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 the zero backlash/stiffness.
  • Check the mass inertia of the load.

16#7803

Encoder position not valid. Check the distance encoder.

  • Check the 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 axis 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 axis group members are 0.

  • In the "MultiAxisController control function" configuration menu, select a torque ratio > 0 for at least one axis group member.
  • Check the data words for load distribution in the fieldbus interface.

16#7818

The setpoint position of the lifting axis for anti-sway control is not initialized in the lifting axis.

Enable the lifting axis once via the enable signals after starting the MOVI-C® CONTROLLER.

16#7882

Access request not successful. Deactivate access of the lower-level axis group member.

  • Terminate access of the lower-level axis group 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 axis group 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 axis group members must be activated for referencing.

Associated axis group member: X

  • Activate axis group member X for referencing as an associated axis group member.

16#7891

Limit switches swapped during referencing.

  • Check the wiring of the hardware limit switches.

16#7892

Safety period for readjustment exceeded.

  • Check the set safety time.
  • Check the function of the hardware limit switches.
  • Check the number of hardware limit switches taken into account.

16#7893

Safety distance for readjustment exceeded.

  • Check the set safety distance.
  • Check the function of the hardware limit switches.
  • Check the 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 axis group member has exited the "Interpolated speed control" drive function.

Check the following triggers by the inverter:

  • Fault responses
  • Safety function active (e.g. STO)
  • 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 on the lowest level in the "Basic settings" configuration menu at each lower-level axis group.
  • Configure the external encoder/low-resolution EtherCAT®encoder on each lower-level axis group in the "Encoder evaluation" configuration menu under "Encoder source".

16#7899

Axis group operation interrupted by FCB 01. The axis group member has exited the "Interpolated speed control" drive function.

Check the following triggers by the inverter:

  • Fault responses
  • Safety function active (e.g. STO)
  • DI 00

16#7A40

Positive limit switch of inverter has been configured.

  • Deactivation of software limit switch of inverter X.

16#7A41

Negative limit switch of inverter has been configured.

  • Deactivation of software limit switch of inverter X.

16#7A42

Positive limit switch hit.

  • Check the function of the hardware limit switches.
  • Check the number of hardware limit switches taken into account.
  • Check the logical operation of the hardware limit switches.

16#7A43

Negative limit switch hit.

  • Check the function of the hardware limit switches.
  • Check the number of hardware limit switches taken into account.
  • Check the logical operation of the hardware limit switches.

16#7A48

Limit switches swapped.

  • Check the function of the hardware limit switches.
  • Check the wiring of the hardware limit switches.

16#7A49

Both limit switches actuated.

  • Check the function of the hardware limit switches.
  • Check the wiring of the hardware limit switches.
  • Check the number of hardware limit switches taken into account.