FAST - Technology Modules - v5-0 - EN

Application Software
PLC Designer
Lenze FAST ________________________________ Reference Manual EN
Ä.Y[`ä
13565863
L
Contents
________________________________________________________________
1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3

1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
1.4 Notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 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
4.1.3.1 Operation of the Lenze Controller in test mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
4.1.3.2 Identification of the test mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
4.2 FAST Application Template _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
4.3 FAST technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
4.3.1 Overview of the FAST technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
4.3.2 L_TT1P_TechnologyModules_LM function library _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
4.3.2.1 Implementing the function library _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
4.3.2.2 Implementing a technology module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
4.3.3 Operation of the technology modules (Internal Control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
4.3.4 Activating/deactivating the technology module _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
4.3.5 Enable axis _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
4.3.6 Stop function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
4.3.7 Holding function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
4.3.8 First commissioning with the L_MC1P_AxisBasicControl function block _ _ _ _ _ _ _ _ _ _ 30
4.3.9 Hardware limit switches _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
4.3.10 Signal flow diagrams _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
4.4 FAST Motion _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
5 Error handling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
5.1 Error information structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
5.2 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
5.3 Resetting an error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 75
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 77
2 Lenze · FAST & Technology modules · Reference Manual · DMS 5.0 EN · 02/2019 · TD29
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 5.0 EN · 02/2019 · TD29 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.
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.
Information regarding the validity

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

»PLC Designer« 3.10
The Lenze engineering tools are available for download at:

www.lenze.com  Download  Software Downloads
1.1 Document history
________________________________________________________________
1.1 Document history
Version Description
5.0 02/2019 TD29 • Error messages ( 37) updated.
4.3 07/2018 TD29 • Error messages ( 37) updated.
4.2 05/2017 TD17 • New: "Traverser" technology module
• Error messages ( 37) updated.
4.1 08/2016 TD17 Information on Controller c300/p300 supplemented:
"Pick & Place" applications ( 23)
FAST Motion ( 33)
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 ( 37) 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 Notes used
________________________________________________________________
1.4 Notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
 Pictograph and signal word!

(characterise the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage
 Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
 Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.
Stop! Danger of property damage
 Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Application notes
Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

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
automation 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
carefully 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 immediately 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
protective devices according to the safety regulations valid in each case (e.g. law on
technical equipment, regulations for the prevention of accidents).
• During commissioning, maintain an adequate safety distance to the motor or the
machine parts driven by the motor.
________________________________________________________________
 Stop!
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
beforehand.
• If required, provide systems with installed inverters with additional monitoring and
protective devices according to the safety regulations valid in each case (e.g. law on
technical equipment, 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 of 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 ( 19) (formerly "L-force Logic" (LPC 1000))
• FAST technology modules ( 20) • "FAST Motion"
• FAST Motion modules ( 33)
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  Download  Software Downloads
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 software modules for the easy development
of a modular machine control:
• FAST Application Template ( 19)
Standardised application templates for modular programming in the »PLC Designer«.
• FAST technology modules ( 20)
Standardised software modules that contain a complete and previously tested drive function.
• FAST Motion ( 33)
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 software modules
• 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 ( 21)
Overview of the FAST Motion functions ( 34)
Calculation of the Application Credit

The Application Credit of modules that are declared in the declaration part of a POU is always
calculated even if the module is not used.
The Application Credit of modules 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"
 Note!
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)
 Note!
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.
If the available "Application Credit" for implementing your application is not sufficient, ...
• the Lenze Controller is operated in test mode;
• the starting time of the boot application on the control unit will be extended.
Deleting or renaming instances of the FAST software modules
If instances of the FAST software modules 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.
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.
4.1.3.1 Operation of the Lenze Controller in test mode

If the available "Application Credit" for implementing your application is not sufficient, the
Controller is operated in test mode. This changes the starting performance of the application:
• Each time the Controller is restarted, the delay time until the start of the boot application on the
control unit increases.
• The delay time during the starting sequence can be up to 20 minutes.
Except for this restriction, the PLC program can still be used.
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.
________________________________________________________________
4.1.3.2 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 software modules 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 ( 24). 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 ( 33).
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
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
 Note!
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
 Note!
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.
 Note!
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) ( 27)
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 documentations 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 modules.
[4-4] FAST technology modules
 Note!
FAST Motion in case of Controller c300 and p300
• The Motion Control libraries are not loaded into the library manager by default.
• FAST Motion for "Coordinated Motion" (robot kinematics) and axes groups are not
supported.
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" modules and the "Coordinated Motion" modules
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 software modules – application template,
technology modules, Motion modules – 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 ( 37)) with the description of the error or the warning is provided
at the eErrorID output.
The L_TT1P_scErrorInfo ( 36) 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 software modules (application
template, technology modules, Motion modules).
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
exceeded as the distance between touch probe sen-
sor and tool is bigger than the length of the register.
17007 MaxMissedMarks The maximum number of virtual marks has been ex-
ceeded (number > scPar.dwMaxNumberVirtual-
Marks).
17008 InvalidFollowLineAccVel Parameter setting of the synchronisation invalid.
Check lrLineJerk, lrSyncLineAcc, lrSyncLineDec.
17009 InvalidJoggingAccVel Parameter setting of the manual jog function (Jog-
ging) invalid.
Check lrLineJerk, lrJogLineAcc, lrTrimLineAcc, lrJo-
gLineDec, lrJogLineVel, 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
inverter is invalid.
17013 SpeedFollowerNotReadyForMotion The speed follower cannot be activated.
17014 InvalidInverter The axis referenced (AXIS_REF) is invalid, possibly the
inverter 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 MissedMappingParameterLowerSpeedLimit The process image (mapping) cannot be reached for
the lower speed limit.
17017 MissedMappingParameter The process image (mapping) cannot be reached for
UpperSpeedLimit the upper 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, lrDancerPosCtrlLimit-
Neg.
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 in-
cluded 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; possible no
points with lrPathVel > 0 are defined in the path.
17033 InvalidBlendingRadius Value for the blending radius invalid. Check lrBlendi-
gradius.
17034 PathNotSupported CNC program invalid.
17035 X_PathLimitPositiveExceeded The limitation of the X axis in positive direction has
been exceeded.
17036 X_PathLimitNegativeExceeded The limitation of the X axis in negative direction has
been exceeded.
17037 Y_PathLimitPositiveExceeded The limitation of the Y axis in positive direction has
been exceeded.
17038 Y_PathLimitNegativeExceeded The limitation of the Y axis in negative direction has
been exceeded.
17039 Z_PathLimitPositiveExceeded The limitation of the Z axis in positive direction has
been exceeded.
17040 Z_PathLimitNegativeExceeded The limitation of the Z axis in negative direction has
been exceeded.
17041 C_PathLimitPositiveExceeded The limitation of the C axis in positive direction has
been exceeded.
17042 C_PathLimitNegativeExceeded The limitation of the C axis in negative direction has
been exceeded.
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 calcula-
tion.
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, lrCut-
tingAngle.
17107 InvalidCuttingParameters The parameter setting of the cross cutter for the cut-
ting operation is invalid.
Check lrCrossCutterCircumference, lrScalingMaster,
byNumOfTools <= 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.
5 Error handling
5.2 Error messages
________________________________________________________________

17115 AxisEnabledIsRequired The axis has to be enabled to execute the required
action. Check xRegulatorOn.
17116 CorrLimitOutOfCycleLength The parameters for the correction window are out-
side of the cycle length of the connected measuring
system.
17117 CorrectionGreaterCorrWindow The correction value is greater than the available cor-
rection window.
17118 InvalidCNCProgram The CNC program is invalid or missing.
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 accepted. (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 shift-
ed 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 tar-
get position.
17126 SlavePosLowerLimit Warning: The position of the slave axis is falling be-
low the "lrLowerLimit" parameter set.
Reference the axis or traverse it to the valid area
manually.
17127 TargetPosUpperLimit Warning: The target position to be approached ex-
ceeds the "lrUpperLimit" parameter set.
With xExecuteNextCut, the target position can be
shifted to the valid operating range again.
LengthControlled mode: The target position is shift-
ed 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 tar-
get position.
17128 InvalidMarkPosition Warning: The position detected by the mark sensor is
outside 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 de-
tected a sensor error. Parameter:
• lrSensorMonitoringValueMin
• lrSensorMonitoringValueMax
• lrSensorMonitoringChangeMax
Possibly the thermal sensor is defective.
17131 MaxCriticalTempReached The maximum absolute temperature limit has been
exceeded. Parameter:
• lrTempMaxCriticalAbsolute
5 Error handling
5.2 Error messages
________________________________________________________________

17132 InvalidTempControlParam The temperature control function was activated
without the valid control parameters being present.
17133 IdentificationFailed During the parameter identification, no relevant
temperature increase has been detected despite a
maximally parameterised correcting variable injec-
tion.
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 xTem-
peratureCtrl input signal is set at the same time. Or:
During a temperature control process, the xIdentCtrl-
Par input signal is set at the same time.
17136 TMNotCalledInCyclicTask The module instance is wrongly called up in the con-
text of a free-running task, instead of in a cyclical
task.
17137 TMDataBusDisconnected Communication between master and slave node is
interrupted.
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 incor-
rectly connected. Check the call sequence of the mas-
ter 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.Convey-
erBeltAxes input during operation is not supported.
Check communication to the axes connected via the
ConveyerBeltAxes input.
17146 InvalidSetTarget The target is located on an invalid belt conveyor. An
entry via the eSetTarget and xExecutePickAndPlace
inputs is impermissible.
17147 LowerLimitExceedsUpperLimit No valid window parameterised; TM.lrLowerSyn-
cLimit is greater than TM.lrUpperSyncLimit.
17148 SetTargetStackLimitReached The maximum number of simultaneous activations
was exceeded.
17149 WorkpieceStackLimitReached The maximum number of workpieces detected on
the ascBeltInput 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 (lrAngu-
larShiftLimit).
17153 AxesGroupAlreadyInUse The axes group is already being used in another TM.
5 Error handling
5.2 Error messages
________________________________________________________________

17154 UndervoltageDCLink An attempt to start the drive occurred when the
mains (400 V) was switched off.
17155 CouplingModeRequiresModuloAxis The coupling mode only supports modulo axes (dw-
CouplingMode = 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 fur-
ther information, see ascErrorInfo[1] .
17158 YAxisTMError Error in the StackerCraneYAxisControl TM. For fur-
17159 APAxisTMError Error in the StackerCraneAPAxisControl TM. For fur-
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 lrDiamI-
dentCalcCycles, lrDiamIndentMaxPos.
17165 ActDancerPosGTMaxDancerPos The current dancer position is greater than the max-
imum dancer position parameterised. Lower dancer
or adapt lrIdentDiamMaxDancerPos 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
lrDancerMaterialLength parameter must be > 0.
17168 LoadDiameterNotAllowed The diameter was erroneously loaded during identi-
fication.
17169 InvalidMasterAxisRef Access to the MasterAxisRef has failed since there is
no MasterAxis present at the input.
17170 SyncModeVelAccRequired The “Ramp_VelAcc” coupling mode is required for re-
synchronisation to the master axis.
17171 TempMaxCriticalExceeded The maximum absolute temperature limit (lrTemp-
MaxCriticalAbsolute 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
included in the L_TT1P_SyncSlaveDirection ENUM.
17174 MarkCorrectionInNextCycle During an active correction process, a mark error was
detected. The error is only processed in the next cor-
rection window.
The mark is inside the correction window, however,
its parameterisation should ensure that it is outside
of the correction window.
17175 BaseVelocityNotSupported In the coupling mode applied, using a basic speed is
not possible.
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.
5 Error handling
5.2 Error messages
________________________________________________________________

17177 MarkDistanceGTZeroRequired The mark distance parameterised is impermissible. It
has to be > 0.
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.
17180 ConcurrentMotionCmdDuringHoming This warning appears if another movement is to be
initiated during a reference run.
17901 MissingMM_Address
17902 TooManyModules
17903 DuplicatedRootModule
17904 SlaveNotFound
17905 MissingApplicationReference
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 module configuration.
18003 ModeChangeNotAllowedInCurrentMode A mode change was requested which is not permit-
ted in the current state. Reason: The configuration of
the current mode.)
18004 ModeChangeNotAllowedInNextMode A mode change was requested which is not permit-
ted 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_ModeChangeNotAllowedInCurrentMode A mode change was requested via the Line interface,
which is not permissible in the current state. Reason:
The configuration of the current mode.)
18009 LI_ModeChangeNotAllowedInNextMode A mode change was requested via the Line interface,
which is not permissible in the current state. Reason:
The configuration 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 com-
mand input (xReset … xClear) at a time. No command
is executed due to the ambiguity.
18012 CommandNotAllowedInCurrentState The PackML command requested is not permitted in
the current state and is therefore ignored.
5 Error handling
5.2 Error messages
________________________________________________________________

18013 LI_CommandsOnlyInModeProduction PackML commands can only be processed via the
Line interface 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 inter-
face 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.
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
identification 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 maxi-
mum speed specified could not be reached.
19033 AccTooBig_FrictComp The acceleration ramp specified for the friction iden-
tification 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 maxi-
mum torque is too high.
19049 AbortedByStartIdent_IdentMInertia The identification of the moment of inertia has been
aborted due to invalid parameter setting.
19050 AbortedByFollowerDisabled _IdentMInertia The identification of the moment of inertia has been
aborted due to a non-enabled torque follower.
19051 AbortedByFollowerEnabled The identification of the moment of inertia has been
_IdentMInertia aborted 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
moment 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
parameters
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.
5 Error handling
5.2 Error messages
________________________________________________________________

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
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 sufficient.
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 con-
trol 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
specification 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 availa-
ble in the main memory is not sufficient.
20027 SDO_AbortCode_Access SDO AbortCode 0x06010000: Access to an object de-
nied
20028 SDO_AbortCode_WriteOnly SDO AbortCode 0x06010001 / Read access to a
write-protected object
20029 SDO_AbortCode_ReadOnly SDO AbortCode 0x06010002: Write access to a
write-protected 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 re-
garding parameter incompatibility.
20034 SDO_AbortCode_I_InComp SDO AbortCode 0x06040043: General message re-
garding parameter incompatibility.
20035 SDO_AbortCode_Hardware SDO AbortCode 0x06060000: Access failed due to
hardware error.
5 Error handling
5.2 Error messages
________________________________________________________________

20036 SDO_AbortCode_Data_Size SDO AbortCode 0x06070010: Data type or parame-
ter length differs.
20037 SDO_AbortCode_Data_Size1 SDO AbortCode 0x06070012 : Incorrect data type
(parameter 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.
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/
transmitting the data to the application.
20046 SDO_AbortCode_Transfer1 SDO AbortCode 0x08000021: Error when saving/
transmitting the data to the application (caused by
local control).
20047 SDO_AbortCode_Transfer2 SDO AbortCode 0x08000022: Error when saving/
transmitting the data to the application (caused by
the current device state).
20048 SDO_AbortCode_Dictionary SDO AbortCode 0x08000023: Dynamic object direc-
tory generation has failed/no object directory availa-
ble.
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 PL-
Copen 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 exceed-
ed.
20307 SWLimitNeg The negative software limit position has been ex-
ceeded.
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 currently active (setpoint-generating) FB has not
been called in this cycle.
20310 PowerFailDuringOperation Controller enable of the axis has been cancelled dur-
ing operation.
If necessary, check the STO state of the drive. Param-
eter subindex 101 can be used to configure the mon-
itoring time for bus communication switch-on and
run-up.
20311 NotReadyForMotion The motion requested cannot be executed due to the
current state of the axis (e.g. "Disabled" or "Er-
rorStop").
5 Error handling
5.2 Error messages
________________________________________________________________

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.
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 MaxVelocit-
yAppl.
20326 AccelerationLimited Acceleration selected exceeds the value of MaxAccel-
erationAppl.
20327 JerkLimited Jerk selected exceeds the value of MaxJerkAppl.
20328 TargetOutsideSWLimit The target position is outside the software limit posi-
tions.
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
executed 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 soft-
ware 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
20345 VelocityLimited_MoveAdditive MC_MoveAdditive: Velocity selected exceeds the
value of MaxVelocityAppl.
20346 AccelerationLimited_MoveAdditive MC_MoveAdditive: Acceleration selected exceeds
5 Error handling
5.2 Error messages
________________________________________________________________

20347 JerkLimited_MoveAdditive MC_MoveAdditive: Jerk selected exceeds the value
of MaxJerkAppl.
20348 TargetOutsideSWLimit_MoveAdditive MC_MoveAdditive: Target position outside the soft-
ware limit positions.
20350 NoValidAcceleration_MoveContAb MC_MoveContinuousAbsolute: Selection of an
invalid acceleration.
20351 NoValidDeceleration_MoveContAb MC_MoveContinuousAbsolute: Selection of an
invalid deceleration.
20352 NoValidVelocity_MoveContAb MC_MoveContinuousAbsolute: Selection of an
invalid velocity.
20353 ArithmeticError_MoveContAb MC_MoveContinuousAbsolute: Error in the profile
calculation.
20354 NotApplicable_MoveContAb MC_MoveContinuousAbsolute: The motion request-
ed cannot be executed due to limitations (e.g. SW
limit positions).
20355 VelocityLimited_MoveContAb MC_MoveContinuousAbsolute: Velocity selected ex-
ceeds the value of MaxVelocityAppl.
20356 AccelerationLimited_MoveContAb MC_MoveContinuousAbsolute: Acceleration select-
ed exceeds the value of MaxAccelerationAppl.
20357 JerkLimited_MoveContAb MC_MoveContinuousAbsolute: Jerk selected ex-
ceeds the value of MaxJerkAppl.
20358 TargetOutsideSWLimit_MoveContAb MC_MoveContinuousAbsolute: Target position out-
side the software limit positions.
20360 NoValidAcceleration_MoveContRel MC_MoveContinuousRelative: The acceleration is
invalid.
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
calculation.
20364 NotApplicable_MoveContRel MC_MoveContinuousRelative: The motion request-
ed cannot be executed due to limitations (e.g. SW
limit positions).
20365 VelocityLimited_MoveContRel MC_MoveContinuousRelative: Velocity selected ex-
ceeds the value of MaxVelocityAppl.
20366 AccelerationLimited_MoveContRel MC_MoveContinuousRelative: Acceleration selected
exceeds the value of MaxAccelerationAppl.
20367 JerkLimited_MoveContRel MC_MoveContinuousRelative: Jerk selected exceeds
the value of MaxJerkAppl.
20368 TargetOutsideSWLimit_MoveContRel MC_MoveContinuousRelative: Target position out-
side 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
20375 VelocityLimited_MoveRelative MC_MoveRelative: Velocity selected exceeds the val-
ue of MaxVelocityAppl.
5 Error handling
5.2 Error messages
________________________________________________________________

20376 AccelerationLimited_MoveRelative MC_MoveRelative: Acceleration selected exceeds
20377 JerkLimited_MoveRelative MC_MoveRelative: Jerk selected exceeds the value of
MaxJerkAppl.
20378 TargetOutsideSWLimit_MoveRelative MC_MoveRelative: The target position is outside the
software 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 ve-
locity.
20383 ArithmeticError_MoveSuperimp MC_MoveSuperimposed: Error in the profile calcula-
tion.
20384 NotApplicable_MoveSuperimp MC_MoveSuperimposed: The motion requested can-
not be executed due to limitations (e.g. SW limit po-
sitions).
20385 VelocityLimited_MoveSuperimp MC_MoveSuperimposed: Velocity selected exceeds
the value of MaxVelocityAppl.
20386 AccelerationLimited_MoveSuperimp MC_MoveSuperimposed: Acceleration selected ex-
ceeds the value MaxAccelerationAppl.
20387 JerkLimited_MoveSuperimp MC_MoveSuperimposed: Jerk selected exceeds the
value of MaxJerkAppl.
20388 TargetOutsideSWLimit_MoveSuperimp MC_MoveSuperimposed: Target position outside
the software 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
20394 NotApplicable_MoveVelocity MC_MoveVelocity: The motion requested cannot be
20395 VelocityLimited_MoveVelocity MC_MoveVelocity: Velocity selected exceeds the val-
ue 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
software 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
MaxAccelerationAppl.
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
MaxAccelerationAppl.
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.
5 Error handling
5.2 Error messages
________________________________________________________________

20432 DirectionDisabled MC_Power: The direction of movement is not ena-
bled, since the EnablePositive or EnableNegative in-
put 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, although 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 ac-
tive.
20499 Drive_PDO_Interface_Disabled The cyclic PDO interface of the drive has been deacti-
vated (check 0x2824)
20500 HWLimitPos The positive hardware limit switch has been ap-
proached.
20501 HWLimitNeg The negative hardware limit switch has been ap-
proached.
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 es-
tablished
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.
20509 ErrorDuringInit Error during initialisation
20510 SwitchOnNotPossible Axis could not be enabled within the time parame-
terised.
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 support-
ed.
20525 ResetDriveErrorFailed MC_Reset: The drive error cannot be acknowledged.
20526 ApplicationError An error was triggered via the Axis_Ref from the ap-
plication.
20527 ApplicationWarning A warning was triggered via the Axis_Ref from the
application.
20529 Brake_PositionDrift A position drift has occurred during the brake test.
5 Error handling
5.2 Error messages
________________________________________________________________

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: byDigitalOutput-
Sel. The output requested is not available.
20534 Fast_IO_OUT_NoFreeEncoderAxis FastOutput FB, check input data: FastIO_Out. The
axis applied to the input does not support this func-
tion.
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.
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 inhibited
20551 TP_ParameterFallingRisingEdgeWrongValue Touch probe: Check basic parameter in S207: Falling
edge inhibited
20552 TP_InternalError Touch probe: An internal error has occurred.
20600 SetValuesGTMaxAppValues The setpoints generated exceed the MaxApplication-
Values specified.
20601 SetValuesInconsistent The "Position", "Velocity" and "Acceleration" set-
points are inconsistent with one another.
20602 PosDiffGTHalfCycleLength The current position difference per application cycle
is greater 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 availa-
ble.
20660 ControllerFirmwareNotCompatible Controller firmware incompatible.
5 Error handling
5.2 Error messages
________________________________________________________________

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 virtual axes and drives.
20680 AxisNotDisabled The action cannot be carried out as the axis is not in
the "Disabled" state.
20681 InvalidFeedConstant The feed constant is invalid.
20682 InvalidTraversingRange The selection for the traversing range is invalid.
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 encoder 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
terminal is active in the drive.
20692 InvalidSWLimits The given SW limits are not valid or swapped.
20693 NoValidJerk The jerk is invalid.
5 Error handling
5.2 Error messages
________________________________________________________________

20694 MissedMappingParameterVLTargetVel L_MC1P_BasicActuatingSpeed: object 0x60FF (axis
B: 0x68FF) vl Target Velocity not included in the map-
ping. This object is required for controlling the veloc-
ity 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 sin-
gle mode. Check Axis mode (subindex 27).
20699 FunctionNotSupportedByAxis The function or the FB is not supported by the axis
type connected.
20700 ExecutionIndexAlreadyInUse The eExecutionIndex specified is already being used
on another setpoint-manipulating FB.
Three setpoint manipulators can be maximally ap-
pended 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 can-
not be executed.
20702 SS2Active Safe stop 2 (SS2) active. The motion requested can-
not be executed.
20703 VelocityLimitedBySLS1 Profile velocity limited by SLS1
20707 InvalidExecutionIndex The eExecutionIndex input is assigned to a value out-
side 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 parame-
ter value is outside the permissible value range.
20710 ParamSetFailedJogAcc Setting the JogAcc parameter has failed. The param-
eter value is outside the permissible value range.
20711 ParamSetFailedJogDec Setting the JogDec parameter has failed. The param-
20712 ParamSetFailedJogJerk Setting the JogJerk parameter has failed. The param-
20713 ParamSetFailedHaltDec Setting the HaltDec parameter has failed. The pa-
rameter value is outside the permissible value range.
20714 ParamSetFailedHaltJerk Setting the HaltJerk parameter has failed. The pa-
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
range.
20717 ParamSetFailedHomePosition Setting the HomePosition parameter has failed. The
range.
5 Error handling
5.2 Error messages
________________________________________________________________

20718 ParamSetFailedHomeMode Setting the HomeMode home parameter has failed.
The parameter value is outside the permissible value
range.
20719 ParamSetFailedHomeStopMode Setting the HomeModeStop home parameter has
failed. The parameter value is outside the permissi-
ble value range.
20720 ParamSetFailedHomeTargetPosition Setting the TargetPosition home parameter has
ble value range.
20721 ParamSetFailedHomeVelocity1 Setting the Velocity1 home parameter has failed. The
range.
20722 ParamSetFailedHomeVelocity2 Setting the Velocity2 home parameter has failed. The
range.
20723 ParamSetFailedHomeAcceleration1 Setting the Acceleration1 home parameter has
ble value range.
20724 ParamSetFailedHomeAcceleration2 Setting the Acceleration2 home parameter has
ble value range.
20725 ParamSetFailedHomeJerk Setting the Jerk home parameter has failed. The pa-
20726 ParamSetFailedHomeTorqueLimit Setting the TorqueLimit home parameter has failed.
range.
20727 ParamSetFailedHomeTorqueTime Setting the TorqueTime home parameter has failed.
range.
20728 ParamSetFailedHomeTPConfig Setting the TPConfig home parameter has failed. The
range.
20729 ParamSetFailedDriveHomeMode Setting the DriveHomeMode home parameter has
ble value range.
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 inconsistent.
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 transferred 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.
20739 ActPositionInPDORequired The actual value "Position" required for the "Position
control" mode on the PLC is not transferred as proc-
ess date from the drive.
5 Error handling
5.2 Error messages
________________________________________________________________

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 parameterised 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
therefore cannot provide the safety diagnostic data.
20744 SafetyControlwordInPDORequired The 0x2870/1 diagnostic interface (Safetyinterface
Controlword) is not transferred as process date from
the drive.
20745 SetPositionOnSlaveAxisNotAllowed Setting the position via MC_SetPosition is impermis-
sible with a slave axis.
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 transforma-
tion. Error source:
• The target position or path is outside of the work-
space.
• The robot is in a position where the kinematic
transformations 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 er-
ror correction, an error reset of the axes group must
be carried out.
21006 AxisLimitViolationMainAxis The position violates the axis limitations of the virtu-
al 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.
drive axes are overtravelled. The defective path can
be corrected by inserting an intermediate point.
21008 AxisLimitViolationPassiveAxis The position violates the limitation of the passive
joints.
passive joints are overtravelled. The defective path
can be corrected by inserting an intermediate point.
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
PathChoice FB input.
5 Error handling
5.2 Error messages
________________________________________________________________

21011 NoValidCircMode_MoveCircAbs MC_MoveCircularAbsolute: Invalid parameter at the
CircMode FB input.
21012 NoValidTransitionParameter_MoveCircAbs MC_MoveCircularAbsolute: Invalid transition pa-
rameter
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.
the axes 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_MoveCircAbs MC_MoveCircularAbsolute: The target position vio-
lates the SW limit positions of the passive joints.
21018 TargetOutsideSWLimitsMainAxisX_MoveCircAbs MC_MoveCircularAbsolute: The target position vio-
lates the SW limit positions of the main axis X.
21019 TargetOutsideSWLimitsMainAxisY_MoveCircAbs MC_MoveCircularAbsolute: The target position vio-
lates the SW limit positions of the main axis Y.
21020 TargetOutsideSWLimitsMainAxisZ_MoveCircAbs MC_MoveCircularAbsolute: The target position vio-
lates the SW limit positions of the main axis Z.
21021 TargetOutsideSWLimitsMainAxisA_MoveCircAbs MC_MoveCircularAbsolute: Target position violates
the SW limit positions of the main axis A.
21022 TargetOutsideSWLimitsMainAxisB_MoveCircAbs MC_MoveCircularAbsolute: The target position vio-
lates the SW limit positions of the main axis B.
21023 TargetOutsideSWLimitsMainAxisC_MoveCircAbs MC_MoveCircularAbsolute: The target position vio-
lates the SW limit positions of the main axis C.
21024 TargetOutsideSWLimitsRealAxis1_MoveCircAbs MC_MoveCircularAbsolute: The target position vio-
lates the SW limit positions of drive axis 1.
21030 TargetOutsideSWLimitsAuxAxis1_MoveCircAbs MC_MoveCircularAbsolute: The target position vio-
lates the SW limit positions of auxiliary axis 1.
5 Error handling
5.2 Error messages
________________________________________________________________

21036 TargetTransformationError_MoveCircAbs MC_MoveCircularAbsolute: Transformation error in
target position; the target position is outside the
workspace
21037 TargetSingularPos_MoveCircAbs MC_MoveCircularAbsolute: The target position is in
a singular position which can only be approached via
MC_MoveDirect.
21038 BorderOutsideSWLimitsPassiveJoints_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
21039 BorderOutsideSWLimitsMainAxisX_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
21040 BorderOutsideSWLimitsMainAxisY_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
21041 BorderOutsideSWLimitsMainAxisZ_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
21042 BorderOutsideSWLimitsMainAxisA_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
lates the SW limit positions of the main axis A.
21043 BorderOutsideSWLimitsMainAxisB_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
21044 BorderOutsideSWLimitsMainAxisC_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
21045 BorderOutsideSWLimitsRealAxis1_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
21051 BorderOutsideSWLimitsAuxAxis1_MoveCircAbs MC_MoveCircularAbsolute: The border position vio-
5 Error handling
5.2 Error messages
________________________________________________________________

21057 BorderTransformationError_MoveCircAbs MC_MoveCircularAbsolute: Transformation error in
border position.
The position of the border point is outside of the
workspace.
21058 BorderSingularPos_MoveCircAbs MC_MoveCircularAbsolute: The border position is in
a singular position which can only be approached via
MC_MoveDirect.
21059 IllegalParameter_MoveCircAbs MC_MoveCircularAbsolute: the parameter combina-
tion 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 oth-
er.
21060 NoValidPathCoice_MoveCircRel MC_MoveCircularRelative: The parameter at the
PathChoice FB input is invalid.
21061 NoValidCircMode_MoveCircRel MC_MoveCircularRelative: Invalid parameter at the
CircMode FB input.
21062 NoValidTransitionParameter_MoveCircRel MC_MoveCircularRelative: Invalid transition param-
eter
21063 NoValidVelocity_MoveCircRel MC_MoveCircularRelative: Selection of an invalid ve-
locity.
Orientations: Check MaxVelRotation parameter of
the axes group.
Auxiliary axes: Check DefaultVelocity parameter.
21064 NoValidAcceleration_MoveCircRel MC_MoveCircularRelative: Selection of an invalid ac-
celeration.
the axes group.
21065 NoValidDeceleration_MoveCircRel MC_MoveCircularRelative: Selection of an invalid de-
celeration.
the axes group.
Auxiliary axes: Check DefaultAcc parameter.
21066 NoValidJerk_MoveCircRel MC_MoveCircularRelative: Selection of an invalid
jerk.
the axes group.
Auxiliary axes: Check DefaultJerk parameter.
21067 TargetOutsideSWLimitsPassiveJoints_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of the passive joints.
21068 TargetOutsideSWLimitsMainAxisX_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of the main axis X.
21069 TargetOutsideSWLimitsMainAxisY_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of the main axis Y.
21070 TargetOutsideSWLimitsMainAxisZ_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of the main axis Z.
21071 TargetOutsideSWLimitsMainAxisA_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of the main axis A.
21072 TargetOutsideSWLimitsMainAxisB_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of the main axis B.
5 Error handling
5.2 Error messages
________________________________________________________________

21073 TargetOutsideSWLimitsMainAxisC_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of the main axis C.
21074 TargetOutsideSWLimitsRealAxis1_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of drive axis 1.
21080 TargetOutsideSWLimitsAuxAxis1_MoveCircRel MC_MoveCircularRelative: Target position violates
the SW limit positions of auxiliary axis 1.
21086 TargetTransformationError_MoveCircRel MC_MoveCircularRelative: Transformation error in
target position.
Target position is outside of the workspace.
21087 TargetSingularPos_MoveCircRel MC_MoveCircularRelative: Target position is in a sin-
gular position which can only be approached via
MC_MoveDirect.
21088 BorderOutsideSWLimitsPassiveJoints_MoveCircRel MC_MoveCircularRelative: The border position vio-
21089 BorderOutsideSWLimitsMainAxisX_MoveCircRel MC_MoveCircularRelative: The border position vio-
21090 BorderOutsideSWLimitsMainAxisY_MoveCircRel MC_MoveCircularRelative: The border position vio-
21091 BorderOutsideSWLimitsMainAxisZ_MoveCircRel MC_MoveCircularRelative: The border position vio-
21092 BorderOutsideSWLimitsMainAxisA_MoveCircRel MC_MoveCircularRelative: The border position vio-
21093 BorderOutsideSWLimitsMainAxisB_MoveCircRel MC_MoveCircularRelative: The border position vio-
21094 BorderOutsideSWLimitsMainAxisC_MoveCircRel MC_MoveCircularRelative: The border position vio-
21095 BorderOutsideSWLimitsRealAxis1_MoveCircRel MC_MoveCircularRelative: The border position vio-
5 Error handling
5.2 Error messages
________________________________________________________________

21101 BorderOutsideSWLimitsAuxAxis1_MoveCircRel MC_MoveCircularRelative: The border position vio-
21107 BorderTransformationError_MoveCircRel MC_MoveCircularRelative: Transformation error in
the border position. The border position is outside
the workspace.
21108 BorderSingularPos_MoveCircRel MC_MoveCircularRelative: The border position is in a
singular position which can only be approached via
MC_MoveDirect.
21109 IllegalParameter_MoveCircRel MC_MoveCircularRelative: The parameter combina-
tion 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 oth-
er.
21110 NoValidTransitionParameter_MoveLinAbs MC_MoveLinearAbsolute: The transition parameter
is invalid.
21111 NoValidVelocity_MoveLinAbs MC_MoveLinearAbsolute: The velocity is invalid.
the axes group.
Auxiliary axes: Check DefaultVelocity parameter.
21112 NoValidAcceleration_MoveLinAbs MC_MoveLinearAbsolute: The acceleration is invalid.
Cartesian motions: Check Acceleration input at the
module.
the axes group.
21113 NoValidDeceleration_MoveLinAbs MC_MoveLinearAbsolute: The deceleration is
invalid.
the axes group.
21114 NoValidJerk_MoveLinAbs MC_MoveLinearAbsolute: The jerk is invalid.
the axes group.
Auxiliary axes: Check DefaultJerk parameter.
21115 TargetOutsideSWLimitsPassiveJoints_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
5 Error handling
5.2 Error messages
________________________________________________________________

21116 TargetOutsideSWLimitsMainAxisX_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
21117 TargetOutsideSWLimitsMainAxisY_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
21118 TargetOutsideSWLimitsMainAxisZ_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
21119 TargetOutsideSWLimitsMainAxisA_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
21120 TargetOutsideSWLimitsMainAxisB_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
21121 TargetOutsideSWLimitsMainAxisC_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
21122 TargetOutsideSWLimitsRealAxis1_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
21128 TargetOutsideSWLimitsAuxAxis1_MoveLinAbs MC_MoveLinearAbsolute: The target position vio-
21134 TargetTransformationError_MoveLinAbs MC_MoveLinearAbsolute: Transformation error in
target position; the target position is outside the
workspace.
21135 TargetSingularPos_MoveLinAbs MC_MoveLinearAbsolute: The target position is in a
MC_MoveDirect.
21136 IllegalParameter_MoveLinAbs MC_MoveLinearAbsolute: The parameter combina-
tion is invalid.
21137 NoValidTransitionParameter_MoveLinRel MC_MoveLinearRelative: The transition parameter is
invalid.
21138 NoValidVelocity_MoveLinRel MC_MoveLinearRelative: The velocity is invalid.
Cartesian movements: Check Velocity input
the axes group.
Auxiliary axes: Check "DefaultVelocity parameter of
the auxiliary axis.
5 Error handling
5.2 Error messages
________________________________________________________________

21139 NoValidAcceleration_MoveLinRel MC_MoveLinearRelative: The acceleration is invalid.
the axes group.
Auxiliary axes: Check "DefaultAcc parameter of the
auxiliary axis.
21140 NoValidDeceleration_MoveLinRel MC_MoveLinearRelative: The deceleration is invalid.
the axes group.
Auxiliary axes: Check "DefaultAcc parameter of the
auxiliary axis.
21141 NoValidJerk_MoveLinRel MC_MoveLinearRelative: The jerk is invalid.
the axes group.
Auxiliary axes: Check "DefaultJerk parameter of the
auxiliary axis.
21142 TargetOutsideSWLimitsPassiveJoints_MoveLinRel MC_MoveLinearRelative: The target position vio-
21143 TargetOutsideSWLimitsMainAxisX_MoveLinRel MC_MoveLinearRelative: The target position vio-
21144 TargetOutsideSWLimitsMainAxisY_MoveLinRel MC_MoveLinearRelative: The target position vio-
21145 TargetOutsideSWLimitsMainAxisZ_MoveLinRel MC_MoveLinearRelative: The target position vio-
21146 TargetOutsideSWLimitsMainAxisA_MoveLinRel MC_MoveLinearRelative: The target position vio-
21147 TargetOutsideSWLimitsMainAxisB_MoveLinRel MC_MoveLinearRelative: The target position vio-
21148 TargetOutsideSWLimitsMainAxisC_MoveLinRel MC_MoveLinearRelative: The target position vio-
21149 TargetOutsideSWLimitsRealAxis1_MoveLinRel MC_MoveLinearRelative: The target position vio-
21155 TargetOutsideSWLimitsAuxAxis1_MoveLinRel MC_MoveLinearRelative: The target position vio-
5 Error handling
5.2 Error messages
________________________________________________________________

21161 TargetTransformationError_MoveLinRel MC_MoveLinearRelative: Transformation error in
target position. The target position is outside the
workspace.
21162 TargetSingularPos_MoveLinRel MC_MoveLinearRelative: The target position is in a
MC_MoveDirect.
21163 IllegalParameter_MoveLinRel MC_MoveLinearRelative: The parameter combina-
tion is invalid.
21164 NoValidTransitionParameter_MoveDirAbs MC_MoveDirectAbsolute: The transition parameter
is invalid.
21165 NoValidVelocity_MoveDirAbs MC_MoveDirectAbsolute: The velocity is invalid.
Drive axes: Check DefaultVelocity parameter of the
drive axes connected.
Auxiliary axes: Check DefaultVelocity parameter of
the auxiliary axis.
21166 NoValidAcceleration_MoveDirAbs MC_MoveDirectAbsolute: The acceleration is invalid.
Drive axes: Check DefaultAcceleration parameter of
the drive axes connected.
Auxiliary axes: Check DefaultAcceleration parameter
of the auxiliary axis.
21167 NoValidDeceleration_MoveDirAbs MC_MoveDirectAbsolute: The deceleration is
invalid.
21168 NoValidJerk_MoveDirAbs MC_MoveDirectAbsolute: The jerk is invalid.
Drive axes: Check DefaultJerk parameter of the drive
axes connected.
auxiliary axis.
21169 TargetOutsideSWLimitsPassiveJoints_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
21170 TargetOutsideSWLimitsMainAxisX_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
21171 TargetOutsideSWLimitsMainAxisY_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
21172 TargetOutsideSWLimitsMainAxisZ_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
21173 TargetOutsideSWLimitsMainAxisA_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
21174 TargetOutsideSWLimitsMainAxisB_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
21175 TargetOutsideSWLimitsMainAxisC_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
21176 TargetOutsideSWLimitsRealAxis1_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
5 Error handling
5.2 Error messages
________________________________________________________________

21182 TargetOutsideSWLimitsAuxAxis1_MoveDirAbs MC_MoveDirectAbsolute: The target position vio-
21188 TargetTransformationError_MoveDirAbs MC_MoveDirectAbsolute: Transformation error in
workspace.
21189 IllegalParameter_MoveDirAbs MC_MoveDirectAbsolute: The parameter combina-
tion is invalid.
21190 NoValidTransitionParameter_MoveDirRel MC_MoveDirectRelative: The transition parameter is
invalid.
21191 NoValidVelocity_MoveDirRel MC_MoveDirectRelative: The velocity is invalid.
Drive axes: Check DefaultVelocity parameter of the
drive axes connected.
Auxiliary axes: Check DefaultVelocity parameter of
the auxiliary axis.
21192 NoValidAcceleration_MoveDirRel MC_MoveDirectRelative: The acceleration is invalid.
21193 NoValidDeceleration_MoveDirRel MC_MoveDirectRelative: The deceleration is invalid.
21194 NoValidJerk_MoveDirRel MC_MoveDirectRelative: The jerk is invalid.
Drive axes: Check DefaultJerk parameter of the drive
axes connected.
auxiliary axis.
21195 TargetOutsideSWLimitsPassiveJoints_MoveDirRel MC_MoveDirectRelative: The target position vio-
21196 TargetOutsideSWLimitsMainAxisX_MoveDirRel MC_MoveDirectRelative: The target position vio-
21197 TargetOutsideSWLimitsMainAxisY_MoveDirRel MC_MoveDirectRelative: The target position vio-
21198 TargetOutsideSWLimitsMainAxisZ_MoveDirRel MC_MoveDirectRelative: The target position vio-
21199 TargetOutsideSWLimitsMainAxisA_MoveDirRel MC_MoveDirectRelative: The target position vio-
21200 TargetOutsideSWLimitsMainAxisB_MoveDirRel MC_MoveDirectRelative: The target position vio-
21201 TargetOutsideSWLimitsMainAxisC_MoveDirRel MC_MoveDirectRelative: The target position vio-
5 Error handling
5.2 Error messages
________________________________________________________________

21202 TargetOutsideSWLimitsRealAxis1_MoveDirRel MC_MoveDirectRelative: The target position vio-
21208 TargetOutsideSWLimitsAuxAxis1_MoveDirRel MC_MoveDirectRelative: The target position vio-
21214 TargetTransformationError_MoveDirRel MC_MoveDirectRelative: Transformation error in
workspace.
21215 IllegalParameter_MoveDirRel MC_MoveDirectRelative: The parameter combina-
tion 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 combi-
nation 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 imper-
missible.
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 exe-
cuting a motion.
Tools can only be changed when the axes group is at
a standstill ("GroupDisabled" or "GroupStandby"
state).
5 Error handling
5.2 Error messages
________________________________________________________________

21226 InvalidCoordSystem The block is called with an invalid coordinate system.
21227 AxisExternalEnabled The axis is already being controlled by another FB in-
stance. 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 supported.
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.
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 kine-
matics 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
positions 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 activa-
tion of new movements until at least one active
block is ready
21240 NoValidRotationVelocity_MoveCircAbs MC_MoveCircularAbsolute: The rotational velocity is
invalid (axes group parameter).
21241 NoValidRotationAcceleration_MoveCircAbs MC_MoveCircularAbsolute: The rotational accelera-
tion is invalid (axes group parameter).
21242 NoValidRotationJerk_MoveCircAbs MC_MoveCircularAbsolute: The rotational jerk is
21243 NoValidRotationVelocity_MoveCircRel MC_MoveCircularRelative: The rotational velocity is
21244 NoValidRotationAcceleration_MoveCircRel MC_MoveCircularRelative: The rotational accelera-
21245 NoValidRotationJerk_MoveCircRel MC_MoveCircularRelative: The rotational jerk is
21246 NoValidRotationVelocity_MoveLinAbs MC_MoveLinearAbsolute: The rotational velocity is
21247 NoValidRotationAcceleration_MoveLinAbs MC_MoveLinearAbsolute: The rotational accelera-
21248 NoValidRotationJerk_MoveLinAbs MC_MoveLinearAbsolute: The rotational jerk is
21249 NoValidRotationVelocity_MoveLinRel MC_MoveLinearRelative: The rotational velocity is
21250 NoValidRotationAcceleration_MoveLinRel MC_MoveLinearRelative: The rotational acceleration
is invalid (axes group parameter).
5 Error handling
5.2 Error messages
________________________________________________________________

21251 NoValidRotationJerk_MoveLinRel MC_MoveLinearRelative: The rotational jerk is
21252 PathLimitViolation_MoveLinAbs The interpolator creates setpoints which violate
module limitations.
21253 PathLimitViolation_MoveLinRel The interpolator creates setpoints which violate
module limitations.
21254 PathLimitViolation_MoveCircAbs The interpolator creates setpoints which violate
module limitations.
21255 PathLimitViolation_MoveCircRel The interpolator creates setpoints which violate
module limitations.
21256 PathLimitViolation_MoveDirAbs The interpolator creates setpoints which violate
module limitations.
21257 PathLimitViolation_MoveDirRel The interpolator creates setpoints which violate
module limitations.
21258 AxisGroupNotHomed 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.
drives.
drives.
drives.
drives.
drives.
21267 AxisLimitViolationRealAxis1Acceleration The acceleration violates the axis limitations of the
real drives.
real drives.
real drives.
real drives.
real drives.
real 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 simultaneous motion of several auxiliary ax-
es.
5 Error handling
5.2 Error messages
________________________________________________________________

21274 AuxAxisNotAllowed An auxiliary axis assignment in this set is impermis-
sible.
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 input parameters of the function block.
21277 PCSInUse ConveyorTracking and ManualMode: The PCS coordi-
nate system is not free.
The PCS selected is already being controlled by an-
other 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 cycli-
cally.
21279 MasterAxisNotReady ConveyorTracking: The master axis not ready.
• The master axis is in an error status.
• The master axis is switched off
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 can-
not be activated.
21288 RealAxis1_AlreadyInUse Axis A1, which is connected to the axes group, is al-
ready connected to an axes group.
21289 RealAxis2_AlreadyInUse
21294 AuxAxis1_AlreadyInUse
5 Error handling
5.2 Error messages
________________________________________________________________

21300 NoValidTransitionMode_MoveCircAbs MC_MoveCircularAbsolute: The parameter at the
TransitionMode FB input is invalid.
21301 NoValidTransitionMode_MoveCircRel MC_MoveCircularRelative: The parameter at the
21302 NoValidTransitionMode_MoveLinAbs MC_MoveLinearAbsolute: The parameter at the
21303 NoValidTransitionMode_MoveLinRel MC_MoveLinearRelative: The parameter at the Tran-
sitionMode FB input is invalid.
21304 NoValidTransitionMode_MoveDirAbs MC_MoveDirectAbsolute: The parameter at the
21305 NoValidTransitionMode_MoveDirRel MC_MoveDirectRelative: The parameter at the Tran-
sitionMode FB input is invalid.
21306 NoAxisForHomingSelected No axis has been selected for homing. Please check
the HomingOrder (MC_GroupHome) or scPar.aeHo-
mingOrder (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 suffi-
cient (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.
21309 AxesGroupNotSupported The axes group connected is not supported. The
MC_SetKinTransform FB can only be combined with
a generic 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 another 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
position
21314 PCSChangedDuringMotion Changes to the PCS are impermissible during manual
operation of the axes group.
21315 ConcurrentRequestManualMode Concurrent requests in the manual operation func-
tionality of the axes group.
Simultaneous "Jogging" and "Positioning" are not
permissible. In the MCS and PCS coordinate systems,
the simultaneous 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.
5 Error handling
5.2 Error messages
________________________________________________________________

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 in-
crease 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 interpola-
tion.
With the definition of the circular interpolation, ei-
ther 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 Pa-
thRef input during operation is not supported.
21328 ConcurrentMFunction Two concurrent M-functions are assigned in one set.
Maximally one M-function requiring an acknowl-
edgement (M200 … M499) may be assigned in one
set.
21329 InvalidMStartRadiusGTSemiMajorAxisStartRadiusL An impermissible M-function was assigned.
TSemiMinorAxis TargetRadiusGTSemiMajorAxis The M-function assigned is smaller M1 or greater
Function M499.
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.
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-mi-
nor 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 ei-
ther 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 position with a higher accuracy.
21338 InvalidTraversingRangeCombination The axes group contains an invalid combination of
Modulo and Limited axes.
5 Error handling
5.2 Error messages
________________________________________________________________

21339 InvalidCoordinateSystemOrientation No alignment of the MCS or PCS coordinate system is
permitted for the Move command. In the case of axes
groups with only one Axis_C rotary axis, the z-axis of
the MCS/PCS coordinate system must be aligned for
coordinated motions so that it is parallel or antipar-
allel to the z-axis of the WCS.
21340 InvalidToolSystemOrientation No alignment of the tool is permitted for the Move
command. 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 circular arc defined by the starting point and cen-
tre.
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_MoveSpline L_MC4P_MoveSpline: The transition parameter is
invalid.
21348 NoValidTransitionMode_MoveSpline L_MC4P_MoveSpline: The transition mode is invalid.
21349 PositionOutsideSWLimitsMainAxisX_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of main axis X.
21350 PositionOutsideSWLimitsMainAxisY_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of main axis Y
21351 PositionOutsideSWLimitsMainAxisZ_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of main axis Z
21352 PositionOutsideSWLimitsMainAxisA_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of main axis A
21353 PositionOutsideSWLimitsMainAxisB_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of main axis B
21354 PositionOutsideSWLimitsMainAxisC_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of main axis C
21355 NoValidRotationVelocity_MoveSpline L_MC4P_MoveSpline: Selection of an invalid rota-
tional speed (axes group parameter)
21356 NoValidRotationAcceleration_MoveSpline L_MC4P_MoveSpline: Selection of an invalid rota-
tional acceleration (axes group parameter)
21357 NoValidRotationJerk_MoveSpline L_MC4P_MoveSpline: Selection of an invalid rota-
tional 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 Interme-
diatePoints do not lead to a valid spline
21361 PositionOutsideSWLimitsRealAxis1_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of drive axis 1
5 Error handling
5.2 Error messages
________________________________________________________________

21367 PositionOutsideSWLimitsAuxAxis1_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of auxiliary axis
1
2
3
4
5
6
21373 PositionTransformationError_MoveSpline L_MC4P_MoveSpline: Transformation error in Inter-
mediatePoint or EndPoint
21374 PositionOutsideSWLimitsPassiveJoints_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point violates the SW limit positions of the passive
joints
21375 PositionSingularPos_MoveSpline L_MC4P_MoveSpline: IntermediatePoint or End-
Point lies in a singularity
21376 ConcurrentTorquePreControl A second instance of a feedforward control module is
trying to calculate torques for the axis although an-
other 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 con-
tain an instance of
L_MC4P_AxesGroupBasicControls.
21379 ParameterLimitsNotSufficient L_MC4P_DynamicParIdent: Maximum values are
specified, but no minimum values (or vice versa).
21380 SetValueManipulationNotSupported L_MC4P_DynamicParIdent: Setpoint filters are not
supported 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 greater than the upper position limit.
5 Error handling
5.2 Error messages
________________________________________________________________

21382 DynamicParameterNotPlausible L_MC4P_DynamicParIdent und
L_MC4P_GroupTorquePreControl: The values
present at the itfDynamicPar interface input or in the
axes group parameters 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 er-
ror with regard to the units).
21383 ConvergenceNotSufficient Identification has failed. The convergence of the pa-
rameter 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 accelera-
tion limits do not allow for a trajectory that is ca-
pable of adequately stimulating all system
parameters.
• The limits of itfDynamicParMin and itfDynam-
icParMax 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 output.
• The corresponding Ident FB has not been execut-
ed 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 parame-
ter identification.
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 proc-
ess is impermissible.
22036 ClutchIsReversing Change in direction of the clutch is required.
5 Error handling
5.2 Error messages
________________________________________________________________

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
corresponding axis is coupled to a master axis.
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)

25
Access points in the signal flow 32
Implement L_TT1P_TechnologyModules_LM function library
Activating/deactivating the technology module 28
25
Application Credit (licence for Lenze FAST) 15
Implementing a technology module 26
Application Credit (SD licence card) 16
Implementing L_TT1P_... technology module 26
Application Credit calculation 15
Internal Control (operation of the technology modules) 27
Application Credit is not sufficient (test mode) 17
Application examples 5 L
Application notes (representation) 9
L_IE1P_Error 37
Application template (FAST) 19
L_TT1P_... Activating/deactivating the technology module 28
L_TT1P_scErrorInfo 36
C
L_TT1P_scErrorInfo error information structure 36
Calculation of the Application Credit 15
L_TT1P_TechnologyModules_LM 24
Commissioning with the L_MC1P_AxisBasicControl function
L_TT1P_TechnologyModules_LM function library 24
block 30
Licence card with "Application Credit" 16
Conditions 12
Licence for Lenze FAST (Application Credit) 15
Conventions used 7
Licence insufficient (Application Credit is not sufficient) 17
D Limit switches (hardware) 31
Deleting or renaming FAST software modules 17
Deleting or renaming instances of the FAST software modules
M
17 Motion functions (overview) 34
Document history 6
N
E Notes used 9
E-mail to Lenze 77
Enable axis 28
O
Enabling of the axis 28 Operating technology modules 27
Error 35 Operation of the Lenze Controller in test mode 17
Error handling 35 Operation of the technology modules (Internal Control) 27
Error messages of the FAST modules/technology modules 37
Error output 35
R
Resetting an error 74
Error response 35
Error sources 35
S
Establishing communication with the controller 13
Safety instructions 10
F Safety instructions (representation) 9
Screenshots 5
FAST Application Template 19
SD card/licence card with "Application Credit" 16
FAST components 14
Signal flow diagrams 32
FAST Motion 33
Stop function 29
FAST Motion functions (overview) 34
System requirements 12
FAST technology modules 20
FAST technology modules (overview) 21
T
Feedback to Lenze 77
Target group 5
First commissioning with the L_MC1P_AxisBasicControl
function block 30 Technology modules (FAST) 20
Technology modules (overview) 21
H Terms 8
Hardware limit switches 31 Test mode (identification) 18
Holding function 29 Test mode of the Lenze Controller 17
I V
Identification of the test mode 18 Validity of the documentation 5
Index
________________________________________________________________
W
Warning 35
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
77
FAST & Technology modules · Reference Manual · SHGFAST-TM · 13565863 · DMS 5.0 EN · 02/2019 · TD29
Lenze Automation GmbH

Postfach 10 13 52, 31763 Hameln
Hans-Lenze-Straße 1, 31855 Aerzen
Germany
HR Hannover B 205381
+49 5154 82-0
+49 5154 82-2800
sales.de@lenze.com
www.lenze.com
Service
Lenze Service GmbH
Breslauer Straße 3, 32699 Extertal
Germany
008000 24 46877 (24 h helpline)
+49 5154 82-1112
service.de@lenze.com

FAST - Technology Modules - v5-0 - EN

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

FAST - Technology Modules - v5-0 - EN

Încărcat de

Drepturi de autor:

Formate disponibile

Application Software

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

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

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 77

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

The Lenze engineering tools are available for download at:

1.1 Document history

1.2 Conventions used

Type of information Highlighting Examples/notes

1.3 Terminology used

1.4 Notes used

 Pictograph and signal word!

Pictograph Signal word Meaning

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)

4.1.3.1 Operation of the Lenze Controller in test mode

Termination of the test mode

4.1.3.2 Identification of the test mode

Status LEDs of the Controllers

LED Interval Meaning

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

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