Controller

Code	Meaning	Measure
16#7801	Lag error outside the lag error window.	Select a larger lag error window. Adjust the P gain of the position controller. Adjust zero backlash/stiffness. Check the mass inertia of the load.
16#7803	Encoder position not valid. Check the external encoder.	Check wiring. Wrong bit selected in "Take account of external encoder". In status word 2, bit 12 is not assigned the status "Encoder 2/encoder status/fault"
16#780A	Skew error outside the skew error window.	Select a larger skew error window. Adjust the P gain of the control function. Check for correct setting of the encoder source for skew.
16#780B	"Encoder 2 referenced" must be selected for bit 13 in status word 1.	Assign the value "Encoder 2 referenced" to bit 13 in status word 1.
16#780C	Wrong actual position source selected. The actual position source must be set to encoder 1 for inverter "XYZ".	Select the motor encoder for position control in the drive train and deselect the distance encoder in the XYZ inverter.
16#780D	External encoder activated on a double axis. Associated group member: X	For inverter X, deselect the corresponding bit for "Take account of external encoder".
16#780E	No external encoder considered.	Select the bit "Take account of external encoder" for an inverter. In the encoder evaluation, select an encoder source without external encoders. Select an encoder source without external encoder in the control function for skewing or overload guard.
16#780F	Combined encoder evaluation was not activated.	Activate combined encoder evaluation. In the encoder evaluation, select an encoder source that does not contain a combination of two different encoder types.
16#7811	Too many axis group members were declared as belonging to the same group.	Check that the number of associated axis group members corresponds to the number of connected members.
16#7813	Not enough external encoders were considered.	Check that the number of external encoders taken into account corresponds to the number of associated axis group members. Select an encoder source without external encoder in the control function for skewing or overload guard.
16#7817	The torque ratios of all members are 0.	In the "MultiAxisController control function" configuration menu, select a torque ratio > 0 for at least one member. Check the data words for load distribution in the fieldbus interface.
16#7818	The lifting axis setpoint position for anti-sway control is not initialized in the lifting axis.	Use enable signals to release lifting axis once after starting the MOVI-C^® CONTROLLER.
16#7882	Access request not successful. Deactivate access of the subordinate group member.	Terminate access of the lower-level member (single axis/axis group) in the UserInterface or HMI.
16#7885	Readjustment can only be used for a reference travel type with limit switches.	Deactivate readjustment. Modify the reference travel type.
16#7886	Readjustment can only be used with 2 members.	Deactivate readjustment.
16#788A	License missing for "MOVIKIT^® MultiAxisController add-on Cascading". Please purchase the missing license or activate the add-on in MOVISUITE^® under "Functions used".	Activate the missing license in the License Manager. In MOVISUITE^®, select the function used on the "Basic settings" page.
16#788B	License missing for "MOVIKIT^® MultiAxisController add-on FourAxes". Please purchase the missing license or activate the add-on in MOVISUITE^® under "Functions used".	Activate the missing license in the License Manager. In MOVISUITE^®, select the function used on the "Basic settings" page.
16#788C	License missing for the "TorqueSkewing" operating mode. Please purchase the missing license or activate it in MOVISUITE^® under "Functions used".	Activate the missing license in the License Manager. In MOVISUITE^®, select the function used on the "Basic settings" page.
16#788D	Wrong operating mode selected in MOVISUITE^® for the MultiAxisController. Check the operating mode and control functions set under "Functions used".	In MOVISUITE^®, check the function used on the "Basic settings" page. In MOVISUITE^®, check the priority type set under control functions.
16#788E	Timeout in parameter channel in the step: "E_ParameterState"	Check the external encoders taken into account to ensure that they match your wiring.
16#788F	All group members must be activated for referencing. Associated group member: X	Activate member X for referencing as an associated member.
16#7891	Limit switches swapped during referencing.	Check wiring of hardware limit switches.
16#7892	Safety period for readjustment exceeded.	Check the set safety time. Check function of hardware limit switches. Check number of hardware limit switches taken into account.
16#7893	Safety distance for readjustment exceeded.	Check the set safety distance. Check function of hardware limit switches. Check number of hardware limit switches taken into account.
16#7894	Home position outside DINT range of values.	Check the value for the home position
16#7895	"Deactivated" reference travel type not supported	Select another reference travel type.
16#7896	Axis group operation interrupted. The member has exited the "Interpolated speed control" drive function.	Check following triggers by the inverter: Fault responses STO, safety responses DI 00 Enable signals
16#7897	No external encoder or low-resolution EtherCAT^® encoder available for "Absolute position of encoder" reference travel type.	Connect an external encoder/low-resolution EtherCAT^® encoder. Configure the external encoder in the "Basic settings" configuration menu. Configure the external encoder/low-resolution EtherCAT^® encoder in the "Encoder evaluation" configuration menu under "Encoder source".
16#7898	Inadequate number of external encoders or low-resolution EtherCAT^® encoders for "Absolute position of encoder" reference travel type.	Connect an external encoder/low-resolution EtherCAT^® encoder to each lower-level axis group at the lowest level. Configure the external encoder in the "Basic settings" configuration menu for each lower-level axis group at the lowest level. Configure the external encoder/low-resolution EtherCAT^® encoder in the "Encoder evaluation" configuration menu under "Encoder source" for each lower-level axis group at the lowest level.
16#7899	Axis group operation interrupted by FCB 01. The axis group member has exited the "Interpolated speed control" drive function.	Check following triggers by the inverter: Fault responses STO, safety responses DI 00
16#7A40	Positive limit switch of inverter configured.	Deactivation of software limit switch of inverter X.
16#7A41	Negative limit switch of inverter configured.	Deactivation of software limit switch of inverter X.
16#7A42	Positive limit switch hit.	Check function of hardware limit switches. Check number of hardware limit switches taken into account. Check logical operation of the hardware limit switches.
16#7A43	Negative limit switch hit.	Check function of hardware limit switches. Check number of hardware limit switches taken into account. Check logical operation of the hardware limit switches.
16#7A48	Limit switches swapped.	Check function of hardware limit switches. Check wiring of hardware limit switches.
16#7A49	Both limit switches actuated.	Check function of hardware limit switches. Check wiring of hardware limit switches. Check number of hardware limit switches taken into account.