FASTTechnology modulesv7-0__EN

Application Software
PLC Designer
Lenze FAST & technology modules ___________ Reference Manual EN
L
Contents
________________________________________________________________
1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3

1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
1.4 Layout of the safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9
2 Safety instructions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
3 Conditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3.1 System requirements _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3.2 Establishing communication with the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13
4 Lenze FAST components _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14

4.1 Application Credit (licence for Lenze FAST) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
4.1.1 Determination of the required "Application Credit" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
4.1.2 SD card/licence card with "Application Credit" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
4.1.3 If the available "Application Credit" is not sufficient (test mode) _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
4.2 FAST Application Template _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
4.3 FAST technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
4.3.1 Overview of the FAST technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
4.3.2 L_TT1P_TechnologyModules_LM function library _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
4.3.2.1 Implementing the function library _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
4.3.2.2 Implementing a technology module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
4.3.3 Operation of the technology modules (Internal Control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
4.3.4 Activating/deactivating the technology module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
4.3.5 Enable axis _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
4.3.6 Stop function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
4.3.7 Holding function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
4.3.8 First commissioning with the L_MC1P_AxisBasicControl function block _ _ _ _ _ _ _ _ _ _ 29
4.3.9 Hardware limit switches _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
4.3.10 Signal flow diagrams _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
4.4 FAST Motion _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
5 Error handling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
5.1 Error information structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
5.2 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
5.3 Resetting an error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 76
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 77
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
2 Lenze · FAST & Technology modules · Reference Manual · DMS 7.0 EN · 04/2021 · TD06
1 About this documentation
________________________________________________________________

This documentation describes the basics for easily developing a modular machine control with the
Lenze FAST application software in the »PLC Designer«.
This documentation is part of the "Controller-based Automation" manual collection. It consists of
the following sets of documentation:
Documentation type Subject

Product catalogue Controller-based Automation (system overview, sample topologies)
Lenze Controller (product information, technical data)
System manuals Visualisation (system overview/sample topologies)
Communication manuals Bus systems
Online helps • Controller-based Automation EtherCAT®
• Controller-based Automation CANopen®
• Controller-based Automation PROFIBUS®
• Controller-based Automation PROFINET®
Reference manuals Lenze Controllers:
Online helps • Controller 3200 C
• Controller c300
• Controller p300
• Controller p500
Software manuals Lenze Engineering Tools:
Online helps • »PLC Designer« (programming)
• »Engineer« (parameter setting, configuration, diagnostics)
• »VisiWinNET® Smart« (visualisation)
• »Backup & Restore« (backup, restore, update)
Lenze · FAST & Technology modules · Reference Manual · DMS 7.0 EN · 04/2021 · TD06 3
________________________________________________________________
More technical documentation for Lenze components

Further information on Lenze products which can be used in conjunction with Controller-based
Automation can be found in the following sets of documentation:
Planning / configuration / technical data Symbols:

 Product catalogues  Printed documentation
• Controller-based Automation  PDF file / online help in the Lenze
• Controllers engineering tool
• Inverter Drives/Servo Drives
Mounting and wiring
 Mounting instructions
• Controllers
• Communication cards (MC-xxx)
• I/O system 1000 (EPM-Sxxx)
• Communication modules
 Hardware manuals
Parameter setting / configuration / commissioning
 Online help/reference manuals
• Controllers
• I/O system 1000 (EPM-Sxxx)
 Online help/communication manuals
• Bus systems
• Communication modules
Sample applications and templates
 Online help / software and reference manuals
• i700 application sample
• Application Samples 8400/9400
• FAST Application Template
• FAST technology modules
 Tip!
Current documentation and software updates with regard to Lenze products can be found
in the download area at:
www.lenze.com
________________________________________________________________
Target group
This documentation is intended for all persons who plan, program and commission a Lenze
automation system on the basis of the Lenze FAST Application Software.
Information regarding the validity

The information in this documentation applies to:
Lenze Engineering tool From software version

»PLC Designer« 3.10
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the Lenze devices used and the software version of the Engineering tools installed (e.g.
»PLC Designer«), screenshots in this documentation may differ from the representation on the
screen.
1.1 Document history
________________________________________________________________
1.1 Document history
Version Description
7.0 04/2021 TD06 • Error messages ( 36) updated.
• General corrections
• General corrections
4.2 05/2017 TD17 • New: "Traverser" technology module
• Error messages ( 36) updated.
4.1 08/2016 TD17 Information on Controller c300/p300 supplemented:
"Pick & Place" applications ( 22)
FAST Motion ( 32)
4.0 06/2016 TD17 Content structure revised.
3.2 04/2016 TD17 Update for the "Controller-based Automation" 3.13 Lenze automation system
• New: "Track Pick & Place" technology module
3.1 02/2016 TD17 Note with regard to the Lenze »Backup & Restore« tool added:
SD card/licence card with "Application Credit" ( 16)
3.0 11/2015 TD17 Update for the "Controller-based Automation" 3.12 Lenze automation system
• New: "Temperature Control" technology module
• Error messages ( 36) updated.
2.0 05/2015 TD17 General revision for the "Controller-based Automation" 3.10 Lenze automation
system
New information on:
• Technology modules "Basic Motion", "Flying Saw", "Table Positioning"
• Licencing (Application Credit)
• Operation
• Error numbers 17124 ... 17128
1.0 10/2014 TD11 First edition
1.2 Conventions used
________________________________________________________________
1.2 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Highlighting Examples/notes

Spelling of numbers
Decimal separator Point The decimal point is always used.
For example: 1234.56
Text
Version information Blue text colour All information that only applies to a certain controller
software version or higher is identified accordingly in this
documentation.
Example: This function extension is available from software
version V3.0 onwards!
Program name »« Lenze »PLC Designer«...
Function blocks bold The L_MC1P_AxisBasicControl function block ...
Function libraries The L_TT1P_TechnologyModules function library ...
Sequence of menu If several commands must be used in sequence to carry out a
commands function, the individual commands are separated by an
arrow. Select File  Open to...
Variable names italics By setting bEnable to TRUE...
Source code Font ...
"Courier new" dwNumerator := 1;
dwDenominator := 1;
...
Hyperlink underlined Optically highlighted reference to another topic. It is
activated with a mouse-click in this online documentation.
Icons
Page reference ( 7) Reference to further information:
Page number in PDF file.
1.3 Terminology used
________________________________________________________________
1.3 Terminology used
Term Meaning
Controllers The Controller is the central component of the Lenze automation system which controls the
motion sequences by means of the operating system.
The Controller communicates with the field devices (inverters) via the fieldbus.
Engineering PC The Engineering PC and the Engineering tools installed serve to configure and parameterise
the system.
The Engineering PC communicates with the controller via Ethernet.
FAST Application software
Lenze FAST components ( 14)
Inverters Generic term for Lenze frequency inverters, servo inverters
PLC Programmable Logic Controller
(German designation: SPS - Speicherprogrammierbare Steuerung)
Bus systems
CAN CAN (Controller Area Network) is an asynchronous, serial fieldbus system.
EtherCAT® (Ethernet for Controller and Automation Technology) is an Ethernet-based
fieldbus system which fulfils the application profile for industrial real-time systems.
EtherCAT® is a registered trademark and patented technology, licenced by Beckhoff
Automation GmbH, Germany.
PROFIBUS® (Process Field Bus) is a commonly used fieldbus system for automating machines
and production plants.
PROFIBUS® is a registered trademark and patented technology licensed by the PROFIBUS &
PROFINET International (PI) user organisation.
PROFINET® (Process Field Network) is a real-time capable fieldbus system based on Ethernet.
PROFINET® is a registered trademark and patented technology licensed by the PROFIBUS &
PROFINET International (PI) user organisation.
1.4 Layout of the safety instructions
________________________________________________________________
1.4 Layout of the safety instructions
DANGER!
Indicates an extremely hazardous situation. Failure to comply with this instruction will result in severe irreparable
injury and even death.
WARNING!
Indicates an extremely hazardous situation. Failure to comply with this instruction may result in severe irreparable
injury and even death.
CAUTION!
Indicates a hazardous situation. Failure to comply with this instruction may result in slight to medium injury.
NOTICE
Indicates a material hazard. Failure to comply with this instruction may result in material damage.
Application notes
Pictograph Signal word Meaning

Tip! Useful tip for easy handling

Reference to another document

2 Safety instructions
________________________________________________________________
Please observe the safety instructions in this documentation when you want to commission an au-
tomation system or a plant with a Lenze Controller.
 The device documentation contains safety instructions which must be observed!

Read the documentation supplied with the components of the automation system care-
fully before you start commissioning the Controller and the connected devices.
DANGER!
High electrical voltage
Injury to persons caused by dangerous electrical voltage
Possible consequences
Death or severe injuries
Protective measures
Switch off the voltage supply before working on the components of the automation system.
After switching off the voltage supply, do not touch live device parts and power terminals imme-
diately because capacitors may be charged.
Observe the corresponding information plates on the device.
DANGER!
Injury to persons
Risk of injury is caused by ...
• unpredictable motor movements (e.g. unintended direction of rotation, too high velocities or
jerky movement);
• impermissible operating states during the parameterisation while there is an active online
connection to the device.
Possible consequences
Death or severe injuries
Protective measures
• If required, provide systems with installed inverters with additional monitoring and protec-
tive devices according to the safety regulations valid in each case (e.g. law on technical equip-
ment, regulations for the prevention of accidents).
• During commissioning, maintain an adequate safety distance to the motor or the machine
parts driven by the motor.
________________________________________________________________
NOTICE
Damage or destruction of machine parts
Damage or destruction of machine parts can be caused by ...
• Short circuit or static discharges (ESD);
• unpredictable motor movements (e.g. unintended direction of rotation, too high velocities or
jerky movement);
• impermissible operating states during the parameterisation while there is an active online
connection to the device.
Protective measures
• Always switch off the voltage supply before working on the components of the automation
system.
• Do not touch electronic components and contacts unless ESD measures were taken before-
hand.
• If required, provide systems with installed inverters with additional monitoring and protec-
tive devices according to the safety regulations valid in each case (e.g. law on technical equip-
ment, regulations for the prevention of accidents).
3 Conditions
3.1 System requirements
________________________________________________________________
3 Conditions
3.1 System requirements
[3-1] Example: Controller 3231 C and Servo-Inverter i700 with EtherCAT bus system
Engineering PC Controllers
Hardware PC/notebook • Lenze Controller
(3200 C, c300, p500, p300)
• SD card with "Application Credit"
Operating system Windows® 3200C Windows® CE
p500
c300 Windows® Embedded Compact 7
p300
Engineering tool »PLC Designer« from V3.9 onwards Application software:
Including: • "FAST Runtime"
• FAST Application Template ( 18) (formerly "L-force Logic" (LPC 1000))
• FAST technology modules ( 19) • "FAST Motion"
• FAST Motion modules ( 32)
Further requirements - Depending on the application case:
• EtherCAT/CAN bus system
• Node (Inverter Drives)
Detailed information on the system requirements for the Lenze engineering tools can be found on
the download sites of the engineering tools at:
www.lenze.com
3 Conditions
3.2 Establishing communication with the controller
________________________________________________________________
3.2 Establishing communication with the controller
Connect the Engineering PC to the Lenze Controller via a network cable. The »PLC Designer«
accesses the Controller via Ethernet.
 More information about the bus systems and the subject of configuration can be found
in these communication manuals:
• Controller-based Automation EtherCAT®
• Controller-based Automation CANopen®
4 Lenze FAST components
________________________________________________________________

The Lenze FAST application software provides standard function blocks for the easy development of
a modular machine control:
• FAST Application Template ( 18)
Standardised application templates for modular programming in the »PLC Designer«.
• FAST technology modules ( 19)
Standardised function blocks that contain a complete and previously tested drive function.
• FAST Motion ( 32)
Optimised function blocks based on "PLCopen motion control" for individual extension of the
FAST technology modules.
The Lenze FAST Application Software is licensed via "Application Credit".
Application Credit (licence for Lenze FAST) ( 15)
Highlights
• Up to 80 % of the software engineering can be covered by standards.
• Considerable reduction of the development times for the basic functions
• Saved time can be invested in the further development of the special features of the machine.
• Prepared and tested function blocks
• Structure of the programming
• Easy reuse and extension of programming sections
• Error reduction by tested software
4.1 Application Credit (licence for Lenze FAST)
________________________________________________________________
The Lenze FAST Application Software is based on a licence model. In order to use the FAST
technology modules and motion functions for your drive solution, an SD licence card with a
sufficient "Application Credit" is required.
The SD licence card can be ordered via the responsible Lenze sales partner.
 Product catalogue for the Lenze Controller

Here you will find information on how to order an SD licence card with "Application
Credit".
4.1.1 Determination of the required "Application Credit"
Each FAST technology module and each motion function has a clearly defined valency the height of
which (points of the "Application Credit") depends on the functionality. During the dimensioning
process of the machine (concept phase) it shows which modules and functions have to be used to
implement the drive tasks.
In order to detect the required "Application Credit", simply add the points of the used FAST
technology modules for each instance.
Points for FAST Motion functions only have to be added once. The FAST Motion functions can then
be instanced as often as required.
Example 1 Example 2
4 x Basic Motion 100 points 3 x Basic Motion 75 points
1 x Virtual Master 25 points 1 x Virtual Master 25 points
1 x Electrical Shaft Velocity 25 points 2 x Flex Cam 100 points
2 x Winder Dancer-controlled 200 points 1 x Pick & Place with Delta 3 200 points
1 x Cross Cutter 100 points 1 x Motion Control - Camming 150 points
Total: 450 points Total: 550 points
The points for using the FAST technology modules and motion functions can be found here:
Overview of the FAST technology modules ( 20)
Overview of the FAST motion functions ( 33)
Calculation of the Application Credit

The Application Credit of FAST function blocks that are declared in the declaration part of a POU is
always calculated even if the module is not used.
The Application Credit of function blocks that are declared in a global variable list will only be
calculated if at least one element from the variable list is used. As soon as one (any) element is used,
the Application Credit of all instances declared in this list is calculated.
________________________________________________________________
4.1.2 SD card/licence card with "Application Credit"
NOTICE
The "Application Credit" stored on the SD licence card gets lost by ...
• formatting the SD card;
• deletion of the data on the SD card;
In case of a "Restore" with the Lenze »Global Drive Control«-Tool from V3.9, no licence data gets
lost.
The SD licence card is available with "Application Credit" from 100 to 4000 points.
The PLC program (application) with the used FAST technology modules and motion function is
stored on the SD licence card.
[4-1] SD licence card of the Lenze Controller
• The SD licence card has to feature a sufficient "Application Credit" in order to

operate without restriction with the FAST technology modules and motion
functions.
• Exchange the SD card supplied with the Lenze Controller for the SD licence
card with "Application Credit".
By default, the Controller always contains an SD card without "Application
Credit" (score ’0’). Here, the FAST technology modules and FAST motion
functions can only be used for test purposes.
• The SD licence card is not bound to a certain Controller, so the "Application
Credit" can be used for different Controllers.
[4-2] SD licence card with "Application Credit"
________________________________________________________________
4.1.3 If the available "Application Credit" is not sufficient (test mode)
When the project is compiled, the »PLC Designer« detects whether the available "Application Credit"
(on the SD licence card) is sufficient.
• The message window of the »PLC Designer« outputs respective messages.
• In the logbook of the »WebConfig«, the available "Application Credit" is output in parameter
660 parameter and the required "Application Credit" in parameter 661.
If the available "Application Credit" for implementing your application is not sufficient, the Lenze
Controller is operated in test mode. Here the start time of the boot application on the control unit
is extended after each restart. The start time can be up to 20 minutes. Apart from this restriction,
the PLC program can still be used.
 Tipp!
Deleting or renaming instances of the FAST function blocks
If instances of the FAST function blocks are deleted or renamed, the corresponding
"Application Credits" are only removed if a complete compilation process is carried out (not
with "Online Change"). Therefore, before generating a boot project in the »PLC Designer«,
execute the Build  Clean menu command.
Termination of the test mode

In order to close the test mode, an SD licence card with sufficient "Application Credit" has to be used
and the PLC program has to be transferred to the card.
Identification of the test mode
Status LEDs of the Controllers

LED Interval Meaning
Colour 1 / colour 2
Error
green red blinking A problem has occurred, but the Controller keeps running.
(5.0 Hz)
Status 1
green yellow blinking SD licence card with higher "Application Credit" required.
(0.5 Hz)
Messages in »PLC Designer« and »WebConfig« (logbook)

License_Manager: Application starts in 1200 seconds.
License_Manager: Boot application needs more Application Credit!
License_Manager: Invalid Lenze-License-Information.
4.2 FAST Application Template
________________________________________________________________
4.2 FAST Application Template
The FAST application template is an application template standardised by Lenze for modularised
and transparent programming in the »PLC Designer«. In order to generate a modularised
mechatronic structure within an automation system, ready-made, reusable machine modules and
module applications (e.g. a cross cutter) can be created in the application template.
The FAST application template is integrated into the »PLC Designer« in the form of an
L_EATP_ApplicationTemplate function library. The library contains the structure and the basic
functionality (e.g. state machine and error handling) of the application template.
When creating a new project using the File  New project menu command, the application
template (L_FAST_Standard) can be selected:
 Software manual for FAST Application Template

Here you'll find some detailed information on how to use the application template.
4.3 FAST technology modules
________________________________________________________________
The predefined FAST technology modules serve to easily implement the required machine
functions.
The technology modules are standardised function blocks for modular programming of the
machine control. A technology module contains a complete and previously tested drive function.
Integrated basic functions (manual jog, homing, positioning) and an integrated visualisation
provide for the easy commissioning and testing of the modules. The reusability of the modules
increases the quality of the software and considerably reduces the time required for programming,
commissioning and testing.
[4-3] FAST technology modules
The FAST technology modules are included in the »PLC Designer« as autonomous function blocks in
the L_TT1P_TechnologyModules_LM function library ( 23). They use the standardised interfaces
and can thus be easily integrated into the machine program, combined as required and extended
individually by FAST Motion functions ( 32).
The L_TT1P_TechnologyModules_SM3 function library contains FAST technology modules for
previous projects ("L-force Motion" applications).
________________________________________________________________
4.3.1 Overview of the FAST technology modules
Technology Symbol Function Points for use

module (Application
Credit)
Basic Motion Implementation of basic drive functions for the establishment or 25

continuous movements of an axis
Speed Control Speed control
Virtual Master Implementation of a virtual master axis in the machine
Electrical Shaft Positionally accurate synchronisation and coupling of drives

Position
Electrical Shaft Speed-accurate synchronisation and coupling of drives

Velocity
Temperature Control of the temperature of a (partial) system that is equipped 50

Control with a heating element and a thermal sensor.
Flex Cam • Implementation of one or several electrical cams

• Flexible management of cams created online and offline
Table Positioning Positioning profile for single axes with smoothing and touch
probe positioning
Stacker Crane Implementation of a storage and retrieval unit (SRU) for logistics 50 + 25 per
engineering. axis
________________________________________________________________

module (Application
Credit)
Cross cutter Synchronisation of the movements of drives for the cross-sealing 100
and/or cross-cutting of products
Register Control Implementation of a clock-synchronised drive for setting up a

register control with print mark detection
Winder dancer- Implementation of a winding drive with dancer position control

controlled
Winder tension- Implementation of a winding drive with tension control or speed

controlled control
Traverser Controls the even distribution of a material to be wound across

the total winding width.
Flying Saw Cutting and machining material during the movement
Smart Track Positioning products on a belt conveyor at even distances. 25 per axis
Magic Track Grouping products on a belt conveyor. 50 per axis
________________________________________________________________
"Pick & Place" applications
NOTICE
The technology modules "Pick & Place" and "Track Pick & Place" are not supported by the
Controller c300 and p300.

module (Application
Credit)
Pick & Place Implementation of complex three-dimensional movements by 100

means of profiles for up to four drives with different kinematics.
Track Pick & Place Implementing gripper movements which, for instance, pick 200
workpieces from a conveying belt and place it to another
position or another conveying belt.
Kinematics for the "Pick & Place" technology modules

Portal Universal Cartesian portal kinematics with 2, 3 and 4 degrees of + 0
freedom for "Pick & Place" with high loads and large workspaces
Belt Universally usable belt kinematics with 2 degrees of freedom
Delta 2 Parallel kinematics with 2 degrees of freedom for highly dynamic + 100
"Pick & Place" tasks
Delta 3 Parallel kinematics with 3 degrees of freedom for highly dynamic

"Pick & Place" tasks
LinearDelta 3 Parallel kinematics with 3 degrees of freedom with linear axes

for highly dynamic "Pick & Place" tasks
Scara Universal serial Scara kinematics with 2 and 3 degrees of

freedom
Articulated P Special form of an articulated arm kinematics with 4 degrees of

freedom, especially suitable for palletizing
________________________________________________________________
4.3.2 L_TT1P_TechnologyModules_LM function library
The FAST technology modules are scaled in accordance with the respective drive task.
Depending on the required functional range, you can select the technology modules in the versions
"Base", "State" and "High" in the »PLC Designer« in the L_TT1P_TechnologyModules_LM function
library.
The "Base" version contains basic drive functions. The "State" and "High" versions complement the
basic drive functions by further specific inputs/outputs and parameters for more complex drive
tasks.
Contents of the function library
NOTICE
In the »PLC Designer«, only the function blocks and online help sections of the installed
technology modules are displayed.
Missing components can be installed via the Lenze »EASY Package Manager«
The L_TT1P_TechnologyModules_LM function library in the »PLC Designer«:
 Reference manuals for the FAST technology modules

Here you will find detailed information on the functions of the technology modules.
________________________________________________________________
4.3.2.1 Implementing the function library

The library manager of the »PLC Designer« serves to implement the
L_TT1P_TechnologyModules_LM function library via the "Add library" button.
________________________________________________________________
4.3.2.2 Implementing a technology module

A technology module can be implemented like a function block via the input assistance of the »PLC
Designer« into the program:
• Go to "Structured types" and select the technology module to be implemented in the version
"Base", "State" or "High".
• Confirm the selection by clicking OK.
________________________________________________________________
4.3.3 Operation of the technology modules (Internal Control)
The FAST technology modules are operated via the visualisation.
NOTICE
When the operation takes place via the visualisation ...

• the interconnection in the PLC program has no impact.
• the xStop input is continued to be evaluated. Thus, the technology modules can be stopped
any time from the PLC program and the visualisation.
 How to activate the operation via the visualisation:

1. Insert and reference the visualisation of the technology module.
2. Set the xEnableInternalControl input = TRUE in the PLC program.
• In the visualisation, the "Internal Control" button gets visible.
3. Press the "Internal Control" button.

• The operation via the visualisation is activated.
• The interconnected inputs in the PLC program are disconnected.
________________________________________________________________
4.3.4 Activating/deactivating the technology module
For activating the technology module, the xEnable input has to be set = TRUE.
The technology module is initialised and enables the execution of the state machine and the
respective functions for further actions.
A reset of the input (xEnable = FALSE) deactivates the technology module.
In the deactivated state ...
• all actions and functions are cancelled;
• all outputs of the technology module are reset;
• the state machine is not executed anymore.
4.3.5 Enable axis
The technology module has to be activated (input xEnable = TRUE) in order to enable the axis.
When the xRegulatorOn input = TRUE, the axis is enabled.
Only if the axis is enabled, further functions can be activated and executed in the technology
module.
________________________________________________________________
4.3.6 Stop function
The stop function serves to abort an active motion with the highest priority. The axis is brought to
a standstill with the deceleration (lrStopDec parameter) and the defined jerk (lrStopJerk parameter).
A precondition for executing the stop function is the enabling of the axis (xRegulatorOn
input = TRUE).
The stop function is activated when the xStop input = TRUE. The technology module changes to the
"STOP" state as long as the xStop input is set = TRUE.
When the xStop input = FALSE, the stop function is deactivated and the technology module changes
to the "READY" state.
Parameters to be set
The parameters for the stop function are located in the "scPar" parameter structure of the
technology module.
lrStopDec : LREAL := 10000;
lrStopJerk : LREAL := 100000;
4.3.7 Holding function
The holding function serves to abort an active motion. The axis is brought to a standstill with the
deceleration (lrHaltDec parameter) and the defined jerk (lrHaltJerk parameter).
A precondition for executing the holding function is the enabling of the axis (xRegulatorOn
input = TRUE).
The holding function is activated with a FALSETRUE edge at the xHalt input. The technology
module changes to the "STOP" state as long as the xHalt input is set = TRUE.
When the xHalt input = FALSE, the holding function is deactivated and the technology module
changes to the "READY" state.
Parameters to be set
The parameters for the holding function are located in the "scPar" parameter structure of the
technology module.
lrHaltDec : LREAL := 3600;
lrJerk : LREAL := 100000;
________________________________________________________________
4.3.8 First commissioning with the L_MC1P_AxisBasicControl function block
Activation of the L_MC1P_AxisBasicControl function block is only required for initial commissioning
(e.g. for controller adjustment or a simple positioning process, irrespective of the technology
module function).
The function block is included in all technology modules. It can be activated via the "scCtrlABC"
structure or via the visualisation. The structure contains all inputs of the function block. The outputs
are included in the "scStatusABC" structure.
In the visualisation of the technology module, the L_MC1P_AxisBasicControl function block is
displayed below the "ABC" button. Operation of the function block via the visualisation has to be
activated (like "Internal Control" of the technology module).
 How to activate the operation via the visualisation:

1. Activate the "Internal Control" button in the visualisation of the technology module.
Operation of the technology modules (Internal Control) ( 26)
2. Set the xEnable input in the technology module = TRUE.
• The technology module changes to the "READY" state.
• The "Internal Control" button appears in the visualisation of the
L_MC1P_AxisBasicControl function block.
3. Press the "Internal Control" button.

• The technology module changes to the "SERVICE" state.
• The operation via the visualisation is activated.
In the "SERVICE" state ...

• only the functions of the L_MC1P_AxisBasicControl function block can be used;
• the functions of the technology module are inhibited.
The technology module remains in the "SERVICE" state until the visualisation of the
L_MC1P_AxisBasicControl function block is deactivated via the "Internal Control" button.
 »PLC Designer« Online help

Here you'll find some detailed information with regard to the L_MC1P_AxisBasicControl
function block.
________________________________________________________________
4.3.9 Hardware limit switches
The hardware limit switches are used for the Homing technology module function and for limit
switch monitoring.
The L_MC1P_HWLimitSwitchInterface function block serves to control the hardware limit switches.
This function block provides an interface to the connection of the hardware limit switches of an axis.
For some technology modules for which the hardware limit switches are often used, the three
inputs xEnableHWLimit, xHWLimitPos and xHWLimitNeg are designed as direct inputs. These inputs
are OR'd with the inputs of the L_MC1P_HWLimitSwitchInterface function block and are therefore
equivalent.
When the xEnableHWLimit input = TRUE, the monitoring of the hardware limit switches is
activated. The inputs xHWLimitPos and xHWLimitNeg serve to connect the limit switches.
The control and monitoring of the hardware limit switches is independent of the state of the
technology module and the state of the "Internal Control" visualisation mode and can be activated
any time from the PLC program.
________________________________________________________________
4.3.10 Signal flow diagrams
In the documentation of the technology modules, the relationships between signals and process
variables are displayed by means of block diagrams in signal flow diagrams.
The signal flow diagram of a technology module does not cover the entire process (machine
topology or system view). Here, the focus is on the representation of the measuring points in order
to enable a practical diagnostics option and to understand the exact course of the function.
In the signal flow diagrams, the most important signals are differentiated according to their type
and designated and numbered accordingly:
• IP: Inputs and Parameters
• OP: Outputs
• MP: Measuring Points
• AP: Access Points
Each access point is activated as an alternative branch (OR operation) via a switch.
These signals are included in the "scSignalFlow" structure at the output of the technology module.
The contents of the "scSignalFlow" structure can be read only. The signals cannot be written there.
A detailed description of the signals can be found in the documentation of the technology module.
Access points in the signal flow of a technology module

In some technology modules, it is possible to influence signals via predefined access points (AP). The
access points act as alternative branches (OR operations or switches).
The access points are included in the "scAccessPoints" structure at the input of the technology
module. In the initial state, the access points do not have any effect. An access point is activated via
the corresponding switch that is also included in the "scAccessPoints" structure.
 Reference manuals for the technology modules

Here you will find detailed information on the functions of the technology modules.
4.4 FAST Motion
________________________________________________________________
4.4 FAST Motion
FAST Motion provides full flexibility and scalability for programming in accordance with the
specifications of IEC 61131 and comprises optimised function blocks that are based on "PLCopen
motion control".
If the functionalities of the FAST technology module are not sufficient, they can be supplemented
individually with the FAST Motion function blocks.
[4-4] FAST technology modules
NOTICE
FAST Motion in case of Controller c300

• The Motion Control libraries are not loaded into the library manager by default.
• FAST Motion for "Coordinated Motion" (robot kinematics) and axis groups are not supported.
FAST Motion in case of Controller p300
With the controller p300, only the FAST Motion function block L_MC1P_BasicActuatingSpeed
can be used to operate the i550 inverters.
4.4 FAST Motion
________________________________________________________________
Overview of the FAST motion functions
FAST Motion Symbol Function Points for use

(Application
Credit)
Motion Control Positioning 150

Basic Motion functions for single-axis movements based on
"PLCopen motion control" (formerly Part 1) for positioning. They
serve to freely program positioning processes and further single-
axis movements.
Camming
Basic Motion functions for cam movements and synchronisation
on the basis of "PLCopen motion control" (formerly Part 2).
They serve to freely program axis synchronisation processes as
well as cams for single axes.
Coordinated Robotics 300
Motion Basic Motion functions for multi-axis-coordinated movements
based on "PLCopen coordinated motion control" (Part4).
They serve to interpolate axes groups such as robot kinematics in
multidimensional spaces. The movements can also be controlled
by the "Pick & Place" and "Track Pick & Place" FAST technology
modules.
The "PLC Designer" includes the "Motion Control" function blocks and the "Coordinated Motion"
function blocks in different libraries:
• L_MC1P_MotionControlBasic for single axes
• L_MC2P_MotionControlCam for multi axes
• L_MC4P_RoboticHandling for coordinated multi-axis movements
 "FAST Motion function libraries" reference manual

Here you will find detailed information on the FAST Motion function libraries and
Motion function blocks.
5 Error handling
________________________________________________________________
5 Error handling
With regard to the subject of error handling, the FAST function blocks – application template,
technology modules, Motion function blocks – make a basic distinction between an Error and a
Warning.
• An Error refers to maloperation that sets the module to an error status.
• A Warning refers to a potential impairment of the function, which, however, does not set the
module to an error status.
Error sources
Errors and warnings can be caused by three different sources.
• Error source 1: Internal error, e.g. triggered by a wrong parameter setting.
• Error source 2: Error in the axis (axis driver), e.g. triggered by approaching an invalid position
outside the permissible range.
• Error source 3: Error in the Inverter Drive, e.g. triggered by exceeding the defined temperature
range.
Error response
The error response defines the behaviour that is triggered when an error or warning has occurred.
If, for example, an error occurs in a technology module, the technology module switches to the
"ERROR" state (xError output = TRUE). The axis is brought to a standstill with the deceleration set in
the lrStopDec parameter.
If a warning occurs, the xWarning output is set = TRUE. The technology module continues to
execute the current action without any interruptions.
Error output
The error code (see L_IE1P_Error ( 36)) with the description of the error or the warning is provided
at the eErrorID output.
The L_TT1P_scErrorInfo ( 35) error information structure serves to carry out an exact analysis of an
error or warning. In this structure, the errors and warnings are distinguished by their error sources
and are displayed separately.
5 Error handling
5.1 Error information structure
________________________________________________________________
5.1 Error information structure
L_TT1P_scErrorInfo
The L_TT1P_scErrorInfo error information structure contains information for a more precise
analysis of the error cause.
Designator Description Available in

Data type version
Base State High
xError Status signal if an error has occurred in the FAST module/   
BOOL technology module.
TRUE An error has occurred in the FAST module/technology
module.
xWarning Status signal if a warning has occurred in the FAST module/   
BOOL technology module.
TRUE A warning has occurred in the FAST module/
technology module.
eErrorID Error number if xError = TRUE or xWarning = TRUE.   
L_IE1P_Error
xAxisError Status signal if an error has occurred in the axis.   
BOOL TRUE An error has occurred in the axis.
xAxisWarning Status signal if a warning has occurred in the axis.   

BOOL TRUE A warning has occurred in the axis.
eAxisErrorID Error number if xAxisError = TRUE or xAxisWarning = TRUE.   

L_IE1P_Error
xDriveError Status signal if an error has occurred in the Inverter Drive.   
BOOL TRUE An error has occurred in the Inverter Drive.
xDriveWarning Status signal if a warning has occurred in the Inverter Drive.   
BOOL TRUE A warning has occurred in the Inverter Drive.
dwDriveErrorID Error number if xDriveError = TRUE or xDriveWarning = TRUE.   
DWORD
5 Error handling
5.2 Error messages
________________________________________________________________
5.2 Error messages
L_IE1P_Error
The L_IE1P_Error type describes the error messages of the FAST function blocks (application
template, technology modules, Motion function blocks).
No. Error text Error cause

0 No Error No error
17000 ModuloAxisIsRequired Instead of a Modulo axis, a linear axis is connected.
17003 StartPosOutOfCycleLength The starting position is outside the valid cycle length of the
axis.
17004 CycleLengthsHaveToBeEqual The connected axes have different cycle lengths.
17005 InvalidDirection The direction of rotation is invalid.
17006 MarkStackLimitReached The length of the stacks of the end marks have been exceed-
ed as the distance between touch probe sensor and tool is
bigger than the length of the register.
17007 MaxMissedMarks The maximum number of virtual marks has been exceeded
(number > scPar.dwMaxNumberVirtualMarks).
17008 InvalidFollowLineAccVel Parameter setting of the synchronisation invalid.
Check lrLineJerk, lrSyncLineAcc, lrSyncLineDec.
17009 InvalidJoggingAccVel Parameter setting of the manual jog function (Jogging)
invalid.
Check lrLineJerk, lrJogLineAcc, lrTrimLineAcc, lrJogLineDec, lr-
JogLineVel, lrTrimLineDec, lrTrimLineVel.
17010 InvalidStopDec Deceleration ramp for the stop function invalid (lrStopDec <=
0).
17011 InvalidDiameter Value for the diameter invalid.
TM Winder: lrMinDiam <= 0
17012 TorqueFollowerNotReadyForMotion The torque follower cannot be activated, possibly the invert-
er is invalid.
17013 SpeedFollowerNotReadyForMotion The speed follower cannot be activated.
17014 InvalidInverter The axis referenced (AXIS_REF) is invalid, possibly the invert-
er is invalid.
Possible axes are e.g. Servo Inverters i700, Servo Drives 9400
Highline.
17015 SDO_AccessFailedToMotorparameters Access to the motor parameters via SDO has failed because
the connection to the inverter is not active (e.g. Ethercat not
ready).
17016 MissedMappingParameterLowerSpeedLi The process image (mapping) cannot be reached for the low-
mit er speed limit.
17017 MissedMappingParameter The process image (mapping) cannot be reached for the up-
UpperSpeedLimit per speed limit.
17018 MissedMappingParameterTorqueOffset The process image (mapping) cannot be reached for the
feedforward control of the torque.
17019 DancerPosOutOfRange The dancer position is outside the area defined. Check
lrDancerPosCtrlLimitPos, lrDancerPosCtrlLimitNeg.
17020 InvalidLimitDancerPos The dancer limit positions are invalid.
Check lrDancerUpperLimit, lrDancerLowerLimit.
17021 InvalidClutchParameters Parameter setting of the clutch invalid.
17022 WasNotCalledDuringMotion The TM was not called periodically.
The TM is called twice in the task, or the TM is not included in
the MotionTask.
17030 InvalidNumberOfCAMPoints The number of points in the cam is invalid.
5 Error handling
5.2 Error messages
________________________________________________________________

17032 InvalidPathPar Parameter setting of the path invalid; possibly no points
with lrPathVel > 0 are defined in the path.
17033 InvalidBlendingRadius Value for the blending radius invalid. Check lrBlendigradius.
17034 PathNotSupported CNC program invalid.
17035 X_PathLimitPositiveExceeded The limitation of the X axis in positive direction has been ex-
ceeded.
17036 X_PathLimitNegativeExceeded The limitation of the X axis in negative direction has been ex-
ceeded.
17037 Y_PathLimitPositiveExceeded The limitation of the Y axis in positive direction has been ex-
ceeded.
17038 Y_PathLimitNegativeExceeded The limitation of the Y axis in negative direction has been ex-
ceeded.
17039 Z_PathLimitPositiveExceeded The limitation of the Z axis in positive direction has been ex-
ceeded.
17040 Z_PathLimitNegativeExceeded The limitation of the Z axis in negative direction has been ex-
ceeded.
17041 C_PathLimitPositiveExceeded The limitation of the C axis in positive direction has been ex-
ceeded.
17042 C_PathLimitNegativeExceeded The limitation of the C axis in negative direction has been ex-
ceeded.
17043 InvalidPathData The path preparation has failed.
17047 InvalidTargetPLC The technology module is not compatible with the Controller
selected. Firmware versions < 3.7 are not supported.
17100 MasterIsMoving Clutching in to the master axis is not possible as the master
axis is moving.
17101 InvalidPoductLength Parameter setting of the product length invalid.
17102 TPSensorNotTeached The home position of the touch probe sensor is not known.
17103 SlaveReceivedGaps A discontinuity in the slave axis has occurred.
17104 MasterReceivedGaps A discontinuity in the master axis has occurred.
17105 InternalError An error has occurred in the TM by internal calculation.
17106 InvalidParameterCuttingAngle The parameter setting of the synchronous angle is invalid.
The sum of all synchronous phases exceeds an angle of 360
degrees. Check byNumOfTools, lrCuttingAngle.
17107 InvalidCuttingParameters The parameter setting of the cross cutter for the cutting op-
eration is invalid.
Check lrCrossCutterCircumference, lrScalingMaster, byNu-
mOfTools <= 0, lrCuttingAngle <= 0.
17108 InvalidCuttingLength Parameter setting of the cutting length invalid.
Check lrProductLength <>
SUM(scPar.alrCutLengthInProduct[1..10]).
17109 SlaveNotInParkPos Clutching in to the master axis is not possible as the slave
axis is outside the parking position.
17110 MasterIsReversing The master axis changes the direction of rotation.
17111 IntInvalidSelectCAM Error from the internal calculation in the TM. An invalid cam
was switched.
17112 SelectedAxisIsNotSupported The function is not supported for the selected axis.
17113 AxisIsNotSupported The axis is not supported.
17114 InvalidProfile The parameter setting of the profile is invalid.
17115 AxisEnabledIsRequired The axis has to be enabled to execute the required action.
Check xRegulatorOn.
17116 CorrLimitOutOfCycleLength The parameters for the correction window are outside of the
cycle length of the connected measuring system.
5 Error handling
5.2 Error messages
________________________________________________________________

17117 CorrectionGreaterCorrWindow The correction value is greater than the available correction
window.
17118 InvalidCNCProgram The CNC program is invalid or missing.
17119 SafeDistViolation TM MagicTrack: The safety distance between two trains has
been undercut. A train has pulled up too close behind the
train ahead of it.
17120 SafeDistInsufficient ForStop TM MagicTrack: The safety distance is not sufficient to stop
the train via the stop ramp in an emergency. The safety dis-
tance lrSafeDist must be increased or the stop ramp lrStop-
Dec must be adapted.
17121 InvalidGCodeLine The CNC command set is invalid.
17122 CoordSystemACSNotSupported A wrong coordinate system has been connected.
Suitable coordinate systems are:
• Product coordinate system (PCS)
• machine coordinate system (MCS).
The axis coordinate system (ACS) is not supported.
17123 DancerLimitsNotTeached The dancer limit positions have not been referenced.
17124 NotReadyForAddProfile Warning: The profile cannot be loaded, since the technology
module is still preparing the path. The profile was not ac-
cepted. (xProfileInPreparation = TRUE and the next profile
was activated with the xAddProfile input.)
17125 SlavePosUpperLimit Warning: The position of the slave axis is exceeding the
"lrUpperLimit" parameter set.
With xExecuteNextCut, the target position can be shifted to
the valid operating range again.
LengthControlled mode: The target position is shifted by the
relative cutting length.
MarkControlled mode: The target position is the next valid
mark located on the mark stack. If no mark is available, the
lrSensorPos specified is output as target position.
17126 SlavePosLowerLimit Warning: The position of the slave axis is falling below the
"lrLowerLimit" parameter set.
Reference the axis or traverse it to the valid area manually.
17127 TargetPosUpperLimit Warning: The target position to be approached exceeds the
"lrUpperLimit" parameter set.
With xExecuteNextCut, the target position can be shifted to
the valid operating range again.
LengthControlled mode: The target position is shifted by the
relative cutting length.
MarkControlled mode: The target position is the next valid
mark located on the mark stack. If no mark is available, the
lrSensorPos specified is output as target position.
17128 InvalidMarkPosition Warning: The position detected by the mark sensor is out-
side of the valid range.
Check the controller settings, minimise the following error.
17129 InvalidPositioningMode The positioning mode is invalid.
17130 TempSensorFailure The monitoring system of the thermal sensor has detected a
sensor error. Parameter:
• lrSensorMonitoringValueMin
• lrSensorMonitoringValueMax
• lrSensorMonitoringChangeMax
Possibly the thermal sensor is defective.
17131 MaxCriticalTempReached The maximum absolute temperature limit has been exceed-
ed. Parameter:
• lrTempMaxCriticalAbsolute
17132 InvalidTempControlParam The temperature control function was activated without the
valid control parameters being present.
5 Error handling
5.2 Error messages
________________________________________________________________

17133 IdentificationFailed During the parameter identification, no relevant tempera-
ture increase has been detected despite a maximally param-
eterised correcting variable injection.
17134 PWMTaskCycleMismatch The ratio between the PWM period and the task cycle time
must be at least 100. This warning goes out if the ratio is less
than 50.
Example for typical project planning: PWM period 1 s, task
cycle time 10 ms
17135 ConcurrentRequestTempControl During an active parameter identification, the xTempera-
tureCtrl input signal is set at the same time. Or:
During a temperature control process, the xIdentCtrlPar in-
put signal is set at the same time.
17136 TMNotCalledInCyclicTask The module instance is wrongly called up in the context of a
free-running task, instead of in a cyclical task.
17137 TMDataBusDisconnected Communication between master and slave node is inter-
rupted.
Communication has not been fully initialised, or the TM is
not called cyclically.
17138 InvalidTMDataBus The communication bus is not permissible.
The communication bus is not connected or incorrectly con-
nected. Check the call sequence of the master and slave
nodes.
17139 TMDataBusConfigChanged The node number has changed.
The TM must be restarted.
17140 TMNotCalledInMotionTask The task cycle time is invalid.
17141 SlaveTMStateService The desired function cannot be executed.
17142 CollisionDetectionDisabled Collision monitoring is not active.
17143 CollisionDetected A train collision was detected. Move trains apart.
17144 InvalidTMDataBusOrder The connection sequence of the TMs is invalid.
17145 ChangeOfConveyorAxesNotAllowed A change of the AxisRef connected to the TM.Conveyer-
BeltAxes input during operation is not supported. Check
communication to the axes connected via the Conveyer-
BeltAxes input.
17146 InvalidSetTarget The target is located on an invalid belt conveyor. An entry via
the eSetTarget and xExecutePickAndPlace inputs is impermis-
sible.
17147 LowerLimitExceedsUpperLimit No valid window parameterised; TM.lrLowerSyncLimit is
greater than TM.lrUpperSyncLimit.
17148 SetTargetStackLimitReached The maximum number of simultaneous activations was ex-
ceeded.
17149 WorkpieceStackLimitReached The maximum number of workpieces detected on the as-
cBeltInput input was exceeded.
17150 InvalidTraversingProfileParameter The profile parameters are invalid.
The reversal curves are too long, therefore constant travel
cannot be executed.
17151 InvalidTraversingCoilParameter xError = TRUE: coil parameters invalid. Check all coil-relevant
parameters (scCoilData)
xWarning = TRUE: Check all access points used for the radius
correction.
17152 TraversingAngularShiftLimitReached Error in the calculation of the reversal offset (lrAngularShift-
Limit).
17153 AxesGroupAlreadyInUse The axes group is already being used in another TM.
17154 UndervoltageDCLink An attempt to start the drive occurred when the mains (400
V) was switched off.
5 Error handling
5.2 Error messages
________________________________________________________________

17155 CouplingModeRequiresModuloAxis The coupling mode only supports modulo axes (dwCoupling-
Mode = 0).
17156 DuplicatedTM_Address The TM address has been allocated twice, however, it has to
be unique.
17157 XAxisTMError Error in the StackerCraneXAxisControl TM. For further infor-
mation, see ascErrorInfo[1] .
17158 YAxisTMError Error in the StackerCraneYAxisControl TM. For further infor-
17159 APAxisTMError Error in the StackerCraneAPAxisControl TM. For further infor-
17160 SlaveXAxisTMError Error in the StackerCraneSlaveXAxisControl TM. For further
information, see ascErrorInfo[4] .
17161 SlaveYAxisTMError Error in the StackerCraneSlaveYAxisControl TM. For further
information, see ascErrorInfo[5] .
17162 InvalidMovePPActive Internal error
17163 InvalidConveyorBeltPar Internal error
17164 IdentificationDiameterFailed The diameter could not be calculated, since the max. dancer
position was reached before. Check lrDiamIdentCalcCycles,
lrDiamIndentMaxPos.
17165 ActDancerPosGTMaxDancerPos The current dancer position is greater than the maximum
dancer position parameterised. Lower dancer or adapt lrI-
dentDiamMaxDancerPos parameter.
17166 InvalidIdentMaxDancerPos The lrIdentDiamMaxDancerPos parameter is invalid. It must
be greater than lrDancerPosCtrlLimitNeg and smaller than
lrDancerPosCtrlLimitPos.
17167 InvalidDancerMaterialLength The data in the dancer with regard to the material saved is
invalid. In order to identify the diameter, the lrDancerMateri-
alLength parameter must be > 0.
17168 LoadDiameterNotAllowed The diameter was erroneously loaded during identification.
17169 InvalidMasterAxisRef Access to the MasterAxisRef has failed since there is no Mas-
terAxis present at the input.
17170 SyncModeVelAccRequired The “Ramp_VelAcc” coupling mode is required for re-syn-
chronisation to the master axis.
17171 TempMaxCriticalExceeded The maximum absolute temperature limit (lrTempMaxCriti-
calAbsolute parameter) has been exceeded.
17172 InvalidTempCtrlParam The temperature control was activated without the valid
control parameters being present.
17173 InvalidSyncSlaveDirection The eSyncSlaveDirection parameter is invalid. It is not includ-
ed in the L_TT1P_SyncSlaveDirection ENUM.
17174 MarkCorrectionInNextCycle During an active correction process, a mark error was detect-
ed. The error is only processed in the next correction window.
The mark is inside the correction window, however, its pa-
rameterisation should ensure that it is outside of the correc-
tion window.
17175 BaseVelocityNotSupported In the coupling mode applied, using a basic speed is not pos-
sible.
Possibly, a coupling mode supporting the function of a basic
speed was used before.
17176 MovementBlockedByTrainAhead The train ahead is blocking synchronous travel in a station of
the subsequent train.
17177 MarkDistanceGTZeroRequired The mark distance parameterised is impermissible. It has to
be > 0.
5 Error handling
5.2 Error messages
________________________________________________________________

17178 InvalidVirtMasterSetVelZero The setpoint speed is zero, therefore the axis cannot travel to
the parking position.
Remedy: Increase setpoint at the lrSetVel input or cancel
movement by xHalt.
17179 HomingBlockedByActiveFunction Warning appears when a reference run is to be started from
a movement (e.g. jogging).
Possible cause: Axis status <> Standstill
17180 ConcurrentMotionCmdDuringHoming This warning appears if another movement is to be initiated
during a reference run.
17181 InvalidCycleLengthEtcOnBoard Warning appears if the "EtherCAT OnBoard" is selected as
master value and the clock length of the system bus is < 0.
17182 InvalidMasterValueSource Warning appears if the current drive is master and "EtherCAT
OnBoard" is selected as master source.
17183 EtcOnBoardNotOperational Warning appears if "EtherCAT OnBoard" is selected as mas-
ter value and the system bus is not in Operational state.
17184 TraversingRangeMasterNotEqual Warning appears if "EtherCAT OnBoard" / "Application Feed-
VirtMaster back B" is selected as the master value and the dimension
systems of the selected master value source and the virtual
master are not the same.
17185 CycleLengthMasterNotEqualVirt Warning appears if "EtherCAT OnBoard" / "Application Feed-
Master back B" is selected as the master value and the dimension
systems of the selected master value source and the virtual
master are the same but have different clock lengths.
17186 MissedMappingParameterTpTime The EtherCAT object for the evaluation of time stamps was
Stamp not mapped by the user.
17187 ToleranceAllowedDirectionExceeded The conductance of a synchronous application has moved in
the impermissible direction and exceeded the tolerance win-
dow.
Possible cause: measured value noise, position drift of the
conductance axis.
17188 TPRecPositionNotSupported The technology module (TM) cannot process the position
from the "TouchProbe". The TM can only handle time stamps.
Possible reason: At input scTPRecData_MarkSensor
(L_MC1P_TpReceiveData) no time stamp but the position is
provided.
17189 InvalidHysteresisWidth The hysteresis width is invalid or set with negative value. The
function only supports positive values.
Possible cause: The hysteresis width has a negative value.
17190 AllowedDirectionViolatedByBase The basic speed is requested in the saved direction eAllowed-
Velocity Direction.
Possible causes:
• The allowed direction of travel of the technology module
(TM) is positive, the basic speed is negative.
• The allowed direction of travel of the TM is negative, the
basic speed is positive.
17191 VelOutOfToleranceInvertGearfactor Inversion of the gear factor requested, but the speed is not
within the specified window.
Possible cause: The speed is not within the specified window.
17192 InvalidParameterConfigACDrive The AC-Drive-Profile specific parameters "Drive Mode" and
Profile "Motor Type" can be used to set contradictions to the actual-
ly active Lenze motor control mode. This warning indicates
that the current combination contains a contradiction and
the parameters should be changed.
Possible cause:
The parameters 0x5020:026 (Motor Type), 0x5020:027 (Dri-
ve Mode e) and 0x2C00:0 (Motor Control Type) contradict
each other.
5 Error handling
5.2 Error messages
________________________________________________________________

17193 InvalidVelLimits Impermissible parameterization of the upper and lower
speed limitation required for torque sequence operation.
The lower speed limitation must always be lower than the lo-
wer speed limitation.
17194 SelectedSetValueModeNot The selected mode of the setpoint specification is not sup-
Supported ported or is invalid.
17906 MissingModuleReference
17907 ErrorListOverflow
17908 ACDOwnStructInvalid
17909 ACDSlaveStructInvalid
17910 ACDSizeOverflow
17911 CompIDOutOfRange
17912 TooManyLevels
17913 MMDStructInvalid
18001 ModeNumberOutsideRange A mode number was requested which is outside the range of
1 ... 32 valid for PackML.
18002 ModeNumberNotUsedInConfig A mode number was requested which is not used in the mod-
ule configuration.
18003 ModeChangeNotAllowedInCurrentMode A mode change was requested which is not permitted in the
current state. Reason: The configuration of the current
mode.)
18004 ModeChangeNotAllowedInNextMode A mode change was requested which is not permitted in the
current state. Reason: The configuration of the mode to be
switched to.)
18005 LI_ModeNumberOutsideRange A mode number was requested via the line interface which is
outside the range of 1 … 32 valid for PackML.
18006 LI_ModeNumberNotUsedInConfig A mode number was requested via the line interface which is
not used in the module configuration.
18007 LI_ModeChangeNotAllowedRemote The only permissible remote mode change-over via the Line
interface is to the Production mode (1).
18008 LI_ModeChangeNotAllowedInCurrentM A mode change was requested via the Line interface, which
ode is not permissible in the current state. Reason: The configu-
ration of the current mode.)
18009 LI_ModeChangeNotAllowedInNextMod A mode change was requested via the Line interface, which
e is not permissible in the current state. Reason: The configu-
ration of the mode to be switched to.)
18010 MoreThanOneCommandActive More than one command input (xReset … xClear) is TRUE.
This should be avoided, however, it does not automatically
cause an error, since the edges are evaluated by command
inputs.
18011 ConcurrentCommand A rising edge was detected on more than one command in-
put (xReset … xClear) at a time. No command is executed due
to the ambiguity.
18012 CommandNotAllowedInCurrentState The PackML command requested is not permitted in the cur-
rent state and is therefore ignored.
18013 LI_CommandsOnlyInModeProduction PackML commands can only be processed via the Line inter-
face in the Production mode (1).
18014 LI_CommandNotAllowedInRemote A command was requested via the LineInterface which is not
permitted in Remote mode.
18015 LI_CommandNotAllowedInCurrentState The PackML command requested via the Line interface is not
permissible in the current state and is therefore ignored.
19000 DelayTimeInvalid_PT1Filter A negative filter time constant has been indicated.
19002 ModeInvalid_Curve The selected curve mode is invalid.
5 Error handling
5.2 Error messages
________________________________________________________________

19003 ModeInvalid_Compare The selected comparison mode is invalid.
19005 ModeInvalid_ConvAxisV The selected compilation mode does not exist.
19006 DelayTimeInvalid_ProcessController A negative filter time constant has been entered.
19007 RateTimeInvalid_ProcessController A negative rate time has been entered.
19008 ResetTimeInvalid_ProcessController A negative reset time has been entered.
19024 ModeInvalid_Delay
19030 AbortedByStartIdent_FrictComp Friction compensation was aborted since the friction identi-
fication has been started.
19031 AbortedByFollowerDisabled_FrictComp Friction identification was aborted since the speed follower
is no longer active.
19032 MaxSpeedNotReached_FrictComp Friction identification was aborted since the maximum
speed specified could not be reached.
19033 AccTooBig_FrictComp The acceleration ramp specified for the friction identification
is too great.
19034 DMinBiggerDMax_CalcDiameter The value for the minimum diameter is higher than the value
for the maximum diameter.
19048 MaxSpeedOrMaxTorque_IdentMInertia The value entered for the maximum speed or maximum
torque is too high.
19049 AbortedByStartIdent_IdentMInertia The identification of the moment of inertia has been aborted
due to invalid parameter setting.
19050 AbortedByFollowerDisabled The identification of the moment of inertia has been aborted
_IdentMInertia due to a non-enabled torque follower.
19051 AbortedByFollowerEnabled The identification of the moment of inertia has been aborted
_IdentMInertia because an external source has activated the torque follower
outside the identification of the moment of inertia.
19052 NmaxNotReached_IdentMInertia The maximum speed set for the identification of the mo-
ment of inertia has not been reached.
19053 MNotReached_IdentMInertia The set maximum torque has not been reached.
19503 MaxNrOfTpExceeded_MarkRegister Several successive marks have not been detected.
The value set in the dwMissedMarks parameter is too small or
the mark detection is defective.
19801 IdentModeNotSupported The identification mode selected is not supported.
19803 MotorRatedSpeedZero Invalid rated motor speed
19804 InertiaMotorZero Invalid motor mass inertia
19806 StartModeInvalid Invalid parameter source for the identification start parame-
ters
19807 InvalidEigenFrequency Invalid natural frequency
19808 InvalidAmplitudeRatio Invalid amplitude ratio
19809 InvalidOscCompMode Invalid compensation method
19810 ChangeOfOscCompModeLocked The compensation method cannot be changed again during
an active cross-fading phase.
19812 InvalidDefaultControlMode In parameter 90 ("Standard control mode") of the motion
axis, only the variants 'Position control motor encoder [0]'
and 'Speed control [10]' are permitted.
19813 InvalidMotorControlMode In device parameter 0x2C00/000 ("Motor control type") only
the variants 'Servo control (SC-PSM) [1]' and 'Servo control
(SC-ASM) [2]' are permitted.
19814 VirtualModeNotAllowed Axis is operated in virtual mode. The commissioned FB only
supports real axes.
5 Error handling
5.2 Error messages
________________________________________________________________

19817 ActPositionOutsideWindow The connected axis is referenced, and SW limits are also set
and activated. The lower limit of the movement range for au-
totuning at the lrPositionWindowNeg input is outside the
SW limits.
19818 PositionWindowPosOutsideSWLimits The connected axis is referenced, and SW limits are also set
and activated. The upper limit of the movement range for
autotuning at the lrPositionWindowPos input is outside the
SW limits.
19819 ActPositionOutsideWindow The current position of the axis is outside the movement ran-
ge for autotuning parameterized at the lrPositionWin-
dowNeg and lrPositionWindowPos inputs.
19820 ProfileExceedsPositionWindow Depending on the profile specifications at the lrVelocityLimit
and lrAccelerationLimit inputs, a minimum movement range
is required for the travel profile during parameter identifica-
tion.
The movement range parameterized at the lrPositionWin-
dowNeg and lrPositionWindowPos inputs is too small.
19822 ActVelocityExceedsTolerance Within the preparation of the autotuning process, the axis is
released and a block-internal standstill monitoring is execut-
ed. During this monitoring, a too high actual speed of the
axis was diagnosed.
Autotuning cannot be executed for such an axis.
19823 ActTorqueExceedsTolerance Within the preparation of the autotuning process, the axis is
released and an in-block standstill and load torque monito-
ring is executed. During this monitoring, an excessive static
load torque of the axis was diagnosed.
Autotuning cannot be executed for such an axis ('hanging
load').
19825 PositionWindowNegViolation During an active autotuning process, the lower position limit
specified at the lrPositionWindowNeg input was exceeded.
The autotuning was aborted.
19826 PositionWindowPosViolation During an active autotuning process, the upper position limit
specified at the lrPositionWindowPos input was exceeded.
19827 AxisInstabilityDueToStartCtrlParam During an active autotuning process, an instability of the
axis was already detected with the start value for a control
parameter.
19828 InPositionTimeout During an active autotuning process, the "InPositions" win-
dow was not reached within 10s when moving back to the
start position.
19829 RestoreDataNotAvailable A restore of the original control parameters was requested
via the xRestoreParam block input without a successful au-
totuning process having been executed in advance.
19830 PositionWindowRequiresLimitedAxis A modulo axis was selected as the dimensional system. The
movement limits are then inactive.
19831 MissedMappingParameterVelocityError The object 0x2DE0:19 ("Values speed error") is not included
in the mapping. However, it is required for instability detec-
tion during autotuning.
20001 SDO_OtherError SDO access: General error
20002 SDO_InvalidIndex SDO access: Invalid index
20003 SDO_InvalidOffset SDO access: invalid offset value when accessing the process
data image
20004 SDO_InvalidSize SDO access: Invalid length value
20005 SDO_InvalidData SDO access: Invalid data
20006 SDO_NotReady SDO access: Not ready
5 Error handling
5.2 Error messages
________________________________________________________________

20007 SDO_Busy SDO access: The master is currently busy and cannot process
the function.
20008 SDO_NoMemory SDO access: Application memory space available is not suffi-
cient.
20009 SDO_InvalidParm SDO access: Invalid state
20010 SDO_InvalidState SDO access: Invalid state
20011 SDO_TimeOut SDO access: Time-out
20012 SDO_Invalid_Slave_State SDO access: Impermissible mailbox commands with current
slave state.
20013 SDO_Link_Disconnected SDO access: EtherCAT cable is not connected to control unit.
20015 SDO_All_Cannels_Busy SDO access: All channels for activating SDO are busy.
20020 SDO_AbortCode_Toggle SDO AbortCode 0x05030000: Unchanged state of the toggle
bit
20021 SDO_AbortCode_TimeOut SDO AbortCode 0x05040000: Time-out of the SDO protocol
20022 SDO_AbortCode_CCS_SCS SDO AbortCode 0x05040001: Invalid or unknown specifica-
tion symbol for the client/server command
20023 SDO_AbortCode_BLK_SIZE SDO AbortCode 0x05040002: Invalid block size (only in
"Block mode")
20024 SDO_AbortCode_SEQNO SDO AbortCode 0x05040003: Invalid sequence number (only
in "block mode")
20025 SDO_AbortCode_CRC SDO AbortCode 0x05040004: CRC error (only in "block
mode")
20026 SDO_AbortCode_Memory SDO AbortCode 0x05040005: Memory space available in the
main memory is not sufficient.
20027 SDO_AbortCode_Access SDO AbortCode 0x06010000: Access to an object denied
20028 SDO_AbortCode_WriteOnly SDO AbortCode 0x06010001 / Read access to a write-pro-
tected object
20029 SDO_AbortCode_ReadOnly SDO AbortCode 0x06010002: Write access to a write-pro-
tected object
20030 SDO_AbortCode_Index SDO AbortCode 0x06020000: Object not found in the object
directory.
20031 SDO_AbortCode_PDO_Map SDO AbortCode 0x06040041: An object cannot be mapped
into the PDO.
20032 SDO_AbortCode_PDO_Len SDO AbortCode 0x06040042: Number/length of the
mapped objects exceeds the PDO length.
20033 SDO_AbortCode_P_InComp SDO AbortCode 0x06040043: General message regarding
parameter incompatibility.
20034 SDO_AbortCode_I_InComp SDO AbortCode 0x06040043: General message regarding
parameter incompatibility.
20035 SDO_AbortCode_Hardware SDO AbortCode 0x06060000: Access failed due to hardware
error.
20036 SDO_AbortCode_Data_Size SDO AbortCode 0x06070010: Data type or parameter length
differs.
20037 SDO_AbortCode_Data_Size1 SDO AbortCode 0x06070012 : Incorrect data type (parame-
ter length too long)
20038 SDO_AbortCode_Data_Size2 SDO AbortCode 0x06070013: Incorrect data type (parameter
length too short)
20039 SDO_AbortCode_Offset SDO AbortCode 0x06090011: Subindex missing
20040 SDO_AbortCode_Data_Range SDO AbortCode 0x06090030: The parameter value range is
too large (only for write access).
20041 SDO_AbortCode_Data_Range1 SDO AbortCode 0x06090031: The parameter value is too
high.
5 Error handling
5.2 Error messages
________________________________________________________________

20042 SDO_AbortCode_Data_Range2 SDO AbortCode 0x06090032: The parameter value is too
low.
20043 SDO_AbortCode_MinMax SDO AbortCode 0x06090036: The maximum value is lower
than the minimum value.
20044 SDO_AbortCode_General SDO AbortCode 0x08000000: General error
20045 SDO_AbortCode_Transfer SDO AbortCode 0x08000020: Error when saving/transmit-
ting the data to the application.
20046 SDO_AbortCode_Transfer1 SDO AbortCode 0x08000021: Error when saving/transmit-
ting the data to the application (caused by local control).
20047 SDO_AbortCode_Transfer2 SDO AbortCode 0x08000022: Error when saving/transmit-
ting the data to the application (caused by the current device
state).
20048 SDO_AbortCode_Dictionary SDO AbortCode 0x08000023: Dynamic object directory gen-
eration has failed/no object directory available.
20049 SDO_AbortCode_Unknown SDO AbortCode 0x: Unknown code.
20301 NoAxisRef A valid axis data structure is not connected or the function is
not supported by the axis connected.
20302 NoParameter "Parameter" input not assigned.
20303 NoValidParam The parameter requested does not exist.
20304 NoValidAxisState Invalid state of the axis, i.e. the axis is not in any PLCopen
state, or the action cannot be carried out due to the current
state.
20305 NoBoolParam The parameter number does not correspond to any Boolean
parameter.
20306 SWLimitPos The positive software limit position has been exceeded.
20307 SWLimitNeg The negative software limit position has been exceeded.
20308 NoValid_MC_SOURCE Selection of an invalid source of the MC_Source type.
20309 NoSetValuesAvailable In this cycle, no setpoints have been generated, since the cur-
rently active (setpoint-generating) FB has not been called in
this cycle.
20310 PowerFailDuringOperation Controller enable of the axis has been cancelled during oper-
ation.
If necessary, check the wiring of the STO and the STO state of
the drive.
20311 NotReadyForMotion The motion requested cannot be executed due to the current
state of the axis (e.g. "Disabled" or "ErrorStop").
If necessary, check the wiring of the STO and the STO state of
the drive.
20312 PosSWLimitReached Drive has stopped at the positive SW limit position.
20313 NegSWLimitReached Drive has stopped at the negative SW limit position.
20314 NoValidTpSource Selection of an invalid touch probe source (MC_TouchProbe
/ MC_AbortTrigger).
20315 NoValidTpNumber Selection of an invalid touch probe number
(MC_TouchProbe/ MC_AbortTrigger).
20316 TpAlreadyActive No free channel or the channel is currently used by another
FB. (MC_TouchProbe/ MC_AbortTrigger).
20317 NotTpSupported This input is not TP-supported (MC_TouchProbe/
MC_AbortTrigger).
20318 NoTpActive No touch probe preassigned (MC_AbortTrigger).
20319 NoExTpInput No external TP input available (MC_TouchProbe/
MC_AbortTrigger).
20320 NoValidAcceleration The acceleration is invalid.
20321 NoValidDeceleration The deceleration is invalid.
5 Error handling
5.2 Error messages
________________________________________________________________

20322 NoValidVelocity The speed is invalid.
20323 ArithmeticError An error has occurred in the profile calculation.
20324 NotApplicable The motion requested cannot be executed due to limitations
(e.g. SW limit positions).
20325 VelocityLimited Velocity selected exceeds the value of MaxVelocityAppl.
20326 AccelerationLimited Acceleration selected exceeds the value of MaxAccelera-
tionAppl.
20327 JerkLimited Jerk selected exceeds the value of MaxJerkAppl.
20328 TargetOutsideSWLimit The target position is outside the software limit positions.
20330 NoValidAcceleration_MoveAbsolute MC_MoveAbsolut: The acceleration is invalid.
20331 NoValidDeceleration_MoveAbsolute MC_MoveAbsolut: The deceleration is invalid.
20332 NoValidVelocity_MoveAbsolute MC_MoveAbsolut: The velocity is invalid.
20333 ArithmeticError_MoveAbsolute MC_MoveAbsolut: Error in the profile calculation.
20334 NotApplicable_MoveAbsolute MC_MoveAbsolut: The motion requested cannot be execut-
ed due to limitations (e.g. SW limit positions).
20335 VelocityLimited_MoveAbsolute MC_MoveAbsolute: Velocity selected exceeds the value of
MaxVelocityAppl.
20336 AccelerationLimited_MoveAbsolute MC_MoveAbsolute: Acceleration selected exceeds the value
of MaxAccelerationAppl.
20337 JerkLimited_MoveAbsolute MC_MoveAbsolute: Jerk selected exceeds the value of
MaxJerkAppl.
20338 TargetOutsideSWLimit_MoveAbsolute MC_MoveAbsolute: Target position outside the software
limit positions.
20340 NoValidAcceleration_MoveAdditive MC_MoveAdditive: The acceleration is invalid.
20341 NoValidDeceleration_MoveAdditive MC_MoveAdditive: The deceleration is invalid.
20342 NoValidVelocity_MoveAdditive MC_MoveAdditive: The velocity is invalid.
20343 ArithmeticError_MoveAdditive MC_MoveAdditive: Error in the profile calculation.
20344 NotApplicable_MoveAdditive MC_MoveAdditive: The motion requested cannot be execut-
20345 VelocityLimited_MoveAdditive MC_MoveAdditive: Velocity selected exceeds the value of
MaxVelocityAppl.
20346 AccelerationLimited_MoveAdditive MC_MoveAdditive: Acceleration selected exceeds the value
20347 JerkLimited_MoveAdditive MC_MoveAdditive: Jerk selected exceeds the value of
MaxJerkAppl.
20348 TargetOutsideSWLimit_MoveAdditive MC_MoveAdditive: Target position outside the software lim-
it positions.
20350 NoValidAcceleration_MoveContAb MC_MoveContinuousAbsolute: Selection of an invalid accel-
eration.
20351 NoValidDeceleration_MoveContAb MC_MoveContinuousAbsolute: Selection of an invalid decel-
eration.
20352 NoValidVelocity_MoveContAb MC_MoveContinuousAbsolute: Selection of an invalid veloc-
ity.
20353 ArithmeticError_MoveContAb MC_MoveContinuousAbsolute: Error in the profile calcula-
tion.
20354 NotApplicable_MoveContAb MC_MoveContinuousAbsolute: The motion requested can-
not be executed due to limitations (e.g. SW limit positions).
20355 VelocityLimited_MoveContAb MC_MoveContinuousAbsolute: Velocity selected exceeds
the value of MaxVelocityAppl.
20356 AccelerationLimited_MoveContAb MC_MoveContinuousAbsolute: Acceleration selected ex-
ceeds the value of MaxAccelerationAppl.
5 Error handling
5.2 Error messages
________________________________________________________________

20357 JerkLimited_MoveContAb MC_MoveContinuousAbsolute: Jerk selected exceeds the
value of MaxJerkAppl.
20358 TargetOutsideSWLimit_MoveContAb MC_MoveContinuousAbsolute: Target position outside the
software limit positions.
20360 NoValidAcceleration_MoveContRel MC_MoveContinuousRelative: The acceleration is invalid.
20361 NoValidDeceleration_MoveContRel MC_MoveContinuousRelative: The deceleration is invalid.
20362 NoValidVelocity_MoveContRel MC_MoveContinuousRelative: The velocity is invalid.
20363 ArithmeticError_MoveContRel MC_MoveContinuousRelative: Error in the profile calcula-
tion.
20364 NotApplicable_MoveContRel MC_MoveContinuousRelative: The motion requested can-
20365 VelocityLimited_MoveContRel MC_MoveContinuousRelative: Velocity selected exceeds the
value of MaxVelocityAppl.
20366 AccelerationLimited_MoveContRel MC_MoveContinuousRelative: Acceleration selected ex-
ceeds the value of MaxAccelerationAppl.
20367 JerkLimited_MoveContRel MC_MoveContinuousRelative: Jerk selected exceeds the val-
ue of MaxJerkAppl.
20368 TargetOutsideSWLimit_MoveContRel MC_MoveContinuousRelative: Target position outside the
software limit positions.
20370 NoValidAcceleration_MoveRelative MC_MoveRelative: The acceleration is invalid.
20371 NoValidDeceleration_MoveRelative MC_MoveRelative: The deceleration is invalid.
20372 NoValidVelocity_MoveRelative MC_MoveRelative: The velocity is invalid.
20373 ArithmeticError_MoveRelative MC_MoveRelative: Error in the profile calculation
20374 NotApplicable_MoveRelative MC_MoveRelative: The motion requested cannot be execut-
20375 VelocityLimited_MoveRelative MC_MoveRelative: Velocity selected exceeds the value of
MaxVelocityAppl.
20376 AccelerationLimited_MoveRelative MC_MoveRelative: Acceleration selected exceeds the value
20377 JerkLimited_MoveRelative MC_MoveRelative: Jerk selected exceeds the value of
MaxJerkAppl.
20378 TargetOutsideSWLimit_MoveRelative MC_MoveRelative: The target position is outside the soft-
ware limit positions.
20380 NoValidAcceleration_MoveSuperimp MC_MoveSuperimposed: The acceleration is invalid.
20381 NoValidDeceleration_MoveSuperimp MC_MoveSuperimposed: The deceleration is invalid.
20382 NoValidVelocity_MoveSuperimp MC_MoveSuperimposed: Selection of an invalid velocity.
20383 ArithmeticError_MoveSuperimp MC_MoveSuperimposed: Error in the profile calculation.
20384 NotApplicable_MoveSuperimp MC_MoveSuperimposed: The motion requested cannot be
executed due to limitations (e.g. SW limit positions).
20385 VelocityLimited_MoveSuperimp MC_MoveSuperimposed: Velocity selected exceeds the val-
ue of MaxVelocityAppl.
20386 AccelerationLimited_MoveSuperimp MC_MoveSuperimposed: Acceleration selected exceeds the
value MaxAccelerationAppl.
20387 JerkLimited_MoveSuperimp MC_MoveSuperimposed: Jerk selected exceeds the value of
MaxJerkAppl.
20388 TargetOutsideSWLimit_MoveSuperimp MC_MoveSuperimposed: Target position outside the soft-
ware limit positions
20390 NoValidAcceleration_MoveVelocity MC_MoveVelocity: The acceleration is invalid.
20391 NoValidDeceleration_MoveVelocity MC_MoveVelocity: The deceleration is invalid.
20392 NoValidVelocity_MoveVelocity MC_MoveVelocity: The velocity is invalid.
20393 ArithmeticError_MoveVelocity MC_MoveVelocity: Error in the profile calculation
5 Error handling
5.2 Error messages
________________________________________________________________

20394 NotApplicable_MoveVelocity MC_MoveVelocity: The direction of rotation is invalid or can-
The following directions of rotation selected are allowed:
• MC_Direction.mcCurrentDirection
• MC_Direction.mcPositiveDirection
• MC_Direction.mcNegativeDirection
20395 VelocityLimited_MoveVelocity MC_MoveVelocity: Velocity selected exceeds the value of
MaxVelocityAppl.
20396 AccelerationLimited_MoveVelocity MC_MoveVelocity: Acceleration selected exceeds the value
MaxAccelerationAppl.
20397 JerkLimited_MoveVelocity MC_MoveVelocity: Jerk selected exceeds the value of
MaxJerkAppl.
20398 TargetOutsideSWLimit_MoveVelocity MC_MoveVelocity: The target position is outside the soft-
ware limit positions.
20401 NoValidDeceleration_Halt MC_Halt: The deceleration is invalid.
20403 ArithmeticError_Halt MC_Halt: Error in the profile calculation.
20406 AccelerationLimited_Halt MC_Halt: Acceleration selected exceeds the value MaxAccel-
erationAppl.
20407 JerkLimited_Halt MC_Halt: Jerk selected exceeds the value of MaxJerkAppl.
20411 NoValidDeceleration_Stop MC_Stop: The deceleration is invalid.
20413 ArithmeticError_Stop MC_Stop: Error in the profile calculation
20416 AccelerationLimited_Stop MC_Stop: Acceleration selected exceeds the value of MaxAc-
celerationAppl.
20417 JerkLimited_Stop MC_Stop: Jerk selected exceeds the value of MaxJerkAppl.
20430 NoValidDirection The direction of rotation is invalid.
20431 NoValidBufferMode The buffer mode is invalid.
20432 DirectionDisabled MC_Power: The direction of movement is not enabled, since
the EnablePositive or EnableNegative input is not set.
20433 BlockedByAxisState Axis state prevents override specifications of
MC_SetOverride.
20434 NoValidOverride Invalid override specifications of MC_SetOverride.
20435 Concurrent_MC_Power A second MC_Power instance is trying to activate the axis, al-
though it has already been activated.
20436 Concurrent_SetQuickStop A second L_MC1P_SetQuickStop instance is trying to switch
the axis to QSP, although QSP is already active.
20498 FdbAbsPosNotAvailable Position of the absolute encoder cannot be read.
Remedy: Check parameterization
Possible cause: Encoder defective
20499 Drive_PDO_Interface_Disabled The cyclic PDO interface of the drive has been deactivated
(check 0x2824)
20500 HWLimitPos The positive hardware limit switch has been approached.
20501 HWLimitNeg The negative hardware limit switch has been approached.
20502 FollowingError1 Following error limit 1 has been exceeded.
20503 FollowingError2 Following error limit 2 has been exceeded.
20504 CommunicationFail Communication fault during operation
20505 AxisInitFail Initialisation of the axis data has failed
20506 CommTimOut Communication with the slave drive could not be estab-
lished
20507 MasterRestartFail The bus system master could not be re-established
20508 NotReadyForReInit The axis cannot be re-initialised as it is not in the "Disabled"
or "ErrorStop" state.
5 Error handling
5.2 Error messages
________________________________________________________________

20509 ErrorDuringInit Error during initialisation
20510 SwitchOnNotPossible Axis could not be enabled within the time parameterised.
20511 DriveError Drive error
20512 Home_NoAuxParameters Homing: No homing parameters defined
20513 Home_ModeNotSupportedByAxis Homing: The mode selected is not supported by the axis.
20514 Home_ModeUnknown Homing: The mode selected is unknown.
20515 Home_NoAuxTriggerInput Homing: No homing parameters defined.
20516 Home_UnknownTPConfig Homing: Incorrect TP parameters defined.
20518 Home_WriteHomeParameter Homing: Error when writing the homing parameters into the
secondary drive.
20519 Home_ErrorWhileHoming Homing: Error during the reference run in the drive.
20520 Home_ArithmeticError Homing: Error in the profile calculation.
20521 Home_TorqueLimNotMapped Homing: Torque limits not mapped.
20522 Home_InvalidVelAcc Homing: Invalid velocity or acceleration value.
20523 HomeTpEdgeSettingNotSupported Reference run: The TP edge selection is not supported.
20525 ResetDriveErrorFailed MC_Reset: The drive error cannot be acknowledged.
20526 ApplicationError An error was triggered via the Axis_Ref from the application.
20527 ApplicationWarning A warning was triggered via the Axis_Ref from the applica-
tion.
20529 Brake_PositionDrift A position drift has occurred during the brake test.
20530 Brake_InvalidMode The brake mode is invalid.
20531 Brake_TimeOutPrecontrol Time-out at torque feedforward control
20532 Brake_InvalidBrakeState The brake state is invalid.
20533 Fast_IO_OUT_WrongOutputSel FastOutput FB, check input data: byDigitalOutputSel. The
output requested is not available.
20534 Fast_IO_OUT_NoFreeEncoderAxis FastOutput FB, check input data: FastIO_Out. The axis ap-
plied to the input does not support this function.
20535 Fast_IO_OUT_ FastOutput FB: Internal error
FreeEncoderAxisWrongParameter
20536 Fast_IO_OUT_MappingFault FastOutput FB: Internal error
20537 Fast_IO_OUT_FifoOverflow FastOutput FB: Internal error
20538 TP_Select Touch probe: The channel selection is invalid.
20539 TP_Mode Touch probe: The mode selection is invalid.
20540 TP_onlyPosEdge Touchprobe: Only positive edge possible.
20541 TP_EdgeNotAvailable Touch probe: Invalid edge selection
20542 TP_ChannelNotFree Touch probe: Channel assigned
20543 TP_MappingFault Touch probe: Error in the process data mapping
20544 TP_InternalChannelNotFree Touch probe: Internal channel assigned
20545 TP_Timeout Touch probe: Time-out
20546 TP_CommunicationError Touch probe: Communication error
20547 TP_Signal Touch probe: The signal selection is invalid.
20548 TP_NoFreeEncoderAxis Touch probe: Wrong axis type
20550 TP_ParameterRisingEdgeWrongValue Touch probe: Check basic parameter in S207: Rising edge in-
hibited
20551 TP_ParameterFallingRisingEdgeWrongV Touch probe: Check basic parameter in S207: Falling edge in-
alue hibited
20552 TP_InternalError Touch probe: An internal error has occurred.
5 Error handling
5.2 Error messages
________________________________________________________________

20600 SetValuesGTMaxAppValues The setpoints generated exceed the MaxApplicationValues
specified.
20601 SetValuesInconsistent The "Position", "Velocity" and "Acceleration" setpoints are in-
consistent with one another.
20602 PosDiffGTHalfCycleLength The current position difference per application cycle is great-
er than half the cycle length. Unique position assignments
therefore are not possible.
20603 InvalidTaskCycleTime Invalid task cycle time. Possibly no valid bus cycle task has
been selected.
20650 Init_WriteErrorSDO Initialisation: SDO write access failed.
20651 Init_ReadErrorSDO Initialisation: SDO read access failed.
20652 Init_MaxTaskTime Initialisation: Cycle time of the fastest task is too high.
20653 Init_TorqueRefIsZero Initialisation: Rated motor torque is 0.
20654 Init_MotorRatedSpeedIsZero Initialisation: Rated motor speed is 0.
20655 Init_RevisionNotValid Initialisation: Revision could not be read
20656 Init_EncCountNotValid Initialisation: Encoder resolution invalid.
20657 Init_EncRevNotValid Initialisation: Encoder revolutions cannot be read.
20658 Init_EncCRCNotValid Initialisation: Encoder CRC cannot be read.
20659 Init_EncAbsPosNotAvailable Initialisation: Absolute encoder position not available.
20660 ControllerFirmwareNotCompatible Controller firmware incompatible.
20661 InvalidMode Invalid mode selected.
20662 EncBPB_Init_Failed Initialisation error at the encoder backplane bus
20663 LedNotSupportedByDevice The "LED blinking" function is not supported by this drive.
20664 InvalidGearFactor The gearbox factor is invalid.
20665 PosOutOfCycleLength Position outside of the cycle length.
20666 CycleLengthInvalid_AddOffsetCyclic The cycle length is invalid (AddOffsetCyclic).
20667 PosInInvalid_AddOffsetCyclic The input position is invalid (AddOffsetCyclic).
20668 CycleLengthInvalid_ZeroDetect The cycle length is invalid (ZeroDetect).
20669 PosInInvalid_ZeroDetect The input position is invalid (ZeroDetect).
20670 StartPosInvalid_IntegrateAxis The starting position is invalid (IntegrateAxis).
20671 InvalidInputJogPosJogNeg Simultaneous selection of direction for "JogPos" and
"JogNeg".
20672 ValueOutOfRange The parameter to be written is outside of the valid value
range.
20673 StateNotEqualDisabled The parameter cannot be written as the axis is not in the
"Disabled" state.
20674 InvalidInput_BrakeTest Invalid entry (L_MC1P_BrakeTest).
20675 AlreadyActive_BrakeTest Function already activated (L_MC1P_BrakeTest)
20676 InvalidInput_BrakeGrindIn Invalid entry (L_MC1P_BrakeGrindIn)
20677 AlreadyActive_GrindIn Function already activated (L_MC1P_BrakeGrindIn)
20678 InvalidControlMode The value of the eControlMode input is not part of the
L_MC1P_ControlModeSetenum.
20679 VirtualAxisNotSupported In the virtual mode, the function is not compatible with vir-
tual axes and drives.
20680 AxisNotDisabled The action cannot be carried out as the axis is not in the "Dis-
abled" state.
20681 InvalidFeedConstant The feed constant is invalid.
20682 InvalidTraversingRange The selection for the traversing range is invalid.
5 Error handling
5.2 Error messages
________________________________________________________________

20683 InvalidCycleLength The cycle length is invalid.
20684 InvalidPosResolution The position resolution is invalid.
20685 TorqueLimTooLarge The torque limit value specified is not supported by the drive
(L_MC1P_SetTorqueLimit).
20686 TorqueLimLessThanZero Negative torque values are not supported
(L_MC1P_SetTorqueLimit).
20687 EncSignalInvalid The encoder signal is invalid.
20688 EncSignalGTMeasuringRange The encoder signal is greater than the parameterised total
resolution (subindex 28).
20689 InvalidEncMeasuringRange The total resolution parameterised (subindex 28) of the en-
coder is not plausible (e.g. smaller than the number of lines
per revolution).
20690 DriveSTOActive The axis cannot be enabled as STO is active in the drive.
20691 DriveCInhActive The axis cannot be enabled as a controller inhibit via termi-
nal is active in the drive.
20692 InvalidSWLimits The given SW limits are not valid or swapped.
20693 NoValidJerk The jerk is invalid.
20694 MissedMappingParameterVLTargetVel L_MC1P_BasicActuatingSpeed: object 0x60FF (axis B:
0x68FF) vl Target Velocity not included in the mapping. This
object is required for controlling the velocity mode.
20695 MissedMappingParameterVLActualVel L_MC1P_BasicActuatingSpeed: Object 0x6044 (axis B:
0x6844) vl Actual Velocity not included in the mapping. This
object is required for controlling the velocity mode.
20696 AxisNotHomed For the axis, no home position is known.
20697 AxisNotInSimpleMode The function is not supported since the axis is not in single
mode. Check Axis mode parameter (subindex 27).
20698 AxisInSimpleMode The function is not supported since the axis is in single mode.
Check Axis mode (subindex 27).
20699 FunctionNotSupportedByAxis The function or the FB is not supported by the axis type con-
nected.
20700 ExecutionIndexAlreadyInUse The eExecutionIndex specified is already being used on an-
other setpoint-manipulating FB.
Three setpoint manipulators can be maximally appended to
an AxisRef at the same time. The instances must be logged in
on a free ExecutionIndex in each case.
20701 SS1Active Safe stop 1 (SS1) active. The motion requested cannot be ex-
ecuted.
20702 SS2Active Safe stop 2 (SS2) active. The motion requested cannot be ex-
ecuted.
20703 VelocityLimitedBySLS1 Profile velocity limited by SLS1
20707 InvalidExecutionIndex The eExecutionIndex input is assigned to a value outside the
permissible value range.
20708 InvalidFilterDepth L_MC1P_AverageFilterSetValues: The wFilterDepth input is
outside the permissible maximum values.
20709 ParamSetFailedJogVel Setting the JogVel parameter has failed. The parameter value
is outside the permissible value range.
20710 ParamSetFailedJogAcc Setting the JogAcc parameter has failed. The parameter val-
ue is outside the permissible value range.
20711 ParamSetFailedJogDec Setting the JogDec parameter has failed. The parameter val-
5 Error handling
5.2 Error messages
________________________________________________________________

20712 ParamSetFailedJogJerk Setting the JogJerk parameter has failed. The parameter val-
20713 ParamSetFailedHaltDec Setting the HaltDec parameter has failed. The parameter val-
20714 ParamSetFailedHaltJerk Setting the HaltJerk parameter has failed. The parameter val-
20715 ParamSetFailedQSPApplDec Setting the QSPApplDec parameter has failed. The parameter
value is outside the permissible value range.
20716 ParamSetFailedQSPApplJerk Setting the QSPApplJerk parameter has failed. The parameter
20717 ParamSetFailedHomePosition Setting the HomePosition parameter has failed. The parame-
ter value is outside the permissible value range.
20718 ParamSetFailedHomeMode Setting the HomeMode home parameter has failed. The pa-
rameter value is outside the permissible value range.
20719 ParamSetFailedHomeStopMode Setting the HomeModeStop home parameter has failed. The
parameter value is outside the permissible value range.
20720 ParamSetFailedHomeTargetPosition Setting the TargetPosition home parameter has failed. The
20721 ParamSetFailedHomeVelocity1 Setting the Velocity1 home parameter has failed. The param-
eter value is outside the permissible value range.
20722 ParamSetFailedHomeVelocity2 Setting the Velocity2 home parameter has failed. The param-
20723 ParamSetFailedHomeAcceleration1 Setting the Acceleration1 home parameter has failed. The
20724 ParamSetFailedHomeAcceleration2 Setting the Acceleration2 home parameter has failed. The
20725 ParamSetFailedHomeJerk Setting the Jerk home parameter has failed. The parameter
20726 ParamSetFailedHomeTorqueLimit Setting the TorqueLimit home parameter has failed. The pa-
20727 ParamSetFailedHomeTorqueTime Setting the TorqueTime home parameter has failed. The pa-
20728 ParamSetFailedHomeTPConfig Setting the TPConfig home parameter has failed. The param-
20729 ParamSetFailedDriveHomeMode Setting the DriveHomeMode home parameter has failed. The
20730 ParamReadFailed Reading out a parameter has failed.
20731 ParamRollBackFailed Writing back the previous parameter value has failed. This
may have made the parameter values of the axis inconsist-
ent.
20732 PosCtrlNotSupported The "position control" mode is not supported by the drive.
20733 TorqueCtrlNotSupported The "torque control" mode is not supported by the drive.
20734 SetPositionInPDORequired The position required for the "Position control" mode is not
transferred as process date to the drive.
20735 SetVelocityInPDORequired The speed required for the "Speed control" mode is not trans-
ferred as process date to the drive.
20736 SetTorqueInPDORequired The torque required for the "Torque control" mode is not
transferred as process date to the drive.
20737 UpperSpeedLimInPDORequired The upper torque required for the "Torque control" mode is
not transferred as process date to the drive.
20738 LowerSpeedLimInPDORequired The lower torque required for the "Torque control" mode is
not transferred as process date to the drive.
5 Error handling
5.2 Error messages
________________________________________________________________

20739 ActPositionInPDORequired The actual value "Position" required for the "Position control"
mode on the PLC is not transferred as process date from the
drive.
20740 BrakeGrindInInvalidPositionLimits The parameter setting of the traversing range limits for
grinding of the brake is invalid.
20741 BrakeGrindInStartPosOutsidePosLim The current position is outside the traversing range limits pa-
rameterised for grinding in the brake, or outside the SW limit
positions.
20742 BrakeGrindInDistanceNotSufficient The traversing range for grinding which results from
PosLim1 and PosLim2 has been selected too small. The brake
cannot apply.
20743 SafetyNotSupportedByDrive The drive does not support any safety functions and there-
fore cannot provide the safety diagnostic data.
20744 SafetyControlwordInPDORequired The 0x2870/1 diagnostic interface (Safetyinterface Control-
word) is not transferred as process date from the drive.
20745 SetPositionOnSlaveAxisNotAllowed Setting the position via MC_SetPosition is impermissible
with a slave axis.
20746 EncoderVelocityGTMaxVelocity Encoder monitoring has been triggered. The current velocity
exceeds the specified monitoring speed.
20747 InvalidEncoderSignal An invalid encoder signal was reported by the application.
20748 DriveSafeBrakeCtrlActive The axis cannot be released, as the safe brake control
prevents the controller enable.
20749 PosReconstrMaxAxisReached The total number of axes within the project can no longer be
managed.
20750 PosReconstrDataInkonsistent The retain data is not consistent.
20751 PosReconstrHomePosAvailableNotActiv The reference before mains switching is not known.
e
20752 PosReconstrNotActivated The position reconstruction before mains switching is not
active.
20753 PosReconstrAxisWasVirtual The axis before power on is parameterized as virtual axis.
20754 PosReconstrOrientationChanged The mounting position before mains switching has been
changed.
20755 PosReconstrTraversingRangeChanged The travel range before mains switching has been changed.
20756 PosReconstrCycleLengthChanged The cycle length before mains switching has been changed.
20757 PosReconstrUnitfactorChanged The unit factor (gear ratio or feed constant) before mains
switching has been changed.
20758 PosReconstrResetByEncError Reset due to encoder error.
20759 PosReconstrResetByFdbChanged Reset due to change of encoder configuration or broken wire.
20760 PosReconstrEncCRCChanged The encoder CRC (checksum) before mains switching has
been changed.
20761 PosReconstrNoFdbPosAvailable No valid encoder position available.
20762 PosReconstrAbsEncRequired Position reconstruction is only possible with absolute
encoders.
20763 PosReconstrDataVersionChanged The version of the retain data has changed.
20764 PosReconstrNoDataAvailable No retain data available.
20765 PosReconstrNoMemoryAvailable No memory area available for retain data.
20766 PosReconstrPosOutsideRestoreTreshold The difference between the current position and the position
stored in the non-volatile memory is greater than the set
tolerance.
20767 PosReconstrResetByFdbOpenCirc Wire break at the resolver
5 Error handling
5.2 Error messages
________________________________________________________________

20768 PPIModeNotSupported Mode could not be switched to "Pole position identification
[- 12]" in 0x6060.
Possible cause: No current firmware of the drive.
20769 PPINotSuccessfull The PLI was terminated without success.
20770 PolePositionNotAvailable The pollage is not known.
Remedy: Perform pollage identification
20771 ConcurrentPPI Another instance of the L_MC1P_PolePositionIdentification
block is already activated.
20773 ParamNotAccessible Parameter cannot be read / written:
• The specified object does not exist.
• The specified object is not mapable".
20774 MissingMappingParameter The parameter to be accessed is not included in the mapping.
20775 ParamUsedByAxisRef The parameter to be written is already written cyclically by
the Axis_Ref.
20776 ParamMappedWithWriteAccess The parameter is to be read, but is included in the Rx map-
ping.
20777 ParamMappedWithReadAccess The parameter is to be written, but is included in the Tx map-
ping.
20778 MOLModeNotSupported Mode could not be switched to 'Manual open loop [- 13]' in
0x6060.
20779 HomePosResetByMachineDataChan- Reference information was deleted from the application due
geAppl to a change in the machine data.
Possible cause: Changes in the machine data via FB
L_MC1P_ChangeMachineData.
20780 HomePosResetByMachineDataChange Reference information was deleted due to a change in the
machine data in the parameter set of the axis.
Possible cause: Changes in the machine data in the parame-
ter set of the axis.
20781 HomePosResetByEncCRCChanged Reference position has been deleted because the checksum
of the connected encoder has changed.
20782 HomePosResetByDriveSwitchedOff Reference position was deleted when the drive was switched
off. If position reconstruction is activated, the reference posi-
tion is restored after switching on.
20783 HomePosResetByFdbChanged Reference position has been deleted because the encoder
has changed.
20784 HomePosResetByFdbAbsPosNotAvailab- Reference position was deleted because the encoder does
le not report an absolute position.
Possible cause: Incremental encoder connected.
20785 HomePosResetByEncError Reference position was deleted due to an encoder error.
20786 HomePosResetByApplication Reference position was deleted applicatively
• Call of L_MC1P_ResetHomePos
• Homing with HomingMode ResetHomeInfo
• Input xResetHomePosition at e.g. ABC_V2 block used
20787 HomePosResetByFdbOpenCirc Reference position was deleted due to a wire break on the
encoder system.
20788 HomePosResetByStartReferenceSearch Reference position was deleted because a new reference run
was started.
20789 HomePosResetByVirtualMode Reference information was deleted because the virtual
mode of the axis was switched.
20790 HomePosResetByAxesGroup In the Cartesian axes of an axis group, the reference informa-
tion was deleted due to the incomplete reference informati-
on of all associated drive axes.
20791 PosReconstrSucceded Position reconstruction was successfully completed.
5 Error handling
5.2 Error messages
________________________________________________________________

20792 HomePosSetDirect Reference position was determined by direct set (e.g.
MC_SetPosition or HomingMode SetPositionDirect)
20793 HomePosSetByReferenceSearch Reference position was determined by a successful comple-
tion of a reference run.
20794 HomePosSetByAxesGroup In the Cartesian axes of an axis group, the reference informa-
tion was set based on the complete reference information of
all associated drive axes.
20795 ReferenceSearchAborted Reference run was aborted.
20796 AxisPersistentMemoryNotAvailable Peristent memory for axis information is not available.
20797 AxisPersistentMemoryInvalid Peristent memory for axis information is invalid.
20798 AxisPersistentMemoryNotInitialized Peristent memory for axis information is not initialized.
20799 PosReconstrDataNotInitialized Peristent memory for position reconstruction is not initiali-
zed.
20800 MissedMappingParameterPosTorqueLi- The positive torque limit (0x60E0) is not included in the map-
mit ping.
20801 MissedMappingParameterNegTorqueLi- The negative torque limit (0x60E1) is not included in the
mit mapping.
20802 MissedMappingParameterActualPos The object 0x60E4:01 (values load encoder) is not included in
the mapping.
20803 FunctionNotSupportedByFirmwareVer- The commissioned function is not supported by the drive
sion firmware.
Possible cause: No current firmware of the drive.
20804 AutotuningWithVariableSwitchingFre- In index 0x2929:0 a variable switching frequency is selected.
quenz Recommendation: Tuning with the smallest fixed switching
frequency.
Possible cause: A variable switching frequency is selected in
index 0x2929:0.
20805 TestmodeAlreadyActive A test mode has already been activated in the drive.
20806 SetPositionNotAllowedByHomePosPer- Position changes via MC_SetPosition is not permitted becau-
manentSet se the "Reference position permanently set" function is acti-
vated (subindex 85).
21001 MainAxisNotReady The main axis is not ready for operation.
The PLCopen status of at least one main axis involved does
not match. The axis states of all single axes can be read out
using the L_MC4P_AxesGroupBasicControl function block.
21002 GroupStateUndefined The state of the axes group is undefined.
21003 AxisDisabled One axis of the group is in the "Disabled" state.
21004 TransformationError Error in the calculation of the kinematic transformation. Er-
ror source:
• The target position or path is outside of the workspace.
• The robot is in a position where the kinematic transfor-
mations cannot be calculated.
• The dimensions of the kinematics are wrong.
21005 AxisInErrorStop One axis of the group is in the "Errorstop" state.
The axis states and error messages can be read out with
L_MC4P_AxesGroupBasicControl. After the error correction,
an error reset of the axes group must be carried out.
21006 AxisLimitViolationMainAxis The position violates the axis limitations of the virtual main
axes.
During the movement, the SW limit positions of the main
axes are overtravelled. The defective path can be corrected
by inserting an intermediate point.
21007 AxisLimitViolationRealAxis The position violates the axis limitations of the real drives.
During the movement, the SW limit positions of the drive
axes are overtravelled. The defective path can be corrected
5 Error handling
5.2 Error messages
________________________________________________________________

21008 AxisLimitViolationPassiveAxis The position violates the limitation of the passive joints.
During the movement, the SW limit positions of the passive
joints are overtravelled. The defective path can be corrected
21009 RealAxisDisabled A real axis has been deactivated during operation.
While the axes group is switched on, all drive axes connected
and all auxiliary axes of the axes group have to be switched
on. The "Disabled" PLCopen state is not permissible. The axis
states can be read out using
L_MC4P_AxesGroupBasicControl.
21010 NoValidPathCoice_MoveCircAbs MC_MoveCircularAbsolute: Invalid parameter at the Path-
Choice FB input.
21011 NoValidCircMode_MoveCircAbs MC_MoveCircularAbsolute: Invalid parameter at the Circ-
Mode FB input.
21012 NoValidTransitionParameter_MoveCirc MC_MoveCircularAbsolute: Invalid transition parameter
Abs
21013 NoValidVelocity_MoveCircAbs MC_MoveCircularAbsolute: The velocity is invalid.
Cartesian movements: Check Velocity input.
Orientations: Check "MaxVelRotation" parameter of the
axes group.
Auxiliary axes: Check "DefaultVelocity" parameter.
21014 NoValidAcceleration_MoveCircAbs MC_MoveCircularAbsolute: The acceleration is invalid.
Cartesian movements: Check Acceleration input.
Orientations: Check MaxAccRotation parameter of the axes
group.
Auxiliary axes: Check DefaultAcc parameter
21015 NoValidDeceleration_MoveCircAbs MC_MoveCircularAbsolute: the deceleration is invalid.
Cartesian movements: Check Deceleration input.
group.
21016 NoValidJerk_MoveCircAbs MC_MoveCircularAbsolute: The jerk is invalid.
Cartesian movements: Check Jerk input.
Orientations: Check MaxJerkRotation parameter of the axes
group.
Auxiliary axes: Check DefaultJerk parameter
21017 TargetOutsideSWLimitsPassiveJoints_M MC_MoveCircularAbsolute: The target position violates the
oveCircAbs SW limit positions of the passive joints.
21018 TargetOutsideSWLimitsMainAxisX_Mov MC_MoveCircularAbsolute: The target position violates the
eCircAbs SW limit positions of the main axis X.
21019 TargetOutsideSWLimitsMainAxisY_Mov MC_MoveCircularAbsolute: The target position violates the
eCircAbs SW limit positions of the main axis Y.
21020 TargetOutsideSWLimitsMainAxisZ_Mov MC_MoveCircularAbsolute: The target position violates the
eCircAbs SW limit positions of the main axis Z.
21021 TargetOutsideSWLimitsMainAxisA_Mov MC_MoveCircularAbsolute: Target position violates the SW
eCircAbs limit positions of the main axis A.
21022 TargetOutsideSWLimitsMainAxisB_Mov MC_MoveCircularAbsolute: The target position violates the
eCircAbs SW limit positions of the main axis B.
21023 TargetOutsideSWLimitsMainAxisC_Mov MC_MoveCircularAbsolute: The target position violates the
eCircAbs SW limit positions of the main axis C.
21024 TargetOutsideSWLimitsRealAxis1_Move MC_MoveCircularAbsolute: The target position violates the
CircAbs SW limit positions of drive axis 1.
5 Error handling
5.2 Error messages
________________________________________________________________

21030 TargetOutsideSWLimitsAuxAxis1_Move MC_MoveCircularAbsolute: The target position violates the
CircAbs SW limit positions of auxiliary axis 1.
21036 TargetTransformationError_MoveCircAb MC_MoveCircularAbsolute: Transformation error in target
s position; the target position is outside the workspace
21037 TargetSingularPos_MoveCircAbs MC_MoveCircularAbsolute: The target position is in a singu-
lar position which can only be approached via
MC_MoveDirect.
21038 BorderOutsideSWLimitsPassiveJoints_M MC_MoveCircularAbsolute: The border position violates the
oveCircAbs SW limit positions of the passive joints.
21039 BorderOutsideSWLimitsMainAxisX_Mov MC_MoveCircularAbsolute: The border position violates the
eCircAbs SW limit positions of the main axis X.
21040 BorderOutsideSWLimitsMainAxisY_Mov MC_MoveCircularAbsolute: The border position violates the
eCircAbs SW limit positions of the main axis Y.
21041 BorderOutsideSWLimitsMainAxisZ_Mov MC_MoveCircularAbsolute: The border position violates the
eCircAbs SW limit positions of the main axis Z.
21042 BorderOutsideSWLimitsMainAxisA_Mov MC_MoveCircularAbsolute: The border position violates the
eCircAbs SW limit positions of the main axis A.
21043 BorderOutsideSWLimitsMainAxisB_Mov MC_MoveCircularAbsolute: The border position violates the
eCircAbs SW limit positions of the main axis B.
21044 BorderOutsideSWLimitsMainAxisC_Mov MC_MoveCircularAbsolute: The border position violates the
eCircAbs SW limit positions of the main axis C.
21045 BorderOutsideSWLimitsRealAxis1_Move MC_MoveCircularAbsolute: The border position violates the
21051 BorderOutsideSWLimitsAuxAxis1_Move MC_MoveCircularAbsolute: The border position violates the
5 Error handling
5.2 Error messages
________________________________________________________________

21057 BorderTransformationError_MoveCircAb MC_MoveCircularAbsolute: Transformation error in border
s position.
The position of the border point is outside of the workspace.
21058 BorderSingularPos_MoveCircAbs MC_MoveCircularAbsolute: The border position is in a singu-
MC_MoveDirect.
21059 IllegalParameter_MoveCircAbs MC_MoveCircularAbsolute: the parameter combination is
invalid.
Due to the position of the starting point, centre point, border
point and target point, no circular plane could be calculated.
• The three points are located on one line.
• Two of the three points are too close to each other.
21060 NoValidPathCoice_MoveCircRel MC_MoveCircularRelative: The parameter at the PathChoice
FB input is invalid.
21061 NoValidCircMode_MoveCircRel MC_MoveCircularRelative: Invalid parameter at the Circ-
Mode FB input.
21062 NoValidTransitionParameter_MoveCircR MC_MoveCircularRelative: Invalid transition parameter
el
21063 NoValidVelocity_MoveCircRel MC_MoveCircularRelative: Selection of an invalid velocity.
Orientations: Check MaxVelRotation parameter of the axes
group.
Auxiliary axes: Check DefaultVelocity parameter.
21064 NoValidAcceleration_MoveCircRel MC_MoveCircularRelative: Selection of an invalid accelera-
tion.
group.
21065 NoValidDeceleration_MoveCircRel MC_MoveCircularRelative: Selection of an invalid decelera-
tion.
group.
Auxiliary axes: Check DefaultAcc parameter.
21066 NoValidJerk_MoveCircRel MC_MoveCircularRelative: Selection of an invalid jerk.
group.
Auxiliary axes: Check DefaultJerk parameter.
21067 TargetOutsideSWLimitsPassiveJoints_M MC_MoveCircularRelative: Target position violates the SW
oveCircRel limit positions of the passive joints.
21068 TargetOutsideSWLimitsMainAxisX_Mov MC_MoveCircularRelative: Target position violates the SW
eCircRel limit positions of the main axis X.
21069 TargetOutsideSWLimitsMainAxisY_Mov MC_MoveCircularRelative: Target position violates the SW
eCircRel limit positions of the main axis Y.
21070 TargetOutsideSWLimitsMainAxisZ_Mov MC_MoveCircularRelative: Target position violates the SW
eCircRel limit positions of the main axis Z.
5 Error handling
5.2 Error messages
________________________________________________________________

21071 TargetOutsideSWLimitsMainAxisA_Mov MC_MoveCircularRelative: Target position violates the SW
eCircRel limit positions of the main axis A.
21072 TargetOutsideSWLimitsMainAxisB_Mov MC_MoveCircularRelative: Target position violates the SW
eCircRel limit positions of the main axis B.
21073 TargetOutsideSWLimitsMainAxisC_Mov MC_MoveCircularRelative: Target position violates the SW
eCircRel limit positions of the main axis C.
21074 TargetOutsideSWLimitsRealAxis1_Move MC_MoveCircularRelative: Target position violates the SW
CircRel limit positions of drive axis 1.
21080 TargetOutsideSWLimitsAuxAxis1_Move MC_MoveCircularRelative: Target position violates the SW
CircRel limit positions of auxiliary axis 1.
21086 TargetTransformationError_MoveCircRe MC_MoveCircularRelative: Transformation error in target
l position.
Target position is outside of the workspace.
21087 TargetSingularPos_MoveCircRel MC_MoveCircularRelative: Target position is in a singular
position which can only be approached via MC_MoveDirect.
21088 BorderOutsideSWLimitsPassiveJoints_M MC_MoveCircularRelative: The border position violates the
oveCircRel SW limit positions of the passive joints.
21089 BorderOutsideSWLimitsMainAxisX_Mov MC_MoveCircularRelative: The border position violates the
eCircRel SW limit positions of the main axis X.
21090 BorderOutsideSWLimitsMainAxisY_Mov MC_MoveCircularRelative: The border position violates the
eCircRel SW limit positions of the main axis Y.
21091 BorderOutsideSWLimitsMainAxisZ_Mov MC_MoveCircularRelative: The border position violates the
eCircRel SW limit positions of the main axis Z.
21092 BorderOutsideSWLimitsMainAxisA_Mov MC_MoveCircularRelative: The border position violates the
eCircRel SW limit positions of the main axis A.
21093 BorderOutsideSWLimitsMainAxisB_Mov MC_MoveCircularRelative: The border position violates the
eCircRel SW limit positions of the main axis B.
21094 BorderOutsideSWLimitsMainAxisC_Mov MC_MoveCircularRelative: The border position violates the
eCircRel SW limit positions of the main axis C.
21095 BorderOutsideSWLimitsRealAxis1_Move MC_MoveCircularRelative: The border position violates the
CircRel SW limit positions of drive axis 1.
5 Error handling
5.2 Error messages
________________________________________________________________

21101 BorderOutsideSWLimitsAuxAxis1_Move MC_MoveCircularRelative: The border position violates the
CircRel SW limit positions of auxiliary axis 1.
21107 BorderTransformationError_MoveCircRe MC_MoveCircularRelative: Transformation error in the bor-
l der position. The border position is outside the workspace.
21108 BorderSingularPos_MoveCircRel MC_MoveCircularRelative: The border position is in a singu-
MC_MoveDirect.
21109 IllegalParameter_MoveCircRel MC_MoveCircularRelative: The parameter combination is
invalid.
Due to the position of the starting point, centre point, border
point and target point, no circular plane could be calculated.
• The three points are located on one line.
• Two of the three points are too close to each other.
21110 NoValidTransitionParameter_MoveLinA MC_MoveLinearAbsolute: The transition parameter is
bs invalid.
21111 NoValidVelocity_MoveLinAbs MC_MoveLinearAbsolute: The velocity is invalid.
group.
Auxiliary axes: Check DefaultVelocity parameter.
21112 NoValidAcceleration_MoveLinAbs MC_MoveLinearAbsolute: The acceleration is invalid.
Cartesian motions: Check Acceleration input at the module.
group.
21113 NoValidDeceleration_MoveLinAbs MC_MoveLinearAbsolute: The deceleration is invalid.
group.
21114 NoValidJerk_MoveLinAbs MC_MoveLinearAbsolute: The jerk is invalid.
group.
Auxiliary axes: Check DefaultJerk parameter.
21115 TargetOutsideSWLimitsPassiveJoints_M MC_MoveLinearAbsolute: The target position violates the
oveLinAbs SW limit positions of the passive joints.
5 Error handling
5.2 Error messages
________________________________________________________________

21116 TargetOutsideSWLimitsMainAxisX_Mov MC_MoveLinearAbsolute: The target position violates the
eLinAbs SW limit positions of the main axis X.
21117 TargetOutsideSWLimitsMainAxisY_Mov MC_MoveLinearAbsolute: The target position violates the
eLinAbs SW limit positions of the main axis Y.
21118 TargetOutsideSWLimitsMainAxisZ_Mov MC_MoveLinearAbsolute: The target position violates the
eLinAbs SW limit positions of the main axis Z.
21119 TargetOutsideSWLimitsMainAxisA_Mov MC_MoveLinearAbsolute: The target position violates the
eLinAbs SW limit positions of the main axis A.
21120 TargetOutsideSWLimitsMainAxisB_Mov MC_MoveLinearAbsolute: The target position violates the
eLinAbs SW limit positions of the main axis B.
21121 TargetOutsideSWLimitsMainAxisC_Mov MC_MoveLinearAbsolute: The target position violates the
eLinAbs SW limit positions of the main axis C.
21122 TargetOutsideSWLimitsRealAxis1_Move MC_MoveLinearAbsolute: The target position violates the
LinAbs SW limit positions of drive axis 1.
21128 TargetOutsideSWLimitsAuxAxis1_Move MC_MoveLinearAbsolute: The target position violates the
LinAbs SW limit positions of auxiliary axis 1.
21134 TargetTransformationError_MoveLinAbs MC_MoveLinearAbsolute: Transformation error in target po-
sition; the target position is outside the workspace.
21135 TargetSingularPos_MoveLinAbs MC_MoveLinearAbsolute: The target position is in a singular
21136 IllegalParameter_MoveLinAbs MC_MoveLinearAbsolute: The parameter combination is
invalid.
21137 NoValidTransitionParameter_MoveLinR MC_MoveLinearRelative: The transition parameter is invalid.
el
21138 NoValidVelocity_MoveLinRel MC_MoveLinearRelative: The velocity is invalid.
Cartesian movements: Check Velocity input
group.
Auxiliary axes: Check "DefaultVelocity parameter of the aux-
iliary axis.
5 Error handling
5.2 Error messages
________________________________________________________________

21139 NoValidAcceleration_MoveLinRel MC_MoveLinearRelative: The acceleration is invalid.
group.
Auxiliary axes: Check "DefaultAcc parameter of the auxiliary
axis.
21140 NoValidDeceleration_MoveLinRel MC_MoveLinearRelative: The deceleration is invalid.
group.
Auxiliary axes: Check "DefaultAcc parameter of the auxiliary
axis.
21141 NoValidJerk_MoveLinRel MC_MoveLinearRelative: The jerk is invalid.
group.
Auxiliary axes: Check "DefaultJerk parameter of the auxiliary
axis.
21142 TargetOutsideSWLimitsPassiveJoints_M MC_MoveLinearRelative: The target position violates the SW
oveLinRel limit positions of the passive joints.
21143 TargetOutsideSWLimitsMainAxisX_Mov MC_MoveLinearRelative: The target position violates the SW
eLinRel limit positions of the main axis X.
21144 TargetOutsideSWLimitsMainAxisY_Mov MC_MoveLinearRelative: The target position violates the SW
eLinRel limit positions of the main axis Y.
21145 TargetOutsideSWLimitsMainAxisZ_Mov MC_MoveLinearRelative: The target position violates the SW
eLinRel limit positions of the main axis Z.
21146 TargetOutsideSWLimitsMainAxisA_Mov MC_MoveLinearRelative: The target position violates the SW
eLinRel limit positions of the main axis A.
21147 TargetOutsideSWLimitsMainAxisB_Mov MC_MoveLinearRelative: The target position violates the SW
eLinRel limit positions of the main axis B.
21148 TargetOutsideSWLimitsMainAxisC_Mov MC_MoveLinearRelative: The target position violates the SW
eLinRel limit positions of the main axis C.
21149 TargetOutsideSWLimitsRealAxis1_Move MC_MoveLinearRelative: The target position violates the SW
LinRel limit positions of drive axis 1.
21155 TargetOutsideSWLimitsAuxAxis1_Move MC_MoveLinearRelative: The target position violates the SW
LinRel limit positions of auxiliary axis 1.
5 Error handling
5.2 Error messages
________________________________________________________________

21161 TargetTransformationError_MoveLinRel MC_MoveLinearRelative: Transformation error in target po-
sition. The target position is outside the workspace.
21162 TargetSingularPos_MoveLinRel MC_MoveLinearRelative: The target position is in a singular
21163 IllegalParameter_MoveLinRel MC_MoveLinearRelative: The parameter combination is
invalid.
21164 NoValidTransitionParameter_MoveDirA MC_MoveDirectAbsolute: The transition parameter is
bs invalid.
21165 DefaultVelocityOfRealAxisNotSetMoveD MC_MoveDirectAbsolute: The velocity is invalid.
irAbs Drive axes: Check DefaultVelocity parameter of the drive
axes connected.
Auxiliary axes: Check DefaultVelocity parameter of the auxil-
iary axis.
21166 DefaultAccelerationOfRealAxisNotSetM MC_MoveDirectAbsolute: The acceleration is invalid.
oveDirAbs Drive axes: Check DefaultAcceleration parameter of the drive
axes connected.
Auxiliary axes: Check DefaultAcceleration parameter of the
auxiliary axis.
21167 DefaultDecelerationOfRealAxisNotSetM MC_MoveDirectAbsolute: The deceleration is invalid.
oveDirAbs Drive axes: Check DefaultAcceleration parameter of the drive
axes connected.
auxiliary axis.
21168 DefaultJerkOfRealAxisNotSetMoveDirAb MC_MoveDirectAbsolute: The jerk is invalid.
s Drive axes: Check DefaultJerk parameter of the drive axes
connected.
axis.
21169 TargetOutsideSWLimitsPassiveJoints_M MC_MoveDirectAbsolute: The target position violates the
oveDirAbs SW limit positions of the passive joints.
21170 TargetOutsideSWLimitsMainAxisX_Mov MC_MoveDirectAbsolute: The target position violates the
eDirAbs SW limit positions of the main axis X.
21171 TargetOutsideSWLimitsMainAxisY_Mov MC_MoveDirectAbsolute: The target position violates the
eDirAbs SW limit positions of the main axis Y.
21172 TargetOutsideSWLimitsMainAxisZ_Mov MC_MoveDirectAbsolute: The target position violates the
eDirAbs SW limit positions of the main axis Z.
21173 TargetOutsideSWLimitsMainAxisA_Mov MC_MoveDirectAbsolute: The target position violates the
eDirAbs SW limit positions of the main axis A.
21174 TargetOutsideSWLimitsMainAxisB_Mov MC_MoveDirectAbsolute: The target position violates the
eDirAbs SW limit positions of the main axis B.
21175 TargetOutsideSWLimitsMainAxisC_Mov MC_MoveDirectAbsolute: The target position violates the
eDirAbs SW limit positions of the main axis C.
21176 TargetOutsideSWLimitsRealAxis1_Move MC_MoveDirectAbsolute: The target position violates the
DirAbs SW limit positions of drive axis 1.
21182 TargetOutsideSWLimitsAuxAxis1_Move MC_MoveDirectAbsolute: The target position violates the
DirAbs SW limit positions of auxiliary axis 1.
5 Error handling
5.2 Error messages
________________________________________________________________

21188 TargetTransformationError_MoveDirAbs MC_MoveDirectAbsolute: Transformation error in target po-
21189 IllegalParameter_MoveDirAbs MC_MoveDirectAbsolute: The parameter combination is
invalid.
21190 NoValidTransitionParameter_MoveDirR MC_MoveDirectRelative: The transition parameter is invalid.
el
21191 DefaultVelocityOfRealAxisNotMoveDirR MC_MoveDirectRelative: The velocity is invalid.
el Drive axes: Check DefaultVelocity parameter of the drive
axes connected.
Auxiliary axes: Check DefaultVelocity parameter of the aux-
iliary axis.
21192 DefaultAccelerationOfRealAxisNotMove MC_MoveDirectRelative: The acceleration is invalid.
DirRel Drive axes: Check DefaultAcceleration parameter of the drive
axes connected.
auxiliary axis.
21193 DefaultDecelerationOfRealAxisNotMove MC_MoveDirectRelative: The deceleration is invalid.
DirRel Drive axes: Check DefaultAcceleration parameter of the drive
axes connected.
auxiliary axis.
21194 DefaultJerkOfRealAxisNotMoveDirRel MC_MoveDirectRelative: The jerk is invalid.
Drive axes: Check DefaultJerk parameter of the drive axes
connected.
axis.
21195 TargetOutsideSWLimitsPassiveJoints_M MC_MoveDirectRelative: The target position violates the SW
oveDirRel limit positions of the passive joints.
21196 TargetOutsideSWLimitsMainAxisX_Mov MC_MoveDirectRelative: The target position violates the SW
eDirRel limit positions of the main axis X.
21197 TargetOutsideSWLimitsMainAxisY_Mov MC_MoveDirectRelative: The target position violates the SW
eDirRel limit positions of the main axis Y.
21198 TargetOutsideSWLimitsMainAxisZ_Mov MC_MoveDirectRelative: The target position violates the SW
eDirRel limit positions of the main axis Z.
21199 TargetOutsideSWLimitsMainAxisA_Mov MC_MoveDirectRelative: The target position violates the SW
eDirRel limit positions of the main axis A.
21200 TargetOutsideSWLimitsMainAxisB_Mov MC_MoveDirectRelative: The target position violates the SW
eDirRel limit positions of the main axis B.
21201 TargetOutsideSWLimitsMainAxisC_Mov MC_MoveDirectRelative: The target position violates the SW
eDirRel limit positions of the main axis C.
21202 TargetOutsideSWLimitsRealAxis1_Move MC_MoveDirectRelative: The target position violates the SW
DirRel limit positions of drive axis 1.
5 Error handling
5.2 Error messages
________________________________________________________________

21208 TargetOutsideSWLimitsAuxAxis1_Move MC_MoveDirectRelative: The target position violates the SW
DirRel limit positions of auxiliary axis 1.
21214 TargetTransformationError_MoveDirRel MC_MoveDirectRelative: Transformation error in target po-
21215 IllegalParameter_MoveDirRel MC_MoveDirectRelative: The parameter combination is
invalid.
21216 NoValidVelocity_ManMode L_MC4P_GroupManualMode: The velocity is invalid.
21217 NoValidAcceleration_ManMode L_MC4P_GroupManualMode: The acceleration is invalid.
21218 NoValidDeceleration_ManMode L_MC4P_GroupManualMode: The deceleration is invalid.
21219 NoValidJerk_ManMode L_MC4P_GroupManualMode: The jerk is invalid.
21220 ManualModeIllegalParameter L_MC4P_GroupManualMode: The parameter combination
in L_MC4P_GroupManualMode is invalid.
21221 KinematicIllegalParameter The kinematic parameter setting of the axis group is invalid.
• The mechanical dimensions are implausible.
• Geometrical lengths must not be negative.
• For some geometrical dimensions, zero is impermissible.
21222 AxesGroupInErrorStop The axes group is in the "Errorstop" status.
The error message and error source of the axes group can be
read out using MC_GroupReadError.
21223 ToolInUse The tool to be written to is active.
Tools can only be changed if they are not the active tool of
the axes group.
21224 InvalidTool The tool does not exist or is write-protected.
21225 AxesGroupInMovement The FB cannot be executed as the axes group is executing a
motion.
Tools can only be changed when the axes group is at a stand-
still ("GroupDisabled" or "GroupStandby" state).
21226 InvalidCoordSystem The block is called with an invalid coordinate system.
21227 AxisExternalEnabled The axis is already being controlled by another FB instance. A
switched-on axis cannot be switched on again via
L_MC4P_GroupPower.
21228 UnsupportedCoordSystem The block is called with a coordinate system that is not sup-
ported.
21229 RealAxisNotReady Drive axis not ready.
• The drive axis is in an error state.
• The drive axis is switched off.
• The drive axis is in an improper PLCopen state
21230 InvalidAxesGroupState Axes group not ready, FB call in invalid axes group state.
5 Error handling
5.2 Error messages
________________________________________________________________

21231 RealAxisOutsideWorkingRange Real axis/axes is/are outside the permissible range.
The kinematic transformation cannot be calculated in the
current position of the drives. Check SW limits of the drive
axes.
21232 SingularPosition Transformation cannot be calculated as the kinematics is in
a singular setting.
21233 L_MC4P_InternalError An internal error has occurred.
21234 AxesGroupExternalStopping An instance of MC_GroupStop is already active.
MC_GroupStop is not removable.
21237 ResetAxesGroupErrorFailed The axes group error cannot be acknowledged, as an error is
still pending.
21238 IllegalTeachPosition The position for the teach block is invalid.
• For teaching a coordinate system, the three teach posi-
tions must not be located on a line.
• The teach positions must differ from each other.
21239 NotEnoughMemoryPathDataList No memory space available for another list element.
Too many MC_MoveLinear, Circular and/or Direct blocks are
active at the same time. Delay the activation of new move-
ments until at least one active block is ready
21240 NoValidRotationVelocity_MoveCircAbs MC_MoveCircularAbsolute: The rotational velocity is invalid
(axes group parameter).
21241 NoValidRotationAcceleration_MoveCirc MC_MoveCircularAbsolute: The rotational acceleration is
Abs invalid (axes group parameter).
21242 NoValidRotationJerk_MoveCircAbs MC_MoveCircularAbsolute: The rotational jerk is invalid (ax-
es group parameter).
21243 NoValidRotationVelocity_MoveCircRel MC_MoveCircularRelative: The rotational velocity is invalid
21244 NoValidRotationAcceleration_MoveCirc MC_MoveCircularRelative: The rotational acceleration is
Rel invalid (axes group parameter).
21245 NoValidRotationJerk_MoveCircRel MC_MoveCircularRelative: The rotational jerk is invalid (axes
group parameter).
21246 NoValidRotationVelocity_MoveLinAbs MC_MoveLinearAbsolute: The rotational velocity is invalid
21247 NoValidRotationAcceleration_MoveLinA MC_MoveLinearAbsolute: The rotational acceleration is
bs invalid (axes group parameter).
21248 NoValidRotationJerk_MoveLinAbs MC_MoveLinearAbsolute: The rotational jerk is invalid (axes
group parameter).
21249 NoValidRotationVelocity_MoveLinRel MC_MoveLinearRelative: The rotational velocity is invalid
21250 NoValidRotationAcceleration_MoveLinR MC_MoveLinearRelative: The rotational acceleration is
el invalid (axes group parameter).
21251 NoValidRotationJerk_MoveLinRel MC_MoveLinearRelative: The rotational jerk is invalid (axes
group parameter).
21252 PathLimitViolation_MoveLinAbs The interpolator creates setpoints which violate module lim-
itations.
21253 PathLimitViolation_MoveLinRel The interpolator creates setpoints which violate module lim-
itations.
21254 PathLimitViolation_MoveCircAbs The interpolator creates setpoints which violate module lim-
itations.
21255 PathLimitViolation_MoveCircRel The interpolator creates setpoints which violate module lim-
itations.
21256 PathLimitViolation_MoveDirAbs The interpolator creates setpoints which violate module lim-
itations.
21257 PathLimitViolation_MoveDirRel The interpolator creates setpoints which violate module lim-
itations.
5 Error handling
5.2 Error messages
________________________________________________________________

21258 AxesGroupNotHomed The motion sequence is not possible since the axis group has
not been referenced.
Without available home position in all drive axes
• absolute positioning processes are impermissible.
• Cartesian movements (MC_MoveLinear..,
MC_MoveCircular..) are impermissible.
21259 MainAxisTypeModuloNotAllowed All main axes of the axes group have to be of type "Limited"
21260 AxisTypeModuloNotAllowed All drive axes of the axes group have to be of type "Limited"
21261 AxisLimitViolationRealAxis1Velocity The velocity violates the axis limitations of the real drives.
21267 AxisLimitViolationRealAxis1Acceleration The acceleration violates the axis limitations of the real
drives.
drives.
drives.
drives.
drives.
drives.
21273 AuxAxisSequenceInvalid The assignment of an auxiliary axis is invalid.
• The auxiliary axis motion has not been completed with a
programmed target position.
• Programmed motions are not permissible with the simul-
taneous motion of several auxiliary axes.
21274 AuxAxisNotAllowed An auxiliary axis assignment in this set is impermissible.
Auxiliary axis motions are exclusively permissible in case of
motions of type MC_MoveLinear und MC_MoveCircular
21275 IllegalTrackingParameter ConveyorTracking: Wrong input parameters at the FB.
• Invalid coordinate system
• Invalid clutch-in path
21276 SynchronisationError ConveyorTracking: Error in synchronisation.
The synchronisation was cancelled due to an error. Check in-
put parameters of the function block.
21277 PCSInUse ConveyorTracking and ManualMode: The PCS coordinate
system is not free.
The PCS selected is already being controlled by another
tracking instance.
ManualMode: The PCS is currently being controlled by a
Tracking module.
21278 TrackingFBNotCalled ConveyorTracking: The FB has not been called.
An instance of the MC_TrackConveyorBelt which is currently
controlling a PCS, has not been called cyclically.
21279 MasterAxisNotReady ConveyorTracking: The master axis not ready.
• The master axis is in an error status.
• The master axis is switched off
5 Error handling
5.2 Error messages
________________________________________________________________

21280 MoveDirectNotAllowed ConveyorTracking: MoveDirect not permitted.
For conveyor tracking, only motions of the MC_MoveLinear
and MC_MoveCircular types are permissible.
21281 AuxAxisNoValidVelocity The velocity of the auxiliary axis is invalid.
Check DefaultVelocity parameter.
21282 AuxAxisNoValidAcceleration The acceleration of the auxiliary axis is invalid.
Check DefaultAcceleration parameter.
21283 AuxAxisNoValidJerk The jerk of the auxiliary axis is invalid.
Check DefaultJerk parameter.
21284 MainAxisNotConnected One or several Cartesian main axes of the axis group are not
connected. The initialisation of the axis group has not been
completed yet.
21285 RealAxisNotConnected The real drive axes are not connected.
21286 AxesGroupNotInitialized The axes group is not initialised.
21287 DisabledByParameterTransfer Due to a parameter write access, the axes group cannot be
activated.
21288 RealAxis1_AlreadyInUse Axis A1, which is connected to the axes group, is already con-
nected to an axes group.
21289 RealAxis2_AlreadyInUse
21294 AuxAxis1_AlreadyInUse
21300 NoValidTransitionMode_MoveCircAbs MC_MoveCircularAbsolute: The parameter at the Transition-
Mode FB input is invalid.
21301 NoValidTransitionMode_MoveCircRel MC_MoveCircularRelative: The parameter at the Transition-
21302 NoValidTransitionMode_MoveLinAbs MC_MoveLinearAbsolute: The parameter at the Transition-
21303 NoValidTransitionMode_MoveLinRel MC_MoveLinearRelative: The parameter at the Transition-
21304 NoValidTransitionMode_MoveDirAbs MC_MoveDirectAbsolute: The parameter at the Transition-
21305 NoValidTransitionMode_MoveDirRel MC_MoveDirectRelative: The parameter at the Transition-
21306 NoAxisForHomingSelected No axis has been selected for homing. Please check the Ho-
mingOrder (MC_GroupHome) or scPar.aeHomingOrder
(L_MC4P_AxesGroupBasicControl) input
21307 InvalidTargetOrientation The target orientation is outside the operating range of the
kinematics.
The degrees of freedom of the robot are not sufficient (e.g.
only one orientation axis available).
21308 NoKinTransformationAvailable No kinematics transformation defined (generic axes group).
Notification of the transformation via MC_SetKinTransform
and user-specific derivation of the MC_KIN_TRANSFORM FB.
5 Error handling
5.2 Error messages
________________________________________________________________

21309 AxesGroupNotSupported The axes group connected is not supported. The
MC_SetKinTransform FB can only be combined with a gener-
ic axes group.
21310 AxesGroupNotDisabled The axes group is not in the "Disabled" state.
21311 AxesGroupInitFailed The initialisation of the axes group has failed
21312 KinTransformationInUse The kinematics transformation is already being used by an-
other axes group.
21313 MaxNumRevolutionsReached The maximum number of revolutions has been reached.
Rotary drives of axes groups have a maximum of
9,22337*1018 revolutions.
If possible, reduce the rotation counter by setting the posi-
tion
21314 PCSChangedDuringMotion Changes to the PCS are impermissible during manual opera-
tion of the axes group.
21315 ConcurrentRequestManualMode Concurrent requests in the manual operation functionality
of the axes group.
Simultaneous "Jogging" and "Positioning" are not permissi-
ble. In the MCS and PCS coordinate systems, the simultane-
ous positioning of single axes is only permitted with an
orientation axis.
21316 PathRefCommandNotSupported The command in the PathRef is not supported.
The PathFile set must contain either a line number (0 to 9),
an impermissible character or an address L, H, S, O, P, Q.
21317 PathRefSyntaxError An invalid syntax was detected in the PathRef file (e.g. there
is no number subsequent to the command in the PathRef).
21318 PathRefGCommandNotSupported The G-command programmed is not supported.
21319 PathRefMCommandNotSupported The M-command programmed is not supported.
21320 PathRefInvalidComentSyntax The comment has syntax errors. Either comments with "/" or
"()" are supported.
21321 FileAccessTimeOut L_MC4P_PathRefFromFile: The maximum time for accessing
the PathFile file was exceeded.
• File access failed.
• The resources of the CPU do not suffice to import the file
in parallel to the motion task, then increase cycle time of
the motion task.
21322 InvalidPathRef Call of MC_MovePath without valid PathRef.
21323 InvalidPathFile L_MC4P_PathRefFromFile: The file specified is not available
or invalid.
21324 IJKCommandMissing No positions specified for interpolation axes I, J and/or K.
21325 InvalidCircCommand Syntax errors in the definition of a circular interpolation.
With the definition of the circular interpolation, either the
target point and the centre or the target point and the radius
must be specified. Specifying the centre and radius in one
command is invalid.
21327 DynamicChangeOfPathRefNotAllowed A change of the MC_PATH_REF connected to the PathRef in-
put during operation is not supported.
21328 ConcurrentMFunction Two concurrent M-functions are assigned in one set.
Maximally one M-function requiring an acknowledgement
(M200 … M499) may be assigned in one set.
21329 InvalidMStartRadiusGTSemiMajorAxisSt An impermissible M-function was assigned.
artRadiusLTSemiMinorAxis The M-function assigned is smaller M1 or greater M499.
TargetRadiusGTSemiMajorAxis Function
21330 StartRadiusGTSemiMajorAxis L_MC4P_MoveElliptical: The distance between the centre
and the starting point is greater than the semi-major axis.
21331 StartRadiusLTSemiMinorAxis L_MC4P_MoveElliptical: The distance between the centre
and the starting point is less than the semi-minor axis.
5 Error handling
5.2 Error messages
________________________________________________________________

21332 TargetRadiusGTSemiMajorAxis L_MC4P_MoveElliptical: The distance between the centre
and the target point is greater than the semi-major axis.
21333 TargetRadiusLTSemiMinorAxis L_MC4P_MoveElliptical: The distance between the centre
and the target point is less than the semi-minor axis.
21334 SemiMinorAxisGTSemiMajorAxis The semi-minor axis is greater than the semi-major axis.
21335 SemiMinorAxisLE0 The value of the semi-minor axis must be greater than zero.
21336 SemiMajorAxisLE0 The value of the semi-major axis must be greater than zero.
21337 TargetNotOnEllipse The target position programmed is not located on either of
the possible ellipses allowed by the starting point, target
point and two semi-axes.
The target point must be at a maximum distance of 0.1 mm
from the actual ellipse. If necessary, specify the target posi-
tion with a higher accuracy.
21338 InvalidTraversingRangeCombination The axes group contains an invalid combination of Modulo
and Limited axes.
21339 InvalidCoordinateSystemOrientation No alignment of the MCS or PCS coordinate system is permit-
ted for the Move command. In the case of axes groups with
only one Axis_C rotary axis, the z-axis of the MCS/PCS coor-
dinate system must be aligned for coordinated motions so
that it is parallel or antiparallel to the z-axis of the WCS.
21340 InvalidToolSystemOrientation No alignment of the tool is permitted for the Move com-
mand. In the case of axes groups with only one Axis_C rotary
axis, the alignment of the z-axis must not be changed with
the tool transformer.
21341 TargetNotOnCirc The programmed target position is not located on the circu-
lar arc defined by the starting point and centre.
The target point must be at a maximum distance of 0.1 mm
from the actual circular arc. If necessary, specify the target
position with a higher accuracy.
21342 ExecutionLockedByMovePath It is not permissible to activate an MC_MoveXX FB (e.g.
MC_MoveLinearAbsolute) while an MC_MovePath is active.
21343 NoValidVelocity_MoveSpline L_MC4P_MoveSpline: The velocity is invalid.
21344 NoValidAcceleration_MoveSpline L_MC4P_MoveSpline: The acceleration is invalid.
21345 NoValidDeceleration_MoveSpline L_MC4P_MoveSpline: The deceleration is invalid.
21346 NoValidJerk_MoveSpline L_MC4P_MoveSpline: The jerk is invalid.
21347 NoValidTransitionParameter_MoveSplin L_MC4P_MoveSpline: The transition parameter is invalid.
e
21348 NoValidTransitionMode_MoveSpline L_MC4P_MoveSpline: The transition mode is invalid.
21349 PositionOutsideSWLimitsMainAxisX_Mo L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
veSpline lates the SW limit positions of main axis X.
21350 PositionOutsideSWLimitsMainAxisY_Mo L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
veSpline lates the SW limit positions of main axis Y
21351 PositionOutsideSWLimitsMainAxisZ_Mo L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
veSpline lates the SW limit positions of main axis Z
21352 PositionOutsideSWLimitsMainAxisA_M L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
oveSpline lates the SW limit positions of main axis A
21353 PositionOutsideSWLimitsMainAxisB_Mo L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
veSpline lates the SW limit positions of main axis B
21354 PositionOutsideSWLimitsMainAxisC_Mo L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
veSpline lates the SW limit positions of main axis C
21355 NoValidRotationVelocity_MoveSpline L_MC4P_MoveSpline: Selection of an invalid rotational
speed (axes group parameter)
21356 NoValidRotationAcceleration_MoveSpli L_MC4P_MoveSpline: Selection of an invalid rotational ac-
ne celeration (axes group parameter)
5 Error handling
5.2 Error messages
________________________________________________________________

21357 NoValidRotationJerk_MoveSpline L_MC4P_MoveSpline: Selection of an invalid rotational jerk
(axes group parameter)
21358 NoIntermediatePoints_MoveSpline L_MC4P_MoveSpline: No valid IntermediatePoints specified
or all IntermediatePoints identical at the start or target point
of the spline
21359 PathLimitViolation_MoveSpline L_MC4P_MoveSpline: Interpolator creates setpoints which
violate block limitations
21360 NoValidIntermediatePointLocation L_MC4P_MoveSpline: The positions of the Intermediate-
Points do not lead to a valid spline
21361 PositionOutsideSWLimitsRealAxis1_Mo L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
veSpline lates the SW limit positions of drive axis 1
21367 PositionOutsideSWLimitsAuxAxis1_Mov L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
eSpline lates the SW limit positions of auxiliary axis 1
21373 PositionTransformationError_MoveSplin L_MC4P_MoveSpline: Transformation error in Intermediate-
e Point or EndPoint
21374 PositionOutsideSWLimitsPassiveJoints_ L_MC4P_MoveSpline: IntermediatePoint or EndPoint vio-
MoveSpline lates the SW limit positions of the passive joints
21375 PositionSingularPos_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or EndPoint lies in
a singularity
21376 ConcurrentTorquePreControl A second instance of a feedforward control module is trying
to calculate torques for the axis although another instance is
already active.
21377 InvalidOrientationMode The value applied to the (e)OrientationMode input is not an
element of the L_MC4P_Orientation_Mode enum
21378 ConcurrentAxesGroupBasicControl Several instances of L_MC4P_AxesGroupBasicControls have
been called in one PLC cycle.
Only one instance at a time of the
L_MC4P_AxesGroupBasicControl FB must be called per axes
group.
Note: Technology modules for axes groups also contain an
instance of L_MC4P_AxesGroupBasicControls.
21379 ParameterLimitsNotSufficient L_MC4P_DynamicParIdent: Maximum values are specified,
but no minimum values (or vice versa).
5 Error handling
5.2 Error messages
________________________________________________________________

21380 SetValueManipulationNotSupported L_MC4P_DynamicParIdent: Setpoint filters are not support-
ed in the drive axes within the context of the identification
selected.
(e.g. L_MC1P_AverageFilterSetValues or
L_CT1P_OscillationComp)
21381 MinPosGTMaxPos L_MC4P_DynamicParIdent: The lower position limit is great-
er than the upper position limit.
21382 DynamicParameterNotPlausible L_MC4P_DynamicParIdent und
L_MC4P_GroupTorquePreControl: The values present at the
itfDynamicPar interface input or in the axes group parame-
ters are not plausible.
• Negative friction values
• Negative masses or mass inertias
• The centre of gravity is outside of the respective body
• Dimensions too small or too large (possibly an error with
regard to the units).
21383 ConvergenceNotSufficient Identification has failed. The convergence of the parameter
estimation is not sufficient.
• The identification process was used with virtual axes or a
virtual axes group. In this case, no actual torques are
available for parameter estimation.
• The configurable position, velocity and acceleration limits
do not allow for a trajectory that is capable of adequately
stimulating all system parameters.
• The limits of itfDynamicParMin and itfDynamicParMax
are too tight.
21384 IdentificationNotDone During switch-on, feedforward control
L_MC4P_GroupTorquePreControl is linked to an
L_MC4P_DynParIdent which does not have Done at the out-
put.
• The corresponding Ident FB has not been executed yet
• The xExecute at the Ident FB has been withdrawn in the
meantime, causing the FB to be reset.
21385 InvalidOverrideForIdentification The parameter identification via L_MC4P_DynamicParIdent
has been executed with an axes group override that is too
small (e.g. as input at the L_MC4P_AxesGroupBasicControl
or L_TT1P_PickAndPlace TM).
An override <80 % is not permissible for the parameter iden-
tification.
21386 DualUseLicenseMissing The kinematics used is export restricted and can only be run
on target systems with a corresponding DualUse license.
Possible cause: No DualUse license is available on the target
systems.
21389 MainAxisNotSupported The function cannot be applied to the main kinematic axes
(X, Y, Z, A, B, C).
21390 BlendingCartesianWithMoveDirectNot- The grinding of Cartesian movements (e.g. MC_MoveLinear
Supported or -Circular) with movements in the axis space
(MC_MoveDirect) is not supported.
21391 BlendingWaitTimeNotSupported A wait time inserted by means of L_MC4P_GroupWaitTime
cannot be shortened by looping.
21392 BlendingAuxilliaryAxesNotSupported If two auxiliary axis sequences follow immediately after
each other, the intermediate point cannot be ground.
21393 BlendingResetNoPredecessor Blending has been requested. However, the axis group is at
standstill. No blending can be inserted without a predeces-
sor movement.
21394 BlendingResetExecuteTooLate A grinding request was discarded because the commissio-
ning of the follow-up motion occurred at a time when the ac-
tive motion could no longer be recalculated.
21395 BlendingResetLookAheadZero The LookAhead horizon is zero. This means that an exact stop
is mandatory after the completion of each movement.
5 Error handling
5.2 Error messages
________________________________________________________________

21396 PathRefAborted The FB PathRefFromFile was aborted via the xAbort input
while the FB MovePath was already being executed.
22000 PhasingNotAllowed Phasing cannot be executed as there is already a phase offset
to another master axis.
22010 InvalidCamRef MC_Cam_Ref is invalid.
22011 InvalidCamType The cam type is invalid.
22012 InvalidCamData The cam data are invalid.
22013 InvalidDataCount The number of memory segments is invalid.
22014 DataCountTooSmall The defined number of memory segments is too small for the
cam to be loaded.
22015 InvalidLawOfMotion The law of motion is invalid.
22016 InvalidInputData The input data are invalid.
22025 MasterOutOfCam The master axis is outside of the valid area of the cam.
22026 InvalidVelAcc_OffsetScaling The value for the velocity of the "Offset/Scaling" function is
too small.
22027 InvalidCamTable The defined cam is invalid.
22028 InvalidStartOrEndPosOfCam The start/final value of the cam is invalid.
22029 InvalidScalingFactor The scaling factor is invalid.
22030 RampInError Error during clutch-in
22035 NotAllowedMovementByMaster A movement of the master during the clutch-in process is im-
permissible.
22036 ClutchIsReversing Change in direction of the clutch is required.
22037 InvalidDefaultJerk The standard jerk is invalid.
22038 InvalidOpenInstantDec The deceleration ramp set for instant opening is invalid.
22039 InvalidReverse Reversing may occur in the coupling phase.
22050 FileNotFound The file could not be found.
22051 InvalidFile The file or format is invalid.
22052 InvalidCheckCRC The checksum is invalid.
22053 InvalidDataSize The file size is invalid.
22060 InvalidTappetRef TappetRef invalid.
22061 InvalidTappetData The tappet data are invalid.
22062 InvalidTappetType The tappet type is invalid.
22063 InvalidTimingTappet The tappet switching time is invalid.
22064 InvalidPosSelectionTappet The tappet position is invalid.
22065 DynamisationError "Tappet" dynamisation error
22082 XCycleLengthInvalid_LinearCoupling The X cycle length is invalid (LinearCoupling).
22083 YCycleLengthInvalid_LinearCoupling The Y cycle length is invalid (LinearCoupling).
22084 PosInInvalid_LinearCoupling The input position is invalid (LinearCoupling).
22085 InvalidTappetsCount The number of tappets is invalid.
22086 ResetPhasingNotAllowed The phase offset cannot be deleted as long as the corre-
sponding axis is coupled to a master axis.
23001 InvalidErrorHandler The ErrorHandler input is not connected.
Remedy: Connect input Errorhandler with an instance of an
Axis_Ref, which executes the error reaction.
23002 InvalidErrorID Invalid error number. An ErrorID > 0 must be specified.
5 Error handling
5.2 Error messages
________________________________________________________________

23003 InvalidTextRefID Invalid TextRefID. Only TextRefIDs in the range 0x3C00 -
0x3FFF are allowed. Furthermore, the TextRefID 0x2C00 or 0
is allowed if errors are to be transmitted from the L_IE1P li-
brary.
23004 InvalidDefaultTextRefID Invalid default TextRefID specified during initialization. Only
TextRefIDs in the range 0x3C00 - 0x3FFF are allowed. Fur-
thermore, the TextRefID 0x2C00 or 0 is allowed if errors are
to be transmitted from the L_IE1P library.
5 Error handling
5.3 Resetting an error
________________________________________________________________
5.3 Resetting an error
If a FAST module/technology module is in the "ERROR" state, the error can be reset when the
xResetError input = TRUE.
• An error can only be triggered and reset if the FAST module/technology module is activated
(xEnable input = TRUE).
• If a FAST module/technology module is deactivated (xEnableinput = FALSE), no error messages
are output.
Resetting all errors of a module

In order to reset all errors, the FAST module/technology module has to be switched off
(xEnable = FALSE) and then switched on again (xEnable = TRUE). After switch-on, the FAST module/
technology module is set to the "Init" initialisation state.
Index
________________________________________________________________
A Implement L_TT1P_TechnologyModules_LM (function library)

24
Access points in the signal flow 31
Implement L_TT1P_TechnologyModules_LM function library
Activating/deactivating the technology module 27
24
Application Credit (licence for Lenze FAST) 15
Implementing a technology module 25
Application Credit (SD licence card) 16
Implementing L_TT1P_... technology module 25
Application Credit calculation 15
Internal Control (operation of the technology modules) 26
Application Credit is not sufficient (test mode) 17
Application examples 5 L
Application notes 9
L_IE1P_Error 36
Application template (FAST) 18
L_TT1P_... Activating/deactivating the technology module 27
L_TT1P_scErrorInfo 35
C
L_TT1P_scErrorInfo error information structure 35
Calculation of the Application Credit 15
L_TT1P_TechnologyModules_LM 23
Commissioning with the L_MC1P_AxisBasicControl function
L_TT1P_TechnologyModules_LM function library 23
block 29
Layout of the safety instructions 9
Conditions 12
Licence card with "Application Credit" 16
Conventions used 7
Licence for Lenze FAST (Application Credit) 15
D Licence insufficient (Application Credit is not sufficient) 17
Deleting or renaming FAST software modules 17 Limit switches (hardware) 30
Deleting or renaming instances of the FAST software modules
17 M
Document history 6 Motion functions (overview) 33
E O
E-mail to Lenze 78 Operating technology modules 26
Enable axis 27 Operation of the technology modules (Internal Control) 26
Enabling of the axis 27
Error 34
R
Error handling 34 Resetting an error 76
Error messages of the FAST modules/technology modules 36
Error output 34
S
Safety instructions 10
Error response 34
Screenshots 5
Error sources 34
SD card/licence card with "Application Credit" 16
Establishing communication with the controller 13
Signal flow diagrams 31
F Stop function 28
FAST Application Template 18 System requirements 12
FAST components 14
FAST Motion 32
T
Target group 5
FAST Motion functions (overview) 33
Technology modules (FAST) 19
FAST technology modules 19
Technology modules (overview) 20
FAST technology modules (overview) 20
Terms 8
Feedback to Lenze 78
Test mode (identification) 17
First commissioning with the L_MC1P_AxisBasicControl
function block 29
V
H Validity of the documentation 5
Hardware limit switches 30
Holding function 28
W
Warning 34
I
Identification of the test mode 17
Your opinion is important to us
)(('%$&.
These instructions were created to the best of our knowledge and
belief to give you the best possible support for handling our product.
Perhaps we have not succeeded in achieving this objective in every
respect. If you have suggestions for improvement, please e-mail us
to:
feedback-docu@lenze.com
Thank you very much for your support.

Your Lenze documentation team
78
© 04/2021 · 7.0 · www.Lenze.com

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1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3

4 Lenze FAST components _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78

1 About this documentation

Documentation type Subject

More technical documentation for Lenze components

Planning / configuration / technical data Symbols:

Information regarding the validity

Lenze Engineering tool From software version

1.1 Document history

1.2 Conventions used

Type of information Highlighting Examples/notes

1.3 Terminology used

1.4 Layout of the safety instructions

Pictograph Signal word Meaning

 The device documentation contains safety instructions which must be observed!

3.1 System requirements

3.2 Establishing communication with the controller

4 Lenze FAST components

4.1 Application Credit (licence for Lenze FAST)

 Product catalogue for the Lenze Controller

4.1.1 Determination of the required "Application Credit"

Calculation of the Application Credit

4.1.2 SD card/licence card with "Application Credit"

[4-1] SD licence card of the Lenze Controller

• The SD licence card has to feature a sufficient "Application Credit" in order to

4.1.3 If the available "Application Credit" is not sufficient (test mode)

Termination of the test mode

Identification of the test mode

Status LEDs of the Controllers

Messages in »PLC Designer« and »WebConfig« (logbook)

4.2 FAST Application Template

 Software manual for FAST Application Template

4.3 FAST technology modules

[4-3] FAST technology modules

4.3.1 Overview of the FAST technology modules

Technology Symbol Function Points for use

Basic Motion Implementation of basic drive functions for the establishment or 25

Speed Control Speed control

Virtual Master Implementation of a virtual master axis in the machine

Electrical Shaft Positionally accurate synchronisation and coupling of drives

Electrical Shaft Speed-accurate synchronisation and coupling of drives

Temperature Control of the temperature of a (partial) system that is equipped 50

Flex Cam • Implementation of one or several electrical cams

Technology Symbol Function Points for use

Register Control Implementation of a clock-synchronised drive for setting up a

Winder dancer- Implementation of a winding drive with dancer position control

Winder tension- Implementation of a winding drive with tension control or speed

Traverser Controls the even distribution of a material to be wound across

Flying Saw Cutting and machining material during the movement

Magic Track Grouping products on a belt conveyor. 50 per axis

"Pick & Place" applications

Technology Symbol Function Points for use

Pick & Place Implementation of complex three-dimensional movements by 100

Kinematics for the "Pick & Place" technology modules

Belt Universally usable belt kinematics with 2 degrees of freedom

Delta 3 Parallel kinematics with 3 degrees of freedom for highly dynamic

LinearDelta 3 Parallel kinematics with 3 degrees of freedom with linear axes

Scara Universal serial Scara kinematics with 2 and 3 degrees of

Articulated P Special form of an articulated arm kinematics with 4 degrees of

4.3.2 L_TT1P_TechnologyModules_LM function library

Contents of the function library

The L_TT1P_TechnologyModules_LM function library in the »PLC Designer«:

FASTTechnology modulesv7-0__EN

FASTTechnology modulesv7-0__EN