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Multi axis servo system - AX8000

Diagnostic messages

Version: Date:

1.1 2019-02-28

Inhaltsverzeichnis

1 Notes on the documentation ....................................................................................................................9

2 Introduction to the diagnostic system...................................................................................................10

2.1 Basic knowledge of the diagnostic system ......................................................................................10

2.2 Settings with respect to the diagnostic system................................................................................14

3 Standard-Messages.................................................................................................................................15

3.1 0000, No Error .................................................................................................................................15

3.2 5190, Test 5V supply failed .............................................................................................................16

3.3 5580, Read failure EEPROM...........................................................................................................17

3.4 5581, Checksum failure EEPROM ..................................................................................................18

3.5 5582, EEPROM contains blank Data ..............................................................................................19

3.6 5583, Unexpected EEPROM...........................................................................................................20

3.7 5584, EEPROM contains blank Data ..............................................................................................21

3.8 5585, Unexpected EEPROM...........................................................................................................22

3.9 5586, Restored Errormessages from persistent memory................................................................23

3.10 5590, Detected incompatible Pcb....................................................................................................24

3.11 5591, Identity incompatible to a Pcb................................................................................................25

3.12 5592, FirmwareIndex is incompatible to this Firmware ...................................................................26

3.13 5593, Structure Version is incompatible to this Firmware ...............................................................27

3.14 5594, Simulating persistent data features. ......................................................................................28

3.15 5596, Storing of persistent data failed. ............................................................................................29

3.16 5597, Unsupported prototype hardware. .........................................................................................30

3.17 5598, Identity incompatible to Device..............................................................................................31

3.18 5599, Identity incompatible to a Device...........................................................................................32

3.19 6180, Internal Software Error Type A ..............................................................................................33

3.20 6181, Internal Software Error Type B ..............................................................................................34

3.21 6182, Internal Software Error Type C..............................................................................................35

3.22 6190, Init Timeout............................................................................................................................36

3.23 6382, Illegal Slotconfiguration. Slot is empty...................................................................................37

3.24 6383, Illegal Slotconfiguration. Double Feedback Selection. ..........................................................38

3.25 6384, Illegal Slotconfiguration. Slot has to be empty.......................................................................39

3.26 63B0, Transition Pre-Op to Safe-Op (ECat) not successful ............................................................40

3.27 63B1, Transition Safe-Op to Op (ECat) not successful ...................................................................41

3.28 63B2, Transition Op to Safe-Op (ECat) not successful ...................................................................42

3.29 63B3, Transition Safe-Op to Pre-Op (ECat) not successful ............................................................43

3.30 8180, System restart or sync lost ....................................................................................................44

3.31 8181, Lost Distributed clocks Sync..................................................................................................45

3.32 A000, Transition Pre-Op to Safe-Op not successful. Sync Manager Length Error. ........................46

3.33 A001, Transition Pre-Op to Safe-Op not successful. Sync Manager Address Error. ......................47

3.34 A002, Transition Pre-Op to Safe-Op not successful. Sync Manager Settings Error. ......................48

3.35 A003, Transition Pre-Op to Safe-Op not successful. Sync Manager Address Range overlap........49

3.36 A004, Sync Manager is disabled and has a Size unequal zero. .....................................................50

3.37 A005, Sync Manager Address is not multiple of 4...........................................................................51

3.38 A00B, Dynamic Sync Manager Address is not multiple of 4. ..........................................................52

3.39 A00C, Dynamic Sync Manager Address Range overlap.................................................................53

Multi axis servo system - AX8000 3

Version: 1.1

Inhaltsverzeichnis

3.40 A00D, Dynamic Sync Manager Settings Error. ...............................................................................54

3.41 A00E, Dynamic Sync Manager Address Error. ...............................................................................55

3.42 A00F, Dynamic Sync Manager Length Error...................................................................................56

3.43 A010, SDO Complete Access Error. ...............................................................................................57

3.44 A011, Pdo Mapping Error: Unable to map Object (not possible).....................................................58

3.45 A013, Pdo Mapping Error: Double Mapping of Object. ...................................................................59

3.46 A015, Pdo Mapping Error: Unable to map Object (no Mappings left). ............................................60

3.47 A017, Pdo Mapping Error: Object has to be mapped always..........................................................61

3.48 A019, Pdo Mapping Error: Object has to be mapped because of modes of operation. ..................62

3.49 A01B, Pdo BitMapping Error: Object A is not next to Object B. ......................................................63

3.50 A01D, Pdo BitMapping Error: Can not Transform Bit-Mappings to Byte-Mappings. .......................64

3.51 A01F, Pdo Mapping Error: Invalid Oversampling Factor. ................................................................65

3.52 A021, Pdo Mapping Error: Oversampling is not allowed. ................................................................66

3.53 A023, Pdo Assignment Error ...........................................................................................................67

3.54 A031, DynPdo Mapping Warning: Unable to map Object (not possible).........................................68

3.55 A033, DynPdo Mapping Warning: Double Mapping of Object.........................................................69

3.56 A035, DynPdo Mapping Warning: Unable to map Object (no Mappings left)..................................70

3.57 A037, DynPdo Mapping Warning: Object has to be mapped always. .............................................71

3.58 A039, DynPdo Mapping Warning: Object has to be mapped because of modes of operation........72

3.59 A03B, DynPdo BitMapping Warning: Object A is not next to Object B............................................73

3.60 A03D, DynPdo BitMapping Warning: Can not Transform Bit-Mappings to Byte-Mappings. ...........74

3.61 A03F, DynPdo Mapping Warning: Invalid Oversampling Factor. ....................................................75

3.62 A041, DynPdo Mapping Warning: Oversampling is not allowed. ....................................................76

3.63 A043, DynPdo Assignment Warning ...............................................................................................77

3.64 A080, Safe-Op is not possible because the local TwinCAT Runtime is in ConfigMode. .................78

3.65 A081, Transition Pre-Op to Safe-Op not successful. Safetycard not detected................................79

3.66 A082, EtherCAT Slave Stack Error: ................................................................................................80

3.67 FFFD, Debug firmware, replace "As soon as possible"!..................................................................81

3.68 FFFF, Internal Error, Additional Errorcode ......................................................................................82

4 Diagmessages of module DeviceMain ..................................................................................................83

4.1 3210, DC link overvoltage ...............................................................................................................83

4.2 4380, Fan speed seems to be zero. ................................................................................................84

4.3 5112, Supply undervoltage: supply +24V ........................................................................................85

4.4 5181, Power supply controlword, torque off order...........................................................................86

4.5 5182, Power supply controlword, live counter inactive....................................................................87

4.6 5183, Power supply controlword, NC handling order ......................................................................88

4.7 5185, Power supply controlword, non-regenerative brake order.....................................................89

4.8 5186, Power supply controlword, regenerative brake order ............................................................90

4.9 5192, Supply overvoltage: supply +24V ..........................................................................................91

4.10 6320, Parameter error .....................................................................................................................92

4.11 8780, Configured Sync1 Cycle Time is above Maximum ................................................................93

4.12 8781, Configured Sync1 Cycle Time is below Minimum .................................................................94

4.13 8782, Configured Sync1 Cycle Time is not a multiple of the Sync0 Cycle Time .............................95

4.14 8783, Configured Sync0 Cycle Time is not legal.............................................................................96

4.15 A017, Pdo Mapping Error: Object has to be mapped always..........................................................97

4.16 FFFF, Internal Error, Additional Errorcode ......................................................................................98

Version: 1.1

Multi axis servo system - AX80004

Inhaltsverzeichnis

5 Diagmessages of module DeviceDebug ...............................................................................................99

5.1 FFFF, Internal Error, Additional Errorcode ......................................................................................99

6 Diagmessages of module AxisMain ....................................................................................................100

6.1 0000, No Error ...............................................................................................................................100

6.2 2340, Short circuit (motor-side) .....................................................................................................101

6.3 2380, Continuous over current (device output side) Phase U .......................................................102

6.4 2381, Continuous over current (device output side) Phase V .......................................................103

6.5 2382, Continuous over current (device output side) Phase W ......................................................104

6.6 2383, Phase U current offset out of range.....................................................................................105

6.7 2384, Phase V current offset out of range.....................................................................................106

6.8 2385, Phase W current offset out of range....................................................................................107

6.9 3180, Phase failure motor .............................................................................................................108

6.10 3220, DC link under-voltage ..........................................................................................................109

6.11 3280, DC link is not ready .............................................................................................................110

6.12 4310, Drive overtemperature shut down .......................................................................................111

6.13 5180, Output stage STO active. ....................................................................................................112

6.14 5184, Supply DC link circuit is not ready .......................................................................................113

6.15 5187, Power supply communication is not established .................................................................114

6.16 5441, Positive limit switch active ...................................................................................................115

6.17 5442, Negative limit switch active..................................................................................................116

6.18 5443, Loss of the hardware enable ...............................................................................................117

6.19 5444, Loss of the hardware enable (Reaction TorqueOff) ............................................................118

6.20 5595, Modulo remainder will not be stored....................................................................................119

6.21 6183, Internal Watchdog Error ......................................................................................................120

6.22 638A, The Axis seems not to be parameterized............................................................................121

6.23 6390, Factor Group Parameters: Feed constant illegal feed.........................................................122

6.24 6391, Factor Group Parameters: Feed constant illegal shaft revolutions......................................123

6.25 6392, Factor Group Parameters: Gear ratio illegal Motor shaft revolutions ..................................124

6.26 6393, Factor Group Parameters: Gear ratio illegal Driving shaft revolutions ................................125

6.27 6394, Factor Group Parameters: Position encoder resolution illegal encoder increments............126

6.28 6395, Factor Group Parameters: Position encoder resolution illegal motor revolutions................127

6.29 6396, additional Factor Group Parameters: Feed constant illegal feed ........................................128

6.30 6397, additional Factor Group Parameters: Feed constant illegal shaft revolutions .....................129

6.31 6398, additional Factor Group Parameters: Gear ratio illegal Motor shaft revolutions..................130

6.32 6399, additional Factor Group Parameters: Gear ratio illegal Driving shaft revolutions................131

6.33 639A, additional Factor Group Parameters: Position encoder resolution illegal encoder increments

.......................................................................................................................................................132

6.34 639B, additional Factor Group Parameters: Position encoder resolution illegal motor revolutions

.......................................................................................................................................................133

6.35 639C, Velocity factor illegal. ..........................................................................................................134

6.36 639D, Acceleration factor illegal. ...................................................................................................135

6.37 639E, Scaling index object does not fit the Factor group parameters for the first Encoder...........136

6.38 639F, Scaling index object does not fit the Factor group parameters for the second Encoder .....137

6.39 63A0, Motor or Primary Feedback changed..................................................................................138

6.40 63A1, Secondary Feedback changed ...........................................................................................139

6.41 63A2, Offset position actual value: No position offset existing in source 'encoder memory' .........140

Multi axis servo system - AX8000 5

Version: 1.1

Inhaltsverzeichnis

6.42 63A3, Offset additional position actual value: No position offset existing in source 'encoder

memory' .........................................................................................................................................141

6.43 63A4, Offset position actual value: No position offset existing in source 'drive memory' ..............142

6.44 63A5, Offset additional position actual value: No position offset existing in source 'drive

memory' .........................................................................................................................................143

6.45 63A6, Jerk factor illegal. ................................................................................................................144

6.46 63A7, The range of the Position range limit is below the minimum accepted value......................145

6.47 63A8, Position range limit Inc with remainder is not supported for primary feedback. ..................146

6.48 63A9, Position range limit Inc with remainder is not supported for secondary feedback. .............147

6.49 63AA, Object changed in EtherCAT SafeOP or OP. .....................................................................148

6.50 7180, Motor brake: Current monitoring error. ................................................................................149

6.51 7380, Current sensor motor phase U ............................................................................................150

6.52 7381, Current sensor motor phase V ............................................................................................151

6.53 7382, Current sensor motor phase W ...........................................................................................152

6.54 8182, EtherCAT Statemachine shutdown with enabled Axis ........................................................153

6.55 8183, Controlword output cycle counter monitoring ......................................................................154

6.56 8184, Dynoutput cycle counter monitoring ....................................................................................155

6.57 8185, Axis needs an extended fault reset command.....................................................................156

6.58 8A80, Illegal Modes Of Operation .................................................................................................157

6.59 8A81, Illegal Modes Of Operation change.....................................................................................158

6.60 A017, Pdo Mapping Error: Object has to be mapped always........................................................159

6.61 FF01, Init Timeout .........................................................................................................................160

6.62 FF07, Error reaction forced: Torque Off ........................................................................................161

6.63 FF08, Error reaction forced: Shorted Coils Brake .........................................................................162

6.64 FF09, Error reaction forced: Open Loop Ramp .............................................................................163

6.65 FF0A, Error reaction forced: Closed Loop Ramp ..........................................................................164

6.66 FF0B, Error reaction forced: NC handling .....................................................................................165

6.67 FF0C, Error reaction TorqueOff with emergency brake ................................................................166

6.68 FFFF, Internal Error, .....................................................................................................................167

7 Diagmessages of module Interpolator ................................................................................................168

7.1 6386, Parameter Interpolator: Illegal NC-Task cycle time .............................................................168

7.2 8680, Position Demand Value outside of the specified Position Range Limits .............................169

7.3 A01A, TxPdo Mapping Error: Object 0 has to be mapped for modes of operation .......................170

7.4 FFFF, Internal Error, .....................................................................................................................171

8 Diagmessages of module PositionControl .........................................................................................172

8.1 8611, Following error.....................................................................................................................172

8.2 FFFF, Internal Error, Additional Errorcode ....................................................................................173

9 Diagmessages of module VelocityControl..........................................................................................174

9.1 3183, The bipolar velocity limit is higher than 1/4 of position range limit per EtherCAT Sync1 cycle.

.......................................................................................................................................................174

9.2 7186, Detected moving axis on enable transition..........................................................................175

9.3 8480, Overspeed error ..................................................................................................................176

9.4 FFFF, Internal Error,......................................................................................................................177

10 Diagmessages of module VelocityControl2........................................................................................178

10.1 3183, The bipolar velocity limit is higher than 1/4 of position range limit per EtherCAT Sync1 cycle.

.......................................................................................................................................................178

Version: 1.1

Multi axis servo system - AX80006

Inhaltsverzeichnis

10.2 7186, Detected moving axis on enable transition..........................................................................179

10.3 8480, Overspeed error ..................................................................................................................180

10.4 FFFF, Internal Error, .....................................................................................................................181

11 Diagmessages of module BiquadFilter ...............................................................................................182

11.1 6320, Parameter error in object.....................................................................................................182

11.2 63AB, The filter parameterization is not valid ................................................................................183

11.3 FFFF, Internal Error,......................................................................................................................184

12 Diagmessages of module TorqueControl ...........................................................................................185

12.1 2330, Earth leakage (motor-side) ..................................................................................................185

12.2 3181, Phase frequency (motor-side) raised above 600 Hz ...........................................................186

12.3 3182, Velocity actual Value raised above the max channel accepted velocity..............................187

12.4 6320, Parameter error ...................................................................................................................188

12.5 6388, Parameter Torque Control: The value in object is higher then the motor peak current.......189

12.6 6389, Parameter Torque Control: The value in object is higher then the configured peak current

.......................................................................................................................................................190

12.7 638F, Parameter Torque Control: The value in Object is higher then the Motor maximum voltage

slope ..............................................................................................................................................191

12.8 FFFF, Internal Error, Additional Errorcode ....................................................................................192

13 Diagmessages of module ActiveFrontEnd..........................................................................................193

13.1 2330, Earth leakage (motor-side) ..................................................................................................193

13.2 3181, Phase frequency (motor-side) raised above 600 Hz ...........................................................194

13.3 3182, Velocity actual Value raised above the max channel accepted velocity..............................195

13.4 6320, Parameter error ...................................................................................................................196

13.5 6388, Parameter Torque Control: The value in object is higher then the motor peak current.......197

13.6 6389, Parameter Torque Control: The value in object is higher then the configured peak current

.......................................................................................................................................................198

13.7 638F, Parameter Torque Control: The value in Object is higher then the Motor maximum voltage

slope ..............................................................................................................................................199

13.8 FFFF, Internal Error, .....................................................................................................................200

14 Diagmessages of module OCT rotary (Hiperface DSL) .....................................................................201

14.1 7320, HpfDsl: Encoder error (position invalid),..............................................................................201

14.2 7380, HpfDsl: Encoder start sequence failed, ...............................................................................202

14.3 7381, HpfDsl: Encoder shutdown failed, .......................................................................................203

14.4 7382, HpfDsl: Parameter access error, .........................................................................................204

14.5 7383, HpfDsl: Internal error, .........................................................................................................205

14.6 7384, HpfDsl: Cyclic monitoring error, ..........................................................................................206

14.7 7385, HpfDsl: Encoder file processing, ........................................................................................207

14.8 7386, HpfDsl: Found no encoder (No link to an encoder)! ............................................................208

14.9 7387, HpfDsl: The encoder doesn't meet the specified policies....................................................209

14.10 FFFF, Internal Error, .....................................................................................................................210

15 Diagmessages of module SimulationRotary.......................................................................................211

15.1 63AC, Encoder simulation is not supported for the selected motor type.......................................211

15.2 FFFF, Internal Error, .....................................................................................................................212

16 Diagmessages of module SyncServoMotor........................................................................................213

16.1 6320, Parameter error ...................................................................................................................213

Multi axis servo system - AX8000 7

Version: 1.1

Inhaltsverzeichnis

16.2 6387, Parameter Motor. The configured DCLink Max Voltage is higher then the Motor Max Voltage.

.......................................................................................................................................................214

16.3 638A, The Axis seems not to be parameterized............................................................................215

16.4 638B, Parameter Torque Current curve: Unable to calculate Torque Current curve. ...................216

16.5 638C, Motor type does not match .................................................................................................217

16.6 638D, Connected Motor is compatible to the configured Motor ....................................................218

16.7 638E, The Motor brake is automatically unlocked.........................................................................219

16.8 7122, Motor error or commutation malfunction..............................................................................220

16.9 7181, Motor thermal utilization has reached the warning level......................................................221

16.10 7182, Motor thermal utilization has left the warning level ..............................................................222

16.11 7183, Motor thermal utilization has reached the Error Level .........................................................223

16.12 7184, Motor overload shut down ...................................................................................................224

16.13 7185, Motor overtemperature shut down.......................................................................................225

16.14 7186, Commutation offset source: No commutation offset existing in source 'encoder memory' .226

16.15 7187, Cogging compensation init error, ........................................................................................227

16.16 FFFF, Internal Error, .....................................................................................................................228

17 Diagmessages of module PowerGridConnection ..............................................................................229

17.1 FFFF, Internal Error, Additional Errorcode ....................................................................................229

18 Diagmessages of module AsynchronousMotor .................................................................................230

18.1 6320, Parameter error ...................................................................................................................230

18.2 6387, Parameter Motor. The configured DCLink Max Voltage is higher then the Motor Max Voltage.

.......................................................................................................................................................231

18.3 638A, The Axis seems not to be parameterized............................................................................232

18.4 638B, Parameter Torque Current curve: Unable to calculate Torque Current curve. ...................233

18.5 638C, Motor type does not match .................................................................................................234

18.6 638D, Connected Motor is compatible to the configured Motor ....................................................235

18.7 638E, The Motor brake is automatically unlocked.........................................................................236

18.8 7122, Motor error or commutation malfunction..............................................................................237

18.9 7181, Motor thermal utilization has reached the warning level......................................................238

18.10 7182, Motor thermal utilization has left the warning level ..............................................................239

18.11 7183, Motor thermal utilization has reached the Error Level .........................................................240

18.12 7184, Motor overload shut down ...................................................................................................241

18.13 7185, Motor overtemperature shut down.......................................................................................242

18.14 7186, Commutation offset source: No commutation offset existing in source 'encoder memory' .243

18.15 7187, Cogging compensation init error,.........................................................................................244

18.16 FFFF, Internal Error, ......................................................................................................................245

19 Diagmessages of module AxisDebug .................................................................................................246

19.1 FFFF, Internal Error,......................................................................................................................246

Version: 1.1

Multi axis servo system - AX80008

Notes on the documentation

1 Notes on the documentation

This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning the components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under development. We reserve the right to revise and change the documentation at any time and without prior announcement. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, EtherCAT P®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany

© Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.

Multi axis servo system - AX8000 9

Version: 1.1

Introduction to the diagnostic system

2 Introduction to the diagnostic system

2.1 Basic knowledge of the diagnostic system

Control in the AX8000 is monitored by the device itself. Diagnostic messages are generated if an error occurs in the control process or in the parameterization. In case of an error, all previous diagnostic messages should be examined in addition to the latest message. All diagnostic messages are displayed in the TwinCAT Drive Manager 2 and in the System Manager.

Background information: Layout of the firmware structure

The AX8000 has various slots that can be combined with a module. A module is assigned automatically to each slot by TwinCAT Drive Manager 2, irrespective of the configuration. The modules are already contained in the firmware of the AX8000. A module is mandatory for some slots. In other cases the slot is always occupied by the same module, because only one module is available (see Device Main or Axis Main, for example). Otherwise the TC Drive Manager 2 chooses between the modules, e.g. sync servo module and linear module for the motor slot.

Fig.1: Modules and slots - basic knowledge

A module becomes effective and can send diagnostic messages as soon as it is assigned to a slot. However, the different modules can issue the same diagnostic messages. In order for the cause of each message to be identified and remedied, it is important to know the origin of the diagnostic message. Therefore, in addition to the diagnostic message itself, the module that issued it needs to be known.

A module is made up of several CoE objects that contain further subindices (number after the colon). Each subindex has a pool of parameter objects.

Version: 1.1

Multi axis servo system - AX800010

Introduction to the diagnostic system

Parameter objects are either standardized CoE parameter objects or Beckhoff-specific parameter objects.

Parameter object Description

0x60xx Standardized CoE parameter objects for the first axis

0x68xx Standardized CoE parameter objects for the second axis

0x3000 to 0x33FF Beckhoff-specific parameter objects for the first axis

0x3400 to 0x37FF Beckhoff-specific parameter objects for the second axis

Layout of the diagnostic system

The Axis Main slot is combined automatically with the Axis Main module. There are several CoE objects within this module, including the object 0x10F3:xx. This contains information about the diagnostic system. The subindices of this CoE object contain the following:

Parameter object Description

01 Maximum number of diagnostic messages

02 Latest diagnostic message

03 Latest confirmed diagnostic message

04 Availability of new diagnostic messages

05 Flags

06..255 Memory space for the last 250 diagnostic messages

The structure of the individual subindices is shown in the diagram. The parameter objects of the subindices are described in detail below.

Structure of a diagnostic message

The following section described the parameter objects of a saved diagnostic message (subindex 06 to 255) in the diagnosis history object 0x10F3.

A diagnostic message is displayed in hexadecimal notation and contains the following Beckhoff-specific parameter objects:

• Diagnostic class

• Diagnostic type

• (Error) reaction

• Reset condition

In conjunction with the diagnostic class, some diagnostic messages contain further parameter objects.

Diagnostic class

A diagnostic message is assigned to a diagnostic class. There are three diagnostic classes in all:

Diagnostic class Information

1 Error An error always causes the axis to be stopped. We recommend the following procedure for the rectifica-

2 Warning Warnings are displayed, but the AX8000 does not react directly.

3 Information Information is displayed, but the AX8000 does not react directly.

tion of errors:

• Disable the axis

• Rectify the error

• Reset the axis, e.g. via the NC error reset

• Enable the axis

• Put the plant into operation again

Diagnostic messages of the diagnostic class Error have two further parameter objects: error cause and error solution.

Multi axis servo system - AX8000 11

Version: 1.1

Introduction to the diagnostic system

Diagnostic type

Each diagnostic message is assigned to a diagnosis type that contains the type group of the diagnostic object. In total, there are 20 different diagnosis type groups (see table). The diagnosis type groups 0 to 16 differ from the rest because the error counters are read directly via the associated CoE object. The CoE object is called 0x2C1E:x (DeviceMain error counter) and, analogous to the diagnosis type groups, has 17 sub-objects. Each of these sub-objects has the same name as the assigned diagnosis type group.

Diagnosis type group Description

0 Motor overload shut down Motor overloaded

1 Motor overtemperature shut down Motor temperature exceeded

2 Drive overtemperature shut down Axis module temperature exceeded

3 Control voltage error Error in the 24V power supply

4 Feedback error Error in the feedback system

5 Commutation error Commutation error

6 Overcurrent error Overcurrent error in the motor phases

7 Overvoltage error Overvoltage in DC link

8 Undervoltage error Undervoltage in DC link

9 Power supply phase error Phase error in the supply module

10 Communication error Communication error

11 TorqueOff with emergency brake Torque-free axis with emergency braking

12 Motor connection error Motor connection error

13 Safety STO error Axis enabled and STO active

14 Overspeed error Speed exceeded

15 Motor Brake connection error Motor brake connection error

16 DC link connection overcurrent error Overcurrent error in the DC link

17 Warning A warning has no effect on the AX8000.

18 Information Information has no effect on the AX8000.

19 Information without history entry Information has no effect on the AX8000.

Reaction

The AX8000 can react in different ways to a diagnostic message. See also "AX8000 Diagnostic Messages". In total there are seven different types of reaction, sorted hierarchically. Since not all types of reaction are implemented, the next executable type of reaction is executed in the case of an inexecutable reaction. The lowest type of reaction in this hierarchy is "torque-free".

Execution hierarchy Type of reaction Description

1 NC control The reaction of the AX8000 is controlled by the NC. The reaction time in which

2 "Closed loop" ramp The axis is brought to a standstill in a controlled manner. The ramp is parame-

3 "Open loop" ramp The axis is brought to a standstill in a controlled manner. The ramp is parame-

4 Emergency brake The motor is ramped down.

5 Torque-free The AX8000 switches the axis torque-free.

- No Reaction No reaction takes place; the AX8000 remains in the normal operating condi-

the AX8000 takes control can be parameterized (see "AX8000 Diagnostic Messages")

terizable.

tion.

Examples of the hierarchical reaction execution

Expected reaction according to diagnostic Reaction performed by AX8000

1 NC control 2 "Closed loop" ramp

2 "Closed loop" ramp 2 "Closed loop" ramp

3 "Open loop" ramp 5 Torque-free

4 Emergency braking 4 or 5 For asynchronous motors this is followed by DC braking, for

5 Torque-free 5 Torque-free

synchronous motors torque-free

Version: 1.1

Multi axis servo system - AX800012

Introduction to the diagnostic system

Object 605Eh – Fault reaction option code

With the Fault reaction option code you can specify the reaction to the diagnosis that is to be executed. The "Closed Loop Ramp" reaction is stored as standard.

Reset condition

Depending on the diagnostic message, reset conditions will be specified for eliminating the diagnostic message. The following resets can be executed with the AX8000.

Diagnostic class / cause Rest possible Remedy

Error: fatal hardware or software error No Replace servo drive if necessary

Error: fatal error Yes Restart AX8000

Error Yes Execute an NC error reset

Error due to motor replacement Yes Execute an NC error reset

Warning Not required There is no reaction by the AX8000 to any warning.

Information Not required There is no direct reaction by the AX8000 to informa-

Possible causes

All causes that could have caused the diagnostic message are listed there. Please always read all of the causes.

(interrupt 24V power supply for at least 10sec.)

tion.

Solutions

Analogous to the causes, all solutions are listed there. The ordinal numbers before the "possible causes" and the "solutions" correspond to one another.

Readout on the AX8000 display

Supply module

Display Description

EtherCAT symbol flashes red There is an EtherCAT error

Power symbol lights up red There is a power supply error

Power symbol flashes red There is a power supply error and the DC link is being charged or discharged

• Fast: DC link > 48V

• Slowly: DC link ≤48V

Axis module

Display Description

Axis symbol is flashing red-green

Axis error reaction is active

Axis symbol is flashing red

There is an axis error

Multi axis servo system - AX8000 13

Version: 1.1

Introduction to the diagnostic system

2.2 Settings with respect to the diagnostic system

Standard reactions of the AX8000 are stored for a diagnostic message of the diagnostic class Error. They can be set individually by means of parameterization.

Object 605Eh – Fault reaction option code

With the Fault reaction option code you can specify the reaction to the diagnosis that is to be executed. The Closed Loop Ramp reaction is stored as standard. The new reaction is defined by specifying the following values.

Value Error reaction Comment

2 (0x0002) Closed Loop Ramp Default value: The standard

reaction to the error is performed.

0 (0x0000) Torque-free ATTENTION! The axis is stopped

in an uncontrolled manner.

1 (0xFFFF): NC handling (the reaction is left to

the NC for a certain time before the AX8000 "ramps down")

Note, however, that no reaction ranked higher in the hierarchy than the standard reaction may be selected.

Version: 1.1

Multi axis servo system - AX800014

3 Standard-Messages

3.1 0000, No Error

This Message is thrown always, if the Device enters an error-free state.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

0000 0

Class Type

Info Information

Standard Reaction Reset

No Information: No reset required.

Possible Causes Solutions

An Axis entered the error free state.

Standard-Messages

Internal: 0x0000, No Error

Multi axis servo system - AX8000 15

Version: 1.1

Standard-Messages

3.2 5190, Test 5V supply failed

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5190 20880

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

There is an internal hardware error. Send the AX8000 to the Beckhoff branch office that is

responsible for you.

Internal: 0x5190, Test 5V supply failed

Version: 1.1

Multi axis servo system - AX800016

Standard-Messages

3.3 5580, Read failure EEPROM

Impossible to read Data from the Identity EEPROM of a Pcb. (no Response)

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5580 21888

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

There is an internal hardware error. Send the AX8000 to the Beckhoff branch office that is

responsible for you.

Internal: 0x5580, Read failure EEPROM. Pcb ID %u.

Multi axis servo system - AX8000 17

Version: 1.1

Standard-Messages

3.4 5581, Checksum failure EEPROM

Checksum failure in read Data from the Identity EEPROM of a Pcb. (no Response)

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5581 21889

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

There is an internal hardware error. Send the AX8000 to the Beckhoff branch office that is

responsible for you.

Internal: 0x5581, Checksum failure EEPROM. Pcb ID %u.

Version: 1.1

Multi axis servo system - AX800018

3.5 5582, EEPROM contains blank Data

The Identity EEPROM of a Pcb is blank. (no Response)

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5582 21890

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

This Message is generated instead of 0x5584, if you are using a debug Firmware or a special Prototype Hardware.

Standard-Messages

Internal: 0x5582, EEPROM contains blank Data. Pcb ID %u.

Multi axis servo system - AX8000 19

Version: 1.1

Standard-Messages

3.6 5583, Unexpected EEPROM

The Identity EEPROM of a Pcb is unexpected. This Device shouldn't contain this Pcb.

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5583 21891

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

This Message is generated instead of 0x5585, if you are using a debug Firmware.

Internal: 0x5583, Unexpected EEPROM Pcb ID %u.

Version: 1.1

Multi axis servo system - AX800020

Standard-Messages

3.7 5584, EEPROM contains blank Data

The Identity EEPROM of a Pcb is blank. (no Response)

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5584 21892

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

There is an internal hardware error. Send the AX8000 to the Beckhoff branch office that is

responsible for you.

Internal: 0x5584, EEPROM contains blank Data. Pcb ID %u.

Multi axis servo system - AX8000 21

Version: 1.1

Standard-Messages

3.8 5585, Unexpected EEPROM

The Identity EEPROM of a Pcb is unexpected. This Device shouldn't contain this Pcb.

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5585 21893

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

There is an internal hardware error. Send the AX8000 to the Beckhoff branch office that is

responsible for you.

Internal: 0x5585, Unexpected EEPROM Pcb ID %u.

Version: 1.1

Multi axis servo system - AX800022

Standard-Messages

3.9 5586, Restored Errormessages from persistent memory

The persistent Memory contains an errorlog. The messages are restored during power on phase.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5586 21894

Class Type

Info Information

Standard Reaction Reset

No Information: No reset required.

Internal: 0x5586, Restored Errormessages from persistent memory

Multi axis servo system - AX8000 23

Version: 1.1

Standard-Messages

3.10 5590, Detected incompatible Pcb

Detected incompatible Pcb for this Firmware.

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5590 21904

Class Type

Error Error

Standard Reaction Reset

Torque off A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

This Hardware is unsupported of this Firmware. Disconnect the power supply module from the mains

(including the 24 V power supply) and start a new attempt. If this error occurs repeatedly, please call the Beckhoff support that is responsible for you.

The HardwareRevision is unsupported. Disconnect the power supply module from the mains

(including the 24 V power supply) and start a new attempt. If this error occurs repeatedly, please call the Beckhoff support that is responsible for you.

The HardwareType is unknown. Disconnect the power supply module from the mains

(including the 24 V power supply) and start a new attempt. If this error occurs repeatedly, please call the Beckhoff support that is responsible for you.

Internal: 0x5590, Detected incompatible Pcb at ID %u.

Version: 1.1

Multi axis servo system - AX800024

Standard-Messages

3.11 5591, Identity incompatible to a Pcb

Detected incompatible Pcb for this ESC EEPROM.

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5591 21905

Class Type

Error Error

Standard Reaction Reset

Torque off A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

You might have updated the ESC EEPROM with the wrong Identity.

Perform an EEPROM Update with the Systemmanager.

Internal: 0x5591, ESC EEPROM Identity is incompatible to Pcb ID %u.

Multi axis servo system - AX8000 25

Version: 1.1

Standard-Messages

3.12 5592, FirmwareIndex is incompatible to this Firmware

Detected incompatible Pcb for this Firmware.

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5592 21906

Class Type

Error Error

Standard Reaction Reset

Torque off A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

This Hardware needs a newer Firmware. Ask the Beckhoff branch office that is responsible for

you for the right Firmwareversion.

Internal: 0x5592, ESC EEPROM Pcb ID %u FirmwareIndex is incompatible to this Firmware.

Version: 1.1

Multi axis servo system - AX800026

Standard-Messages

3.13 5593, Structure Version is incompatible to this Firmware

Detected incompatible Pcb for this Firmware.

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5593 21907

Class Type

Error Error

Standard Reaction Reset

Torque off A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

This Hardware needs a newer Firmware. Ask the Beckhoff branch office that is responsible for

you for the right Firmwareversion.

Internal: 0x5593, ESC EEPROM Pcb ID %u Structure Version is incompatible to this Firmware.

Multi axis servo system - AX8000 27

Version: 1.1

Standard-Messages

3.14 5594, Simulating persistent data features.

If you see this Message, all persistent Data will start with zero Values on PowerOn.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5594 21908

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

Persistent Memory is not supported in the early Hardware Versions.

Internal: 0x5594, Simulating persistent data features.

Version: 1.1

Multi axis servo system - AX800028

Standard-Messages

3.15 5596, Storing of persistent data failed.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5596 21910

Class Type

Error Error

Standard Reaction Reset

Nc handling Execute Reset-Command (Fault reset).

Possible Causes Solutions

There is an internal hardware error. Send the AX8000 to the Beckhoff branch office that is

responsible for you.

Internal: 0x5596, Storing of persistent data failed.

Multi axis servo system - AX8000 29

Version: 1.1

Standard-Messages

3.16 5597, Unsupported prototype hardware.

The Firmware detected an unsupported prototype Hardware.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5597 21911

Class Type

Error Error

Standard Reaction Reset

Torque off A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

The Hardware version (Object 0x1009) is below

01.00

Internal: 0x5597, Unsupported prototype hardware.

Use a hardware version 01.00 or higher.

Version: 1.1

Multi axis servo system - AX800030

Standard-Messages

3.17 5598, Identity incompatible to Device

Detected incompatible device type for this ESC EEPROM.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5598 21912

Class Type

Error Error

Standard Reaction Reset

Torque off A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

You might have updated the ESC EEPROM with the wrong Identity.

Internal: 0x5598, ESC EEPROM Identity is incompatible to Device.

Perform an EEPROM Update with the Systemmanager.

Multi axis servo system - AX8000 31

Version: 1.1

Standard-Messages

3.18 5599, Identity incompatible to a Device

Detected incompatible device type for this ESC EEPROM.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5599 21913

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

You might have updated the ESC EEPROM with the wrong Identity.

Internal: 0x5599, ESC EEPROM Identity is incompatible to Device.

Perform an EEPROM Update with the Systemmanager.

Version: 1.1

Multi axis servo system - AX800032

Standard-Messages

3.19 6180, Internal Software Error Type A

Fatal Software Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

6180 24960

Class Type

Error Error

Standard Reaction Reset

Open loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

Fatal Software Exception Error. Please switch the 24 V supply off and on again. If this

happens again, contact the Beckhoff branch office that is responsible for you.

Internal: 0x6180, Internal Software Error Type A, Additional Errorcode 0x%x

Multi axis servo system - AX8000 33

Version: 1.1

Standard-Messages

3.20 6181, Internal Software Error Type B

Fatal Software Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

6181 24961

Class Type

Error Error

Standard Reaction Reset

Open loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

Fatal Software Exception Error. Please switch the 24 V supply off and on again. If this

happens again, contact the Beckhoff branch office that is responsible for you.

Internal: 0x6181, Internal Software Error Type B, Additional Errorcode 0x%x

Version: 1.1

Multi axis servo system - AX800034

Standard-Messages

3.21 6182, Internal Software Error Type C

Fatal Software Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

6182 24962

Class Type

Error Error

Standard Reaction Reset

Open loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

Fatal Software Exception Error. Please switch the 24 V supply off and on again. If this

happens again, contact the Beckhoff branch office that is responsible for you.

Internal: 0x6182, Internal Software Error Type C, Additional Errorcode 0x%x

Multi axis servo system - AX8000 35

Version: 1.1

Standard-Messages

3.22 6190, Init Timeout

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

6190 24976

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The initialization process of this slot was working for a very long time.

Internal: 0x6190, Init Timeout, Slotnumber %u

Please check the Parameters of this module and try again.

Version: 1.1

Multi axis servo system - AX800036

Standard-Messages

3.23 6382, Illegal Slotconfiguration. Slot is empty.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

6382 25474

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A Slot which should contain a Module must be empty. Please select a legal Module for this Slot..

Internal: 0x6382, Illegal Slotconfiguration. Slot %u is empty.

Multi axis servo system - AX8000 37

Version: 1.1

Standard-Messages

3.24 6383, Illegal Slotconfiguration. Double Feedback Selection.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

6383 25475

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A Feedback Module, which is only possible one time per Axis was selected as primary and secondary Encoder.

Internal: 0x6383, Illegal Slotconfiguration. Double Feedback Selection.

Please select another Feedback as primary or secondary Encoder.

Version: 1.1

Multi axis servo system - AX800038

Standard-Messages

3.25 6384, Illegal Slotconfiguration. Slot has to be empty.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

6384 25476

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A Slot which should be empty contains a Module. Please remove the Module from this Slot..

Internal: 0x6384, Illegal Slotconfiguration. Slot %u has to be empty.

Multi axis servo system - AX8000 39

Version: 1.1

Standard-Messages

3.26 63B0, Transition Pre-Op to Safe-Op (ECat) not successful

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

63B0 25520

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The module in the mentioned slot reports during the ECat-Transition Safe-Op to Op an error.

Internal: 0x63B0, Module in slot %d: Transition Pre-Op to Safe-Op (ECat) not successful (hr=0x%X)

Version: 1.1

Multi axis servo system - AX800040

Standard-Messages

3.27 63B1, Transition Safe-Op to Op (ECat) not successful

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

63B1 25521

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The module in the mentioned slot reports during the ECat-Transition Safe-Op to Op an error.

Internal: 0x63B1, Module in slot %d: Transition Safe-Op to Op (ECat) not successful (hr=0x%X)

Multi axis servo system - AX8000 41

Version: 1.1

Standard-Messages

3.28 63B2, Transition Op to Safe-Op (ECat) not successful

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

63B2 25522

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The module in the mentioned slot reports during the ECat-Transition Safe-Op to Op an error.

Internal: 0x63B2, Module in slot %d: Transition Op to Safe-Op (ECat) not successful (hr=0x%X)

Version: 1.1

Multi axis servo system - AX800042

Standard-Messages

3.29 63B3, Transition Safe-Op to Pre-Op (ECat) not successful

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

63B3 25523

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The module in the mentioned slot reports during the ECat-Transition Safe-Op to Op an error.

Internal: 0x63B3, Module in slot %d: Transition Safe-Op to Pre-Op (ECat) not successful (hr=0x%X)

Multi axis servo system - AX8000 43

Version: 1.1

Standard-Messages

3.30 8180, System restart or sync lost

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

8180 33152

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Slave has received no ProcessData for more than one EtherCAT Cycle.

Internal: 0x8180, System restart or sync lost

Check the realtime Tasks of your EtherCAT Master.

Version: 1.1

Multi axis servo system - AX800044

Standard-Messages

3.31 8181, Lost Distributed clocks Sync

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

8181 33153

Class Type

Error Communication error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Software Sync PLL has left it's locked State. TODO

Internal: 0x8181, Lost Distributed clocks Sync

Multi axis servo system - AX8000 45

Version: 1.1

Standard-Messages

3.32 A000, Transition Pre-Op to Safe-Op not successful. Sync Manager Length Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A000 40960

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA000, Transition Pre-Op to Safe-Op not successful. Sync Manager %u Length Error. Requested

Length=0x%x is not between Min=0x%x and Max=0x%x

Please check, if you are working with the right EtherCAT Device Description XML-File.

Version: 1.1

Multi axis servo system - AX800046

Standard-Messages

3.33 A001, Transition Pre-Op to Safe-Op not successful. Sync Manager Address Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A001 40961

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA001, Transition Pre-Op to Safe-Op not successful. Sync Manager %u Address Error. Requested

Address=0x%x is not between Min=0x%x and Max=0x%x

Please check, if you are working with the right EtherCAT Device Description XML-File.

Multi axis servo system - AX8000 47

Version: 1.1

Standard-Messages

3.34 A002, Transition Pre-Op to Safe-Op not successful. Sync Manager Settings Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A002 40962

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA002, Transition Pre-Op to Safe-Op not successful. Sync Manager %u Settings Error. 0x%x

Please check, if you are working with the right EtherCAT Device Description XML-File.

Version: 1.1

Multi axis servo system - AX800048

Standard-Messages

3.35 A003, Transition Pre-Op to Safe-Op not successful. Sync Manager Address Range overlap.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A003 40963

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA003, Transition Pre-Op to Safe-Op not successful. Sync Manager %u Address Range 0x%x..0x

%x overlaps Sync Manager %u Address Range 0x%x..0x%x

Please check, if you are working with the right EtherCAT Device Description XML-File.

Multi axis servo system - AX8000 49

Version: 1.1

Standard-Messages

3.36 A004, Sync Manager is disabled and has a Size unequal zero.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A004 40964

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA004, Sync Manager %u is disabled. Sync Manager Size %u and the Calculated Size %u shall

be zero.

Please check, if you are working with the right EtherCAT Device Description XML-File.

Version: 1.1

Multi axis servo system - AX800050

Standard-Messages

3.37 A005, Sync Manager Address is not multiple of 4.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A005 40965

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Sync Manager Startaddress is not a multiple of4.Configure the Startaddress to a multiple of 4. (32 Bit

Alignment)

Internal: 0xA005, Sync Manager %u Address 0x%x is not multiple of 4.

Multi axis servo system - AX8000 51

Version: 1.1

Standard-Messages

3.38 A00B, Dynamic Sync Manager Address is not multiple of 4.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A00B 40971

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

The Sync Manager Startaddress is not a multiple of4.Configure the Startaddress to a multiple of 4. (32 Bit

Alignment)

Internal: 0xA00B, Dynamic Sync Manager %u Address 0x%x is not multiple of 4.

Version: 1.1

Multi axis servo system - AX800052

Standard-Messages

3.39 A00C, Dynamic Sync Manager Address Range overlap.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A00C 40972

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA00C, Dynamic Sync Manager %u Address Range 0x%x..0x%x overlaps Sync Manager %u

Address Range 0x%x..0x%x

Please check, if you are working with the right EtherCAT Device Description XML-File.

Multi axis servo system - AX8000 53

Version: 1.1

Standard-Messages

3.40 A00D, Dynamic Sync Manager Settings Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A00D 40973

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA00D, Dynamic Sync Manager %u Settings Error. 0x%x

Please check, if you are working with the right EtherCAT Device Description XML-File.

Version: 1.1

Multi axis servo system - AX800054

Standard-Messages

3.41 A00E, Dynamic Sync Manager Address Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A00E 40974

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA00E, Dynamic Sync Manager %u Address Error. Requested Address=0x%x is not between

Min=0x%x and Max=0x%x

Please check, if you are working with the right EtherCAT Device Description XML-File.

Multi axis servo system - AX8000 55

Version: 1.1

Standard-Messages

3.42 A00F, Dynamic Sync Manager Length Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A00F 40975

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

The Parameters of the CoE Communication Objects do not fit the Sync Manager Parameters.

Internal: 0xA00F, Dynamic Sync Manager %u Length Error. Requested Length=0x%x is not between Min=0x

%x and Max=0x%x

Please check, if you are working with the right EtherCAT Device Description XML-File.

Version: 1.1

Multi axis servo system - AX800056

Standard-Messages

3.43 A010, SDO Complete Access Error.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A010 40976

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The complete access write to this parameter failed. Please write your values with single access.

Internal: 0xA010, SDO Complete Access Error: Object 0x%x/%x, SDO Abortcode 0x%x

Multi axis servo system - AX8000 57

Version: 1.1

Standard-Messages

3.44 A011, Pdo Mapping Error: Unable to map Object (not possible).

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A011 40977

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA011, Pdo Mapping Error: Unable to map Object 0x%x/%x.(not possible) (SyncManager %u)

Version: 1.1

Multi axis servo system - AX800058

Standard-Messages

3.45 A013, Pdo Mapping Error: Double Mapping of Object.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A013 40979

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA013, Pdo Mapping Error: Double Mapping of Object 0x%x/%x (SyncManager %u)

Multi axis servo system - AX8000 59

Version: 1.1

Standard-Messages

3.46 A015, Pdo Mapping Error: Unable to map Object (no Mappings left).

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A015 40981

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA015, Pdo Mapping Error: Unable to map Object 0x%x/%x.(no Mappings left) (SyncManager %u)

Version: 1.1

Multi axis servo system - AX800060

Standard-Messages

3.47 A017, Pdo Mapping Error: Object has to be mapped always.

The Object has to be mapped always.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A017 40983

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

An object, which must be in the mapping is not mapped.

Please add a mapping to the mentioned object.

Internal: 0xA017, Pdo Mapping Error: Object 0x%x/%x has to be mapped always.

Multi axis servo system - AX8000 61

Version: 1.1

Standard-Messages

3.48 A019, Pdo Mapping Error: Object has to be mapped because of modes of operation.

Your actual requested Modes of Operation requires the mentioned Object in the Mapping.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A019 40985

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA019, Pdo Mapping Error: Object 0x%x/%x has to be mapped for modes of operation %d.

Version: 1.1

Multi axis servo system - AX800062

Standard-Messages

3.49 A01B, Pdo BitMapping Error: Object A is not next to Object B.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A01B 40987

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA01B, Pdo BitMapping Error: Object 0x%x/%x is not next to Object 0x%x/%x. (SyncManager %u)

Multi axis servo system - AX8000 63

Version: 1.1

Standard-Messages

3.50 A01D, Pdo BitMapping Error: Can not Transform BitMappings to Byte-Mappings.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A01D 40989

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA01D, Pdo BitMapping Error: Can not Transform Bit-Mappings to Byte-Mappings. (SyncManager

%u)

Version: 1.1

Multi axis servo system - AX800064

Standard-Messages

3.51 A01F, Pdo Mapping Error: Invalid Oversampling Factor.

The oversampling factor of the mentioned Object is not possible.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A01F 40991

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Number of samples is higher than the Sync1/ Sync0 ratio.

Sync1/Sync0 ratio divided through the number of samples is not integer.

Please check, your mapping Configuration.

Internal: 0xA01F, Pdo Mapping Error: Invalid Oversampling Factor (%u) Object 0x%x/%x (SyncManager

%u).

Multi axis servo system - AX8000 65

Version: 1.1

Standard-Messages

3.52 A021, Pdo Mapping Error: Oversampling is not allowed.

Oversampling is not allowed for the mentioned Object.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A021 40993

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The mapping parameters contain oversampling for an object which doesn't support oversampling.

Please check, your mapping Configuration.

Internal: 0xA021, Pdo Mapping Error: Oversampling is not allowed for Object 0x%x/%x (SyncManager %u).

Version: 1.1

Multi axis servo system - AX800066

Standard-Messages

3.53 A023, Pdo Assignment Error

The Pdo Assignment List contains a Pdo which doesn't exist.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A023 40995

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

You might have used a Debug XML-Description in your actual Project.

Internal: 0xA023, Pdo Assignment Error: Assignment 0x%x%x contains a Pdo 0x%x which doesn't exist.

Please refresh your XML-Description and insert a new Instance of this Device in your Project.

Multi axis servo system - AX8000 67

Version: 1.1

Standard-Messages

3.54 A031, DynPdo Mapping Warning: Unable to map Object (not possible).

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A031 41009

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA031, DynPdo Mapping Warning: Unable to map Object 0x%x/%x.(not possible) (SyncManager

%u)

Version: 1.1

Multi axis servo system - AX800068

Standard-Messages

3.55 A033, DynPdo Mapping Warning: Double Mapping of Object.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A033 41011

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA033, DynPdo Mapping Warning: Double Mapping of Object 0x%x/%x (SyncManager %u)

Multi axis servo system - AX8000 69

Version: 1.1

Standard-Messages

3.56 A035, DynPdo Mapping Warning: Unable to map Object (no Mappings left).

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A035 41013

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA035, DynPdo Mapping Warning: Unable to map Object 0x%x/%x.(no Mappings left)

(SyncManager %u)

Version: 1.1

Multi axis servo system - AX800070

Standard-Messages

3.57 A037, DynPdo Mapping Warning: Object has to be mapped always.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A037 41015

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA037, DynPdo Mapping Warning: Object 0x%x/%x has to be mapped always.

Multi axis servo system - AX8000 71

Version: 1.1

Standard-Messages

3.58 A039, DynPdo Mapping Warning: Object has to be mapped because of modes of operation.

Your actual requested Modes of Operation requires the mentioned Object in the Mapping.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A039 41017

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA039, DynPdo Mapping Warning: Object 0x%x/%x has to be mapped for modes of operation %d.

Version: 1.1

Multi axis servo system - AX800072

Standard-Messages

3.59 A03B, DynPdo BitMapping Warning: Object A is not next to Object B.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A03B 41019

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA03B, DynPdo BitMapping Warning: Object 0x%x/%x is not next to Object 0x%x/%x.

(SyncManager %u)

Multi axis servo system - AX8000 73

Version: 1.1

Standard-Messages

3.60 A03D, DynPdo BitMapping Warning: Can not Transform Bit-Mappings to Byte-Mappings.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A03D 41021

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

A mapping Parameter is not supported of this Device. Please check, your mapping Configuration.

Internal: 0xA03D, DynPdo BitMapping Warning: Can not Transform Bit-Mappings to Byte-Mappings.

(SyncManager %u)

Version: 1.1

Multi axis servo system - AX800074

Standard-Messages

3.61 A03F, DynPdo Mapping Warning: Invalid Oversampling Factor.

The oversampling factor of the mentioned Object is not possible.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A03F 41023

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

The Number of samples is higher than the Sync1/ Sync0 ratio.

Sync1/Sync0 ratio divided through the number of samples is not integer.

Please check, your mapping Configuration.

Internal: 0xA03F, DynPdo Mapping Warning: Invalid Oversampling Factor (%u) Object 0x%x/%x

(SyncManager %u).

Multi axis servo system - AX8000 75

Version: 1.1

Standard-Messages

3.62 A041, DynPdo Mapping Warning: Oversampling is not allowed.

Oversampling is not allowed for the mentioned Object.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A041 41025

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

The mapping parameters contain oversampling for an object which doesn't support oversampling.

Please check, your mapping Configuration.

Internal: 0xA041, DynPdo Mapping Warning: Oversampling is not allowed for Object 0x%x/%x

(SyncManager %u).

Version: 1.1

Multi axis servo system - AX800076

Standard-Messages

3.63 A043, DynPdo Assignment Warning

The Pdo Assignment List contains a Pdo which doesn't exist.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A043 41027

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

You might have used a Debug XML-Description in your actual Project.

Internal: 0xA043, DynPdo Assignment Warning: Assignment 0x%x%x contains a Pdo 0x%x which doesn't

exist.

Please refresh your XML-Description and insert a new Instance of this Device in your Project.

Multi axis servo system - AX8000 77

Version: 1.1

Standard-Messages

3.64 A080, Safe-Op is not possible because the local TwinCAT Runtime is in ConfigMode.

You should only see this Message, if you are a AX Developer.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A080 41088

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The internal TwinCAT Runtime is in ConfigMode.

Internal: 0xA080, Safe-Op is not possible because the local TwinCAT Runtime is in ConfigMode.

Version: 1.1

Multi axis servo system - AX800078

Standard-Messages

3.65 A081, Transition Pre-Op to Safe-Op not successful. Safetycard not detected.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A081 41089

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable A reset is not possible. The drive detected a fatal

hard- or software error.

Possible Causes Solutions

There is an internal hardware error. Send the AX8000 to the Beckhoff branch office that is

responsible for you.

Internal: 0xA081, Transition Pre-Op to Safe-Op not successful. Safetycard not detected.

Multi axis servo system - AX8000 79

Version: 1.1

Standard-Messages

3.66 A082, EtherCAT Slave Stack Error:

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A082 41090

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Internal: 0xA082, EtherCAT Slave Stack Error: Al Status Code 0x%x

Version: 1.1

Multi axis servo system - AX800080

Standard-Messages

3.67 FFFD, Debug firmware, replace "As soon as possible"!

Debug firmware: Replace ASAP!

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

FFFD 65533

Class Type

Info Information

Standard Reaction Reset

No Information: No reset required.

Internal: 0xFFFD, Debug firmware, replace "As soon as possible"!

Multi axis servo system - AX8000 81

Version: 1.1

Standard-Messages

3.68 FFFF, Internal Error, Additional Errorcode

Internal Error

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

FFFF 65535

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

An unknown hard- or software error has occurred. Disconnect the power supply module from the mains

(including the 24 V power supply) and start a new attempt. If this error occurs repeatedly, please call the Beckhoff support that is responsible for you.

Internal: 0xFFFF, Internal Error, Additional Errorcode 0x%x

Version: 1.1

Multi axis servo system - AX800082

Diagmessages of module DeviceMain

4 Diagmessages of module DeviceMain

4.1 3210, DC link overvoltage

DC link overvoltage because the brake power of the power supply module is too low.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

3210 12816

Class Type

Error Overvoltage error

Standard Reaction Reset

Torque off Execute Reset-Command (Fault reset).

Possible Causes Solutions

Parameterization of the brake chopper from the power supply module is wrong.

The brake resistor from the power supply module is defective

Wrong selection of the brake resistor from the power supply module.

Check the parameterization of the brake chopper from the power supply module.

Measure the current resistance of the brake resistor.

Check the resistance of the brake resistor. Check the power of the brake resistor.

Internal: 0x3210, DC link overvoltage

Multi axis servo system - AX8000 83

Version: 1.1

Diagmessages of module DeviceMain

4.2 4380, Fan speed seems to be zero.

Fan speed seems to be zero.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

4380 17280

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

The velocity signal of the cooling fan is zero. Please check the cooling fan.

Internal: 0x4380, Fan speed seems to be zero.

Version: 1.1

Multi axis servo system - AX800084

Diagmessages of module DeviceMain

4.3 5112, Supply undervoltage: supply +24V

Supply undervoltage: supply +24V

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5112 20754

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

The 24V Supply Voltage went under 18V. Check your power supply.

Internal: 0x5112, Supply undervoltage: supply +24V

Multi axis servo system - AX8000 85

Version: 1.1

Diagmessages of module DeviceMain

4.4 5181, Power supply controlword, torque off order

The power supply device is in an error state and sent a torque off order to the connected Axes.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5181 20865

Class Type

Error Error

Standard Reaction Reset

Torque off Execute Reset-Command (Fault reset).

Possible Causes Solutions

Something went wrong in the power supply device. Please check the messages of the power supply

device.

Internal: 0x5181, Power supply controlword, torque off order

Version: 1.1

Multi axis servo system - AX800086

Diagmessages of module DeviceMain

4.5 5182, Power supply controlword, live counter inactive

The power supply device controlword contains a live counter which didn't increment for the maximum accepted timespan.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5182 20866

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Power supply status is not alive. Please Check if the Power supply status is linked to

the Supply Device and the Device is in EtherCAT OP state.

Internal: 0x5182, Power supply controlword, live counter inactive

Multi axis servo system - AX8000 87

Version: 1.1

Diagmessages of module DeviceMain

4.6 5183, Power supply controlword, NC handling order

The power supply device is in an error state and sent a NC handling order to the connected Axes.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5183 20867

Class Type

Error Error

Standard Reaction Reset

Nc handling Execute Reset-Command (Fault reset).

Possible Causes Solutions

Something went wrong in the power supply device. Please check the messages of the power supply

device.

Internal: 0x5183, Power supply controlword, NC handling order

Version: 1.1

Multi axis servo system - AX800088

Diagmessages of module DeviceMain

4.7 5185, Power supply controlword, non-regenerative brake order

The power supply device is in an error state and sent a non-regenerative brake order to the connected Axes.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5185 20869

Class Type

Error Error

Standard Reaction Reset

Shorted coils brake Execute Reset-Command (Fault reset).

Possible Causes Solutions

Something went wrong in the power supply device. Please check the messages of the power supply

device.

Internal: 0x5185, Power supply controlword, non-regenerative brake order

Multi axis servo system - AX8000 89

Version: 1.1

Diagmessages of module DeviceMain

4.8 5186, Power supply controlword, regenerative brake order

The power supply device is in an error state and sent a regenerative brake order to the connected Axes.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5186 20870

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

Something went wrong in the power supply device. Please check the messages of the power supply

device.

Internal: 0x5186, Power supply controlword, regenerative brake order

Version: 1.1

Multi axis servo system - AX800090

Diagmessages of module DeviceMain

4.9 5192, Supply overvoltage: supply +24V

Supply overvoltage: supply +24V

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

5192 20882

Class Type

Error Control voltage error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

The 24V Supply Voltage went over 40V. Check your 24V supply voltage.

Internal: 0x5192, Supply overvoltage: supply +24V

Multi axis servo system - AX8000 91

Version: 1.1

Diagmessages of module DeviceMain

4.10 6320, Parameter error

The mentioned parameter contains a not accepted value.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

6320 25376

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

Something is wrong with the parameters in this object.

Internal: 0x6320, Parameter error in Object 0x%x/%x

Please check the parameters of the mentioned object.

Version: 1.1

Multi axis servo system - AX800092

Diagmessages of module DeviceMain

4.11 8780, Configured Sync1 Cycle Time is above Maximum

The configured Sync1 Cycle Time is above the maximum.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

8780 34688

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Cycle Time of your NC-Task is above the supported maximum value of this drive.

Internal: 0x8780, Sync Controller: Configured Sync1 Cycle Time (%u ns) is above Maximum (%u ns).

Please set your Task to a shorter Cycle Time.

Multi axis servo system - AX8000 93

Version: 1.1

Diagmessages of module DeviceMain

4.12 8781, Configured Sync1 Cycle Time is below Minimum

The configured Sync1 Cycle Time is below the minimum.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

8781 34689

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Cycle Time of your NC-Task is below the supported minimum value of this drive.

Internal: 0x8781, Sync Controller: Configured Sync1 Cycle Time (%u ns) is below Minimum (%u ns).

Please set your Task to a longer Cycle Time.

Version: 1.1

Multi axis servo system - AX800094

Diagmessages of module DeviceMain

4.13 8782, Configured Sync1 Cycle Time is not a multiple of the Sync0 Cycle Time

The configured Sync1 Cycle Time is not a multiple of the Sync0 Cycle Time.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

8782 34690

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

The Cycle Time of your NC-Task has to be a multiple of the drives Sync0 Cycle Time.

Please set your Task to a valid Cycle Time.

Internal: 0x8782, Sync Controller: Configured Sync1 Cycle Time (%u ns) is not a multiple of the Sync0 Cycle

Time (%u ns).

Multi axis servo system - AX8000 95

Version: 1.1

Diagmessages of module DeviceMain

4.14 8783, Configured Sync0 Cycle Time is not legal

The configured Sync1 Cycle Time is not the default Cycle Time.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

8783 34691

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

An unknown hard- or software error has occurred. Disconnect the power supply module from the mains

(including the 24 V power supply) and start a new attempt. If this error occurs repeatedly, please call the Beckhoff support that is responsible for you.

Internal: 0x8783, Sync Controller: Configured Sync0 Cycle Time (%u ns) is unequal %u ns.

Version: 1.1

Multi axis servo system - AX800096

Diagmessages of module DeviceMain

4.15 A017, Pdo Mapping Error: Object has to be mapped always.

The Object has to be mapped always.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

A017 40983

Class Type

Error Error

Standard Reaction Reset

Axis is inoperable Execute Reset-Command (Fault reset).

Possible Causes Solutions

An object, which must be in the mapping is not mapped.

Please add a mapping to the mentioned object.

Internal: 0xA017, Pdo Mapping Error: Object 0x%x/%x has to be mapped always.

Multi axis servo system - AX8000 97

Version: 1.1

Diagmessages of module DeviceMain

4.16 FFFF, Internal Error, Additional Errorcode

Internal Error

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

FFFF 65535

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

An unknown hard- or software error has occurred. Disconnect the power supply module from the mains

(including the 24 V power supply) and start a new attempt. If this error occurs repeatedly, please call the Beckhoff support that is responsible for you.

Internal: 0xFFFF, Internal Error, Additional Errorcode 0x%x

Version: 1.1

Multi axis servo system - AX800098

Diagmessages of module DeviceDebug

5 Diagmessages of module DeviceDebug

5.1 FFFF, Internal Error, Additional Errorcode

Internal Error

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

FFFF 65535

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

An unknown hard- or software error has occurred. Disconnect the power supply module from the mains

(including the 24 V power supply) and start a new attempt. If this error occurs repeatedly, please call the Beckhoff support that is responsible for you.

Internal: 0xFFFF, Internal Error, Additional Errorcode 0x%x

Multi axis servo system - AX8000 99

Version: 1.1

Diagmessages of module AxisMain

6 Diagmessages of module AxisMain

6.1 0000, No Error

This Message is thrown always, if the Device enters an error-free state.

Diagnostic Code (Hex.) Diagnostic Code (Dez.)

0000 0

Class Type

Info Information

Standard Reaction Reset

No Information: No reset required.

Possible Causes Solutions

An Axis entered the error free state.

Internal: 0x0000, No Error

Version: 1.1

Multi axis servo system - AX8000100

Beckhoff AX8000 User Information

Specifications and Main Features

Frequently Asked Questions

User Manual

Inhaltsverzeichnis

1 Notes on the documentation

2 Introduction to the diagnostic system

2.1 Basic knowledge of the diagnostic system

2.2 Settings with respect to the diagnostic system

3 Standard-Messages

3.1 0000, No Error

3.2 5190, Test 5V supply failed

3.3 5580, Read failure EEPROM

3.4 5581, Checksum failure EEPROM

3.5 5582, EEPROM contains blank Data

3.6 5583, Unexpected EEPROM

3.7 5584, EEPROM contains blank Data

3.8 5585, Unexpected EEPROM

3.9 5586, Restored Errormessages from persistent memory

3.10 5590, Detected incompatible Pcb

3.11 5591, Identity incompatible to a Pcb

3.12 5592, FirmwareIndex is incompatible to this Firmware

3.13 5593, Structure Version is incompatible to this Firmware

3.14 5594, Simulating persistent data features.

3.15 5596, Storing of persistent data failed.

3.16 5597, Unsupported prototype hardware.

3.17 5598, Identity incompatible to Device

3.18 5599, Identity incompatible to a Device

3.19 6180, Internal Software Error Type A

3.20 6181, Internal Software Error Type B

3.21 6182, Internal Software Error Type C

3.22 6190, Init Timeout

3.23 6382, Illegal Slotconfiguration. Slot is empty.

3.24 6383, Illegal Slotconfiguration. Double Feedback Selection.

3.25 6384, Illegal Slotconfiguration. Slot has to be empty.

3.26 63B0, Transition Pre-Op to Safe-Op (ECat) not successful

3.27 63B1, Transition Safe-Op to Op (ECat) not successful

3.28 63B2, Transition Op to Safe-Op (ECat) not successful

3.29 63B3, Transition Safe-Op to Pre-Op (ECat) not successful

3.30 8180, System restart or sync lost

3.31 8181, Lost Distributed clocks Sync

3.32 A000, Transition Pre-Op to Safe-Op not successful. Sync Manager Length Error.

3.33 A001, Transition Pre-Op to Safe-Op not successful. Sync Manager Address Error.

3.34 A002, Transition Pre-Op to Safe-Op not successful. Sync Manager Settings Error.

3.35 A003, Transition Pre-Op to Safe-Op not successful. Sync Manager Address Range overlap.

3.36 A004, Sync Manager is disabled and has a Size unequal zero.

3.37 A005, Sync Manager Address is not multiple of 4.

3.38 A00B, Dynamic Sync Manager Address is not multiple of 4.

3.39 A00C, Dynamic Sync Manager Address Range overlap.

3.40 A00D, Dynamic Sync Manager Settings Error.

3.41 A00E, Dynamic Sync Manager Address Error.

3.42 A00F, Dynamic Sync Manager Length Error.

3.43 A010, SDO Complete Access Error.

3.44 A011, Pdo Mapping Error: Unable to map Object (not possible).

3.45 A013, Pdo Mapping Error: Double Mapping of Object.

3.46 A015, Pdo Mapping Error: Unable to map Object (no Mappings left).

3.47 A017, Pdo Mapping Error: Object has to be mapped always.

3.48 A019, Pdo Mapping Error: Object has to be mapped because of modes of operation.

3.49 A01B, Pdo BitMapping Error: Object A is not next to Object B.

3.51 A01F, Pdo Mapping Error: Invalid Oversampling Factor.

3.52 A021, Pdo Mapping Error: Oversampling is not allowed.

3.53 A023, Pdo Assignment Error

3.54 A031, DynPdo Mapping Warning: Unable to map Object (not possible).

3.55 A033, DynPdo Mapping Warning: Double Mapping of Object.

3.56 A035, DynPdo Mapping Warning: Unable to map Object (no Mappings left).

3.57 A037, DynPdo Mapping Warning: Object has to be mapped always.

3.58 A039, DynPdo Mapping Warning: Object has to be mapped because of modes of operation.

3.59 A03B, DynPdo BitMapping Warning: Object A is not next to Object B.

3.60 A03D, DynPdo BitMapping Warning: Can not Transform Bit-Mappings to Byte-Mappings.

3.61 A03F, DynPdo Mapping Warning: Invalid Oversampling Factor.

3.62 A041, DynPdo Mapping Warning: Oversampling is not allowed.

3.63 A043, DynPdo Assignment Warning

3.64 A080, Safe-Op is not possible because the local TwinCAT Runtime is in ConfigMode.

3.65 A081, Transition Pre-Op to Safe-Op not successful. Safetycard not detected.

3.66 A082, EtherCAT Slave Stack Error:

3.67 FFFD, Debug firmware, replace "As soon as possible"!

3.68 FFFF, Internal Error, Additional Errorcode

4 Diagmessages of module DeviceMain

4.1 3210, DC link overvoltage

4.2 4380, Fan speed seems to be zero.