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Diagmessages of module Interpolator

Multi axis servo system - AX8000170

Version: 1.1

7.3 A01A, TxPdo Mapping Error: Object 0 has to be

mapped for modes of operation

TxPdo Mapping Error: Object 0x%x/%x has to be mapped for modes of operation %d.

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

A01A 40986

Class Type

Error Error

Standard Reaction Reset

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

Possible Causes Solutions

A necessary process data for this mode of operation

is not mapped

Add the necessary process data for this mode of

operation

Internal: 0xA01A, TxPdo Mapping Error: Object 0x%x/%x has to be mapped for modes of operation %d.

Default Chapter3
- Table of Contents3
1 Notes on the Documentation9
2 Introduction to the Diagnostic System10
- Basic Knowledge of the Diagnostic System10
- Settings with Respect to the Diagnostic System14
3 Standard-Messages15
- 0000, no Error15
- 5190, Test 5V Supply Failed16
- 5580, Read Failure EEPROM17
- 5581, Checksum Failure EEPROM18
- 5582, EEPROM Contains Blank Data19
- 5583, Unexpected EEPROM20
- 5584, EEPROM Contains Blank Data21
- 5585, Unexpected EEPROM22
- 5586, Restored Errormessages from Persistent Memory23
- 5590, Detected Incompatible Pcb24
- 5591, Identity Incompatible to a Pcb25
- 5592, Firmwareindex Is Incompatible to this Firmware26
- 5593, Structure Version Is Incompatible to this Firmware27
- 5594, Simulating Persistent Data Features28
- 5596, Storing of Persistent Data Failed29
- 5597, Unsupported Prototype Hardware30
- 5598, Identity Incompatible to Device31
- 5599, Identity Incompatible to a Device32
- 6180, Internal Software Error Type a33
- 6181, Internal Software Error Type B34
- 6182, Internal Software Error Type C35
- 6190, Init Timeout36
- 6382, Illegal Slotconfiguration. Slot Is Empty37
- 6383, Illegal Slotconfiguration. Double Feedback Selection38
- 6384, Illegal Slotconfiguration. Slot Has to be Empty39
- 63B0, Transition Pre-Op to Safe-Op (Ecat) Not Successful40
- 63B1, Transition Safe-Op to Op (Ecat) Not Successful41
- 63B2, Transition Op to Safe-Op (Ecat) Not Successful42
- 63B3, Transition Safe-Op to Pre-Op (Ecat) Not Successful43
- 8180, System Restart or Sync Lost44
- 8181, Lost Distributed Clocks Sync45
- A000, Transition Pre-Op to Safe-Op Not Successful. Sync Manager Length Error46
- A001, Transition Pre-Op to Safe-Op Not Successful. Sync Manager Address Error47
- A002, Transition Pre-Op to Safe-Op Not Successful. Sync Manager Settings Error48
- A003, Transition Pre-Op to Safe-Op Not Successful. Sync Manager Address Range Overlap49
- A004, Sync Manager Is Disabled and Has a Size Unequal Zero50
- A005, Sync Manager Address Is Not Multiple of 451
- A00B, Dynamic Sync Manager Address Is Not Multiple of 452
- A00C, Dynamic Sync Manager Address Range Overlap53
- A00D, Dynamic Sync Manager Settings Error54
- A00E, Dynamic Sync Manager Address Error55
- A00F, Dynamic Sync Manager Length Error56
- A010, SDO Complete Access Error57
- A011, Pdo Mapping Error: Unable to Map Object (Not Possible)58
- A013, Pdo Mapping Error: Double Mapping of Object59
- A015, Pdo Mapping Error: Unable to Map Object (no Mappings Left)60
- A017, Pdo Mapping Error: Object Has to be Mapped Always61
- A019, Pdo Mapping Error: Object Has to be Mapped Because of Modes of Operation62
- A01B, Pdo Bitmapping Error: Object a Is Not Next to Object B63
- A01D, Pdo Bitmapping Error: Can Not Transform Bit-Mappings to Byte-Mappings64
- A01F, Pdo Mapping Error: Invalid Oversampling Factor65
- A021, Pdo Mapping Error: Oversampling Is Not Allowed66
- A023, Pdo Assignment Error67
- A031, Dynpdo Mapping Warning: Unable to Map Object (Not Possible)68
- A033, Dynpdo Mapping Warning: Double Mapping of Object69
- A035, Dynpdo Mapping Warning: Unable to Map Object (no Mappings Left)70
- A037, Dynpdo Mapping Warning: Object Has to be Mapped Always71
- A039, Dynpdo Mapping Warning: Object Has to be Mapped Because of Modes of Operation72
- A03B, Dynpdo Bitmapping Warning: Object a Is Not Next to Object B73
- A03D, Dynpdo Bitmapping Warning: Can Not Transform Bit-Mappings to Byte-Mappings74
- A03F, Dynpdo Mapping Warning: Invalid Oversampling Factor75
- A041, Dynpdo Mapping Warning: Oversampling Is Not Allowed76
- A043, Dynpdo Assignment Warning77
- A080, Safe-Op Is Not Possible Because the Local Twincat Runtime Is in Configmode78
- A081, Transition Pre-Op to Safe-Op Not Successful. Safetycard Not Detected79
- A082, Ethercat Slave Stack Error80
- FFFD, Debug Firmware, Replace "As Soon as Possible81
- FFFF, Internal Error, Additional Errorcode82
4 Diagmessages of Module Devicemain83
- 3210, DC Link Overvoltage83
- 4380, Fan Speed Seems to be Zero84
- 5112, Supply Undervoltage: Supply +24V85
- 5181, Power Supply Controlword, Torque off Order86
- 5182, Power Supply Controlword, Live Counter Inactive87
- 5183, Power Supply Controlword, NC Handling Order88
- 5185, Power Supply Controlword, Non-Regenerative Brake Order89
- 5186, Power Supply Controlword, Regenerative Brake Order90
- 5192, Supply Overvoltage: Supply +24V91
- 6320, Parameter Error92
- 8780, Configured Sync1 Cycle Time Is above Maximum93
- 8781, Configured Sync1 Cycle Time Is below Minimum94
- 8782, Configured Sync1 Cycle Time Is Not a Multiple of the Sync0 Cycle Time95
- 8783, Configured Sync0 Cycle Time Is Not Legal96
- A017, Pdo Mapping Error: Object Has to be Mapped Always97
- FFFF, Internal Error, Additional Errorcode98
5 Diagmessages of Module Devicedebug99
- FFFF, Internal Error, Additional Errorcode99
6 Diagmessages of Module Axismain100
- 0000, no Error100
- 2340, Short Circuit (Motor-Side)101
- 2380, Continuous over Current (Device Output Side) Phase U102
- 2381, Continuous over Current (Device Output Side) Phase V103
- 2382, Continuous over Current (Device Output Side) Phase W104
- 2383, Phase U Current Offset out of Range105
- 2384, Phase V Current Offset out of Range106
- 2385, Phase W Current Offset out of Range107
- 3180, Phase Failure Motor108
- 3220, DC Link Under-Voltage109
- 3280, DC Link Is Not Ready110
- 4310, Drive Overtemperature Shut down111
- 5180, Output Stage STO Active112
- 5184, Supply DC Link Circuit Is Not Ready113
- 5187, Power Supply Communication Is Not Established114
- 5441, Positive Limit Switch Active115
- 5442, Negative Limit Switch Active116
- 5443, Loss of the Hardware Enable117
- 5444, Loss of the Hardware Enable (Reaction Torqueoff)118
- 5595, Modulo Remainder will Not be Stored119
- 6183, Internal Watchdog Error120
- 638A, the Axis Seems Not to be Parameterized121
- 6390, Factor Group Parameters: Feed Constant Illegal Feed122
- 6391, Factor Group Parameters: Feed Constant Illegal Shaft Revolutions123
- 6392, Factor Group Parameters: Gear Ratio Illegal Motor Shaft Revolutions124
- 6393, Factor Group Parameters: Gear Ratio Illegal Driving Shaft Revolutions125
- 6394, Factor Group Parameters: Position Encoder Resolution Illegal Encoder Increments126
- 6395, Factor Group Parameters: Position Encoder Resolution Illegal Motor Revolutions127
- 6396, Additional Factor Group Parameters: Feed Constant Illegal Feed128
- 6397, Additional Factor Group Parameters: Feed Constant Illegal Shaft Revolutions129
- 6398, Additional Factor Group Parameters: Gear Ratio Illegal Motor Shaft Revolutions130
- 6399, Additional Factor Group Parameters: Gear Ratio Illegal Driving Shaft Revolutions131
- Additional Factor Group Parameters: Position Encoder Resolution Illegal Encoder Increments132
- Additional Factor Group Parameters: Position Encoder Resolution Illegal Motor Revolutions133
- 639C, Velocity Factor Illegal134
- 639D, Acceleration Factor Illegal135
- Scaling Index Object Does Not Fit the Factor Group Parameters for the First Encoder136
- Scaling Index Object Does Not Fit the Factor Group Parameters for the Second Encoder137
- 63A0, Motor or Primary Feedback Changed138
- 63A1, Secondary Feedback Changed139
- 63A2, Offset Position Actual Value: no Position Offset Existing in Source 'Encoder Memory140
- 63A3, Offset Additional Position Actual Value: no Position Offset Existing in Source 'Encoder Memory141
- 63A4, Offset Position Actual Value: no Position Offset Existing in Source 'Drive Memory142
- 63A5, Offset Additional Position Actual Value: no Position Offset Existing in Source 'Drive Memory143
- 63A6, Jerk Factor Illegal144
- 63A7, the Range of the Position Range Limit Is below the Minimum Accepted Value145
- 63A8, Position Range Limit Inc with Remainder Is Not Supported for Primary Feedback146
- 63A9, Position Range Limit Inc with Remainder Is Not Supported for Secondary Feedback147
- 63AA, Object Changed in Ethercat Safeop or OP148
- 7180, Motor Brake: Current Monitoring Error149
- 7380, Current Sensor Motor Phase U150
- 7381, Current Sensor Motor Phase V151
- 7382, Current Sensor Motor Phase W152
- 8182, Ethercat Statemachine Shutdown with Enabled Axis153
- 8183, Controlword Output Cycle Counter Monitoring154
- 8184, Dynoutput Cycle Counter Monitoring155
- 8185, Axis Needs an Extended Fault Reset Command156
- 8A80, Illegal Modes of Operation157
- 8A81, Illegal Modes of Operation Change158
- A017, Pdo Mapping Error: Object Has to be Mapped Always159
- FF01, Init Timeout160
- FF07, Error Reaction Forced: Torque off161
- FF08, Error Reaction Forced: Shorted Coils Brake162
- FF09, Error Reaction Forced: Open Loop Ramp163
- FF0A, Error Reaction Forced: Closed Loop Ramp164
- FF0B, Error Reaction Forced: NC Handling165
- FF0C, Error Reaction Torqueoff with Emergency Brake166
- FFFF, Internal Error167
7 Diagmessages of Module Interpolator168
- 6386, Parameter Interpolator: Illegal NC-Task Cycle Time168
- 8680, Position Demand Value Outside of the Specified Position Range Limits169
- A01A, Txpdo Mapping Error: Object 0 Has to be Mapped for Modes of Operation170
- FFFF, Internal Error171
8 Diagmessages of Module Positioncontrol172
- 8611, Following Error172
- FFFF, Internal Error, Additional Errorcode173
9 Diagmessages of Module Velocitycontrol174
- 3183, the Bipolar Velocity Limit Is Higher than 1/4 of Position Range Limit Per Ethercat Sync1 Cycle174
- 7186, Detected Moving Axis on Enable Transition175
- 8480, Overspeed Error176
- FFFF, Internal Error177
10 Diagmessages of Module Velocitycontrol2178
- 3183, the Bipolar Velocity Limit Is Higher than 1/4 of Position Range Limit Per Ethercat Sync1 Cycle178
- 7186, Detected Moving Axis on Enable Transition179
- 8480, Overspeed Error180
- FFFF, Internal Error181
11 Diagmessages of Module Biquadfilter182
- 6320, Parameter Error in Object182
- 63AB, the Filter Parameterization Is Not Valid183
- FFFF, Internal Error184
12 Diagmessages of Module Torquecontrol185
- 2330, Earth Leakage (Motor-Side)185
- 3181, Phase Frequency (Motor-Side) Raised above 600 Hz186
- 3182, Velocity Actual Value Raised above the Max Channel Accepted Velocity187
- 6320, Parameter Error188
- 6388, Parameter Torque Control: the Value in Object Is Higher then the Motor Peak Current189
- 6389, Parameter Torque Control: the Value in Object Is Higher then the Configured Peak Current190
- Parameter Torque Control: the Value in Object Is Higher then the Motor Maximum Voltage Slope191
- FFFF, Internal Error, Additional Errorcode192
13 Diagmessages of Module Activefrontend193
- 2330, Earth Leakage (Motor-Side)193
- 3181, Phase Frequency (Motor-Side) Raised above 600 Hz194
- 3182, Velocity Actual Value Raised above the Max Channel Accepted Velocity195
- 6320, Parameter Error196
- 6388, Parameter Torque Control: the Value in Object Is Higher then the Motor Peak Current197
- 6389, Parameter Torque Control: the Value in Object Is Higher then the Configured Peak Current198
- Parameter Torque Control: the Value in Object Is Higher then the Motor Maximum Voltage Slope199
- FFFF, Internal Error200
14 Diagmessages of Module OCT Rotary (Hiperface DSL)201
- 7320, Hpfdsl: Encoder Error (Position Invalid)201
- 7380, Hpfdsl: Encoder Start Sequence Failed202
- 7381, Hpfdsl: Encoder Shutdown Failed203
- 7382, Hpfdsl: Parameter Access Error204
- 7383, Hpfdsl: Internal Error205
- 7384, Hpfdsl: Cyclic Monitoring Error206
- 7385, Hpfdsl: Encoder File Processing207
- 7386, Hpfdsl: Found no Encoder (no Link to an Encoder)208
- 7387, Hpfdsl: the Encoder Doesn't Meet the Specified Policies209
- FFFF, Internal Error210
15 Diagmessages of Module Simulationrotary211
- 63AC, Encoder Simulation Is Not Supported for the Selected Motor Type211
- FFFF, Internal Error212
16 Diagmessages of Module Syncservomotor213
- 6320, Parameter Error213
- 6387, Parameter Motor. the Configured Dclink Max Voltage Is Higher then the Motor Max Voltage214
- 638A, the Axis Seems Not to be Parameterized215
- Parameter Torque Current Curve: Unable to Calculate Torque Current Curve216
- 638C, Motor Type Does Not Match217
- Connected Motor Is Compatible to the Configured Motor218
- 638E, the Motor Brake Is Automatically Unlocked219
- 7122, Motor Error or Commutation Malfunction220
- 7181, Motor Thermal Utilization Has Reached the Warning Level221
- 7182, Motor Thermal Utilization Has Left the Warning Level222
- 7183, Motor Thermal Utilization Has Reached the Error Level223
- 7184, Motor Overload Shut down224
- 7185, Motor Overtemperature Shut down225
- 7186, Commutation Offset Source: no Commutation Offset Existing in Source 'Encoder Memory226
- 7187, Cogging Compensation Init Error227
- FFFF, Internal Error228
17 Diagmessages of Module Powergridconnection229
- FFFF, Internal Error, Additional Errorcode229
18 Diagmessages of Module Asynchronousmotor230
- 6320, Parameter Error230
- 6387, Parameter Motor. the Configured Dclink Max Voltage Is Higher then the Motor Max Voltage231
- The Axis Seems Not to be Parameterized232
- Parameter Torque Current Curve: Unable to Calculate Torque Current Curve233
- Motor Type Does Not Match234
- Connected Motor Is Compatible to the Configured Motor235
- The Motor Brake Is Automatically Unlocked236
- 7122, Motor Error or Commutation Malfunction237
- 7181, Motor Thermal Utilization Has Reached the Warning Level238
- 7182, Motor Thermal Utilization Has Left the Warning Level239
- 7183, Motor Thermal Utilization Has Reached the Error Level240
- 7184, Motor Overload Shut down241
- 7185, Motor Overtemperature Shut down242
- 7186, Commutation Offset Source: no Commutation Offset Existing in Source 'Encoder Memory243
- 7187, Cogging Compensation Init Error244
- FFFF, Internal Error245
19 Diagmessages of Module Axisdebug246
- FFFF, Internal Error246

Brand	Beckhoff
Model	AX8000
Category	Servo Drives
Language	English

Beckhoff AX8000 User Manual

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