FB_CrankModule - General Information

Overview

Type:	Function block
Available as of:	V1.0.2.0
Inherits from:	—
Implements:	—

Task

The function block is used to move crank and slide axes. Various operating modes and motion functions are supported.

Description

The crank module realizes a crank drive on a module level. Internally, the module uses the PDL.FB_Crank technology POU and encapsulates it completely. The crank module can be operated as a pure crank drive. In this case, based on a linearly moved slide, its motion profile is converted or transformed to the rotary side (axis) in order to realize the motion there.

A virtual axis is always allocated to the linear side and a real or a virtual axis is allocated to the rotary side (crank axis), depending on the use.

Operating the crank module as a crank drive is valid for the following operating modes:

oManual

oHoming

oMultiCam

oEndless

oPositioning

The function block is controlled via the StandardModule interface and the CrankModule interface. Further details on how to operate the module can be found in the chapter Methods.

Interface

Input/Output	Data type	Description
iq_StandardModuleItf	TPL.ST_StandardModuleInterface	See Standard Module Interface > ST_StandardModuleInterface.
iq_ExceptionList	TPL.ST_ExceptionList	See Standard Module Interface > ST_StandardModuleInterface.
iq_LogDataList	TPL.ST_LogDataList	See Standard Module Interface > ST_StandardModuleInterface.
iq_CrankModuleItf	ST_ModuleInterface	Parameter structure of the CrankModule.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	BrakeClosed	135	The brake is closed.
OK	BrakeReleased	136	The brake is released.
OK	BrakeReleaseExit	137	The operation mode BrakeRelease is quit.
OK	BrakeReleaseInit	134	The operation mode BrakeRelease is being initialized.
OK	Disabled	104	The POU is disabled.
OK	EndlessExit	125	The operation mode Endless is quit.
OK	EndlessInit	122	The operation mode Endless is initialized.
OK	EndlessRunning	124	The operation mode Endless is being executed.
OK	EndlessWaitForStart	123	The operation mode Endless is waiting for a start command.
OK	HomingDone	111	Homing has been completed.
OK	HomingExecuting	110	Homing is being executed.
OK	HomingExit	112	The operation mode Homing is quit.
OK	HomingInit	108	The operation mode Homing is being initialized.
OK	HomingWaitForStart	109	The operation mode Homing is waiting for a start command.
OK	Initializing	105	The module is being initialized.
OK	ManualExit	115	The operation mode Manual is quit.
OK	ManualInit	113	The operation mode Manual is being initialized.
OK	ManualRunning	114	The operation mode Manual is being executed.
OK	MultiCamExit	121	The operation mode MultiCam is quit.
OK	MultiCamInit	116	The operation mode MultiCam is being initialized.
OK	MultiCamRunning	120	The operation mode MultiCam is being executed.
OK	MultiCamWaitForStart	117	The operation mode MultiCam is waiting for a start command.
OK	MultiCamWaitForWsStart	118	The operation mode MultiCam is waiting for a WsStart command.
OK	MultiCamWsExecuting	119	The operation mode MultiCam executes a warmstart movement.
OK	NoOpDriveDisabled	107	No operating drive is disabled. The axis is switched off.
OK	NoOpDriveEnabled	106	No operating drive is enabled. The axis is ready to accept movement orders.
OK	PositioningExit	133	The operation mode Positioning is quit.
OK	PositioningInit	130	The operation mode Positioning is being initialized.
OK	PositioningRunning	132	The operation mode Positioning is being executed.
OK	PositioningWaitForStart	131	The operation mode Positioning is waiting for a start command.
OK	Uninitializing	169	The module is being deinitialized.
DriveConditionInvalid	DriveEncoderInvalid	76	The drive encoder is invalid.
DriveConditionInvalid	DriveException	57	The drive reports an exception.
DriveConditionInvalid	DriveExceptionFatal	56	The drive reports a fatal exception.
DriveConditionInvalid	DriveInvalid	10	The connected drive is invalid.
DriveConditionInvalid	DriveIsMoving	78	The drive is moving.
DriveConditionInvalid	DriveNotDisabled	79	The drive is not disabled.
DriveConditionInvalid	DriveNotReady	80	The drive is not ready for motion commands.
DriveConditionInvalid	DriveWarning	58	The drive reports an advisory.
DriveConditionInvalid	InverterEnableOff	51	The InverterEnable signal is off.
DriveConditionInvalid	NoAccessToEEPROM	87	The EEPROM of the drive cannot be accessed.
DriveConditionInvalid	ProgrammingInProgress	89	Writing is being performed on the encoder.
DriveConditionInvalid	ProgrammingInvalidEEPROM	90	Programming the drive encoder EEPROM is invalid.
DriveConditionInvalid	RestoreInterrupted	91	Restoring was interrupted.
DriveConditionInvalid	TorqueEnableOff	52	The TorqueEnable signal is off.
ExecutionAborted	AsyncInitNotFinished	189	Init has not been completed yet.
ExecutionAborted	AsyncStop	100	An asynchronous stop is executed.
ExecutionAborted	CmdImpossibleOverwrite	3	The command cannot be overwritten.
ExecutionAborted	CmdImpossibleReaction	5	The command cannot be executed due to a pending reaction.
ExecutionAborted	CmdImpossibleState	4	The command cannot be executed in the state.
ExecutionAborted	CmdUnknown	2	Unknown command.
ExecutionAborted	ColdResetOfControllerNecessary	190	A coldstart of the controller is necessary.
ExecutionAborted	HwLimitNegStillActive	143	HwLimitNeg is still active.
ExecutionAborted	HwLimitPosStillActive	144	HwLimitPos is still active.
ExecutionAborted	NoAsyncTasksCreated	188	No asynchronous tasks have been generated.
ExecutionAborted	StopEndOfCycle	103	A stop is executed at the end of the cycle.
ExecutionAborted	SyncStopEH	102	A synchronous stop is performed, the axis remains in position control.
ExecutionAborted	SyncStopEL	101	A synchronous stop is performed, the axis does not remain in position control.
HomingFailed	MaxTorqueNotFound	84	MaxTorque was not found.
HomingFailed	SensorNotFound	92	No sensor signal was found.
HomingFailed	TouchProbeNotFound	96	No Touchprobe was found.
InputParameterInvalid	AbsEncOffsetRange	73	AbsEncOffset is outside the valid range.
InputParameterInvalid	AccRange	14	Acc is outside the valid range.
InputParameterInvalid	BoundaryConditionInvalid	34	The boundary condition is invalid.
InputParameterInvalid	CheckSumInvalid	74	The checksum is invalid.
InputParameterInvalid	CrankTravelRangeTooSmall	151	The crank travel range is too small.
InputParameterInvalid	DataNVRamInvalid	75	The non-volatile memory (NVRam) does not contain anymore valid data.
InputParameterInvalid	DecRange	15	Dec is outside the valid range.
InputParameterInvalid	DriveInvalid	10	The connected drive is invalid.
InputParameterInvalid	IlsSlaveConditionInconsistent	66	The Ils slave specification is inconsistent.
InputParameterInvalid	IlsSlaveNumberRange	38	IlsSlaveNumber is outside the valid range.
InputParameterInvalid	JerkRange	16	Jerk is outside the valid range.
InputParameterInvalid	Krange	36	K is outside the valid range.
InputParameterInvalid	LencInvalid	77	The connected logical encoder is invalid.
InputParameterInvalid	MasterInvalid	6	The connected master is invalid.
InputParameterInvalid	MaxDistanceRange	42	MaxDistance is outside the valid range.
InputParameterInvalid	MaxTorqueRange	85	MaxTorque is outside the valid range.
InputParameterInvalid	MaxTravelRange	86	MaxTravel is outside the valid range.
InputParameterInvalid	MechanicalDataIncompatible	152	The mechanical data is incompatible.
InputParameterInvalid	MotionActiveVelLimitRange	50	MotionActiveVelLimit is outside the valid range.
InputParameterInvalid	Mrange	37	M is outside the valid range.
InputParameterInvalid	NumberOfCamPointsRange	35	NumberOfCamPoints is outside the valid range.
InputParameterInvalid	P5Pole1IntervalHighRange	153	P5Pole1IntervalHigh is outside the valid range.
InputParameterInvalid	P5Pole1IntervalLowRange	154	P5Pole1IntervalLow is outside the valid range.
InputParameterInvalid	P5PoleDistanceTooBig	157	P5PoleDistance is too big.
InputParameterInvalid	P5RangeHighRange	158	P5RangeHigh is outside the valid range.
InputParameterInvalid	P5RangeLowRange	159	P5RangeLow is outside the valid range.
InputParameterInvalid	P5RangeSumRange	160	The sum of P5Range is outside the valid range.
InputParameterInvalid	PeriodRange	26	Period is outside the valid range.
InputParameterInvalid	PointerRestorePosRetainInvalid	88	The RestorePosRetain pointer is invalid.
InputParameterInvalid	PowerSupplyInvalid	53	The connected power supply is invalid.
InputParameterInvalid	PowerSupplyNotFound	54	The connected power supply was not found.
InputParameterInvalid	PushRodRange	161	PushRod is outside the valid range.
InputParameterInvalid	RadiusRange	162	Radius is outside the valid range.
InputParameterInvalid	ReactionOffsetRange	173	ReactionOffset is outside the valid range.
InputParameterInvalid	ReducedVelocityLimit	9	The ReducedVelocityLimit has been exceeded.
InputParameterInvalid	RestorePosRetainInvalid	49	RestorePosRetain is invalid.
InputParameterInvalid	StartPositionSelectInvalid	142	Using StartPositionSelect is not allowed.
InputParameterInvalid	StopPositionRange	31	StopPosition is outside the valid range.
InputParameterInvalid	TouchProbeInvalid	94	The connected Touchprobe is invalid.
InputParameterInvalid	TouchProbeNotActive	95	The Touchprobe is not active.
InputParameterInvalid	TouchProbeVirtual	97	The connected Touchprobe is virtual.
InputParameterInvalid	UnknownCamType	39	The cam type is indeterminable.
InputParameterInvalid	UnknownCsModeMaster	43	CsModeMaster is indeterminable.
InputParameterInvalid	UnknownCsModeSlave	44	CsModeSlave is indeterminable.
InputParameterInvalid	UnknownMode	99	The Mode is indeterminable.
InputParameterInvalid	UnknownWsMode	45	The warmstart mode is indeterminable.
InputParameterInvalid	UserPeriodRange	98	UserPeriod is outside the valid range.
InputParameterInvalid	VelRange	17	Vel is outside the valid range.
InputParameterInvalid	XFactorTooLow	40	The X factor is too low.
InputParameterInvalid	YEqualCheckFailed	46	YEqualCheck was unsuccessful.
InputParameterInvalid	YFactorTooLow	41	The Y factor is too low.
LimitReached	HwLimitNegReached	8	The hardware negative limit switch has been reached.
LimitReached	HwLimitNegWarning	60	HwLimitNeg is nearly reached.
LimitReached	HwLimitPosReached	7	The hardware limit position has been reached.
LimitReached	HwLimitPosWarning	59	HwLimitPos is nearly reached.
LimitReached	ReducedVelocityLimit	9	The ReducedVelocityLimit has been exceeded.
PowerSupplyConditionInvalid	PowerSupplyNotReady	55	The connected power supply is not ready.
SercosConditionInvalid	SercosNotInPhaseFour	93	The Sercos bus is not in phase 4.
UnexpectedProgramBehavior	CreatingAsyncTasksFailed	187	Generating the asynchronous task failed.
UnexpectedProgramBehavior	GlobalSercosInterfaceInvalid	64	The G_ifSercos interface is invalid.
UnexpectedProgramBehavior	SemaphoreMeCreateFailed	186	Creating the semaphore was unsuccessful.
UnexpectedProgramBehavior	UnknownCase	70	Unknown case.
UnexpectedProgramBehavior	UnknownFeedback	12	An unintended feedback has been returned during the execution.
WarmStartConditionInvalid	DrivePositionOutOfWsWindow	47	The position of the drive is outside of WsWindow.
WarmStartConditionInvalid	MasterMoved	48	The master has been moved.

AbsEncOffsetRange

Enumeration name:	AbsEncOffsetRange
Enumeration value:	73
Description:	AbsEncOffset is outside the valid range.

Issue	Cause	Solution
Check if one of the following modes was selected for Homing in the ST_Home structure: oPDL.ET_HomeMode.RestorePosFromAxisEncoder oPDL.ET_HomeMode.RestorePosFromRetain	A number <= 0 or greater than the encoder period has been transferred to the i_lrAbsEncOffset parameter of the ST_HomeSetPos structure.	The following must apply for i_lrAbsEncOffset: 0 < i_lrAbsEncOffset < maximum possible value of Drive.EncoderPosition. If none of the modes mentioned above have been selected, please inform the support team about this detected error.

Issue

Cause

Solution

Check if one of the following modes was selected for Homing in the ST_Home structure:

oPDL.ET_HomeMode.RestorePosFromAxisEncoder

oPDL.ET_HomeMode.RestorePosFromRetain

A number <= 0 or greater than the encoder period has been transferred to the i_lrAbsEncOffset parameter of the ST_HomeSetPos structure.

The following must apply for i_lrAbsEncOffset: 0 < i_lrAbsEncOffset < maximum possible value of Drive.EncoderPosition. If none of the modes mentioned above have been selected, please inform the support team about this detected error.

AccRange

Enumeration name:	AccRange
Enumeration value:	14
Description:	Acc is outside the valid range.

Issue	Cause	Solution
-	The operation mode Endless was selected and the i_lrAcc parameter of the ST_EndlessFeed structure was allocated with an invalid value.	The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive.
-	The operation mode Positioning was selected and the i_lrAcc parameter of the ST_Positioning structure was allocated with an invalid value.	The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive.
-	The operation mode EndlessIIs was selected and the i_lrAcc parameter of the ST_EndlessFeed structure was allocated with an invalid value.	The following must apply: i_lrAcc > 1.

AsyncInitNotFinished

Enumeration name:	AsyncInitNotFinished
Enumeration value:	189
Description:	Init has not been completed yet.

Issue	Cause	Solution
-	Init has not been completed yet.	Call up the Init() before you call up Start() for the first time. After you have called up the Init, wait until Init has been executed successfully (Init.q_xDone = TRUE).

Issue

Cause

Solution

Init has not been completed yet.

Call up the Init() before you call up Start() for the first time.

After you have called up the Init, wait until Init has been executed successfully (Init.q_xDone = TRUE).

AsyncStop

Enumeration name:	AsyncStop
Enumeration value:	100
Description:	An asynchronous stop is executed.

Issue	Cause	Solution
-	The module executes a reaction TPL.ET_Reaction AsyncStop.	Check the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction. Acknowledge the exceptions to discard the reactions.

Issue

Cause

Solution

The module executes a reaction TPL.ET_Reaction AsyncStop.

Check the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction.

Acknowledge the exceptions to discard the reactions.

BoundaryConditionInvalid

Enumeration name:	BoundaryConditionInvalid
Enumeration value:	34
Description:	The boundary condition is invalid.

Issue	Cause	Solution
-	When defining the motion profile in iq_stMultiCamData in the ST_MultiCam structure, it is not possible to comply with the set boundary conditions of the segments.	Check the definition of the motion profile and particularly the boundary conditions of the sub-segments. As an alternative, select different profiles for the sub-segments to be able to comply with all the desired boundary conditions.

Issue

Cause

Solution

When defining the motion profile in iq_stMultiCamData in the ST_MultiCam structure, it is not possible to comply with the set boundary conditions of the segments.

Check the definition of the motion profile and particularly the boundary conditions of the sub-segments.

As an alternative, select different profiles for the sub-segments to be able to comply with all the desired boundary conditions.

BrakeClosed

Enumeration name:	BrakeClosed
Enumeration value:	135
Description:	The brake is closed.

The operation mode BrakeRelease is selected and the brake of the axis is closed.

BrakeReleased

Enumeration name:	BrakeReleased
Enumeration value:	136
Description:	The brake is released.

The operation mode BrakeRelease is selected and the brake of the axis is released.

BrakeReleaseExit

Enumeration name:	BrakeReleaseExit
Enumeration value:	137
Description:	The operation mode BrakeRelease is quit.

The operation mode BrakeRelease is quit.

BrakeReleaseInit

Enumeration name:	BrakeReleaseInit
Enumeration value:	134
Description:	The operation mode BrakeRelease is being initialized.

The operation mode BrakeRelease is being initialized.

CheckSumInvalid

Enumeration name:	CheckSumInvalid
Enumeration value:	74
Description:	The checksum is invalid.

Issue	Cause	Solution
-	The PDL.ET_HomeMode.RestorePosFromRetain mode has been selected at the i_etMode parameter of the ST_Home structure. The data saved in iq_pstRestorePosRetain of the ST_HomeSetPos structure is not consistent. The position cannot be restored.	Homing of the drive is necessary again.

CmdImpossibleOverwrite

Enumeration name:	CmdImpossibleOverwrite
Enumeration value:	3
Description:	The command cannot be overwritten.

Issue	Cause	Solution
-	A command was being processed by the module while a new command was sent that was not ET_Cmd.Stop or ET_Cmd.BrakeRelease. The module is in the operation mode Positioning and is currently executing an ET_Cmd.Start command while it receives a command that is not ET_Cmd.Hold.	Use the command tables of the template to send commands to the module. Make certain that the module is not processing any commands (ST_StandardModuleInterface.q_xCmdActive = FALSE) when you send a new command to the module.

Issue

Cause

Solution

A command was being processed by the module while a new command was sent that was not ET_Cmd.Stop or ET_Cmd.BrakeRelease.

The module is in the operation mode Positioning and is currently executing an ET_Cmd.Start command while it receives a command that is not ET_Cmd.Hold.

Use the command tables of the template to send commands to the module.

Make certain that the module is not processing any commands (ST_StandardModuleInterface.q_xCmdActive = FALSE) when you send a new command to the module.

CmdImpossibleReaction

Enumeration name:	CmdImpossibleReaction
Enumeration value:	5
Description:	The command cannot be executed due to a pending reaction.

Issue	Cause	Solution
-	A reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL, TPL.ET_Reaction.SyncStopEH or TPL.ET_Reaction.StopEndOfCycle is active in the module while it receives a ET_Cmd.Start, ET_Cmd.WsStart, ET_Cmd.StartTrig or ET_Cmd.StartTrigWaitInPos command.	Make certain that no start commands are sent to the module when a reaction is active in the machine part of the module. Acknowledge the exception of the module before you send a start command to it.
-	A reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH is active in the module while it receives a ET_Cmd.Homing, ET_Cmd.Manual, ET_Cmd.CamCs, ET_Cmd.CamWs, ET_Cmd.Endless, ET_Cmd.EndlessIls, ET_Cmd.Positioning, ET_Cmd.AdditionalCs or ET_Cmd.AdditionalWs command.	Ensure that no commands for changing to a different operation mode are sent to the module when a reaction is active in the machine part of the module. Acknowledge the exceptions of the module before you send a command to it.
-	A reaction TPL.ET_Reaction.AsyncStop or TPL.ET_Reaction.SyncStopEL is active in the module while it receives a ET_Cmd.DriveEnableOn command.	Ensure that no command for enabling the axis is sent to the module when a reaction is active in the machine part of the module. Acknowledge the exceptions of the module before you send a command to it.

Issue

Cause

Solution

A reaction

TPL.ET_Reaction.AsyncStop,

TPL.ET_Reaction.SyncStopEL,

TPL.ET_Reaction.SyncStopEH or

TPL.ET_Reaction.StopEndOfCycle

is active in the module while it receives a

ET_Cmd.Start,

ET_Cmd.WsStart,

ET_Cmd.StartTrig or

ET_Cmd.StartTrigWaitInPos

command.

Make certain that no start commands are sent to the module when a reaction is active in the machine part of the module.

Acknowledge the exception of the module before you send a start command to it.

A reaction

TPL.ET_Reaction.AsyncStop,

TPL.ET_Reaction.SyncStopEL or

TPL.ET_Reaction.SyncStopEH

is active in the module while it receives a

ET_Cmd.Homing,

ET_Cmd.Manual,

ET_Cmd.CamCs,

ET_Cmd.CamWs,

ET_Cmd.Endless,

ET_Cmd.EndlessIls,

ET_Cmd.Positioning,

ET_Cmd.AdditionalCs or

ET_Cmd.AdditionalWs

command.

Ensure that no commands for changing to a different operation mode are sent to the module when a reaction is active in the machine part of the module.

Acknowledge the exceptions of the module before you send a command to it.

A reaction

TPL.ET_Reaction.AsyncStop or

TPL.ET_Reaction.SyncStopEL

is active in the module while it receives a

ET_Cmd.DriveEnableOn

command.

Ensure that no command for enabling the axis is sent to the module when a reaction is active in the machine part of the module.

Acknowledge the exceptions of the module before you send a command to it.

CmdImpossibleState

Enumeration name:	CmdImpossibleState
Enumeration value:	4
Description:	The command cannot be executed in the state.

Issue	Cause	Solution
-	The module is in the state ET_State.NoOpAxisDisabled or ET_State.NoOpAxisEnabled when it receives a ET_Cmd.Start, ET_Cmd.WsStart, ET_Cmd.StartTrig or ET_Cmd.StartTrigWaitInPos command. The module is not in the state .MultiCamWaitForWsStart, ET_State.MultiCamRunning or in the operation mode ET_OpMode.Additional when it receives a ET_Cmd.WsStart command. The module is in the state ET_State.MultiCamWaitForWsStart and a warm start mode PDL.ET_MultiCamWsMode.StoredCamShowCamPosition or PDL.ET_MultiCamWsMode.NewCamShowCamPosition has been selected when it receives a ET_Cmd.WsStart command. The module is in the operation mode ET_OpMode.Manual when it receives a ET_Cmd.Start or ET_Cmd.Hold, command. The module is not in the operation mode ET_OpMode.Positioning when it receives a ET_Cmd.StartTrigWaitInPos command. The module is not in the operation mode ET_OpMode.Positioning, ET_OpMode.Endless, ET_OpMode.EndlessIls or ET_OpMode.MultiCam when it receives a ET_Cmd.StartTrig command.	Before you send a command, ensure that the module can execute the command in the state.

Issue

Cause

Solution

The module is in the state

ET_State.NoOpAxisDisabled or

ET_State.NoOpAxisEnabled

when it receives a

ET_Cmd.Start,

ET_Cmd.WsStart,

ET_Cmd.StartTrig or

ET_Cmd.StartTrigWaitInPos

command.

The module is not in the state

.MultiCamWaitForWsStart,

ET_State.MultiCamRunning

or in the operation mode

ET_OpMode.Additional

when it receives a

ET_Cmd.WsStart

command.

The module is in the state

ET_State.MultiCamWaitForWsStart

and a warm start mode

PDL.ET_MultiCamWsMode.StoredCamShowCamPosition or

PDL.ET_MultiCamWsMode.NewCamShowCamPosition

has been selected when it receives a

ET_Cmd.WsStart

command.

The module is in the operation mode

ET_OpMode.Manual

when it receives a

ET_Cmd.Start or

ET_Cmd.Hold,

command.

The module is not in the operation mode

ET_OpMode.Positioning

when it receives a

ET_Cmd.StartTrigWaitInPos

command.

The module is not in the operation mode

ET_OpMode.Positioning,

ET_OpMode.Endless,

ET_OpMode.EndlessIls or

ET_OpMode.MultiCam

when it receives a

ET_Cmd.StartTrig

command.

Before you send a command, ensure that the module can execute the command in the state.

CmdUnknown

Enumeration name:	CmdUnknown
Enumeration value:	2
Description:	Unknown command.

Issue	Cause	Solution
-	The command sent to the module does not belong to the list of commands for the ET_Cmd crank module.	Ensure that only commands from the ET_Cmd list are sent to the module.

ColdResetOfControllerNecessary

Enumeration name:	ColdResetOfControllerNecessary
Enumeration value:	190
Description:	A coldstart of the controller is necessary.

Issue	Cause	Solution
-	Gc_udiNumOfAsyncTasks has been changed.	A cold start of the controller and a call up of Init() is required.

CrankTravelRangeTooSmall

Enumeration name:	CrankTravelRangeTooSmall
Enumeration value:	151
Description:	The crank travel range is too small.

Issue	Cause	Solution
-	The crank axis range of possible motions is too small.	The following must apply: iq_stCrankData.lrPhiLogMax - iq_stCrankData.lrPhiLogMin >= 1 Check iq_stCrankData.lrRadius, iq_stCrankData.lrPushRod and iq_stCrankData.lrOffset.

Issue

Cause

Solution

The crank axis range of possible motions is too small.

The following must apply: iq_stCrankData.lrPhiLogMax - iq_stCrankData.lrPhiLogMin >= 1

Check iq_stCrankData.lrRadius, iq_stCrankData.lrPushRod and iq_stCrankData.lrOffset.

CreatingAsyncTasksFailed

Enumeration name:	CreatingAsyncTasksFailed
Enumeration value:	187
Description:	Generating the asynchronous task failed.

Issue	Cause	Solution
-	An error was detected and occurred in the internal execution.	Please inform the support team about this detected error.

DataNVRamInvalid

Enumeration name:	DataNVRamInvalid
Enumeration value:	75
Description:	The non-volatile memory (NVRam) does not contain anymore valid data.

Issue	Cause	Solution
-	The data stored in the NVRam are invalid. This is why the position cannot be restored from ST_HomeSetPos.iq_pstRestorePosRetain.	Check the NVRam and the buffer battery and replace them if necessary. A new homing of the drive is necessary.

Issue

Cause

Solution

The data stored in the NVRam are invalid. This is why the position cannot be restored from ST_HomeSetPos.iq_pstRestorePosRetain.

Check the NVRam and the buffer battery and replace them if necessary.

A new homing of the drive is necessary.

DecRange

Enumeration name:	DecRange
Enumeration value:	15
Description:	Dec is outside the valid range.

Issue	Cause	Solution
-	The operation mode Endless has been selected and the i_lrDec parameter of the ST_EndlessFeed structure was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.
-	The operation mode Positioning has been selected and the i_lrDec parameter of the ST_Positioning structure was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.
-	The operation mode EndlessIIs has been selected and the i_lrDec parameter of the ST_EndlessFeed structure was allocated with an invalid value.	The following must apply: i_lrDec > 1.
-	The operation mode Manual has been selected and the i_lrDec parameter of the ST_Manual structure was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.
-	The operation mode MultiCam has been selected and the iq_stExt.xStopPositionSelect parameter of the ST_MultiCam structure was allocated with TRUE and the iq_stExt.lrStopDeceleration parameter was allocated with an invalid value.	The following must apply: 0 < iq_stExt.lrStopDeceleration < MaxAcc parameter of the drive.
-	The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionNegEdgeTp PDL.ET_HomeMode.PosDirectionNegEdgeTp and the i_lrDec parameter of the PDL.ST_HomeTp structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.
-	The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionNegEdgeSensor PDL.ET_HomeMode.PosDirectionNegEdgeSensor and the i_lrDec parameter of the PDL.ST_HomeIn structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.
-	The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos and the i_lrDec parameter of the PDL.ST_HomeLimitSwitch structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.
-	The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionMaxTorque PDL.ET_HomeMode.NegDirectionMaxTorque and the i_lrDec parameter of the PDL.ST_HomeTorque structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.
-	The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.MoveOnPosAbs and the i_lrDec parameter of the PDL.ST_HomeMoveOnPos structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.

Disabled

Enumeration name:	Disabled
Enumeration value:	104
Description:	The POU is disabled.

The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE.

DriveEncoderInvalid

Enumeration name:	DriveEncoderInvalid
Enumeration value:	76
Description:	The drive encoder is invalid.

Issue	Cause	Solution
-	The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.RestorePosFromAxisEncoder or PDL.ET_HomeMode.RestorePosFromRetain. However, the axis encoder is not supported.	The EncoderRange parameter of the axis must be greater than 0. If necessary, use an axis with a different encoder type.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.RestorePosFromAxisEncoder or PDL.ET_HomeMode.RestorePosFromRetain. However, the axis encoder is not supported.

The EncoderRange parameter of the axis must be greater than 0.

If necessary, use an axis with a different encoder type.

DriveException

Enumeration name:	DriveException
Enumeration value:	57
Description:	The drive reports an exception.

Issue	Cause	Solution
-	The connected drive reports an exception.	Analyze the exception of the drive.

DriveExceptionFatal

Enumeration name:	DriveExceptionFatal
Enumeration value:	56
Description:	The drive reports a fatal exception.

Issue	Cause	Solution
-	The connected drive reports a fatal exception.	Analyze the exception of the drive.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	10
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	No valid drive was applied at the ST_Main.i_ifDriveSlide/i_ifDriveCrank input.	A valid drive must be transferred to the ST_Main.i_ifDriveSlide/i_ifDriveCrank input.
-	The connected drive does not support all required functionalities.	The q_sMsg output of the exception shows which functionalities are not supported by the drive. Use a drive that supports all required functionalities.

Issue

Cause

Solution

No valid drive was applied at the ST_Main.i_ifDriveSlide/i_ifDriveCrank input.

A valid drive must be transferred to the ST_Main.i_ifDriveSlide/i_ifDriveCrank input.

The connected drive does not support all required functionalities.

The q_sMsg output of the exception shows which functionalities are not supported by the drive.

Use a drive that supports all required functionalities.

DriveIsMoving

Enumeration name:	DriveIsMoving
Enumeration value:	78
Description:	The drive is moving.

Issue	Cause	Solution
-	The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.WriteAxisEncoder. The axis moved while the encoder was writing.	The axis must be at standstill to write to its encoder. Check the axis state and the mechanical forces of the axis.

DriveNotDisabled

Enumeration name:	DriveNotDisabled
Enumeration value:	79
Description:	The drive is not disabled.

Issue	Cause	Solution
-	The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.WriteAxisEncoder. The axis is not in AxisState 1.	The axis must be in AxisState 1 to write to its encoder. Check the axis state.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	80
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The connected axis is not in position control.	Ensure that the position control of the axis is activated.

DrivePositionOutOfWsWindow

Enumeration name:	DrivePositionOutOfWsWindow
Enumeration value:	47
Description:	The position of the drive is outside of WsWindow.

Issue

Cause

Solution

The operation mode ET_OpMode.MultiCam is selected to execute a warmstart. The axis has been moved beyond ST_MultiCam.i_WsWindow while disabled.

Move the axis back into the warmstart window.

Extend the limits of the warmstart window.

Perform a coldstart.

DriveWarning

Enumeration name:	DriveWarning
Enumeration value:	58
Description:	The drive reports an advisory.

Issue	Cause	Solution
-	The connected drive reports an advisory.	Analyze the advisory of the drive.

EndlessExit

Enumeration name:	EndlessExit
Enumeration value:	125
Description:	The operation mode Endless is quit.

The operation mode Endless is quit.

EndlessInit

Enumeration name:	EndlessInit
Enumeration value:	122
Description:	The operation mode Endless is initialized.

The operation mode Endless is initialized.

EndlessRunning

Enumeration name:	EndlessRunning
Enumeration value:	124
Description:	The operation mode Endless is being executed.

The operation mode Endless is being executed.

EndlessWaitForStart

Enumeration name:	EndlessWaitForStart
Enumeration value:	123
Description:	The operation mode Endless is waiting for a start command.

The operation mode Endless is selected and is waiting for the ET_Cmd.Start command.

GlobalSercosInterfaceInvalid

Enumeration name:	GlobalSercosInterfaceInvalid
Enumeration value:	64
Description:	The G_ifSercos interface is invalid.

Issue	Cause	Solution
-	The global Sercos interface G_ifSercos is invalid.	Ensure that the Sercos interface G_ifSercos outside the function block is not accidentally overwritten with 0.

HomingDone

Enumeration name:	HomingDone
Enumeration value:	111
Description:	Homing has been completed.

Homing has been completed.

HomingExecuting

Enumeration name:	HomingExecuting
Enumeration value:	110
Description:	Homing is being executed.

Homing is being executed.

HomingExit

Enumeration name:	HomingExit
Enumeration value:	112
Description:	The operation mode Homing is quit.

The operation mode Homing is quit.

HomingInit

Enumeration name:	HomingInit
Enumeration value:	108
Description:	The operation mode Homing is being initialized.

The operation mode Homing is being initialized.

HomingWaitForStart

Enumeration name:	HomingWaitForStart
Enumeration value:	109
Description:	The operation mode Homing is waiting for a start command.

The operation mode Homing is selected and is expecting the ET_Cmd.Start command.

HwLimitNegReached

Enumeration name:	HwLimitNegReached
Enumeration value:	8
Description:	The hardware negative limit switch has been reached.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing has been selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionNegEdgeTp,

PDL.ET_HomeMode.PosDirectionNegEdgeTp,

PDL.ET_HomeMode.PosDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionNegEdgeSensor,

PDL.ET_HomeMode.PosDirectionNegEdgeSensor,

PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos,

PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg,

PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or

PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos.

The negative hardware limit switch was found when searching for the reference signal.

Check the signal at the ST_Main.i_xHwLimitNeg input.

Ensure that the sensor of the negative limit switch is not dirty.

HwLimitNegStillActive

Enumeration name:	HwLimitNegStillActive
Enumeration value:	143
Description:	HwLimitNeg is still active.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionNegEdgeTp or

PDL.ET_HomeMode.PosDirectionNegEdgeTp.

The negative limit switch (ST_Main.i_xHwLimitNeg = TRUE) is still active. A Touchprobe signal was detected or the maximum travel distance (ST_Home.stTouchProbe.i_lrMaxTravel) was reached.

Check the signal at the ST_Main.i_xHwLimitNeg input.

Check the value for the maximum travel distance ST_Home.stTouchProbe.i_lrMaxTravel.

Ensure that the sensor of the negative limit switch is not dirty.

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionNegEdgeSensor or

PDL.ET_HomeMode.PosDirectionNegEdgeSensor.

The negative limit switch (ST_Main.i_xHwLimitNeg = TRUE) is still active. A sensor signal was detected or the maximum travel distance (ST_Home.stSensor.i_lrMaxTravel) was reached.

Check the signal at the ST_Main.i_xHwLimitNeg input.

Check the value for the maximum travel distance at the ST_Home.stTouchProbe.i_lrMaxTravel input.

Ensure that the sensor of the negative limit switch is not dirty.

HwLimitNegWarning

Enumeration name:	HwLimitNegWarning
Enumeration value:	60
Description:	HwLimitNeg is nearly reached.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing, ET_OpMode.Manual or ET_OpMode.BrakeRelease was selected and the negative hardware limit switch ST_Main.i_xHwLimitNeg was found.

Ensure that the axis does not move onto the negative hardware limit switch.

Ensure that the sensor of the negative limit switch is not dirty.

HwLimitPosReached

Enumeration name:	HwLimitPosReached
Enumeration value:	7
Description:	The hardware limit position has been reached.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionNegEdgeTp,

PDL.ET_HomeMode.PosDirectionNegEdgeTp,

PDL.ET_HomeMode.PosDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionNegEdgeSensor,

PDL.ET_HomeMode.PosDirectionNegEdgeSensor,

PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos,

PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg,

PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or

PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos.

The positive hardware limit switch was found when searching for the reference signal.

Check the signal at the ST_Main.i_xHwLimitPos input.

Ensure that the sensor of the negative limit switch is not dirty.

HwLimitPosStillActive

Enumeration name:	HwLimitPosStillActive
Enumeration value:	144
Description:	HwLimitPos is still active.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionNegEdgeTp or

PDL.ET_HomeMode.PosDirectionNegEdgeTp.

The negative limit switch (ST_Main.i_xHwLimitNeg = TRUE) is still active. A Touchprobe signal was detected or the maximum travel distance (ST_Home.stTouchProbe.i_lrMaxTravel) was reached.

Check the signal at the ST_Main.i_xHwLimitNeg input.

Check the value for the maximum travel distance ST_Home.stTouchProbe.i_lrMaxTravel.

Ensure that the sensor of the negative limit switch is not dirty.

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionNegEdgeSensor or

PDL.ET_HomeMode.PosDirectionNegEdgeSensor.

The negative limit switch (ST_Main.i_xHwLimitNeg = TRUE) is still active. A sensor signal was detected or the maximum travel distance (ST_Home.stSensor.i_lrMaxTravel) was reached.

Check the signal at the ST_Main.i_xHwLimitNeg input.

Check the value for the maximum travel distance at the ST_Home.stTouchProbe.i_lrMaxTravel input.

Ensure that the sensor of the negative limit switch is not dirty.

HwLimitPosWarning

Enumeration name:	HwLimitPosWarning
Enumeration value:	59
Description:	HwLimitPos is nearly reached.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing, ET_OpMode.Manual or ET_OpMode.BrakeRelease was selected and the negative hardware limit switch ST_Main.i_xHwLimitNeg was found.

Ensure that the axis does not move onto the negative hardware limit switch.

Ensure that the sensor of the negative limit switch is not dirty.

IlsSlaveConditionInconsistent

Enumeration name:	IlsSlaveConditionInconsistent
Enumeration value:	66
Description:	The Ils slave specification is inconsistent.

Issue

Cause

Solution

The operation mode ET_OpMode.MultiCam was selected but the specifications whether it is an IIs slave are contradictory.

Ensure that the slave number of the IIs slave is entered in ST_MultiCam.i_udiSlaveNumber. If it is not an IIs slave, a 0 must be entered.

Both conditions mentioned earlier must be met simultaneously.

IlsSlaveNumberRange

Enumeration name:	IlsSlaveNumberRange
Enumeration value:	38
Description:	IlsSlaveNumber is outside the valid range.

Issue	Cause	Solution
-	The operation mode ET_OpMode.MultiCam was selected. The specification of the ST_MultiCam.i_udiSlaveNumber is outside the valid range.	Ensure that the following applies: ST_MultiCam.i_udiSlaveNumber <= ST_MultiCam.pstIlsData^.i_stConfig.diNumberOfSlaves

Initializing

Enumeration name:	Initializing
Enumeration value:	105
Description:	The module is being initialized.

The module is being initialized.

InverterEnableOff

Enumeration name:	InverterEnableOff
Enumeration value:	51
Description:	The InverterEnable signal is off.

Issue	Cause	Solution
-	The InverterEnable signal of the axis is not enabled.	Check the wiring of the InverterEnable signal.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	16
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	The operation mode Endless was selected and the i_lrJerk parameter of the ET_OpMode structure was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ET_OpMode.i_lrJerk input.
-	The operation mode Positioning was selected and the i_lrJerk parameter of the ST_Positioning structure was allocated with an invalid value.	At the ST_Positioning.i_lrJerk input a value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred.
-	The operation mode EndlessIIs was selected and the i_lrJerk parameter of the ET_OpMode structure was allocated with an invalid value.	The following must apply: i_lrJerk > 1
-	The operation mode Manual was selected and the i_lrJerk parameter of the ST_Manual structure was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Manual.i_lrJerk input
-	The operation mode MultiCam was selected and the i_lrJerk parameter of the ST_MultiCam structure was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_MultiCam.i_lrJerk input.
-	The operation mode MultiCam was selected and the iq_stExt.xStopPositionSelect parameter of the ST_MultiCam structure was allocated with TRUE, and the iq_stExt.lrStopJerk parameter was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_MultiCam.iq_stExt.lrStopJerk input.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionNegEdgeTp PDL.ET_HomeMode.PosDirectionNegEdgeTp and the i_lrJerk parameter of the PDL.ST_HomeTp structure in the ST_Home structure was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.iq_TouchProbe.i_IrJerk input.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionNegEdgeSensor PDL.ET_HomeMode.PosDirectionNegEdgeSensor and the i_lrJerk parameter of the PDL.ST_HomeIn structure in the ST_Home structure was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.iq_Sensor.i_IrJerk input.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values: PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos and the i_lrJerk parameter of the PDL.ST_HomeLimitSwitch structure in the ST_Home structure was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.stLimitSwitch.i_lrJerk input.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionMaxTorque PDL.ET_HomeMode.NegDirectionMaxTorque and the i_lrJerk parameter of the PDL.ST_HomeTorque structure in the ST_Home structure was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.stTorque.i_lrJerk input.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.MoveOnPosAbs and the i_lrJerk parameter of the PDL.ST_HomeMoveOnPos structure in the ST_Home structure was allocated with an invalid value.	A value greater than 0 and smaller or equal to PDL.Gc_lrMaxJerk must be transferred to the ST_Home.stMoveOnPos.i_lrJerk input.

Krange

Enumeration name:	Krange
Enumeration value:	36
Description:	K is outside the valid range.

Issue	Cause	Solution
-	An invalid value was applied at the ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrK.	Check the values for ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrK

LencInvalid

Enumeration name:	LencInvalid
Enumeration value:	77
Description:	The connected logical encoder is invalid.

Issue	Cause	Solution
-	The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.SetPosLogEncoderPosition or PDL.ET_HomeMode.SetPosAxisAndLogEncoderPosition. No logical encoder was transferred to the ST_Main.iq_lencEncoder parameter.	An own logical encoder of the PLC Configuration must be transferred to the ST_Main.iq_lencEncoder parameter.

ManualExit

Enumeration name:	ManualExit
Enumeration value:	115
Description:	The operation mode Manual is quit.

The operation mode Manual is quit.

ManualInit

Enumeration name:	ManualInit
Enumeration value:	113
Description:	The operation mode Manual is being initialized.

The operation mode Manual is being initialized.

ManualRunning

Enumeration name:	ManualRunning
Enumeration value:	114
Description:	The operation mode Manual is being executed.

The operation mode Manual is being executed.

MasterInvalid

Enumeration name:	MasterInvalid
Enumeration value:	6
Description:	The connected master is invalid.

Issue

Cause

Solution

The master applied at ST_Main.i_ifMaster does not support all required functionalities.

Ensure that the master applied at ST_Main.i_ifMaster implements the SystemConfigurationItf.IF_MasterVelocity interface.

Ensure that the master applied at ST_Main.i_ifMaster implements the SystemConfigurationItf.IF_RefActualValues interface.

MasterMoved

Enumeration name:	MasterMoved
Enumeration value:	48
Description:	The master has been moved.

Issue	Cause	Solution
-	The master has moved during the warm start.	Ensure that the master does not move during the warm start motion.

MaxDistanceRange

Enumeration name:	MaxDistanceRange
Enumeration value:	42
Description:	MaxDistance is outside the valid range.

Issue	Cause	Solution
-	An invalid value was applied at the ST_Manual.i_lrMaxDistance input.	A value greater than or equal to 0 must be transferred to the ST_Manual.i_lrMaxDistance input.

MaxTorqueNotFound

Enumeration name:	MaxTorqueNotFound
Enumeration value:	84
Description:	MaxTorque was not found.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionMaxTorque or

PDL.ET_HomeMode.NegDirectionMaxTorque.

The stop was not found.

Check the state of the limit stop.

Check the input ST_Home..stTorque.i_lrMaxTorque.

Check the ST_Home..stTorque.i_lrMaxTravel input.

Check the axis state.

MaxTorqueRange

Enumeration name:	MaxTorqueRange
Enumeration value:	85
Description:	MaxTorque is outside the valid range.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionMaxTorque or

PDL.ET_HomeMode.NegDirectionMaxTorque.

An invalid value was transferred to the ST_Home..stTorque.i_lrMaxTorque parameter.

The following must apply: 0.0 < (ST_Home..stTorque.i_lrMaxTorque / lrTorqueConstant * 10000000.0 / lrMaxDrivePeakCurrent / lrLimCurrent) < 100.0

with lrLimCurrent := lrUserDrivePeakCurrent * 100.0 / lrMaxDrivePeakCurrent

where lrTorqueConstant, lrMaxDrivePeakCurrent and lrUserDrivePeakCurrent are parameters of the axis.

MaxTravelRange

Enumeration name:	MaxTravelRange
Enumeration value:	86
Description:	MaxTravel is outside the valid range.

Issue	Cause	Solution
-	The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionPosEdgeTp, PDL.ET_HomeMode.NegDirectionNegEdgeTp or PDL.ET_HomeMode.PosDirectionNegEdgeTp. An invalid value was transferred to the ST_Home.stTouchProbe.i_lrMaxTravel parameter.	The following must apply: 0 < ST_Home.stTouchProbe.i_lrMaxTravel.
-	The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionPosEdgeSensor, PDL.ET_HomeMode.NegDirectionNegEdgeSensor or PDL.ET_HomeMode.PosDirectionNegEdgeSensor. An invalid value was transferred to the ST_Home.stSensor.i_lrMaxTravel parameter.	The following must apply: 0 < ST_Home.stSensor.i_lrMaxTravel.
-	The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos, PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg, PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos. An invalid value was transferred to the ST_Home.stLimitSwitch.i_lrMaxTravel parameter.	The following must apply: 0 < ST_Home.stLimitSwitch.i_lrMaxTravel.
-	The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to PDL.ET_HomeMode.PosDirectionMaxTorque or PDL.ET_HomeMode.NegDirectionMaxTorque. An invalid value was transferred to the ST_Home.stTorque.i_lrMaxTravel parameter.	The following must apply: 0 < ST_Home.stTorque.i_lrMaxTravel.

MechanicalDataIncompatible

Enumeration name:	MechanicalDataIncompatible
Enumeration value:	152
Description:	The mechanical data is incompatible.

Issue

Cause

Solution

The relation of the mechanical data is invalid.

The mechanical data must be selected so that the following formula is fulfilled:

(iq_stCrankData.lrOffset - iq_stCrankData.lrPushRod) / iq_stCrankData.lrRadius < 1.0

The mechanical data must be selected so that the following formula is fulfilled:

(iq_stCrankData.lrOffset + iq_stCrankData.lrPushRod) / iq_stCrankData.lrRadius > -1.0

MotionActiveVelLimitRange

Enumeration name:	MotionActiveVelLimitRange
Enumeration value:	50
Description:	MotionActiveVelLimit is outside the valid range.

Issue	Cause	Solution
-	An invalid value was transferred at the ST_Main.i_lrMotionActiveVelLimit input.	Ensure that a value greater than 0 is transferred at the ST_Main.i_lrMotionActiveVelLimit input.

Mrange

Enumeration name:	Mrange
Enumeration value:	37
Description:	M is outside the valid range.

Issue	Cause	Solution
-	An invalid value was applied at the ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrM input.	Check the values for ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrM.

MultiCamExit

Enumeration name:	MultiCamExit
Enumeration value:	121
Description:	The operation mode MultiCam is quit.

The operation mode MultiCam is quit.

MultiCamInit

Enumeration name:	MultiCamInit
Enumeration value:	116
Description:	The operation mode MultiCam is being initialized.

The operation mode MultiCam is being initialized.

MultiCamRunning

Enumeration name:	MultiCamRunning
Enumeration value:	120
Description:	The operation mode MultiCam is being executed.

The operation mode MultiCam is being executed.

MultiCamWaitForStart

Enumeration name:	MultiCamWaitForStart
Enumeration value:	117
Description:	The operation mode MultiCam is waiting for a start command.

The operation mode MultiCam is selected and is expecting the ET_Cmd.Start command.

MultiCamWaitForWsStart

Enumeration name:	MultiCamWaitForWsStart
Enumeration value:	118
Description:	The operation mode MultiCam is waiting for a WsStart command.

The operation mode Homing is selected and is expecting the ET_Cmd.WsStart command.

MultiCamWsExecuting

Enumeration name:	MultiCamWsExecuting
Enumeration value:	119
Description:	The operation mode MultiCam executes a warmstart movement.

The operation mode Homing is selected and is executing a warmstart movement.

NoAccessToEEPROM

Enumeration name:	NoAccessToEEPROM
Enumeration value:	87
Description:	The EEPROM of the drive cannot be accessed.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.WriteAxisEncoder.

The access to the encoder was denied.

Check the axis encoder.

Check the axis state.

NoAsyncTasksCreated

Enumeration name:	NoAsyncTasksCreated
Enumeration value:	188
Description:	No asynchronous tasks have been generated.

Issue	Cause	Solution
-	Gc_udiNumOfAsyncTasks = 0	Allocate Gc_udiNumOfAsyncTasks with a value > 0 and <= 10.

NoOpDriveDisabled

Enumeration name:	NoOpDriveDisabled
Enumeration value:	107
Description:	No operating drive is disabled. The axis is switched off.

No operation mode choosen. The axis is switched off.

NoOpDriveEnabled

Enumeration name:	NoOpDriveEnabled
Enumeration value:	106
Description:	No operating drive is enabled. The axis is ready to accept movement orders.

No operation mode is selected. The axis is ready to accept movement orders.

NumberOfCamPointsRange

Enumeration name:	NumberOfCamPointsRange
Enumeration value:	35
Description:	NumberOfCamPoints is outside the valid range.

Issue	Cause	Solution
-	An invalid value was transferred at the input ST_MultiCam.iq_stMultiCamData.diNumberOfCamPoints.	A value greater than 0 and smaller or equal to SystemInterface.MAX_NO_OF_SEG + 1 must be transferred to the ST_MultiCam.iq_stMultiCamData.diNumberOfCamPoints input.

P5Pole1IntervalHighRange

Enumeration name:	P5Pole1IntervalHighRange
Enumeration value:	153
Description:	P5Pole1IntervalHigh is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stCrankData.lrP5Pole1IntervalHigh an invalid value has been applied.	At the input iq_stCrankData.lrP5Pole1IntervalHigh a value greater than 0 must be transferred.

P5Pole1IntervalLowRange

Enumeration name:	P5Pole1IntervalLowRange
Enumeration value:	154
Description:	P5Pole1IntervalLow is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stCrankData.lrP5Pole1IntervalLow an invalid value has been applied.	At the input iq_stCrankData.lrP5Pole1IntervalLow a value greater than 0 must be transferred.

P5PoleDistanceTooBig

Enumeration name:	P5PoleDistanceTooBig
Enumeration value:	157
Description:	P5PoleDistance is too big.

Issue	Cause	Solution
-	The polynomial intervals overlap in all cases.	The inputs iq_stCrankData.lrP5Pole1IntervalLow, iq_stCrankData.lrP5Pole1IntervalHigh, iq_stCrankData.lrP5Pole2IntervalLow and iq_stCrankData.lrP5Pole2IntervalHigh must be selected so that the range for the polynomial intervals from SlideLogPos min. to SlideLogPos max. only overlap once.

P5RangeHighRange

Enumeration name:	P5RangeHighRange
Enumeration value:	158
Description:	P5RangeHigh is outside the valid range.

Issue	Cause	Solution
-	The overlapping of the polynomial intervals was selected so that the X part of a polynomial becomes 0.	The inputs iq_stCrankData.lrP5Pole1IntervalLow, iq_stCrankData.lrP5Pole1IntervalHigh, iq_stCrankData.lrP5Pole2IntervalLow and iq_stCrankData.lrP5Pole2IntervalHigh must be selected so that not the entire interval range for iq_stCrankData.lrP5Pole1IntervalHigh and iq_stCrankData.lrP5Pole2IntervalHigh is forced into a straight line due to overlapping.

P5RangeLowRange

Enumeration name:	P5RangeLowRange
Enumeration value:	159
Description:	P5RangeLow is outside the valid range.

Issue	Cause	Solution
-	The overlapping of the polynomial intervals was selected so that the X part of a polynomial becomes 0.	The inputs iq_stCrankData.lrP5Pole1IntervalLow, iq_stCrankData.lrP5Pole1IntervalHigh, iq_stCrankData.lrP5Pole2IntervalLow and iq_stCrankData.lrP5Pole2IntervalHigh must be selected so that not the entire interval range for iq_stCrankData.lrP5Pole1IntervalLow and iq_stCrankData.lrP5Pole2IntervalLow is forced into a straight line due to overlapping.

P5RangeSumRange

Enumeration name:	P5RangeSumRange
Enumeration value:	160
Description:	The sum of P5Range is outside the valid range.

Issue	Cause	Solution
-	The overlapping of the polynomial intervals was selected so that the X part of a polynomial becomes 0.	The inputs iq_stCrankData.lrP5Pole1IntervalLow, iq_stCrankData.lrP5Pole1IntervalHigh, iq_stCrankData.lrP5Pole2IntervalLow and iq_stCrankData.lrP5Pole2IntervalHigh must be selected so that the overlapping of two polynomial ranges is not higher than the distance from SlideLogPos min to SlideLogPos switch or from SlideLogPos max to SlideLogPos switch, which means, that the overlapping reaches over the next pole of the crank.

PeriodRange

Enumeration name:	PeriodRange
Enumeration value:	26
Description:	Period is outside the valid range.

Issue

Cause

Solution

An invalid value was applied at the ST_EndlessFeed.i_lrPeriod input.

A value greater or equal to 1.0 must be transferred to the ST_EndlessFeed.i_lrPeriod input.

A negative value was applied at the ST_Manual.i_lrPeriod input.

A value greater than 0 must be transferred to the ST_Manual.i_lrPeriod input.

The operation mode ET_OpMode.MultiCam was selected and the Period parameter of the logical encoder at the ST_Main.iq_lencEncoder input was set to a value unequal to 0.

Ensure that the Period parameter of the logical encoder at the ST_Main.iq_lencEncoder input is set to 0.

Disable the verification of the period of the logical encoder by setting the ST_MultiCam.i_xCheckEncoderPeriod parameter to FALSE.

PointerRestorePosRetainInvalid

Enumeration name:	PointerRestorePosRetainInvalid
Enumeration value:	88
Description:	The RestorePosRetain pointer is invalid.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.RestorePosFromRetain.

An invalid pointer was transferred to the ST_Home.stSetPos.iq_pstRestorePosRetain parameter.

The memory address that contains the structure in which the axis positions are saved must be transferred to the ST_Home.stSetPos.iq_pstRestorePosRetain parameter.

PositioningExit

Enumeration name:	PositioningExit
Enumeration value:	133
Description:	The operation mode Positioning is quit.

The operation mode Positioning is quit.

PositioningInit

Enumeration name:	PositioningInit
Enumeration value:	130
Description:	The operation mode Positioning is being initialized.

The operation mode Positioning is being initialized.

PositioningRunning

Enumeration name:	PositioningRunning
Enumeration value:	132
Description:	The operation mode Positioning is being executed.

The operation mode Positioning is being executed.

PositioningWaitForStart

Enumeration name:	PositioningWaitForStart
Enumeration value:	131
Description:	The operation mode Positioning is waiting for a start command.

The operation mode Positioning is selected and is expecting the command ET_Cmd.Start, ET_Cmd.StartTrig or ET_Cmd.StartTrigWaitInPos.

PowerSupplyInvalid

Enumeration name:	PowerSupplyInvalid
Enumeration value:	53
Description:	The connected power supply is invalid.

Issue	Cause	Solution
-	The connected power supply is not supported.	Please contact the support team.

PowerSupplyNotFound

Enumeration name:	PowerSupplyNotFound
Enumeration value:	54
Description:	The connected power supply was not found.

Issue	Cause	Solution
-	No power supply has been applied.	Add a power supply to the PLC Configuration.
-	No power supply has been connected.	Connect the power supply to the axis.

PowerSupplyNotReady

Enumeration name:	PowerSupplyNotReady
Enumeration value:	55
Description:	The connected power supply is not ready.

Issue	Cause	Solution
-	The connected power supply is not ready.	Check the state of the power supply for errors.

ProgrammingInProgress

Enumeration name:	ProgrammingInProgress
Enumeration value:	89
Description:	Writing is being performed on the encoder.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.WriteAxisEncoder.

You cannot write on the encoder because a writing process is already active.

Wait until the active writing process is completed and try again.

If this diagnostic message occurs even after retrying it several times, please inform the support team about this detected error.

ProgrammingInvalidEEPROM

Enumeration name:	ProgrammingInvalidEEPROM
Enumeration value:	90
Description:	Programming the drive encoder EEPROM is invalid.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.WriteAxisEncoder.

Writing is already being performed on the encoder.

Retry later.

PushRodRange

Enumeration name:	PushRodRange
Enumeration value:	161
Description:	PushRod is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stCrankData.lrPushRod a negative value was applied.	At the input iq_stCrankData.lrPushRod a value greater than 0 must be transferred.

RadiusRange

Enumeration name:	RadiusRange
Enumeration value:	162
Description:	Radius is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stCrankData.lrRadius a negative value was applied.	At the input iq_stCrankData.lrRadius a value greater than 0 must be transferred.

ReactionOffsetRange

Enumeration name:	ReactionOffsetRange
Enumeration value:	173
Description:	ReactionOffset is outside the valid range.

Issue	Cause	Solution
-	An invalid value was transferred at the TPL.ST_StandardModuleInterface.iq_stExt.udiReactionOffset input.	Ensure that the value at the TPL.ST_StandardModuleInterface.iq_stExt.udiReactionOffset input is smaller or equal to TPL.Gc_udiMaxNumberOfReactions - TPL.ET_Reaction.MainsContactorOff.

ReducedVelocityLimit

Enumeration name:	ReducedVelocityLimit
Enumeration value:	9
Description:	The ReducedVelocityLimit has been exceeded.

Issue	Cause	Solution
-	The parameter ST_Main.stReducedVelocity.i_xEnableReducedVelocity is TRUE. The MechVelocity of the axis is greater than ST_Main.stReducedVelocity.i_lrMaxReducedVelocity * ST_Main.stReducedVelocity.i_lrReducedVelocityCheckFactor	Check the motion parameters of the selected mode and/or change the values ST_Main.stReducedVelocity.i_lrMaxReducedVelocity or ST_Main.stReducedVelocity.i_lrReducedVelocityCheckFactor.

RestoreInterrupted

Enumeration name:	RestoreInterrupted
Enumeration value:	91
Description:	Restoring was interrupted.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.RestorePosFromRetain.

Reading the encoder was interrupted repeatedly by the sercos.

Ensure that the execution of the module is not interrupted for too long by other tasks, so that the function can be interrupted by the sercos task only once.

RestorePosRetainInvalid

Enumeration name:	RestorePosRetainInvalid
Enumeration value:	49
Description:	RestorePosRetain is invalid.

Issue	Cause	Solution
-	An invalid pointer was transferred to the ST_Home.stSetPos.iq_pstRestorePosRetain parameter (0).	The memory address that contains the structure in which the axis positions are saved must be transferred to the ST_Home.stSetPos.iq_pstRestorePosRetain parameter.

SemaphoreMeCreateFailed

Enumeration name:	SemaphoreMeCreateFailed
Enumeration value:	186
Description:	Creating the semaphore was unsuccessful.

Issue	Cause	Solution
-	An error has been detected and occurred in the internal execution.	Please inform the support team about this detected error.

SensorNotFound

Enumeration name:	SensorNotFound
Enumeration value:	92
Description:	No sensor signal was found.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionPosEdgeSensor,

PDL.ET_HomeMode.NegDirectionNegEdgeSensor,

PDL.ET_HomeMode.PosDirectionNegEdgeSensor,

PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos,

PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg,

PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg or

PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos.

The sensor signal is not transmitted to the module.

Ensure that the signal has been applied at the ST_Home.stSensor.i_xSensor variable.

The sensor does not transmit a signal.

Verify the power supply of the sensor.

Ensure that the sensor is not dirty.

Ensure that the sensor can be triggered by the mechanical system.

Verify the electrical connection of the sensor and of the digital input.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	93
Description:	The Sercos bus is not in phase 4.

Issue

Cause

Solution

The parameter State of the Sercos bus is not 4.

Set the Sercos bus parameter PhaseSet to 4.

Check the Sercos bus for errors.

StartPositionSelectInvalid

Enumeration name:	StartPositionSelectInvalid
Enumeration value:	142
Description:	Using StartPositionSelect is not allowed.

Issue

Cause

Solution

The ST_MultiCam.iq_stExt.xStartPositionSelect parameter is set to TRUE.

The module does not support the function. Set the parameter ST_MultiCam.iq_stExt.xStartPositionSelect to FALSE.

Use the operation mode Positioning to move the axis to a position before you change to the operation mode MultiCam.

StopEndOfCycle

Enumeration name:	StopEndOfCycle
Enumeration value:	103
Description:	A stop is executed at the end of the cycle.

Issue

Cause

Solution

The module executes a reaction TPL.ET_Reaction.StopEndOfCycle.

Check the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction.

Acknowledge the exceptions to discard the reactions.

StopPositionRange

Enumeration name:	StopPositionRange
Enumeration value:	31
Description:	StopPosition is outside the valid range.

Issue	Cause	Solution
-	A negative value was transferred at the ST_EndlessFeed.i_lrStopPosition input.	A value greater than or equal to 0 must be transferred at the ST_EndlessFeed.i_lrStopPosition input.

SyncStopEH

Enumeration name:	SyncStopEH
Enumeration value:	102
Description:	A synchronous stop is performed, the axis remains in position control.

Issue

Cause

Solution

The module executes a reaction TPL.ET_Reaction.SyncStopEH.

Check the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction.

Acknowledge the exceptions to discard the reactions.

SyncStopEL

Enumeration name:	SyncStopEL
Enumeration value:	101
Description:	A synchronous stop is performed, the axis does not remain in position control.

Issue

Cause

Solution

The module executes a reaction TPL.ET_Reaction.SyncStopEL.

Check the global exception list TPL.ST_ExceptionList to obtain detailed information on the cause of the reaction.

Acknowledge the exceptions to discard the reactions.

TorqueEnableOff

Enumeration name:	TorqueEnableOff
Enumeration value:	52
Description:	The TorqueEnable signal is off.

Issue	Cause	Solution
-	The TorqueEnable signal of the axis is not enabled.	Check the hardware/software wiring of the TorqueEnable signal.

TouchProbeInvalid

Enumeration name:	TouchProbeInvalid
Enumeration value:	94
Description:	The connected Touchprobe is invalid.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionNegEdgeTp,

PDL.ET_HomeMode.PosDirectionNegEdgeTp.

The ST_Home..stTouchProbe.i_ifTouchProbe parameter is not linked to a valid Touchprobe.

Ensure that a Touchprobe object was transferred to the ST_Home..stTouchProbe.i_ifTouchProbe parameter.

TouchProbeNotActive

Enumeration name:	TouchProbeNotActive
Enumeration value:	95
Description:	The Touchprobe is not active.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionNegEdgeTp,

PDL.ET_HomeMode.PosDirectionNegEdgeTp.

The Touchprobe transferred to the ST_Home..stTouchProbe.i_ifTouchProbe parameter is not active.

For instance, this is an input at a Lexium62.

Ensure that the parameter IOx_Mode of the input group (LXM62IO_InOutTP) was set to Touchprobe / 1.

TouchProbeNotFound

Enumeration name:	TouchProbeNotFound
Enumeration value:	96
Description:	No Touchprobe was found.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionNegEdgeTp,

PDL.ET_HomeMode.PosDirectionNegEdgeTp.

The Touchprobe sensor does not transmit a signal.

Verify the power supply of the Touchprobe sensor.

Ensure that the Touchprobe sensor is not dirty.

Ensure that the Touchprobe can be triggered by the mechanical system.

Verify the electrical connection of the Touchprobe sensor and of the Touchprobe input.

TouchProbeVirtual

Enumeration name:	TouchProbeVirtual
Enumeration value:	97
Description:	The connected Touchprobe is virtual.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Homee.i_etMode mode equal to

PDL.ET_HomeMode.PosDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionPosEdgeTp,

PDL.ET_HomeMode.NegDirectionNegEdgeTp,

PDL.ET_HomeMode.PosDirectionNegEdgeTp.

The used Touchprobe is not real.

Ensure that the Touchprobe does not belong to a virtual device (e.g. virtual Lexium 62).

Uninitializing

Enumeration name:	Uninitializing
Enumeration value:	169
Description:	The module is being deinitialized.

UnknownCamType

Enumeration name:	UnknownCamType
Enumeration value:	39
Description:	The cam type is indeterminable.

Issue	Cause	Solution
-	The cam type of a point ST_MultiCam.iq_stMultiCamData.astCamPoint is assigned with an invalid cam profile.	The etCamType cam types of all used cam points at the input ST_MultiCam.iq_stMultiCamData.astCamPoint must be allocated with an element of the PDL.ET_CamType enumeration.

UnknownCase

Enumeration name:	UnknownCase
Enumeration value:	70
Description:	Unknown case.

Issue	Cause	Solution
-	An error was detected and occurred in the internal execution.	Please inform the support team about this detected error.

UnknownCsModeMaster

Enumeration name:	UnknownCsModeMaster
Enumeration value:	43
Description:	CsModeMaster is indeterminable.

Issue	Cause	Solution
-	An invalid value was transferred at the ST_MultiCam.i_etCsModeMaster input.	An element of the PDL.ET_MultiCamCsModeMaster enumeration must be transferred at the ST_MultiCam.i_etCsModeMaster input.

UnknownCsModeSlave

Enumeration name:	UnknownCsModeSlave
Enumeration value:	44
Description:	CsModeSlave is indeterminable.

Issue	Cause	Solution
-	An invalid value was transferred at the ST_MultiCam.i_etCsModeSlave input.	An element of the PDL.ET_MultiCamCsModeSlave enumeration must be transferred at the ST_MultiCam.i_etCsModeSlave input.

UnknownFeedback

Enumeration name:	UnknownFeedback
Enumeration value:	12
Description:	An unintended feedback has been returned during the execution.

Issue	Cause	Solution
-	An error was detected and occurred in the internal execution.	Please inform the support team about this detected error.

UnknownMode

Enumeration name:	UnknownMode
Enumeration value:	99
Description:	The Mode is indeterminable.

Issue	Cause	Solution
-	An invalid value was applied at the ST_Home.i_etMode input.	The ST_Home.i_etMode input must be allocated with an element of the PDL.ET_HomeMode enumeration.

UnknownWsMode

Enumeration name:	UnknownWsMode
Enumeration value:	45
Description:	The warmstart mode is indeterminable.

Issue	Cause	Solution
-	An invalid value was applied at the ST_MultiCam.i_etWSMode input.	The ST_MultiCam.i_etWSMode input must be allocated with elements of the PDL.ET_MultiCamWsMode enumeration.

UserPeriodRange

Enumeration name:	UserPeriodRange
Enumeration value:	98
Description:	UserPeriod is outside the valid range.

Issue

Cause

Solution

The operation mode ET_OpMode.Homing was selected with the ST_Home.i_etMode mode equal to

PDL.ET_HomeMode.RestorePosFromRetain,

PDL.ET_HomeMode.RestorePosFromRetain or

PDL.ET_HomeMode.WriteAxisEncoder.

An invalid value was transferred to the ST_Home.stSetPos.i_lrUserPeriod parameter.

The following must apply: 0 <= i_lrUserPeriod

VelRange

Enumeration name:	VelRange
Enumeration value:	17
Description:	Vel is outside the valid range.

Issue	Cause	Solution
-	The operation mode Positioning was selected and the i_lrVel parameter of the ST_Positioning structure was allocated with an invalid value.	For i_lrVel, a value greater than 0 and smaller than the axis parameter MaxVel must be specified.
-	The operation mode EndlessIIs was selected and the i_lrVel parameter of the ST_EndlessFeed structure was allocated with an invalid value.	For i_lrVel, a value greater than 0 and smaller than the axis parameter MaxVel must be specified.
-	The operation mode MultiCam was selected and the i_lrWsVel parameter of the ST_MultiCam structure was allocated with an invalid value.	Apply a value to i_lrWsVel which is smaller than the axis parameter MaxVel.
-	The operation mode MultiCam was selected and the iq_stExt.xStopPositionSelect parameter of the ST_MultiCam structure was allocated with an invalid value.	Allocate ST_MultiCam.iq_stExt.lrStopVelocity with a value which is smaller than the MaxVel parameter of the axis. Set ST_MultiCam.iq_stExt.xStopPositionSelect to FALSE so that no stop motion is executed.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionPosEdgeTp PDL.ET_HomeMode.NegDirectionNegEdgeTp PDL.ET_HomeMode.PosDirectionNegEdgeTp and the i_lrVel parameter of the PDL.ST_HomeTp structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrVel < MaxVel parameter of the drive.
-	The operation mode Homing has been selected and the i_etMode parameter of the ST_Home structure has been allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionPosEdgeSensor PDL.ET_HomeMode.NegDirectionNegEdgeSensor PDL.ET_HomeMode.PosDirectionNegEdgeSensor and the i_lrVel parameter of the PDL.ST_HomeIn structure in the ST_Home structure has been allocated with an invalid value.	The following must apply: 0 < i_lrVel < MaxVel parameter of the drive.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos and the i_lrVel parameter of the PDL.ST_HomeLimitSwitch structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrVel < MaxVel parameter of the drive.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Home structure was allocated with one of the following values PDL.ET_HomeMode.PosDirectionMaxTorque PDL.ET_HomeMode.NegDirectionMaxTorque and the i_lrVel parameter of the PDL.ST_HomeTorque structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrVel < MaxVel parameter of the drive.
-	The operation mode Homing was selected and the i_etMode parameter of the ST_Homestructure was allocated with one of the following values PDL.ET_HomeMode.MoveOnPosAbs and the i_lrVel parameter of the PDL.ST_HomeMoveOnPos structure in the ST_Home structure was allocated with an invalid value.	The following must apply: 0 < i_lrVel < MaxVel parameter of the drive.

XFactorTooLow

Enumeration name:	XFactorTooLow
Enumeration value:	40
Description:	The X factor is too low.

Issue	Cause	Solution
-	Two sequent cam points ST_MultiCam.iq_stMultiCamData.astCamPoint[ ].lrX have a distance of less than 0.1 units.	Check the definition of the cam and if necessary, remove cam profiles that are too short.

YEqualCheckFailed

Enumeration name:	YEqualCheckFailed
Enumeration value:	46
Description:	YEqualCheck was unsuccessful.

Issue

Cause

Solution

If ST_MultiCam.iq_stExt.xYEqualCheck = TRUE: Then the verification whether the new cam follows the old cam directly was unsuccessful.

Configure the new cam so that its start deviates by less than 0.0001 units from the end of the old cam.

Deactivate the verification by setting ST_MultiCam.iq_stExt.xYEqualCheck = FALSE.

YFactorTooLow

Enumeration name:	YFactorTooLow
Enumeration value:	41
Description:	The Y factor is too low.

Issue

Cause

Solution

The operation mode ET_OpMode.MultiCam is selected and works as a slave of an Ils network. A cam profile requiring a motion of the slave axis has to be used with identical start and end points.

A cam profile of the type PDL.ET_CamType.ModiSinCom was applied at the input ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].etCamType. The value of the difference between its start point ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].lrY and its end point ST_MultiCam.iq_stMultiCamData.astCamPoint[i].lrY is smaller than PDL.Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

A cam profile of the type PDL.ET_CamType.ModAccTrCom was applied at the input ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].etCamType. The value of the difference between its start point ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].lrY and its end point ST_MultiCam.iq_stMultiCamData.astCamPoint[i].lrY is smaller than PDL.Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

A cam profile of the type PDL.ET_CamType.HarmoComb was applied at the input ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].etCamType. The value of the difference between its start point ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].lrY and its end point ST_MultiCam.iq_stMultiCamData.astCamPoint[i].lrY is smaller than PDL.Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

A cam profile of the type PDL.ET_CamType.SinStraightComb was applied at the input ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].etCamType. The value of the difference between its start point ST_MultiCam.iq_stMultiCamData.astCamPoint[i-1].lrY and its end point ST_MultiCam.iq_stMultiCamData.astCamPoint[i].lrY is smaller than PDL.Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.