ACOPOS Error Texts

ACOPOS Error Texts Page 1 of 224
ACOPOS Error Texts

The ACOPOS error texts are described as follows:
<error number>: <error text>
Description of the additional information output with the

Info:
error message.
Data type: Data format
Description:
Exact description of error.
Reaction:
Description of the reaction of the ACOPOS servo drive, which is triggered
by the error.
Cause/Remedy:
Description of the cause of error as well as the possibilities for correcting
this error.
In this section the following topics are discussed:
ACOPOS Error Texts

1: Invalid parameter ID
2: Data block for upload is not available
3: Write access for a read-only parameter
4: Read access for a write-only parameter
8: Data block read access already initialized
9: Data block write access already initialized
10: Data block read access not initialized
11: Data block write access not initialized
16: The data segment is already the last when reading the data block
17: The data segment is already the last when writing the data block
18: The data segment is not yet the last when reading the data block
19: The data segment is not yet the last when writing the data block
21: Checksum after data block write is invalid
23: Parameter ID in data block is invalid (data block write)
25: Burn system module only allowed immediately after download
27: Operating system not able to be started (operating system is not on the FPROM)
40: Value of parameter higher than maximum value
52: Value of parameter lower than minimum value
64: Hardware ID in B&R module is invalid (data block write)
65: Hardware version in B&R module is invalid (data block write)
66: The operating system on the drive is incompatible to the existing network
67: Necessary parameter is missing or is invalid
1001: Error-FIFO overflow
1002: Parameter outside the valid range
1003: Parameter cannot be written while loop control is active
file://C:\temp\~hh4E30.htm 13.07.2009
1004: Timeout in network life sign monitor

1005: Parameter cannot be written while a movement is active
1006: Invalid parameter for trigger event (digital input + edge)
1007: Master for network coupling deactivated - one master is already sending
1008: Master for network coupling deactivated - Encoder error
1009: Error during memory allocation
1011: Quickstop input active
1012: Breakdown of cyclic network communication
1013: Station is not available for network communication
1016: Maximum cycle time exceeded - CPU load too high
1017: Invalid parameter ID for cyclic read access
1018: Invalid parameter ID for cyclic write access
1021: Parameter cannot be written: Function block active
2001: Upload of trace data not allowed: Recording active
2003: Trace start not allowed: Recording active
2004: Trace start not allowed: No trace test data defined
2006: Initialization of trace parameters not allowed: Recording active
4005: Controller cannot be switched on: Drive in error state
4007: Lag error stop limit exceeded
4008: Positive limit switch reached
4009: Negative limit switch reached
4010: Controller cannot be switched on: Both limit switches are closed
4011: Controller cannot be switched off: Movement active
4012: Controller cannot be switched on: Init parameters missing or not valid
4014: Two encoder control: Stop limit of positions difference exceeded
5001: Target position exceeds positive SW limit
5002: Target position exceeds negative SW limit
5003: Positive SW limit reached
5004: Negative SW limit reached
5005: Start of movement not possible: Position controller inactive
5006: Start of movement not possible: Axis not referenced
5010: Move in pos. direction not possible: Pos. limit switch is closed
5011: Move in neg. direction not possible: Neg. limit switch is closed
5012: Start of movement not possible: Stop ramp active
5013: Cyclic set value mode cannot be switched on: Movement active
5015: Start of movement not possible: Homing procedure active
5016: Parameter cannot be written: Homing procedure active
5017: Homing procedure mode not possible: Position controller inactive
5018: Homing procedure not possible: Movement active
5019: Homing parameter outside the valid range
5020: Homing procedure not possible: Both limit switches are closed
5021: Limit switch closed: No direction change for this homing mode
5022: Second limit switch signal received: Reference switch not found
5023: Incorrect limit switch signal received for current movement direction
5024: Cyclic set value mode aborted: Set positions missing
5025: Homing offset with counting range correction cannot be set
5026: Basis movement parameters (with override) exceed speed limit value
5027: Basis movement parameters (with override) exceed acceleration limit value
5028: Current movement is not a basis movement
5029: Trigger ignored - remaining distance exceeds SW limit
5030: Homing procedure mode not possible: Position controller active
5031: Homing procedure mode not possible: Cyclic set values mode is off
5032: Acceleration too low - braking distance exceeds positive SW limit
5033: Acceleration too low - braking distance exceeds negative SW limit
5034: Homing procedure not possible: Encoder error

5035: Reference marks not detected
5036: Acceleration stop limit exceeded
5101: Cam profile compensation gears: Limit values exceeded
5102: Too many changes of cam profile per cycle (master period too short)
5103: Slave trigger FIFO full
5104: Slave trigger FIFO empty
5105: Master trigger FIFO full
5106: Master trigger FIFO empty
5107: Cam coupling cannot be started: Parameter outside the valid range
5108: Master compensation trigger FIFO full
5109: Master compensation trigger FIFO empty
5110: Cam coupling aborted: Cyclic set positions missing
5111: Cam coupling aborted: Encoder error
5112: Command not allowed: Cam profile coupling not active
5113: Command not allowed: Controller is already active
5114: Parameter cannot be written: Cam coupling active
5115: Restart command not possible: The cam automat is not active
5201: Parameter cannot be written: Drumsequencer active
5202: Drumsequencer: Switch positions not in ascending order
5302: Parameter cannot be written: Cam automat active
5303: Cam profile data not available at index
5304: Format error in cam profile data
5311: Cam automat: Event leads to non initialized state
5315: Download error: Cam profile data in use by cam automat or function block
5316: Event type ncST_END+ncNEGATIVE is not possible for entry in compensation gears
5317: Start of cam automat leads to non initialized state
5318: Relative distance of master axis higher than cam profile period
5319: Cam profile data not allowed for state 0
5329: No valid cam profile data or state deactivated
6000: Master sampling time is not a multiple of position controller sampling time
6001: Sync controller: Timeout for sync telegram occurred
6002: Sync controller: Error tolerance of system time difference exceeded
6008: Controller is already active
6011: Controller is not in speed mode
6014: Drive initialization active
6015: CAN controller: CAN bus disturbance (receive error counter greater 96)
6016: CAN controller: CAN bus disturbance (transmit error counter greater 96)
6017: Software: Watchdog active
6018: Hardware: 15V power supply fail
6019: ACOPOS: Overcurrent
6021: Low level at controller enable input
6022: Current controller: Permissible current offset values exceeded
6023: Voltage sag at controller enable input
6024: Current was latched before conversion (OpSys error in ABLS)
6025: Temperature was latched before conversion (OpSys error in ABLS)
6026: Holding brake: Stator current limit exceeded during release
6027: Holding brake: Manual operation not permitted
6028: Holding brake: Undervoltage/-current (wire breakage, check 24V supply)
6029: Holding brake: Control signal on and output status off
6030: Holding brake: Brake output is active, but no brake entered in motor data
6031: System module already deleted
6032: Interface: FPGA configuration error

6033: Type of servo amplifier is not supported by ACOPOS-firmware
6034: Cyclic set value mode aborted: Set speeds missing
6036: Motor parameters missing or invalid
6038: Torque limit higher than peak motor torque
6040: Operating system version is less than allowed minimum version
6041: Operating system version is greater than allowed maximum version
6042: Operating system version is not in the allowed range
6043: PHASING_MODE is not valid
6044: Phasing: Rotational direction or position not valid
6046: Phasing: No rotor movement
6047: Holding brake: Control signal off and output status on
6048: Motor holding brake monitor: Position error too large
7012: Encoder: Hiperface error bit
7013: Encoder: Status message
7014: Encoder: CRC error during parameter transfer
7015: Encoder: Timeout error during parameter transfer
7016: Encoder: Busy error during parameter transfer
7017: Encoder: Error while reading encoder parameter
7020: OEM data: Data write error
7021: Encoder: Timeout error while reading absolute position
7022: Encoder: Initialization is active
7023: Encoder: Parameter transfer is active
7029: Encoder: Incremental signal amplitude too small
7030: Encoder: Incremental signal amplitude too large
7031: Encoder: Incremental signal amplitude too large (Disturbance)
7032: Encoder: Incremental signal amplitude too small (Disturbance, no connection)
7036: Encoder: Interface ID invalid (Check slot and Interface EEPROM data)
7038: Encoder: Position value not synchronous with absolute value
7039: Incremental encoder: Cable disturbance track A
7040: Incremental encoder: Cable disturbance track B
7041: Incremental encoder: Cable disturbance track R
7042: Incremental encoder: Edge distance of quadrature signal too small
7043: Encoder: Cable disturbance track D
7044: Encoder: Parity
7045: Resolver: Signal disturbance (plausibility check)
7046: Resolver: Cable disturbance
7047: Invalid distance of reference marks
7048: Error during the reading of encoder memory
7100: Parameter function not supported. (Module ?)
7200: DC bus: Overvoltage
7210: DC bus: Voltage unstable
7211: DC bus: Voltage drop - check the power line
7212: DC bus: Voltage drop - Emergency-Stop interrupted
7214: DC bus: Charging resistor hot (too many power line fails)
7215: DC bus: At least one phase of the power line failed
7217: DC bus: Voltage too high - Check power supply
7218: DC bus: Voltage too low - Nominal voltage detection not possible
7219: DC bus: Voltage too low - Check power supply
7220: Nominal voltage detection: Voltage not allowed
7300: Digital IO: IO Configuration invalid
7401: Parameter position exceeds maximum data length
7402: Processing of parameter sequence aborted: Write error
7403: Processing of parameter sequence is still active
7404: Parameter sequence not available at index

8001: EEPROM select not valid
8003: Table index not valid
8004: EEPROM variable type not valid
8005: EEPROM type not valid
8006: Value of EEPROM parameter is zero
8007: Value of EEPROM parameter is not valid
8020: Invalid switch frequency
<param name="Name" value="9000: Heatsink temperature sensor: Overtemperature ->
<param name="Name" value="9001: Heatsink temperature sensor: Overtemperature ->
9002: Heatsink temperature sensor: Not connected or destroyed
<param name="Name" value="9010: Motor temperature sensor: Overtemperature ->
<param name="Name" value="9011: Motor temperature sensor: Overtemperature ->
9012: Motor temperature sensor: Not connected or destroyed
9013: Motor temperature sensor: Short circuit
<param name="Name" value="9030: Junction temperature model: Overtemperature ->
<param name="Name" value="9031: Junction temperature model: Overtemperature ->
<param name="Name" value="9040: Bleeder temperature model: Overtemperature ->
<param name="Name" value="9041: Bleeder temperature model: Overtemperature ->
<param name="Name" value="9050: ACOPOS peak current: Overload ->
<param name="Name" value="9051: ACOPOS peak current: Overload ->
<param name="Name" value="9060: ACOPOS continuous current: Overload ->
<param name="Name" value="9061: ACOPOS continuous current: Overload ->
<param name="Name" value="9070: Motor temperature model: Overload ->
<param name="Name" value="9071: Motor temperature model: Overload ->
<param name="Name" value="9075: ACOPOS continuous power: Overload ->
<param name="Name" value="9076: ACOPOS continuous power: Overload ->
9300: Current controller: Overcurrent
10000: Identification parameter(s) missing
32001: Error calling CAN_xopen()
32002: Error defining Write COB for Broadcast Command
32003: Error defining Write COB for Parameter Read Request
32004: Error defining Write COB for Parameter Write Request
32005: Error defining Read COB for Parameter Read Response
32006: Error defining Read COB for Parameter Write Response
32007: Error defining Read COB for Monitor Data from the drive
32008: Error sending Read Request (network error ?)
32009: Error sending Write Request (network error ?)
32010: Drive not responding to Read Request (is the drive in the network ?)
32011: Drive not responding to Write Request (is the drive in the network ?)
32012: Error reading module description of system module
32013: No operating system present on the drive
32014: Operating system version on the drive not compatible with NC manager version
32015: Error creating message queue
32016: Error sending an idle time command to the NC Manager Task
32017: Wrong boot state after start of operating system
32018: Invalid Parameter ID in system module
32019: Download of NC system module not allowed (the module is on the PLC)
32020: System module data could not be read from the drive during NC manager INIT
32021: System module data could not be read from the drive after download
32022: Error aborting data block access before download
32023: Error reading boot state before download
32025: Wrong boot state after SW Reset before download
32026: Error during INIT of data block write access for download
32027: Error sending data segment for download
32029: Response error after sending data segment for download
32030: Error at command for system module burn after download
32031: Error reading status for system module burn after download
32032: Error while burning system module after download
32033: Timeout while burning system module after download
32034: Error at SW Reset before download
32035: Error at SW Reset after download
32036: Different system module data after download
32037: Error message(s) lost because of FIFO overflow (acknowledge errors)
32038: Error searching for INIT parameter module
32039: Error reading INIT parameter module
32040: Version of INIT parameter module is not compatible to NC manager
32041: The module acp10cfg does not exist
32042: The module acp10cfg is not an NC data module
32043: The NC module type of the module acp10cfg is invalid
32044: The NC module type of the module acp10cfg cannot be read
32045: The data address in module acp10cfg cannot be read
32046: The data section of module acp10cfg is empty
32047: A CAN node number in module acp10cfg is invalid
32048: A CAN node number in module acp10cfg is used repeatedly
32049: Trace is already active at trace start
32050: A Trace Data Upload is already active
32051: Invalid Trace Status for Trace Data Upload
32052: Error using ev_send() for Trace Data Upload
32053: Error defining Write COB for Parameter Read Request 2
32054: Error defining Write COB for Parameter Write Request 2
32055: Error defining Read COB for Parameter Read Response 2
32056: Error defining Read COB for Parameter Write Response 2
32057: Error accessing HS task class table
32058: Error accessing task class table
32059: Parameter tk_no invalid for access to task class table
32060: Timeout for cyclic data from drive - Indications invalid (network error ?)
32061: Timeout sending a Read Request telegram (network error ?)
32062: Timeout sending a Write Request telegram (network error ?)
32063: Data address zero (set/read parameter via service interface)
32064: Parameter with that type cannot be set with option ncDATA_TEXT
32065: Parameter with that type cannot be read with option ncDATA_TEXT
32066: Parameter ID zero (set/read parameter via service interface)
32067: Parameter ID invalid (set/read parameter with option ncDATA_TEXT)
32069: The data address of the ACOPOS parameters in module acp10cfg cannot be read
32070: Drive for ACOPOS parameters in module acp10cfg not found
32071: The ACOPOS parameters are invalid (an update of AutomationStudio is necessary)
32072: Wrong boot state after SW Reset
32073: Download of NC system module: Error reading NC hardware version of BsLoader
32074: Incompatible NC hardware version: Download of BsLoader not possible
32075: Incompatible NC hardware version: Download of operating system not possible
32076: FIFO for messages with high priority to NC Manager Task is full
32077: A Powerlink node number in module acp10cfg is invalid
32078: A Powerlink node number in module acp10cfg is used repeatedly
32079: With this version one CAN interface must be in module acp10cfg
32080: With this version one Powerlink interface must be in module acp10cfg
32081: With this version only one Powerlink interface is allowed in module acp10cfg
32082: Module acp10cfg contains a CAN interface without any drive node
32083: Module acp10cfg contains a Powerlink interface without any drive node
32084: The NC configuration does not contain any ACOPOS module
32085: Module acp10cfg invalid (AutomationStudio V2.2 or higher necessary)
32086: With this version no CAN interface is allowed in module acp10cfg
32087: With this version no Powerlink interface is allowed in module acp10cfg
32088: The INIT parameter module specified in the NC Deployment Table does not exist
32089: NC-HW-ID of INIT parameter module is not compatible to NC manager
32090: NC object type of INIT parameter module is not equal to NC object
32091: Invalid block data in INIT parameter module (data range exceeded)
32092: Error sending a command to the NC Idle Task
32093: NcManCtrl is defined repeatedly with different values
32094: NetworkInit is defined repeatedly for ncMANAGER with different values
32095: Value of drive group in CAN-CFG-Module higher than maximum value
32096: Size of data buffer for trace data upload in module acp10cfg too small
32097: All counts of used network interfaces in module acp10cfg are zero
32098: Version of the module acp10cfg is not compatible with NC manager
32099: Length of data section of module acp10cfg is too small
32100: Memory for NC error text management cannot be allocated
32101: Error accessing NC error text module in B&R module table
32102: Version ID of error text module not equal to that of NC manager
32103: Data section of error text module cannot be read
32104: Data section of error text module is empty
32105: Length of data section of error text module is too small
32106: Error list of error text module not equal with that of NC manager
32107: Parameter list of error text module not equal with that of NC manager
32108: The last error number of error text module is not equal to 65535
32109: The last parameter ID of error text module is not equal to 65535
32110: Length of data section of CAN-CFG-Module cannot be read
32111: Length of data section of CAN-CFG-Module is too small
32112: The data address in the CAN-CFG-Module cannot be read
32113: The enable code in the CAN-CFG-Module is invalid
32114: Values not equal to zero in reserved area of CAN-CFG-Module
32115: The basis CAN ID for WR/RD channel1 in the CAN-CFG-Module is invalid
32118: The basis CAN ID for monitor data in the CAN-CFG-Module is invalid
32119: Invalid basis CAN ID for cyclic data to the drive in CAN-CFG-Module
32120: Invalid basis CAN ID for cyclic data from the drive in CAN-CFG-Module
32121: The CAN ID for the SYNC telegram in the CAN-CFG-Module is invalid
32122: The CAN ID for the broadcast command in the CAN-CFG-Module is invalid
32123: Error defining Read COB for WR2 Request (external set position mode)
32124: Error defining Read COB for WR2 Response (external set position mode)
32125: Error defining Read COB for RD2 Request (external set position mode)
32126: Error defining Read COB for RD2 Response (external set position mode)
32127: Error deleting Write COB for Broadcast Command (external set position mode)
32128: Error defining Read COB for Broadcast Command (external set position mode)
32129: Error defining Read COB for cyclic user data from drive (ext. set pos. mode)
32130: This external set position mode is only allowed with one CAN interface
32131: The specified NC data module does not exist
32132: The specified module is not an NC data module
32133: The NC module type of the specified NC data module is invalid
32134: The NC module type of the specified NC data module cannot be read
32135: The data address of the specified NC data module cannot be read
32136: The Data section of the specified NC data module is empty

32137: Data address of structure for a data block operation is zero
32138: Data address zero (user data for data block operation)
32139: Data length zero (user data for data block operation)
32140: Data block operation: Data module name or data address must be zero
32141: Invalid data format in a parameter sequence
32142: ID or type of a parameter invalid in parameter sequence with text format
32143: Data of a parameter in a parameter sequence longer than 4 bytes
32144: Error for an ACOPOS Parameter Table specified in the NC Deployment Table
32145: The ACOPOS Parameter Table does not exist
32146: The ACOPOS Parameter Table is not an NC data module
32147: The NC module type of the ACOPOS Parameter Table is invalid
32148: The NC module type of the ACOPOS Parameter Table cannot be read
32149: The data address in the ACOPOS Parameter Table cannot be read
32150: The data section of the ACOPOS Parameter Table is empty
32151: Error initializing memory buffer for XML parser
32152: No XML elements present in an ACOPOS Parameter Table
32153: The first XML element is invalid in the ACOPOS Parameter Table
32154: The ACOPOS Parameter Table does not contain any ACOPOS parameters
32155: Nesting depth for ACOPOS parameter groups exceeded
32156: ID or type of an ACOPOS parameter invalid for text conversion
32157: Length of parameter data too large for ACOPOS parameter in XML data
32158: ACOPOS parameter: An attribute is not defined (ID)
32159: ACOPOS parameter: An attribute is not defined (Value)
32160: Basis movements with mode ncTRG_STOP are not allowed for ncV_AXIS
32161: ncNC_SYS_RESTART,ncACKNOWLEDGE is not allowed (network.init=ncFALSE)
32162: Internal task class number wrong (from now on operation is blocked !!!)
32163: A system module download to all drives is not possible with SwNodeSelect
32164: The text defined with NetworkInit (global) is invalid
32165: A CAN node number is equivalent to HW node number
32166: Network initialization during active network initialization not allowed
32167: The text defined with NetworkInit is invalid
32168: NodeNr_SwNodeSelect is defined repeatedly with different values
32169: The node number defined with NodeNr_SwNodeSelect is invalid
32170: A data module name has to be entered for this data block operation
32171: Index zero is not allowed (user data for data block operation)
32179: ID or type of a parameter invalid in parameter list with text format
32180: Data address of structure for a parameter list operation is zero
32181: Data address zero (user data for parameter list operation)
32182: Data length zero (user data for parameter list operation)
32183: Data length invalid (user data for parameter list operation)
32184: Invalid data format in a parameter list
32185: Data of a parameter in a parameter list longer than 6 bytes
32186: NetBasisInitNr is defined repeatedly for ncMANAGER with different values
32187: Error for synchronization of network initialization (details in Log Book)
32188: This NC object is defined in hardware configuration and NC Deployment Table
32189: Timeout for cyclic data from drive - Indications invalid (network error ?)
32190: Error defining Write COB for selection of node number via software
32191: This parameter ID is reserved for the PLCopen MC library
32195: Error downloading BsLoader to ACOPOS
32196: Error downloading operating system to ACOPOS
32197: Error downloading BsLoader to ACOPOS (additional info in Log Book)
32198: Error downloading operating system to ACOPOS (additional info in Log Book)
32200: Error calling plAcycWrite() (read parameter)
32201: Error calling plAcycWrite() (write parameter)

32202: Error calling plAcycRead() (read parameter)
32203: Error calling plAcycRead() (write parameter)
32204: Timeout while reading par. via acyclic channel (is the drive in the network ?)
32205: Timeout while writing par. via acyclic channel (is the drive in the network ?)
32206: Cyclic channel: Read Request in spite of Wait for Response
32207: Cyclic channel: Write Request in spite of Wait for Response
32208: Error using plACTION_DEVICE_TO_BUS_NR (additional info in Log Book)
32209: Error using plACTION_GET_IDENT (additional info in Log Book)
32210: Wrong interface ident when calling plState() (additional info in Log Book)
32211: Interface not available when calling plState() (additional info in Log Book)
32212: Fatal interface error when calling plState() (additional info in Log Book)
32213: Timeout for Powerlink interface (additional info in Log Book)
32214: Error calling plAcycOpen() (additional info in Log Book)
32215: Error calling plCECreate() (additional info in Log Book)
32216: Error using plACTION_GET_IF_PARAMETERS (additional info in Log Book)
32217: Broadcast channel: Error calling plAcycWrite() (read parameter)
32218: Broadcast channel: Error calling plAcycWrite() (write parameter)
32219: Error using plACTION_GET_IF_MUXPRESCALE (additional info in Log Book)
32220: Error using plACTION_GET_IF_CYCLE_TIME (additional info in Log Book)
32221: Error using plACTION_GET_IF_PRESCALE (additional info in Log Book)
32222: Error using plACTION_GET_STATIONFLAG (additional info in Log Book)
32223: Error calling plGetNodeInfo() (additional info in Log Book)
32235: Data address zero for parameter in parameter sequence
32236: Data address zero for parameter in parameter list
32251: NcNetCyc: Response timeout
32252: NcNetCyc: Unexpected Response (invalid counter value)
32500: The Message FIFO already exists
32501: Error creating Message FIFO
32502: The Critical Section for Command Semaphore already exists
32503: Error creating Critical Section for Command Semaphore
32504: The NC Manager Idle Task already exists
32505: Error creating NC Manager Idle Task
32506: Error reading Taskclass Cycle Time
32507: Error reading Taskclass Tolerance
32509: The Critical Section for Network Command Trace already exists
32510: Error creating Critical Section for Network Command Trace
32511: The Critical Section for messages with high priority already exists
32512: Error creating Critical Section for messages with high priority
33000: Master cycle time is not a multiple of communication cycle time
36001: Parameter limited to valid range
36002: Total time for the position loop controller limited to prediction time
37101: Calculated compensation distance on slave axis limited to maximum
37102: Calculated compensation distance on slave axis limited to minimum
37103: Slave trigger outside of window
37104: Slave trigger missing
37105: Master compensation trigger outside of window
37107: Displacement actual/set position too high during 'controller switch on'
37108: Calculated compensation distance of master axis limited to minimum
37109: Master trigger outside of window
37110: Master position at start higher than first trigger position
37111: Cam profile data: Difference between polynomial value y(xn) and slave period
37112: Polynomial within cam profile data exceeds limit value
38000: Current controller: Motor speed at compensation of current offset too high
38001: Torque limit is additionally limited by peak ACOPOS current
38003: Motor holding brake: Test torque was limited
38004: Motor holding brake: Test torque less than load torque
39001: Encoder: Position correction active
39002: Resolver: Speed limit for 14 bit resolution exceeded
39003: EnDat encoder: Alarm bit is set
39004: EnDat encoder: Alarm bit - Lighting failure
39005: EnDat encoder: Alarm bit - Signal amplitude too small
39006: EnDat encoder: Alarm bit - Position value contains an error
39007: EnDat encoder: Alarm bit - Overvoltage
39008: EnDat encoder: Alarm bit - Undervoltage
39009: EnDat encoder: Alarm bit - Overcurrent
39010: EnDat encoder: Alarm bit - Battery change required
39011: EnDat encoder: Warning bit - Frequency too high
39012: EnDat encoder: Warning bit - Temperature too high
39013: EnDat encoder: Warning bit - Lighting reserve reached
39014: EnDat encoder: Warning bit - Battery charge too low
39016: Incremental encoder emulation: Frequency too high
39017: EnDat encoder: CRC error while reading position
39018: Reference pulse monitoring: Faulty position, resolution, or reference pulse
39301: Digital IO: 24V power supply fail
39302: Digital IO 1-4: Diagnose bit active (current, 24V supply)
39305: Digital IO 10: Diagnose bit active (current, temperature)
41001: Heatsink temperature sensor: Overtemperature
41011: Motor temperature sensor: Overtemperature
41031: Junction temperature model: Overtemperature
41041: Bleeder temperature model: Overtemperature
41051: ACOPOS peak current: Overload
41061: ACOPOS continuous current: Overload
41070: Motor temperature model: Overtemperature
41075: ACOPOS continuous power: Overload
64001: ncalloc in slower task class than defined for NC Manager Task
64002: Delay before SW Reset (network with ascending node numbers ?)
64003: Delay before NC System Start (network with ascending node numbers ?)
64004: The following boot error could be entered here with a delay
64005: Timeout for parameter enable after start of operating system
64006: Drive did not become synchronous with network master
64500: Positive speed limiter active
64501: Negative speed limiter active
64502: Positive direction acceleration torque limiter active
64503: Negative direction acceleration torque limiter active
64504: Positive direction deceleration torque limiter active
64505: Negative direction deceleration torque limiter active
64506: Recovery power limiter active (deceleration too high)
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Info:
Data type:
Description:
Response error while writing or reading an invalid parameter ID.
Reaction:
None.
Cause/Remedy:
See error number 1002.
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ACOPOS Error Texts 2: Data block for upload is not
Start of Chapter
available
Info:
Data type:
Description:
Response error during initialization of an NC system module data block upload (data block read
access). The corresponding NC system module ('acp10sys.br' or 'acp10bsl.br') is not present on
the drive.
Reaction:
Data block read access is not initialized.
Cause/Remedy:
The NC system module was not saved on the drive.

1: Invalid parameter ID 3: Write access for a read-only
Start of Chapter
parameter
3: Write access for a read-only parameter
Info:
Data type:
Description:
Response error while writing a parameter, which does not allow a change in the value.
Reaction:
The parameter value is not accepted.
Cause/Remedy:

2: Data block for upload is not 4: Read access for a write-only
Start of Chapter
available parameter
4: Read access for a write-only parameter
Info:
Data type:
Description:
Response error while reading a parameter, which does not allow read access.
Reaction:
The parameter value is not passed on.
Cause/Remedy:

3: Write access for a read-only 8: Data block read access already
Start of Chapter
parameter initialized
8: Data block read access already initialized
Info:
Data type:
Description:
Response error during initialization of a data block read access (upload), if the previous transfer
has not yet been completed.
Reaction:
Data block read access is not initialized for the parameter ID.
Cause/Remedy:
Sequence error during data block download.
See also error number 1002.

4: Read access for a write-only 9: Data block write access already
Start of Chapter
parameter initialized
9: Data block write access already initialized
Info:
Data type:
Description:
Response error during initialization of a data block write access (download), if the previous
transfer has not yet been completed.
Reaction:
Data block write access is not initialized for the parameter ID.
Cause/Remedy:
Sequence error during data block download.

8: Data block read access already 10: Data block read access not
Start of Chapter
initialized initialized
10: Data block read access not initialized
Info:
Data type:
Description:
Response error while reading a data segment (RD_BLOCK_SEGM, RD_BLOCK_LAST_SEGM), if
no data block upload was initialized.
Reaction:
No data is passed on.
Cause/Remedy:
See error number 8.

9: Data block write access already 11: Data block write access not
Start of Chapter
initialized initialized
11: Data block write access not initialized
Info:
Data type:
Description:
Response error while writing a data segment (WR_BLOCK_SEGM, WR_BLOCK_LAST_SEGM), if
no data block download was initialized.
Reaction:
No data is saved.
Cause/Remedy:
See error number 9.

10: Data block read access not 16: The data segment is already the
Start of Chapter
initialized last when reading the data block
16: The data segment is already the last when reading the data block
Info:
Data type:
Description:
Response error while reading a data segment (RD_BLOCK_SEGM), if the initialized length of the
upload data has already been transferred. The last data segment must be transferred with its
own parameter ID (RD_BLOCK_LAST_SEGM).
Reaction:
The data block upload is aborted.
Cause/Remedy:
See error number 8.

11: Data block write access not 17: The data segment is already the
Start of Chapter
initialized last when writing the data block
17: The data segment is already the last when writing the data block
Info:
Data type:
Description:
Response error while writing a data segment (RD_BLOCK_SEGM), if the initialized length of the
download data has already been transferred. The last data segment must be transferred with its
own parameter ID (WR_BLOCK_LAST_SEGM).
Reaction:
The data block download is aborted. No data is saved.
Cause/Remedy:
See error number 9.

16: The data segment is already the 18: The data segment is not yet the
Start of Chapter
last when reading the data block last when reading the data block
18: The data segment is not yet the last when reading the data block
Info:
Data type:
Description:
Response error while reading the last data segment (RD_BLOCK_LAST_SEGM), if enough
upload data has not yet been transferred for the initialized length.
Reaction:
The data block upload is aborted.
Cause/Remedy:
See error number 8.

17: The data segment is already the 19: The data segment is not yet the
Start of Chapter
last when writing the data block last when writing the data block
19: The data segment is not yet the last when writing the data block
Info:
Data type:
Description:
Response error while writing the last data segment (WR_BLOCK_LAST_SEGM), if enough
download data has not yet been transferred for the initialized length.
Reaction:
The data block download is aborted. No data is saved.
Cause/Remedy:
See error number 9.

18: The data segment is not yet the 21: Checksum after data block write
Start of Chapter
last when reading the data block is invalid
21: Checksum after data block write is invalid
Info:
Data type:
Description:
Response error in BsLoader mode during the data block download of an NC system module
('acp10sys.br' or 'acp10bsl.br'). The checksum of the NC system module (B&R module) is
invalid.
Reaction:
Cause/Remedy:

19: The data segment is not yet the 23: Parameter ID in data block is
Start of Chapter
last when writing the data block invalid (data block write)
23: Parameter ID in data block is invalid (data block write)
Info: Parameter ID
Data type: 'PARID'
Description:
Response error in BsLoader mode during the data block download of an NC system module
('acp10sys.br' or 'acp10bsl.br'). The parameter ID of the data block does not match the
parameter ID entered to the B&R module header of the transferred NC system module.
Reaction:
Cause/Remedy:
The transferred data block is an invalid NC system module.
A BsLoader ('acp10bsl.br') was transferred during the operating system download.
An operating system ('acp10sys.br') was transferred during the BsLoader download.

21: Checksum after data block write 25: Burn system module only allowed
Start of Chapter
is invalid immediately after download
25: Burn system module only allowed immediately after download
Info:
Data type:
Description:
Response error in BsLoader mode during the 'burn NC system module' command. There is no
valid NC system module ('acp10sys.br' or 'acp10bsl.br') present on the drive or the burn
command was not executed immediately following the NC system module download.
Reaction:
NC system module is identified as invalid and cannot be saved (burned to the FLASH memory).
Cause/Remedy:
NC system module download was not executed.
NC system module is malfunctioning, is invalid or is incompatible.
Sequence error during NC system module download.

23: Parameter ID in data block is 27: Operating system not able to be
invalid (data block write) Start of Chapter started (operating system is not on
the FPROM)
27: Operating system not able to be started (operating system is not on

the FPROM)
Info:
Data type:
Description:
Response error during command for changing the boot state, 'start operating system'. There is
no operating system saved on the drive.
Reaction:
The operating system is not started.
Cause/Remedy:

25: Burn system module only allowed 40: Value of parameter higher than
Start of Chapter
immediately after download maximum value
Info: Maximum value

Data type: REAL
Description:
Response error while writing a parameter, if the value is larger than the upper limit for this
parameter.
Reaction:
Cause/Remedy:

27: Operating system not able to be 41: Value of parameter higher than
started (operating system is not on Start of Chapter maximum value
the FPROM)
Info: Maximum value

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

40: Value of parameter higher than 42: Value of parameter higher than
Start of Chapter
maximum value maximum value
Info: Maximum value

Data type: DINT
Description:
Reaction:
Cause/Remedy:

41: Value of parameter higher than 52: Value of parameter lower than
Start of Chapter
maximum value minimum value
Info: Minimum value

Data type: REAL
Description:
Response error while writing a parameter, if the value is smaller than the lower limit for this
parameter.
Reaction:
Cause/Remedy:

42: Value of parameter higher than 53: Value of parameter lower than
Start of Chapter
maximum value minimum value
Info: Minimum value

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

52: Value of parameter lower than 54: Value of parameter lower than
Start of Chapter
minimum value minimum value
Info: Minimum value

Data type: DINT
Description:
Reaction:
Cause/Remedy:

53: Value of parameter lower than 64: Hardware ID in B&R module is
Start of Chapter
minimum value invalid (data block write)
64: Hardware ID in B&R module is invalid (data block write)
Info: Hardware ID
Data type: USINT
Description:
Response error in BsLoader mode during the download of an NC system module ('acp10sys.br'
or 'acp10bsl.br'). The hardware ID in the B&R module header of the NC system module is
invalid or incompatible to the ACOPOS hardware.
Reaction:
Cause/Remedy:
The NC system module cannot be supported by the ACOPOS hardware.

54: Value of parameter lower than 65: Hardware version in B&R module
Start of Chapter
minimum value is invalid (data block write)
65: Hardware version in B&R module is invalid (data block write)
Info: Hardware Revision
Data type: USINT
Description:
Response error in BsLoader mode during the download of an NC system module ('acp10sys.br'
or 'acp10bsl.br'). The hardware version in the B&R module header of the NC system module is
not compatible with the hardware version of the drive.
Reaction:
Cause/Remedy:
Incorrect operating system version or BsLoader version:
BsLoader V047 or operating system V110 is not allowed to be loaded on an ACOPOS servo drive
8Vxxxx.00-1.
BsLoader V0381 or operating system V0390 is not allowed to be loaded on an ACOPOS servo
drive 8Vxxxx.xx-2.

64: Hardware ID in B&R module is 66: The operating system on the
invalid (data block write) Start of Chapter drive is incompatible to the existing
network
66: The operating system on the drive is incompatible to the existing

network
Info: Hardware ID of operating system

Data type: USINT
Description:
Response error in BsLoader mode during the 'change boot state' command. The operating
system cannot be started because the saved operating system does not support the existing
network.
Hardware ID of operating system:

80h...CAN operating system
81h...Powerlink operating system
Reaction:
The command is not executed.
Cause/Remedy:
A Powerlink operating system is saved on a drive with a CAN network card (AC110 plug-in
card).
A CAN operating system is saved on a drive with a Powerlink network card (AC112 plug-in
card).

65: Hardware version in B&R module 67: Necessary parameter is missing
Start of Chapter
is invalid (data block write) or is invalid
67: Necessary parameter is missing or is invalid
Info: Parameter ID
Data type: 'PARID'
Description:
Response error while writing the parameter. A parameter, which is necessary for the
assignment, was not configured or was configured incorrectly
Reaction:
Parameter value is not accepted.
Cause/Remedy:
Parameters were configured in wrong order.
Dependent parameters are missing or were before invalidly configured.
Example: If when switching on the external bleeder not all parameters of the external bleeder
were valid configured, then this error is sent.

66: The operating system on the 1001: Error-FIFO overflow
drive is incompatible to the existing Start of Chapter
network
1001: Error-FIFO overflow
Info:
Data type:
Description:
The FIFO for error messages on the ACOPOS is full. Only runtime errors are entered in this
error FIFO. Response errors are directly sent as response to parameter write or read.
Reaction:
Further error messages are lost.
Cause/Remedy:
Via the network;
- no errors are being read or
- errors are being read too slowly.
On the ACOPOS;
- too many errors are being entered or
- errors are being entered too quickly.
See additionally entered error numbers.

67: Necessary parameter is missing 1002: Parameter outside the valid
Start of Chapter
or is invalid range
1002: Parameter outside the valid range
Info:
Data type:
Description:
Response error while writing a parameter if the value is outside the valid limits.
Reaction:
Cause/Remedy:
Incorrect parameter ID being used for the desired function.
The value is not a valid constant or is not in the allowed selection list.
The value exceeds or does not meet the limits for implementation.
The value is outside of a physically possible range (e.g. negative time).
The data type or data length for this parameter ID is incorrect.
Network transfer error. See also error number 1012.

1001: Error-FIFO overflow 1003: Parameter cannot be written
Start of Chapter
while loop control is active
1003: Parameter cannot be written while loop control is active
Info:
Data type:
Description:
Response error while writing a parameter, which does not allow a change in the value when the
controller is active.
Reaction:
Cause/Remedy:
The parameter was written too late (after the 'switch on controller' command).
The 'switch off controller' command is missing or was not executed in the drive state
(movement active).
Request (delay step) for 'controller off' state is missing.
-> Check program sequence and status request.

1002: Parameter outside the valid 1004: Timeout in network life sign
Start of Chapter
range monitor
1004: Timeout in network life sign monitor
Info:
Data type:
Description:
Runtime error during active network life sign monitoring, if no cyclic telegram arrives for a
specified amount of time (NETWORK_LIVE_CTRL).
Reaction:
All digital outputs (AC130, AC131) are deactivated, (i.e. the output levels are set to LOW and all
switchable IOs are set to input).
When 'switch on controller' command: See error number 4005.

When controller is active: See error number 1011.
Cause/Remedy:
Problem in network life sign monitor:
Time for network life sign monitoring NETWORK_LIVE_CTRL is defined too short.
Network life sign monitoring is activated too early, before cyclic telegrams are sent.
Problem in network data transfer:

Cycle time exceeded, extremely high computing time load or failure of the controller CPU.
Disturbance or disconnection of the network connection. See wiring guidelines error number
7030.
The network load is too high.

1003: Parameter cannot be written 1005: Parameter cannot be written
Start of Chapter
while loop control is active while a movement is active
1005: Parameter cannot be written while a movement is active
Info:
Data type:
Description:
Response error while writing a parameter, which does not allow a change in the value when a
movement is active.
Reaction:
Cause/Remedy:
The parameter was written too late, after a movement start command.
Request (delay step) for 'move complete' state is missing.

1004: Timeout in network life sign 1006: Invalid parameter for trigger
Start of Chapter
monitor event (digital input + edge)
1006: Invalid parameter for trigger event (digital input + edge)
Info:
Data type:
Description:
Response error while writing an event parameter if the value is an invalid digital input or an
invalid trigger edge.
Reaction:
Cause/Remedy:

1005: Parameter cannot be written 1007: Master for network coupling
while a movement is active Start of Chapter deactivated - one master is already
sending
1007: Master for network coupling deactivated - one master is already

sending
Info:
Data type:
Description:
Runtime error when sending cyclic master data (positions) for a network coupling if data is also
received at the same CAN ID (MA1/2/3_CYCLIC_SEND).
Reaction:
The transmission of data is deactivated for this coupling object, to prevent a CAN-BUS-OFF or
position jumps.
Cause/Remedy:
The transmission of data to this coupling object was also activated for another master (network
nodes).
Another device is sending telegrams to the CAN-IDs of the ACOPOS network coupling (125,
126, 127).

1006: Invalid parameter for trigger 1008: Master for network coupling
Start of Chapter
event (digital input + edge) deactivated - Encoder error
1008: Master for network coupling deactivated - Encoder error
Info:
Data type:
Description:
Runtime error when sending cyclic master data for a network coupling if actual positions are
sent and the corresponding encoder sends an error (MA1/2/3_CYCLIC_SEND).
Reaction:
The transmission of data is deactivated for this coupling object, to prevent position jumps.
Cause/Remedy:
See additionally entered encoder error numbers.

1007: Master for network coupling 1009: Error during memory allocation
deactivated - one master is already Start of Chapter
sending
1009: Error during memory allocation
Info:
Data type:
Description:
Response error in dynamic memory management if there is not enough memory for the
requested function.
Reaction:
The most recently requested function is not executed.
The download data is not saved.
Cause/Remedy:
An individual memory area is too large or too much memory was being used:
cam profile data download,
parameter sequence download,
EPROM data download,
creation of function block (FUNCTION_BLOCK_CREATE),
when writing parameters with memory allocation (CAMCON_MAX_CAM, FIFO_MAX_LENGTH)

1008: Master for network coupling 1011: Quickstop input active
Start of Chapter
deactivated - Encoder error
1011: Quickstop input active
Info:
Data type:
Description:
Runtime error in quickstop function if the configured digital input is active.
Reaction:
The 'controller ready' state is reset.
When position control is active (CONTROLLER_MODE=1 or 3):

Movement stopped with the axis limits and by switching off the controller.
When speed control is active (CONTROLLER_MODE=2): See error number 4007.
When U/f control is active (CONTROLLER_MODE=7):

Movement stopped with speed controlled ramp, with axis limits and by switching off the
controller.
When current control is active with commutation (CONTROLLER_MODE=4):

Movement stopped with the current limits and by switching off the controller.
Cause/Remedy:

1009: Error during memory allocation 1012: Breakdown of cyclic network
Start of Chapter
communication
1012: Breakdown of cyclic network communication
Info:
Data type:
Description:
Runtime error if the Firmware for the AC112 network card detects a failure in the cyclic
Powerlink communication.
Reaction:
Cause/Remedy:
Network cabling interruption.
Powerlink station has failed or is switched off.
Too many stations wired together (maximum number of HUB layers, maximum network cable
length).
Too many stations for the configured Powerlink cycle time.
Environmental temperature outside the valid range.
Network plug-in card (AC112) is defective or wrong HW revision.
In the event of network disturbances: See wiring guidelines error number 7030

1011: Quickstop input active 1013: Station is not available for
Start of Chapter
network communication
1013: Station is not available for network communication
Info: Station number

Data type: UINT
Description:
Error configuring cyclic receive data if the network station for a coupling is not available
(CONFIG_MA1/2/3/4/5_CYCLIC_POS).
Reaction:
The cyclic data (position) is not available on the corresponding parameter ID
(MA1/2/3_CYCLIC_POS) and is not updated.
Cause/Remedy:
Invalid station number.

The configuration was written too early.
The station is not yet on the network or has failed.

1012: Breakdown of cyclic network 1016: Maximum cycle time exceeded
Start of Chapter
communication - CPU load too high
1016: Maximum cycle time exceeded - CPU load too high
Info:
Data type:
Description:
Runtime error while processing the mid-priority operating system functions if the computing
time load on the ACOPOS is too high (e.g. set value generation, network processing and
function blocks are no longer completed with the position controller cycle of 400us). The high
priority controller functions are further processed with a rigid cycle.
Reaction:
Depending on the duration and the degree by which the cycle time is exceeded, subsequent
errors can occur (e.g. speed jumps and lag errors).
Cause/Remedy:
Too many function blocks (FUNCTION_BLOCK_CREATE).

1013: Station is not available for 1017: Invalid parameter ID for cyclic
Start of Chapter
network communication read access
1017: Invalid parameter ID for cyclic read access
Info: Parameter ID
Data type: 'PARID'
Description:
Response error configuring a cyclic read access or a data connection using pointer parameter
ID.
Reaction:
The parameter ID is not accepted.
Cause/Remedy:
Invalid parameter ID, the data type is not supported (composite data type or not a 4 byte
value).
Read access not allowed or parameter with a computing-intensive read function.

1016: Maximum cycle time exceeded 1018: Invalid parameter ID for cyclic
Start of Chapter
- CPU load too high write access
1018: Invalid parameter ID for cyclic write access
Info: Parameter ID
Data type: 'PARID'
Description:
Response error configuring a cyclic write access or a data connection using pointer parameter
ID.
Reaction:
Cause/Remedy:
Write access not allowed. Write access not allowed when controller is active or when a
movement is active.

1017: Invalid parameter ID for cyclic 1021: Parameter cannot be written:
Start of Chapter
read access Function block active
1021: Parameter cannot be written: Function block active
Info:
Data type:
Description:
Response error while writing a parameter, which does not allow a change in the value when the
corresponding function block is active.
Reaction:
Cause/Remedy:
The function block does not support an 'online' change of this parameter.
The function block is active in a certain operating state, which does not allow an 'online' change
of this parameter (e.g. MPGEN in a compensation movement).
The parameter was written too late, after activation of the function block or operating state.
The function block was not deactivated before writing the parameter or a status request is
missing.

1018: Invalid parameter ID for cyclic 2001: Upload of trace data not
Start of Chapter
write access allowed: Recording active
2001: Upload of trace data not allowed: Recording active
Info:
Data type:
Description:
Response error during initialization of the data upload (data block read access) if a trace is still
active.
Reaction:
Data block read access is not initialized. The upload cannot be executed.
Cause/Remedy:
Due to a long recording time or because the trigger event has not occurred, the previous trace
has not yet ended.
Status request for 'end trace' missing.
The 'stop trace' command is missing.
-> Check trace parameter for the trigger condition.

1021: Parameter cannot be written: 2003: Trace start not allowed:
Start of Chapter
Function block active Recording active
2003: Trace start not allowed: Recording active
Info:
Data type:
Description:
Response error using 'Start trace' command if a trace is already active.
Reaction:
This does not interrupt the active trace.
Cause/Remedy:

2001: Upload of trace data not 2004: Trace start not allowed: No
Start of Chapter
allowed: Recording active trace test data defined
2004: Trace start not allowed: No trace test data defined
Info:
Data type:
Description:
Response error using 'Start trace' command if no test data has been configured for the trace.
Reaction:
The trace is not started.
Cause/Remedy:
Invalid parameter ID for test data.

2003: Trace start not allowed: Start of Chapter 2006: Initialization of trace
Recording active parameters not allowed: Recording
active
2006: Initialization of trace parameters not allowed: Recording active
Info:
Data type:
Description:
Response error while writing a parameter if a trace is active. 'Online' changes cannot be made
to the trace parameter.
Reaction:
This does not interrupt the active trace.
Cause/Remedy:
The parameter was written too late, after the 'start trace' command.

2004: Trace start not allowed: No 4005: Controller cannot be switched
Start of Chapter
trace test data defined on: Drive in error state
4005: Controller cannot be switched on: Drive in error state
Info:
Data type:
Description:
Response error while switching on the controller if the drive is in an error state. The error LED
indicates the 'controller not ready' state. Additionally, a runtime error is entered, which provides
detailed information about the cause of error. (e.g. error number 1011). This error entry can
also be triggered using a separate command (CMD_ERR_STATE_INTO_FIFO).
Reaction:
The power level is not enabled and the controller is not switched on.
Cause/Remedy:

2006: Initialization of trace 4007: Lag error stop limit exceeded
parameters not allowed: Recording Start of Chapter
active
4007: Lag error stop limit exceeded
Info: Current lag error
Data type: REAL
Description:
Runtime error when position controller is active if the lag error PCTRL_LAG_ERROR exceeds the
configured lag error limit value AXLIM_DS_STOP.
Reaction:
Movement stopped with speed regulated ramp, with axis limits and by switching off the
controller.
Cause/Remedy:
Lag error limit too small (AXLIM_DS_STOP).
Incorrect controller configuration:

- Controller is set too weak.
- Feed forward incorrectly configured (e.g. prediction time = 0).
- Unstable control loop.
Current limiting:
- Increased current. See error number 9030.
- EMF: Operating speed too high and/or network voltage too low. Check if the motor is being
run within the voltage limit sqrt(ICTRL_USD_REF^2+ ICTRL_USQ_REF^2) > UDC_ACT/sqrt(3).
- Current limiting: Check if the current ICTRL_ISQ_REF is limited with the limits sqrt(2)*
MOTOR_CURR_MAX or sqrt(2)* ACOPOS_CURR_MAX.
- Recovery power limiter: Check if UDC_ACT > UDC_BLEEDER_ON and ICTRL_ISQ_REF =
ISQ_MAX_UDC and ICTRL_ISQ_REF = ISQ_MIN_UDC.
- Under-voltage limiter: Check if UDC_ACT < UDC_NOMINAL and ICTRL_ISQ_REF =
ISQ_MAX_UDC and ICTRL_ISQ_REF = ISQ_MIN_UDC.
- Temperature limiter: The current is limited when movement is stopped due to over-
temperature on junction. See error number 9030.
- Torque limiting: Check if the torque TORQUE_ACT is limited with the 4 quadratic torque limiter
(LIM_T1_POS, LIM_T1_NEG, LIM_T2_POS, LIM_T2_NEG).
Speed limiting:
- Speed controller. Check if the speed SCTRL_SPEED_REF is limited with the limits
SCTRL_LIM_V_POS, SCTRL_LIM_V_NEG or MOTOR_SPEED_MAX.
- Position controller. Check if the speed PCTRL_V_ACT is limited with the limit
POS_CTRL_P_MAX.
Encoder position or speed contains an error: See error number 4014.

Motor wiring error: See error number 6045.
Motor defect: See error number 6045.
ACOPOS defect: See error number 6045.

4005: Controller cannot be switched 4008: Positive limit switch reached
Start of Chapter
on: Drive in error state
4008: Positive limit switch reached
Info:
Data type:
Description:
Runtime error when movement is active if the positive limit switch is reached in the positive
direction of movement.
Reaction:
Movement stopped with the axis limits. The controller remains switched on.
Cause/Remedy:
Movement command without target position or with incorrect target position.
SW limits are deactivated or are defined too large.
Slave movement range for cam automats is too large.
When slowly "exiting" a closed limit switch with the cam automats if the master position does
not increase steadily.

4007: Lag error stop limit exceeded Start of Chapter 4009: Negative limit switch reached
4009: Negative limit switch reached
Info:
Data type:
Description:
Runtime error when movement is active if the negative limit switch is reached in the negative
direction of movement.
Reaction:
Movement stopped with the axis limits. The controller remains switched on.
Cause/Remedy:

4008: Positive limit switch reached 4010: Controller cannot be switched
Start of Chapter
on: Both limit switches are closed
4010: Controller cannot be switched on: Both limit switches are closed
Info:
Data type:
Description:
Response error using the 'switch on controller' command if the positive and negative limit
switches are closed.
Reaction:
Cause/Remedy:
The active input level of the limit switch is inverted.
Limit switch falsely closed due to an 'external force' (mechanically blocked, closed manually).
Falsely closed due to HW error (wire break, line termination, wiring error, supply voltage).
For 'endless axes' or 'cyclic axes' without limited movement range and without end switch:
Monitoring of the limit switch can also be deactivated (LIMIT_SWITCH_IGNORE) for an
alternative use of the digital inputs.

4009: Negative limit switch reached 4011: Controller cannot be switched
Start of Chapter
off: Movement active
4011: Controller cannot be switched off: Movement active
Info:
Data type:
Description:
Response error using 'switch off controller' command if a movement is active.
Reaction:
This does not interrupt the active movement.
Cause/Remedy:
The command was written too soon after a movement stop.

4010: Controller cannot be switched 4012: Controller cannot be switched
on: Both limit switches are closed Start of Chapter on: Init parameters missing or not
valid
4012: Controller cannot be switched on: Init parameters missing or not

valid
Info: Parameter ID
Data type: 'PARID'
Description:
Response error using 'switch on controller' command if at least one Init parameter is missing or
was set to an invalid value.
Reaction:
Cause/Remedy:
The command was written too soon in the initialization phase, before the configuration was
completed.
Parameter initialization or request (delay step) for 'Global init' state is missing.
4011: Controller cannot be switched Start of Chapter 4014: Two encoder control: Stop limit
off: Movement active of positions difference exceeded
4014: Two encoder control: Stop limit of positions difference exceeded
Info: Current positions difference

Data type: REAL
Description:
Runtime error when two-encoder position control is active. The difference between position
encoder position and motor encoder position is greater than AXLIM_DS_STOP2.
Reaction:
Cause/Remedy:
Error in the motor/position encoder configuration.
Tolerances in the drive mechanics (fluctuations in the spindle slope, backlash, thermal
expansions in the power transmission system, high accelerations and low rigidity in power
transmission system) require a larger AXLIM_DS_STOP2.
Defective drive mechanics (slip, coupling break)
Encoder position or speed contains an error:

Encoders which were not detected by the position encoder monitor or motor encoder monitor.
Check UP/DOWN LED on the encoder plug-in card and encoder position PCTRL_S_ACT.
Encoder does not meet the specifications of the plug-in card (compare the user's manual and
the encoder data sheet).
Encoder connection is interrupted or defective. See wiring guidelines error number 7030.
Encoder supply defect.
Encoder defective.
Plug-in card defective.
Resolver signal disturbance. See error number 7045.
Resolver signal disturbance. See error number 39002.

4012: Controller cannot be switched 5001: Target position exceeds
on: Init parameters missing or not Start of Chapter positive SW limit
valid
5001: Target position exceeds positive SW limit
Info:
Data type:
Description:
Response error at the start of a movement if the requested target position is larger than the
positive SW limit.
Response error when a movement in the positive direction is active if the current position is
already outside of the positive SW limits.
Reaction:
The requested movement start is not executed.
This will not interrupt an active movement.
Cause/Remedy:
SW limit incorrectly configured.
Incorrect target position.
Incorrect movement command.
The monitor of the SW limits can also be deactivated (SGEN_SW_END_IGNORE) for 'endless
axes' or 'cyclic axes' without limited movement range.

4014: Two encoder control: Stop limit 5002: Target position exceeds
Start of Chapter
of positions difference exceeded negative SW limit
5002: Target position exceeds negative SW limit
Info:
Data type:
Description:
Response error at the start of a movement if the requested target position is smaller than the
negative SW limit.
Response error when a movement in the negative direction is active if the current position is
already outside of the negative SW limits.
Reaction:
Cause/Remedy:

5001: Target position exceeds 5003: Positive SW limit reached
Start of Chapter
positive SW limit
5003: Positive SW limit reached
Info:
Data type:
Description:
Runtime error when movement is active if the braking range of the positive SW limit has been
reached and the set speed is 0.
Reaction:
The movement is deactivated. The controller remains switched on.
Cause/Remedy:
Incorrect movement command without absolute target position (movement in positive
direction).
Positive SW limit incorrectly configured.
Cam automat: The set value generation is too dynamic (speed or acceleration is too high) for
the axis limit AXLIM_A2_POS and therefore exceeds the range of the 'braking parabola' on the
positive SW limit.

5002: Target position exceeds 5004: Negative SW limit reached
Start of Chapter
negative SW limit
5004: Negative SW limit reached
Info:
Data type:
Description:
Runtime error when movement is active if the braking range of the negative SW limit has been
reached and the set speed is 0.
Reaction:
The movement is deactivated. The controller remains switched on.
Cause/Remedy:
Negative SW limit incorrectly configured.
Cam automat: The set value generation is too dynamic (speed or acceleration is too high) for
the axis limit AXLIM_A2_NEG and therefore exceeds the range of the 'braking parabola' on the
negative SW limit.

5003: Positive SW limit reached 5005: Start of movement not
Start of Chapter
possible: Position controller inactive
5005: Start of movement not possible: Position controller inactive
Info:
Data type:
Description:
Response error when starting a movement if the position controller is not active.
Reaction:
Cause/Remedy:
'Switch on controller' command is missing.
Request (delay step) for 'controller on' state is missing.
The controller was switched off due to a drive error.
The controller was activated in a mode without position control, e.g. speed control. Check
CONTROLLER_MODE.
The enable input PCTRL_ENABLE_PARID deactivates position control.

5004: Negative SW limit reached 5006: Start of movement not
Start of Chapter
possible: Axis not referenced
5006: Start of movement not possible: Axis not referenced
Info:
Data type:
Description:
Response error when starting a movement if the home position is not valid.
Reaction:
Cause/Remedy:
The 'reference' command is missing.
The status request (delay step) for 'reference completed' is missing.
The referencing procedure was aborted due to an error.
The monitor for 'reference' can also be deactivated (SGEN_SW_END_IGNORE) for 'endless axes'
or 'cyclic axes' without limited movement range.

5005: Start of movement not 5010: Move in pos. direction not
Start of Chapter
possible: Position controller inactive possible: Pos. limit switch is closed
5010: Move in pos. direction not possible: Pos. limit switch is closed
Info:
Data type:
Description:
Response error when starting a movement. The positive limit switch is closed and the requested
movement is moving in the positive direction.
Reaction:
Cause/Remedy:
Movement command or target position incorrect.

5006: Start of movement not 5011: Move in neg. direction not
Start of Chapter
possible: Axis not referenced possible: Neg. limit switch is closed
5011: Move in neg. direction not possible: Neg. limit switch is closed
Info:
Data type:
Description:
Response error when starting a movement. The negative limit switch is closed and the
requested movement is moving in the negative direction.
Reaction:
Cause/Remedy:

5010: Move in pos. direction not 5012: Start of movement not
Start of Chapter
possible: Pos. limit switch is closed possible: Stop ramp active
5012: Start of movement not possible: Stop ramp active
Info:
Data type:
Description:
Response error when starting a movement if a movement stop is active.
Reaction:
Cause/Remedy:
Missing status request (delay step) following a stop command.
The movement stop was triggered by a drive error.
A movement can also be started in the deceleration ramp after the 'halt basis movement'
command.

5011: Move in neg. direction not 5013: Cyclic set value mode cannot
Start of Chapter
possible: Neg. limit switch is closed be switched on: Movement active
5013: Cyclic set value mode cannot be switched on: Movement active
Info:
Data type:
Description:
Response error when switching on the operating mode 'cyclic, external set
values' (CMD_CYC_SET_VALUE_MODE) if a drive-controlled movement is active. A movement
must first be decelerated to standstill so that the new operating mode can be initialized and a
set value generator external to the drive can be applied without any jumps.
Reaction:
The operating mode 'cyclic, external set values' is not activated.
The current movement is not interrupted.
Cause/Remedy:
A referencing procedure or a basis movement is started and the status request (delay state) for
'move complete' is missing.

5012: Start of movement not 5015: Start of movement not
Start of Chapter
possible: Stop ramp active possible: Homing procedure active
5015: Start of movement not possible: Homing procedure active
Info:
Data type:
Description:
Response error using movement-start command if a homing procedure is active.
Reaction:
This does not interrupt the homing procedure.
Cause/Remedy:
The status request (delay step) for 'reference completed' is missing.
A homing procedure can be ended by a movement stop.

5013: Cyclic set value mode cannot 5016: Parameter cannot be written:
Start of Chapter
be switched on: Movement active Homing procedure active
5016: Parameter cannot be written: Homing procedure active
Info:
Data type:
Description:
Response error while writing a parameter if a homing procedure is active. 'Online' changes
cannot be made to the homing parameter.
Reaction:
This does not interrupt the active homing procedure.
Cause/Remedy:
The parameter was written too late, after the 'start homing procedure' command.

5015: Start of movement not 5017: Homing procedure mode not
Start of Chapter
possible: Homing procedure active possible: Position controller inactive
5017: Homing procedure mode not possible: Position controller inactive
Info:
Data type:
Description:
Response error using 'start homing procedure' command. A homing mode was defined, which
requires a movement and is therefore only possible when control is active (e.g. homing mode
ncSWITCH_GATE).
Reaction:
The homing procedure is not started.
The 'homing position valid' state is reset.
Cause/Remedy:
Incorrect homing mode.
Homing mode ncDIRECT with reference pulse.
'Switch on controller' command is missing.
Request (delay step) for 'controller on' state is missing.
The controller was switched off due to a drive error.

5016: Parameter cannot be written: 5018: Homing procedure not
Start of Chapter
Homing procedure active possible: Movement active
5018: Homing procedure not possible: Movement active
Info:
Data type:
Description:
Response error using 'start homing procedure' command if a movement is active. Homing "on
the fly" is not supported during an active movement.
Reaction:
The currently active movement is not interrupted.
Cause/Remedy:
Movement stop completed is missing.

5017: Homing procedure mode not 5019: Homing parameter outside the
Start of Chapter
possible: Position controller inactive valid range
5019: Homing parameter outside the valid range
Info: Parameter ID
Data type: 'PARID'
Description:
Response error when writing a homing parameter or using 'start homing procedure' command.
An invalid configuration was detected.
Reaction:
When 'start homing procedure' command: See error number 5017.
Cause/Remedy:
According to the parameter ID in the additional info.

5018: Homing procedure not 5020: Homing procedure not
possible: Movement active Start of Chapter possible: Both limit switches are
closed
5020: Homing procedure not possible: Both limit switches are closed
Info:
Data type:
Description:
Response error using 'start homing procedure' command. The positive and negative limit
switches are closed.
Reaction:
Cause/Remedy:

5019: Homing parameter outside the 5021: Limit switch closed: No
valid range Start of Chapter direction change for this homing
mode
5021: Limit switch closed: No direction change for this homing mode
Info:
Data type:
Description:
A homing mode was defined which does not allow a change of direction at the HW limits.
Response error if a limit switch in the start direction is already closed (ncABS_SWITCH) when
the 'start homing procedure' command is given.
Runtime error during homing procedure if a limit switch signal occurred (ncABS_SWITCH,
ncEND_SWITCH).
Reaction:
When 'start homing procedure' command: See error number 5017.
When homing procedure: See error number 5035.
Cause/Remedy:
The HW limit was reached while searching for the edge of the absolute reference switch.
-> HW error at reference switch (wire break, line termination, wiring error, supply voltage).
The reference switch is mounted too close to the limit switch.

5020: Homing procedure not 5022: Second limit switch signal
possible: Both limit switches are Start of Chapter received: Reference switch not found
closed
5022: Second limit switch signal received: Reference switch not found
Info:
Data type:
Description:
Runtime error during homing procedure if a limit switch signal has already occurred two times.
Reaction:
Cause/Remedy:
When searching for a reference switch edge or a reference pulse, the entire range between
positive and negative end switch was covered.
-> HW error at reference switch or encoder (wire break, line termination, wiring error, supply
voltage).
False triggering at a limit switch due to 'bounce'.

5021: Limit switch closed: No 5023: Incorrect limit switch signal
direction change for this homing Start of Chapter received for current movement
mode direction
5023: Incorrect limit switch signal received for current movement

direction
Info:
Data type:
Description:
Runtime error during homing procedure if the negative limit switch signal is reached in the
positive direction or if the positive limit switch signal is reached in the negative direction.
Reaction:
Cause/Remedy:
The reference switch is mounted too close to the limit switch.

5022: Second limit switch signal 5024: Cyclic set value mode aborted:
Start of Chapter
received: Reference switch not found Set positions missing
5024: Cyclic set value mode aborted: Set positions missing
Info:
Data type:
Description:
Runtime error in the operating mode, 'cyclic, external set values'. Linear extrapolation occurs if
a new set position (CYC_MASTER_SET_POS) is not received within the master cycle. This error
is registered if this failure occurs several times consecutively.
Reaction:
Cause/Remedy:
The operating mode 'cyclic, external set values' is activated too early, before set values are
sent.

5023: Incorrect limit switch signal 5025: Homing offset with counting
received for current movement Start of Chapter range correction cannot be set
direction
5025: Homing offset with counting range correction cannot be set
Info:
Data type:
Description:
Response error using 'start homing procedure' command. A homing mode was defined with
counting range correction (+ncCORRECTION). Automatic correction of the homing offset cannot
be performed because the encoder counting range with overflow is not unique in the entire
movement range.
Reaction:
Cause/Remedy:
The maximum encoder counting range is smaller than the movement range between the SW
limits.
-> Difference between the SW limits is too large. Load scaling (units per motor revolutions) is
too small. No absolute encoder (incremental encoder), encoder counting range is too small (e.g.
only 'Single-Turn').
The testing limits exceeded the Integer32 counting range.
-> Value for the SW limits or load scaling is defined too large.

5024: Cyclic set value mode aborted: 5026: Basis movement parameters
Set positions missing Start of Chapter (with override) exceed speed limit
value
5026: Basis movement parameters (with override) exceed speed limit
value
Info:
Data type:
Description:
Response error when starting a movement or writing the speed override. A speed value of the
basis movement parameter multiplied with the override is greater than the corresponding axis
limit.
Reaction:
The requested movement start is not executed, and the speed override is not accepted.
Cause/Remedy:
Speed override greater than 100%.

5025: Homing offset with counting 5027: Basis movement parameters
range correction cannot be set Start of Chapter (with override) exceed acceleration
limit value
5027: Basis movement parameters (with override) exceed acceleration

limit value
Info:
Data type:
Description:
Response error when starting a movement or writing the acceleration override. An acceleration
of the basis movement parameter multiplied with the override is greater than the corresponding
axis limit.
Reaction:
The requested movement start is not executed, and the acceleration override is not accepted.
Cause/Remedy:
Acceleration override greater than 100%.

5026: Basis movement parameters 5028: Current movement is not a
(with override) exceed speed limit Start of Chapter basis movement
value
5028: Current movement is not a basis movement
Info:
Data type:
Description:
Response error using 'halt basis movement' command if the active movement is not a basis
movement.
Reaction:
The requested command is not executed.
Cause/Remedy:
For example, the cam automat or the operating mode 'external, cyclic set values' is active.
-> The 'stop movement' command is allowed for any movement.

5027: Basis movement parameters 5029: Trigger ignored - remaining
(with override) exceed acceleration Start of Chapter distance exceeds SW limit
limit value
5029: Trigger ignored - remaining distance exceeds SW limit
Info:
Data type:
Description:
Runtime error when basis movement is active in the 'stop after trigger' mode. The trigger event
has occurred and the target position (latched position plus remaining distance) is outside the
SW limits.
Reaction:
The trigger event is ignored and the movement remains active.
Cause/Remedy:
The remaining distance is too large or the SW limits are incorrectly defined.
An incorrect position (reference system to the trigger sensor) was set due to a previous homing
procedure.
Trigger sensor too close to the end of the movement range.
Failure of the actual trigger edge (print marks, product edge) and triggering at a subsequent,
undesired trigger edge.

5028: Current movement is not a 5030: Homing procedure mode not
Start of Chapter
basis movement possible: Position controller active
5030: Homing procedure mode not possible: Position controller active
Info:
Data type:
Description:
Response error using 'start homing procedure' command. A homing mode was configured,
which is only possible when the controller is switched off (mode = ncINIT_SET_POS).
Reaction:
Cause/Remedy:
The 'switch off controller' command is missing or was not executed in the drive state
(movement active).
Request (delay step) for 'controller off' state is missing.

5029: Trigger ignored - remaining 5031: Homing procedure mode not
Start of Chapter
distance exceeds SW limit possible: Cyclic set values mode is off
5031: Homing procedure mode not possible: Cyclic set values mode is
off
Info:
Data type:
Description:
Response error using 'start homing procedure' command. A homing mode was configured,
which is only possible in the 'cyclic, external set values' mode (homing mode =
ncINIT_SET_POS).
Reaction:
Cause/Remedy:
The operating mode 'cyclic, external set values' was not switched on or was deactivated due to
a drive error.

5030: Homing procedure mode not 5032: Acceleration too low - braking
Start of Chapter
possible: Position controller active distance exceeds positive SW limit
5032: Acceleration too low - braking distance exceeds positive SW limit
Info:
Data type:
Description:
Response error when starting a movement or writing the acceleration override. A movement is
active and the acceleration was reduced to the point that the braking distance cannot be
maintained up to the positive SW limit.
Reaction:
The requested movement start is not executed, and the acceleration override is not accepted.
This does not interrupt the active movement.
Cause/Remedy:
Movement with absolute target position at the positive SW limits and start of a new movement
with reduced acceleration parameters shortly before the target.

5031: Homing procedure mode not 5033: Acceleration too low - braking
Start of Chapter
possible: Cyclic set values mode is off distance exceeds negative SW limit
5033: Acceleration too low - braking distance exceeds negative SW limit
Info:
Data type:
Description:
Response error when starting a movement or writing the acceleration override. A movement is
active and the acceleration was reduced to the point that the braking distance cannot be
maintained up to the negative SW limit.
Reaction:
Cause/Remedy:
Movement with absolute target position at the negative SW limits and start of a new movement
with reduced acceleration parameters shortly before the target.

5032: Acceleration too low - braking 5034: Homing procedure not
Start of Chapter
distance exceeds positive SW limit possible: Encoder error
5034: Homing procedure not possible: Encoder error
Info:
Data type:
Description:
Response error using 'start homing procedure' command. The corresponding encoder is in an
error state.
Reaction:
Cause/Remedy:
Detail information from additionally entered runtime error in the encoder.

5033: Acceleration too low - braking 5035: Reference marks not detected
Start of Chapter
distance exceeds negative SW limit
5035: Reference marks not detected
Info:
Data type:
Description:
Runtime error while referencing with distance-coded reference marks. The movement range has
already exceeded the general distance, without two mark pulses having occurred (homing mode
DCM).
Reaction:
The homing procedure is aborted.
The 'homing position valid' state is not reset.
Cause/Remedy:

5034: Homing procedure not 5036: Acceleration stop limit
Start of Chapter
possible: Encoder error exceeded
5036: Acceleration stop limit exceeded
Info: Acceleration
Data type: REAL
Description:
Runtime error when cam automat is active or in the operating mode, 'cyclic, external set
values'. The acceleration of the set position exceeds the defined maximum value
(LIM_A_SET_STOP).
Reaction:
Cause/Remedy:
When active cam automats:
Maximum value (LIM_A_SET_STOP) too small.
Set value generation is too dynamic. Speed and acceleration are too high due to:
Overriding additional movements on the additive axes.
External encoder with 'coarse' resolution as master axis.
The dynamics of the master movement are not taken into consideration when forming the
curve.
External master with 'unknown' movement dynamics.
Online change of the multiplication factors.
See error number 5101 for compensation gears.
Cam automat is terminated from a curve with a slope not equal to 0 (EVENT_ST_INDEX=255).
Direct start of the cam automat with moved master from an active basis movement.
Set position jumps due to:
Referencing the master axis or the additive axes.
Jump-causing value change on the additive axes.
Small positions offset between cam profiles and within the polynomial. See error number
37111.
Network error while coupling the master axis to a cyclic network position.
Lag error stop in the master axis (set value jumps to actual value).
In the operating mode, 'cyclic, external set values':
Maximum value (LIM_A_SET_STOP) too small.

Set value generation is too dynamic. Speed and acceleration are too high.
Faulty set value generation.
Actual/set value set falsely after the controller is switched on or following a drive-controlled
movement (homing).
Jump-causing value change of the additive offset (CYC_ADD_SET_PARID).
Network error.

5035: Reference marks not detected 5101: Cam profile compensation
Start of Chapter
gears: Limit values exceeded
5101: Cam profile compensation gears: Limit values exceeded
Info:
Data type:
Description:
Runtime error when cam automats are active during the calculation of a compensation gear.
The speed or acceleration limits cannot be maintained with the combination of current
parameters, connection curves and compensation paths. On the other hand, the 'effective'
master/slave compensation paths result depending on compensation modes, compensation
path parameters, multiplication factors and curve periods. Is only registered once following a
start or restart.
Reaction:
The compensation is calculated using excessive values.
For example, the maximum slave speed is increased by the entry or exit speed.
Cam automat movement remains active. However, subsequent errors may occur (e.g. error
number 4007).
Cause/Remedy:
'Effective' master compensation path too short. See also error number 37108.
'Effective' master compensation path too long in connection with AUT_COMP_SL_V_MIN.
'Effective' slave compensation path too short or too long. See also error number 37101 and
Error number 37102.
Maximum speed value of the master axis AUT_MA_V_MAX too large.
Maximum speed value of the master axis AUT_MA_V_MAX too small in connection with
AUT_COMP_SL_V_MIN.
Exit slope of the curve of the 'old' state is too large.
Entrance slope of the curve of the 'new' state is too large (multiplication factor of the slave
axis).
Maximum slave speed value AUT_COMP_SL_V_MAX too small.
Minimum slave speed value AUT_COMP_SL_V_MIN too large.
Maximum slave acceleration value in the first part of the compensation AUT_COMP_SL_A1_MAX
too small.
Maximum slave acceleration value in the second part of the compensation
AUT_COMP_SL_A2_MAX too small.

5036: Acceleration stop limit 5102: Too many changes of cam
exceeded Start of Chapter profile per cycle (master period too
short)
5102: Too many changes of cam profile per cycle (master period too
short)
Info:
Data type:
Description:
Runtime error when cam automats are active if consecutive scan cycles (calculation cycle
400us) require a cam profile change each time. A maximum of one cam profile change is
executed in a scan cycle. If this maximum 'frequency of change' is no longer sufficient, then the
cam profiles lose their shape and the position relationship between the master and slave is lost.
Reaction:
Cam automat movement aborted with the axis limits.
Cause/Remedy:
Speed too high in the master axis or an additive axis.
Position jumps in the master axis or an additive axis.
Master period of a cam profile or a compensation gear too short.
Master multiplication factor too small.
Change-of-state event with the attribute ncAT_ONCE occurs too often.

5101: Cam profile compensation 5103: Slave trigger FIFO full
Start of Chapter
gears: Limit values exceeded
5103: Slave trigger FIFO full
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if the trigger FIFO for the slave
axis is full.
Reaction:
Cause/Remedy:
Too many faulty triggers in connection with a trigger window which is too large. This mostly
happens if the trigger window is larger than the half interval (CAM_SL_TRIG_WINDOW >
(CAM_SL_S_SYNC + CAM_SL_S_COMP) / 2).

5102: Too many changes of cam 5104: Slave trigger FIFO empty
profile per cycle (master period too Start of Chapter
short)
5104: Slave trigger FIFO empty
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if the trigger FIFO for the slave
axis is empty.
Reaction:
Cause/Remedy:
Trigger signal when FIFO size is 1 (CAM_SL_S_TRIG small) in connection with a large trigger
window (CAM_SL_TRIG_WINDOW). When a trigger failure occurs, a replacement value is
entered after the window position is exceeded.

5103: Slave trigger FIFO full Start of Chapter 5105: Master trigger FIFO full
5105: Master trigger FIFO full
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if the trigger FIFO for the
master axis is full.
Reaction:
Cause/Remedy:
Too many false triggers when a FIFO length is at the maximum limit (CAM_MA_S_TRIG large
and (CAM_MA_S_SYNC + CAM_MA_S_COMP) small). This mostly happens if the trigger window
is larger than the half interval (CAM_MA_TRIG_WINDOW > (CAM_MA_S_SYNC +
CAM_MA_S_COMP) / 2).

5104: Slave trigger FIFO empty Start of Chapter 5106: Master trigger FIFO empty
5106: Master trigger FIFO empty
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if the trigger FIFO for the
master axis is empty.
Reaction:
Cause/Remedy:
No trigger signal when FIFO size is 1 (CAM_MA_S_TRIG small) in connection with a large trigger
window (CAM_MA_TRIG_WINDOW).
The information 'Product not available' is entered after the window position has been exceeded.

5105: Master trigger FIFO full 5107: Cam coupling cannot be
Start of Chapter started: Parameter outside the valid
range
5107: Cam coupling cannot be started: Parameter outside the valid range
Info: Parameter ID
Data type: 'PARID'
Description:
Response error at start and restart of the cam automat (CMD_CAM_START) if an invalid
configuration was detected.
Reaction:
The cam automat start is not executed.
Cause/Remedy:
The parameter ID of the additional information differentiates between the following causes:
CAM_MA_S_START
The current master position has already exceeded CAM_MA_S_START.
CAM_MA_V_MAX
The slave speed exceeds the axis limit value. This means that the maximum speed of the
master axis or the cam profile slope is too large ((CAM_MA_V_MAX * CAM_SL_S_SYNC /
CAM_MA_S_SYNC) > AXLIM_V_POS).
CAM_SL_S_COMP_MIN
Slave axis compensation path is smaller than the minimum value (CAM_SL_S_COMP <
CAM_SL_S_COMP_MIN)
CAM_SL_S_COMP_MAX
Slave axis compensation path is larger than the maximum value (CAM_SL_S_COMP >
CAM_SL_S_COMP_MAX)
CAM_MA_TRIG_WINDOW
Master axis trigger window is larger than the interval (CAM_MA_TRIG_WINDOW >
(CAM_MA_S_SYNC + CAM_MA_S_COMP))
CAM_MA_COMP_TRIG_WINDOW
Master axis compensation trigger window is larger than the interval
(CAM_MA_COMP_TRIG_WINDOW > (CAM_MA_S_SYNC + CAM_MA_S_COMP))
CAM_SL_TRIG_WINDOW
Slave axis trigger window is larger than the interval (CAM_SL_TRIG_WINDOW >
(CAM_SL_S_SYNC + CAM_SL_S_COMP))
CAM_MA_S_TRIG
Master trigger FIFO exceeds the maximum length. This means the relative trigger position of
the master axis is too large or the interval is too small.
CAM_MA_S_COMP_TRIG
Master compensation trigger FIFO exceeds the maximum length. This means the relative
position compensation trigger of the master axis is too large or the interval is too small.
CAM_SL_S_TRIG
Slave trigger FIFO exceeds the maximum length. This means the relative trigger position of the
slave axis is too large or the interval is too small.

5106: Master trigger FIFO empty 5108: Master compensation trigger
Start of Chapter
FIFO full
5108: Master compensation trigger FIFO full
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if the compensation trigger FIFO
for the master axis is full.
Reaction:
Cause/Remedy:
Too many false triggers when a FIFO length is at the maximum limit (CAM_MA_S_COMP_TRIG
large and (CAM_MA_S_SYNC + CAM_MA_S_COMP) small).
This mostly happens if the trigger window is larger than the half interval
(CAM_MA_COMP_TRIG_WINDOW > (CAM_MA_S_SYNC + CAM_MA_S_COMP) / 2).

5107: Cam coupling cannot be 5109: Master compensation trigger
started: Parameter outside the valid Start of Chapter FIFO empty
range
5109: Master compensation trigger FIFO empty
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if the compensation trigger FIFO
for the master axis is empty.
Reaction:
Cause/Remedy:
No trigger signal when FIFO size is 1 (CAM_MA_S_COMP_TRIG small) in connection with a large
trigger window (CAM_MA_COMP_TRIG_WINDOW).
The information 'Product not available' is entered after the window position has been exceeded.

5108: Master compensation trigger 5110: Cam coupling aborted: Cyclic
Start of Chapter
FIFO full set positions missing
5110: Cam coupling aborted: Cyclic set positions missing
Info:
Data type:
Description:
Runtime error while coupling to a cyclic network position (MA1/2/3_CYCLIC_POS). Linear
extrapolation occurs if a new set position is not received within the master cycle. This error is
registered if this failure occurs several times consecutively.
Reaction:
Movement aborted with the axis limits and coupling aborted.
Cause/Remedy:
Coupling is activated too soon, before set values are sent.
The sending of set values was not activated or the master station failed.
The master cycle is too short or the network load is too high.
Disturbance or disconnection of the network connection. See also error number 1012.

5109: Master compensation trigger 5111: Cam coupling aborted: Encoder
Start of Chapter
FIFO empty error
5111: Cam coupling aborted: Encoder error
Info:
Data type:
Description:
Runtime error when cam automat is active if the master axis is made up of an encoder position
and the encoder evaluation detects an error.
Reaction:
Cause/Remedy:
Detail information from additionally entered runtime error in the encoder.

5110: Cam coupling aborted: Cyclic 5112: Command not allowed: Cam
Start of Chapter
set positions missing profile coupling not active
5112: Command not allowed: Cam profile coupling not active
Info:
Data type:
Description:
Response error using the 'Switch controller on/off when cam automat is active' command if the
automat is not active (CMD_CAM_CONTROLLER and CMD_AUT_CONTROLLER).
Reaction:
The command is not executed. The controller state remains unchanged.
Cause/Remedy:
The cam automat was not started.
The cam automat was ended due to a drive error or a command.

5111: Cam coupling aborted: Encoder 5113: Command not allowed:
Start of Chapter
error Controller is already active
5113: Command not allowed: Controller is already active
Info:
Data type:
Description:
Response error using the 'Switch on controller when cam automat is active' command if the
controller is already on (CMD_CAM_CONTROLLER=ncSWITCH_ON).
Reaction:
The controller state remains unchanged.
Cause/Remedy:
The controller was already on.
The controller was not switched off earlier.

5112: Command not allowed: Cam 5114: Parameter cannot be written:
Start of Chapter
profile coupling not active Cam coupling active
5114: Parameter cannot be written: Cam coupling active
Info:
Data type:
Description:
Response error while writing a parameter, which does not allow an online change when the
controller is active (CMD_CAM_START).
Reaction:
Cause/Remedy:
The parameter was written too late (after the cam automat start).
The parameter was written too soon (before the cam automat movement was aborted).

5113: Command not allowed: 5115: Restart command not possible:
Start of Chapter
Controller is already active The cam automat is not active
5115: Restart command not possible: The cam automat is not active
Info:
Data type:
Description:
Response error when restarting (ncRESTART) the cam automat if the automat function is not
active.
Reaction:
The cam automat restart is not executed.
Cause/Remedy:
The cam automat has not yet ever been started 'normally' using ncSTART.
The cam automat was terminated previously using ncSTOP.
The cam automat was previously terminated using the end state 255 (only for
CMD_AUT_START).

5114: Parameter cannot be written: 5201: Parameter cannot be written:
Start of Chapter
Cam coupling active Drumsequencer active
5201: Parameter cannot be written: Drumsequencer active
Info:
Data type:
Description:
Response error while writing a parameter, which does not allow an online change when the
drum sequencer is active (CMD_DRUMSEQ=ncSTART).
Reaction:
Cause/Remedy:
The parameter was written too late (after the drum sequencer start).
-> Check program sequence.

5115: Restart command not possible: 5202: Drumsequencer: Switch
Start of Chapter
The cam automat is not active positions not in ascending order
5202: Drumsequencer: Switch positions not in ascending order
Info:
Data type:
Description:
Response error using the drum sequencer (CMD_DRUMSEQ=ncSTART) or using the drum
sequencer function block (CAMCON_CAM_S2). The start position of a cam in the interval is
larger than the end position or the positions of neighboring cams overlap.
Reaction:
The drum sequencer (CMD_DRUMSEQ) is not started.
The parameter value (CAMCON_CAM_S2) is not accepted.
Cause/Remedy:
Cams were not deactivated when reconfiguring or the number of cams was not reduced ('old
cams' remain).
The configuration order was switched (first the start position, then the end position).

5201: Parameter cannot be written: 5300: Data block for upload is not
Start of Chapter
Drumsequencer active available
Info:
Data type:
Description:
Response error when initializing a data upload (data block read access) if no data is present at
the current index.
For example; cam profile data or data from a parameter sequence.
Reaction:
Data block read access is not initialized. The upload cannot be executed.
Cause/Remedy:
Invalid data index.
A download has not yet been performed for the data index.
The download for the data index was executed earlier with invalid data.

5202: Drumsequencer: Switch 5302: Parameter cannot be written:
Start of Chapter
positions not in ascending order Cam automat active
5302: Parameter cannot be written: Cam automat active
Info:
Data type:
Description:
Response error while writing a parameter, which does not allow an online change when the cam
automat is active (CMD_AUT_START).
Reaction:
Cause/Remedy:
The parameter was written too late (after the cam automat start).

5300: Data block for upload is not 5303: Cam profile data not available
Start of Chapter
available at index
5303: Cam profile data not available at index
Info:
Data type:
Description:
Response error while writing a data index if no cam profile data is present at this index.
Reaction:
The data index is not accepted.
Cause/Remedy:

5302: Parameter cannot be written: 5304: Format error in cam profile
Start of Chapter
Cam automat active data
5304: Format error in cam profile data
Info: Detail
Data type: UINT
Description:
Response error at the last data segment of the cam profile download (AUT_POLY_DATA). The
polynomial data is checked for validity before the cam profile is accepted.
Reaction:
The new cam profile is not accepted.
A previously valid cam profile with this data index is kept.
Cause/Remedy:
Detail
1: The number of polynomials does not fall within the range of 1-64.
2: The coefficient a1 for the y-shift of the 1st polynomial is not 0.
3: Invalid float value range for a coefficient.
4: A polynomial master position xi is negative or smaller than the previous master position.
5: The last master position xn does not correspond to the master interval (period).
6: The polynomial function value y(xn) at the end of the master interval does not correspond to
the slave interval. See also error number 37111.
7: The length of the master period (period) is too small or is negative.
8: The number of bytes in the data block does not fall within the range of 1-64 polynomials.
9: The value for 'reserve' is not 0.

5303: Cam profile data not available 5311: Cam automat: Event leads to
Start of Chapter
at index non initialized state
5311: Cam automat: Event leads to non initialized state
Info:
Data type:
Description:
Response error while writing CMD_AUT_ST_CHECK. Parameter checks of the automat state are
performed.
Reaction:
None.
Cause/Remedy:
An event was configured in this state, which leads to a state without valid cam profile data.
The event was incorrectly configured (AUT_EVENT_ST_INDEX).
The state at AUT_EVENT_ST_INDEX has not yet been completely configured.

5304: Format error in cam profile 5315: Download error: Cam profile
data Start of Chapter data in use by cam automat or
function block
5315: Download error: Cam profile data in use by cam automat or

function block
Info:
Data type:
Description:
Response error at the last data segment of the cam profile download (AUT_DATA_INDEX,
AUT_POLY_DATA). A download for this data index has already been executed several times
(online change of cam profiles). These cam profiles have not yet been enabled and too many
cam profiles are now being used with the same index.
Reaction:
The new cam profile is not accepted.
A previously valid cam profile with this data index is kept.
Cause/Remedy:
Download to the wrong data index.
The lock for consistent online parameter change (AUT_ONL_PAR_LOCK) is not reset.
Too many instances are using the same cam profile. For example, cam automat real and virtual
axis, CURVE function blocks.
The cam profile is not enabled (e.g. the cam profile master axis does not move, therefore
remaining in the curve).
CURVE function blocks continually block a curve.
-> For online change and static application, no common data index should be used. If the same
cam profile is required, it can be transferred to a second data index.

5311: Cam automat: Event leads to 5316: Event type
non initialized state ncST_END+ncNEGATIVE is not
Start of Chapter
possible for entry in compensation
gears
5316: Event type ncST_END+ncNEGATIVE is not possible for entry in

compensation gears
Info:
Data type:
Description:
performed.
Reaction:
None.
Cause/Remedy:
An event for the negative direction of movement was configured in this state
(AUT_EVENT_TYPE=ncST_END+ncNEGATIVE), which causes a state with compensation gears.
The calculation of a compensation is only executed for the positive direction.

5315: Download error: Cam profile 5317: Start of cam automat leads to
data in use by cam automat or Start of Chapter non initialized state
function block
5317: Start of cam automat leads to non initialized state
Info:
Data type:
Description:
Response error at the start of the cam automat (CMD_AUT_START) directly in a certain state.
In this state, there is no cam profile data at AUT_START_ST_INDEX or the state was selectively
deactivated (AUT_ST_DATA_INDEX=0).
Reaction:
Cause/Remedy:
The state has not yet been completely configured.
Invalid state index.

5316: Event type 5318: Relative distance of master
ncST_END+ncNEGATIVE is not axis higher than cam profile period
Start of Chapter
possible for entry in compensation
gears
5318: Relative distance of master axis higher than cam profile period
Info:
Data type:
Description:
Response error at the start of the cam automat (CMD_AUT_START, AUT_START_ST_INDEX)
directly in a certain state. The parameter AUT_CAM_MA_S_REL, for the master start position
within the curve exceeds the total length of the curve.
Reaction:
Cause/Remedy:
Invalid state index.
AUT_CAM_MA_S_REL is too large.
Master interval of the curve is too small.
Multiplication factor for the master axis is too small.

5317: Start of cam automat leads to 5319: Cam profile data not allowed
Start of Chapter
non initialized state for state 0
5319: Cam profile data not allowed for state 0
Info:
Data type:
Description:
Response error while writing AUT_ST_DATA_INDEX. Only the data index 0 is allowed in the
basis state (AUT_ST_INDEX=0). It is not possible to use a cam profile.
Reaction:
None.
Cause/Remedy:
Invalid data index or state index.
In the event that the cam automat being with a cam profile, the respective state can be
configured with AUT_START_ST_INDEX (direct start).

5318: Relative distance of master 5329: No valid cam profile data or
Start of Chapter
axis higher than cam profile period state deactivated
5329: No valid cam profile data or state deactivated
Info:
Data type:
Description:
performed.
Reaction:
None.
Cause/Remedy:
There is no cam profile data in this state.
The state was selectively deactivated (AUT_ST_DATA_INDEX=0).
The state has not yet been completely configured.

5319: Cam profile data not allowed 6000: Master sampling time is not a
for state 0 Start of Chapter multiple of position controller
sampling time
6000: Master sampling time is not a multiple of position controller

sampling time
Info:
Data type:
Description:
Response error while writing the master cycle time. The master cycle time cannot be divided by
the position controller cycle time (400us).
Reaction:
The master cycle time is not accepted.
Cause/Remedy:
When using Powerlink, see also error number 1012.

5329: No valid cam profile data or 6001: Sync controller: Timeout for
Start of Chapter
state deactivated sync telegram occurred
6001: Sync controller: Timeout for sync telegram occurred
Info:
Data type:
Description:
Runtime error during drive synchronization. No synchronization telegram was received within
the 5x period duration of the synchronization telegram SYNC_MSG_PERIOD.
Reaction:
The 'drive synchronous' state is reset.
Position jumps can occur during network coupling.
Set value jumps can occur during the operating mode 'external, cyclic set values'.
Cause/Remedy:
Synchronization master was switched off or failed (application, power failure, voltage drop,
AC110 plug-in card defective)
Network connection to the synchronization master is defective or has been interrupted. See
wiring guidelines error number 7030.
Check terminating resistors.
Defective bus station in the entire system.
The network load is too high. As a result, the synchronization telegram is sent with a delay due
to its low priority.
This error can only occur in a CAN network.

6000: Master sampling time is not a 6002: Sync controller: Error tolerance
multiple of position controller Start of Chapter of system time difference exceeded
sampling time
6002: Sync controller: Error tolerance of system time difference

exceeded
Info:
Data type:
Description:
Runtime error during drive synchronization. The deviation of the master system time to the
slave system time SYNC_SYS_TIME_DIFF is too high.
Reaction:
Cause/Remedy:
The deviation of the quartz frequencies from master to slave which make up the system time is
too high.
In a CAN network with low-level drive synchronization, the synchronization telegram was
transferred with a delay due to high network load.
When using Powerlink, see error number 1012.

6001: Sync controller: Timeout for 6008: Controller is already active
Start of Chapter
sync telegram occurred
6008: Controller is already active
Info:
Data type:
Description:
Response error using the commands 'Set controller mode' and 'Switch on controller'. Switching
the controller mode while the controller is active is not allowed.
Reaction:
Cause/Remedy:
The controller must be switched off before the command is written.

6002: Sync controller: Error tolerance 6011: Controller is not in speed mode
Start of Chapter
of system time difference exceeded
6011: Controller is not in speed mode
Info:
Data type:
Description:
Response error while writing a set speed value SCTRL_SPEED_REF, SCTRL_V_SET_UNITS,
SCTRL_V_SET_SCALE. The parameter cannot be written while the controller mode is active.
Reaction:
Set speed value is not accepted.
Cause/Remedy:
A set speed value can only be written in the following controller modes:
- Speed control (CONTROLLER_MODE = 2)
- Position control (CONTROLLER_MODE = 1 or 3) with deactivated position controller

6008: Controller is already active Start of Chapter 6014: Drive initialization active
6014: Drive initialization active
Info:
Data type:
Description:
Runtime error using the 'switch on controller' command. See also error number 4005.
An initialization accesses the FLASH memory. The controller may not be switched on during
access.
Reaction:
Cause/Remedy:
An initialization was started by changing the encoder type from ncINC to ncSSI when using an
AC123 plug-in card. The command 'switch on controller' was made during this phase.
-> Request the status 'controller ready' before the command 'switch on controller'.

6011: Controller is not in speed mode 6015: CAN controller: CAN bus
Start of Chapter disturbance (receive error counter
greater 96)
6015: CAN controller: CAN bus disturbance (receive error counter

greater 96)
Info: Slot
Data type: USINT
Description:
Runtime error when using an AC110 plug-in card. Any CAN network node can detect
malfunctions. To do this, a CAN node contains a send and receive error counter, which is
incremented when a send or receive procedure containing an error is detected and is
decremented when a send or receive procedure occurs without errors. The error counter is
incremented further when an error occurs than it is decremented when the transfer is
successful.
Therefore, the state of the error counter is a measurement for the relative frequency of
disturbances. If a network node detects an error which only has local effects, then the error flag
triggered by this node causes a subsequent signal to all other network nodes. Using the point in
time that the error flag was completed, the network nodes know if they were the first to signal
the error. To localize the error, receive-errors and send-errors in the node that signaled an
error while receiving or sending the node are incremented by a considerably higher amount (9x
or 8x) than the counter of the secondary signalizing node. If the first detection of an error by
the same node exceeds a certain frequency, then it is very likely that this node is defective. By
exceeding certain error counter limits measures are taken to limit the influence of an affected
node on the network. These measures include the notification of an increased error counter
state, prohibiting the sending of active error flags when a high error counter state is reached
and automatically switching off the node when a very high send-error counter state is reached.
The counter state cannot be read.
This error notifies of the arrival of the receive-error counter state 96.
Reaction:
Cause/Remedy:
The network is interrupted or defective. See wiring guidelines error number 7030.
Check terminating resistors.
AC110 plug-in card defective.
CAN network defective in the entire system.

6014: Drive initialization active 6016: CAN controller: CAN bus
Start of Chapter disturbance (transmit error counter
greater 96)
6016: CAN controller: CAN bus disturbance (transmit error counter

greater 96)
Info: Slot
Data type: USINT
Description:
Runtime error in the CAN network. This error notifies of the arrival of the send-error counter
state 96.
Reaction:
Cause/Remedy:
CAN bus stations with the same node number in the entire system.

6015: CAN controller: CAN bus 6017: Software: Watchdog active
disturbance (receive error counter Start of Chapter
greater 96)
6017: Software: Watchdog active
Info:
Data type:
Description:
Runtime error during the processing of operating system functions with middle priority. A
timeout occurred during a function call. Network communication can no longer be guaranteed.
Reaction:
Cause/Remedy:
ACOPOS hardware defect.
Operating system malfunction.

6016: CAN controller: CAN bus 6018: Hardware: 15V power supply
disturbance (transmit error counter Start of Chapter fail
greater 96)
Info:
Data type:
Description:
Runtime error in the hardware monitor using the 'switch on controller' command or while the
controller is active. See also error number 4005.
The internal 15V supply voltage is defective. Depending on the hardware this supply is used for
the plug-in cards, fans, current measurement, DC bus relay, etc.
Reaction:
Cause/Remedy:
Failure or voltage dip in the 24VDC supply voltage for the servo drive.
Failure or voltage dip in the mains supply for the servo drive.

6017: Software: Watchdog active Start of Chapter 6019: ACOPOS: Overcurrent
6019: ACOPOS: Overcurrent
Info:
Data type:
Description:
Runtime error if at least one of the six transistors in the inverter or the transistor for the
braking resistor registers overcurrent.
When using the following ACOPOS servo drives, this error is also registered for overcurrent in
the current transformer (U and V):
8V1180.xx-x....95.4 Apeak
8V1320.xx-x....160.4 Apeak
8V1640.xx-x....400.0 Apeak
8V128M.xx-x....585.0 Apeak
Reaction:
Synchronous motor: Movement stop with short-circuit braking.
Asynchronous motor: Movement stop by switching off the power section and switching on the
holding brake.
If the error occurs two times consecutively, then a movement is stopped by switching off the
power section and switching on the holding brake.
Cause/Remedy:
Motor wiring error:
- Phase and ground conductor switched. -> Check if the ground conductor PE in the motor cable
on the X5 plug is connected with motor phase U, V or W.
- Short circuit in the motor cable. Short circuit between two phases, ground PE and phase or
shield and phase. -> Check the resistance between U-V, V-W, W-U, U-PE, V-PE, W-PE, U-shield,
V-shield and W-shield.
Motor defect:
- Winding short in a motor phase. -> Check on the motor plug and on the motor terminals if
two of the three motor impedances (phase-phase) have lowered.
- Winding short between two motor phases. -> Check on the motor plug and on the motor
terminals if one of the three motor impedances (phase-phase) has lowered.
- Housing short between motor phase and housing. -> Using a continuity tester or a
megohmmeter, check the insulation resistance between the motor phases and the housing.
ACOPOS servo drive defect:

- Alloyed transistor or control in a half-bridge defective. -> Check if the error is also registered
when the motor cable is unplugged.
- Alloyed transistor or control for braking resistor defective. -> Check if the error is registered
when the DC bus voltage UDC_ACT is greater than the switch-on voltage of the braking resistor
UDC_BLEEDER_ON.
- Problem with current measurement. -> Check the phase current when the power section is
switched off.
External braking resistor defect:

- Short circuit. -> Check if the error is also registered when the external braking resistor is not
connected.
Set current value jump: See error number 9300. This cause is more likely on devices with
current transformer monitoring.

6018: Hardware: 15V power supply 6020: Hardware: 24V power supply
Start of Chapter
fail fail
Info:
Data type:
Description:
controller is active. See also error number 4005.
The 24VDC supply voltage has sunk below the minimum limit (see ACOPOS user's manual).
Reaction:
Cause/Remedy:
Supply voltage via DC bus power supply:
Problems with the VAC power supply (wire breakage, control, power failure, dip in power, etc)
Voltage supply via an external power supply:

Problem with the 24VDC supply voltage (cable breakage, control, power supply overload, power
supply failure, etc)

6019: ACOPOS: Overcurrent 6021: Low level at controller enable
Start of Chapter
input
6021: Low level at controller enable input
Info:
Data type:
Description:
controller is active. The controller enable input is not being supplied with enough voltage.
Reaction:
When controller is active:

Movement stop by switching off the IGBT output stage and switching on the holding brake.
Cause/Remedy:
Triggered by external operation or external factors (application program or manual operation).
False triggering due to defective hardware or malfunctions (broken connection, line termination,
wiring error, control hardware defective or failed, ACOPOS 24VDC supply voltage,
malfunctions). See also wiring guidelines error number 7030.


6020: Hardware: 24V power supply 6022: Current controller: Permissible
Start of Chapter
fail current offset values exceeded
6022: Current controller: Permissible current offset values exceeded
Info:
Data type:
Description:
Runtime error while switching on the current controller. The offset values for current
measurement are aligned in this phase. The power level is switched on and the motor is
supplied with zero voltage. The measured currents were too large for the offset alignment.
Reaction:
Cause/Remedy:
When using a synchronous motor, the rotor (secondary element) is in motion while the
controller is being switched on. As a result, voltage is induced and the current is supplied in the
DC bus during the current offset alignment. The measured current is interpreted as offset
current.
ACOPOS hardware defect (current measurement, IGBT module, IGBT controller).

6021: Low level at controller enable 6023: Voltage sag at controller
Start of Chapter
input enable input
6023: Voltage sag at controller enable input
Info:
Data type:
Description:
controller is active. A voltage sag occurs on the controller enable input (contact ENABLE on
connector X1).
Reaction:

Cause/Remedy:
Triggered by external operation or external factors (application program or manual operation).
False triggering due to defective hardware or malfunctions (broken connection, line termination,
wiring error, control hardware defective or failed, ACOPOS 24VDC supply voltage,
malfunctions). See also wiring guidelines error number 7030.

ACOPOS servo drive defect.

6022: Current controller: Permissible 6024: Current was latched before
Start of Chapter
current offset values exceeded conversion (OpSys error in ABLS)
6024: Current was latched before conversion (OpSys error in ABLS)
Info:
Data type:
Description:
Runtime error while reading the measured line currents. The line currents and temperatures are
recorded consecutively per cycle (multiplexed). The exact time of the read access to the
converted current values took place while recording the temperature. Read access in this
timeframe causes incorrect current values.
Reaction:
Cause/Remedy:
Error in the operating system
This error could only occur on ACOPOS servo drives 8Vxxxx.00-1.

6023: Voltage sag at controller 6025: Temperature was latched
enable input Start of Chapter before conversion (OpSys error in
ABLS)
6025: Temperature was latched before conversion (OpSys error in ABLS)
Info:
Data type:
Description:
Runtime error while reading the measured motor and heat sink temperatures. The line currents
and temperatures are recorded consecutively per cycle (multiplexed). The exact time of the
read access to the converted temperature values took place while recording the current. Read
access in this timeframe causes incorrect temperature values.
Reaction:
Cause/Remedy:

6024: Current was latched before 6026: Holding brake: Stator current
Start of Chapter
conversion (OpSys error in ABLS) limit exceeded during release
6026: Holding brake: Stator current limit exceeded during release
Info:
Data type:
Description:
Runtime error using the 'switch on controller' command when holding brake monitor is active.
The maximum current flows while opening (releasing) the holding brake MIN
(ACOPOS_CURR_MAX, MOTOR_CURR_MAX).
Reaction:
Cause/Remedy:
The current controller is unstable.
The time for opening (releasing) the holding break is too long and the controller is set too 'soft'.

6025: Temperature was latched 6027: Holding brake: Manual
before conversion (OpSys error in Start of Chapter operation not permitted
ABLS)
6027: Holding brake: Manual operation not permitted
Info:
Data type:
Description:
Response error when operating the holding brake with the command CMD_BRAKE. Manual
operation of the holding brake is not allowed while the controller is active.
Reaction:
Cause/Remedy:
Manual operation of the holding brake while the controller is active was not switched on via the
holding brake mode (bit 1 in BRAKE_MODE not set).

6026: Holding brake: Stator current 6028: Holding brake: Undervoltage/-
limit exceeded during release Start of Chapter current (wire breakage, check 24V
supply)
6028: Holding brake: Undervoltage/-current (wire breakage, check 24V

supply)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
Holding brake or external relay does not fulfill the drive specifications (input resistance too
large,..). Deactivate monitor respectively set bit 2 in the BRAKE_MODE.
Holding brake connection defective (broken connection, wiring error)
ACOPOS 24VDC supply voltage malfunction (dip in power, mains overload).
ACOPOS defective (Holding brake control, signal level monitoring, internal relay)
External relay defective or incorrectly controlled.
Holding brake defective.

6027: Holding brake: Manual 6029: Holding brake: Control signal
Start of Chapter
operation not permitted on and output status off
6029: Holding brake: Control signal on and output status off
Info:
Data type:
Description:
Runtime error during holding brake control monitor is active. The holding brake was not
supplied with sufficient current and voltage within 500ms while the holding brake gating signal
was on.
Reaction:
If the controller is switched off: None.
Cause/Remedy:

6028: Holding brake: Undervoltage/- 6030: Holding brake: Brake output is
current (wire breakage, check 24V Start of Chapter active, but no brake entered in motor
supply) data
6030: Holding brake: Brake output is active, but no brake entered in

motor data
Info:
Data type:
Description:
Current is flowing to the holding brake output even though a holding brake was not specified in
the motor parameter block.
Reaction:
Cause/Remedy:
Incorrect configuration of the holding brake in the motor parameter block.
The output for the holding brake is being used for another functionality and the brake monitor
has not been deactivated (bit 2 in the BRAKE_MODE not set).

6029: Holding brake: Control signal 6031: System module already
Start of Chapter
on and output status off deleted
6031: System module already deleted
Info:
Data type:
Description:
Response error while deleting an NC system module. The operating system 'acp10sys.br' or
BsLoader 'acp10bsl.br' to be deleted is not present on the drive.
Reaction:
The 'delete NC system module' command is not executed.
Cause/Remedy:
There is no NC system module to delete.

6030: Holding brake: Brake output is 6032: Interface: FPGA configuration
active, but no brake entered in motor Start of Chapter error
data
6032: Interface: FPGA configuration error
Info: Slot
Data type: USINT
Description:
Runtime error during initialization of a plug-in card. An error occurred while configuring a FPGA
function block.
Reaction:
Plug-in card not supported
Cause/Remedy:
Plug-in card defective.
PROM data from the plug-in card contains errors.
ACOPOS hardware defect (bus board, plug, internal SSI bus).

6031: System module already Start of Chapter 6033: Type of servo amplifier is not
deleted supported by ACOPOS-firmware
6033: Type of servo amplifier is not supported by ACOPOS-firmware
Info:
Data type:
Description:
Runtime error while starting up the driver. PROM data from the drive is not compatible with the
firmware.
Reaction:
Cause/Remedy:
Drive not supported by the firmware
ACOPOS hardware defect (incorrect PROM data on drive, internal SSI bus defect).

6032: Interface: FPGA configuration 6034: Cyclic set value mode aborted:
Start of Chapter
error Set speeds missing
6034: Cyclic set value mode aborted: Set speeds missing
Info:
Data type:
Description:
Runtime error while speed control is active with cyclic set values. No speed set value was
received from the network for at least 3 master cycles.
Reaction:
Cause/Remedy:
Drive is not supplied with enough speed set values -> check application program.

6033: Type of servo amplifier is not 6036: Motor parameters missing or
Start of Chapter
supported by ACOPOS-firmware invalid
6036: Motor parameters missing or invalid
Info: Parameter ID
Data type: 'PARID'
Description:
Response error using the 'switch on controller' or 'burn motor data' commands. The motor
parameter block was not completely initialized.
Reaction:
Cause/Remedy:
At least one motor parameter was not written or was written incorrectly.
The motor type was not written as first parameter in the motor parameter block. The
initialization status of all motor parameters is reset by writing the motor type; that means that
all motor parameters must subsequently be rewritten.
The motor data in motors with EnDat encoders could not by read by the EnDat encoder memory
(encoder error, OEM motor, no motor data in the encoder memory).

6034: Cyclic set value mode aborted: 6038: Torque limit higher than peak
Start of Chapter
Set speeds missing motor torque
6038: Torque limit higher than peak motor torque
Info: Peak motor torque

Data type: REAL
Description:
Response error when writing a parameter for the torque limit (torque limit or torque limit
override). An active torque limit would be larger than the peak motor torque by writing the
parameter.
Reaction:
Torque limit is not accepted.
Cause/Remedy:
Torque limit or torque limit override is too large for the motor parameter block.

6036: Motor parameters missing or 6040: Operating system version is
Start of Chapter
invalid less than allowed minimum version
6040: Operating system version is less than allowed minimum version
Info:
Data type:
Description:
Response error when writing the minimum required version BSYS_VERS_MIN if the ACOPOS
operating system version is lower than BSYS_VERS_MIN.
Reaction:
The 'controller ready' state is reset. See error number 4005.
Cause/Remedy:
Invalid operating system version. Update operating system. See error number 32018.

6038: Torque limit higher than peak 6041: Operating system version is
motor torque Start of Chapter greater than allowed maximum
version
6041: Operating system version is greater than allowed maximum

version
Info:
Data type:
Description:
Response error when writing the maximum allowed version BSYS_VERS_MAX if the ACOPOS
operating system version is higher than BSYS_VERS_MAX.
Reaction:
Cause/Remedy:
Invalid operating system version. Update operating system. See error number 32018.

6040: Operating system version is 6042: Operating system version is
Start of Chapter
less than allowed minimum version not in the allowed range
6042: Operating system version is not in the allowed range
Info:
Data type:
Description:
Runtime error when switching on the controller if the minimum required version
BSYS_VERS_MIN is lower than the ACOPOS operating system version or the maximum allowed
version BSYS_VERS_MAX is higher than the ACOPOS operating system version.
Reaction:
Cause/Remedy:

6041: Operating system version is 6043: PHASING_MODE is not valid
greater than allowed maximum Start of Chapter
version
6043: PHASING_MODE is not valid
Info: PHASING_MODE
Data type: UINT
Description:
Runtime error when switching on the controller if an incremental encoder was used as motor
encoder and the wrong PHASING_MODE was selected for determining the commutation offset
MOTOR_COMMUT_OFFSET.
Reaction:
The startup procedure is cancelled.
Cause/Remedy:
Permissible values for PHASING_MODE:
0: Saturation mode
2: Dither mode
Non-permissible values for PHASING_MODE:

1: Stepper mode would cause invalid movements.
3: Direct mode not supported.

6042: Operating system version is 6044: Phasing: Rotational direction or
Start of Chapter
not in the allowed range position not valid
6044: Phasing: Rotational direction or position not valid
Info: Calculated number of polepairs

Data type: REAL
Description:
Runtime error during phasing CMD_PHASING in stepper mode (PHASING_MODE=1).
Reaction:
Phasing is aborted.
Cause/Remedy:
Info shows the negative number of polepairs:
- Motor wiring error: Motor phase permuted. -> Swap two motor phases.
- Encoder position or speed contains an error: See error number 4014.
Info shows a value in the range -0.5..0.5:

- Encoder scaling SCALE_ENCODx_INCR is incorrect
- Encoder position or speed contains an error: See error number 4014.
- Motor wiring error: Motor phase not connected to the plug X4. -> Check the motor movement
during the phasing. The motor should move 10 polepairs.
- Load torque active. -> Check the motor movement during the phasing. The motor should
move 10 polepairs.
- Motor holding brake do not open. -> Check the motor movement during the phasing. The
motor should move 10 polepairs.

6043: PHASING_MODE is not valid Start of Chapter 6046: Phasing: No rotor movement
6046: Phasing: No rotor movement
Info:
Data type:
Description:
Runtime error during phasing (CMD_PHASING=ncSTART) in dither mode (PHASING_MODE=2).
Speed SCTRL_SPEED_ACT is too low during the 'phasing'.
Reaction:
Phasing is aborted.
Cause/Remedy:
Rotor blocked:
- Motor with holding brake, blocked due to external load, motor with very high moment of
inertia. -> Check the speed SCTRL_SPEED_ACT during the 'phasing'.
Incorrect motor configuration:

- No torque is created when the phasing current PHASING_CURR is too low. -> Check the speed
SCTRL_SPEED_ACT during the 'phasing'.
Encoder position or speed contains an error: See error number 4014.

Motor wiring error: At least two motor phases are disconnected, loose terminal. See error
number 6045.

6044: Phasing: Rotational direction or 6047: Holding brake: Control signal
Start of Chapter
position not valid off and output status on
6047: Holding brake: Control signal off and output status on
Info:
Data type:
Description:
Runtime error during holding brake control monitor is active. The holding brake was supplied
500ms with current and voltage while the holding brake gating signal was off.
Reaction:
But if the position control is active (CONTROLLER_MODE=1 or 3): Movement stopped with the
axis limits and switching off the controller after the error removed.
Cause/Remedy:
ACOPOS defective (Holding brake control, signal level monitoring, internal relay)

6046: Phasing: No rotor movement 6048: Motor holding brake monitor:
Start of Chapter Position error too large
6048: Motor holding brake monitor: Position error too large
Info:
Data type:
Description:
Runtime error during the stop monitoring of the holding brake. The actual position of the motor
encoder has exceeded the position error limit BRAKE_TEST_POS_LIM while the holding brake
was closed. The holding brake wear out more quickly.
Reaction:
If the functional test of the holding brake torque is active: Test is aborted.
Otherwise: None.
Cause/Remedy:
Error in the configuration of the holding brake (Delay time for closing the holding brake too
small).
Error in the configuration of the motor encoder.
Position error limit too small (Clearance and elastic deformation between holding brake and
motor encoder must be considered).
Load torque too large.
Holding brake defective.
No drive controlled movement halt.
Additionally during functional test of the holding brake torque:

Test torque or holding brake rated torque too large.
Load torque determination incorrect (Current measuring system, motor configuration, rotor
commutation or motor encoder measuring system).
Controller instable.
If the holding brake torque test is not active, then the stop monitoring can be deactivated by
setting BRAKE_MODE Bit3 = 1.

6047: Holding brake: Control signal 7012: Encoder: Hiperface error bit
Start of Chapter
off and output status on
7012: Encoder: Hiperface error bit
Info: Slot
Data type: USINT
Description:
Runtime error in a Hiperface encoder while reading or writing a parameter. An error occurred
when transferring data between Hiperface encoder and AC121 plug-in card. As a result, the
error bit was set. This error bit is set due to commands which cannot be processed (protocol
error, command arguments) or due to internal encoder errors.
Reaction:
Error number 7013 is entered.
Cause/Remedy:

6048: Motor holding brake monitor: 7013: Encoder: Status message
Start of Chapter
Position error too large
7013: Encoder: Status message
Info: Status code

Data type: USINT
Description:
Runtime error in a Hiperface encoder while reading or writing a parameter. The present encoder
status is requested due to an error bit entry during a data transfer between Hiperface encoder
and AC121 plug-in card. This should provide an answer about the cause of error.
Reaction:
If the error bit has not been set, the Hiperface status message is read and error number 7013 is
entered.
Cause/Remedy:
Description of the encoder status according to Stegmann:
00h...The encoder has not detected an error
Initialization error:
01h...Analog signal outside specification
02h...Internal angular offset incorrect
03h...Data field partition table destroyed
04h...Analog limiting values unavailable
05h...Internal I2C bus unserviceable
06h...Internal checksum error
Protocol error:
07h...Encoder reset from program monitoring
09h...Parity error
0Ah...Checksum of the data transmitted is incorrect
0Bh...Unknown command code
0Ch...Number of data items transmitted is incorrect
0Dh...Command argument transmitted is impermissible
Data error:
0Eh...The selected data field must not be written to
0Fh...Incorrect access code
10h...The size of the specified data field cannot be changed
11h...Specified word address outside data field
12h...Access to nonexistent data field
Position error:
01h...Analog signal outside specification
1Fh...Speed too high, no position formation possible
20h...Impermissible single-turn position
21h...Multi-turn position error
Other errors:
1Ch...Monitoring the magnitude of the analog signals (process data)
1Dh...Critical encoder current (contamination, transmitter breakdown)
1Eh...Critical encoder temperature
08h...Current overflow

7012: Encoder: Hiperface error bit 7014: Encoder: CRC error during
Start of Chapter
parameter transfer
7014: Encoder: CRC error during parameter transfer
Info: Slot
Data type: USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). A CDC
error occurred during the data transfer.
Reaction:
The transfer is repeated during the encoder initialization.
The transfer is aborted while writing the parameter.
Cause/Remedy:
Encoder voltage dip (Check the ACOPOS 24VDC supply when power is supplied via plug-in
cards).
Encoder defective.
SSI encoder connection is interrupted or defective. See wiring guidelines error number 7030.
AC120 or AC121 plug-in card defect.

7013: Encoder: Status message 7015: Encoder: Timeout error during
Start of Chapter
parameter transfer
7015: Encoder: Timeout error during parameter transfer
Info: Slot
Data type: USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). A
timeout error occurred during the data transfer. The encoder did not send an answer to a send
request.
Reaction:
Cause/Remedy:
Encoder is not connected.

7014: Encoder: CRC error during 7016: Encoder: Busy error during
Start of Chapter
parameter transfer parameter transfer
7016: Encoder: Busy error during parameter transfer
Info: Slot
Data type: USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). The
data transfer could not be started because the previous transfer was not completed.
Reaction:
Cause/Remedy:
Operating system error.

7015: Encoder: Timeout error during 7017: Encoder: Error while reading
Start of Chapter
parameter transfer encoder parameter
7017: Encoder: Error while reading encoder parameter
Info: Slot
Data type: USINT
Description:
encoder data contains errors or is not supported.
Reaction:
Cause/Remedy:
EnDat encoder:
Error in the checksum of the encoder data.
Hiperface encoder:
Encoder type not supported.

7016: Encoder: Busy error during 7020: OEM data: Data write error
Start of Chapter
parameter transfer
7020: OEM data: Data write error
Info: Slot
Data type: USINT
Description:
Runtime error in an encoder while writing the OEM data. Errors occurred during the serial
transfer.
Reaction:
The write procedure is aborted.
Cause/Remedy:

7017: Encoder: Error while reading 7021: Encoder: Timeout error while
Start of Chapter
encoder parameter reading absolute position
7021: Encoder: Timeout error while reading absolute position
Info: Slot
Data type: USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). A
timeout error occurred while reading the absolute serial position. The encoder did not send an
answer to a send request.
Reaction:
The transfer is repeated.
Cause/Remedy:

7020: OEM data: Data write error Start of Chapter 7022: Encoder: Initialization is active
7022: Encoder: Initialization is active
Info: Slot
Data type: USINT
Description:
encoder initialization is not complete.
Reaction:
Write command motor data, read/write PROM data, etc is not executed.
Cause/Remedy:
Encoder defective.
Encoder initialization is active due to AB signal failure.

Serial communication error (see additionally entered error numbers).

7021: Encoder: Timeout error while 7023: Encoder: Parameter transfer is
Start of Chapter
reading absolute position active
7023: Encoder: Parameter transfer is active
Info: Slot
Data type: USINT
Description:
Response error while reading/writing encoder OEM data. A read/write access to the encoder
OEM data was already activated and is not yet complete.
Reaction:
Cause/Remedy:
The interval between two read/write accesses was too short.

7022: Encoder: Initialization is active 7029: Encoder: Incremental signal
Start of Chapter
amplitude too small
7029: Encoder: Incremental signal amplitude too small
Info: Slot
Data type: USINT
Description:
amplitude of the sinusoidal AB signals is smaller than 17.5% (AC120) or 20.0% (AC121) of the
maximum amplitude which can be displayed (see ACOPOS user's manual).
Reaction:
Cause/Remedy:
No encoder supply or supply contains an error.

7023: Encoder: Parameter transfer is 7030: Encoder: Incremental signal
Start of Chapter
active amplitude too large
7030: Encoder: Incremental signal amplitude too large
Info: Slot
Data type: USINT
Description:
Runtime error in an encoder with activated monitor.
The monitor is activated with the following configurations:

- Homing the encoder position (CMD_HOMING, CMD_ENCOD2_HOMING,
CMD_ENCOD3_HOMING).
- Encoder position used for drive control (VCTRL_S_ACT_PARID, PCTRL_S_ACT_PARID).
- Switch on the drive control (CMD_CONTROLLER). See also error number 4005.
- Encoder position used for cam profile linkage (CAM_MA_AXIS).
- Encoder position used for cam automat (AUT_MA_AXIS, AUT_MA_AXIS_VAX1,
AUT_MA_ADD_AXIS, AUT_MA_ADD_AXIS_VAX1, AUT_SL_ADD_AXIS,
AUT_SL_ADD_AXIS_VAX1).
- Encoder position used for drum sequencer (DRUMSEQ_MA_AXIS).
- Encoder position used for network coupling (MA1/2/3_CYCLIC_SEND).
- Encoder position used for encoder emulation output value (ENCOD2/3_OUT_PARID).
- Encoder position used for Latch (LATCH1/2_VALUE_PARID).
- Encoder position used for cyclic set value input (CYC_ABS_MOVE_PARID).
- Encoder position used for FUB Pointer parameter ID (e.g. PID_IN_PARID etc).
The amplitude of the sinusoidal AB signals is larger than 99% of the maximum amplitude which
can be displayed (see ACOPOS user's manual).
Reaction:
'Switch on controller' command: See error number 4005.
'Homing' command: See error number 5034.
Other commands: The command is not executed.

Position and motor encoder with synchronous motor: Movement stopped with short-circuit
braking and by switching off the controller.
Position and motor encoder with asynchronous motor: Movement stopped with short-circuit
braking and by switching off the controller.
Position encoder of an active two-encoder position controller: See error number 4007.
Data connections:
Encoder for network coupling: See error number 1008.
Encoder for cam automat: See error number 5111.
Status:
Position or motor encoder: The 'controller ready' state is reset.
The 'homing position valid' state is reset.
The 'commutation valid' state is reset.
Cause/Remedy:
Sense +5V or Sense COM is not connected.
AB signal level of the encoder does not meet the specification of the plug-in card (check
encoder data sheet).
AB encoder connection is interrupted or defective. Check wiring guidelines.
Encoder read head is not adjusted.
Encoder read head mounting tolerances are too large throughout the movement area.
Encoder measure is no longer clean.
Encoder defective.
Wiring guidelines:
1. Check open line, line termination, loose contacts and wiring errors
2. Check the periodic occurences of disturbances. Inductive switching elements such as
contactors or relays are to be equipped with corresponding suppressor elements such as
varistors, RC elements or damping diodes.
3. To prevent the effects of disturbances motor lines, encoder lines, controller lines, and data
lines must be properly shielded.
4. All electrical connections are to be kept as short as possible.
5. On all plug-in cards, the two screws used to fasten the module must be tightened so that the
mounting bracket is connected to ground.
6. Shielded cables with copper mesh or tinned copper mesh are to be used. Twisting or
extending the protective mesh using single conductors is not allowed. Unused cable conductors
are to be grounded on both sides if possible.
7. The cable shield must be attached to the shield connector. Cable shields are to be attached
to the designated shield terminals and the plug housing.
8.1. Cable connection via DSUB plug: The cable shield must be connected using the designated
clamp in the metallic or metal plated plug housing. The fastening screws must be tightened.
8.2. Cable connection via terminals: The cable shield must be attached to the shield connection
terminal.
8.3. Cable connection via RJ45 plug: Grounding the cable shield as well provides an
improvement in EMC properties. Both sides should be properly grounded near the connector.
9. On the motor side, the encoder cable shield is connected to the motor housing using the
encoder plug and connected to ground via the machine. Unplug the encoder cable on the
module side. Measure the resistor between cable shield (DSUB Plug housing) to ground (ground
connection in the switch cabinet). The resistor may not exceed 0.2 Ohm.
10. The cable shield for the motor line or the connection cable for the external braking resistor
is connected with the housing of the ACOPOS via the grounding plate using the grounding
clamp provided.
11. On the motor side, the cable shield of the motor line is connected to the motor housing
using the motor plug and connected to ground via the machine. The cable shield on the
connection cable for the external braking resistor must be connected with the housing of the
braking resistor.

7029: Encoder: Incremental signal 7031: Encoder: Incremental signal
Start of Chapter
amplitude too small amplitude too large (Disturbance)
7031: Encoder: Incremental signal amplitude too large (Disturbance)
Info: Slot
Data type: USINT
Description:
amplitude of the sinusoidal AB signals is larger than 100% of the maximum amplitude which
can be displayed (see ACOPOS user's manual)
Reaction:
Cause/Remedy:
7030: Encoder: Incremental signal Start of Chapter 7032: Encoder: Incremental signal
amplitude too large amplitude too small (Disturbance, no
connection)
7032: Encoder: Incremental signal amplitude too small (Disturbance, no

connection)
Info: Slot
Data type: USINT
Description:
amplitude of the sinusoidal AB signals is smaller than 10% of the maximum amplitude which
can be displayed (see ACOPOS user's manual) -> Encoder is not recognized by the ACOPOS
servo drive.
Reaction:
The internal status 'positions synchronous' is reset.
Cause/Remedy:

7031: Encoder: Incremental signal 7036: Encoder: Interface ID invalid
amplitude too large (Disturbance) Start of Chapter (Check slot and Interface EEPROM
data)
7036: Encoder: Interface ID invalid (Check slot and Interface EEPROM

data)
Info: Slot
Data type: USINT
Description:
encoder is not supported by the drive.
Reaction:
Cause/Remedy:
A plug-in card is not inserted in the slot assigned to the encoder.
A plug-in card which does not support encoders is inserted in the slot assigned to the encoder.
An invalid plug-in card ID was read due to hardware error. (plug-in card, PROM data, SSI
interface, bus board, module plug, etc.)

7032: Encoder: Incremental signal 7038: Encoder: Position value not
amplitude too small (Disturbance, no Start of Chapter synchronous with absolute value
connection)
7038: Encoder: Position value not synchronous with absolute value
Info: Slot
Data type: USINT
Description:
Runtime error in an absolute encoder with activated monitor (activation, see error number
7030). The incremental position of the plug-in card could not be synchronized with the absolute
serial position of the encoder.
Reaction:
Cause/Remedy:
Incremental signal error (see additionally entered error numbers).

7036: Encoder: Interface ID invalid 7039: Incremental encoder: Cable
(Check slot and Interface EEPROM Start of Chapter disturbance track A
data)
7039: Incremental encoder: Cable disturbance track A
Info: Slot
Data type: USINT
Description:
Runtime error in an incremental encoder with activated monitor (activation, see error number
7030). Signal A and nA must complement each other. Overlapping only occurs in the area of
the switching edges. A cable disturbance is registered if the low or high level overlap for a long
period of time.
Reaction:
Cause/Remedy:
Signal level of the encoder does not meet the specifications of the plug-in card (check encoder
data sheet).
Encoder defective.

7038: Encoder: Position value not 7040: Incremental encoder: Cable
Start of Chapter
synchronous with absolute value disturbance track B
7040: Incremental encoder: Cable disturbance track B
Info: Slot
Data type: USINT
Description:
7030). Signals B and nB do not complement each other.
Reaction:
Cause/Remedy:

7039: Incremental encoder: Cable 7041: Incremental encoder: Cable
Start of Chapter
disturbance track A disturbance track R
7041: Incremental encoder: Cable disturbance track R
Info: Slot
Data type: USINT
Description:
7030). Signals R and nR do not complement each other.
Reaction:
Cause/Remedy:
If the encoder does not support reference pulses and they are not necessary, then the
reference pulse monitor can be deactivated by setting bit 1 of ENCODX_LINE_CHK_IGNORE.

7040: Incremental encoder: Cable 7042: Incremental encoder: Edge
disturbance track B Start of Chapter distance of quadrature signal too
small
7042: Incremental encoder: Edge distance of quadrature signal too small
Info: Slot
Data type: USINT
Description:
7030). Each edge of the quadrature signal (A/B incremental encoder signals) is evaluated. The
limit value for the time interval between two edges was not reached.
Reaction:
Cause/Remedy:
Encoder speed too high.
Encoder vibrations.
Encoder defective.

7041: Incremental encoder: Cable 7043: Encoder: Cable disturbance
Start of Chapter
disturbance track R track D
7043: Encoder: Cable disturbance track D
Info: Slot
Data type: USINT
Description:
Runtime error in a SSI encoder with activated monitor (activation, see error number 7030).
Signals D and nD do not complement each other.
Reaction:
Cause/Remedy:

7042: Incremental encoder: Edge 7044: Encoder: Parity
distance of quadrature signal too Start of Chapter
small
7044: Encoder: Parity
Info: Slot
Data type: USINT
Description:
transferred parity bit does not match the determined parity bit. The determined parity bit
results from the LSB of the sum of the read data bits and the defined PARITY_MODE.
Reaction:
Cause/Remedy:
The configuration of the PARITY_MODE parameter does not correspond to the encoder
specifications (check encoder data sheet).
Encoder defective.

7043: Encoder: Cable disturbance 7045: Resolver: Signal disturbance
Start of Chapter
track D (plausibility check)
7045: Resolver: Signal disturbance (plausibility check)
Info: Slot
Data type: USINT
Description:
Runtime error in a resolver with activated monitor (activation, see error number 7030). The
determined acceleration of the resolver position is larger than the maximum acceleration
allowed ENCODX_A_LIM.
Reaction:
Cause/Remedy:
Configuration of the maximum acceleration ENCODX_A_LIM is too restrictive.
Resolver connection is interrupted or defective. See wiring guidelines error number 7030.
Resolver does not meet the specifications of the AC122 plug-in card.
Resolver is not connected.
Resolver defective.

7044: Encoder: Parity Start of Chapter 7046: Resolver: Cable disturbance
7046: Resolver: Cable disturbance
Info: Slot
Data type: USINT
Description:
Runtime error in a resolver with activated monitor (activation, see error number 7030). A
vector comparison is made between the sine/cosine signals in the resolver evaluation circuit. An
error is output if deviations are too large. Correct functioning of the monitor depends greatly on
the input impedance and the voltage ratio of the resolver.
Reaction:
Cause/Remedy:
If the resolver does not meet the specifications of the AC122 plug-in card, the monitor of the
cable disturbances can be deactivated by setting bit 0 of ENCODX_LINE_CHK_IGNORE.
Caution: This can cause uncontrolled movements when 'real' resolver errors occur.
This error is not supported by 8AC122.60-1 plug-in cards.

7045: Resolver: Signal disturbance 7047: Invalid distance of reference
Start of Chapter
(plausibility check) marks
7047: Invalid distance of reference marks
Info: Distance
Data type: DINT
Description:
Runtime error while referencing with distance-coded reference marks. The distance between
two reference marks is 0 or is larger than the general distance for reference marks
ENCODX_REF_DCM_DISTANCE.
Reaction:
Cause/Remedy:
The configured general distance does not match the general distance for reference marks of the
encoder (check encoder data sheet).
Reference signal encoder connection is interrupted or defective (see wiring guidelines error
number 7030).
Encoder does not support reference marks (check encoder data sheet).
Encoder reference signal does not meet the specifications of the plug-in card (check encoder
data sheet).
Encoder measure is no longer clean.
Encoder defective.
AC120, AC123 or AC130 plug-in card defect.

7046: Resolver: Cable disturbance 7048: Error during the reading of
Start of Chapter
encoder memory
7048: Error during the reading of encoder memory
Info: Slot
Data type: USINT
Description:
Runtime error in an encoder with activated monitor (activation, see error number 7030). During
reading the encoder memory too many data transfer errors occurred.
Reaction:
The encoder initialization is aborted.
Cause/Remedy:
The encoder error can be cleared only by SW reset.
7047: Invalid distance of reference Start of Chapter 7100: Parameter function not
marks supported. (Module ?)
7100: Parameter function not supported. (Module ?)
Info:
Data type:
Description:
Response error while writing a parameter specific to the plug-in card. The addressed plug-in
card does not support the parameter.
Reaction:
Parameter is not set.
Cause/Remedy:
The slot addressed by the parameter contains either no plug-in card or the wrong plug-in card.

7048: Error during the reading of 7200: DC bus: Overvoltage
Start of Chapter
encoder memory
7200: DC bus: Overvoltage
Info:
Data type:
Description:
Runtime error when controller is active. The analog DC bus voltage monitor is registering that
the cut-off voltage has been exceeded.
8Vxxxx.00-x approximately 900VDC
8Vxxxx.50-x approximately 450VDC
Reaction:
Cause/Remedy:
Braking resistor not active:
In generator operation, check if the recorded DC bus voltage (UDC_ACT) does not level off
when the switch-on voltage of the braking resistor (UDC_ACT > UDC_BLEEDER_ON) is
exceeded.
- Control of the braking resistor is defective. -> Switch the ACOPOS servo drive
- Relay bleeder (intern/extern) is defective. -> Switch the ACOPOS servo drive
- Fuse for external braking resistor is defective. -> Check or switch the fuse
- Internal or external braking resistor is defective or is not connected. -> Switch the ACOPOS
servo drive or the braking resistor. Measure the braking resistor on the ACOPOS servo drive X6
terminal and compare with the data sheet. -> Check the wiring of the external braking resistor.
Caution: Observe safety regulations.
Recovery power limiter:

- switched off. -> Check if PLIM_MODE is set to 0.
- Incorrect configuration: Resistance of the external braking resistor R_BLEEDER_EXT is too
high or stator resistance MOTOR_STATOR_RESISTANCE is too low.
Mains disturbance:
- Supply voltage or DC bus voltage is too high. -> Check the DC bus voltage.

7100: Parameter function not 7210: DC bus: Voltage unstable
Start of Chapter
supported. (Module ?)
7210: DC bus: Voltage unstable
Info:
Data type:
Description:
Runtime error using the 'switch on controller' command. A valid nominal DC bus voltage
UDC_NOMINAL could not be detected. The loading relay is open.
Reaction:
Cause/Remedy:
Mains disturbance:
- Operation at the limits. The filtered DC bus voltage UDC_FILTER sporadically exceeds the cut-
off voltage UDC_BLEEDER_ON - 23.3 VDC or sporadically sinks below the minimum cut-off
voltage 0.9*MAX(UDC_NOMINAL, 400*SQRT(2))VDC.
- Large DC bus voltage fluctuation. -> Check the filtered DC bus voltage UDC_FILTER.

7200: DC bus: Overvoltage 7211: DC bus: Voltage drop - check
Start of Chapter
the power line
7211: DC bus: Voltage drop - check the power line
Info: Low voltage limit

Data type: REAL
Description:
Runtime error when controller is active. A mains phase failure (STAT_UDC_MON=16) is
detected or the DC bus voltage UDC_ACT sinks below the cut-off voltage 0.779 *
UDC_NOMINAL.
Reaction:
The under-voltage limiter is switched on during the movement stop.
Cause/Remedy:
Mains disturbance:
- Brief mains or phase failure. -> Check phase voltages and DC bus voltage for brief dips during
operation.
Mains wiring error or overloaded mains:

- High supply impedance, saturation effect of the mains transformer. -> Check if the envelope
of the DC bus voltage UDC_ACT or the phase voltage in motor operation is reduced by more
than 10%.
- Loose contact or mains phase not attached. See error number 7215.
- Mains phase failure. See error number 7215.
Single-phase mains operation:

- The DC bus voltage UDC_ACT cannot be sufficiently supported when the motor load is too
high.
- Nominal voltage detection problem: -> Compare the measure nominal DC bus voltage
UDC_NOMINAL with the DC bus voltage UDC_ACT or multimeter.
- Nominal voltage initialization problem: -> Compare the nominal DC bus voltage
UDC_NOMINAL with the DC bus voltage UDC_ACT or multimeter.

7210: DC bus: Voltage unstable 7212: DC bus: Voltage drop -
Start of Chapter
Emergency-Stop interrupted
7212: DC bus: Voltage drop - Emergency-Stop interrupted
Info: Low voltage limit

Data type: REAL
Description:
Runtime error: During the movement stop with under-voltage limiter (see error number 7211)
the DC bus voltage can no longer be maintained above 0.65 * UDC_NOMINAL.
Reaction:
Cause/Remedy:
Recovery power too low: Following a power failure, the recovery power in the DC bus network is
lower than the power loss of the DC bus network. -> Check the power balance.

7211: DC bus: Voltage drop - check 7214: DC bus: Charging resistor hot
Start of Chapter
the power line (too many power line fails)
7214: DC bus: Charging resistor hot (too many power line fails)
Info:
Data type:
Description:
Runtime error if the DC bus is loaded at least two times within 20 seconds with the following
ACOPOS servo drives:
8V1022.00-1
8V1045.00-1
8V1090.00-1
8V1022.00-2 from Rev.:A0 up to and including Rev.:F0
The charging resistor can be damaged if the intervals for switching on the mains are shorter
than 20s.
Reaction:
Cause/Remedy:
Short intervals for switching on the mains (< 20s) must be prevented in the application.

7212: DC bus: Voltage drop - 7215: DC bus: At least one phase of
Start of Chapter
Emergency-Stop interrupted the power line failed
7215: DC bus: At least one phase of the power line failed
Info:
Data type:
Description:
Runtime error. At least one mains phase failed.
The following ACOPOS servo drives do not have phase failure monitoring:
8V1022.00-1
8V1045.00-1
8V1090.00-1
Reaction:
Cause/Remedy:
Mains wiring error: Loose contact or mains phase not attached. -> Check wiring and voltages
(Uu-v, Uv-w and Uw-u) on the X3 plug.
Mains phase failure: Check the contactor, fuse, transformer and supply voltage.
DC bus feed or single-phase operation: If the ACOPOS servo drive is supplied by the DC bus or
single-phase, then the phase monitor must be ignored (PHASE_MON_IGNORE=1). Caution:
These operating modes are only conditionally permissible.

7214: DC bus: Charging resistor hot 7217: DC bus: Voltage too high -
Start of Chapter
(too many power line fails) Check power supply
7217: DC bus: Voltage too high - Check power supply
Info: Maximum DC bus voltage

Data type: REAL
Description:
Runtime error using the 'switch on controller' command. The filtered DC bus voltage
UDC_FILTER is higher than the cut-off voltage UDC_BLEEDER_ON-23.3 VDC.
Reaction:
Cause/Remedy:
Invalid mains: Supply voltage or DC bus voltage is too high. -> Check the DC bus voltage.
Incorrect configuration of over-voltage limiter: UDC_BLEEDER_ON too low.

7215: DC bus: At least one phase of 7218: DC bus: Voltage too low -
the power line failed Start of Chapter Nominal voltage detection not
possible
7218: DC bus: Voltage too low - Nominal voltage detection not possible
Info: Minimum required DC bus voltage

Data type: REAL
Description:
UDC_FILTER is lower than the cut-off voltage 0.9*UDC_DETECTION.
Reaction:
Cause/Remedy:
Invalid mains: Supply voltage or DC bus voltage is too low. -> Check the DC bus voltage.
Incorrect configuration of the nominal voltage detection: UDC_DETECTION too high.

7217: DC bus: Voltage too high - 7219: DC bus: Voltage too low -
Start of Chapter
Check power supply Check power supply
7219: DC bus: Voltage too low - Check power supply
Info: Minimum required DC bus voltage

Data type: REAL
Description:
UDC_FILTER is lower than the cut-off voltage 0.9*UDC_NOMINAL.
Reaction:
Cause/Remedy:
Invalid mains: Supply voltage or DC bus voltage is too low. -> Check the DC bus voltage.
Incorrect configuration of the nominal voltage initialization: UDC_NOMINAL too high.

7218: DC bus: Voltage too low - 7220: Nominal voltage detection:
Nominal voltage detection not Start of Chapter Voltage not allowed
possible
7220: Nominal voltage detection: Voltage not allowed
Info: DC bus voltage

Data type: REAL
Description:
Runtime error using the 'switch-on controller' command, in ACOPOS servo drives with internal
DC bus power supply (8V1180.xx-x - 8V128M.xx-x) if the filtered DC bus voltage UDC_FILTER
is in the critical range [0.9*SQRT(2)*240, SQRT(2)*380] VDC.
Reaction:
Cause/Remedy:
Invalid mains: Mains voltage or DC bus voltage is invalid. -> Check the DC bus voltage.

7219: DC bus: Voltage too low - 7300: Digital IO: IO Configuration
Start of Chapter
Check power supply invalid
7300: Digital IO: IO Configuration invalid
Info: Slot
Data type: UINT
Description:
Response error during the input/output configuration DIO_DIR for digital IOs. A configuration
was defined which is not supported by the hardware.
Reaction:
Cause/Remedy:
When using the AC130 plug-in cards, the first 8 IOs must be configured in pairs (1/2, 3/4, 5/6,
7/8) as inputs or outputs.

7220: Nominal voltage detection: 7401: Parameter position exceeds
Start of Chapter
Voltage not allowed maximum data length
7401: Parameter position exceeds maximum data length
Info:
Data type:
Description:
Response error while writing a parameter ID for cyclic operation of a drive
(CYCLIC_TORV_PARID, CYCLIC_FRDRV_PARID).
Reaction:
Cause/Remedy:
The parameters to drive exceed the maximum data length.
The parameters from drive in a monitor block exceed the maximum data length.

7300: Digital IO: IO Configuration 7402: Processing of parameter
Start of Chapter
invalid sequence aborted: Write error
7402: Processing of parameter sequence aborted: Write error
Info: Index of parameter

Data type: UINT
Description:
Runtime error during initialization of a parameter sequence if the parameter sends an error at
the present index (index begins at 0).
Reaction:
The subsequent parameters in the parameter sequence are not processed. The status remains
at 'not initialized'. The parameter error is additionally entered as runtime error.
Cause/Remedy:
According to the parameter ID and the additionally entered error number.

7401: Parameter position exceeds 7403: Processing of parameter
Start of Chapter
maximum data length sequence is still active
7403: Processing of parameter sequence is still active
Info:
Data type:
Description:
Response error during download or during initialization of a parameter sequence if the
parameter in this sequence is not yet finished being processed.
Reaction:
The new download data is not accepted or the initialization is not restarted.
Cause/Remedy:
Request (delay step) for 'parameter sequence initialized' state is missing.


7402: Processing of parameter 7404: Parameter sequence not
Start of Chapter
sequence aborted: Write error available at index
7404: Parameter sequence not available at index
Info:
Data type:
Description:
Response error using the 'initialize parameter sequence' command if there is no data at the
index.
Reaction:
Cause/Remedy:
Invalid parameter sequence index.
A download has not yet been performed for the index.
The download to the index was aborted earlier with an error.

7403: Processing of parameter 8001: EEPROM select not valid
Start of Chapter
sequence is still active
8001: EEPROM select not valid
Info:
Data type:
Description:
Response error while writing the parameter EEPROM_SELECT.
Reaction:
None.
Cause/Remedy:
Value of the parameter is outside of the valid range [0...5].
Caution: Internal parameter for writing the EEPROM. False usage can cause damage to the
ACOPOS servo drive.

7404: Parameter sequence not 8003: Table index not valid
Start of Chapter
available at index
8003: Table index not valid
Info:
Data type:
Description:
Response error while writing the SEP_ULONG_WR and SEP_FLOAT_WR parameters or while
reading the SEP_ULONG_RD and SEP_FLOAT_RD parameters.
Reaction:
None.
Cause/Remedy:
The access counter is incremented after each read and write procedure for the above
parameters.
Caution: Internal parameter for writing the EEPROM. False usage can cause damage to the
ACOPOS servo drive.

8001: EEPROM select not valid Start of Chapter 8004: EEPROM variable type not valid
8004: EEPROM variable type not valid
Info:
Data type:
Description:
Runtime error while reading from the EEPROM.
Reaction:
None.
Cause/Remedy:
Software error: ACOPOS operating system.

8003: Table index not valid Start of Chapter 8005: EEPROM type not valid
8005: EEPROM type not valid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

8004: EEPROM variable type not valid 8006: Value of EEPROM parameter is
Start of Chapter
zero
8006: Value of EEPROM parameter is zero
Info: EEPROM Parameter ID

Data type: UINT
Description:
Reaction:
None.
Cause/Remedy:
Plug-in card: EEPROM defect. -> Switch plug-in card.
ACOPOS servo drives: EEPROM defect. -> Switch the ACOPOS servo drive.

8005: EEPROM type not valid 8007: Value of EEPROM parameter is
Start of Chapter
not valid
8007: Value of EEPROM parameter is not valid
Info: EEPROM Parameter ID

Data type: UINT
Description:
Reaction:
None.
Cause/Remedy:

8006: Value of EEPROM parameter is 8020: Invalid switch frequency
Start of Chapter
zero
8020: Invalid switch frequency
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
ACOPOS servo drives: EEPROM defect -> Switch the ACOPOS servo drive.

8007: Value of EEPROM parameter is <param name="Name" value="9000:
not valid Start of Chapter Heatsink temperature sensor:
Overtemperature ->
9000: Heatsink temperature sensor: Overtemperature -> Movement

stopped
Info: Temperature limit

Data type: REAL
Description:
Runtime error if the temperature of the heat sink temperature sensor TEMP_HEATSINK exceeds
the limit (see INFO).
Reaction:
Cause/Remedy:
Invalid operational conditions:
- Environmental temperature is higher than 40C while in operation. -> Check the cool air
temperature right after opening the intake.
- Moderate air flow in the ACOPOS servo drive. -> Check the mounting direction and the covers
on the intake opening.

-Cooling fan defect. -> Check if the fan makes any sound when the controller is on. The sound
from the fan is louder when the heat sink temperature is high.
- Problem with heat sink temperature measurement: -> When the controller is switched off,
compare the environmental temperature with the temperature of the heat sink temperature
sensor TEMP_HEATSINK.
- If the thermal transition resistance between IGBT and the heat sink is too high, check the
heat dissipation past between the heat sink and IGBT. -> Switch the ACOPOS servo drive.

8020: Invalid switch frequency <param name="Name" value="9001:
Start of Chapter Heatsink temperature sensor:
Overtemperature ->
9001: Heatsink temperature sensor: Overtemperature -> Limiter active

Data type: REAL
Description:
Reaction:
Synchronous motor: Movement stopped with short-circuit braking. If the current signals and
voltage signals in phase 1 and phase 2 are stationary, the regulator is switched off.
Asynchronous motor: Movement stopped with eddy-current braking. If the current signals and
voltage signals in phase 1 and phase 2 are stationary, the regulator is switched off.
The motor current is limited during the Movement stop with the motor rated current
MOTOR_CURR_RATED and the servo drive rated current ACOPOS_CURR_RATED.
Cause/Remedy:
During the movement stop (see error number 9000), the temperature of the heat sink
increases.
If the movement would be stopped in already in deeper temperatures, the limit temperature
(see INFO) would not be exceeded.

<param name="Name" value="9000: 9002: Heatsink temperature sensor:
Heatsink temperature sensor: Start of Chapter Not connected or destroyed
Overtemperature ->

Data type: REAL
Description:
Runtime error if the measured heat sink temperature goes below the value -20C.
Reaction:
Cause/Remedy:
- Environmental temperature is lower than -20C while in operation. -> Check the cool air

- Problem with heat sink temperature measurement. -> When the controller is switched off,
compare the environmental temperature with the heat sink temperature TEMP_HEATSINK.

<param name="Name" value="9001: 9003: Heatsink temperature sensor:
Heatsink temperature sensor: Start of Chapter Not connected or destroyed
Overtemperature ->

Data type: REAL
Description:
Runtime error if the measured heat sink temperature exceeds the value 120C.
Reaction:
Cause/Remedy:
- Environmental temperature is higher than 120C while in operation. -> Check the cool air
ACOPOS servo drive defect: Problem with heat sink temperature measurement. See error
number 9002.

9002: Heatsink temperature sensor: <param name="Name" value="9010:
Not connected or destroyed Start of Chapter Motor temperature sensor:
Overtemperature ->
9010: Motor temperature sensor: Overtemperature -> Movement stopped

Data type: REAL
Description:
Runtime error if the temperature of the motor temperature sensor TEMP_MOTOR exceeds the
limit (see INFO).
Reaction:
Cause/Remedy:
- Environmental temperature too high. -> Check the motor specifications.
- Flange temperature too high. -> Check the motor specifications.
- Cooling is defective. -> Check any necessary air or water cooling.
Motor continuous current exceeded:

- Increased current. See error number 9030. -> Determine the medium speed and the effective
value of the motor current and compare these values with the continuous current curve (S1
operation) of the motor.
Problem with motor temperature measurement:

- Sensor defect: -> When the controller is switched off, compare the environmental
temperature with TEMP_MOTOR.
- Defective isolation of the temperature sensor: -> Take the plug X5 and X4 off. Check the
dielectric strength between the temperature sensor wires (T+ and T-) at the plug X4. Check the
dielectric strength between the motor phases (U,V,W) and the motor cable shield at the plug
X5. If a defective temperature sensor (isolation demage) at the ACOPOS servo drive is plug on,
then the ACOPOS servo drive can be damaged.
- ACOPOS servo drive defect: -> Take the plug X5 and X4 off. Check the voltage between the
contacts T+ and T- at the female plug X4. If the voltage is unequal 5V, the ACOPOS servo drive
is defective.
- Disturbance: Motor temperature sensor cable missing or poorly shielded. Check motor
temperature TEMP_MOTOR for disturbance pulses.
The maximum motor temperature (=110C) is too low.

9003: Heatsink temperature sensor: <param name="Name" value="9011:
Not connected or destroyed Start of Chapter Motor temperature sensor:
Overtemperature ->
9011: Motor temperature sensor: Overtemperature -> Limiter active

Data type: REAL
Description:
limit (see INFO).
Reaction:
See error number 9001
Cause/Remedy:
During the movement stop (see error number 9010), the temperature of the motor increases.

<param name="Name" value="9010: 9012: Motor temperature sensor: Not
Motor temperature sensor: Start of Chapter connected or destroyed
Overtemperature ->
9012: Motor temperature sensor: Not connected or destroyed
Info: Motor temperature

Data type: REAL
Description:
Runtime error when using a linear thermistor if the upper resistance limit of the temperature
sensor MAX(MOTOR_TEMPSENS_PAR1, MOTOR_TEMPSENS_PAR2) is exceeded.
Runtime error when using a PTC switch if the resistance of the PTC switch exceeds 1MOhm.
Reaction:
Cause/Remedy:
Motor temperature sensor wiring error or defect: Motor temperature sensor is not connected, or
there is a loose contact. -> When the controller is switched off, compare the environmental
temperature with TEMP_MOTOR. -> Check the resistance of the motor temperature sensor on
the X4 terminal for plausibility using a multimeter.
The upper resistance limit of the linear thermistor MAX(MOTOR_TEMPSENS_PAR1,
MOTOR_TEMPSENS_PAR2) was selected too low.
Problem with the motor temperature measurement: See error number 9010.
<param name="Name" value="9011: Start of Chapter 9013: Motor temperature sensor:

Motor temperature sensor: Short circuit
Overtemperature ->
9013: Motor temperature sensor: Short circuit

Data type: REAL
Description:
Runtime error when using a linear thermistor if the lower resistance limit of the temperature
sensor MIN(MOTOR_TEMPSENS_PAR1, MOTOR_TEMPSENS_PAR2) is not reached.
Runtime error when using a PTC switch if the resistance of the PTC switch falls below 30Ohm.
Reaction:
Cause/Remedy:
Motor temperature sensor wiring error or defect: Temperature sensor short circuit. When the
controller is switched off, compare the environmental temperature with TEMP_MOTOR. ->
Check the resistance of the motor temperature sensor on the X4 terminal for plausibility using a
multimeter.
The lower resistance limit of the temperature sensor MIN(MOTOR_TEMPSENS_PAR1,
MOTOR_TEMPSENS_PAR2) was selected too high.
Problem with the motor temperature measurement: See error number 9010.

9012: Motor temperature sensor: Not <param name="Name" value="9030:
connected or destroyed Start of Chapter Junction temperature model:
Overtemperature ->
9030: Junction temperature model: Overtemperature -> Movement

stopped

Data type: REAL
Description:
Runtime error if the temperature of the junction temperature model TEMP_JUNCTION exceeds
The limit depends on the ACOPOS servo drive:

8V1010.xx-x....150C
8V1016.xx-x....150C
8V1022.xx-x....125C
8V1045.xx-x....125C
8V1090.xx-x....125C
8V1180.xx-x....125C
8V1320.xx-x....125C
8V1640.xx-x....150C
8V128M.xx-x....150C
Reaction:
See error number 1011. The junction temperature limiter is switched on during the movement
stop.
Cause/Remedy:
Increased current:
- Set value generation is too dynamic. Speed and acceleration are too high. See error number
5036.
- Impermissible load torque: Increased current demand due to impermissibly high load torque
(friction, jammed mechanics, aging, load thrusts).
- Set current value jump: See error number 9300.
- Incorrect controller configuration: Unstable controller.
- Motor defect: Demagnetized motor. -> Check the torque constant MOTOR_TORQ_CONST and
the voltage constant MOTOR_VOLT_CONST of the motor.
- Motor dimensioning error: -> Check the current demand for the generation of the required
torque. Generally, the torque constant MOTOR_TORQ_CONST is reduced with high currents (>
MOTOR_CURR_RATED) due to magnetic saturation.
- Incorrect motor configuration: MOTOR_COMMUT_OFFSET. -> Check the commutation offset
MOTOR_COMMUT_OFFSET with the 'phasing' command (CMD_PHASING=ncSTART) in stepper
mode (PHASING_MODE=1).
- Incorrect asynchronous motor configuration: -> Check if the magnetizing current SQRT(2)
*MOTOR_MAGNETIZING_CURR is larger than ACOPOS_CURR_RATED.
- Incorrect asynchronous motor configuration: -> Check if the magnetizing current
MOTOR_MAGNETIZING_CURR is smaller than 0.5*MOTOR_CURR_RATED.
Heat sink temperature sensor: See error number 9000.

Mains disturbance or dimensioning error: Supply voltage or DC bus voltage is too high. Observe
the derating which is dependant on the DC bus voltage (see user's manual).
ACOPOS servo drive defect: DC bus voltage measurement problem. See error number 9040.
Reduced current, lowered switching frequency F_SWITCH, low DC bus voltage and good cooling
of the ACOPOS servo drive can prevent the junction from heating up.

9013: Motor temperature sensor: <param name="Name" value="9031:
Short circuit Start of Chapter Junction temperature model:
Overtemperature ->
9031: Junction temperature model: Overtemperature -> Limiter active

Data type: REAL
Description:
Reaction:
Cause/Remedy:
During the movement stop (see error number 9030), the temperature of the junction increases.

<param name="Name" value="9030: <param name="Name" value="9040:
Junction temperature model: Start of Chapter Bleeder temperature model:
Overtemperature -> Overtemperature ->
9040: Bleeder temperature model: Overtemperature -> Movement

stopped

Data type: REAL
Description:
Runtime error if the temperature of the braking resistor temperature model TEMP_BLEEDER
exceeds the limit (see INFO) (external -> TEMP_MAX_BLEEDER_EXT | internal -> see following
list).
The limit of the internal braking resistor is dependent on the ACOPOS servo drive:
8V1010.xx-x....250C
8V1016.xx-x....250C
8V1022.xx-x....400C;
8V1045.xx-x....400C
8V1090.xx-x....400C
8V1180.xx-x....350C
8V1320.xx-x....350C
8V1640.xx-x....400C
8V128M.xx-x....400C
Reaction:
Cause/Remedy:
Recovery power increased:
-> Check the dimensioning of the braking resistor (see user's manual). The braking power is
distributed on the controllers which are switched on if DC bus's from multiple ACOPOS servo
drives are linked together.
Heat sink temperature sensor: See error number 9000.

- DC bus voltage measurement problem: -> Check the DC bus voltage UDC_ACT with a
multimeter.

Junction temperature model: Start of Chapter Bleeder temperature model:
Overtemperature -> Overtemperature ->
9041: Bleeder temperature model: Overtemperature -> Limiter active

Data type: REAL
Description:
Runtime error if the temperature of braking resistor temperature model TEMP_BLEEDER
exceeds the limit (see INFO).
Reaction:
Cause/Remedy:
During the movement stop (see error number 9040), the temperature of the bleeder increases.

Bleeder temperature model: Start of Chapter ACOPOS peak current: Overload ->
Overtemperature ->
9050: ACOPOS peak current: Overload -> Movement stopped
Info: Load limit

Data type: REAL
Description:
Runtime error if the ACOPOS peak current load LOAD_PEAK_CURR exceeds the limit (see
INFO). The ACOPOS peak current load determines the ratio from effective phase current SQRT
(ICTRL_ISQ_ACT^2 + ICTRL_ISD_ACT^2)/SQRT(2) to doubled ACOPOS rated current
2*ACOPOS_CURR_RATED.
Reaction:
Cause/Remedy:
Current increased: See error number 9030.

Bleeder temperature model: Start of Chapter ACOPOS peak current: Overload ->
Overtemperature ->
9051: ACOPOS peak current: Overload -> Limiter active
Info: Load limit

Data type: REAL
Description:
Runtime error if the load of the ACOPOS peak current load LOAD_PEAK_CURR exceeds the limit
(see INFO).
Reaction:
Cause/Remedy:
During the movement stop (see error number 9050), the load of the ACOPOS peak current
increases.
If the movement would be stopped in already in deeper loads, the limit load (see INFO) would
not be exceeded.

ACOPOS peak current: Overload -> Start of Chapter ACOPOS continuous current:
Overload ->
9060: ACOPOS continuous current: Overload -> Movement stopped
Info: Load limit

Data type: REAL
Description:
Runtime error if the ACOPOS continuous current load LOAD_CONT_CURR exceeds the limit (see
INFO). The ACOPOS continuous current load determines the ratio from effective phase current
SQRT(ICTRL_ISQ_ACT^2 + ICTRL_ISD_ACT^2)/SQRT(2) to 1.1x ACOPOS rated current
1.1*ACOPOS_CURR_RATED.
Reaction:
Cause/Remedy:

ACOPOS peak current: Overload -> Start of Chapter ACOPOS continuous current:
Overload ->
9061: ACOPOS continuous current: Overload -> Limiter active
Info: Load limit

Data type: REAL
Description:
Runtime error if the load of the ACOPOS continuous current load LOAD_CONT_CURR exceeds
Reaction:
Cause/Remedy:
During the movement stop (see error number 9060), the load of the ACOPOS continuous
current increases.
not be exceeded.
<param name="Name" value="9060: Start of Chapter <param name="Name" value="9070:

ACOPOS continuous current: Motor temperature model: Overload -
Overload -> >
9070: Motor temperature model: Overload -> Movement stopped
Info: Load limit

Data type: REAL
Description:
Runtime error if the load of motor temperature model LOAD_MOTOR_MODEL exceeds the limit
(see INFO). The motor temperature model determines the ratio from effective phase current
SQRT(ICTRL_ISQ_ACT^2 + ICTRL_ISD_ACT^2)/SQRT(2) to rated motor current
MOTOR_CURR_RATED.
Reaction:
Cause/Remedy:
Incorrect motor configuration:

-> Compare the motor rated current MOTOR_CURR_RATED with the motor specifications.
-> Check the den motor winding cross section MOTOR_WIND_CROSS_SECT.

ACOPOS continuous current: Start of Chapter Motor temperature model: Overload -
Overload -> >
9071: Motor temperature model: Overload -> Limiter active
Info: Load limit

Data type: REAL
Description:
Runtime error if the load of the motor temperature model LOAD_MOTOR_MODEL exceeds the
limit (see INFO).
Reaction:
Cause/Remedy:
During the movement stop (see error number 9070), the load of the motor temperature model
increases.
not be exceeded.

Motor temperature model: Overload - Start of Chapter ACOPOS continuous power: Overload
> ->
9075: ACOPOS continuous power: Overload -> Movement stopped
Info: Load limit

Data type: REAL
Description:
Runtime error if the ACOPOS continuous power LOAD_POWER exceeds the limit (see INFO).
Reaction:
Cause/Remedy:

Motor temperature model: Overload - Start of Chapter ACOPOS continuous power: Overload
> ->
9076: ACOPOS continuous power: Overload -> Limiter active
Info: Load limit

Data type: REAL
Description:
Runtime error if the load of the ACOPOS continuous power LOAD_POWER exceeds the limit (see
INFO).
Reaction:
Cause/Remedy:
During the movement stop (see error number 9075), the load of the ACOPOS continuous power
increases.
not be exceeded.

<param name="Name" value="9075: 9300: Current controller: Overcurrent
ACOPOS continuous power: Overload Start of Chapter
->
9300: Current controller: Overcurrent
Info: Limit
Data type: REAL
Description:
Runtime error if the maximum permissible (measurable) phase current is exceeded in phase U
or phase V.
The current limit depends on the ACOPOS servo drive:

8V1010.00-2....6.4Apeak
8V1010.50-2.....16Apeak
8V1016.00-2....9.6Apeak
8V1016.50-2...26.7Apeak
8V1022.xx-x.....20Apeak
8V1045.xx-x.....40Apeak
8V1090.xx-x.....40Apeak
8V1180.xx-2.....82Apeak
8V1320.xx-2....133Apeak
8V1640.xx-x....333Apeak
8V128M.xx-x....500Apeak
Reaction:
Cause/Remedy:
Set current value jump:
A jump in the set stator current of the quadrature component ICTRL_ISQ_REF occurs due to:
- Jump in the set position or set speed: See error number 5036.
- Jump in the encoder position or speed: See error number 4014.
- Jump in the speed offset (SCTRL_ADD_SET_PARID, SCTRL_SPEED_REF,
SCTRL_V_SET_UNITS)
- Jump in the load offsets (ICTRL_ADD_SET_PARID, ICTRL_ADD_TRQ)
- Jump in the load on the motor shaft (jammed mechanics, load thrusts, etc.)
The actual stator current of the quadrature component ICTRL_ISQ_ACT can fluctuate above the
maximum value as a result of a rigidly set current controller and a jump in the set stator
current of the quadrature component ICTRL_ISQ_REF to the maximum value.
Unstable current controller:

- Due to magnetic saturation, the inductance is lower at high currents. The current controller is
initialized automatically according to the motor inductance MOTOR_STATOR_INDUCTANCE. ->
Check the current controller with the maximum permissible current.
- Incorrect current controller configurations: The current controller is initialized automatically
according to the motor parameters MOTOR_STATOR_INDUCTANCE,
MOTOR_ROTOR_INDUCTANCE. Check these parameters. -> Check the overshoot behavior of
the step-response on the current controller.
Motor defect: See error number 6019.

ACOPOS servo drive defect: See error number 6019.

<param name="Name" value="9076: 10000: Identification parameter(s)
ACOPOS continuous power: Overload Start of Chapter missing
->
10000: Identification parameter(s) missing
Info:
Data type:
Description:
Response error while writing the parameter PIDENT_CMD. At least one parameter, which is
necessary for the identification is missing.
Reaction:
The identification procedure is cancelled.
Cause/Remedy:
Necessary parameters
- PIDENT_TYPE
- PIDENT_CURR_RATED
- PIDENT_VOLT_RATED
- PIDENT_SPEED_RATED
- PIDENT_COSPHI
- PIDENT_FREQ_RATED

9300: Current controller: Overcurrent Start of Chapter 32001: Error calling CAN_xopen()
32001: Error calling CAN_xopen()
Info: Status of CAN_xopen()

Data type: UINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_xopen() is
called for each CAN interface defined in the NC configuration to initialize the required resources
of the CAN driver. This error number is output if an error occurs with this procedure.
Reaction:
Initialization of all ACOPOS nodes connected to this CAN interface is aborted. All corresponding
NC objects can no longer be operated.
Cause/Remedy:
Wrong interface name in the NC configuration.
Status of CAN_xopen(): See CAN library error numbers.

10000: Identification parameter(s) 32002: Error defining Write COB for
Start of Chapter
missing Broadcast Command
32002: Error defining Write COB for Broadcast Command
Info: CAN-ID (in HB and MHB) and Status of CAN_defineCOB() (in MLB and LB)
Data type: UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the function CAN_defineCOB()
is called for each CAN interface specified in the NC configuration to define a Write COB with a
specific CAN ID for the broadcast command to all connected ACOPOS nodes. This error number
is output if an error occurs with this procedure.
Reaction:
Cause/Remedy:
Status of CAN_defineCOB(): See CAN library error numbers.

32001: Error calling CAN_xopen() 32003: Error defining Write COB for
Start of Chapter
Parameter Read Request
32003: Error defining Write COB for Parameter Read Request
Data type: UDINT
Description:
is called for each ACOPOS to define a Write COB with a specific CAN ID for the Channel1 Read
Request telegram. This error number is output if an error occurs with this procedure.
Reaction:
Initialization of this ACOPOS is aborted. All corresponding NC objects can no longer be
operated.
Cause/Remedy:

32002: Error defining Write COB for 32004: Error defining Write COB for
Start of Chapter
Broadcast Command Parameter Write Request
32004: Error defining Write COB for Parameter Write Request
Data type: UDINT
Description:
is called for each ACOPOS to define a Write COB with a specific CAN ID for the Channel1 Write
Reaction:
operated.
Cause/Remedy:

32003: Error defining Write COB for 32005: Error defining Read COB for
Start of Chapter
Parameter Read Request Parameter Read Response
32005: Error defining Read COB for Parameter Read Response
Data type: UDINT
Description:
is called for each ACOPOS to define a Read COB with a specific CAN ID for the Channel1 Read
Response telegram. This error number is output if an error occurs with this procedure.
Reaction:
operated.
Cause/Remedy:

Start of Chapter
Parameter Write Request Parameter Write Response
32006: Error defining Read COB for Parameter Write Response
Data type: UDINT
Description:
is called for each ACOPOS to define a Read COB with a specific CAN ID for the Channel1 Write
Reaction:
operated.
Cause/Remedy:

32005: Error defining Read COB for 32007: Error defining Read COB for
Start of Chapter
Parameter Read Response Monitor Data from the drive
32007: Error defining Read COB for Monitor Data from the drive
Data type: UDINT
Description:
is called for each ACOPOS to define a Read COB with a specific CAN ID for the monitor data
from the drive. This error number is output if an error occurs with this procedure.
Reaction:

operated.
Cause/Remedy:

32006: Error defining Read COB for 32008: Error sending Read Request
Start of Chapter
Parameter Write Response (network error ?)
32008: Error sending Read Request (network error ?)
Info: Status of CAN_sendCOB()

Data type: UINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the NC manager first sends a
Read Request telegram with the CAN_sendCOB() function from the PLC to the ACOPOS for
reading a parameter value from the ACOPOS. This error number is output if an error occurs
with this procedure.
Reaction:
Resets the interface of the corresponding read channel.
Cause/Remedy:
Overload, malfunction or interruption of the network connection or ACOPOS failure.
Status of CAN_sendCOB(): See CAN library error numbers.

32007: Error defining Read COB for 32009: Error sending Write Request
Start of Chapter
Monitor Data from the drive (network error ?)
32009: Error sending Write Request (network error ?)
Info: Status of CAN_sendCOB()

Data type: UINT
Description:
For the operation of ACOPOS servo drives via the CAN network, the NC manager first sends a
Write Request telegram with the CAN_sendCOB() function from the PLC to the ACOPOS for
transferring a parameter value to the ACOPOS. This error number is output if an error occurs
with this procedure.
Reaction:
Resets the interface of the corresponding write channel.
Cause/Remedy:
Status of CAN_sendCOB(): See CAN library error numbers.

32008: Error sending Read Request 32010: Drive not responding to Read
(network error ?) Start of Chapter Request (is the drive in the
network ?)
32010: Drive not responding to Read Request (is the drive in the
network ?)
Info: Timeout [usec]

Data type: UDINT
Description:
CAN network:
To read a parameter value from the ACOPOS, the NC manager first sends a Read Request
telegram from the PLC to the ACOPOS. This error is displayed if the NC manager did not receive
the corresponding Read Response telegramm for a specific amount of time after the Read
Request telegram was successfully transferred on the CAN bus.
Powerlink network:
To read a parameter value from the ACOPOS, the NC manager first enters a Read Request
telegram in the cyclic Powerlink frame to the ACOPOS. This error is displayed if the
corresponding Read Response telegram has not been entered in the cyclic Powerlink frame from
the ACOPOS after a specific amount of time.
Note:
The INFO is displayed from V1.142 on.
Reaction:
Resets the interface of the corresponding read channel.
Cause/Remedy:

32009: Error sending Write Request 32011: Drive not responding to Write
(network error ?) Start of Chapter Request (is the drive in the
network ?)
32011: Drive not responding to Write Request (is the drive in the
network ?)

Data type: UDINT
Description:
CAN network:
To transfer a parameter value to the ACOPOS, the NC manager first sends a Write Request
telegram from the PLC to the ACOPOS. This error is displayed if the NC manager did not receive
the corresponding Read Response telegramm for a specific amount of time after the Write
Request telegram was successfully transferred on the CAN bus.
Powerlink network:
To transfer a parameter value to the ACOPOS, the NC manager first enters a Write Request
telegram in the cyclic Powerlink frame to the ACOPOS. This error is displayed if the
corresponding Write Response telegram has not been entered in the cyclic Powerlink frame
from the ACOPOS after a specific amount of time.
Note:
Reaction:
Resets the interface of the corresponding write channel.
Cause/Remedy:

32010: Drive not responding to Read 32012: Error reading module
Request (is the drive in the Start of Chapter description of system module
network ?)
32012: Error reading module description of system module
Info:
Data type:
Description:
Before transferring a system module to the ACOPOS, the NC manager was not able to read its
module description.
Reaction:
Transfer of the system module to the ACOPOS is aborted.
Cause/Remedy:
The corresponding data range of the system module could not be opened by the NC manager
for reading.

32011: Drive not responding to Write 32013: No operating system present
Request (is the drive in the Start of Chapter on the drive
network ?)
32013: No operating system present on the drive
Info:
Data type:
Description:
The operating system is not stored on the ACOPOS during production. It must be transferred to
the ACOPOS during setting-up the project. This error is displayed during the ACOPOS startup
function if the NC manager detects that there is no operating system on the ACOPOS.
Reaction:
The ACOPOS startup function is aborted for this ACOPOS.
Cause/Remedy:
The system module "acp10sys" was not transferred to the ACOPOS.
If the system module "acp10sys" does not exist in the project, the actual version of the ACP10
software must then be inserted to the project again. The system module "acp10sys", which is
compatible to NC manager "acp10man", is automatically imported to the project during the NC
software update.
The system module "acp10sys" must be activated and transferred to the PLC via project
transfer.

32012: Error reading module 32014: Operating system version on
description of system module Start of Chapter the drive not compatible with NC
manager version
32014: Operating system version on the drive not compatible with NC

manager version
Info: Operating system version on the drive

Data type: UINT
Description:
This error is displayed during the ACOPOS startup function if the NC manager detects that the
version of the operating system on the ACOPOS is not compatible to the version of the NC
manager.
Reaction:
The ACOPOS startup function is aborted for this ACOPOS.
Cause/Remedy:
The first three places in the version number of "acp10sys" and "acp10man" are not the same.

32013: No operating system present 32015: Error creating message queue
Start of Chapter
on the drive
32015: Error creating message queue
Info: Status of q_create()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32014: Operating system version on 32016: Error sending an idle time
the drive not compatible with NC Start of Chapter command to the NC Manager Task
manager version
Info: Status of q_send()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32015: Error creating message queue 32017: Wrong boot state after start
Start of Chapter
of operating system
32017: Wrong boot state after start of operating system
Info: Boot state

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32016: Error sending an idle time 32018: Invalid Parameter ID in
Start of Chapter
command to the NC Manager Task system module
32018: Invalid Parameter ID in system module
Info: Parameter-ID
Data type: UINT
Description:
Before transferring a system module to the ACOPOS, the NC manager reads its parameter ID
from the module description. One of the following parameter IDs must be entered at the
respective memory location:
- BRMOD_BSL: ACOPOS BsLoader
- BRMOD_NCSYS: ACOPOS operating system
Reaction:
Cause/Remedy:
The software object "acp10bsl" or "acp10sys" handled by the NC manager is not a valid NC
system module.
The following system modules are available for the ACP10-SW:

- acp10bsl: ACOPOS BsLoader
- acp10sys: ACOPOS operating system
The names "acp10bsl" and "acp10sys" are reserved for these system modules and therefore
cannot be used in the project for other software objects.

32017: Wrong boot state after start 32019: Download of NC system
of operating system Start of Chapter module not allowed (the module is on
the PLC)
32019: Download of NC system module not allowed (the module is on

the PLC)
Info:
Data type:
Description:
Two options are available for SG3 target systems for handling the ACOPOS operating system
"acp10sys":
1) Store NC operating system on the PLC: No (default setting for SG3)

The software object "acp10sys" is added to the project as NC system module. It is not stored on
the PLC after being transferred from Automation Studio to the PLC. The ACOPOS operating
system contained in "acp10sys" is then transferred to the ACOPOS via the NC manager, while
"acp10sys" is transferred from Automation Studio to the PLC.
2) Store the NC operating system on the PLC: Yes

The software object "acp10sys" is added to the project as data object. It is stored on the PLC
after being transferred from Automation Studio to the PLC. The ACOPOS operating system
contained in "acp10sys" is read from the data object "acp10sys" and transferred to the ACOPOS
via the NC manager, after the next CPU restart.
This error is displayed if the NC manager detects that "acp10sys" is being transferred from
Automation Studio to the PLC as NC system module, even though an "acp10sys" data object
has already been stored on the PLC.
Reaction:
Cause/Remedy:
The first option mentioned above is currently selected in the project and the "acp10sys" data
object has been stored on the PLC.
Delete the data object "acp10sys" from the PLC or change the selection in the project to the
second option mentioned above and re-insert the ACP10 software to the project.

32018: Invalid Parameter ID in 32020: System module data could
system module Start of Chapter not be read from the drive during NC
manager INIT
32020: System module data could not be read from the drive during NC
manager INIT
Info:
Data type:
Description:
A system module should only then be transferred to the ACOPOS during the system module
download function, if it is not already present on the ACOPOS. To detect this, the NC manager
reads the version data of the system modules which are stored on the ACOPOS (ACOPOS
BsLoader and ACOPOS operating system) during the ACOPOS startup function. This error
number is output if an error occurs with this procedure. In addition, further details are also
output about the error which occurred.
Reaction:
Cause/Remedy:

32019: Download of NC system 32021: System module data could
module not allowed (the module is on Start of Chapter not be read from the drive after
the PLC) download
32021: System module data could not be read from the drive after
download
Info:
Data type:
Description:
During the system module download function, the corresponding version data is read from the
ACOPOS after a system module is transferred to the ACOPOS.This error number is output if an
error occurs with this procedure. In addition, further details are also output about the error
which occurred.
Reaction:
Cause/Remedy:

32020: System module data could 32022: Error aborting data block
not be read from the drive during NC Start of Chapter access before download
manager INIT
32022: Error aborting data block access before download
Info:
Data type:
Description:
During the system module download function, data block transfers which were previously
started are aborted before a system module is transferred to the ACOPOS. This error number is
output if an error occurs with this procedure. In addition, further details are also output about
the error which occurred.
Reaction:
Cause/Remedy:

32021: System module data could 32023: Error reading boot state
not be read from the drive after Start of Chapter before download
download
32023: Error reading boot state before download
Info:
Data type:
Description:
System module download is only allowed when the ACOPOS is in a certain boot state.
Therefore, during the system module download function, the boot state is read from the
ACOPOS before transferring a system module to the ACOPOS. This error number is output if an
error occurs with this procedure. In addition, further details are also output about the error
which occurred.
Reaction:
Cause/Remedy:

32022: Error aborting data block 32025: Wrong boot state after SW
access before download Start of Chapter Reset before download
32025: Wrong boot state after SW Reset before download
Info: Boot state

Data type: UINT
Description:
If the ACOPOS is in another boot state, the SW Reset command is sent during the system
module download function to change to this boot state before transferring a system module to
the ACOPOS. The boot state is then read once again. This error number is then output if the
ACOPOS is still not in the required boot state. In addition, further details are also output about
Reaction:
Cause/Remedy:

32023: Error reading boot state 32026: Error during INIT of data
Start of Chapter
before download block write access for download
32026: Error during INIT of data block write access for download
Info:
Data type:
Description:
Write access to the system module data is initialized during the system module download
function, before the actual data from a system module can be transferred to the ACOPOS. This
error number is output if an error occurs with this procedure. In addition, further details are
also output about the error which occurred.
Reaction:
Cause/Remedy:

32025: Wrong boot state after SW 32027: Error sending data segment
Start of Chapter
Reset before download for download
32027: Error sending data segment for download
Info:
Data type:
Description:
The data from a system module is transferred to the ACOPOS in segments during the system
module download function. This error number is output if an error occurs while calling the
respective send function. In addition, further details are also provided about the error which
occurred.
Reaction:
Cause/Remedy:

32026: Error during INIT of data 32029: Response error after sending
Start of Chapter
block write access for download data segment for download
32029: Response error after sending data segment for download
Info:
Data type:
Description:
The data from a system module is transferred to the ACOPOS in segments during the system
module download function. This error number is output if a response error occurs after calling
the respective send function. In addition, further details are also output about the error which
occurred.
Reaction:
Cause/Remedy:

32027: Error sending data segment 32030: Error at command for system
Start of Chapter
for download module burn after download
32030: Error at command for system module burn after download
Info:
Data type:
Description:
During the system module download function, the command to burn a system module to the
FPROM is sent to the ACOPOS after that system module is transferred to the ACOPOS. This
error number is output if an error occurs with this procedure. In addition, further details are
also output about the error which occurred.
Reaction:
Cause/Remedy:

32029: Response error after sending 32031: Error reading status for
Start of Chapter
data segment for download system module burn after download
32031: Error reading status for system module burn after download
Info:
Data type:
Description:
FPROM is sent to the ACOPOS after that system module is transferred to the ACOPOS. A
corresponding status is then read. This error number is output if an error occurs while reading
this status. In addition, further details are also output about the error which occurred.
Reaction:
Cause/Remedy:

32030: Error at command for system 32032: Error while burning system
Start of Chapter
module burn after download module after download
32032: Error while burning system module after download
Info: Error status from burning system module

Data type: USINT
Description:
corresponding status is then read. This error number is output if an error is displayed in this
status. In addition, further details are also output about the error which occurred.
Reaction:
Cause/Remedy:

32031: Error reading status for 32033: Timeout while burning system
Start of Chapter
system module burn after download module after download
32033: Timeout while burning system module after download
Info: Last status from burning system module

Data type: USINT
Description:
corresponding status is then read. This error number is output if the timeout is reached for the
system module burn procedure, before the system module has been successfully burned to the
ACOPOS. In addition, further details are also output about the error which occurred.
Reaction:
Cause/Remedy:

32032: Error while burning system 32034: Error at SW Reset before
Start of Chapter
module after download download
32034: Error at SW Reset before download
Info:
Data type:
Description:
If the ACOPOS is in another boot state, the SW Reset command is sent during the system
module download function to change to this boot state before transferring a system module to
the ACOPOS. This error number is output if an error occurs with this procedure. In addition,
further details are also output about the error which occurred.
Reaction:
Cause/Remedy:

32033: Timeout while burning system 32035: Error at SW Reset after
Start of Chapter
module after download download
32035: Error at SW Reset after download
Info:
Data type:
Description:
For certain system modules, the SW-reset command must be sent during the system module
download function after a system module is transferred to the ACOPOS. This error number is
output if an error occurs with this procedure. In addition, further details are also output about
Reaction:
Cause/Remedy:

32034: Error at SW Reset before 32036: Different system module data
Start of Chapter
download after download
32036: Different system module data after download
Info:
Data type:
Description:
During the system module download function, the corresponding version data is read from the
ACOPOS after a system module is transferred to the ACOPOS. This error number is output if a
difference to the transferred system module is determined. In addition, further details are also
output about the error which occurred.
Reaction:
Cause/Remedy:

32035: Error at SW Reset after 32037: Error message(s) lost
download Start of Chapter because of FIFO overflow
(acknowledge errors)
32037: Error message(s) lost because of FIFO overflow (acknowledge

errors)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32036: Different system module data 32038: Error searching for INIT
Start of Chapter
after download parameter module
32038: Error searching for INIT parameter module
Info: Status of function MO_modul_search()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32037: Error message(s) lost 32039: Error reading INIT parameter
because of FIFO overflow Start of Chapter module
(acknowledge errors)
32039: Error reading INIT parameter module
Info: Status of function MO_read()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32038: Error searching for INIT 32040: Version of INIT parameter
parameter module Start of Chapter module is not compatible to NC
manager
32040: Version of INIT parameter module is not compatible to NC

manager
Info: Version of INIT parameter module

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32039: Error reading INIT parameter 32041: The module acp10cfg does
Start of Chapter
module not exist
32041: The module acp10cfg does not exist
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32040: Version of INIT parameter 32042: The module acp10cfg is not
module is not compatible to NC Start of Chapter an NC data module
manager
32042: The module acp10cfg is not an NC data module
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32041: The module acp10cfg does 32043: The NC module type of the
Start of Chapter
not exist module acp10cfg is invalid
32043: The NC module type of the module acp10cfg is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32042: The module acp10cfg is not 32044: The NC module type of the
Start of Chapter
an NC data module module acp10cfg cannot be read
32044: The NC module type of the module acp10cfg cannot be read
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32043: The NC module type of the 32045: The data address in module
Start of Chapter
module acp10cfg is invalid acp10cfg cannot be read
32045: The data address in module acp10cfg cannot be read
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32044: The NC module type of the 32046: The data section of module
Start of Chapter
module acp10cfg cannot be read acp10cfg is empty
32046: The data section of module acp10cfg is empty
Info: Number of data section

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32045: The data address in module 32047: A CAN node number in
Start of Chapter
acp10cfg cannot be read module acp10cfg is invalid
32047: A CAN node number in module acp10cfg is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32046: The data section of module 32048: A CAN node number in
Start of Chapter
acp10cfg is empty module acp10cfg is used repeatedly
32048: A CAN node number in module acp10cfg is used repeatedly
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32047: A CAN node number in 32049: Trace is already active at
Start of Chapter
module acp10cfg is invalid trace start
32049: Trace is already active at trace start
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32048: A CAN node number in 32050: A Trace Data Upload is
Start of Chapter
module acp10cfg is used repeatedly already active
32050: A Trace Data Upload is already active
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32049: Trace is already active at 32051: Invalid Trace Status for Trace
Start of Chapter
trace start Data Upload
32051: Invalid Trace Status for Trace Data Upload
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32050: A Trace Data Upload is 32052: Error using ev_send() for
Start of Chapter
already active Trace Data Upload
32052: Error using ev_send() for Trace Data Upload
Info: Status of function ev_send()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32051: Invalid Trace Status for Trace 32053: Error defining Write COB for
Start of Chapter
Data Upload Parameter Read Request 2
32053: Error defining Write COB for Parameter Read Request 2
Data type: UDINT
Description:
is called for each ACOPOS to define a Write COB with a specific CAN ID for the Channel2 Read
Reaction:
operated.
Cause/Remedy:

32052: Error using ev_send() for 32054: Error defining Write COB for
Start of Chapter
Trace Data Upload Parameter Write Request 2
32054: Error defining Write COB for Parameter Write Request 2
Data type: UDINT
Description:
is called for each ACOPOS to define a Write COB with a specific CAN ID for the Channel2 Write
Reaction:
operated.
Cause/Remedy:

Start of Chapter
Parameter Read Request 2 Parameter Read Response 2
32055: Error defining Read COB for Parameter Read Response 2
Data type: UDINT
Description:
is called for each ACOPOS to define a Read COB with a specific CAN ID for the Channel2 Read
Reaction:
operated.
Cause/Remedy:

Start of Chapter
Parameter Write Request 2 Parameter Write Response 2
32056: Error defining Read COB for Parameter Write Response 2
Data type: UDINT
Description:
is called for each ACOPOS to define a Read COB with a specific CAN ID for the Channel2 Write
Reaction:
operated.
Cause/Remedy:

32055: Error defining Read COB for 32057: Error accessing HS task class
Start of Chapter
Parameter Read Response 2 table
32057: Error accessing HS task class table
Info: Status of SS_get_entry()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32056: Error defining Read COB for Start of Chapter 32058: Error accessing task class
Parameter Write Response 2 table
32058: Error accessing task class table

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32057: Error accessing HS task class 32059: Parameter tk_no invalid for
Start of Chapter
table access to task class table
32059: Parameter tk_no invalid for access to task class table
Info: Value of tk_no

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32058: Error accessing task class 32060: Timeout for cyclic data from
table Start of Chapter drive - Indications invalid (network
error ?)
32060: Timeout for cyclic data from drive - Indications invalid (network
error ?)
Info:
Data type:
Description:
Runtime error following successfully initialized network communication between the NC
manager (on the PLC) and the ACOPOS if the NC manager did not receive any cyclic data from
the ACOPOS for a specific number of NC task cycles.
NC_TimeoutCycles, the number of NC task cycles which leads to this error, depends on the
network being used and the network properties of the ACOPOS:
TC: Task class of cyclic NC task

PL: Powerlink
CAN network:
- TC_Timeout = 2 * TC_CycleTime + TC_Tolerance
- NC_TimeoutCycles = 1 + (2*TC_Timeout) / TC_CycleTime
Powerlink network:
- NC_TimeoutCycles = 2 + (2*PL_CycleTime) / TC_CycleTime
Powerlink network for ACOPOS with "multiplexed" property:

- NC_TimeoutCycles = 2 + (2*PL_MuxCycleTime) / TC_CycleTime
Reaction:
The NC manager switches into the "Network communication not active" state for this ACOPOS.
This can be seen in the following status indicators:
- network.init = ncFALSE
- network.phase = 0
Cause/Remedy:
CAN network:
The task class cycle time or task class tolerance are defined too low for the task class of the NC
manager task.
Powerlink network:
The powerlink cycle time is defined too low.


32059: Parameter tk_no invalid for 32061: Timeout sending a Read
Start of Chapter
access to task class table Request telegram (network error ?)
32061: Timeout sending a Read Request telegram (network error ?)
Info:
Data type:
Description:
To read a parameter value from the ACOPOS, the NC manager first sends a read-request
telegram from the PLC to the ACOPOS. This error is displayed if the NC manager detects that
the corresponding CAN telegram has not yet been transferred to the CAN bus 70ms after the
corresponding CAN send function call is made.
Reaction:
Resets the interface of the corresponding CAN read channel.
Cause/Remedy:
None of the CAN nodes connected to the PLC CAN interface is active in the CAN communication
so that the CAN bus acknowledge does not occur after sending the CAN telegram.
Network connection interruption or failure of all ACOPOS devices.
32060: Timeout for cyclic data from Start of Chapter 32062: Timeout sending a Write
drive - Indications invalid (network Request telegram (network error ?)
error ?)
32062: Timeout sending a Write Request telegram (network error ?)
Info:
Data type:
Description:
To transfer a parameter value to the ACOPOS, the NC manager first sends a write-request
telegram from the PLC to the ACOPOS. This error is displayed if the NC manager detects that
the corresponding CAN telegram has not yet been transferred to the CAN bus 70ms after the
corresponding CAN send function call is made.
Reaction:
Resets the interface of the corresponding CAN write channel.
Cause/Remedy:
None of the CAN nodes connected to the PLC CAN interface is active in the CAN communication
so that the CAN bus acknowledge does not occur after sending the CAN telegram.
Network connection interruption or failure of all ACOPOS devices.

32061: Timeout sending a Read 32063: Data address zero (set/read
Start of Chapter
Request telegram (network error ?) parameter via service interface)
32063: Data address zero (set/read parameter via service interface)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32062: Timeout sending a Write 32064: Parameter with that type
Request telegram (network error ?) Start of Chapter cannot be set with option
ncDATA_TEXT
32064: Parameter with that type cannot be set with option ncDATA_TEXT
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32063: Data address zero (set/read 32065: Parameter with that type
parameter via service interface) Start of Chapter cannot be read with option
ncDATA_TEXT
32065: Parameter with that type cannot be read with option

ncDATA_TEXT
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32064: Parameter with that type 32066: Parameter ID zero (set/read
cannot be set with option Start of Chapter parameter via service interface)
ncDATA_TEXT
32066: Parameter ID zero (set/read parameter via service interface)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32065: Parameter with that type 32067: Parameter ID invalid
cannot be read with option Start of Chapter (set/read parameter with option
ncDATA_TEXT ncDATA_TEXT)
32067: Parameter ID invalid (set/read parameter with option

ncDATA_TEXT)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32066: Parameter ID zero (set/read 32069: The data address of the
parameter via service interface) Start of Chapter ACOPOS parameters in module
acp10cfg cannot be read
32069: The data address of the ACOPOS parameters in module acp10cfg

cannot be read
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32067: Parameter ID invalid 32070: Drive for ACOPOS parameters
(set/read parameter with option Start of Chapter in module acp10cfg not found
ncDATA_TEXT)
32070: Drive for ACOPOS parameters in module acp10cfg not found
Info: Interface index (in HB) and node number (in LB) of this drive
Data type: UINT
Description:
Reaction:
Cause/Remedy:

32069: The data address of the 32071: The ACOPOS parameters are
ACOPOS parameters in module Start of Chapter invalid (an update of
acp10cfg cannot be read AutomationStudio is necessary)
32071: The ACOPOS parameters are invalid (an update of

AutomationStudio is necessary)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32070: Drive for ACOPOS parameters 32072: Wrong boot state after SW
Start of Chapter
in module acp10cfg not found Reset
32072: Wrong boot state after SW Reset
Info: Boot state

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32071: The ACOPOS parameters are 32073: Download of NC system
invalid (an update of Start of Chapter module: Error reading NC hardware
AutomationStudio is necessary) version of BsLoader
32073: Download of NC system module: Error reading NC hardware

version of BsLoader
Info:
Data type:
Description:
System module download is only allowed if the hardware version entered in the system module
is compatible to the hardware version of the BsLoader on the ACOPOS.
This error number is output if an error occurs while reading this hardware version from the
ACOPOS. In addition, further details are also output about the error which occurred.
Reaction:
Cause/Remedy:

32072: Wrong boot state after SW 32074: Incompatible NC hardware
Start of Chapter
Reset version: Download of BsLoader not
possible
32074: Incompatible NC hardware version: Download of BsLoader not

possible
Info: Version ID of NC system module (in HB) and version ID of ACOPOS (in LB)
Data type: UINT
Description:
This error number is output if it is determined (before transferring an ACOPOS BsLoader) that
the system module to be transferred is not compatible to the hardware version of the BsLoader
on the ACOPOS. In addition, further details are also output about the error which occurred.
Reaction:
Cause/Remedy:
The ACOPOS connected to the network has a different hardware version than the one
configured in the project.

32073: Download of NC system 32075: Incompatible NC hardware
module: Error reading NC hardware Start of Chapter version: Download of operating
version of BsLoader system not possible
32075: Incompatible NC hardware version: Download of operating

system not possible
Info: Version ID of NC system module (in HB) and version ID of ACOPOS (in LB)
Data type: UINT
Description:
This error number is output if it is determined (before transferring an ACOPOS operating
system) that the system module to be transferred is not compatible to the hardware version of
the BsLoader on the ACOPOS. In addition, further details are also output about the error which
occurred.
Reaction:
Cause/Remedy:
The ACOPOS connected to the network has a different hardware version than the one
configured in the project.

32074: Incompatible NC hardware Start of Chapter 32076: FIFO for messages with high
version: Download of BsLoader not priority to NC Manager Task is full
possible
32076: FIFO for messages with high priority to NC Manager Task is full
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32075: Incompatible NC hardware 32077: A Powerlink node number in
version: Download of operating Start of Chapter module acp10cfg is invalid
system not possible
32077: A Powerlink node number in module acp10cfg is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32076: FIFO for messages with high 32078: A Powerlink node number in
Start of Chapter
priority to NC Manager Task is full module acp10cfg is used repeatedly
32078: A Powerlink node number in module acp10cfg is used repeatedly
Info:
Data type:
Description:
Reaction:
Cause/Remedy:
32077: A Powerlink node number in Start of Chapter 32079: With this version one CAN
module acp10cfg is invalid interface must be in module acp10cfg
32079: With this version one CAN interface must be in module acp10cfg
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32078: A Powerlink node number in 32080: With this version one
module acp10cfg is used repeatedly Start of Chapter Powerlink interface must be in
module acp10cfg
32080: With this version one Powerlink interface must be in module

acp10cfg
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32079: With this version one CAN 32081: With this version only one
interface must be in module acp10cfg Start of Chapter Powerlink interface is allowed in
module acp10cfg
32081: With this version only one Powerlink interface is allowed in

module acp10cfg
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32080: With this version one 32082: Module acp10cfg contains a
Powerlink interface must be in Start of Chapter CAN interface without any drive node
module acp10cfg
32082: Module acp10cfg contains a CAN interface without any drive

node
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32081: With this version only one 32083: Module acp10cfg contains a
Powerlink interface is allowed in Start of Chapter Powerlink interface without any drive
module acp10cfg node
32083: Module acp10cfg contains a Powerlink interface without any drive

node
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32082: Module acp10cfg contains a 32084: The NC configuration does not
Start of Chapter
CAN interface without any drive node contain any ACOPOS module
32084: The NC configuration does not contain any ACOPOS module
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32083: Module acp10cfg contains a 32085: Module acp10cfg invalid
Powerlink interface without any drive Start of Chapter (AutomationStudio V2.2 or higher
node necessary)
32085: Module acp10cfg invalid (AutomationStudio V2.2 or higher

necessary)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32084: The NC configuration does not 32086: With this version no CAN
contain any ACOPOS module Start of Chapter interface is allowed in module
acp10cfg
32086: With this version no CAN interface is allowed in module acp10cfg
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32085: Module acp10cfg invalid 32087: With this version no Powerlink
(AutomationStudio V2.2 or higher Start of Chapter interface is allowed in module
necessary) acp10cfg
32087: With this version no Powerlink interface is allowed in module

acp10cfg
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32086: With this version no CAN 32088: The INIT parameter module
interface is allowed in module Start of Chapter specified in the NC Deployment Table
acp10cfg does not exist
32088: The INIT parameter module specified in the NC Deployment Table

does not exist
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32087: With this version no Powerlink 32089: NC-HW-ID of INIT parameter
interface is allowed in module Start of Chapter module is not compatible to NC
acp10cfg manager
32089: NC-HW-ID of INIT parameter module is not compatible to NC

manager
Info: NC-HW-ID of INIT parameter module

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32088: The INIT parameter module 32090: NC object type of INIT
specified in the NC Deployment Table Start of Chapter parameter module is not equal to NC
does not exist object
32090: NC object type of INIT parameter module is not equal to NC object
Info: NC object type of INIT parameter module

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32089: NC-HW-ID of INIT parameter 32091: Invalid block data in INIT
module is not compatible to NC Start of Chapter parameter module (data range
manager exceeded)
32091: Invalid block data in INIT parameter module (data range

exceeded)
Info: Offset in data section of INIT parameter module

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32090: NC object type of INIT 32092: Error sending a command to
parameter module is not equal to NC Start of Chapter the NC Idle Task
object
32092: Error sending a command to the NC Idle Task
Info: Status of send function

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32091: Invalid block data in INIT 32093: NcManCtrl is defined
parameter module (data range Start of Chapter repeatedly with different values
exceeded)
32093: NcManCtrl is defined repeatedly with different values
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32092: Error sending a command to 32094: NetworkInit is defined
the NC Idle Task Start of Chapter repeatedly for ncMANAGER with
different values
32094: NetworkInit is defined repeatedly for ncMANAGER with different

values
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32093: NcManCtrl is defined 32095: Value of drive group in CAN-
repeatedly with different values Start of Chapter CFG-Module higher than maximum
value
32095: Value of drive group in CAN-CFG-Module higher than maximum

value
Info: Maximum value

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32094: NetworkInit is defined 32096: Size of data buffer for trace
repeatedly for ncMANAGER with Start of Chapter data upload in module acp10cfg too
different values small
32096: Size of data buffer for trace data upload in module acp10cfg too
small
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32095: Value of drive group in CAN- 32097: All counts of used network
CFG-Module higher than maximum Start of Chapter interfaces in module acp10cfg are
value zero
32097: All counts of used network interfaces in module acp10cfg are

zero
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32096: Size of data buffer for trace 32098: Version of the module
data upload in module acp10cfg too Start of Chapter acp10cfg is not compatible with NC
small manager
32098: Version of the module acp10cfg is not compatible with NC

manager
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32097: All counts of used network 32099: Length of data section of
interfaces in module acp10cfg are Start of Chapter module acp10cfg is too small
zero
32099: Length of data section of module acp10cfg is too small

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32098: Version of the module 32100: Memory for NC error text
acp10cfg is not compatible with NC Start of Chapter management cannot be allocated
manager
32100: Memory for NC error text management cannot be allocated
Info: Status of SM_malloc()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32099: Length of data section of 32101: Error accessing NC error text
Start of Chapter
module acp10cfg is too small module in B&R module table
32101: Error accessing NC error text module in B&R module table

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32100: Memory for NC error text 32102: Version ID of error text
management cannot be allocated Start of Chapter module not equal to that of NC
manager
32102: Version ID of error text module not equal to that of NC manager
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32101: Error accessing NC error text 32103: Data section of error text
Start of Chapter
module in B&R module table module cannot be read
32103: Data section of error text module cannot be read

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32102: Version ID of error text 32104: Data section of error text
module not equal to that of NC Start of Chapter module is empty
manager
32104: Data section of error text module is empty

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32103: Data section of error text 32105: Length of data section of
Start of Chapter
module cannot be read error text module is too small
32105: Length of data section of error text module is too small

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32104: Data section of error text 32106: Error list of error text module
Start of Chapter
module is empty not equal with that of NC manager
32106: Error list of error text module not equal with that of NC manager
Info: First invalid error number

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32105: Length of data section of 32107: Parameter list of error text
error text module is too small Start of Chapter module not equal with that of NC
manager
32107: Parameter list of error text module not equal with that of NC
manager
Info: First invalid parameter ID

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32106: Error list of error text module 32108: The last error number of error
Start of Chapter
not equal with that of NC manager text module is not equal to 65535
32108: The last error number of error text module is not equal to 65535
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32107: Parameter list of error text 32109: The last parameter ID of error
module not equal with that of NC Start of Chapter text module is not equal to 65535
manager
32109: The last parameter ID of error text module is not equal to 65535
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32108: The last error number of error 32110: Length of data section of
Start of Chapter
text module is not equal to 65535 CAN-CFG-Module cannot be read
32110: Length of data section of CAN-CFG-Module cannot be read
Info: Status of function MO_section_lng()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32109: The last parameter ID of error 32111: Length of data section of
Start of Chapter
text module is not equal to 65535 CAN-CFG-Module is too small
32111: Length of data section of CAN-CFG-Module is too small
Info: Expected length

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32110: Length of data section of 32112: The data address in the CAN-
Start of Chapter
CAN-CFG-Module cannot be read CFG-Module cannot be read
32112: The data address in the CAN-CFG-Module cannot be read

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32111: Length of data section of 32113: The enable code in the CAN-
Start of Chapter
CAN-CFG-Module is too small CFG-Module is invalid
32113: The enable code in the CAN-CFG-Module is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32112: The data address in the CAN- 32114: Values not equal to zero in
Start of Chapter
CFG-Module cannot be read reserved area of CAN-CFG-Module
32114: Values not equal to zero in reserved area of CAN-CFG-Module
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32113: The enable code in the CAN- 32115: The basis CAN ID for WR/RD
CFG-Module is invalid Start of Chapter channel1 in the CAN-CFG-Module is
invalid
32115: The basis CAN ID for WR/RD channel1 in the CAN-CFG-Module is

invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32114: Values not equal to zero in 32116: The basis CAN ID for WR/RD
reserved area of CAN-CFG-Module Start of Chapter channel2 in the CAN-CFG-Module is
invalid

invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32115: The basis CAN ID for WR/RD 32117: The basis CAN ID for WR/RD
channel1 in the CAN-CFG-Module is Start of Chapter channel3 in the CAN-CFG-Module is
invalid invalid

invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32116: The basis CAN ID for WR/RD 32118: The basis CAN ID for monitor
channel2 in the CAN-CFG-Module is Start of Chapter data in the CAN-CFG-Module is invalid
invalid
32118: The basis CAN ID for monitor data in the CAN-CFG-Module is

invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32117: The basis CAN ID for WR/RD 32119: Invalid basis CAN ID for cyclic
channel3 in the CAN-CFG-Module is Start of Chapter data to the drive in CAN-CFG-Module
invalid
32119: Invalid basis CAN ID for cyclic data to the drive in CAN-CFG-
Module
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32118: The basis CAN ID for monitor 32120: Invalid basis CAN ID for cyclic
data in the CAN-CFG-Module is invalid Start of Chapter data from the drive in CAN-CFG-
Module
32120: Invalid basis CAN ID for cyclic data from the drive in CAN-CFG-
Module
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32119: Invalid basis CAN ID for cyclic 32121: The CAN ID for the SYNC
data to the drive in CAN-CFG-Module Start of Chapter telegram in the CAN-CFG-Module is
invalid
32121: The CAN ID for the SYNC telegram in the CAN-CFG-Module is

invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32120: Invalid basis CAN ID for cyclic 32122: The CAN ID for the broadcast
data from the drive in CAN-CFG- Start of Chapter command in the CAN-CFG-Module is
Module invalid
32122: The CAN ID for the broadcast command in the CAN-CFG-Module

is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32121: The CAN ID for the SYNC 32123: Error defining Read COB for
telegram in the CAN-CFG-Module is Start of Chapter WR2 Request (external set position
invalid mode)
32123: Error defining Read COB for WR2 Request (external set position
mode)
Data type: UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, in the external set position
mode the function CAN_defineCOB() is called for each ACOPOS to define a Read COB with a
specific CAN ID for the Channel2 Write Request telegram. This error number is output if an
error occurs with this procedure.
Reaction:
operated.
Cause/Remedy:

32122: The CAN ID for the broadcast 32124: Error defining Read COB for
command in the CAN-CFG-Module is Start of Chapter WR2 Response (external set position
invalid mode)
32124: Error defining Read COB for WR2 Response (external set position
mode)
Data type: UDINT
Description:
specific CAN ID for the Channel2 Write Response telegram. This error number is output if an
Reaction:
operated.
Cause/Remedy:

WR2 Request (external set position Start of Chapter RD2 Request (external set position
mode) mode)
32125: Error defining Read COB for RD2 Request (external set position
mode)
Data type: UDINT
Description:
specific CAN ID for the Channel2 Read Request telegram. This error number is output if an error
occurs with this procedure.
Reaction:
operated.
Cause/Remedy:

WR2 Response (external set position Start of Chapter RD2 Response (external set position
mode) mode)
32126: Error defining Read COB for RD2 Response (external set position
mode)
Data type: UDINT
Description:
specific CAN ID for the Channel2 Read Response telegram. This error number is output if an
Reaction:
operated.
Cause/Remedy:

32125: Error defining Read COB for 32127: Error deleting Write COB for
RD2 Request (external set position Start of Chapter Broadcast Command (external set
mode) position mode)
32127: Error deleting Write COB for Broadcast Command (external set
position mode)
Info: CAN-ID (in HB and MHB) and Status of CAN_deleteCOB() (in MLB and LB)
Data type: UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network in external set position mode,
the Broadcast command is sent to all connected ACOPOS nodes from another PLC. Therefore,
the Write COB (set by default) for each CAN interface specified in the NC configuration for the
Broadcast command must be deleted using the CAN_deleteCOB() function to be able to replace
it with a Read COB. This error number is output if an error occurs with this procedure.
Reaction:
Cause/Remedy:
Status of CAN_deleteCOB(): See CAN library error numbers.

RD2 Response (external set position Start of Chapter Broadcast Command (external set
mode) position mode)
32128: Error defining Read COB for Broadcast Command (external set
position mode)
Data type: UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network in external set position mode,
the Broadcast command is sent to all connected ACOPOS nodes from another PLC. Therefore, a
Read COB for each CAN interface specified in the NC configuration for the Broadcast command
is defined using the CAN_defineCOB() function with a specific CAN ID. This error number is
output if an error occurs with this procedure.
Reaction:
Cause/Remedy:

32127: Error deleting Write COB for 32129: Error defining Read COB for
Broadcast Command (external set Start of Chapter cyclic user data from drive (ext. set
position mode) pos. mode)
32129: Error defining Read COB for cyclic user data from drive (ext. set
pos. mode)
Data type: UDINT
Description:
For the operation of ACOPOS servo drives via the CAN network, in external set position mode
the function CAN_defineCOB() is called for each ACOPOS to define a Read COB with a specific
CAN ID for the monitor data from the drive. This error number is output if an error occurs with
this procedure.
Reaction:
operated.
Cause/Remedy:

32128: Error defining Read COB for 32130: This external set position
Broadcast Command (external set Start of Chapter mode is only allowed with one CAN
position mode) interface
32130: This external set position mode is only allowed with one CAN
interface
Info: Count of used CAN interfaces

Data type: UINT
Description:
This external set position mode is not allowed for the operation of ACOPOS servo drives via the
CAN network if multiple CAN interfaces are defined in the NC configuration.
Reaction:
Initialization of the NC software is aborted. No NC objects can be operated:
Cause/Remedy:
Reduce the number of CAN interfaces in the NC configuration to one or deactivate the external
set position mode.

32129: Error defining Read COB for 32131: The specified NC data module
cyclic user data from drive (ext. set Start of Chapter does not exist
pos. mode)
32131: The specified NC data module does not exist
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32130: This external set position 32132: The specified module is not
mode is only allowed with one CAN Start of Chapter an NC data module
interface
32132: The specified module is not an NC data module
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32131: The specified NC data module 32133: The NC module type of the
Start of Chapter
does not exist specified NC data module is invalid
32133: The NC module type of the specified NC data module is invalid
Info: Requested type (in HB) and type of NC data module (in LB)
Data type: UINT
Description:
Reaction:
Cause/Remedy:

32132: The specified module is not 32134: The NC module type of the
an NC data module Start of Chapter specified NC data module cannot be
read
32134: The NC module type of the specified NC data module cannot be

read

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32133: The NC module type of the 32135: The data address of the
specified NC data module is invalid Start of Chapter specified NC data module cannot be
read
32135: The data address of the specified NC data module cannot be read

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32134: The NC module type of the 32136: The Data section of the
specified NC data module cannot be Start of Chapter specified NC data module is empty
read
32136: The Data section of the specified NC data module is empty

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32135: The data address of the 32137: Data address of structure for
specified NC data module cannot be Start of Chapter a data block operation is zero
read
32137: Data address of structure for a data block operation is zero
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32136: The Data section of the 32138: Data address zero (user data
Start of Chapter
specified NC data module is empty for data block operation)
32138: Data address zero (user data for data block operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32137: Data address of structure for 32139: Data length zero (user data
Start of Chapter
a data block operation is zero for data block operation)
32139: Data length zero (user data for data block operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32138: Data address zero (user data 32140: Data block operation: Data
for data block operation) Start of Chapter module name or data address must
be zero
32140: Data block operation: Data module name or data address must be
zero
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32139: Data length zero (user data 32141: Invalid data format in a
Start of Chapter
for data block operation) parameter sequence
32141: Invalid data format in a parameter sequence
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32140: Data block operation: Data 32142: ID or type of a parameter
module name or data address must Start of Chapter invalid in parameter sequence with
be zero text format
32142: ID or type of a parameter invalid in parameter sequence with text

format
Info: Index of this parameter in the parameter sequence

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32141: Invalid data format in a 32143: Data of a parameter in a
parameter sequence Start of Chapter parameter sequence longer than 4
bytes
32143: Data of a parameter in a parameter sequence longer than 4 bytes

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32142: ID or type of a parameter 32144: Error for an ACOPOS
invalid in parameter sequence with Start of Chapter Parameter Table specified in the NC
text format Deployment Table
32144: Error for an ACOPOS Parameter Table specified in the NC

Deployment Table
Info: Index of this ACOPOS Parameter Table (name in logbook)

Data type: UINT
Description:
Initial ACOPOS parameter tables are tables that are defined for an NC object in an NC
deployment table. All of the parameters contained in initial ACOPOS parameter tables for a
certain ACOPOS module are transferred to this ACOPOS during the function for ACOPOS
startup.
This error number is output if an error occurs while processing an initial ACOPOS parameter
table. Additionally, the name of this ACOPOS parameter table is also entered in the logbook.
Furthermore, an additional error record is also output containing details about the error which
occurred.
Reaction:
The transfer of initial ACOPOS parameter tables to this NC object is aborted. Processing is
continued for any other initial ACOPOS parameter table defined for other NC objects of this
ACOPOS module.
Cause/Remedy:
The error described in the subsequent error record must be corrected.

32143: Data of a parameter in a 32145: The ACOPOS Parameter Table
parameter sequence longer than 4 Start of Chapter does not exist
bytes
32145: The ACOPOS Parameter Table does not exist
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32144: Error for an ACOPOS 32146: The ACOPOS Parameter Table
Parameter Table specified in the NC Start of Chapter is not an NC data module
Deployment Table
32146: The ACOPOS Parameter Table is not an NC data module
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32145: The ACOPOS Parameter Table 32147: The NC module type of the
Start of Chapter
does not exist ACOPOS Parameter Table is invalid
32147: The NC module type of the ACOPOS Parameter Table is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32146: The ACOPOS Parameter Table 32148: The NC module type of the
is not an NC data module Start of Chapter ACOPOS Parameter Table cannot be
read
32148: The NC module type of the ACOPOS Parameter Table cannot be

read
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32147: The NC module type of the 32149: The data address in the
ACOPOS Parameter Table is invalid Start of Chapter ACOPOS Parameter Table cannot be
read
32149: The data address in the ACOPOS Parameter Table cannot be read
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32148: The NC module type of the 32150: The data section of the
ACOPOS Parameter Table cannot be Start of Chapter ACOPOS Parameter Table is empty
read
32150: The data section of the ACOPOS Parameter Table is empty
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32149: The data address in the 32151: Error initializing memory
ACOPOS Parameter Table cannot be Start of Chapter buffer for XML parser
read
32151: Error initializing memory buffer for XML parser
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32150: The data section of the 32152: No XML elements present in
Start of Chapter
ACOPOS Parameter Table is empty an ACOPOS Parameter Table
32152: No XML elements present in an ACOPOS Parameter Table
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32151: Error initializing memory 32153: The first XML element is
buffer for XML parser Start of Chapter invalid in the ACOPOS Parameter
Table
32153: The first XML element is invalid in the ACOPOS Parameter Table
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32152: No XML elements present in 32154: The ACOPOS Parameter Table
an ACOPOS Parameter Table Start of Chapter does not contain any ACOPOS
parameters
32154: The ACOPOS Parameter Table does not contain any ACOPOS
parameters
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32153: The first XML element is 32155: Nesting depth for ACOPOS
invalid in the ACOPOS Parameter Start of Chapter parameter groups exceeded
Table
32155: Nesting depth for ACOPOS parameter groups exceeded
Info: Maximum nesting depth

Data type: UINT
Description:
Note:
Reaction:
Cause/Remedy:

32154: The ACOPOS Parameter Table 32156: ID or type of an ACOPOS
does not contain any ACOPOS Start of Chapter parameter invalid for text conversion
parameters
32156: ID or type of an ACOPOS parameter invalid for text conversion
Info: Parameter ID
Data type: UINT
Description:
Reaction:
Cause/Remedy:

32155: Nesting depth for ACOPOS 32157: Length of parameter data too
parameter groups exceeded Start of Chapter large for ACOPOS parameter in XML
data
32157: Length of parameter data too large for ACOPOS parameter in

XML data
Info: Parameter ID
Data type: UINT
Description:
Reaction:
Cause/Remedy:

32156: ID or type of an ACOPOS 32158: ACOPOS parameter: An
Start of Chapter
parameter invalid for text conversion attribute is not defined (ID)
32158: ACOPOS parameter: An attribute is not defined (ID)
Info: Number of this Parameter in the ACOPOS Parameter Table

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32157: Length of parameter data too 32159: ACOPOS parameter: An
large for ACOPOS parameter in XML Start of Chapter attribute is not defined (Value)
data
32159: ACOPOS parameter: An attribute is not defined (Value)
Info: Number of this Parameter in the ACOPOS Parameter Table

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32158: ACOPOS parameter: An 32160: Basis movements with mode
attribute is not defined (ID) Start of Chapter ncTRG_STOP are not allowed for
ncV_AXIS
32160: Basis movements with mode ncTRG_STOP are not allowed for
ncV_AXIS
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32159: ACOPOS parameter: An 32161:
attribute is not defined (Value) Start of Chapter ncNC_SYS_RESTART,ncACKNOWLEDGE
is not allowed (network.init=ncFALSE)
32161: ncNC_SYS_RESTART,ncACKNOWLEDGE is not allowed

(network.init=ncFALSE)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32160: Basis movements with mode 32162: Internal task class number
ncTRG_STOP are not allowed for Start of Chapter wrong (from now on operation is
ncV_AXIS blocked !!!)
32162: Internal task class number wrong (from now on operation is

blocked !!!)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32161: 32163: A system module download
ncNC_SYS_RESTART,ncACKNOWLEDGE Start of Chapter to all drives is not possible with
is not allowed (network.init=ncFALSE) SwNodeSelect
32163: A system module download to all drives is not possible with

SwNodeSelect
Info:
Data type:
Description:
A system module download to all ACOPOS nodes connected to the network was started. If an
ACOPOS node is active on the network, for which "SwNodeSelect" (node number selection via
software) was defined, then a system module cannot be transferred to this ACOPOS for
technical reasons (node number "lost" after SW Reset).
Reaction:
Cause/Remedy:
An ACOPOS node on the network is active, for which "SwNodeSelect" was defined, while
"acp10sys" is being transferred from Automation Studio to the PLC as NC system module.
This problem can only occur for SG3 target systems and only with the following setting:
- Store NC operating system to the PLC: No (default setting for SG3)
The following setting is absolutely necessary for "SwNodeSelect":

- Store NC operating system to the PLC: Yes


32162: Internal task class number 32164: The text defined with
wrong (from now on operation is Start of Chapter NetworkInit (global) is invalid
blocked !!!)
32164: The text defined with NetworkInit (global) is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32163: A system module download to 32165: A CAN node number is
all drives is not possible with Start of Chapter equivalent to HW node number
SwNodeSelect
32165: A CAN node number is equivalent to HW node number
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32164: The text defined with 32166: Network initialization during
NetworkInit (global) is invalid Start of Chapter active network initialization not
allowed
32166: Network initialization during active network initialization not

allowed
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32165: A CAN node number is 32167: The text defined with
Start of Chapter
equivalent to HW node number NetworkInit is invalid
32167: The text defined with NetworkInit is invalid
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32166: Network initialization during 32168: NodeNr_SwNodeSelect is
active network initialization not Start of Chapter defined repeatedly with different
allowed values
32168: NodeNr_SwNodeSelect is defined repeatedly with different values
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32167: The text defined with 32169: The node number defined
Start of Chapter
NetworkInit is invalid with NodeNr_SwNodeSelect is invalid
32169: The node number defined with NodeNr_SwNodeSelect is invalid
Info: Node number

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32168: NodeNr_SwNodeSelect is 32170: A data module name has to
defined repeatedly with different Start of Chapter be entered for this data block
values operation
32170: A data module name has to be entered for this data block
operation
Info: Subject code of NC action

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32169: The node number defined 32171: Index zero is not allowed
Start of Chapter
with NodeNr_SwNodeSelect is invalid (user data for data block operation)
32171: Index zero is not allowed (user data for data block operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32170: A data module name has to 32179: ID or type of a parameter
be entered for this data block Start of Chapter invalid in parameter list with text
operation format
32179: ID or type of a parameter invalid in parameter list with text format
Info: Index of this parameter in the parameter list

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32171: Index zero is not allowed 32180: Data address of structure for
Start of Chapter
(user data for data block operation) a parameter list operation is zero
32180: Data address of structure for a parameter list operation is zero
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32179: ID or type of a parameter 32181: Data address zero (user data
invalid in parameter list with text Start of Chapter for parameter list operation)
format
32181: Data address zero (user data for parameter list operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32180: Data address of structure for 32182: Data length zero (user data
Start of Chapter
a parameter list operation is zero for parameter list operation)
32182: Data length zero (user data for parameter list operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32181: Data address zero (user data 32183: Data length invalid (user data
Start of Chapter
for parameter list operation) for parameter list operation)
32183: Data length invalid (user data for parameter list operation)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32182: Data length zero (user data 32184: Invalid data format in a
Start of Chapter
for parameter list operation) parameter list
32184: Invalid data format in a parameter list
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32183: Data length invalid (user data 32185: Data of a parameter in a
Start of Chapter
for parameter list operation) parameter list longer than 6 bytes
32185: Data of a parameter in a parameter list longer than 6 bytes

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32184: Invalid data format in a 32186: NetBasisInitNr is defined
parameter list Start of Chapter repeatedly for ncMANAGER with
different values
32186: NetBasisInitNr is defined repeatedly for ncMANAGER with

different values
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32185: Data of a parameter in a 32187: Error for synchronization of
parameter list longer than 6 bytes Start of Chapter network initialization (details in Log
Book)
32187: Error for synchronization of network initialization (details in Log

Book)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32186: NetBasisInitNr is defined 32188: This NC object is defined in
repeatedly for ncMANAGER with Start of Chapter hardware configuration and NC
different values Deployment Table
32188: This NC object is defined in hardware configuration and NC

Deployment Table
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32187: Error for synchronization of 32189: Timeout for cyclic data from
network initialization (details in Log Start of Chapter drive - Indications invalid (network
Book) error ?)
32189: Timeout for cyclic data from drive - Indications invalid (network
error ?)

Data type: UDINT
Description:
Runtime error following successfully initialized network communication between the NC
manager (on the PLC) and the ACOPOS if the NC manager did not receive any cyclic data from
the ACOPOS for a specific amount of time.
Reaction:
The NC manager switches into the "Network communication not active" state for this ACOPOS.
This can be seen in the following status indicators:
- network.init = ncFALSE
- network.phase = 0
Cause/Remedy:
CAN network:
The task class cycle time or task class tolerance are defined too low for the task class of the NC
manager task.
Powerlink network:
The powerlink cycle time is defined too low.


32188: This NC object is defined in 32190: Error defining Write COB for
hardware configuration and NC Start of Chapter selection of node number via software
Deployment Table
32190: Error defining Write COB for selection of node number via
software
Data type: UDINT
Description:
The "selection of node number via software" function allows the user to set the node number
used for an ACOPOS in the application via a specific software protocol instead of using the node
number switch provided on the ACOPOS hardware.
For the operation of ACOPOS servo drives via the CAN network, for this function a separate
Write COB must be defined with the function CAN_defineCOB() for each CAN interface defined
in the NC configuration. This error number is output if an error occurs with this procedure.
Reaction:
Initialization is aborted for all ACOPOS nodes which use the "Node number selection via
software" function and which are connected to this CAN interface. All corresponding NC objects
can no longer be operated.
Cause/Remedy:

32189: Timeout for cyclic data from 32191: This parameter ID is reserved
drive - Indications invalid (network Start of Chapter for the PLCopen MC library
error ?)
32191: This parameter ID is reserved for the PLCopen MC library
Info: Command ID (0: SERVICE, 1: PAR_LIST, 2 PAR_SEQU, 3: ACP_PAR)

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32190: Error defining Write COB for 32195: Error downloading BsLoader
Start of Chapter
selection of node number via software to ACOPOS
32195: Error downloading BsLoader to ACOPOS
Info: Node number of ACOPOS which caused the error (if not equal to zero)
Data type: UINT
Description:
The data in the "acp10bsl" object are transferred as BsLoader to the ACOPOS by the NC
manager. This error number is output if an error occurs during this procedure. Further details
are also output in additional error records about the error which occurred.
Reaction:
Transfer of the BsLoader to the ACOPOS is aborted.
Cause/Remedy:
Error during the transfer of a BsLoader to the ACOPOS.
The exact cause can be determined from the details entered in the additional error records.
32191: This parameter ID is reserved Start of Chapter 32196: Error downloading operating
for the PLCopen MC library system to ACOPOS
32196: Error downloading operating system to ACOPOS
Info: Node number of ACOPOS which caused the error (if not equal to zero)
Data type: UINT
Description:
The data in the "acp10sys" object are transferred as operating system to the ACOPOS by the
NC manager. This error number is output if an error occurs during this procedure. Further
details are also output in additional error records about the error which occurred.
Reaction:
Transfer of the operating system to the ACOPOS is aborted.
Cause/Remedy:
During the transfer of an operating system to the ACOPOS.
The exact cause can be determined from the details entered in the additional error records.

32195: Error downloading BsLoader 32197: Error downloading BsLoader
to ACOPOS Start of Chapter to ACOPOS (additional info in Log
Book)
32197: Error downloading BsLoader to ACOPOS (additional info in Log

Book)
Info:
Data type:
Description:
The data in the "acp10bsl" object are transferred as BsLoader to the ACOPOS by the NC
manager. This error number is output if an error occurs during this procedure. Further details
are also provided in the PLC logbook about the error which occurred.
Reaction:
The ACOPOS startup function is aborted.
Cause/Remedy:
Error during the transfer of an operating system to the ACOPOS.
The exact cause can be determined from the details entered in the log book.

32196: Error downloading operating 32198: Error downloading operating
system to ACOPOS Start of Chapter system to ACOPOS (additional info in
Log Book)
32198: Error downloading operating system to ACOPOS (additional info

in Log Book)
Info:
Data type:
Description:
The data in the "acp10sys" object are transferred as operating system to the ACOPOS by the
NC manager. This error number is output if an error occurs during this procedure. Further
details are also provided in the PLC logbook about the error which occurred.
Reaction:
The ACOPOS startup function is aborted.
Cause/Remedy:
Error during the transfer of an operating system to the ACOPOS.
The exact cause can be determined from the details entered in the log book.
The log book info for the log book error numbers below contains the following details:
- 10940: ACP10 software error number (described in this document)
- 10941: ACP10 software error number (described in this document)
- 10942: Info for the error number in 10941 (or 10940, if 10941 is not provided)
- 10943: Parameter ID, for which the error occurred
- 10965: Node number of the ACOPOS, for which the error occurred

32197: Error downloading BsLoader 32200: Error calling plAcycWrite()
to ACOPOS (additional info in Log Start of Chapter (read parameter)
Book)
32200: Error calling plAcycWrite() (read parameter)
Info: Status of plAcycWrite()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32198: Error downloading operating 32201: Error calling plAcycWrite()
system to ACOPOS (additional info in Start of Chapter (write parameter)
Log Book)
32201: Error calling plAcycWrite() (write parameter)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32200: Error calling plAcycWrite() 32202: Error calling plAcycRead()
Start of Chapter
(read parameter) (read parameter)
32202: Error calling plAcycRead() (read parameter)
Info: Status of plAcycRead()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32201: Error calling plAcycWrite() 32203: Error calling plAcycRead()
Start of Chapter
(write parameter) (write parameter)
32203: Error calling plAcycRead() (write parameter)
Info: Status of plAcycRead()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32202: Error calling plAcycRead() 32204: Timeout while reading par.
(read parameter) Start of Chapter via acyclic channel (is the drive in the
network ?)
32204: Timeout while reading par. via acyclic channel (is the drive in the
network ?)

Data type: UDINT
Description:
To read a parameter value from the ACOPOS, the NC manager first sends an acyclic Read
Request frame from the PLC to the ACOPOS. This error is displayed if the NC manager could not
read the corresponding acyclic Read Response frame from the ACOPOS using the Powerlink
library within a specific amount of time after the Powerlink send function call was made.
Note:
Reaction:
Resets the interface of the corresponding acyclic Powerlink write channel.
Cause/Remedy:

32203: Error calling plAcycRead() 32205: Timeout while writing par. via
(write parameter) Start of Chapter acyclic channel (is the drive in the
network ?)
32205: Timeout while writing par. via acyclic channel (is the drive in the
network ?)

Data type: UDINT
Description:
To transfer a parameter value to the ACOPOS, the NC manager first sends a Write Request
frame from the PLC to the ACOPOS. This error is displayed if the NC manager could not read
the corresponding acyclic Write Response frame from the ACOPOS using the Powerlink library
within a specific amount of time after the Powerlink send function call was made.
Note:
Reaction:
Resets the interface of the corresponding acyclic Powerlink write channel.
Cause/Remedy:

32204: Timeout while reading par. 32206: Cyclic channel: Read Request
via acyclic channel (is the drive in the Start of Chapter in spite of Wait for Response
network ?)
32206: Cyclic channel: Read Request in spite of Wait for Response
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32205: Timeout while writing par. via 32207: Cyclic channel: Write Request
acyclic channel (is the drive in the Start of Chapter in spite of Wait for Response
network ?)
32207: Cyclic channel: Write Request in spite of Wait for Response
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32206: Cyclic channel: Read Request 32208: Error using
in spite of Wait for Response Start of Chapter plACTION_DEVICE_TO_BUS_NR
(additional info in Log Book)
32208: Error using plACTION_DEVICE_TO_BUS_NR (additional info in

Log Book)
Info: Status of plAction()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32207: Cyclic channel: Write Request 32209: Error using
in spite of Wait for Response Start of Chapter plACTION_GET_IDENT (additional info
in Log Book)
32209: Error using plACTION_GET_IDENT (additional info in Log Book)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32208: Error using 32210: Wrong interface ident when
plACTION_DEVICE_TO_BUS_NR Start of Chapter calling plState() (additional info in
(additional info in Log Book) Log Book)
32210: Wrong interface ident when calling plState() (additional info in

Log Book)
Info: Interface ident

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32209: Error using 32211: Interface not available when
plACTION_GET_IDENT (additional info Start of Chapter calling plState() (additional info in
in Log Book) Log Book)
32211: Interface not available when calling plState() (additional info in

Log Book)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32210: Wrong interface ident when 32212: Fatal interface error when
calling plState() (additional info in Start of Chapter calling plState() (additional info in
Log Book) Log Book)
32212: Fatal interface error when calling plState() (additional info in Log
Book)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32211: Interface not available when 32213: Timeout for Powerlink
calling plState() (additional info in Start of Chapter interface (additional info in Log Book)
Log Book)
32213: Timeout for Powerlink interface (additional info in Log Book)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32212: Fatal interface error when 32214: Error calling plAcycOpen()
calling plState() (additional info in Start of Chapter (additional info in Log Book)
Log Book)
32214: Error calling plAcycOpen() (additional info in Log Book)
Info: Status of plAcycOpen()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32213: Timeout for Powerlink 32215: Error calling plCECreate()
Start of Chapter
interface (additional info in Log Book) (additional info in Log Book)
32215: Error calling plCECreate() (additional info in Log Book)
Info: Status of plCECreate()
Data type: UINT
Description:
Reaction:
Cause/Remedy:

32214: Error calling plAcycOpen() 32216: Error using
(additional info in Log Book) Start of Chapter plACTION_GET_IF_PARAMETERS
32216: Error using plACTION_GET_IF_PARAMETERS (additional info in

Log Book)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32215: Error calling plCECreate() 32217: Broadcast channel: Error
(additional info in Log Book) Start of Chapter calling plAcycWrite() (read
parameter)
32217: Broadcast channel: Error calling plAcycWrite() (read parameter)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32216: Error using 32218: Broadcast channel: Error
plACTION_GET_IF_PARAMETERS Start of Chapter calling plAcycWrite() (write
(additional info in Log Book) parameter)
32218: Broadcast channel: Error calling plAcycWrite() (write parameter)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32217: Broadcast channel: Error 32219: Error using
calling plAcycWrite() (read Start of Chapter plACTION_GET_IF_MUXPRESCALE
parameter) (additional info in Log Book)
32219: Error using plACTION_GET_IF_MUXPRESCALE (additional info in

Log Book)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32218: Broadcast channel: Error 32220: Error using
calling plAcycWrite() (write Start of Chapter plACTION_GET_IF_CYCLE_TIME
parameter) (additional info in Log Book)
32220: Error using plACTION_GET_IF_CYCLE_TIME (additional info in

Log Book)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32219: Error using 32221: Error using
plACTION_GET_IF_MUXPRESCALE Start of Chapter plACTION_GET_IF_PRESCALE
(additional info in Log Book) (additional info in Log Book)
32221: Error using plACTION_GET_IF_PRESCALE (additional info in Log

Book)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32220: Error using 32222: Error using
plACTION_GET_IF_CYCLE_TIME Start of Chapter plACTION_GET_STATIONFLAG
(additional info in Log Book) (additional info in Log Book)
32222: Error using plACTION_GET_STATIONFLAG (additional info in

Log Book)

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32221: Error using 32223: Error calling plGetNodeInfo()
plACTION_GET_IF_PRESCALE Start of Chapter (additional info in Log Book)
32223: Error calling plGetNodeInfo() (additional info in Log Book)
Info: Status of plCECreate()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32222: Error using 32235: Data address zero for
plACTION_GET_STATIONFLAG Start of Chapter parameter in parameter sequence
32235: Data address zero for parameter in parameter sequence

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32223: Error calling plGetNodeInfo() 32236: Data address zero for
Start of Chapter
(additional info in Log Book) parameter in parameter list
32236: Data address zero for parameter in parameter list

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32235: Data address zero for 32251: NcNetCyc: Response timeout
Start of Chapter
parameter in parameter sequence
32251: NcNetCyc: Response timeout

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

32236: Data address zero for 32252: NcNetCyc: Unexpected
Start of Chapter
parameter in parameter list Response (invalid counter value)
32252: NcNetCyc: Unexpected Response (invalid counter value)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32251: NcNetCyc: Response timeout 32500: The Message FIFO already
Start of Chapter
exists
32500: The Message FIFO already exists
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32252: NcNetCyc: Unexpected 32501: Error creating Message FIFO
Start of Chapter
Response (invalid counter value)
32501: Error creating Message FIFO
Info: Status of RtkCreateFifo()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32500: The Message FIFO already 32502: The Critical Section for
Start of Chapter
exists Command Semaphore already exists
32502: The Critical Section for Command Semaphore already exists
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32501: Error creating Message FIFO 32503: Error creating Critical Section
Start of Chapter
for Command Semaphore
32503: Error creating Critical Section for Command Semaphore
Info: Status of RtkCreateCriticalSection()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32502: The Critical Section for 32504: The NC Manager Idle Task
Start of Chapter
Command Semaphore already exists already exists
32504: The NC Manager Idle Task already exists
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32503: Error creating Critical Section 32505: Error creating NC Manager
Start of Chapter
for Command Semaphore Idle Task
32505: Error creating NC Manager Idle Task
Info: Status of RtkCreateTask()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32504: The NC Manager Idle Task 32506: Error reading Taskclass Cycle
Start of Chapter
already exists Time
32506: Error reading Taskclass Cycle Time
Info: Status of GetTaskclassCycleTime()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32505: Error creating NC Manager 32507: Error reading Taskclass
Start of Chapter
Idle Task Tolerance
32507: Error reading Taskclass Tolerance
Info: Status of GetTaskclassMaxCycleTime()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32506: Error reading Taskclass Cycle 32508: Error sending an idle time
Start of Chapter
Time command to the NC Manager Task
Info: Status of RtkWriteFifo()

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32507: Error reading Taskclass 32509: The Critical Section for
Tolerance Start of Chapter Network Command Trace already
exists
32509: The Critical Section for Network Command Trace already exists
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32508: Error sending an idle time 32510: Error creating Critical Section
Start of Chapter
command to the NC Manager Task for Network Command Trace
32510: Error creating Critical Section for Network Command Trace

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32509: The Critical Section for 32511: The Critical Section for
Network Command Trace already Start of Chapter messages with high priority already
exists exists
32511: The Critical Section for messages with high priority already exists
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

32510: Error creating Critical Section Start of Chapter 32512: Error creating Critical Section
for Network Command Trace for messages with high priority
32512: Error creating Critical Section for messages with high priority

Data type: UINT
Description:
Reaction:
Cause/Remedy:

32511: The Critical Section for 33000: Master cycle time is not a
messages with high priority already Start of Chapter multiple of communication cycle time
exists
33000: Master cycle time is not a multiple of communication cycle time
Info:
Data type:
Description:
Response error while writing the master cycle time (SYNC_MASTERPERIOD).
The master cycle time cannot be divided by the Powerlink cycle time.
Reaction:
Values smaller than the Powerlink cycle time limit the master cycle time. All other values are
accepted immediately. Effects occur if there are external speed requirements or in the 'cyclic,
external set values' operating mode.
Cause/Remedy:

32512: Error creating Critical Section 36001: Parameter limited to valid
Start of Chapter
for messages with high priority range
36001: Parameter limited to valid range
Info:
Data type:
Description:
Response error while writing a parameter if the value is outside the valid limits.
Reaction:
The parameter limit to a valid value and accepted.
Cause/Remedy:

33000: Master cycle time is not a 36002: Total time for the position
multiple of communication cycle time Start of Chapter loop controller limited to prediction
time
36002: Total time for the position loop controller limited to prediction
time
Info:
Data type:
Description:
Response error while writing the total delay time for the position controller if the value is
smaller than the prediction time.
Reaction:
The total delay time for the position controller is set to the prediction time.
Cause/Remedy:
The total delay time for the position controller is too long.
The configuration sequence is not efficient.
-> The prediction time should first be increased.

36001: Parameter limited to valid 37101: Calculated compensation
range Start of Chapter distance on slave axis limited to
maximum
37101: Calculated compensation distance on slave axis limited to

maximum
Info:
Data type:
Description:
The 'effective' slave compensation path exceeds the maximum value (AUT_COMP_SL_S_MAX or
CAM_SL_S_COMP_MAX). See also error number 5101. Only registered once following a start or
restart.
Reaction:
The compensation is calculated with the limit value.
As a result, the slave interval is shifted.
Cause/Remedy:
Event with the ncAT_ONCE attribute occurs mistakenly.

Slave compensation path is too long.
Slave curve period is too small.
Slave multiplication factors are too small.

36002: Total time for the position 37102: Calculated compensation
loop controller limited to prediction Start of Chapter distance on slave axis limited to
time minimum
37102: Calculated compensation distance on slave axis limited to

minimum
Info:
Data type:
Description:
The 'effective' slave compensation is below the minimum value (AUT_COMP_SL_S_MIN or
CAM_SL_S_COMP_MIN). See also error number 5101. Only registered once following a start or
restart.
Reaction:
As a result, the slave interval is shifted.
Cause/Remedy:
Slave compensation path is too short.
Slave curve period is too large.
Slave multiplication factors are too large.

37101: Calculated compensation 37103: Slave trigger outside of
distance on slave axis limited to Start of Chapter window
maximum
37103: Slave trigger outside of window
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if a slave trigger is reached
outside the valid window position (CAM_SL_TRIG_WINDOW).
Reaction:
No effect when 'real' false trigger occurs.
If a label trigger is rejected, the expected value is still set to the slave interval defined in the
parameter. This could result in a deviation.
Cause/Remedy:
Window defined too small.

The first trigger reached was false or label tape not correctly setup before the start.
The defined slave interval (CAM_SL_S_SYNC + CAM_SL_S_COMP) deviates too strongly from
the actual interval.
Interval jump in the label tape (bonding point).
'Real' false trigger -> Check trigger sensor.
Error analysis with CAM_SL_TRIG_IV_MIN, CAM_SL_TRIG_IV_MAX.

37102: Calculated compensation 37104: Slave trigger missing
distance on slave axis limited to Start of Chapter
minimum
37104: Slave trigger missing
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if a slave trigger is not reached
within the valid window position. This means that the slave position exceeded the expected
valid plus CAM_SL_TRIG_WINDOW.
Reaction:
The expected trigger value is entered as replacement for the latch position.
The interval is advanced by the expected value. This could result in a deviation.
Cause/Remedy:
Label missing.
Sensor failure.

37103: Slave trigger outside of 37105: Master compensation trigger
Start of Chapter
window outside of window
37105: Master compensation trigger outside of window
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if a master compensation
trigger is reached outside the valid window position (CAM_MA_COMP_TRIG_WINDOW). Is only
registered once following a start or restart.
Reaction:
A product is not labeled if the product trigger is rejected.
Cause/Remedy:
Incorrect parameters for calculating the first expected trigger position (CAM_MA_S_START,
CAM_MA_S_COMP_TRIG).
The defined master interval (CAM_MA_S_SYNC + CAM_MA_S_COMP) does not match the actual
interval exactly.
Error analysis with CAM_MA_COMP_TRIG_IV_MIN, CAM_MA_COMP_TRIG_IV_MAX.

37104: Slave trigger missing 37107: Displacement actual/set
Start of Chapter position too high during 'controller
switch on'
37107: Displacement actual/set position too high during 'controller

switch on'
Info:
Data type:
Description:
Response error using the 'Switch on controller when cam automat is active' command
(CMD_CAM_CONTROLLER=ncSWITCH_ON). The difference between the actual position and the
set position of the cam automat is calculated. This difference exceeds the valid range
(CAM_SL_S_COMP_MAX, CAM_SL_S_COMP, CAM_SL_S_COMP_MIN).
Reaction:
The command is executed and the controller is switched on.
Result of the large compensation path: Error number 37101 or
Error number 37102.
Cause/Remedy:
Axis movement while controller is off.
Limits are too strict (CAM_SL_S_COMP_MIN CAM_SL_S_COMP_MAX).

37105: Master compensation trigger 37108: Calculated compensation
outside of window Start of Chapter distance of master axis limited to
minimum
37108: Calculated compensation distance of master axis limited to

minimum
Info:
Data type:
Description:
The 'effective' master compensation is below the minimum value (AUT_COMP_MA_S_MIN). See
also error number 5101. Only registered once following a start or restart.
Reaction:
As a result, the master interval is shifted.
Cause/Remedy:
Event with the ncAT_ONCE attribute occurs mistakenly.
Master compensation path is too short.
Master curve period is too large.
Master multiplication factors are too large.

37107: Displacement actual/set 37109: Master trigger outside of
position too high during 'controller Start of Chapter window
switch on'
37109: Master trigger outside of window
Info:
Data type:
Description:
Runtime error when cam automat is active (CMD_CAM_START) if a master product trigger is
reached outside the valid window position (CAM_MA_TRIG_WINDOW).
Reaction:
A product is not labeled if the product trigger is rejected.
Cause/Remedy:
First expected trigger position is incorrect. See error number 37110.
The defined master interval (CAM_MA_S_SYNC + CAM_MA_S_COMP) does not match the actual
interval exactly.

37108: Calculated compensation 37110: Master position at start higher
distance of master axis limited to Start of Chapter than first trigger position
minimum
37110: Master position at start higher than first trigger position
Info:
Data type:
Description:
Response error while starting the cam automat (CMD_CAM_START) if the current master
position is already located after the first expected position of the product trigger at the start.
The first expected trigger position is calculated as follows: CAM_MA_S_START +
CAM_MA_S_SYNC + CAM_MA_S_COMP - CAM_MA_S_TRIG
Reaction:
The cam automat start is executed.
The expected trigger position is corrected.
Cause/Remedy:
Incorrect parameter.
Master speed too high at start.

37109: Master trigger outside of 37111: Cam profile data: Difference
window Start of Chapter between polynomial value y(xn) and
slave period
37111: Cam profile data: Difference between polynomial value y(xn) and
slave period
Info: Difference
Data type: REAL
Description:
Response error at the last data segment of the cam profile download (AUT_POLY_DATA). The
polynomial function value y(xn) is checked to see if it corresponds to the slave interval at the
end of the master interval. The function value is calculated as a float number. The intervals
(periods) are placed in the cam profile data as whole number. This warning is generated if there
is a deviation greater than 0.01 and less than 0.5. See also error number 5304.
Reaction:
The cam profile is accepted, but the deviation may cause position jumps during active cam
profile coupling.
Cause/Remedy:
Numeric error while calculating the cam profile polynomial.
The calculation algorithm does not account for the fact that only whole-number intervals are
allowed.

37110: Master position at start higher 37112: Polynomial within cam profile
Start of Chapter
than first trigger position data exceeds limit value
37112: Polynomial within cam profile data exceeds limit value
Info: Detail
Data type: UINT
Description:
Response error while writing AUT_POLY_CHECK. The polynomial of a cam profile is checked for
limit violations.
Reaction:
None.
Cause/Remedy:
The cam profile was incorrectly dimensioned.
The AUT_MA_V_MAX parameter or the axis limit is not correct.
Detail
1: Y-shift (position jump) to the left connection polynomial
2: Y-shift (position jump) to the right connection polynomial

3: Maximum acceleration in positive direction (AXLIM_A1_POS)
4: Maximum deceleration in positive direction (AXLIM_A2_POS)
5: Maximum acceleration in negative direction (AXLIM_A1_NEG)
6: Maximum deceleration in negative direction (AXLIM_A2_NEG)
7: Maximum speed in positive direction (AXLIM_V_POS)
8: Maximum speed in negative direction (AXLIM_V_NEG)

37111: Cam profile data: Difference 38000: Current controller: Motor
between polynomial value y(xn) and Start of Chapter speed at compensation of current
slave period offset too high
38000: Current controller: Motor speed at compensation of current offset

too high
Info:
Data type:
Description:
Runtime error while switching on the current controller. The rotor speed (secondary element) is
too high during the compensation of the current offset. The current offsets cannot be
compensated due to the induced synchronous generated voltage.
Reaction:
The current offsets are compensated with 0.
Cause/Remedy:
Drive switched on in standstill.

37112: Polynomial within cam profile 38001: Torque limit is additionally
Start of Chapter
data exceeds limit value limited by peak ACOPOS current
38001: Torque limit is additionally limited by peak ACOPOS current
Info: Peak ACOPOS current

Data type: REAL
Description:
Response error when writing a parameter for the torque limit (torque limit or torque limit
override). The drive cannot generate the electrical current required for the configured torque
limit.
Reaction:
The torque limit is additionally limited by the maximum current of the drive.
Cause/Remedy:
The torque limit cannot be achieved due to the pairing of ACOPOS/motor.
Torque limit too high.

38000: Current controller: Motor 38003: Motor holding brake: Test
speed at compensation of current Start of Chapter torque was limited
offset too high
38003: Motor holding brake: Test torque was limited
Info:
Data type:
Description:
Runtime error during the holding brake torque test. The test torque could not be reached.
Measured error greater than 5%.
Reaction:
None.
Cause/Remedy:
Test torque too larger respectively torque limitation active (Check ACOPOS peak current, motor
peak current, temperatures).

38001: Torque limit is additionally 38004: Motor holding brake: Test
Start of Chapter
limited by peak ACOPOS current torque less than load torque
38004: Motor holding brake: Test torque less than load torque
Info:
Data type:
Description:
Runtime error during the holding brake torque test. The test torque is less than the actual load
torque.
Reaction:
None.
Cause/Remedy:
Actual load torque is too large for the holding brake.
Test torque too small.
Load torque determination incorrect (Current measuring system, motor configuration, rotor
commutation or motor encoder measuring system).

38003: Motor holding brake: Test 39001: Encoder: Position correction
Start of Chapter
torque was limited active
39001: Encoder: Position correction active
Info: Slot
Data type: USINT
Description:
Runtime error in an EnDat or Hiperface encoder with activated monitor (activation, see error
number 7030). The position difference between the incremental position of the plug-in card and
the serial absolute position of the encoder is too large after several comparison cycles.
This error is entered only one time.
Reaction:
The incremental position is readjusted according to the serial absolute position.
Cause/Remedy:
AB encoder connection is interrupted or defective. See wiring guidelines error number 7030.
Problem with the serial absolute position. See error number 39006.
Encoder defective.

38004: Motor holding brake: Test 39002: Resolver: Speed limit for 14
Start of Chapter
torque less than load torque bit resolution exceeded
39002: Resolver: Speed limit for 14 bit resolution exceeded
Info: Slot
Data type: USINT
Description:
Runtime error in a resolver. The permissible speed (4000 Rev/min per resolver pole pair) was
exceeded at a resolution of 2^14 increments per revolution.
Reaction:
None
Cause/Remedy:
Resolution or set speed defined too high (reduce the resolution or set speed).
Resolver defective.
Resolver connection is interrupted or defective. See wiring guidelines error number 7030.

39001: Encoder: Position correction 39003: EnDat encoder: Alarm bit is
Start of Chapter
active set
39003: EnDat encoder: Alarm bit is set
Info: Slot
Data type: USINT
Description:
Runtime error in an active EnDat encoder being used. Alarms were entered in the operating
status register of the encoder.

An alarm is set if a malfunction in the measurement system can cause incorrect position values.
Reaction:
For encoders being actively used, additional warnings are entered according to the alarm
memory read.
Referencing commands are not executed when an alarm is active.
Cause/Remedy:
Causes can be read from the following warnings.

39002: Resolver: Speed limit for 14 39004: EnDat encoder: Alarm bit -
Start of Chapter
bit resolution exceeded Lighting failure
39004: EnDat encoder: Alarm bit - Lighting failure
Info: Slot
Data type: USINT
Description:
Runtime error in an active EnDat encoder being used. Lighting failure in the optical encoder.
Reaction:
None
Cause/Remedy:
Encoder defective.

39003: EnDat encoder: Alarm bit is 39005: EnDat encoder: Alarm bit -
Start of Chapter
set Signal amplitude too small
39005: EnDat encoder: Alarm bit - Signal amplitude too small
Info: Slot
Data type: USINT
Description:
Runtime error in an active EnDat encoder being used. The amplitudes of the sinusoidal
incremental signals are too small.
Reaction:
None
Cause/Remedy:
Encoder is no longer clean.
Encoder is incorrectly adjusted (check physical mounting).
Encoder defective.

39004: EnDat encoder: Alarm bit - 39006: EnDat encoder: Alarm bit -
Start of Chapter
Lighting failure Position value contains an error
39006: EnDat encoder: Alarm bit - Position value contains an error
Info: Slot
Data type: USINT
Description:
Runtime error in an EnDat encoder with activated monitor (activation, see error number 7030).
The position monitor internal to the encoder detected an error.
Reaction:
None
Cause/Remedy:
Encoder speed or speed of movement is too high.
Encoder vibrations (mechanical vibrations).

Start of Chapter
Signal amplitude too small Overvoltage
39007: EnDat encoder: Alarm bit - Overvoltage
Info: Slot
Data type: USINT
Description:
Supply voltage too high.
Reaction:
None
Cause/Remedy:
Problem with the encoder supply voltage (check voltage fluctuations or disturbances).
Encoder defective.

Start of Chapter
Position value contains an error Undervoltage
39008: EnDat encoder: Alarm bit - Undervoltage
Info: Slot
Data type: USINT
Description:
Supply voltage too low.
Reaction:
None
Cause/Remedy:

Start of Chapter
Overvoltage Overcurrent
39009: EnDat encoder: Alarm bit - Overcurrent
Info: Slot
Data type: USINT
Description:
An over-current was measured in the encoder.
Reaction:
None
Cause/Remedy:
Encoder defect (internal short circuit).

Start of Chapter
Undervoltage Battery change required
39010: EnDat encoder: Alarm bit - Battery change required
Info: Slot
Data type: USINT
Description:
Battery must be changed.
Reaction:
None
Cause/Remedy:
Change encoder battery.

39009: EnDat encoder: Alarm bit - 39011: EnDat encoder: Warning bit -
Start of Chapter
Overcurrent Frequency too high
39011: EnDat encoder: Warning bit - Frequency too high
Info: Slot
Data type: USINT
Description:
Count frequency of the incremental signals too high.
Reaction:
None
Cause/Remedy:
Speed or speed of movement is too high.
Encoder vibrations (mechanical vibrations).
Encoder defective.

39010: EnDat encoder: Alarm bit - 39012: EnDat encoder: Warning bit -
Start of Chapter
Battery change required Temperature too high
39012: EnDat encoder: Warning bit - Temperature too high
Info: Slot
Data type: USINT
Description:
Encoder temperature too high. A further temperature increase can cause position failure.
Reaction:
None
Cause/Remedy:
Check motor and environmental temperature.
Encoder defective.

39011: EnDat encoder: Warning bit - 39013: EnDat encoder: Warning bit -
Start of Chapter
Frequency too high Lighting reserve reached
39013: EnDat encoder: Warning bit - Lighting reserve reached
Info: Slot
Data type: USINT
Description:
The maximum manipulated variable for the brightness controller of the internal lighting has
been reached. Further fading of the brightness can cause position failure.
Reaction:
None
Cause/Remedy:
Aging of the encoder lighting.
Encoder defective.

39012: EnDat encoder: Warning bit - 39014: EnDat encoder: Warning bit -
Start of Chapter
Temperature too high Battery charge too low
39014: EnDat encoder: Warning bit - Battery charge too low
Info: Slot
Data type: USINT
Description:
Battery charge too low.
Reaction:
None
Cause/Remedy:
Change encoder battery.
Encoder defective.

39013: EnDat encoder: Warning bit - 39016: Incremental encoder
Start of Chapter
Lighting reserve reached emulation: Frequency too high
39016: Incremental encoder emulation: Frequency too high
Info: Slot
Data type: UINT
Description:
Runtime error while executing the incremental encoder emulation. The speed of the output
position ENCODx_OUT_PARID is too high. The maximum frequency allowed is 65,000 signal
periods per second.
Reaction:
The output frequency is limited according to the maximum frequency allowed. The emulated
encoder position tracks the output position to prevent increments from getting lost.
Cause/Remedy:
Encoder resolution of the incremental encoder emulation is too large.
Speed of the output position too high.
Output position jump due to homing (switch off encoder emulation during the homing).

39014: EnDat encoder: Warning bit - 39017: EnDat encoder: CRC error
Start of Chapter
Battery charge too low while reading position
39017: EnDat encoder: CRC error while reading position
Info: Slot
Data type: USINT
Description:
Runtime error while reading the serial absolute position of an encoder. A CRC or checksum error
occurred during the data transfer.
Reaction:
Serial absolute position is read again.
Cause/Remedy:

39016: Incremental encoder 39018: Reference pulse monitoring:
emulation: Frequency too high Start of Chapter Faulty position, resolution, or
reference pulse
39018: Reference pulse monitoring: Faulty position, resolution, or

reference pulse
Info: Slot
Data type: USINT
Description:
Runtime error when incremental reference pulse monitor is active. The distance between two
reference pulses is outside the valid range.
Reaction:
None
Cause/Remedy:
Compare configuration of the reference pulse monitor (pulse width, pulse interval, watch
window and mode) with encoder data sheet.

39017: EnDat encoder: CRC error 39301: Digital IO: 24V power supply
Start of Chapter
while reading position fail
39301: Digital IO: 24V power supply fail
Info: Slot
Data type: UINT
Description:
Runtime error in the supply voltage of an AC130 or AC131 plug-in card. The supply voltage is
lower than 18V.
Reaction:
Supply to the outputs can no longer be guaranteed.
Cause/Remedy:
Check power supply control.
Power supply overload or malfunction.
Power supply defect.
Power supply connection defect (open line, line termination, wiring error, fuse).

39018: Reference pulse monitoring: 39302: Digital IO 1-4: Diagnose bit
Faulty position, resolution, or Start of Chapter active (current, 24V supply)
reference pulse
Info: Slot
Data type: UINT
Description:
Runtime error on digital outputs 1 to 4 of an AC130 plug-in card.
The diagnostics bit was set due to one of the following errors:
- Active current limitation of the output transistors
- Junction temperature of the transistors is too high
- Supply voltage too low
Reaction:
Current overload, supply voltage error or thermal overload causes the output to be shut off.
Cause/Remedy:
Continuous output load exceeded (see AC130 technical data).
Output short-circuit.

39301: Digital IO: 24V power supply 39303: Digital IO 5-8: Diagnose bit
Start of Chapter
fail active (current, 24V supply)
Info: Slot
Data type: UINT
Description:
Runtime error on digital outputs 5 to 8 of an AC130 plug-in card.
Reaction:
Cause/Remedy:

39302: Digital IO 1-4: Diagnose bit 39305: Digital IO 10: Diagnose bit
Start of Chapter
active (current, 24V supply) active (current, temperature)
Info: Slot
Data type: UINT
Description:
Runtime error on digital output 10 of an AC130 plug-in card. The diagnostics but was set due to
current overload or thermal overload.
Reaction:
Current overload, or thermal overload causes the output to be shut off.
Cause/Remedy:

39303: Digital IO 5-8: Diagnose bit 39306: Digital IO 9: Diagnose bit
Start of Chapter
active (current, 24V supply) active (current, temperature)
Info: Slot
Data type: UINT
Description:
Runtime error on digital output 9 of an AC130 plug-in card.
Reaction:
Cause/Remedy:

39305: Digital IO 10: Diagnose bit 41001: Heatsink temperature sensor:
Start of Chapter
active (current, temperature) Overtemperature
41001: Heatsink temperature sensor: Overtemperature
Info: Heatsink temperature

Data type: REAL
Description:
the warning limit 0.95*103C.
Reaction:
None
Cause/Remedy:

39306: Digital IO 9: Diagnose bit 41011: Motor temperature sensor:
Start of Chapter
active (current, temperature) Overtemperature
41011: Motor temperature sensor: Overtemperature

Data type: REAL
Description:
warning limit 0.95*110C.
Reaction:
None
Cause/Remedy:

41001: Heatsink temperature sensor: 41031: Junction temperature model:
Start of Chapter
Overtemperature Overtemperature
41031: Junction temperature model: Overtemperature
Info: Junction temperature

Data type: REAL
Description:
95% of the maximum junction temperature allowed (see error number 9030).
Reaction:
None
Cause/Remedy:

41011: Motor temperature sensor: 41041: Bleeder temperature model:
Start of Chapter
Overtemperature Overtemperature
41041: Bleeder temperature model: Overtemperature
Info: Bleeder temperature

Data type: REAL
Description:
Runtime error if the temperature of the braking resistor temperature model TEMP_BLEEDER
exceeds 95% of the maximum braking resistor temperature allowed (see error number 9040).
Reaction:
None
Cause/Remedy:

41031: Junction temperature model: 41051: ACOPOS peak current:
Start of Chapter
Overtemperature Overload
41051: ACOPOS peak current: Overload
Info: Peak current load

Data type: REAL
Description:
Runtime error if the ACOPOS peak current load LOAD_PEAK_CURR exceeds 95%.
Reaction:
None
Cause/Remedy:

41041: Bleeder temperature model: 41061: ACOPOS continuous current:
Start of Chapter
Overtemperature Overload
41061: ACOPOS continuous current: Overload
Info: Continuous current load

Data type: REAL
Description:
Runtime error if the ACOPOS continuous current load LOAD_CONT_CURR exceeds 95%.
Reaction:
None
Cause/Remedy:

41051: ACOPOS peak current: 41070: Motor temperature model:
Start of Chapter
Overload Overtemperature
41070: Motor temperature model: Overtemperature
Info: Calculated motor temperature

Data type: REAL
Description:
Runtime error if the motor temperature model LOAD_MOTOR_MODEL exceeds 95%.
Reaction:
None
Cause/Remedy:

41061: ACOPOS continuous current: 41075: ACOPOS continuous power:
Start of Chapter
Overload Overload
41075: ACOPOS continuous power: Overload
Info:
Data type:
Description:
Runtime error if the ACOPOS continuous power LOAD_POWER exceeds 95%.
Reaction:
None
Cause/Remedy:

41070: Motor temperature model: 64001: ncalloc in slower task class
Start of Chapter
Overtemperature than defined for NC Manager Task
64001: ncalloc in slower task class than defined for NC Manager Task
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

41075: ACOPOS continuous power: 64002: Delay before SW Reset
Overload Start of Chapter (network with ascending node
numbers ?)
64002: Delay before SW Reset (network with ascending node numbers ?)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

64001: ncalloc in slower task class 64003: Delay before NC System Start
than defined for NC Manager Task Start of Chapter (network with ascending node
numbers ?)
64003: Delay before NC System Start (network with ascending node

numbers ?)
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

64002: Delay before SW Reset 64004: The following boot error could
(network with ascending node Start of Chapter be entered here with a delay
numbers ?)
64004: The following boot error could be entered here with a delay
Info:
Data type:
Description:
Reaction:
Cause/Remedy:

64003: Delay before NC System Start 64005: Timeout for parameter enable
(network with ascending node Start of Chapter after start of operating system
numbers ?)
64005: Timeout for parameter enable after start of operating system
Info: Status (bits with wrong value for parameter enable)

Data type: UDINT
Description:
Reaction:
Cause/Remedy:

64004: The following boot error could 64006: Drive did not become
Start of Chapter
be entered here with a delay synchronous with network master
64006: Drive did not become synchronous with network master
Info: Timeout [sec]

Data type: UDINT
Description:
Reaction:
Cause/Remedy:
64005: Timeout for parameter enable Start of Chapter 64500: Positive speed limiter active
after start of operating system
64500: Positive speed limiter active
Info:
Data type:
Description:
Runtime info at the input of the speed controller. The set speed SCTRL_SPEED_REF is limited to
SCTRL_LIM_V_POS in the positive direction.
Reaction:
None
Cause/Remedy:

64006: Drive did not become 64501: Negative speed limiter active
Start of Chapter
synchronous with network master
64501: Negative speed limiter active
Info:
Data type:
Description:
Runtime info at the input of the speed controller. The set speed SCTRL_SPEED_REF is limited to
SCTRL_LIM_V_NEG in the negative direction.
Reaction:
None
Cause/Remedy:

64500: Positive speed limiter active 64502: Positive direction acceleration
Start of Chapter
torque limiter active
64502: Positive direction acceleration torque limiter active
Info:
Data type:
Description:
Runtime info during torque limitation. The positive set quadrature current value ICTRL_ISQ_REF
is limited according to the torque LIM_T1_POS.
Reaction:
None
Cause/Remedy:

64501: Negative speed limiter active 64503: Negative direction
Start of Chapter
acceleration torque limiter active
64503: Negative direction acceleration torque limiter active
Info:
Data type:
Description:
Runtime info during torque limitation. The negative set quadrature current value
ICTRL_ISQ_REF is limited according to the torque LIM_T1_NEG.
Reaction:
None
Cause/Remedy:

64502: Positive direction acceleration 64504: Positive direction deceleration
Start of Chapter
torque limiter active torque limiter active
64504: Positive direction deceleration torque limiter active
Info:
Data type:
Description:
Runtime info during torque limitation. The positive set quadrature current value ICTRL_ISQ_REF
is limited according to the torque LIM_T2_POS.
Reaction:
None
Cause/Remedy:

64503: Negative direction 64505: Negative direction
Start of Chapter
acceleration torque limiter active deceleration torque limiter active
64505: Negative direction deceleration torque limiter active
Info:
Data type:
Description:
Runtime info during torque limitation. The negative set quadrature current value
ICTRL_ISQ_REF is limited according to the torque LIM_T2_NEG.
Reaction:
None
Cause/Remedy:

64504: Positive direction deceleration 64506: Recovery power limiter active
Start of Chapter
torque limiter active (deceleration too high)
64506: Recovery power limiter active (deceleration too high)
Info:
Data type:
Description:
Runtime info when monitor is active (MSG_CONF_ERROR_NUMBER) if the set stator current of
the quadrature component ICTRL_ISQ_REF is limited by the recovery power limiter.
Reaction:
None
Cause/Remedy:
Set value generation: The generator power is higher than the maximum braking power of the
braking resistor when the axis is delayed. If the device is in a DC bus network and the sum of
the generator power is always smaller than the sum of the maximum braking power of all
braking resistors, then the recovery power limiter is switched off (PLIM_MODE=0).
Incorrect configuration of recovery power limiter: Resistance of the external braking resistor
R_BLEEDER_EXT is too low or stator resistance MOTOR_STATOR_RESISTANCE is too high.
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64505: Negative direction
Start of Chapter
deceleration torque limiter active

ACOPOS Error Texts

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ACOPOS Error Texts Page 1 of 224

ACOPOS Error Texts

<error number>: <error text>

Description of the additional information output with the

In this section the following topics are discussed:

ACOPOS Error Texts

1004: Timeout in network life sign monitor

5034: Homing procedure not possible: Encoder error

6032: Interface: FPGA configuration error

7404: Parameter sequence not available at index

32136: The Data section of the specified NC data module is empty

32201: Error calling plAcycWrite() (write parameter)

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2: Data block for upload is not available

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3: Write access for a read-only parameter

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4: Read access for a write-only parameter

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8: Data block read access already initialized

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9: Data block write access already initialized

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10: Data block read access not initialized

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11: Data block write access not initialized

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The data block upload is aborted.

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21: Checksum after data block write is invalid

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23: Parameter ID in data block is invalid (data block write)

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25: Burn system module only allowed immediately after download

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27: Operating system not able to be started (operating system is not on

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40: Value of parameter higher than maximum value

Info: Maximum value

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41: Value of parameter higher than maximum value

Info: Maximum value

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maximum value maximum value

42: Value of parameter higher than maximum value

Info: Maximum value

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52: Value of parameter lower than minimum value

Info: Minimum value

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53: Value of parameter lower than minimum value

Info: Minimum value

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54: Value of parameter lower than minimum value

Info: Minimum value

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64: Hardware ID in B&R module is invalid (data block write)

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65: Hardware version in B&R module is invalid (data block write)