ASCII Object Reference 

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Appendix 

Glossary 

Bode Plot 

Resonance analysis function 

Clock 

clock signal 

Counts 

internal count pulses, 1 pulse = 1/220 turn-1 

Current controller 

regulates the difference between the current setpoint and the actual current to 0. Output: power-output voltage 

DC-link (bus) voltage 

rectified and smoothed power voltage 

Disable 

removal of the ENABLE signal (see Enable) 

EEPROM 

electrically erasable memory in the servo amplifier, data that are stored in the EEPROM are not lost if the auxiliary voltage is switched off 

Enable 

Enable signal for the servo amplifier, Hardware-Enable with 24V signal to X3, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the amplifier. 

speed limit 

maximal value for the speed normalization at ±10 V 

GRAY-code 

a special way of representing binary numbers 

Holding brake 

a brake in the motor, that can only be applied when the motor is at standstill 

I²t threshold 

monitoring of the r.m.s. current that is actually drawn 

Ipeak, peak current 

the r.m.s. value of the pulse current 

Irms, r.m.s. current 

the r.m.s. value of the continuous current 

KP, P-gain 

proportional gain of a control loop 

Limit-switch 

to limit the range of movement of the machine; implemented as an n.c. (break) contact 

Machine 

the total assembly of parts or devices connected together, of which at least one is movable. 

Monitor output 

output of an analog measurement 

Motion block 

a packet of data containing all the position parameters required for a motion task 

P controller 

a control loop that has purely proportional response 

Phase shift 

compensation for the lag between the electromagnetic and the magnetic field in the motor 

PID controller 

control loop with proportional, integral and differential response 

Position controller 

regulates the difference between the position setpoint and the actual position to 0. Output: speed setpoint 

RAM 

volatile memory in the servo amplifier. Data that are stored in the RAM are lost when the auxiliary voltage is switched off. 

Regen circuit 

converts regenerative energy that is fed back by the motor, during braking, into heat in the regen resistor. 

Reset 

new start of the microprocessor 

Reversing mode 

operating with a periodic change of direction 

ROD interface 

incremental position output (A quad B) 

Speed controller 

regulates the difference between the speed setpoint SW and the actual speed to 0. Output: current setpoint 

SSI interface 

cyclically absolute, serial position output 

Setpoint ramps 

limiting of the rate of change of the speed setpoint value 

Tn, integration time 

integral component of the control loop 

Zero pulse/mark 

is produced by incremental encoders, once per turn, used to zero the machine 


Related Documents 

All the documents listed below can be found on the Product CDROM and downloaded from the File Selector

Manuals 


Errors 

Any errors that occur are shown in coded form by an error number (see ERRCODE) in the LED display on the front panel.  Additional information coded with "ixx" are shown for faults with an asterix "*" in the table below (ERRCODE2). 

The servo amplifier reaction depends on the fault and on the setting of parameter ACTFAULT.
Faults can be reset by hardware reset of the servo amplifier or depending on the fault (see
ERRCODE) by ASCII command CLRFAULT

Notes for cause and remedy see Trouble Shooting

Code 

Explanation 

 

Status Message 

DC-Link voltage ok. Amplifier is enabled. 

Status Message 

DC-Link voltage ok. Amplifier is disabled. 

. . . 

Status Message 

Amplifier is updating the startup configuration 

Status Message 

Status message, no error, programming mode 

- S - 

Status Message 

STO-Enable input is 0V (with disabled drive only) 

888 

Status Message 

FPGA program not loaded 

nd0 

Status Message 

Non Dual Use Firmware (labelled with “_ND0") is used. 

nd1 

Status Message 

An AL-3A225 (ECCN 3A225) export classified Dual Use Firmware (labelled with “_ND1") is used. 

CCC 

Memory Card 

Access problems memory card 

dUF 

Dual Use Firmware 

An AL-3A225 (ECCN 3A225) export classified firmware cannot be uploaded to a non Dual Use amplifier. A firmware labelled with “_ND0" must be used. 

F01 

Heat Sink Temperature 

Heat sink temperature too high  (default: 80°C) 

F02 

Overvoltage 

Overvoltage in DC bus link. Limit depends on the electrical supply voltage 

F03 

Following Error 

Message from the position controller 

F04* 

Feedback 

Cable break, short-circuit, short to ground 

F05 

Undervoltage 

Undervoltage in DC bus link  (default: 100 V) 

F06 

Motor Temperature 

Motor temperature too high or temp. sensor defect 

F07* 

Internal Voltages 

Internal supply voltages not ok 

F08 

Overspeed 

Motor runs away, speed is too high 

F09 

EEPROM 

Checksum error 

F10 

Reserved 

Reserved 

F11 

Brake 

Cable break, short-circuit, short to ground 

F12 

Motor Phase 

Motor phase missing (cable break or similar), in process 

F13 

Ambient Temperature 

Ambient temperature too high 

F14* 

Output Stage 

Fault in the power output stage, also with wrong motor cable or insufficient cable shielding 

F15 

I²t max. 

I²t maximum value exceeded 

F16 

Mains BTB/RTO 

2 or 3 phases missing in the mains supply feed 

F17 

A/D Converter 

Error in the analog-digital conversion, normally caused by extreme electromagnetic interference 

F18* 

Brake Circuit 

Brake circuit faulty or incorrect setting 

F19 

DC Bus Link 

DC bus link breakdown 

F20* 

Slot Error 

Slot error, depends on the type of expansion card (see ASCII object reference, ERRCODE

F21 

Handling Error 

Handling error on the expansion card 

F22 

Reserved 

Reserved 

F23 

CAN-Bus Off 

Severe CAN bus communication error 

F24 

Warning 

Warning is displayed as fault 

F25* 

Commutation Error 

Commutation error 

F26 

Limit Switch 

Hardware limit switch error on homing move 

F27 

STO 

Operational error with STO , input for STO-Enable  and ENABLE have been set at the same time 

F28 

Fieldbus Error 

Synchronization error (see ASCII command reference, ERRCODE

F29* 

Fieldbus Error 

Communication expansion card / fieldbus disturbed (see ASCII command reference, ERRCODE

F30 

Emergency Timeout 

Timeout emergency stop 

F31 

Safety Card Error 

Safety Errorcode (see file "Safety Card Error Codes" from  Download page File Selector):
oXX : Safety error number
iYY : Safety error subindex
 

F32* 

System Error 

System software not responding correctly 


Warnings 

Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO contact remains closed), are indicated in the LED display on the front panel by a coded warning number. 

Some warning messages result in a controlled shut-down of the drive (braking by emergency stop ramp).
The servo amplifier reaction depends on the warnin(see STATCODE). 

Notes for cause and remedy see Trouble Shooting

Number 

Designation 

Explanation 

Status Message 

DC-Link voltage ok. Amplifier is enabled. 

Status Message 

DC-Link voltage ok. Amplifier is disabled. 

. . . 

Status Message 

amplifier is updating the startup configuration 

Status Message 

status message, no error, programming mode 

- S - 

Status Message 

STO-Enable input is 0V (with disabled drive only) 

888 

Status Message 

FPGA Programm nicht geladen 

nd0 

Status Message 

Non Dual Use Firmware (labelled with “_ND0") is used. 

nd1 

Status Message 

An AL-3A225 (ECCN 3A225) export classified Dual Use Firmware (labelled with “_ND1") is used. 

n01 

I²t 

I²t threshold exceeded 

n02 

regen power 

reached preset regen power limit 

n03 

S_fault 

exceeded preset following error limit 

n04 

response monitoring 

response monitoring (fieldbus) has been activated 

n05 

supply phase 

mains supply phase missing 

n06 

SW limit switch 1 

passed software limit switch 1 

n07 

SW limit switch 2 

passed software limit switch 2 

n08 

motion task error 

a faulty motion task was started 

n09 

no reference point 

no reference point (Home) set at start of motion task 

n10 

PSTOP 

PSTOP limit-switch activated 

n11 

NSTOP 

NSTOP limit-switch activated 

n12 

motor default values loaded 

only for ENDAT or HIPERFACE® :
discrepancy between motor number saved in the encoder and the amplifier, motor default values loaded 

n13 

expansion card 

24V DC supply for I/O expansion card not ok 

n14 

SinCos feedback 

SinCos commutation (wake & shake) not completed, will be canceled when amplifier is enabled and wake & shake carried out 

n15 

Reserve 

Reserve 

n16 

summarized warning 

summarized warning for n17 to n31 

n17 

fieldbus-sync 

CAN sync is not logged in 

n18 

multiturn overflow 

max. number of motor turns exceeded 

n19 

motion task ramps are limited 

range overflow on motion task data 

n20 

invalid motion task 

invalid motion task 

n21 

PLC program error 

for details see PLC code 

n22 

max. motor temperatur reached 

the user can shut down the process before the motor temperature error will interrupt the process immediately 

n23 

Sin Cos feedback 

warning level reached 

n24 

Digital I/O 

configuration is not logical 

n25-n31 

Reserve 

Reserve 

n32 

firmware beta version 

firmware is an unreleased beta version 


Trouble Shooting 

There may be a wide variety of reasons for the fault, depending on the conditions in your installation.
In multi-axis systems there may be further hidden causes of a fault. 

0notice_36.JPG  

Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by qualified and trained staff. 

Our customer service will assist in case of issues not listed below. 

Help with Faults 

Display 

Meaning 

Possible causes 

Measures/ explanation 

HMI message:
Communication fault 

Wrong cable used 

Use null-modem cable 

Cable plugged into wrong position on servo amplifier or PC 

Plug cable into the correct sockets on the servo amplifier and PC 

Wrong PC interface selected 

Select correct interface 

F01 

Heat Sink Temperature 

Heat sink temperature too high 

Max. value MAXTEMPH adjusted by manufacturer to 80°C. Decrease ambient temperature. 

Amplifier contaminated 

Check / blow out ventilation slots. Use air filters. 

Fan defective / non-contacted 

Check the air flow / fan noise; if defective, send the amplifier to the manufacturer for repair. 

Value MAXTEMPH  too small 

Range 20 .. 85°C, default 80°C 

No air flow due to restricted installation 

Conversion of the switchgear cabinet. Install an air-conditioning unit. 

Hardware faulty 

Return the servo amplifier to manufacturer for repair 

F02 

Overvoltage in DC Bus Link 

 

Max. value depends on the set mains voltage 

Regen energy too high 

"n02" displayed beforehand. Possibly use an external braking resistor or, in the case of multiple amplifiers, connect DC links. 

Mains voltage set too low 

Set the mains voltage correctly on the Basic Setup screen page 

Regen resistor configured incorrect 

Set the details for the internal or external braking resistor correctly on the Basic Setup screen page 

Regen resistor wired incorrect 

Check the wiring (see Instructions Manual). Internal braking resistor: Bridge must be present on the connector! External braking resistor: Bridge must be removed from the connector! 

Fuse in regen resistor defect 

Replace fuse 

Braking ramps too short 

Extend the braking ramps on the Velocity Loop screen page 

DC Bus not linked to other amplifiers 

In the case of multiple amplifiers from the same family, connect the DC links (see Instructions Manual) 

F03 

Following error message of the position controller (in  OPMODE 5 or 6 only) 

Axis is mechanically tight or blocked 

Check the mechanical system 

Inadequate torque for the ramps set 

Travel along flatter ramps (ACC, DEC

Ramps in the speed controller are longer than ramps in the position controller 

Lower the acceleration ramp (ACC) and braking ramp (DEC) in the speed controller 

Amplifications set too low. Axis is too undynamic 

Adjust the amplification. Velocity Loop and possibly Position Loop screen pages 

Amplifications set too high. Axis oscillates. 

Adjust the amplification. Velocity Loop and possibly Position Loop,  screen pages, insert a filter 

IPEAK  (maximum current) too low 

Enlarge the following error window (Position Data  screen page) or use a larger amplifier / motor, increase  IPEAK . 

F04 

Feedback 

Short circuit, short to ground 

Check the feedback cable 

Encoder defective 

Exchange encoder / motor 

Contacts in connector not OK 

Check contacts 

Incorrect feedback set 

See FBTYPE 

Incorrect / defective feedback cable 

Check cable (particularly critical in the cable trailing device) 

Incompatible feedback 

See FBTYPE 

Poorly shielded cables 

Use suitable cables (see Instructions Manual) 

Feedback cable is too long 

Adhere to the max. permissible cable length (see Instructions Manual) 

Coupling fault signals 

Check shielding, ensure compliance with the minimum spacing between the power cables and the signal connections (see Instructions Manual) 

F05 

Undervoltage 

Mains contactor not connected 

Wiring / Emergency stop / Control logic / ... 

Switch-on sequence not complied with 

First of all switch on the power contactor which is connected via the BTB contact. Then switch the enable signal on approx. 0.5s later 

Emergency stop has cut off the mains voltage 

Operator information 

VBUSMIN parameter set too low. 

Adjustment of the parameter, e.g. in 48VDC applications. 

The monitor has to be switched off in some applications with UVLTMODE 

Example: Positioning the axis in the event of mains failure. 

F06 

Motor Temperature 

Motor overheating 

Incorrect motor parameters / Poor cooling 

Defective temperature sensor 

Measure the sensor resistance.
Switch:
low temperature: switch closed
high temperature: switch open.
PTC thermistor:
low temperature: low resistance
high temperature: high resistance 

Connector on the feedback unit loose or feedback cable interrupted 

Connector / cable control 

Motor without a temperature sensor 

Installation of a bridge in the connector 

Cutoff threshold for the temperature sensor is set too low 

Set the MAXTEMPM  parameter (to the cutoff threshold, see parameter description) 

Amplifier defective 

Bridge the temperature contact for testing at the resolver or SinCos interface 

Unused thermostatic switch / element 

Contact Customer Support 

F07 

Internal Voltages faulty 

External short circuit or overload on a power supply voltage 

Disconnect all the connectors apart from 24V and check whether the error occurs again when you switch on 

24V undershot for amplifier logic 

Adhere to the tolerance criteria for the 24V voltage supply (see Instructions Manual) 

Motor brake with excess current consumption. 

Adhere to the maximum motor brake current (see Instructions Manual); supply brake with external voltage. 

Hardware faulty 

Return the servo amplifier to manufacturer for repair 

Feedback system with excess current consumption. 

Contact Customer Support 

F08 

Overspeed 

Speed in excess of permissible limit 

Check the VOSPD  (limit speed) and raise it, if necessary. 

Speed in excess of permissible limit 

Reduce overswing by assigning amplification parameters 

Feedback cable is defective 

(Possibly check by shaking the cable) Replace the cable 

VLIM  too low 

When a new motor is loaded, quicker motors with a max. of only 3,000 rpm are also entered. The end speed and overspeed have to be adapted for higher speeds. 

Motor vibrates. 

Parameter adaptation 

Tables of motion tasks with a time base which is too low. 

Increase target times or use a motor with a higher nominal speed 

Feedback on the incorrect motor inserted. 

Check and correct assignment 

Motor phases inverted 

Check the pin assignment 

Feedback incorrectly set 

Set angle offset correctly (MPHASE

F09 

EEPROM Checksum Error 

Amplifier switched off during the storage process 

Re-enter parameters and save them 

Manually changed parameter record loaded with lower-case lettering. 

Change the lower-case lettering to upper case 

Hardware faulty 

Return the servo amplifier to manufacturer for repair 

F10 

Cable brake at X5 

Connector / cable problem 

Check connectors / cables. 

Monitor in the slave responds too soon after a restart 

Set the parameter SDLY to 8,000. (FW 1.31 or higher) 

No differential-mode voltage signals used 

Signal sources must switch between –5V and 5 V, not between 0V and 5V. 

F11 

Cable brake motor brake 

Short circuit, short to ground 

Replace the cable 

Motor cable without brake wires 

Connect the right motor cable 

Motor without a brake 

Set MBRAKE to 0 

Motor brake current consumption too low. 

Raise current consumption to a minimum of 150mA (e.g. through parallel resistors). 

Hardware faulty 

Return the servo amplifier to manufacturer for repair 

F12 

Motor Phase 

Shield on the motor cable is badly attached or missing 

Check the shield connections 

Strong external EMC interference 

Additional design of motor shields on the mounting plate of the switchgear cabinet. 

Motor cable capacity is too high 

Use a motor choke / Shorten the cable /  Use cables 

Installed motor contactor does not switch on time. 

Check contactor 

Installed motor contactor has burnt contacts. 

Check contactor 

Hardware faulty 

Return the servo amplifier to manufacturer for repair 

Motor connector not plugged in the servo amplifier or motor. 

Check connector 

F13 

Ambient Temperature too high 

Ambient Temperature too high 

Use a cooling device 

Detection faulty (usually combined with F17) 

Return the servo amplifier to manufacturer for repair 

Cutoff threshold is too low 

Increase TEMPE 

Switchgear cabinet is too warm. 

Use a cooling device 

F14 

Output Stage 

Short circuit in the motor cable 

Replace motor cable 

Output stage faulty 

Return the servo amplifier to manufacturer for repair 

Insulation fault in the motor 

Conduct measurements with an ohmmeter between the motor phases: must be symmetrical. Measure the motor phases to the PE; it must be unending. If there is a high-voltage tester available, use it to measure the motor phases to PE. 

Motor contactor does not switch on time. 

Check the switching sequence 

Motor contactor has burnt contacts. 

Replace motor contactor. 

F15 

I²t maximum value exceeded 

Drive is mechanically tight 

Check mechanical system, use a larger amplifier/motor 

Sine² ramps 

Extend the acceleration/braking ramps (ACC, DEC

Incorrect design 

Contact Customer Support 

Incorrect phase angle between feedback and magnet elements in the motor.  

Correct the MPHASE , possibly reset with ZERO

Ramps are too steep 

Extend the acceleration/braking ramps (ACC, DEC

Intervals are too short 

Extend the recovery intervals between motion tasks (Motion Tasks screen page) 

Vibration in the current controller 

Adjust the amplification of the MLGQ and the  KTN reset time 

Motor has an inter-turn fault (only in the case of a partial short circuit) 

Replace motor 

F16 

Mains BTB - 1, 2 or 3 phases of the in-feed missing 

Three-phase operation is set in the case of a single-phase in-feed. 

Check setting on screen page Basic Setup 

Phases missing from in-feed. 

Check wiring/fuses/main contactor 

Special settings are required for a DC in-feed. 

Contact Customer Support 

Amplifier enabled even though they was no mains voltage 

Amplifier only enabled when the mains voltage is switched on (comply with switch-on sequence) 

F17 

A/D converter error 

Strong electromagnetic interference 

Reduce EMC interference; check shielding and earthing. Mount devices which generate electrical fields further away from the amplifier. 

Hardware faulty 

Return the servo amplifier to manufacturer for repair 

F18 

Regen Circuit 

Regen resistor extern selected, but the internal one is used. 

Check setting on screen page Basic Setup 

Destroyed regen transistor 

Return the servo amplifier to manufacturer for repair 

F19 

DC Bus Link
(can be switched off for operation with two phases mains) 

There is no voltage at the power terminals. 

Check and switch on power supply 

Voltage level is incorrectly configured. 

Adapt VBUSMIN 

Excessive load on the DC link during acceleration in combination with a soft voltage source (isolation transformer) 

Adapt parameters or hardware 

F20 

Slot Error 

Hardware error and the expansion card 

In the case of expansion card I/O-14/08, check the card's external power supply unit 

Incorrect PROFIBUS card 

Contact Customer Support 

Firmware does not support the card which is inserted. 

Contact Customer Support 

Card is not inserted correctly 

Remove the card and insert a new one and tighten it, following the instructions in the Instructions Manual. 

Power consumption of the plug-in card is too high. 

Contact Customer Support 

POS I/O card not initialized 

Terminal: enter CALCPOSIO 

F21 

Handling Error 

Software error on the expansion card 

Contact Customer Support 

Plug-in card not permitted 

Contact Customer Support 

F22 

Reserved 

Reserved 

 

F23 

CAN Bus 

Severe CAN bus communication error. 

Check CAN cable and controller 

F24 

Warning 

Warning is displayed as fault 

With the WMASK parameter you can read out which warning(s) are evaluated as errors. On the basis of this information, refer to the list of warning messages. The LASTWMASK parameter indicates which warning last led to F24. 

F25 

Commutation error (motor may have oversped) Power vector and motion are in reverse. 

Wiring error in motor phases 

Test motor cable fully – Adapt DIR 

Wiring error on feedback cable 

Check direction of rotation in the monitor window, test feedback cable fully – Adapt DIR 

Internal clearance / oscillation of the mechanical system 

Examine mechanical system and align it, if necessary 

Monitor is too sensitive 

Raise VCOMM (VCOMM  = MSPEED means minimum sensitivity) 

Motor cable / feedback cable from another motor plugged in. 

Check and correct amplifier-motor assignment. 

Offset too high 

Check resolver pole number (MRESPOLES), motor pole number (MPOLES) and offset (MPHASE

Wake&Shake failed 

Perform Wake&Shake 

F26 

Limit switch
Homing error 

 

Hardware Limit Switch reached (defined by REFLS

Cable brake (limit switches) 

Check cable 

Limit switches connected do not belong to the axis. 

Check and correct limit switch-axis assignment. 

No limit switches connected. 

Disable input functions (Digital I/O screen page) 

Limit switches inverted. 

Assign PSTOP and NSTOP correctly to the inputs (Digital I/O screen page) 

F27 

STO error 

The  STO-enable was switched at the same time as or later than the amplifier-enable. 

Consider Switch-On sequence (see Instructions Manual) 

Cable fault (STO wiring) 

Check wiring, measure cable-resistance. 

F28 

Fieldbus, ext. trajectory 

"External trajectory" error is generated if the setpoint jump exceeds the maximum permissible value when the external position trajectory is specified. 

Adaptation of the specified values (VLIM / PVMAX

EtherCAT: The "synchronization" error is generated if the drive cannot be synchronized during phase ramp-up or if the drive loses its synchronization in EtherCAT "Operational" state. 

Check EtherCAT system. 

F29 

Expansion card 

Software Enable set without Hardware Enable 

Set Hardware Enable first 

Software Enable set but mains voltage switched off 

Switch on mains voltage first 

Expansion card not supported by firmware (e.g. customer specific firmware). 

Upgrade firmware 

Feldbus synchronization via expansion card not successful 

Check performance of fieldbus master 

EtherCAT 

CLRFAULT although fault requires a COLDSTART. This is an error only, if parameter SERCSET bit 0x00080000 is "1". 

Enter COLDSTART in the terminal screen 

Selected mapping number not valid. 

Select valid mapping number 

Mapping length faulty 

Check mapping length 

SYNQNET 

Set point applied while n14 - Wake&Shake is present 

Apply set point after W&S procedure has ended 

Phase Start Time Out finished (between Phases 3 and 4) 

Check network structure 

„Upcount Lifetime counter“ finished 

 

Peercop Timeout finished 

 

SERCOS 

Fiber optic cable broken 

Replace fiber optic cable 

MST error 

Check SERCOS Master 

Not allowed interrupt 

Check programming 

Internal SERCOS error (unknown ASIC version) 

Check hardware 

Invalid SERCOS mode 

 

F30 

Emergency Stop Timeout 

Default 5.000ms 

 

Motor doesn't stop in the set time. 

Brake ramp too long 

Decrease DECSTOP 

Peak current set too small 

Increase IPEAK 

Brake time too short 

Increase EMRGTO 

Amplifier too small 

Select servo amplifier with higher rated/peak current 

F31 

Safety Card Error 

Safety card response supervision 

Safety Errorcode (see file Safety Card Error Codes on our download page File Selector):
oXX : Safety Error Number
iYY : Safety Error Subindex  

Check error code of the safety card  (see file Safety Card Error Codes on our download page File Selector

F32 

System error, System software doesn't work correctly 

Processor overloaded 

Too many stations in the network/Baud rate too high/Functions too complex (PLC) 

Hardware faulty 

Return the servo amplifier to manufacturer for repair 


Help with Warnings 

Display 

Meaning 

Possible causes 

Measures/ explanation 

n01 

I²t treshold exceeds the set limit value I2TLIM

Mechanical system is tight 

Check the mechanical system 

Amplifier dimensions too low 

Use an amplifier with a higher current 

Motor dimensions too low 

Use a motor with a higher current 

Driving profile is too aggressive 

Define recovery times 

n02 

Brake power exceeds the set limit value PBALMAX

Incorrect brake power set 

Check setting 

Internal brake resistance too low 

Use external brake resistance, extend braking ramps (DEC / DECSTOP

n03 

Following error exceeds the set limit value PEMAX

Mechanical system is tight 

Check the mechanical system 

Amplifier dimensions too low 

Use an amplifier with a higher current 

Driving profile is too aggressive 

Define recovery times, extend ramps 

Following error set too low 

Check setting 

n04 

Fieldbus communication monitor has responded (EXTWD). 

During commissioning: no fieldbus connected 

Disable watchdog temporarily (EXTWD = 0) 

In operation: communication problem 

Check bus installation 

n05 

One of the three mains phases is missing 

 

Check the mains connection, fuses and mains contactor 

n06 

Position setting for software limit switch 1 (SWE1 ) has been undershot 

Axis has been moved beyond the position which has been configured as the end position 

Check the position of the axis and setting of the software limit switch 

n07 

Position setting for software limit switch 2 (SWE2) has been exceeded 

Axis has been moved beyond the position which has been configured as the end position 

Check the position of the axis and setting of the software limit switch 

n08 

Defective motion task 

Commenced motion task does not exist (checksum is defective) 

Create a new motion task 

Target position lies outside the permissible range 

Check software limit switches and target positions 

Defective acceleration values 

Check units and numerical values 

OPMODE does not support the function 

Set correct OPMODE 

n09 

No reference point 

No reference point set when a motion task is started. 

Perform homing or set reference point 

n10 

Hardware Limit Switch PSTOP 

Positive limit switch has responded 

Move the axis in a negative direction from the limit switch 

Limit switch not connected 

Change the parameterization of digital I/Os or connect the limit switch 

Limit switch sensor has incorrect logic. 

Insert break contacts as limit switches (instead of make contacts). 

n11 

Hardware Limit Switch NSTOP 

Negative limit switch has responded 

Move the axis in a positive direction from the limit switch 

Limit switch not connected 

Change the parameterization of digital I/Os or connect the limit switch 

Limit switch sensor has incorrect logic. 

Insert break contacts as limit switches (instead of make contacts). 

n12 

Motor default values loaded 

Motor numbers stored in the encoder and amplifier do not match the parameters that have been set 

SAVE motor number to the EEPROM and with HSAVE to the encoder. 

n13 

Expansion card 

24V supply for the I/O expansion card missed 

Check wiring and 24V power supply 

n14 

SinCos-Feedback 

SinCos commutation (wake&shake) not completed 

ENABLE the amplifier 

n16 

Summarized Warning 

Summarized warning for n17 to n31 

See warning # 

n17 

Feldbus Sync 

CAN sync is activated, but is not sent synchronously from the controller, if at all. 

Check fieldbus settings 

n18 

Multiturn overflow 

More than +/-2048 revolutions counted with the multiturn encoder connected 

Ignore or disable monitoring with DRVCNFG Bit7=1 

Move motor to encode position 0 prior to installation 

n19 

Motion task ramps have been limited 

Permissible value range exceeded by the process block data 

Check the process block data 

n20 

Invalid motion task 

 

Check the data from the last process block started. Also determine the process block number with MOVE

n21 

Warning by PLC Program 

Only in the macro program in the servo amplifier 

Application-specific 

n22 

Max. motor temperature reached 

Alarm threshold setting exceeded, motor overloaded 

Check the motor temperature. 

Mechanical system is tight/blocked 

Check the mechanical system 

n23 

Sine-Cosine Encoder 

Signal amplitude is too low 

Check the signal amplitude, possibly re-measure with an oscilloscope 

n24 

Digital Inputs 

Illogical configuration 

Undo the last configuration change 

n32 

Firmware Beta Version 

For testing reasons only 

No warranty by the manufacturer for error free functionality 


Help with other problems 

The situations listed below are not necessarily monitored by a message. 

Problem 

Possible causes 

Measures 

Motor does not rotate 

Servo amplifier not enabled 

Apply ENABLE signal 

Software enable not set 

Set software enable 

Break in setpoint cable 

Check setpoint cable 

Motor phases swapped 

Correct motor phase sequence 

Brake not released 

Check brake control 

Drive is mechanically blocked 

Check mechanism 

Motor pole no. set incorrectly 

Set motor pole no. 

Feedback set up incorrectly 

Set up feedback correctly 

Motor oscillates 

Gain is too high (speed controller) 

Reduce Kp~GV (speed controller) 

Feedback cable shielding broken 

Replace feedback cable 

AGND not wired up 

Join AGND to CNC-GND 

Drive too soft 

Kp~GV  (speed controller) too low 

Increase Kp~GV (speed controller) 

Tn~GVTN (speed controller) too high 

Use motor default value for Tn~GVTN (speed controller) 

ARLPF / ARHPF too high 

Reduce ARLPF / ARHPF 

ARLP2 too high 

Reduce ARLP2 

Drive runs roughly 

Kp~GV (speed controller) too high 

Reduce Kp~GV (speed controller) 

Tn~GVTN (speed controller) too low 

Use motor default value for Tn~GVTN (speed controller) 

ARLPF / ARHPF  too low 

Increase ARLPF / ARHPF 

ARLP2  too low 

Increase ARLP2 

Axis drifts at
setpoint = 0V
 

Offset not correctly adjusted for analog setpoint provision 

Adjust offset (analog I/O) 

AGND not joined to the controller-GND of the controls 

Join AGND and controller-GND