”

4090 = “Incorrect value for correction of system dead time”


5001 = “Illegal number of additional sensors selected”

5002 = “Illegal additional sensor type selected”

5003 = “Illegal data in configuration of driver data for additional sensor”

5004 = “Illegal data in configuration of conversion data for additional sensor”

5006 = “Illegal data in configuration of range for additional sensor”

5007 = “Illegal data in configuration of filter time for additional sensor”

5008 = “Configuration of additional sensor not completed correctly”

5009 = “Illegal number for additional sensor in data set”

5010 = “Illegal data in configuration of differential pressure measurement”

5011 = “Error sensor A differential pressure measurement”

5012 = “Error sensor B differential pressure measurement”

5013 = “Illegal data in configuration of extrapolation”

5014 = “Illegal data in configuration of execution task for sensor TO”

5015 = “Illegal data in configuration of substitute value strategy for sensor TOtechnological alarm”

5020 = “Illegal data in configuration of driver data for analog sensor”

5021 = “Illegal data in configuration of position filter for analog sensor”

5022 = “Illegal data in configuration of conversion data for analog sensor”

5023 = “Illegal data in configuration of measurement input for analog sensor”

5030 = “Illegal data in configuration of conversion data for interval counter”

6000 = “In the configuration data, the monitoring of the positioning path isconfigured up to the reference-point switch, and the maximum pathto be traveled in the process is configured as zero”

6001 = “Error in configuration data numberOfMaxBufferedCommandId”

6002 = “Error in configuration data numberOfQueueCommands”

6003 = “Error in configuration data numberOfImmediateCommands”

6004 = “Configuration of behaviourAtTheEndOfProfile not implemented”

driveAxis


6005 = “Illegal value for the configuration data maximum acceleration”

6006 = “Illegal value for the configuration data maximum jerk”

6007 = “Illegal value for the configuration data maximum force/pressure setpoint”

6008 = “Illegal value for the configuration data maximum force/pressure setpoint

rate of rise”

6009 = “Illegal value for the configuration data synchronous operation tolerance on the setpoint side”

6010 = “Illegal value for the configuration data synchronous operation tolerance on the actual-value side”

6011 = “Illegal value for the configuration data enable synchronous operationtolerance on the setpoint side”

6012 = “Illegal value for the configuration data enable synchronous operationtolerance on the actual-value side”

6013 = “Illegal value for the configuration data tolerance window end-of-profiledetection”

6014 = “Illegal value for the configuration data extrapolation time actual values”

6015 = “Illegal value for the configuration data tolerance window actual-value coupling”

6016 = “Illegal value for the configuration data touchdown tolerance position limit”

6017 = “Illegal value for the configuration data handling mode position limit”

7000 = “Illegal data in configuration of a process model”

7001 = “Illegal data in configuration of the functional component >drive model<of a process model”

7002 = “Illegal data in configuration of the functional component >delay< ofa process model”

7003 = “Illegal data in configuration of the functional component >shut down drive<of a process model”

7004 = “Illegal data in configuration of the functional component >encoder< of aprocess model”

7005 = “Illegal data in configuration of the functional component >switch< of aprocess model”

RemedyChange the configuration data.




driveAxis



20007 Interconnection error (category: /1/%d, context: /2/%d, context parameter1:/3/%d, context parameter2: /4/%d)

CauseThis alarm indicates errors in the interconnection of technology objects. When theinterconnection is established, the technology object verifies it on the basis of theinterface properties. Errors are classified by category.


Category:

1 – TO compatibility errorAn interconnection is to be established with a technology object that has beenconfigured with another reference system (e.g., output cam with rotaryreference system and linear axis).

2 – Exclusive interfaceMultiple interconnections are to be established for an interface intended forexclusive interconnection.

3 – Interconnection requirementThe technology object is waiting for an interconnection required for thesequence.

4 – Interface initialization errorErrors result from extended initialization sequences at interfaces andparameter exchange between interconnected interfaces.

5 – Interface not available on technology objectAn interface specified in the interconnection is not available on the technologyobject.

6 – CircularityThe interconnection on the technology object leads to circular communicationwithin the technology object (e.g., circular master/slave interconnection ofgearing axes, whereby a gearing axis used as a master is in turn the slave ofanother master, which is assigned the master setpoints generated on thisgearing axis directly or via additional interconnections).

7 – Sequence-level compatibility errorAn interconnection is to be established with a technology object that isexecuted in another interpolator level (e.g., output cam with IPO and axis withIPO_2).

8 – Distribution initializationWhen interconnecting technology objects that are distributed among differentdevices, an error occurred during initialization of the communication interface.

9 – Illegal TO statusThe technology object cannot be interconnected in the current state.

Context:

The context provides additional information about the error category for the TOinterconnection. Additional parameters can be provided for the error descriptionon a context-specific basis. Context and context parameter are output as aninteger value.

driveAxis


Remedy

1 – Technology object compatibility error:Correct the configuration of the reference system of the technology objects tobe interconnected.

2 – Exclusive interface:Correct the configuration of the interconnected technology object.

3 – Interconnection request:Add the missing interconnection to your technology object.

4 – Error during interface initialization: Contact the hotline.

5 – Interface not available on technology object: Contact the hotline.

6 – Circularity:Remove unnecessary interconnections.

7 – Execution level compatibility error: Correct the configuration of the interpolator task level of the technology objectsto be interconnected.

8 – Distribution initialization:Check the hardware configuration. Ensure that the distributed interactingdevices are linked in the bus configuration. In addition, the address areas thatare used by the devices for communication must be set up. The address areasare automatically set up when the project is compiled; only afterwards is thevalid hardware configuration available for downloading.

9 – Illegal TO status:Correct the configuration of the technology object, correct execution errors.




driveAxis



20008 Cannot assign USER_DEFAULT to system variables

CauseIt is not appropriate to assign USER_DEFAULT to a UserDefault system variable,because the variable references itself in this case.This prevents generation of a useful value during reading out. When this erroroccurs, the new Enum value is not assigned. The variable retains the old value.

RemedyUSER_DEFAULT is designed for use in technology commands.Avoid assigning it to system variables.



Programmable local responsesNONE

20009 The permissible deviation between encoders (/1/%d) and (/2/%d) has beenexceeded

CauseThe permissible deviation between two encoders (slip monitoring) has beenexceeded.

Remedy1. Check the mechanical configuration.2. Check the dimensioning of the dynamic limit values (acceleration, jerk).



Programmable local responsesNONEFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

driveAxis


20010 A restart is necessary to activate the configuration data

CauseThe configuration cannot be set to active, since data have been modified in such away that does not permit it. The technology object must be restarted to activate thedata.

Remedy

� Execute the technology object reset command, and set the activateRestartparameter to ACTIVATE_RESTART.

� Set the restartActivation system variable to ACTIVATE_RESTART.




driveAxis



20011 Error when activating the configuration (category: /1/%d, error number:/2/%d)

CauseThis note indicates error conditions when activating the configuration. The errorconditions can be traced back to an incorrect or inconsistent configuration. Thetechnology objects perform a plausibility check on the configuration. Errors areidentified by the error codes below.If this information appears, the configuration will not be activated.




2–Interpolator

3–Controller


5–Encoder system








2005 = “Maximum velocity greater than maximum attainable velocity”.



2008 = “Right-aligned format for direct output not implemented“


2010 = ”Missing configuration data for actuator system”














driveAxis











































driveAxis



3041 = “Factors for adjusting encoder data to the mechanics are outside thepermissible range of values”

3042 = “Illegal data combination for homing with external encoder”

3043 = “The incremental position of the encoder is outside the permissible range of values”

















3060 = “Configuration differential measurement position faulty”

3061 = “Illegal data in range configuration of the differential measurement position”

4000 = “Error in controller”

4001 = “Negative acceleration specified”

4002 = “Unknown ’FipoType’ requested”

4003 = “Error in runtime system, ratio of controller cycle clock to interpolator cycle clock incorrect”

4004 = “Requested filter arrangement not possible”


4006 = “Maximum limit is lower than minimum”


4008 = “Error in configuration data for controller”





4013 = “Requested controller type is not available”

4014 = “Error in controller factors”

4015 = “Feedforward control activated, kpc < 0 or kpc > 150”



driveAxis











4027 = “Reference model and dynamic following error monitoring activated, not possible at the same time”




4031 = “Error in time constant for emergency stop ramp generator (positionTimeConstant)”














4045 = “Maximum velocity cannot be reached, maximum drive speed or a normalization factor incorrect”



4048 = “Error in clamping monitoring parameter”. ’No identifier’ is not permitted for the fixed end stop identifier

4049 = “Without sensor, monitoring of the actual velocity by ’DynamicControl’ not possible”





driveAxis




































driveAxis




















5015 = “Illegal data in configuration of substitute value strategy for sensor TO technological alarm”






6000 = “In the configuration data, the monitoring of the positioning path isconfigured up to the reference-point switch, and the maximum path to be traveled in the process is configured as zero”








driveAxis



6008 = “Illegal value for the configuration data maximum force/pressure setpointrate of rise”





6013 = “Illegal value for the configuration data tolerance window end-of-profile detection”






7001 = “Illegal data in configuration of the functional component >drive model<of a process model”

7002 = “Illegal data in configuration of the functional component >delay< of aprocess model”


7004 = “Illegal data in configuration of the functional component >encoder< of aprocess model”

7005 = “Illegal data in configuration of the functional component >switch< of aprocess model”





driveAxis


20012 Restart not executed (reason: /1/%d)

CauseTechnology object could not be restarted.


Reason:

1–The technology object configuration does not allow a restart with the restartsystem variable. You can initiate the restart using the reset command.

2–The technology object is not ready to be restarted.

3–A configured condition for restarting the technology object is not met (e.g.,technology object must be disabled).

4–Restart has not been executed or executed with the last programmedconfiguration of the technology object.

Remedy

� Work around the cause stated in the Reason parameter, or reload the project.

� Use the device diagnostics to establish whether technological alarms werereported and, if necessary, remedy the cause of the alarm.




driveAxis



20014 At the logical address: /1/%d (optional log. address: /2/%d and bit no.: /3/%dof the enable output), a driver (type: /4/%d) could not be requested

CauseThe driver of a physical device is not available or is being used by another TO.


Logical address:

This is the address of the actuator driver configured on the technology object.

Logical address and bit number:

This specifies the address and bit number of the output enable bit.

Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy

� Check that the logical device was available at the time of the request or whetherit was being used by another technology object.









driveAxis


30001 Illegal parameter (parameter index according to standard sequence in thesystem functions: /1/%d, command type: /4/%X)

CauseIllegal system function parameter, the command is aborted. The parameters indicate the position of the illegal system function parameteraccording to the standard sequence in the system functions and the command typeof an incorrectly entered parameter.


Parameter index:

Index of the first system function parameter that triggered this error (listedaccording to the standard sequence in the system functions).

Command type:

Outputs the command type. The command type is output as a hexadecimalinteger value.

RemedyChange the parameters.




driveAxis



30002 Command aborted (reason: /1/%d, command type: /4/%X)

CauseExecution of the command was aborted before or during processing.This condition can arise as a result of loading a new command, resetting thecommand buffer, or an error state.


Reason:

1–Command buffer reset

2–Abort by another command

3–Aborted by a stop

4–Aborted by a higher-order stop

5–Abort by a pending error response

6–Aborted due to ambiguous commandId

7–Delayed acknowledgment

8–No actual value for axis (e.g., encoder or data bus not ready)

9–Aborted due to abnormal termination of a dependent command

10–Aborted due to active synchronous operation

11–Aborted due to active superimposed motion

12–Aborted due to active speed-controlled controller mode

13–Aborted due to active position-controlled controller mode

14–Aborted due to active motion to fixed end stop

15–Axis is not in pressure-limiting operation

16–Aborted due to active pressure-controlled operation

17–Aborted due to inactive pressure-controlled operation

18–Superimposed command is not permitted

19–Aborted due to error during cam access

20–Slave is not ready for operation

21–Error in slave synchronization

22–Aborted by command on slave

23–Aborted by stop on slave

24–Aborted by an active error response on the slave

25–No actual value for slave (e.g., encoder or data bus not ready)

26–Aborted by reset on slave

27–Master values are not valid

28–Active command in recursive TO interconnection

29–Aborted due to error during synchronization

30–Axis is in pressure-limiting operation

31–Maximum number of active commands exceeded

32–Aborted due to active correction command

33–Action only permissible in standstill

Command type:

Outputs the aborted command type. The command type is output as ahexadecimal integer value.

driveAxis


RemedyReset command via program.




driveAxis



30003 Command aborted due to full command buffer (command type: /4/%X)

CauseThe command is not entered in the command buffer as the buffer is already full.


Command type:


Remedy

� Check the program flow.

� Typical cause: The ’nextCommand’ parameter is passed with the valueIMMEDIATELY. You need to synchronize the command sequence manually oruse another value for ’nextCommand’.




driveAxis


30004 Unknown command (command type: /4/%X)

CauseThe active software tool does not support this command.


Command type:


RemedyCheck the versions of the engineering system and the runtime software.




driveAxis



30005 Ambiguous commandId (number of commands with specified ID: /1/%d,command type: /4/%X)

CauseThe specified commandID refers to several commands.The specified action is performed for the command matching the specifiedcommandID that has been in the interpolator for the longest time. If nocorresponding command is found in the interpolator, the action refers to the nextcommand loaded in the interpolator.


Number of commands with specified ID:

Number of commands referenced by the specified commandId.

Command type:


RemedyUse different commandIds for commands that are active simultaneously.




driveAxis


30006 Cannot execute command due to current object state (command type: /4/%X)

CauseThe object is in the stop, error, or reset state and the command is not possible inthis object state.


Command type:


Remedy

� Check the object status.

� Check the permissible sequence of commands.




driveAxis



30007 The error cannot be reset due to its configuration

CauseThe alarm cannot be acknowledged at the present time or by the selected means.

Remedy

� Check the configured acknowledgment procedure.

� If necessary, change the acknowledgment procedure for the alarm.




driveAxis


30008 A connection to a technology object required for this operation does notexist (command type: /4/%X)

CauseThe object connection required for this operation has not been configured.


Command type:


RemedyCheck the project configuration, or change the object connection in the command.




driveAxis



30009 Command rejected due to suspension of command decoding on addressedtechnology object (command type: /4/%X)

CauseCommand was rejected due to suspension of command decoding on theaddressed technology object.


Command type:


Remedy

� Check why the command was rejected.

� If necessary, acknowledge any active errors once you have corrected the causeof the error.




driveAxis


30010 Command not available (command type: /4/%X)

CauseThe command is not available in this version of the runtime software.


Command type:


RemedyCheck the version of the runtime software.




driveAxis



30011 Parameter unavailable (parameter index according to standard sequence inthe system functions: /1/%d, command type: /4/%X)

CauseThe parameter is not available in this version of the runtime software, thecommand is therefore rejected. The parameters indicate the position according tothe standard sequence in the system functions and the command type of anincorrectly entered parameter.


Parameter index:

Index of the command parameter triggering this error according to the standardsequence in the system functions.

Command type:






driveAxis


30012 Command cannot be started synchronously (command type: /4/%X)

CauseThe command cannot be used during a BEGIN_SYNC, END_SYNC sequencebecause it is a reset command or a command that has only one return value in theuser program.


Command type:


RemedyDo not use this command type during a BEGIN_SYNC, END_SYNC sequence.




driveAxis



30013 Synchronous start of the command using IMMEDIATELY mergeMode(command type: /4/%X)

CauseWith synchronous command start, only merge modes that immediately override thecurrent command (IMMEDIATELY) and superimpose the current command(SUPERIMPOSED_MOTION_MERGE) can be used. If an illegal merge mode isprogrammed (e.g., SEQUENTIAL or NEXT_MOTION), the system automaticallychanges the merge mode to IMMEDIATELY and outputs this warning.


Command type:


RemedyProgram the command, which is to be started synchronously to immediatelyoverride the current command. To do this, enter the value IMMEDIATELY in the’mergeMode’ command parameter.




driveAxis


30014 Coordinate system not offset due to the internal traversing range limit beingexceeded (Parameter1: /1/% /1/%d, command type: /2/%X)

CauseThe programmed coordinate system offset causes the internal traversing rangelimit to be exceeded. The coordinate system is not shifted.


Parameter1:

= 0 negative internal traversing range limit

= 1 positive internal traversing range limit

Command type:


RemedyCheck the programming for the coordinate system offset.




driveAxis



30015 A technology required for this command was not configured (technology:/1/%d, command type: /4/%X)

CauseThe command cannot be selected in this technology object configuration.


Technology:

= 1 Axis with force/pressure control without flow/force specification= 2 Axis with force/pressure control and flow/force specification= 3 Axis without flow/force specification= 4 Axis with flow/force specification= 5 Axis with force specification= 6 Axis with pressure setpoint specification= 7 Axis with pressure limiting= 8 Axis with speed limiting parallel to force/pressure control= 9 Axis with flow specification

Command type:Outputs the command type. The command type is output as a hexadecimalinteger value.

RemedyActivate the technology needed for the command.

Technology:= 1 Select the mode setting REAL_AXIS_WITH_PRESSURE_CONTROL in theTypeOfAxis configuration data= 2 Select the mode settingREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data= 3 Select the mode setting VIRTUAL_AXIS, REAL_AXIS orREAL_AXIS_WITH_FORCE_CONTROL in the TypeOfAxis configuration data= 4 Select the mode setting EAL_QPAXIS,REAL_QP_AXIS_WITH_OPEN_LOOP_FORCE_CONTROL orREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data= 5 Select the mode settingREAL_QP_AXIS_WITH_OPEN_LOOP_FORCE_CONTROL in the TypeOfAxisconfiguration data= 6 Select the mode setting REAL_AXIS_WITH_PRESSURE_CONTROL orREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data= 7 Select the mode setting REAL_AXIS_WITH_PRESSURE_CONTROL,REAL_QP_AXIS_WITH_OPEN_LOOP_FORCE_CONTROL orREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data= 8 Select the mode settingREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data= 9 Select a mode setting with flow specification in the TypeOfAxis configurationdata

driveAxis





40001 Illegal state change on axis

CauseCommand for change of axis state could not be performed, because:1. The operating status phase is not complete.2. The operational transition is not possible.

RemedyFor 1.: Repeat command.For 2.: A reset must be performed first




driveAxis



40002 Programmed velocity is limited

Cause1. The system is limiting the programmed velocity to the maximum permissibleparameter.2. For a virtual axis, the velocity is limited to a value that reliably identifies thedirection, that is, the velocity of the axis must not exceed that at which, dependingon the IPO task, at least one measured value can be detected in the range ofone-half modulo length.

RemedyNot necessary, for information only.




driveAxis


40003 Programmed acceleration (type: /1/%d) is limited

CauseThe system is limiting the programmed acceleration to the maximum limit.


Type:

0 – positive acceleration

1 – negative acceleration/deceleration





driveAxis



40004 Programmed jerk (type: /1/%d) is limited

CauseThe system is limiting the programmed jerk to the maximum limit.


Type:

0 – Increase in positive acceleration

1 – Reduction in positive acceleration

2 – Increase in negative acceleration/deceleration

3 – Reduction in negative acceleration/deceleration





driveAxis


40005 Enable signal(s) missing (Parameter1: /1/%X) and/or incorrect mode(Parameter2: /2/%d)

CauseThe enables are missing and/or follow-up mode is active on the axis are missing when a command is pending.


Parameter1:

Bit 1 = 0: POWER enable signal is available1: POWER enable signal is missing

Bit 2 = 0: DRIVE enable signal is available1: DRIVE enable signal is missing

Bit 3 = 0: Position controller enable signal is available1: Position controller enable signal is missing

Bit 4 = 0: Force/pressure controller enable signal is available1: Force/pressure controller enable signal is missing

Parameter2:

0 – Follow-up mode deselected

1 – Follow-up mode selected

RemedyActivate the enable signals before issuing a motion command.




driveAxis



40006 Programmed velocity is zero

CauseThe programmed velocity is zero. The specified motion cannot be executed.

RemedyProgram a value not equal to zero. If USER_DEFAULT is referenced, a value notequal to zero must be programmed in the assigned system variable.




40007 Programmed acceleration (type: /1/%d) is zero

CauseThe programmed acceleration is zero. The specified motion cannot be executed.


Type:







driveAxis


40008 Programmed jerk (type: /1/%d) is zero

CauseThe programmed jerk is zero. The specified motion cannot be executed.


Type:









40009 Velocity limit is zero


RemedyProgram a value not equal to zero in the dynamic limit values.




driveAxis



40010 Acceleration limit (type: /1/%d) is zero

CauseThe programmed acceleration limit is zero. The specified motion cannot beexecuted.


Type:



RemedyProgram a value not equal to zero.




40011 Programmed jerk limit (type: /1/%d) is zero



Type:









driveAxis


40012 Dynamic restrictions (type: /1/%d) violated

CauseThe specified dynamic restrictions have been violated. This can occur due to:

� Programming of new jerk-controlled motions with extremely divergent dynamicparameters, which would lead to an additional reversing motion, reducing thecurrent acceleration.

� Programming of superimposed motions exceeding the resulting dynamicparameters, which would lead to overshoot or to a reversing motion whenrestricted to the maximum velocity or when entering final velocity.

One or more physical variables (velocity, acceleration, jerk) may be affected. The violations have only a temporary effect.


Type:

0 – The jerk is changed; the jerk limit is exceeded.

1 – The jerk limit is disabled during jerk-controlled motion.

2 – The acceleration is changed; the acceleration limit is exceeded.

3 – The acceleration is changed, and the jerk limit is disabled. The accelerationlimit is exceeded.

Remedy

� For new motion: Increase the dynamic response parameters.

� For superimposed motion: Allow for the current (resulting) limitations whenprogramming the dynamic response parameters.




driveAxis



40013 Programmed stop time restricted by acceleration limits

CauseThe specified stop time cannot be achieved. It is violated due to the maximumacceleration limits. Deceleration is performed with the maximum values.

Remedy

� Increase the programmed time.

� Check the maximum acceleration and the active programmed limits.

� Increase the limits if necessary.




driveAxis


40014 Command not possible on virtual axis (command type: /4/%X)

CauseThe command is not supported by virtual axes.

RemedyUse a real axis.

Acknowledgment / responseReset fault memory / NONE



40015 Error in accessing specified cam

CauseThe specified cam does not exist or is not connected with synchronous operation,or the cam is already active.

Remedy

� Check the programmed cam.

� Check the synchronous operation connection with the cam.

� Check the program sequence.




driveAxis



40016 The specified cam has not been interpolated

CauseThe system only accepts verified and interpolated cams for this operation. Thespecified cam has not yet been interpolated.

RemedyCheck whether the specified cam has been interpolated.




40017 Cam start point outside definition range

CauseThe addressed cam start point is outside the definition range of the cam.

Remedy

� Check the definition range of the cam.

� Check the cam start point.




driveAxis


40018 Dynamic response of motion profiles (type: /1/%d) violated (reason: /2/%d)

CauseThe specified dynamic response cannot be achieved.


Type:

1 – Velocity-time profile

2 – Position-time profile

3 – Velocity-position profile

4 – Velocity-interface position profile

5 – Velocity-time limit profile

6 – Velocity-position limit profile

7 – Velocity-interface position limit profile

Reason:

0 – The velocity resulting form the profile has been limited to the programmedvalue.

1 – The acceleration/deceleration resulting from the profile has been limited to theprogrammed value.

Remedy

� For superimposed motion: Allow for the current (resulting) limitations when programming the dynamicresponse parameters.

� Increase the dynamic response parameters.




driveAxis



40019 Error while accessing the motion interface

CauseThe specified reference object for the motion interface does not exist or is notconnected to the axis.

Remedy

� Check the programmed input interconnection.





driveAxis


40020 Dynamic response of the setpoints on the motion interface (type: /1/%d)violated (reason: /2/%d)



Type:

1 – Velocity-based setpoints

2 – Position-based setpoints

Reason:

0 – The velocity resulting form the interface has been limited to the programmedvalue.

1 – The acceleration/deceleration resulting from the interface has been limited tothe programmed value.

Remedy






driveAxis



40021 StopEmergency command abort due to a pending stop response of the sameor higher priority

CauseThe StopEmergency command on the axis was aborted when called or while activedue to a stop response of the same or higher priority, resulting from anerror.The alarm is generated as an additional aid for emergency stop strategies, and canfor example ensure a safe program sequence by changing the stop response.

Remedy




driveAxis


40022 Programmed pressure limiting is limited

CauseThe system is limiting the pressure limiting value to the maximum limit.





driveAxis



40023 Programmed increase in pressure limiting limited

CauseThe system is limiting the pressure limiting increase to the maximum limit.





40024 Programmed increase in pressure limiting is zero

CauseThe programmed increase in pressure limiting limit is zero. The specified pressurelimiting characteristic cannot be calculated.



Default setting for local responseMOTION_EMERGENCY_ABORT

Programmable local responsesMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

driveAxis


40025 Maximum increase in pressure limiting is zero

CauseThe limit value for the pressure limiting increase is zero. The specified pressurelimiting characteristic cannot be calculated.





driveAxis



40026 Dynamic response of pressure/pressure limiting profiles (type: /1/%d)violated (reason: /2/%d)



Type:

1 – Pressure-time limit profile

2 – Pressure-position limit profile

3 – Pressure-interface position limit profile

4 – Pressure-time profile

5 – Pressure-position profile

6 – Pressure-interface position profile

Reason:

0 – The pressure/pressure limiting value resulting from the profile has been limitedto the maximum pressure/pressure limiting value.

1 – The pressure/pressure limiting increase value resulting from the profile hasbeen limited to the maximum pressure/pressure limiting increase value.

Remedy





driveAxis


50001 Drive failure

CauseDrive fault.

RemedyCheck the configuration of the drive system, the cabling, and the power supply.




50002 Limiting frequency of measuring system exceeded

CauseThe limiting frequency of the encoder has been exceeded.

Remedy

� Check the encoder connection.

� Check the maximum velocity limits in the configuration data.




driveAxis



50003 Speed acceleration setpoint limitation active

CauseThe speed acceleration setpoint is limited.

Remedy

� Check the mechanical configuration.


� Check the configuration of the speed setpoint interface.

� Check the maximum permissible acceleration rates in the configuration data.




driveAxis


50005 Speed setpoint monitoring active (Parameter1: /1/%d)

CauseThe speed setpoint is limited.

Remedy




� Check the maximum permissible velocities in the configuration data.

Parameter 1: Specification of limitation1–Limitation of the velocity-related definition range (on hydraulic axes beforethe cam) reached.2–Limitation of the value range (hydraulic axes only) reached.




driveAxis



50006 Zero mark monitoring

CauseThe zero mark monitoring system has responded.

Remedy

� Check the mechanical configuration and the encoder configuration.

� Check the encoder error messages.


Default setting for local responseOPEN_POSITION_CONTROL


driveAxis


50007 Hardware limit switch (Parameter1: /1/%d, Parameter2: /2/%d)

CauseHardware limit switch has been violated.


Parameter1:

1: Limit switch reached

2: Polarity reversal on limit switch (can only be deleted by reconfiguring thetechnology object or Power On)

3: Illegal retraction direction

4: Both limit switches are active

Parameter2:

0: Not relevant

1: Limit switch in positive traversing direction

2: Limit switch in negative traversing direction

Remedy


� Check the limit switches.

� If an error has occurred in the program, change the program or use the softwarelimit switches.




driveAxis



50008 Timeout waiting for standstill signal

CauseTimeout occurred while waiting for standstill signal.

Remedy

� Check the configuration of ’Axis.TypeOfAxis.StandStillSignal’.

� Check that the control loop is operating correctly.



Programmable local responsesOPEN_POSITION_CONTROLRELEASE_DISABLE

50009 Limit switch active: (Parameter1: /1/%d) only one traversing directionpossible

CauseA positive (Parameter1 = 1) or negative (Parameter1 = 2) hardware limit switch isactive or has been crossed. Motion is possible in the positive or negative traversing direction only.

Remedy







driveAxis


50010 Error while reading or writing data set (category: /1/%d, error number: /2/%d)

CauseAn error occurred while reading or writing.




2–Interpolator

3–Controller


5–Encoder system































driveAxis






3008 = “Illegal data combination for homing with incremental encoder”.

































3041 = “Factors for adjusting encoder data to the mechanics are outside the permissible range of values”



driveAxis



3045 = “Illegal value for resolution of linear measuring system”3046 = “Illegal value for filter of actual-velocity encoder”3047 = “Illegal value for smoothing of actual-value encoder”3048 = “Illegal value for smoothing of actual-value encoder with actual-value

coupling”3049 = “Illegal DSC encoder selection”3050 = “Configuration of encoder system not completed correctly”3051 = “Error in configuration of the sensor data or the stepper motor”3052 = “Actual-value type (position, interval, velocity) not implemented”3053 = “Only homing with CAM possible for stepper motor”3054 = “Only on-the-fly homing with CAM possible for stepper motor”3055 = “Stepper motor only possible with a real axis”3056 = “Only one encoder permissible with stepper motor”3057 = “DSC encoder is not a DP encoder”3058 = “Illegal message frame of the DSC encoder”3059 = “Modulo value too small”3060 = “Configuration differential measurement position faulty”3061 = “Illegal data in range configuration of the differential measurement position”4000 = “Error in controller”4001 = “Negative acceleration specified”4002 = “Unknown ’FipoType’ requested”4003 = “Error in runtime system, ratio of controller cycle clock to interpolator

cycle clock incorrect”4004 = “Requested filter arrangement not possible”4005 = “Reserve for later use”4006 = “Maximum limit is lower than minimum”4007 = “Reserve for later use”4008 = “Error in configuration data for controller”4009 = “Reserve for later use”4010 = “Reserve for later use”4011 = “Reserve for later use”4012 = “Reserve for later use”4013 = “Requested controller type is not available”4014 = “Error in controller factors”4015 = “Feedforward control activated, kpc < 0 or kpc > 150”4016 = “Reserve for later use”4017 = “Reserve for later use”4018 = “Reserve for later use”4019 = “Reserve for later use”4020 = “Reserve for later use”4021 = “Reserve for later use”4022 = “Reserve for later use”

driveAxis




























4048 = “Error in clamping monitoring parameter’No identifier’ is not permitted for the fixed end stop identifier”








driveAxis




































driveAxis

































driveAxis








6015 = “Illegal value for the configuration data tolerance window actual-valuecoupling”




7001 = “Illegal data in configuration of the functional component >drive model< of a process model”

7002 = “Illegal data in configuration of the functional component >delay< of a process model”

7003 = “Illegal data in configuration of the functional component >shut down drive< of a process model”

7004 = “Illegal data in configuration of the functional component >encoder< of a process model”

7005 = “Illegal data in configuration of the functional component >switch< of a process model”

8000 = “General error when reading or writing data set”

8001 = “The selected data set number is not available”

8002 = “Cannot write the active data set”

8003 = “Changing the controller structure (by writing a data set) is not possible”

driveAxis



Remedy

Change data record parameter.




driveAxis


50011 Limit range of the incremental actual value exceeded (Parameter1: /1/%d)

CauseThe limit range of the incremental actual value has been exceeded.


Parameter1:

1: Range exceeded in positive direction

2: Range exceeded in negative direction

4: The modified actual position is greater than the modulo length in one positioncontrol cycle clock.

Remedy

Check and adjust the configuration data used for adjusting the actual value to themechanics.




driveAxis



50012 Drive does not support the selected function (Parameter1: /1/%d)

CauseError in selected function.


Parameter1:

1: The travel to home position function cannot be performed.

Remedy

Check and adjust the configuration data and the drive settings.




driveAxis


50013 Overshoot/undershoot of permissible range limits (logical address: /1/%d,reason: /2/%d)

CauseRange violation for additional sensor.


Logical address: Address configured on the technology object.

Reason:

1: Value greater than maximum permissible value.

2: Value smaller than minimum permissible value.

3: Positive overflow of sensor range.

4: Negative overflow of sensor range.

5: Error in accessing hardware address.

Remedy

� Check and adjust the configuration data.

� Check the sensor connection.

� Check the wiring.




driveAxis



50014 Permissible system deviation of pressure controller exceeded

CausePermissible system deviation of pressure controller exceeded.

RemedyCheck for correct functioning of the pressure control loop.




50015 Level overflow of IPO not detected

CauseThe system could not intercept a level overflow.

RemedyPlease contact Siemens Support with the error number indicated above.




driveAxis


50016 Backstop limitation active

CauseThe speed setpoint is limited by the backstop.

Remedy




� Check the maximum permissible backstop values in the configuration data.




driveAxis



50017 Manipulated variable monitoring active at Q/F output (Parameter1: /1/%d)

CauseThe manipulated variable is limited.

Remedy

� Check the configuration of the valve characteristic.

� Check the maximum permissible velocity or the maximum permissible force/pressure setpoint in the configuration data.


� Check the configuration of the setpoint interface.

Parameter 1: Specification of limiting1–Monitoring active at Q output.2–Monitoring active at F output.




driveAxis


50101 Reference model monitoring window exceeded

CauseThe dynamic demands on the control loop are too high.

Remedy

� Check the encoder count direction.

� Check the control loop parameter assignment.

� Change the parameter assignment for following error monitoring.




50109 Starting force window monitoring error

CauseThe axis could not reach the starting force window in the specified time.

Remedy


� Check the parameter assignment for monitoring.




driveAxis



50110 Full-scale force monitoring error

CauseThe axis has left the full-scale force window or could not reach the window in thespecified time.

Remedy






50111 Pressure controller is operating at the limit

CauseThe manipulated variable required by the force controller cannot be implementedand is limited.

Remedy





outputCamType


NONENo response


OUTPUT_CAM_DISABLEStop and abort all commands








Default setting for local responseOUTPUT_CAM_DISABLE

Programmable local responsesOUTPUT_CAM_DISABLE

2

outputCamType








2–Interpolator

3–Controller


5–Encoder system







Remedy







outputCamType







2–Interpolator

3–Controller


5–Encoder system









Programmable local responsesNONEDECODE_STOPOUTPUT_CAM_DISABLE

outputCamType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Not relevant

Remedy









outputCamType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1










outputCamType



� Type = 2


0x0001h: Fault message from encoder (note: The error number/numbers is/are displayed in the diagnosticbuffer)











� Type = 3 to 10






Reason 0x0040:


outputCamType


Reason 0x0080:




Reason 0x8000:






outputCamType








2–Interpolator

3–Controller


5–Encoder system



500 = “TO in illegal status for configuration”.




1001 = “Fast and normal output cams cannot be connected to the same output”

1002 = “Interconnection of output cams with a technology object that does not havea measuring system is not permissible when taskLevel:= SERVO’ and ’posvaluetype:=ACTUAL’ is selected”

1003 = “Task level is not configured for the output cam calculation”

1004 = “Type of position value (RATED, ACTUAL) is not configured”

1005 = “Error in configuration of output cam signal output”

1006 = “Error in configuration of IPO/servo cycle clock ratio”

1007 = “Interconnection of output cam with ’posvaluetype:=RATED’ and an axiswith a faster TaskLevel results in accuracy problems and is therefore notpermissible”





outputCamType





Category:










Context:


outputCamType



Remedy

1 – Technology object compatibility error Correct the configuration of the reference system of the technology objects tobe interconnected.

2 – Exclusive interface Correct the configuration of the interconnected technology object.

3 – Interconnection request Add the missing interconnection to your technology object.





8 – Distribution initializationCheck the hardware configuration. Ensure that the distributed interactingdevices are linked in the bus configuration. In addition, the address areas thatare used by the devices for communication must be set up. The address areasare automatically set up when the project is compiled; only afterwards is thevalid hardware configuration available for downloading.

9 – Illegal TO statusCorrect the configuration of the technology object, correct execution errors.




outputCamType








20009 Reserved error

CauseThis error is not currently in use.





outputCamType





Remedy






outputCamType







2–Interpolator

3–Controller


5–Encoder system




1002 = “Interconnection of output cams with a technology object that does not havea measuring system is not permissible when taskLevel:= SERVO’ and ’posvaluetype:=ACTUAL’ is selected”


1004 = “Type of position value (RATED, ACTUAL) is not configured”



1007 = “Interconnection of output cam with ’posvaluetype:=RATED’ and an axiswith a faster TaskLevel results in accuracy problems and is therefore notpermissible”





outputCamType






Reason:

1 – The technology object configuration does not allow a restart with the restartsystem variable. You can initiate the restart using the reset command.

2 – The technology object is not ready to be restarted.

3 – A configured condition for restarting the technology object is not met (e.g.,technology object must be disabled).

4 – Restart has not been executed or executed with the last programmedconfiguration of the technology object.

Remedy






outputCamType





Logical address:



This specifies the address and bit number of the output enable bit

Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










outputCamType






Parameter index:


Command type:






outputCamType





Reason:


































Command type:


outputCamType










Command type:


Remedy






outputCamType





Command type:






outputCamType








Command type:






outputCamType





Command type:


Remedy








Remedy






outputCamType






Command type:






outputCamType





Command type:


Remedy









Command type:






outputCamType






Parameter index:


Command type:






outputCamType





Command type:






outputCamType






Command type:






outputCamType





Technology:

Not relevant

Command type:






outputCamType



40001 Error in output cam limitation (output cam position: /1/%d)

CauseAt least one output cam position is invalid.The output cam has moved beyond the limits of the operating range.


Parameters:

3 – switchOnPosition

5 – switchOffPosition

15 – inverted

RemedyCheck the assigned actuation or delay time (depending on the traversing directionof the axis): If it is too long, it must be reduced.




outputCamType


40003 Illegal range specification in parameters (parameter: /1/%d)

CauseIllegal value has been entered for a parameter.


Parameters:

3 – switchOnPosition

5 – switchOffPosition

12 – noSwitchingRange

Remedy

Parameters 3, 5:Only switch positions within the operating range are permissible.

Parameter 12:The maximum permissible switching hysteresis amounts to one-fourth of theoperating range.




outputCamType




camTrackType


NONENo response


CAMTRACK_DISABLEStop and abort all commands








Default setting for local responseCAMTRACK_DISABLE

Programmable local responsesCAMTRACK_DISABLE

3

camTrackType








2–Interpolator

3–Controller


5–Encoder system







Remedy







camTrackType







2–Interpolator

3–Controller


5–Encoder system









Programmable local responsesNONEDECODE_STOPCAMTRACK_DISABLE

camTrackType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Not relevant

Remedy









camTrackType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1

0x0001h: Fault message from drive (note: On PROFIBUS drives,which support acyclic communication in accordance withPROFIdrive V3, the error number/numbers of the drives is/aredisplayed in the diagnostic buffer, e.g., on Masterdrives MC).









camTrackType



� Type = 2













� Type = 3 to 10


Note:Codings for the reason of the failure can also occur in combination. Theindividual codings are then added to form a coding sum, which is displayed(e.g., 0x0005 = 0x0001 + 0x0004). A reason for failure marked as DP can onlybe present on PROFIBUS devices.




Reason 0x0040:


camTrackType


Reason 0x0080:




Reason 0x8000:






camTrackType








2–Interpolator

3–Controller


5–Encoder system



500 = “TO in illegal status for configuration”.

501 = “More configuration data expected than received”.

502 = “Invalid data in configuration”.

503 = “Version conflict in configuration”.


1002 = “Interconnection of output cams with a technology object that does not havea measuring system is not permissible when taskLevel:= SERVO’ and ’positionReference:=ACTUAL_VALUE’ isselected”


1004 = “Type of position value (COMMAND_VALUE, ACTUAL_VALUE) not configured”



1007 = “Interconnection of output cams with ’positionReference:=COMMAND_VALUE’ and an axis with a faster TaskLevel results in accuracy problems and is therefore not permissible”





camTrackType





Category:

1 – TO compatibility error:An interconnection is to be established with a technology object that has beenconfigured with another reference system (e.g., output cam with rotaryreference system and linear axis).

2 – Exclusive interface:Multiple interconnections are to be established for an interface intended forexclusive interconnection.

3 – Interconnection requirement:The technology object is waiting for an interconnection required for thesequence.

4 – Interface initialization error:Errors result from extended initialization sequences at interfaces andparameter exchange between interconnected interfaces.

5 – Interface not available on technology object:An interface specified in the interconnection is not available on the technologyobject.

6 – Circularity:The interconnection on the technology object leads to circular communicationwithin the technology object (e.g., circular master/slave interconnection ofgearing axes, whereby a gearing axis used as a master is in turn the slave ofanother master, which is assigned the master setpoints generated on thisgearing axis directly or via additional interconnections).

7 – Sequence-level compatibility error:An interconnection is to be established with a technology object that isexecuted in another interpolator level (e.g., output cam with IPO and axis withIPO_2).

8 – Distribution initialization:When interconnecting technology objects that are distributed among differentdevices, an error occurred during initialization of the communication interface.

9 – Illegal TO status:The technology object cannot be interconnected in the current state.

Context:


camTrackType



Remedy

1 – Technology object compatibility error: Correct the configuration of the reference system of the technology objects tobe interconnected.

2 – Exclusive interface: Correct the configuration of the interconnected technology object.

3 – Interconnection request: Add the missing interconnection to your technology object.










camTrackType














camTrackType





Remedy






camTrackType







2–Interpolator

3–Controller


5–Encoder system




1002 = “Interconnection of output cams with a technology object that does not havea measuring system is not permissible when taskLevel:= SERVO’ and ’positionReference:=ACTUAL_VALUE’ isselected”


1004 = “Type of position value (COMMAND_VALUE, ACTUAL_VALUE) not configured”



1007 = “Interconnection of output cams with ’positionReference:=COMMAND_VALUE’ and an axis with a faster TaskLevel results in accuracy problems and is therefore not permissible”





camTrackType






Reason:





Remedy






camTrackType





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










camTrackType






Parameter index:


Command type:






camTrackType





Reason:


































Command type:


camTrackType










Command type:


Remedy






camTrackType





Command type:






camTrackType








Command type:






camTrackType





Command type:


Remedy








Remedy






camTrackType






Command type:






camTrackType





Command type:


Remedy









Command type:






camTrackType






Parameter index:


Command type:






camTrackType





Command type:






camTrackType






Command type:






camTrackType





Technology:

Not relevant

Command type:






camTrackType



40003 Illegal range specification in parameters (parameter: /1/%d)

CauseIllegal value has been entered for a parameter.


Parameters:

3 – startPosition

5 – endPosition

12 – hysteresisRange

Remedy

Parameters 3, 5:Only switch positions within the operating range are permissible.

Parameter 12:The maximum permissible switching hysteresis amounts to one-fourth of theoperating range.





measuringInputType


NONENo response


MEASURING_INPUT_DISABLEStop and abort all commands








Default setting for local responseMEASURING_INPUT_DISABLE

Programmable local responsesMEASURING_INPUT_DISABLE

4

measuringInputType








2–Interpolator

3–Controller


5–Encoder system



Command decoding area




Remedy







measuringInputType







2–Interpolator

3–Controller


5–Encoder system









Programmable local responsesNONEDECODE_STOPMEASURING_INPUT_DISABLE

measuringInputType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Not relevant

Remedy









measuringInputType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1










measuringInputType



� Type = 2


0x0001h: Fault message from encoder (note: The error number/numbersis/are displayed in the diagnostic buffer)










0x8000h: DP: Sign of life of encoder has malfunctioned or failed. (Note: For an encoder whose data are transferred in a drive message together with actuator data, the actuator sign of lifeapplies for the encoder, e.g., a standard message 3 in accordancewith PROFIdrive).

� Type = 3 to 10






Reason 0x0040:


measuringInputType


Reason 0x0080:




Reason 0x8000:






measuringInputType








2–Interpolator

3–Controller


5–Encoder system



500 = “TO in illegal status for configuration.”

501 = “More configuration data expected than received.”

502 = “Invalid data in configuration.”

503 = “Version conflict in configuration.”

1001 = “Illegal measuring input number”

1002 = “Illegal sensor system number”

1003 = “Illegal logical address of the measuring-input input”





measuringInputType





Category:










Context:


measuringInputType



Remedy













measuringInputType














measuringInputType





Remedy






measuringInputType







2–Interpolator

3–Controller


5–Encoder system



1001 = “Illegal measuring input number”

1002 = “Illegal sensor system number”

1003 = “Illegal logical address of the measuring-input input”





measuringInputType






Reason:





Remedy






measuringInputType





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










measuringInputType






Parameter index:


Command type:






measuringInputType





Reason:


































Command type:


measuringInputType










Command type:


Remedy






measuringInputType





Command type:






measuringInputType








Command type:






measuringInputType





Command type:


Remedy








Remedy






measuringInputType






Command type:






measuringInputType





Command type:


Remedy









Command type:






measuringInputType






Parameter index:


Command type:






measuringInputType





Command type:






measuringInputType






Command type:






measuringInputType





Technology:

Not relevant

Command type:






40001 Measurement not possible on virtual axis

CauseMeasurement is not supported by virtual axes.





measuringInputType



40002 Measurement task not possible during homing of assigned axis

CauseNo measurement tasks are executed while the axis assigned to the measuringinput is being homed.

RemedyFinish the homing procedure before the measurement.




40003 Measuring input not switched within validity range of measurement task

CauseMeasuring input deflection did not occur before the measuring input left the validityrange of the measurement task.

Remedy

� Check the validity range.

� Check the measuring input.




measuringInputType


40004 Validity range of measurement task not recognized

CauseThe validity range of the measurement task has been skipped.

Remedy

� Increase the validity range.

� Adjust the ratio between the validity range and the axis velocity.




40005 Simultaneous access of several measuring inputs to one encoder is notpossible

CauseSimultaneous access of several measuring inputs to one encoder is not supportedby the hardware.

RemedyDo not access one encoder simultaneously with several measuring inputs.




measuringInputType



40006 Configuration of measurement inputs in an external device not correct

CauseThe configuration of the measurement inputs in an external device is not correct.

RemedyCheck the configuration of the external device that is to be used for measurement.




40007 Measurement task was aborted by external device

CauseAn external device has aborted an active measurement task.

RemedyCheck the external device that is to be used for measurement.




measuringInputType


40008 Measurement task has been aborted due to a drive or encoder error

CauseThe measurement task has been aborted due to an encoder or drive error.

RemedyCheck to determine whether there is an encoder error or the drive is not ready tooperate.




measuringInputType




externalEncoderType


NONENo response


SIMULATION_STOPSimulation stop

SIMULATION_ABORTAbort the active simulation command

ENCODER_DISABLEStop and abort all commands

5

externalEncoderType










Default setting for local responseENCODER_DISABLE

Programmable local responsesENCODER_DISABLE

externalEncoderType







2–Interpolator

3–Controller


5–Encoder system







Remedy







externalEncoderType








2–Interpolator

3–Controller


5–Encoder system









Programmable local responsesNONEDECODE_STOPSIMULATION_STOPSIMULATION_ABORTENCODER_DISABLE

externalEncoderType





Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver






Remedy









externalEncoderType






Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1

0x0001h: Fault message from drive (note: On PROFIBUS drives, whichsupport acyclic communication in accordance with PROFIdrive V3, the error number/numbers of the drives is/are displayed in thediagnostic buffer, e.g., on Masterdrives MC).









externalEncoderType


� Type = 2


0x0001h: Fault message from encoder (note: The error number/numbersis/are displayed in the diagnostic buffer)











� Type = 3 to 10






Reason 0x0040:


externalEncoderType



Reason 0x0080:




Reason 0x8000:






externalEncoderType







2–Interpolator

3–Controller


5–Encoder system





























externalEncoderType













3008 = “Illegal data combination for homing withincremental encoder”












3020 = “Illegal encoder system / actuator system simulation selected”




















externalEncoderType








































externalEncoderType























4036 = “Following error monitoring not activated/deactivated in all data sets”

4037 = “Model reference monitoring not activated/deactivated in all data sets”











4048 = “Error in clamping monitoring parameter. ’No identifier’ is not permitted for the fixed end stop identifier.




externalEncoderType






4056 = “Different activation/deactivation of the control difference monitoring of theforce/pressure controller not permitted in data sets”





























externalEncoderType



































externalEncoderType







6011 = “Illegal value for the configuration data enable synchronous operation tolerance on the setpoint side”

















externalEncoderType






Category:










Context:


externalEncoderType


Remedy

1 – Technology object compatibility error:Correct the configuration of the reference system of the technology objects tobe interconnected.












externalEncoderType















externalEncoderType




Remedy






externalEncoderType








2–Interpolator

3–Controller


5–Encoder system















externalEncoderType











































externalEncoderType









































externalEncoderType










































externalEncoderType






4048 = “Error in clamping monitoring parameter” ’No identifier’ is not permitted for the fixed end stop identifier.











4059 = “Different activation/deactivation of the anti windup not permitted in datasets”
















externalEncoderType





































externalEncoderType




6000 = “In the configuration data, the monitoring of the positioning path isconfigured up to the reference-point switch, and the maximum path to betraveled in the process is configured as zero”



















7001 = “Illegal data in configuration of the functional component >drive model< of aprocess model”

7002 = “Illegal data in configuration of thefunctional component >delay< of a process model”

7003 = “Illegal data in configuration of thefunctional component >shut down drive< of a process model”




externalEncoderType








Reason:





Remedy






externalEncoderType






Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










externalEncoderType





Parameter index:


Command type:






externalEncoderType






Reason:


































Command type:


externalEncoderType









Command type:


Remedy






externalEncoderType






Command type:






externalEncoderType







Command type:






externalEncoderType






Command type:


Remedy








Remedy






externalEncoderType





Command type:






externalEncoderType






Command type:


Remedy






externalEncoderType





Command type:






externalEncoderType






Parameter index:


Command type:






externalEncoderType





Command type:






externalEncoderType






Command type:






externalEncoderType





Parameter1:



Command type:






externalEncoderType






Technology:

= 1 Axis with force/pressure control without flow/force specification

= 2 Axis with force/pressure control and flow/force specification

= 3 Axis without flow/force specification

= 4 Axis with flow/force specification

= 5 Axis with force specification

= 6 Axis with pressure setpoint specification

= 7 Axis with pressure limiting

= 8 Axis with speed limiting parallel to force/pressure control

= 9 Axis with flow specification



Technology:

= 1 Select the mode setting REAL_AXIS_WITH_PRESSURE_CONTROL in theTypeOfAxis configuration data

= 2 Select the mode settingREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data

= 3 Select the mode setting VIRTUAL_AXIS, REAL_AXIS orREAL_AXIS_WITH_FORCE_CONTROL in the TypeOfAxis configuration data

= 4 Select the mode setting EAL_QPAXIS,REAL_QP_AXIS_WITH_OPEN_LOOP_FORCE_CONTROL orREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data

= 5 Select the mode settingREAL_QP_AXIS_WITH_OPEN_LOOP_FORCE_CONTROL in the TypeOfAxisconfiguration data

= 6 Select the mode setting REAL_AXIS_WITH_PRESSURE_CONTROL orREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data

= 7 Select the mode setting REAL_AXIS_WITH_PRESSURE_CONTROL,REAL_QP_AXIS_WITH_OPEN_LOOP_FORCE_CONTROL orREAL_QP_AXIS_WITH_CLOSED_LOOP_FORCE_CONTROL in theTypeOfAxis configuration data


= 9 Select a mode setting with flow specification in the TypeOfAxis configurationdata

externalEncoderType








Parameter1:





Parameter2:







externalEncoderType



40102 Encoder zero mark not found during homing

CauseThe encoder zero mark could not be found because:

� The difference between the reference output cam and the encoder zero mark isoutside the permissible range.

� Limit switch monitoring system has responded.

� The reference deceleration velocity is too high.

Remedy

� Check the permissible range.

� Check the hardware configuration.

� Reduce the deceleration velocity.




externalEncoderType


40103 Error in homing configuration data (Parameter1: /1/%d)

CauseThe configured data of the external encoder and the selected parameters in thesynchronization command are inconsistent with one another.


Parameter1

1 – ENABLE_OFFSET_OF_ABSOLUTE_ENCODER has been selected in thesynchronization command but an incremental encoder is configured.

2 – PASSIVE_HOMING has been selected in the synchronization command, but anSSI encoder is configured.

4 – PASSIVE_HOMING or ENABLE_OFFSET_OF_ABSOLUTE_ENCODER hasbeen selected in the synchronization command, but NO_SENSOR has beenselected under encoderType in the configuration data for the encoder.

RemedyCheck the configuration data and the command parameters for homing




externalEncoderType



40110 Error triggered on slave during synchronous operation (error number: /1/%d)

CauseAn error was triggered on a slave during synchronous operation and reported tothe master.


Error number: Error reported by slave.

1–Synchronous operation setpoint tolerance exceeded.

2–Synchronous operation actual-value tolerance exceeded.

RemedyCheck the configuration data for synchronous operation monitoring on the slave,the programming (dynamic parameters, synchronous operation coupling), and thesystem variables.




40124 Offset cannot be compensated

CauseThe determined cycle clock offset is greater than the maximum permissiblesetpoint output delay. The offset cannot be compensated completely in the master.




Programmable local responsesNONEDECODE_STOPENCODER_DISABLE

externalEncoderType


40125 Setpoint output delay deactivated in the master

CauseThis leading value source operates without setpoint output delay on the masterside.The setpoint output delay on the master side has been activated on at least oneinterconnected following axis. The synchronous operation relationship between theleading value source and the following axis is not operating synchronously.

RemedyActivate the setpoint output delay for the master setpoint source in the master.



Programmable local responsesNONEDECODE_STOPENCODER_DISABLE

externalEncoderType



40301 Connection with slave failed (assignment: /1/%d)

CauseThe connection with an interconnected slave has failed. The slave is located on adistributed controller or has been assigned to a different execution level than themaster. Leading values of the master cannot be communicated to the slave for theduration of the connection failure. During the communication malfunction, asynchronous operation monitoring response on the slave cannot be communicatedto the master.


Assignment 1: The failed slave is located on an assigned controller.

Assignment 2: The failed slave has been assigned to a different execution levelthan the master.

Remedy

� Check that the assigned controller is activated, the slave is configured asdistributed, and communication is permitted by the operating mode of theassociated controller (assignment 1).

� Check the connection for mechanical damage, equivalence of configurednetwork topology, firm contact by the plug connector, and, if necessary, correctelectrical cable terminations (assignment 1).

� Check that the failed slave was not being reloaded at the time the error wasdetected (assignment 1 and 2).

� Check whether an overflow was diagnosed for the execution level of theassigned slave (assignment 2).

� Monitoring of the connection is set in the technology object configuration. Themaster and slave must have the same settings selected (assignment 1 and 2).



Programmable local responsesNONEENCODER_DISABLE

externalEncoderType


40302 Sign-of-life monitoring for the slave in distributed synchronous operation isdeactivated

CauseSign-of-life monitoring for the slave connection on an assigned controller has beendeactivated. Monitoring is configured differently on the master and slave. As aresult, the connection is established without sign of life monitoring.

CauseUse identical configuration settings in the master and slave for sign-of-lifemonitoring of the connection




40303 Local and slave interpolation cycle clock are different

CauseThe master and slave must have a common interpolation cycle clock for distributedsynchronous operation. However, when establishing the connection betweentechnology objects, different cycle clock settings were defined for interpolation.

RemedyUse identical cycle clock settings in the master and slave for interpolation.




externalEncoderType



40304 Offset cannot be determined

CauseThe offset for the slave cannot be determined. This can be caused by configuringthe PROFIBUS-DP without equidistance or a ratio of interpolator cycle clock toPROFIBUS-DP cycle clock greater than 64.

Remedy

� Select equidistant mode on the PROFIBUS-DP.

� Select a suitable IPO / DP cycle clock ratio setting

� Deactivate offset compensation on the technology objects involved. Deactivate compensation only if other remedies do not eliminate themalfunction. Deactivating the offset compensation limits the accuracy of motioncontrol.




50001 Drive failure

CauseDrive fault.





externalEncoderType




Remedy








Remedy








externalEncoderType





Remedy











Remedy






externalEncoderType





Parameter1:





Parameter2:

0: Not relevant



Remedy









Remedy






externalEncoderType





Remedy







externalEncoderType







2–Interpolator

3–Controller


5–Encoder system































externalEncoderType



















3021 = “Illegal encoder number or incorrect number of data sets“























externalEncoderType






externalEncoderType




































externalEncoderType




































externalEncoderType
































6008 = “Illegal value for the configuration data maximum force/pressure setpoint rate of rise”

externalEncoderType





















Remedy





externalEncoderType






Parameter1:




Remedy








Parameter1:


Remedy





externalEncoderType






Reason:






Remedy













externalEncoderType











Remedy








externalEncoderType




Remedy











Remedy







externalEncoderType



50102 Dynamic following error monitoring window exceeded

CauseThe dynamic demands on the control loop are too high, or the control system isoverloaded.

Remedy







50103 Warning limits of dynamic following error monitoring reached

CauseThe dynamic demands on the control loop are too high or the control system isoverloaded, the warning stage has been reached.

Remedy







externalEncoderType


50106 Positioning monitoring error

CauseThe axis could not reach the positioning window in the specified time.

Remedy


� Check the parameter assignment for positioning monitoring.




50107 Standstill monitoring error

CauseThe axis has left the standstill window or could not reach the standstill window inthe specified time.

Remedy


� Check the parameter assignment for standstill monitoring.




externalEncoderType



50108 Clamping monitoring error

CauseThe axis has exited the clamping tolerance window.

Remedy

� Check the mechanical end stop.


� Check the parameter assignment for clamping monitoring.






Remedy






externalEncoderType




Remedy








Remedy




externalEncoderType




posAxis


NONENo response


END_OF_MOTION_STOPStop once the active motions are complete.

MOTION_STOPStop motion with programmed values.

MOTION_EMERGENCY_STOPStop motion with maximum limit values.

MOTION_EMERGENCY_ABORTStop motion with maximum limit values and abort active commands.

FEEDBACK_EMERGENCY_STOPStop motion following emergency stop ramp and abort all active commands.

OPEN_POSITION_CONTROLStop motion with speed setpoint 0 and abort all active commands.

RELEASE_DISABLEStop motion with controller disable and abort all active commands.

6

posAxis












posAxis







2–Interpolator

3–Controller


5–Encoder system







Remedy







posAxis








2–Interpolator

3–Controller


5–Encoder system










posAxis





Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver






Remedy









posAxis






Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1










posAxis


� Type = 2













� Type = 3 to 10






Reason 0x0040:


posAxis



Reason 0x0080:




Reason 0x8000:






posAxis







2–Interpolator

3–Controller


5–Encoder system





























posAxis













































posAxis








































posAxis







































posAxis



































posAxis
















5008 = “Configuration of additional encoder not completed correctly”



















posAxis
























posAxis






Category:







7 – Execution level compatibility errorAn interconnection is to be established with a technology object that isexecuted in another interpolator level (e.g., output cam with IPO and axis withIPO_2).



Context:


posAxis


Remedy













posAxis















posAxis




Remedy






posAxis








2–Interpolator

3–Controller


5–Encoder system



























posAxis























3021 = “Illegal encoder number or incorrect number of data sets“




















posAxis










































posAxis





























4045 = “Maximum velocity cannot be reached, maximum drive speed or anormalization factor incorrect”









posAxis




































posAxis


































posAxis























posAxis





Reason:





Remedy






posAxis






Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










posAxis





Parameter index:


Command type:






posAxis






Reason:


































Command type:


posAxis






posAxis






Command type:


Remedy






posAxis





Command type:






posAxis








Command type:






posAxis





Command type:


Remedy






posAxis





Remedy






posAxis





Command type:






posAxis






Command type:


Remedy






posAxis





Command type:






posAxis






Parameter index:


Command type:






posAxis





Command type:






posAxis






Command type:






posAxis





Parameter1:



Command type:






posAxis





Meaning of alarm parametersTechnology:

= 1 Axis with force/pressure control without flow/force specification










RemedyActivate the technology needed for the command.Technology:










posAxis











posAxis









posAxis





Type:







posAxis






Type:









posAxis





Parameter1:





Parameter2:







posAxis












Type:







posAxis





Type:















posAxis






Type:










Type:









posAxis








Type:





Remedy






posAxis





Remedy







posAxis










Remedy







posAxis











Remedy






posAxis





Type:






6 – Velocity-position limit profile


Reason:



Remedy






posAxis





Remedy






posAxis





Type:



Reason:



Remedy






posAxis




CauseThe StopEmergency command on the axis was aborted when called or while activedue to a stop response of the same or higher priority, resulting from anerror.The alarm is generated as an additional aid for emergency stop strategies, and canfor example ensure a safe program sequence by changing the stop response.

Remedy




posAxis














posAxis















posAxis





Type:







Reason:



Remedy





posAxis



40101 Homing output cam not found

CauseThe homing output cam has not been found because:

� It is outside the permissible range.


Remedy

� Check the permissible range for homing.


� Check the home position and, if the approach direction is incorrect, change thestart position of the axis for homing.



Programmable local responsesMOTION_STOPMOTION_EMERGENCY_STOPMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

posAxis







Remedy







posAxis




CauseThe configured axis data and the selected parameters in the homing command areinconsistent with one another.


Parameter1

1 – ENABLE_OFFSET_OF_ABSOLUTE_ENCODER has been selected in thehoming command but an incremental encoder is configured.

2 – ACTIVE_HOMING or PASSIVE_HOMING has been selected in the homingcommand, but an SSI encoder is configured.

3 – ACTIVE_HOMING has been selected in the homing command, butNO_REFERENCE was configured under homingMode in the configurationdata for the encoder.

4 – ACTIVE_HOMING, PASSIVE_HOMING orENABLE_OFFSET_OF_ABSOLUTE_ENCODER has been selected in thehoming command, but NO_SENSOR was selected under encoderType in theconfiguration data for the encoder.

6 – The homing approach velocity is zero.

7 – The homing entry velocity is zero.

8 – The homing reduced velocity is zero.





posAxis


40104 Error in software limit switch specification (Parameter1: /1/%d)

CauseThe software limit switches are programmed incorrectly.


Parameter1:

= 0: Negative switch is greater than positive switch when the axis is not amodulo axis.

= 1: Current set position is not in programmed range. The software limit switchwas deactivated.

RemedyReprogram the software limit switches.


Default setting for local responseMOTION_EMERGENCY_STOP

Programmable local responsesMOTION_EMERGENCY_STOPMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

posAxis



40105 Position limited to software limit switch (Parameter1: /1/%d)

CauseThe programmed position has been limited to the software limit switch.


Parameter1:

= 0 negative switch

= 1 positive switch

RemedyCheck the program code for the motion.


Default setting for local responseEND_OF_MOTION_STOP

Programmable local responsesEND_OF_MOTION_STOPMOTION_STOPMOTION_EMERGENCY_STOPMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

40106 Software limit switch (Parameter1: /1/%d) approached

CauseThe software limit switch has been approached during a motion sequence.


Parameter1:

= 0 negative switch

= 1 positive switch




Programmable local responsesMOTION_EMERGENCY_ABORTRELEASE_DISABLE

posAxis


40107 Software limit switch (Parameter1: /1/%d) is crossed

CauseThe software limit switch has been crossed.


Parameter1:

= 0 negative switch

= 1 positive switch





40108 Axis is not homed

CauseA command requiring a homed axis was passed to an axis that is not homed.

RemedyHome the axis.




posAxis



40109 Error on synchronizing two encoders (reason: /1/%d)

CauseAn attempt to synchronize two encoders has failed. Parameter 1 contains the exact error specification.


Reason:

= 0: The reference encoder is not configured or is defective.

= 1: The encoder to be synchronized is not configured or is defective.

= 2: Function not possible as only one encoder has been configured.

= 3: Illegal correction of the active encoder.

Remedy

� Check the command parameters.

� Configure the encoder.

� Remedy the fault on the encoder.




posAxis












40111 Internal traversing range limit (Parameter1: /1/%d) approached

CauseThe internal traversing range limit has been approached during a motion sequence.


Parameter1:







posAxis



40112 Internal traversing range limit (Parameter1: /1/%d) is crossed

CauseThe internal traversing range limit has been crossed.


Parameter1:

= 0 negative switch

= 1 positive switch





40120 Programmed pressure is limited

CauseThe system is limiting the programmed pressure to the maximum permissiblepressure.





posAxis


40121 Programmed pressure rise is limited

CauseThe system is limiting the programmed pressure rise to the maximum permissiblepressure rise.





40122 Programmed pressure rise is zero

CauseThe programmed pressure rise is zero. The specified pressure characteristiccannot be calculated.





posAxis



40123 Maximum pressure rise is zero

CauseThe limit value for the pressure rise is zero. The specified pressure characteristiccannot be calculated.





40124 Offset cannot be compensated.






posAxis








posAxis








Remedy









posAxis



CauseSign-of-life monitoring for the slave connection on an assigned controller has beendeactivated. Monitoring is configured differently on the master and slave. As aresult, the connection is established without sign-of-life monitoring.





posAxis









posAxis




Remedy







posAxis



50001 Drive failure

CauseDrive fault







Remedy






posAxis




Remedy








posAxis





Remedy









posAxis




Remedy






posAxis






Parameter1:





Parameter2:

0: Not relevant



Remedy







posAxis




Remedy








Remedy







posAxis








2–Interpolator

3–Controller


5–Encoder system































posAxis








































posAxis











































posAxis





































posAxis





































posAxis
































posAxis






















Remedy


posAxis








Parameter1:




Remedy





posAxis






Parameter1:


Remedy





posAxis






Reason:






Remedy







posAxis















posAxis




Remedy








posAxis





Remedy









posAxis




Remedy







posAxis





Remedy







posAxis




Remedy







posAxis





Remedy








Remedy






posAxis




Remedy









Remedy






posAxis





Remedy








Remedy





followingAxis


NONENo response

DECODE_STOPAbort command processing.

END_OF_MOTION_STOPStop once the active motions are complete.

MOTION_STOPStop motion with programmed values.

MOTION_EMERGENCY_STOPStop motion with maximum limit values.

MOTION_EMERGENCY_ABORTStop motion with maximum limit values and abort active commands.

FEEDBACK_EMERGENCY_STOPStop motion following emergency stop ramp and abort all active commands.

OPEN_POSITION_CONTROLStop motion with speed setpoint 0 and abort all active commands.

RELEASE_DISABLEStop motion with controller disable and abort all active commands.

7

followingAxis












followingAxis


20002 Insufficient memory (Parameter1: /1/%d, Parameter2: /2/%d, Parameter3: /3/%d, Parameter4: /4/%d)





2–Interpolator

3–Controller


5–Encoder system







Remedy







followingAxis



20003 No object configuration (Parameter1: /1/%d, Parameter2: /2/%d, Parameter3: /3/%d, Parameter4: /4/%d)





2–Interpolator

3–Controller


5–Encoder system










followingAxis


20004 At the logical address: /1/%d (bit number, if required: /2/%d) a driver (type: /3/%d) could be requested (error number: /4/%d)



Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver






Remedy









followingAxis






Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1

0x0001h: Fault message from drive (note: On PROFIBUS drives, whichsupport acyclic communication in accordance with PROFIdrive V3,the error number/numbers of the drives is/are displayed in the

diagnostic buffer, e.g., on Masterdrives MC).









followingAxis


� Type = 2

0x0000h: The number of permissible changes in the actual value of the maximum velocity of the absolute-value encoder has been exceeded

0x0001h: Fault message from encoder (note: The error number/numbers is/are displayed in the diagnostic

buffer)











� Type = 3 to 10






Reason 0x0040:


followingAxis



Reason 0x0080:




Reason 0x8000:






followingAxis







2–Interpolator

3–Controller


5–Encoder system





























followingAxis













































followingAxis










3048 = “Illegal value for smoothing of actual-value encoder with actual-value coupling”






























followingAxis







































followingAxis



































followingAxis





























6000 = “In the configuration data, the monitoring of the positioning path is configured up to the reference-point switch, and the maximum path to be traveled in the process is configured as zero”






followingAxis








6012 = “Illegal value for the configuration data enable synchronous operation tolerance on the actual-value side”
















followingAxis






Category:







7 – Execution level compatibility errorAn interconnection is to be established with a technology object that isexecuted in another interpolator level (e.g., output cam with IPO and axis withIPO_2).



Context:


followingAxis


Remedy













followingAxis















followingAxis




Remedy






followingAxis



20011 Error when activating the configuration (category: /1/%d, error number: /2/%d)





2–Interpolator

3–Controller


5–Encoder system



























followingAxis











































followingAxis




3042 = “Illegal data combination for homing with external encoder”3043 = “The incremental position of the encoder is outside the permissible

range of values”3044 = “The incremental position of the encoder is outside the permissible

range of values”3045 = “Illegal value for resolution of linear measuring system”3046 = “Illegal value for filter of actual-velocity encoder”3047 = “Illegal value for smoothing of actual-value encoder”3048 = “Illegal value for smoothing of actual-value encoder with actual-value


cycle clock incorrect”4004 = “Requested filter arrangement not possible”4005 = “Reserve for later use”4006 = “Maximum limit is lower than minimum”4007 = “Reserve for later use”4008 = “Error in configuration data for controller”4009 = “Reserve for later use”4010 = “Reserve for later use”4011 = “Reserve for later use”4012 = “Reserve for later use”4013 = “Requested controller type is not available”4014 = “Error in controller factors”4015 = “Feedforward control activated, kpc < 0 or kpc > 150”4016 = “Reserve for later use”4017 = “Reserve for later use”

followingAxis
































4048 = “Error in clamping monitoring parameter. ’No identifier’ is not permitted for the fixed end stop identifier”





followingAxis




































followingAxis



























6000 = “In the configuration data, the monitoring of the positioning path is configured up to the reference-point switch, and the maximum path to be traveled in the process is configured as zero”







followingAxis





















followingAxis





followingAxis






Reason:





Remedy



Acknowledgment / ResponseReset fault memory / START TechnologicalFaultTask



followingAxis





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










followingAxis






Parameter index:


Command type:






followingAxis





Reason:






6–Aborted due to ambiguous commandid




























Command type:


followingAxis










Command type:


Remedy






followingAxis





Command type:






followingAxis







Number of commands referenced by the specified commandid.

Command type:






followingAxis





Command type:


Remedy






followingAxis





Remedy






followingAxis





Command type:






followingAxis






Command type:


Remedy






followingAxis





Command type:






followingAxis






Parameter index:


Command type:






followingAxis





Command type:






followingAxis






Command type:






followingAxis





Parameter1:



Command type:






followingAxis



30015 A technology required for this command was not configured (technology: /1/%d, command type: /4/%X)



Technology:= 1 Axis with force/pressure control without flow/force specification










RemedyActivate the technology needed for the command.Technology:










followingAxis











followingAxis









followingAxis





Type:







followingAxis






Type:









followingAxis





Parameter1:





Parameter2:







followingAxis












Type:







followingAxis





Type:















followingAxis






Type:










Type:









followingAxis








Type:





Remedy






followingAxis





Remedy







followingAxis










Remedy







followingAxis











Remedy






followingAxis





Type:






6 – Velocity–position limit profile


Reason:



Remedy






followingAxis





Remedy






followingAxis





Type:



Reason:



Remedy






followingAxis




CauseThe StopEmergency command on the axis was aborted when called or while activedue to a stop response of the same or higher priority, resulting from an error.The alarm is generated as an additional aid for emergency stop strategies, andcan for example ensure a safe program sequence by changing the stop response.

Remedy




followingAxis














followingAxis















followingAxis





Type:







Reason:



Remedy





followingAxis



40101 Homing output cam not found

CauseThe homing output cam has not been found because:

� It is outside the permissible range.


Remedy

� Check the permissible range for homing.


� Check the home position and, if the approach direction is incorrect, change thestart position of the axis for homing.



Programmable local responsesMOTION_STOPMOTION_EMERGENCY_STOPMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

followingAxis







Remedy







followingAxis




CauseThe configured axis data and the selected parameters in the homing command areinconsistent with one another.


Parameter1

1 – ENABLE_OFFSET_OF_ABSOLUTE_ENCODER has been selected in thehoming command but an incremental encoder is configured.

2 – ACTIVE_HOMING or PASSIVE_HOMING has been selected in the homingcommand, but an SSI encoder is configured.

3 – ACTIVE_HOMING has been selected in the homing command, butNO_REFERENCE was configured under homingMode in the configurationdata for the encoder.

4 – ACTIVE_HOMING, PASSIVE_HOMING orENABLE_OFFSET_OF_ABSOLUTE_ENCODER has been selected in thehoming command, but NO_SENSOR was selected under encoderType in theconfiguration data for the encoder.

6 – The homing approach velocity is zero.

7 – The homing entry velocity is zero.

8 – The homing reduced velocity is zero.





followingAxis


40104 Error in software limit switch specification (Parameter1: /1/%d)

CauseThe software limit switches are programmed incorrectly.


Parameter1:

= 0: Negative switch is greater than positive switch when the axis is not amodulo axis.

= 1: Current set position is not in programmed range. The software limit switchwas deactivated.

RemedyReprogram the software limit switches.


Default setting for local responseMOTION_EMERGENCY_STOP

Programmable local responsesMOTION_EMERGENCY_STOPMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

followingAxis



40105 Position limited to software limit switch (Parameter1: /1/%d)

CauseThe programmed position has been limited to the software limit switch.


Parameter1:

= 0 negative switch

= 1 positive switch



Default setting for local responseEND_OF_MOTION_STOP

Programmable local responsesEND_OF_MOTION_STOPMOTION_STOPMOTION_EMERGENCY_STOPMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

40106 Software limit switch (Parameter1: /1/%d) approached

CauseThe software limit switch has been approached during a motion sequence.


Parameter1:

= 0 negative switch

= 1 positive switch





followingAxis


40107 Software limit switch (Parameter1: /1/%d) is crossed

CauseThe software limit switch has been crossed.


Parameter1:

= 0 negative switch

= 1 positive switch





40108 Axis is not homed

CauseA command requiring a homed axis was passed to an axis that is not homed.

RemedyHome the axis.




followingAxis



40109 Error on synchronizing two encoders (reason: /1/%d)

CauseAn attempt to synchronize two encoders has failed. Parameter 1 contains the exact error specification.


Reason:

= 0: The reference encoder is not configured or is defective.

= 1: The encoder to be synchronized is not configured or is defective.

= 2: Function not possible as only one encoder has been configured.

= 3: Illegal correction of the active encoder.

Remedy

� Check the command parameters.

� Configure the encoder.

� Remedy the fault on the encoder.




followingAxis












40111 Internal traversing range limit (Parameter1: /1/%d) approached

CauseThe internal traversing range limit has been approached during a motion sequence.


Parameter1:







followingAxis



40112 Internal traversing range limit (Parameter1: /1/%d) is crossed

CauseThe internal traversing range limit has been crossed.


Parameter1:

= 0 negative switch

= 1 positive switch





40120 Programmed pressure is limited

CauseThe system is limiting the programmed pressure to the maximum permissiblepressure.





followingAxis


40121 Programmed pressure rise is limited

CauseThe system is limiting the programmed pressure rise to the maximum permissiblepressure rise.





40122 Programmed pressure rise is zero

CauseThe programmed pressure rise is zero. The specified pressure characteristiccannot be calculated.





followingAxis



40123 Maximum pressure rise is zero

CauseThe limit value for the pressure rise is zero. The specified pressure characteristiccannot be calculated.





40124 Offset cannot be compensated






followingAxis








followingAxis



40201 Synchronous operation tolerance exceeded on gearing axis (activemonitoring system: /1/%d)

CauseThe configured synchronous operation tolerance was exceededobserving the dynamic limit values.


Active monitoring:Indicates which synchronous operation monitoring system is active.

1–Setpoint monitoring

2–Actual-value monitoring

RemedyCheck the dynamic conditions for synchronous operation. This involves:

� checking the synchronous operation coupling, ratios, and cam mechanism

� checking the dynamic parameters for synchronization and desynchronization

� checking the configured units and the internal representation accuracy. Increasethe configured tolerance.



Programmable local responsesNONEMOTION_EMERGENCY_ABORTFEEDBACK_EMERGENCY_STOPOPEN_POSITION_CONTROLRELEASE_DISABLE

followingAxis


40202 Dynamic response of synchronous operation setpoints (type: /1/%d) violated(reason: /2/%d)



Type:

1 – Synchronous operation position

2 – Synchronous operation velocity

Reason:

0 – The resulting synchronous operation velocity setpoint has been reduced to thecurrent valid limit.

1 – The resulting synchronous operation acceleration setpoint has been reduced tothe current valid limit.

Remedy






followingAxis








Remedy









followingAxis



CauseSign-of-life monitoring for the slave connection on an assigned controller has beendeactivated. Monitoring is configured differently on the master and slave. As aresult, the connection is established without sign-of-life monitoring.





followingAxis









followingAxis




Remedy


� Select a suitable IPO / DP cycle clock ratio setting.





50001 Drive failure

CauseDrive fault.





followingAxis





Remedy






followingAxis




Remedy








followingAxis





Remedy









followingAxis




Remedy






followingAxis






Parameter1:





Parameter2:

0: Not relevant



Remedy







followingAxis




Remedy








Remedy







followingAxis








2–Interpolator

3–Controller


5–Encoder system

Error number: Specification of error1000 = “General configuration error”2000 = “Error in actuator system configuration”2001 = “Outside of limits of manipulated variable”2003 = “Error in load gear ratios”2004 = “Error in maximum velocity”2005 = “Maximum velocity greater than maximum attainable velocity”2006 = “Drive not suitable for torque-controlled or torque-limited operation”2007 = “Linear stepper motor not implemented”2008 = “Right-aligned format for direct output not implemented”2009 = “Illegal value in resolution for direct output”2010 = “Missing configuration data for actuator system”2011 = “Missing configuration data for additional actuator system”2012 = “The backstop range (min to max) does not contain a zero point”2014 = “Drive or message frame not suitable for torque superimposition”2015 = “Gear ratios less than or equal to 0”2016 = “Resolution for stepper motor is 0”2017 = “Illegal value for the configuration data maxSpeed”2018 = “Illegal value for the configuration data maxVelocity”2019 = “Limits of a configuration data exceeded”2020 = “Limits for the max. acceleration exceeded”2021 = “Illegal values for dead-zone compensation”2022 = “Illegal values for sliding-friction compensation”2023 = “Illegal values for backstop range”2024 = “Error in sliding-friction compensation parameter”3000 = “Error in encoder system”3001 = “Error in encoder system”3002 = “Invalid axis type selected”3003 = “Leadscrew pitch is 0”3004 = “Modulo axis selected with modulo value less than or equal to 0”

followingAxis









































followingAxis







followingAxis



































followingAxis





































followingAxis










5008 = “Configuration of additional encoder not completed correctly”













6000 = “In the configuration data, the monitoring of the positioning path is configured up to the reference-point switch, and the maximum path to betraveled in the process is configured as zero”









followingAxis






















Remedy




followingAxis






Parameter1:




Remedy





followingAxis






Parameter1:


Remedy





followingAxis






Reason:






Remedy







followingAxis















followingAxis




Remedy








followingAxis





Remedy









followingAxis




Remedy







followingAxis





Remedy







followingAxis




Remedy







followingAxis





Remedy








Remedy






followingAxis




Remedy









Remedy






followingAxis





Remedy








Remedy





followingObjectType


NONENo response


FOLLOWING_OBJECT_DISABLEStop and abort all commands.








Default setting for local responseFOLLOWING_OBJECT_DISABLE

Programmable local responsesFOLLOWING_OBJECT_DISABLE

8

followingObjectType








2–Interpolator

3–Controller


5–Encoder system







Remedy







followingObjectType







2–Interpolator

3–Controller


5–Encoder system









Programmable local responsesNONEDECODE_STOPFOLLOWING_OBJECT_DISABLE

followingObjectType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Not relevant

Remedy









followingObjectType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1

0x0001h: Fault message from drive (note: On PROFIBUS drives, which support acyclic communication in accordance with PROFIdrive V3, the error number/numbers of the drives is/are displayed in thediagnostic buffer, e.g., on Masterdrives MC).









followingObjectType



� Type = 2

0x0000h: The number of permissible changes in the actual value of the maximum velocity of the absolute-value encoder has beenexceeded.

0x0001h: Fault message from encoder (note: The error number/numbers is/are displayed in the diagnosticbuffer).











� Type = 3 to 10






Reason 0x0040:


followingObjectType


Reason 0x0080:




Reason 0x8000:






followingObjectType








2–Interpolator

3–Controller


5–Encoder system








1002 = “Error in configuration data for maximum tolerated master setpoint change maximumOfMasterChange”

1003 = “Error in overdrive factor configuration data for synchronizationprocedures overDriveFactor”

1004 = “Configuration of approachLeadingValue not implemented”





followingObjectType





Category:

1 – TO compatibility error:An interconnection is to be established with a technology object that has beenconfigured with another reference system (e.g., output cam with rotaryreference system and linear axis).

2 – Exclusive interface:Multiple interconnections are to be established for an interface intended forexclusive interconnection.

3 – Interconnection requirement:The technology object is waiting for an interconnection required for thesequence.

4 – Interface initialization error:Errors result from extended initialization sequences at interfaces andparameter exchange between interconnected interfaces.

5 – Interface not available on technology object:An interface specified in the interconnection is not available on the technologyobject.

6 – Circularity:The interconnection on the technology object leads to circular communicationwithin the technology object (e.g., circular master/slave interconnection ofgearing axes, whereby a gearing axis used as a master is in turn the slave ofanother master, which is assigned the master setpoints generated on thisgearing axis directly or via additional interconnections).

7 – Sequence-level compatibility error:An interconnection is to be established with a technology object that isexecuted in another interpolator level (e.g., output cam with IPO and axis withIPO_2).

8 – Distribution initialization:When interconnecting technology objects that are distributed among differentdevices, an error occurred during initialization of the communication interface.

9 – Illegal TO status:The technology object cannot be interconnected in the current state.

Context:


followingObjectType



Remedy

1 – Technology object compatibility error Correct the configuration of the reference system of the technology objects tobe interconnected.

2 – Exclusive interface Correct the configuration of the interconnected technology object.






8 – Distribution initializationCheck the hardware configuration. Ensure that the distributed interactingdevices are linked in the bus configuration. In addition, the address areas thatare used by the devices for communication must be set up. The address areasare automatically set up when the project is compiled; only afterwards is thevalid hardware configuration available for downloading.

9 – Illegal TO statusCorrect the configuration of the technology object, correct execution errors.




followingObjectType














followingObjectType





Remedy






followingObjectType







2–Interpolator

3–Controller


5–Encoder system




1002 = “Error in configuration data for maximum tolerated master setpoint change maximumOfMasterChange”

1003 = “Error in overdrive factor configuration data for synchronizationprocedures overDriveFactor”

1004 = “Configuration of approachLeadingValue not implemented”





followingObjectType






Reason:





Remedy






followingObjectType





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










followingObjectType






Parameter index:


Command type:






followingObjectType





Reason:


































Command type:


followingObjectType










Command type:


Remedy






followingObjectType





Command type:






followingObjectType








Command type:






followingObjectType





Command type:


Remedy








Remedy






followingObjectType






Command type:






followingObjectType





Command type:


Remedy









Command type:






followingObjectType






Parameter index:


Command type:






followingObjectType





Command type:






followingObjectType






Command type:






followingObjectType





Technology:

Not relevant

Command type:












followingObjectType






Type:










Type:









followingObjectType







Programmable local responsesDECODE_STOPFOLLOWING_OBJECT_DISABLE




Type:







followingObjectType






Type:















followingObjectType





Type:










Type:









followingObjectType





� The incompatibility between the dynamic values from the synchronousoperation and

� The programmed dynamic values for synchronization.



Type:





4 – The programmed dynamic response values are adjusted to the target dynamicresponse values.

5 – If the current master setpoint dynamic response is retained, the programmeddynamic response values are exceeded during synchronization. These areadjusted in accordance with the target dynamic response values.

Remedy




followingObjectType



CauseThe specified cam:

� does not exist or

� is not connected with synchronous operation or

� is already active

Remedy













followingObjectType





Remedy

� Check the definition range of your cam.





50004 Error while changing cam

CauseAn access conflict occurred while changing a cam.

RemedyCheck whether the cam object data was modified at the time of the error as a resultof programming or downloading.




followingObjectType


50005 Deactivation of synchronous operation aborted

CauseDeactivation of synchronous operation has been rejected as the current followingobject type (gear / cam gear) does not agree with the deactivation type.

RemedyChange the deactivation type.




50006 Synchronous operation activated/deactivated directly

CauseSynchronous operation has been activated/deactivated directly regardless of thesynchronization conditions as the master and/or slave velocity was zero.





followingObjectType



50007 Error when activating/deactivating synchronous operation

CauseActivation/deactivation of synchronous operation led to a serious error. Possiblecauses are:

� During the synchronization operation, the master reversed direction and theselected synchronization/desynchronization strategy cannot tolerate thisreversal.

� Changes to master values result in an unattainable motion, e.g., by calling’setMaster’.

Remedy

� Check to determine whether the previously processed gearing command wascompletely executed.

� Check the master motion and change the synchronization strategy, if necessary.




50008 Long-term stability cannot be maintained for the gearing

CauseThe programmed gear ratio of numerator and denominator cannot be kept stableover the long term.

Remedy

� Resynchronize in the event of inaccuracies.

� Reduce the gear ratio.




followingObjectType


50009 Changing the dynamic behavior of the master results in a dynamic responseviolation during synchronization and desynchronization

CauseThe velocity change of the master exceeded the dynamic rate action specified inthe ’maximumOfMasterChange’ configuration data.

Remedy

� Check the master programming.

� Check the dynamic rate action.




50101 The programmed master is not configured

CauseThe programmed master has not been configured as master for synchronousoperation.

Remedy

� Check the master configuration in synchronous operation.

� Check the programmed master.

� Add the appropriate master.




followingObjectType



50102 Master is not assigned or configured or is defective (reason: /1/%d)

CauseA command on the following object cannot be executed because of an error in datacommunication with the master.


Reason 1: No master has been assigned to synchronous operation.

Reason 2: The master connection is not equidistant

(distributed synchronous operation).

Reason 3: Bus ramp-up (distributed synchronous operation).

Reason 4: Waiting for connection on bus (distributed synchronous operation).

Reason 5: Parameter exchange on bus (distributed synchronous operation).

Reason 6: Sign-of-life synchronization on bus (distributed synchronousoperation).

Reason 7: Reconfiguration on bus (distributed synchronous operation).

Reason 8: Offset determination (distributed synchronous operation).

Reason 9: Master setpoint not valid.

Remedy

� Create the missing master assignment (reason 1).

� Check the communication configuration.

� Synchronize your program sequence with the operating state of thecommunication system (e.g., via system variables).

� Check the enable at the master (reason 9).




followingObjectType


50103 Master and slave values can only be read out if a synchronous operationrelationship is active

CauseMaster and slave values can only be read out with the commands _getMasterValueand _getSlaveValue if a synchronous operation relationship is active.

RemedyUse the _getMasterValue and _getSlaveValue commands only for an activesynchronous operation relationship.




50104 Master and slave values cannot be read out during synchronization anddesynchronization

CauseMaster and slave values can only be read out with commands _getMasterValueand _getSlaveValue after synchronization and desynchronization of the slave axisis complete.

RemedyDo not use the _getMasterValue and _getSlaveValue commands duringsynchronization and desynchronization.




followingObjectType



50105 No master value can be defined for a specified slave value

CauseA master value cannot be defined for a specified slave value, as the slave value isoutside the permissible value range of the synchronous operation relationship.

RemedyTake account of the value range of the synchronous operation relationship whenspecifying slave values.




50106 No slave value can be defined for a specified master value

CauseA slave value cannot be defined for a specified master value, as the master valueis outside the permissible definition range of the synchronous operationrelationship

RemedyTake account of the definition range of the synchronous operation relationshipwhen specifying master values.




followingObjectType


50107 Specified synchronization path or desynchronization path is less than orequal to zero

CauseA synchronization length is required for the synchronization/desynchronizationwhen the parameter’syncProfileReference:=RELATE_SYNC_PROFILE_TO_LEADING_VALUE’ isspecified. This synchronization length must be greater than zero. It is defined byparameters ’syncLengthType’ and ’syncLength’.

RemedySpecify a synchronization length using the ’syncLengthType’ and ’syncLength’parameters.




50108 Synchronization position is ’AT_THE_END_OF_CAM_CYCLE’ but camming isnot active.

CauseSynchronization mode AT_THE_END_OF_CAM_CYCLE is used to link a newcamming to an existing camming. If camming is not active when the command isissued, this alarm is output.

RemedyUse ’AT_THE_END_OF_CAM_CYCLE’ only if camming is already active.




followingObjectType



50109 Synchronization position is AT_THE_END_OF_CAM_CYCLE but the mastermode is not RELATIVE

CauseSynchronization mode AT_THE_END_OF_CAM_CYCLE is used to link a newcamming to an existing camming. For this, RELATIVE must be specified for’masterMode’.

Remedy

� Enter RELATIVE in command parameter ’masterMode’.

� Enter a position for synchronization other than that inAT_THE_END_OF_CAM_CYCLE.




50110 An absolute position synchronous operation cannot be called following avelocity synchronous operation

CauseAn absolute position synchronous operation (gear or cam synchronous operation)cannot be called following a velocity synchronous operation.

Remedy

� With relative position synchronous operation, switch out of “velocitysynchronous operation” mode in advance.

� On the following axis, apply an override switch out of speed-controlled mode inadvance.




followingObjectType


50201 Connection with master failed (assignment: /1/%d)

CauseThe connection with an interconnected master has failed. The master is located ona distributed controller or has been assigned to a different execution level than theslave. The slave cannot be controlled without the leading value of the master.


Assignment 1: The failed master is located on an assigned controller.

Assignment 2: The failed master has been assigned to a different executionlevel than the master.

Remedy

� Check that the assigned controller is activated, the master is configured asdistributed, and communication is permitted by the operating mode of theassociated controller (assignment 1).


� Check that the failed master was not being reloaded at the time the error wasdetected (assignment 1 and 2).

� Check whether an overflow was diagnosed for the execution level of theassigned master (assignment 2).





followingObjectType



50202 Sign-of-life monitoring for the master in distributed synchronous operation isdeactivated

CauseThe sign-of-life monitoring for the master connection on an assigned controller hasbeen deactivated. Monitoring is configured differently on the master and slave. Asa result, the connection is established without sign-of-life monitoring.





50203 Local and master interpolation cycle clock are different






followingObjectType


50204 Connection in startup phase

CauseStartup of the connection between master and slave had not been completed whenthe motion command was called. At the end of startup, the offset between anytechnology objects communicating in a distributed synchronous operationrelationship is determined. This is necessary to enable offset-compensating motioncontrol to function correctly. The connection to the master is not ready until theoffset calculation has been successfully completed.

Remedy

� Check the connection for mechanical damage, equivalence of configurednetwork topology, firm contact by the plug connector, and, if necessary, correctelectrical cable terminations.

� Synchronize your program sequence with system variables for offsetdetermination on the technology object.

� Deactivate offset compensation on the technology objects involved. Deactivatecompensation only if other remedies do not eliminate the malfunction.Deactivating the offset compensation limits the accuracy of motion control.




followingObjectType




CauseThe offset for the master cannot be determined. This can be caused by configuringthe PROFIBUS-DP without equidistant operation or a ratio of interpolator cycleclock to PROFIBUS-DP cycle clock greater than 64.

Remedy



� Deactivate offset compensation on the technology objects involved. Deactivatecompensation only if other remedies do not eliminate the malfunction.Deactivating the offset compensation limits the accuracy of motion control.




50206 Loss of synchronization with master on assigned controller in distributedsynchronous operation

CauseThere is no equidistance between the local and distributed controller. The localsynchronization object and the assigned master thus have no common timereference system. When clock synchronism is lost, the parameters determined forthis connection are no longer valid and further operation is not permissible.

Remedy

� Ensure that the connection between the controllers is configured for equidistantmode.

� Check if the user program is affecting the synchronization or if it has beendeactivated.




followingObjectType


50207 Master setpoint is outside the permissible range (reason: /1/%d)

CauseOne or more values in the master setpoint protocol received on the slave hasexceeded the permissible value range. The permissible value range is specifiedseparately for each device. When distributing synchronous operation functionalityacross different devices, a slave can receive lead values which it is incapable ofrepresenting internally.


Reason 1: The position master setpoint has exceeded the specified limit value.

Reason 2: The velocity master setpoint has exceeded the specified limit value.

Reason 3: The position and velocity master setpoints have exceeded thespecified limit values.

RemedyTake measures in the TO configuration and user program to ensure that it is notpossible to exceed the permissible value range. The error can be avoided by configuring the master as a cyclic technology object(modulo).




followingObjectType




camType


NONENo response








Acknowledgment / ResponsePower On / STOP

Default setting for local responseDECODE_STOP

Programmable local responsesDECODE_STOP

9

camType








2–Interpolator

3–Controller


5–Encoder system







Remedy




Acknowledgment / ResponsePower On / STOP



camType







2–Interpolator

3–Controller


5–Encoder system









Programmable local responsesNONEDECODE_STOP

camType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Not relevant

Remedy









camType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1

0x0001h: Fault message from drive (note: On PROFIBUS drives, which support acyclic communication in accordance with PROFIdrive V3, the error number/numbers of the drives is/are displayed in the diagnostic buffer, e.g., on Masterdrives MC).









camType



� Type = 2













� Type = 3 to 10






Reason 0x0040:


camType


Reason 0x0080:




Reason 0x8000:






camType








2–Interpolator

3–Controller


5–Encoder system







Not relevant





camType


20007 Interconnection error (category: /1/%d, context: /2/%d, context parameter1: /3/%d, context parameter2: /4/%d)



Category:










Context:


camType



Remedy













camType














camType





Remedy






camType







2–Interpolator

3–Controller


5–Encoder system



Not relevant





camType






Reason:





Remedy






camType





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










camType






Parameter index:


Command type:






camType





Reason:


































Command type:


camType










Command type:


Remedy






camType





Command type:






camType








Command type:






camType





Command type:


Remedy








Remedy






camType






Command type:









Command type:


Remedy






camType





Command type:









Parameter index:


Command type:






camType






Command type:






camType





Command type:






camType






Technology:

Not relevant

Command type:






40001 Write access to function denied (command type: /4/%X)

CauseThis error occurs if a read or write access is made to the function while thecommand is being executed.


Command type:

Outputs the command type. The command type is output as an integer value.

Remedy

� Avoid reading and writing data simultaneously.

� Check whether another technology object is accessing the function.




camType


40002 Read access to function denied (command type: /4/%X)

CauseThis error occurs if write access to the function has been granted to an externaldata source while the command is being executed.


Command type:


RemedyAvoid reading and writing data simultaneously.




40003 Illegal range specification in the parameters (command type: /4/%X)

CauseThe combination of several parameters is not permissible.


Command type:


RemedyChange the parameter.




camType



40004 Segment with length zero will not be inserted in the function (start and endpoint = /1/%lf)

CauseThe start and end point for mapping the segment onto the master axis are identicalin the ’_addSegmentToCam’ command(’leadingRangeStartPoint:=leadingRangeEndPoint’).

Remedy

� Remove the segment from your function if it is not needed.

� Extend the segment in the direction of the master axis.




40005 The point (/1/%lf) is not within the definition range (/2/%lf, /3/%lf) of thefunction (representation: /4/%d).

CauseA point has been selected that is outside the definition range of the function.


Definition range:

Precise definition of the axis range that can be accessed.

Representation:

1 – The parameters for this alarm are shown with scaling and shifting.

2 – The parameters for this alarm are shown without scaling and shifting.

RemedyTake account of the range limits when specifying points in the definition range.




camType


40006 The point (/1/%lf) is not within the value range (/2/%lf, /3/%lf) of the function(representation: /4/%d).

CauseA point has been selected that is outside the value range of the function.


Value range:

Value range of function at the time of access.

Representation:

1 – The parameters for this alarm are shown with scaling and shifting

2 – The parameters for this alarm are shown without scaling and shifting

RemedyTake account of the range limits when specifying points in the value range.




40007 Access to interpolated function denied (command type: /4/%X).

CauseThis error occurs in commands that cannot be applied to interpolated functions.


Command type:


RemedyReset the function before executing the command.




camType



40008 Required property violated during interpolation

CauseThis message occurs when:

� Interpolation cannot allow a continuous progression in the value range becausethere is a continuous progression in the definition range and the difference inthe value range is outside the permissible segment adaptation limit.

� The end criterion was violated for the same reasons.

Remedy

� Move the interpolation limits.

� Check the shape of the cam.

� Change the criteria for interpolation of segments.




Part IITechnology PackageCam_ext Alarms

AdditionObjectType 10

FixedGearType 11

FormulaObjectType 12

ControllerObjectType 13

SensorType 14




AdditionObjectType


NONENo response

DISABLEStop TO execution








Default setting for local responseDISABLE

Programmable local responsesDISABLE

10

AdditionObjectType








2–Interpolator

3–Controller


5–Encoder system







Remedy







AdditionObjectType







2–Interpolator

3–Controller


5–Encoder system









Programmable local responsesNONEDISABLE

AdditionObjectType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Remedy









AdditionObjectType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1

0x0001h: Fault message from drive (note: On ROFIBUS drives, which support acyclic communication in accordance with PROFIdrive V3,

the error number/numbers of the drives is/are displayed in the diagnostic buffer, e.g., on Masterdrives MC).









AdditionObjectType



� Type = 2

0x0000h: The number of permissible changes in the actual value of the maximum velocity of the absolute-value encoder has been exceeded.












� Type = 3 to 10






Reason 0x0040:


AdditionObjectType


Reason 0x0080:




Reason 0x8000:






AdditionObjectType








2–Interpolator

3–Controller


5–Encoder system











AdditionObjectType


20007 Interconnection error (category: /1/%d, context: /2/%d, context parameter1: /3/%d, context parameter2: /4/%d)



Category:










Context:


AdditionObjectType



Remedy













AdditionObjectType














AdditionObjectType





Remedy






AdditionObjectType







2–Interpolator

3–Controller


5–Encoder system







AdditionObjectType






Reason:





Remedy






AdditionObjectType





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










AdditionObjectType






Parameter index:


Command type:






AdditionObjectType





Reason:


































Command type:


AdditionObjectType










Command type:


Remedy






AdditionObjectType





Command type:






AdditionObjectType








Command type:






AdditionObjectType





Command type:


Remedy








Remedy






AdditionObjectType






Command type:









Command type:


Remedy






AdditionObjectType





Command type:









Parameter index:


Command type:






AdditionObjectType






Command type:






AdditionObjectType





Command type:






AdditionObjectType






Technology:

Not relevant

Command type:






AdditionObjectType


40001 Interface could not be activated (interface: 0x/1/%Xh)

CauseThe interface could not be activated as a connection to this interface has not beenconfigured.


Interface:

0x0001h: MotionIn1

0x0002h: MotionIn2

0x0004h: MotionIn3

0x0008h: MotionIn4

0x0010h: MotionOut

Remedy

� Check the command for activating the interface.

� Interconnect the interface to be activated.




AdditionObjectType



40002 Modulo configuration is not taken over from the interconnected outputvector

CauseThe modulo configuration could not be taken over from the interconnected outputvector.

Possible causes:

Multiple interconnection of the output vector with different modulo configurationsof the interconnected TO.

Interconnection of the output vector with a TO without modulo configuration.

Remedy

� Check the modulo configuration of the TO interconnected to the output vector.

� Disable transfer of the modulo configuration from the interconnected outputvector to the configuration data.





FixedGearType


NONENo response


FIXED_GEAR_DISABLEStop and abort all commands.








Default setting for local responseFIXED_GEAR_DISABLE

Programmable local responsesFIXED_GEAR_DISABLE

11

FixedGearType








2–Interpolator

3–Controller


5–Encoder system







Remedy







FixedGearType







2–Interpolator

3–Controller


5–Encoder system









Programmable local responsesNONEDECODE_STOPFIXED_GEAR_DISABLE

FixedGearType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Remedy









FixedGearType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Bit number:For bit driver type=3 or 4 only; bit number


� Type = 1










FixedGearType



� Type = 2













� Type = 3 to 10






Reason 0x0040:


FixedGearType


Reason 0x0080:




Reason 0x8000:






FixedGearType








2–Interpolator

3–Controller


5–Encoder system











FixedGearType





Category:










Context:


FixedGearType



Remedy













FixedGearType














FixedGearType





Remedy






FixedGearType







2–Interpolator

3–Controller


5–Encoder system







FixedGearType






Reason:





Remedy






FixedGearType





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










FixedGearType






Parameter index:


Command type:






FixedGearType





Reason:






























30-Axis is in pressure–limiting operation




Command type:


FixedGearType










Command type:


Remedy






FixedGearType





Command type:






FixedGearType








Command type:






FixedGearType





Command type:


Remedy








Remedy






FixedGearType






Command type:






FixedGearType





Command type:


Remedy









Command type:






FixedGearType






Parameter index:


Command type:






FixedGearType





Command type:






FixedGearType






Command type:






FixedGearType





Technology:

Not relevant

Command type:






FixedGearType






Interface:

0x0001h: MotionIn

0x0010h: MotionOut

Remedy






FixedGearType


40002 Modulo configuration is not taken over from the interconnected outputvector

CauseThe modulo configuration could not be taken over from the interconnected outputvector.

Possible causes:

Multiple interconnection of the output vector with different modulo configurationsof the interconnected TO.

Interconnection of the output vector with a TO without modulo configuration.

Remedy

� Check the modulo configuration of the TO interconnected to the output vector.

� Disable transfer of the modulo configuration from the interconnected outputvector to the configuration data.




50008 Long-term stability cannot be maintained for the gearing

CauseThe programmed gear ratio of numerator and denominator cannot be kept stableover the long term.

Remedy

� Resynchronize in the event of inaccuracies.

� Reduce the gear ratio.




FixedGearType



50101 The programmed master is not configured

CauseThe programmed master has not been configured as master for synchronousoperation.

Remedy

� Check the master configuration in synchronous operation.

� Check the programmed master.

� Add the appropriate master.




50102 Master is not assigned or configured or is defective (reason: /1/%d)

CauseA command on the following object cannot be executed because of an error in datacommunication with the master.


Reason 1: No master has been assigned to synchronous operation.

Remedy

� Create the missing master assignment (reason 1).





FormulaObjectType


NONENo response

DISABLEStop TO execution

STOP_SPECIFIC_FORMULAStop execution of a spec. formula

STOP_ALL_FORMULAStop execution of all formulas










12

FormulaObjectType








2–Interpolator

3–Controller


5–Encoder system







Remedy







FormulaObjectType







2–Interpolator

3–Controller


5–Encoder system










FormulaObjectType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Remedy









FormulaObjectType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1

0x0001h: Fault message from drive (note: On PROFIBUS drives, whichsupport acyclic communication in accordance with PROFIdrive V3,the error number/numbers of the drives is/are displayed in thediagnostic buffer, .g., on Masterdrives MC).









FormulaObjectType



� Type = 2

0x0000h: The number of permissible changes in the actual value of the maximum velocity of the absolute-value encoder has beenexceeded.

0x0001h: Fault message from encoder (note: The error number/numbersis/are displayed in the diagnostic buffer).







0x0080h: DP: Difference between the configuration data and the encoderparameters



0x8000h: DP: Sign of life of encoder has malfunctioned or failed. (Note: For an encoder whose data are transferred in a drivemessage together with actuator data, the actuator sign of lifeapplies for the encoder, e.g., a standard message 3 in accordancewith PROFIdrive).

� Type = 3 to 10






Reason 0x0040:


FormulaObjectType


Reason 0x0080:




Reason 0x8000:






FormulaObjectType








2–Interpolator

3–Controller


5–Encoder system











FormulaObjectType





Category:










Context:


FormulaObjectType



Remedy













FormulaObjectType














FormulaObjectType





Remedy






FormulaObjectType







2–Interpolator

3–Controller


5–Encoder system







FormulaObjectType






Reason:





Remedy






FormulaObjectType





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










FormulaObjectType






Parameter index:


Command type:






FormulaObjectType





Reason:


































Command type:


FormulaObjectType










Command type:


Remedy






FormulaObjectType





Command type:






FormulaObjectType








Command type:






FormulaObjectType





Command type:


Remedy








Remedy






FormulaObjectType






Command type:









Command type:


Remedy






FormulaObjectType





Command type:









Parameter index:


Command type:






FormulaObjectType






Command type:






FormulaObjectType





Command type:






FormulaObjectType






Technology:

Not relevant

Command type:






FormulaObjectType





Interface:

0x000001h: MotionIn1



0x000010h: DINTIn1

0x000020h: DINTIn2

0x000040h: DINTIn3

0x000080h: DINTIn4

0x000100h: LREALIn1

0x000200h: LREALIn2

0x000400h: LREALIn3

0x000800h: LREALIn4

0x001000h: MotionOut1



0x010000h: DINTOut1

0x020000h: DINTOut2

0x040000h: DINTOut3

0x080000h: DINTOut4

0x100000h: LREALOut1




Remedy





Programmable local responsesNONEDISABLESTOP_ALL_FORMULA

FormulaObjectType



40301 Error when translating a formula expression (formula number: /1/%d, reason:/2/%d)

CauseAn error occurred when translating a formula expression.

Meaning of alarm parametersFormula number:

Reason:

1: – Fatal PARSER error

2: – Fatal EXPRESSION error

3: – Character unknown

4: – Illegal value specified for data type

5: – Expression expected

6: – Variable identifier expected

7: – Type conflict in expression

8: – Variable cannot be accessed

9: – Return value expected

10: – Function argument expected

11: – Number of arguments when called does not tally with declaration

12: – Function parameter has no default value

13: – Constant value outside definition range

14: – Cannot be divided by “0”

15: – Function parameter already in call

16: – Type conflict in expression (conversion not possible)

17: – Type conflict in expression (operation incompatible with data type)

18: – Mixed use of function argument assignments and settingparameters not permitted

19: – Variable must be directly accessible input or output I/O

20: – Syntax error

21: – Construct not supported in this version

Remedy




FormulaObjectType


40302 Warning when translating a formula expression (formula number: /1/%d,reason: /2/%d)

CauseA warning occurred when translating a formula expression.


Formula number:

Number of formula, which triggered this error

Reason:

1: – Data type of comparison operation not specified

2: – Constant rounded to next value that can be displayed

3: – Data type conversion between signed and unsigned

Remedy




40303 Division by ’0’ when calculating a formula expression (formula number:/1/%d)

CauseA division by ’0’ occurred when calculating a formula expression.


Formula number:


RemedyCheck/change the associated formula expression.



Programmable local responsesDISABLESTOP_SPECIFIC_FORMULASTOP_ALL_FORMULA

FormulaObjectType



40304 Overflow when calculating a formula expression (formula number: /1/%d)

CauseAn overflow occurred when calculating a formula expression.


Formula number:






40305 Underflow when calculating a formula expression (formula number: /1/%d)

CauseAn underflow occurred when calculating a formula expression.


Formula number:






FormulaObjectType


40306 Function result when calculating a formula expression (formula number:/1/%d)

CauseThe result of a calculation in the formula expression is not defined (e.g., root fromnegative number).


Formula number:Number of formula, which triggered this error

RemedyCheck/change the function arguments in the associated formula expression.




FormulaObjectType



40307 Invalid formula number specified (formula number: /1/%d, reason: /2/%d)

CauseAn invalid formula number has been specified.


Formula number:


Reason:

1: The formula number is outside the permissible range. Valid formula numbers are0 (predefined zero formula, which cannot be overwritten), 1 to 34 (formulas,which can be defined).

2: A formula with the specified number has already been assigned to an output andcan therefore not be redefined.

3: A formula with the specified number has not been defined.

Remedy

� Select a valid formula number.

� Before assigning a formula to an output, define a formula with the specifiednumber.





ControllerObjectType


NONENo response


CONTROL_STOPStop controller

DISABLE_CONTROLLERDisable controller object








Default setting for local responseDISABLE_CONTROLLER

Programmable local responsesDISABLE_CONTROLLER

13









2–Config manager

3–Sequential control

4–Controller

5–Identification







Remedy














2–Config manager


4–Controller

5–Identification










Programmable local responsesNONECONTROL_STOPDECODE_STOPDISABLE_CONTROLLER







Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Not relevant

Remedy














Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1

0x0001h: Fault message from drive (note: On PROFIBUS drives, which support acyclic communication in accordance with PROFIdrive V3, the error number/numbers of the drives is/are displayed in the diagnostic buffer, e.g., on Masterdrives MC).












� Type = 2













� Type = 3 to 10






Reason 0x0040:




Reason 0x0080:




Reason 0x8000:














2–Config manager


4–Controller

5–Identification








1001 = “Invalid controller type selected”

1002 = “Invalid execution level selected”

1003 = “Incomplete configuration data for controller TO”

1004 = “Error generating controller TO”

1005 = “Limit value for feedforward control factor exceeded”

1006 = “Proportional-action controller for this TO not implemented”

1007 = “Limit value for system deviation threshold exceeded”

1008 = “Limit value for system deviation monitoring exceeded”

1009 = “Limit value for integral-action feedback factor exceeded”

1010 = “Limit value for derivative-action actual-value factor exceeded”

1011 = “Limit value for rate-of-rise limit at output exceeded”

1012 = “Limit value for limiter minimum value exceeded”

1013 = “Limit value for limiter maximum value exceeded”

1014 = “Limiter minimum value greater than its maximum value”







20007 Interconnection error (category: /1/%d, context: /2/%d, context Parameter1: /3/%d, context Parameter2: /4/%d)



Category:










Context:





Remedy
































Remedy













2–Config manager


4–Controller

5–Identification








1001 = “Invalid controller type selected”

1002 = “Invalid execution level selected”

1003 = “Incomplete configuration data for controller TO”

1004 = “Error generating controller TO”

1005 = “Limit value for feedforward control factor exceeded”

1006 = “Proportional-action controller for this TO not implemented”

1007 = “Limit value for system deviation threshold exceeded”

1008 = “Limit value for system deviation monitoring exceeded”

1009 = “Limit value for integral-action feedback exceeded”

1010 = “Limit value for derivative-action actual-value factor exceeded”

1011 = “Limit value for rate-of-rise limit at output exceeded”

1012 = “Limit value for limiter minimum value exceeded”

1013 = “Limit value for limiter maximum value exceeded”

1014 = “Limiter minimum value greater than its maximum value”













Reason:





Remedy












Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy















Parameter index:


Command type:












Reason:


































Command type:











Command type:


Remedy












Command type:













Command type:












Command type:


Remedy








Remedy











Command type:









Command type:


Remedy












Command type:









Parameter index:


Command type:











Command type:












Command type:











Technology:

Not relevant

Command type:






40001 Actual value in violation of upper limit

CauseMeaning of alarm parameters

RemedyCheck program and sampling time



Programmable local responsesNONEDECODE_STOPCONTROL_STOPDISABLE_CONTROLLER




40002 Actual value in violation of lower limit






40003 Setpoint in violation of upper limit








40004 Setpoint in violation of lower limit






40005 Feedforward control variable in violation of upper limit









40006 Feedforward variable in violation of lower limit






40007 Permissible system deviation exceeded







SensorType


NONENo response


CONFIGURED_OUTPUT_VALUESet configured output










14

SensorType








2–Interpolator

3–Controller


5–Encoder system







Remedy







SensorType







2–Interpolator

3–Controller


5–Encoder system










SensorType






Logical address:


Bit number:


Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver





Remedy









SensorType





Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver







� Type = 1










SensorType



� Type = 2













� Type = 3 to 10






Reason 0x0040:


SensorType


Reason 0x0080:




Reason 0x8000:






SensorType








2–Interpolator

3–Controller


5–Encoder system











SensorType





Category:










Context:


SensorType



Remedy













SensorType














SensorType





Remedy






SensorType







2–Interpolator

3–Controller


5–Encoder system







SensorType






Reason:





Remedy






SensorType





Logical address:




Type:

1–Actuator driver

2–Encoder driver

3–BitRead driver

4–BitWrite driver

5–ByteRead driver


7–WordRead driver




Remedy










SensorType






Parameter index:


Command type:






SensorType





Reason:


































Command type:


SensorType










Command type:


Remedy






SensorType





Command type:






SensorType








Command type:






SensorType





Command type:


Remedy








Remedy






SensorType






Command type:









Command type:


Remedy






SensorType





Command type:









Parameter index:


Command type:






SensorType






Command type:






SensorType





Command type:






SensorType






Technology:

Not relevant

Command type:






SensorType






Reason:






Remedy






Programmable local responsesNONEDECODE_STOPCONFIGURED_OUTPUT_VALUE

SensorType



A-721� Siemens AG, 2004. All rights reservedTechnology Package Cam Alarms, 12.2004 Edition

Command Type Numbers of the IndividualCommands

Command Decimal Hex

_MOVE 4097 1001

_ENABLEAXISSIMULATION 4103 1007

_DISABLEAXISSIMULATION 4104 1008

_GETSTATEOFAXISCOMMAND 4107 100B

_RESETMOTIONBUFFER 4108 100C

_GETSTATEOFMOTIONBUFFER 4109 100D

_SETAXISDATASETACTIVE 4112 1010

_GETMOTIONSTATEOFAXISCOMMAND 4115 1013

_REMOVEBUFFEREDAXISCOMMANDID 4117 1015

_DISABLETORQUELIMITING 4119 1017

_ENABLETORQUELIMITING 4120 1018

_RESETAXISCONFIGDATABUFFER 4124 101C

_GETAXISERRORNUMBERSTATE 4127 101F

_DISABLEFORCELIMITING 4129 1021

_STOPEMERGENCY 4132 1024

_STOP 4133 1025

_RUNVELOCITYBASEDMOTIONIN 4134 1026

_SETAXISSTW 4135 1027

_ENABLEAXISADDITIVETORQUE 4136 1028

_DISABLEAXISADDITIVETORQUE 4137 1029

_ENABLEAXISTORQUELIMITPOSITIVE 4138 102A

_DISABLEAXISTORQUELIMITPOSITIVE 4139 102B

_ENABLEAXISTORQUELIMITNEGATIVE 4140 102C

_DISABLEAXISTORQUELIMITNEGATIVE 4141 102D

_ENABLEQFAXIS 4143 102F

_RESETAXIS 4145 1031

_RESETAXISERROR 4146 1032

_ENABLEFORCELIMITINGVALUE 4147 1033

_BUFFERAXISCOMMANDID 4148 1034

A

Command Type Numbers of the Individual Commands

A-722� Siemens AG, 2004. All rights reserved


Command HexDecimal

_SETFORCECOMMANDVALUE 4149 1035

_SETFORCECONTROLDATASETPARAMETER 4150 1036

_GETFORCECONTROLDATASETPARAMETER 4151 1037

_ENABLEAXIS 4152 1038

_DISABLEAXIS 4153 1039

_DISABLEQFAXIS 4154 103A

_SETAXISDATASETPARAMETER 4155 103B

_GETAXISDATASETPARAMETER 4156 103C

_SETQFAXISDATASETPARAMETER 4157 103D

_GETQFAXISDATASETPARAMETER 4158 103E

_CONTINUE 4160 1040

_RUNTIMELOCKEDVELOCITYPROFILE 4177 1051

_SETQFAXISQCHARACTERISTICS 4178 1052

_SETQFAXISFCHARACTERISTICS 4179 1053

_RUNMOTIONINPOSITIONLOCKEDFORCEPROFILE 4181 1055

_RUNMOTIONINPOSITIONLOCKEDVELOCITYPROFILE 4182 1056

_ENABLEMOTIONINPOSITIONLOCKEDFORCELIMITINGPROFILE

4183 1057

_ENABLETIMELOCKEDFORCELIMITINGPROFILE 4184 1058

_RUNTIMELOCKEDFORCEPROFILE 4185 1059

_POS 4609 1201

_HOMING 4610 1202

_REDEFINEPOSITION 4611 1203

_SETANDGETENCODERVALUE 4612 1204

_ENABLEMONITORINGOFENCODERDIFFERENCE 4613 1205

_DISABLEMONITORINGOFENCODERDIFFERENCE 4614 1206

_GETAXISUSERPOSITION 4615 1207

_GETAXISINTERNALPOSITION 4616 1208

_DISABLEMOVINGTOENDSTOP 4619 120B

_ENABLEMOVINGTOENDSTOP 4620 120C

_GETPROGRAMMEDTARGETPOSITION 4622 120E

_ENABLEVELOCITYLIMITINGVALUE 4625 1211

_DISABLEVELOCITYLIMITING 4626 1212

_RUNPOSITIONBASEDMOTIONIN 4628 1214

_RUNTIMELOCKEDPOSITIONPROFILE 4689 1251

_RUNPOSITIONLOCKEDFORCEPROFILE 4693 1255

_RUNPOSITIONLOCKEDVELOCITYPROFILE 4694 1256

_ENABLEPOSITIONLOCKEDVELOCITYLIMITINGPROFILE 4695 1257



Command HexDecimal

_ENABLETIMELOCKEDVELOCITYLIMITINGPROFILE 4697 1259

_ENABLEPOSITIONLOCKEDFORCELIMITINGPROFILE 4698 125A

_ENABLEFORCECONTROLBYCONDITION 4699 125B

_ENABLEFORCELIMITINGBYCONDITION 4700 125C

_ENABLEMOTIONINPOSITIONLOCKEDVELOCITYLIMITINGPROFILE

4701 125D

_ADDPOINTTOCAM 4868 1304

_INTERPOLATECAM 4869 1305

_SETCAMSCALE 4870 1306

_SETCAMOFFSET 4871 1307

_GETCAMFOLLOWINGVALUE 4872 1308

_GETCAMLEADINGVALUE 4873 1309

_ADDSEGMENTTOCAM 4874 130A

_ADDPOLYNOMIALSEGMENTTOCAM 4875 130B

_RESETCAMCONFIGDATABUFFER 4877 130D

_GETCAMERRORNUMBERSTATE 4878 130E

_RESETCAM 4880 1310

_RESETCAMERROR 4881 1311

_GETSTATEOFCAMCOMMAND 4882 1312

_BUFFERCAMCOMMANDID 4883 1313

_REMOVEBUFFEREDCAMCOMMANDID 4884 1314

_ENABLEMEASURINGINPUT 5123 1403

_DISABLEMEASURINGINPUT 5124 1404

_ENABLEMEASURINGINPUTSIMULATION 5125 1405

_DISABLEMEASURINGINPUTSIMULATION 5126 1406

_RESETMEASURINGINPUTCONFIGDATABUFFER 5128 1408

_GETMEASURINGINPUTERRORNUMBERSTATE 5129 1409

_RESETMEASURINGINPUT 5131 140B

_RESETMEASURINGINPUTERROR 5132 140C

_GETSTATEOFMEASURINGINPUTCOMMAND 5133 140D

_BUFFERMEASURINGINPUTCOMMANDID 5134 140E

_REMOVEBUFFEREDMEASURINGINPUTCOMMANDID 5135 140F

_ENABLEMEASURINGINPUTCYCLIC 5136 1410

_ENABLEOUTPUTCAM 5377 1501

_DISABLEOUTPUTCAM 5378 1502

_ENABLEOUTPUTCAMSIMULATION 5379 1503

_DISABLEOUTPUTCAMSIMULATION 5380 1504

_SETOUTPUTCAMSTATE 5381 1505




Command HexDecimal

_SETOUTPUTCAMCOUNTER 5384 1508

_RESETOUTPUTCAMCONFIGDATABUFFER 5386 150A

_GETOUTPUTCAMERRORNUMBERSTATE 5387 150B

_RESETOUTPUTCAM 5389 150D

_RESETOUTPUTCAMERROR 5390 150E

_GETSTATEOFOUTPUTCAMCOMMAND 5391 150F

_BUFFEROUTPUTCAMCOMMANDID 5392 1510

_REMOVEBUFFEREDOUTPUTCAMCOMMANDID 5393 1511

_GETSLAVEVALUE 5635 1603

_GETMASTERVALUE 5636 1604

_GETSTATEOFFOLLOWINGOBJECTCOMMAND 5645 160D

_GETMOTIONSTATEOFFOLLOWINGOBJECTCOMMAND 5646 160E

_REMOVEBUFFEREDFOLLOWINGOBJECTCOMMANDID 5648 1610

_RESETFOLLOWINGOBJECTCONFIGDATABUFFER 5650 1612

_GETFOLLOWINGOBJECTERRORNUMBERSTATE 5651 1613

_SETMASTER 5652 1614

_ENABLEVELOCITYGEARING 5653 1615

_DISABLEVELOCITYGEARING 5654 1616

_DISABLEGEARING 5657 1619

_RESETFOLLOWINGOBJECTERROR 5659 161B

_RESETFOLLOWINGOBJECT 5660 161C

_BUFFERFOLLOWINGOBJECTCOMMANDID 5661 161D

_ENABLEFOLLOWINGOBJECTSIMULATION 5662 161E

_DISABLEFOLLOWINGOBJECTSIMULATION 5663 161F

_SETGEARINGOFFSET 5664 1620

_ENABLEGEARING 5665 1621

_ENABLECAMMING 5719 1657

_DISABLECAMMING 5720 1658

_SETCAMMINGOFFSET 5721 1659

_SETCAMMINGSCALE 5722 165A

_ENABLEEXTERNALENCODER 6147 1803

_DISABLEEXTERNALENCODER 6148 1804

_SYNCHRONIZEEXTERNALENCODER 6149 1805

_ENABLEEXTERNALENCODERSIMULATION 6150 1806

_DISABLEEXTERNALENCODERSIMULATION 6151 1807

_SETEXTERNALENCODERVALUE 6152 1808

_RESETEXTERNALENCODERCONFIGDATABUFFER 6154 180A



Command HexDecimal

_GETEXTERNALENCODERERRORNUMBERSTATE 6155 180B

_GETSTATEOFEXTERNALENCODERCOMMAND 6156 180C

_REMOVEBUFFEREDEXTERNALENCODERCOMMANDID 6158 180E

_RESETEXTERNALENCODER 6159 180F

_RESETEXTERNALENCODERERROR 6160 1810

_BUFFEREXTERNALENCODERCOMMANDID 6161 1811

_REDEFINEEXTERNALENCODERPOSITION 6162 1812

_RESETCONTROLLEROBJECT 8961 2301

_RESETCONTROLLEROBJECTERROR 8962 2302

_RESETCONTROLLEROBJECTCONFIGDATABUFFER 8963 2303

_GETSTATEOFCONTROLLEROBJECTCOMMAND 8964 2304

_BUFFERCONTROLLEROBJECTCOMMANDID 8965 2305

_REMOVEBUFFEREDCONTROLLEROBJECTCOMMANDID 8966 2306

_GETCONTROLLEROBJECTERRORNUMBERSTATE 8967 2307

_ENABLECONTROLLEROBJECTIN 8968 2308

_DISABLECONTROLLEROBJECTIN 8969 2309

_CHANGEENABLEMODEOFCONTROLLEROBJECTIN 8970 230A

_ENABLECONTROLLEROBJECT 8971 230B

_DISABLECONTROLLEROBJECT 8972 230C

_SETCONTROLLEROBJECTPIDCONTROL 8973 230D

_RESETSENSOR 9473 2501

_RESETSENSORERROR 9474 2502

_RESETSENSORCONFIGDATABUFFER 9475 2503

_GETSTATEOFSENSORCOMMAND 9476 2504

_BUFFERSENSORCOMMANDID 9477 2505

_REMOVEBUFFEREDSENSORCOMMANDID 9478 2506

_GETSENSORERRORNUMBERSTATE 9479 2507

_ENABLESENSOR 9480 2508

_DISABLESENSOR 9481 2509

_RESETADDITIONOBJECT 9729 2601

_RESETADDITIONOBJECTERROR 9730 2602

_RESETADDITIONOBJECTCONFIGDATABUFFER 9731 2603

_ENABLEADDITIONOBJECTIN 9732 2604

_DISABLEADDITIONOBJECTIN 9733 2605

_GETADDITIONOBJECTERRORNUMBERSTATE 9734 2606

_GETSTATEOFADDITIONOBJECTCOMMAND 9735 2607

_BUFFERADDITIONOBJECTCOMMANDID 9736 2608




Command HexDecimal

_REMOVEBUFFEREDADDITIONOBJECTCOMMANDID 9737 2609

_CHANGEENABLEMODEOFADDITIONOBJECTIN 9738 260A

_RESETFIXEDGEAR 9985 2701

_RESETFIXEDGEARERROR 9986 2702

_RESETFIXEDGEARCONFIGDATABUFFER 9987 2703

_ENABLEFIXEDGEARMOTIONIN 9988 2704

_DISABLEFIXEDGEARMOTIONIN 9989 2705

_ENABLEFIXEDGEARING 9990 2706

_DISABLEFIXEDGEARING 9991 2707

_SETFIXEDGEARINGOFFSET 9992 2708

_SETFIXEDGEARMASTER 9993 2709

_GETSTATEOFFIXEDGEARCOMMAND 9994 270A

_BUFFERFIXEDGEARCOMMANDID 9995 270B

_REMOVEBUFFEREDFIXEDGEARCOMMANDID 9996 270C

_GETFIXEDGEARERRORNUMBERSTATE 9997 270D

_RESETFORMULAOBJECT 10241 2801

_RESETFORMULAOBJECTERROR 10242 2802

_RESETFORMULAOBJECTCONFIGDATABUFFER 10243 2803

_GETFORMULAOBJECTERRORNUMBERSTATE 10244 2804

_SETFORMULA 10245 2805

_ENABLEFORMULAOBJECTIN 10246 2806

_DISABLEFORMULAOBJECTIN 10247 2807

_CHANGEENABLEMODEOFFORMULAOBJECTIN 10248 2808

_SETFORMULAOBJECTOUTPUTVALUE 10249 2809

_ENABLEFORMULA 10250 280A

_DISABLEFORMULA 10251 280B

_CHANGEENABLEOFFORMULA 10252 280C

_DEFINEFORMULA 10253 280D

_GETSTATEOFFORMULAOBJECTCOMMAND 10254 280E

_BUFFERFORMULAOBJECTCOMMANDID 10255 280F

_REMOVEBUFFEREDFORMULAOBJECTCOMMANDID 10256 2810

_ENABLECAMTRACK 10497 2901

_DISABLECAMTRACK 10498 2902

_ENABLECAMTRACKSIMULATION 10499 2903

_DISABLECAMTRACKSIMULATION 10500 2904

_SETCAMTRACKSTATE 10501 2905

_GETCAMTRACKERRORNUMBERSTATE 10502 2906



Command HexDecimal

_RESETCAMTRACK 10503 2907

_RESETCAMTRACKERROR 10504 2908

_GETSTATEOFCAMTRACKCOMMAND 10505 2909

_BUFFERCAMTRACKCOMMANDID 10506 290A

_REMOVEBUFFEREDCAMTRACKCOMMANDID 10507 290B

_RESETCAMTRACKCONFIGDATABUFFER 10508 290C




Documents

SIMOTION Technology Package Cam Alarms - RELKO