Beckhoff TwinCAT Error Codes

1 (0x1): Internal error

What it means: Symbol ERR_INTERNAL. The ADS system reported an internal error. Beckhoff's table gives only this short text. HRESULT form: 0x98110001.^[1]

Likely causes

• Internal error in the ADS system; Beckhoff's table states only this

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

2 (0x2): No real time

What it means: Symbol ERR_NORTIME. The request needed the TwinCAT real-time system, and real time was not available. HRESULT form: 0x98110002.^[1]

Likely causes

• TwinCAT real time not available on the target

First checks, in this order

1. Check the TwinCAT state of the target system (Run or Config mode)

3 (0x3): Allocation locked, memory error

What it means: Symbol ERR_ALLOCLOCKEDMEM. Locked memory could not be allocated for the request. HRESULT form: 0x98110003.^[1]

Likely causes

• Locked memory allocation failed on the target

First checks, in this order

1. Check the free memory of the target system
2. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

4 (0x4): Mailbox full

What it means: Symbol ERR_INSERTMAILBOX. The ADS mailbox is full, so the message could not be sent. Beckhoff says reducing the number of ADS messages per cycle will help. HRESULT form: 0x98110004.^[1]

Likely causes

• Too many ADS messages sent per cycle

First checks, in this order

1. Reduce the number of ADS messages sent per cycle, for example fewer ADS function blocks triggered in the same cycle

5 (0x5): Wrong HMSG

What it means: Symbol ERR_WRONGRECEIVEHMSG. The message handle (HMSG) received was wrong. HRESULT form: 0x98110005.^[1]

Likely causes

• Wrong message handle; Beckhoff's table states only this

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

6 (0x6): Target port not found

What it means: Symbol ERR_TARGETPORTNOTFOUND. The ADS port the call was addressed to was not found on the target. Beckhoff: the ADS server is not started, not reachable or not installed. HRESULT form: 0x98110006.^[1]

Likely causes

• ADS server for that port not started
• ADS server not reachable
• ADS server not installed

First checks, in this order

1. Check the port number used in the call
2. Check that the ADS server for that port is installed and started on the target
3. Check that the target can be reached over the network

7 (0x7): Target computer not found

What it means: Symbol ERR_TARGETMACHINENOTFOUND. The target computer was not found because no AMS route to it was found. HRESULT form: 0x98110007.^[1]

Likely causes

• AMS route to the target AMS Net ID missing on the calling system
• Wrong AMS Net ID in the call

First checks, in this order

1. Check that an ADS route to the target exists on the calling system
2. Check the AMS Net ID used in the call

8 (0x8): Unknown command ID

What it means: Symbol ERR_UNKNOWNCMDID. The command ID in the request is not known. HRESULT form: 0x98110008.^[1]

Likely causes

• Unknown command ID in the request

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

9 (0x9): Invalid task ID

What it means: Symbol ERR_BADTASKID. The task ID in the request is invalid. HRESULT form: 0x98110009.^[1]

Likely causes

• Invalid task ID

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

10 (0xA): No IO

What it means: Symbol ERR_NOIO. No IO. Beckhoff's table gives only this short text. HRESULT form: 0x9811000A.^[1]

Likely causes

• Cause not stated in Beckhoff's table

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

11 (0xB): Unknown AMS command

What it means: Symbol ERR_UNKNOWNAMSCMD. The AMS command in the request is not known. HRESULT form: 0x9811000B.^[1]

Likely causes

• Unknown AMS command

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

12 (0xC): Win32 error

What it means: Symbol ERR_WIN32ERROR. A Windows (Win32) error occurred while handling the request. HRESULT form: 0x9811000C.^[1]

Likely causes

• Win32 error on the system handling the request

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

13 (0xD): Port not connected

What it means: Symbol ERR_PORTNOTCONNECTED. The ADS port used is not connected. HRESULT form: 0x9811000D.^[1]

Likely causes

• Port not connected

First checks, in this order

1. Check that the ADS port used by the application is connected (opened) before the call

14 (0xE): Invalid AMS length

What it means: Symbol ERR_INVALIDAMSLENGTH. The AMS length in the request is invalid. HRESULT form: 0x9811000E.^[1]

Likely causes

• Invalid AMS length

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

15 (0xF): Invalid AMS Net ID

What it means: Symbol ERR_INVALIDAMSNETID. The AMS Net ID in the request is invalid. HRESULT form: 0x9811000F.^[1]

Likely causes

• Invalid AMS Net ID

First checks, in this order

1. Check the AMS Net ID used in the call

16 (0x10): Installation level is too low

What it means: Symbol ERR_LOWINSTLEVEL. The TwinCAT installation level is too low. Beckhoff marks this as a TwinCAT 2 license error. HRESULT form: 0x98110010.^[1]

Likely causes

• TwinCAT 2 installation level or license too low for the requested function

First checks, in this order

1. Check the TwinCAT 2 installation level and license on the target

17 (0x11): No debugging available

What it means: Symbol ERR_NODEBUGINTAVAILABLE. No debugging is available. HRESULT form: 0x98110011.^[1]

Likely causes

• Debugging not available

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

18 (0x12): Port disabled

What it means: Symbol ERR_PORTDISABLED. The ADS port is disabled because the TwinCAT system service is not started. HRESULT form: 0x98110012.^[1]

Likely causes

• TwinCAT system service not started

First checks, in this order

1. Check that the TwinCAT system service is started on the target

19 (0x13): Port already connected

What it means: Symbol ERR_PORTALREADYCONNECTED. The ADS port is already connected. HRESULT form: 0x98110013.^[1]

Likely causes

• Port already connected

First checks, in this order

1. Check that the application does not open the same port twice

20 (0x14): AMS Sync Win32 error

What it means: Symbol ERR_AMSSYNC_W32ERROR. A Win32 error occurred in AMS Sync. HRESULT form: 0x98110014.^[1]

Likely causes

• Win32 error in AMS Sync

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

21 (0x15): AMS Sync Timeout

What it means: Symbol ERR_AMSSYNC_TIMEOUT. AMS Sync timed out. HRESULT form: 0x98110015.^[1]

Likely causes

• AMS Sync timeout

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

22 (0x16): AMS Sync error

What it means: Symbol ERR_AMSSYNC_AMSERROR. AMS Sync reported an error. HRESULT form: 0x98110016.^[1]

Likely causes

• AMS Sync error

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

23 (0x17): No index map for AMS Sync available

What it means: Symbol ERR_AMSSYNC_NOINDEXINMAP. No index map for AMS Sync is available. HRESULT form: 0x98110017.^[1]

Likely causes

• No index map for AMS Sync

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

24 (0x18): Invalid AMS port

What it means: Symbol ERR_INVALIDAMSPORT. The AMS port in the request is invalid. HRESULT form: 0x98110018.^[1]

Likely causes

• Invalid AMS port

First checks, in this order

1. Check the port number used in the call

25 (0x19): No memory

What it means: Symbol ERR_NOMEMORY. Not enough memory to handle the request. HRESULT form: 0x98110019.^[1]

Likely causes

• No memory available

First checks, in this order

1. Check the free memory of the target system

26 (0x1A): TCP send error

What it means: Symbol ERR_TCPSEND. A TCP send error occurred on the ADS connection. HRESULT form: 0x9811001A.^[1]

Likely causes

• TCP send error

First checks, in this order

1. Check the network connection between the two systems

27 (0x1B): Host unreachable

What it means: Symbol ERR_HOSTUNREACHABLE. The host could not be reached. HRESULT form: 0x9811001B.^[1]

Likely causes

• Host unreachable

First checks, in this order

1. Check the network connection and the address of the target system

28 (0x1C): Invalid AMS fragment

What it means: Symbol ERR_INVALIDAMSFRAGMENT. An AMS fragment was invalid. HRESULT form: 0x9811001C.^[1]

Likely causes

• Invalid AMS fragment

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

29 (0x1D): TLS send error

What it means: Symbol ERR_TLSSEND. A TLS send error occurred: the secure ADS connection failed. HRESULT form: 0x9811001D.^[1]

Likely causes

• Secure ADS connection failed

First checks, in this order

1. Check the Secure ADS settings of the route on both systems

30 (0x1E): Access denied

What it means: Symbol ERR_ACCESSDENIED. Access was denied: secure ADS access was denied. HRESULT form: 0x9811001E.^[1]

Likely causes

• Secure ADS access denied

First checks, in this order

1. Check the Secure ADS settings and access rights of the route on both systems

1280 (0x500): Locked memory cannot be allocated

What it means: Symbol ROUTERERR_NOLOCKEDMEMORY. The ADS router could not allocate locked memory. HRESULT form: 0x98110500.^[1]

Likely causes

• Locked memory allocation failed

First checks, in this order

1. Check the free memory of the system running the router

1281 (0x501): The router memory size could not be changed

What it means: Symbol ROUTERERR_RESIZEMEMORY. The ADS router memory size could not be changed. HRESULT form: 0x98110501.^[1]

Likely causes

• Router memory size change failed

First checks, in this order

1. Check the free memory of the system running the router

1282 (0x502): The mailbox has reached the maximum number of possible messages

What it means: Symbol ROUTERERR_MAILBOXFULL. The ADS router mailbox has reached the maximum number of messages it can hold. HRESULT form: 0x98110502.^[1]

Likely causes

• Too many ADS messages queued at the same time

First checks, in this order

1. Reduce the number of ADS messages sent at the same time

1283 (0x503): The Debug mailbox has reached the maximum number of possible messages

What it means: Symbol ROUTERERR_DEBUGBOXFULL. The router's debug mailbox has reached the maximum number of messages it can hold. HRESULT form: 0x98110503.^[1]

Likely causes

• Debug mailbox full

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1284 (0x504): The port type is unknown

What it means: Symbol ROUTERERR_UNKNOWNPORTTYPE. The port type is unknown to the router. HRESULT form: 0x98110504.^[1]

Likely causes

• Unknown port type

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1285 (0x505): The router is not initialized

What it means: Symbol ROUTERERR_NOTINITIALIZED. The ADS router is not initialized. HRESULT form: 0x98110505.^[1]

Likely causes

• Router not initialized

First checks, in this order

1. Check that TwinCAT is started on that system

1286 (0x506): The port number is already assigned

What it means: Symbol ROUTERERR_PORTALREADYINUSE. The port number is already assigned. HRESULT form: 0x98110506.^[1]

Likely causes

• Port number already in use

First checks, in this order

1. Check that two applications do not register the same ADS port number

1287 (0x507): The port is not registered

What it means: Symbol ROUTERERR_NOTREGISTERED. The port is not registered with the router. HRESULT form: 0x98110507.^[1]

Likely causes

• Port not registered

First checks, in this order

1. Check that the application registered its ADS port before the call

1288 (0x508): The maximum number of ports has been reached

What it means: Symbol ROUTERERR_NOMOREQUEUES. The maximum number of ADS ports has been reached. HRESULT form: 0x98110508.^[1]

Likely causes

• Maximum number of ports reached

First checks, in this order

1. Check how many ADS ports the applications on that system open, and close ports no longer used

1289 (0x509): The port is invalid

What it means: Symbol ROUTERERR_INVALIDPORT. The port is invalid. HRESULT form: 0x98110509.^[1]

Likely causes

• Invalid port

First checks, in this order

1. Check the port number used in the call

1290 (0x50A): The router is not active

What it means: Symbol ROUTERERR_NOTACTIVATED. The ADS router is not active. HRESULT form: 0x9811050A.^[1]

Likely causes

• Router not active

First checks, in this order

1. Check that TwinCAT is started on that system

1291 (0x50B): The mailbox has reached the maximum number for fragmented messages

What it means: Symbol ROUTERERR_FRAGMENTBOXFULL. The router mailbox has reached the maximum number of fragmented messages. HRESULT form: 0x9811050B.^[1]

Likely causes

• Too many fragmented messages

First checks, in this order

1. Reduce the number of large ADS messages sent at the same time

1292 (0x50C): A fragment timeout has occurred

What it means: Symbol ROUTERERR_FRAGMENTTIMEOUT. A fragment timeout occurred in the router. HRESULT form: 0x9811050C.^[1]

Likely causes

• Fragment timeout

First checks, in this order

1. Check the network connection between the two systems

1293 (0x50D): The port is removed

What it means: Symbol ROUTERERR_TOBEREMOVED. The port is being removed. HRESULT form: 0x9811050D.^[1]

Likely causes

• Port removed

First checks, in this order

1. Check whether the application that owns the port was closed or restarted

1792 (0x700): General device error

What it means: Symbol ADSERR_DEVICE_ERROR. The addressed ADS device reported a general error. HRESULT form: 0x98110700.^[1]

Likely causes

• General device error; Beckhoff's table states only this

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1793 (0x701): Service is not supported by the server

What it means: Symbol ADSERR_DEVICE_SRVNOTSUPP. The ADS server does not support the requested service. HRESULT form: 0x98110701.^[1]

Likely causes

• Service not supported by that server

First checks, in this order

1. Check that the target device supports the ADS service used
2. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1794 (0x702): Invalid index group

What it means: Symbol ADSERR_DEVICE_INVALIDGRP. The index group in the request is invalid for the addressed device. HRESULT form: 0x98110702.^[1]

Likely causes

• Wrong index group for that device

First checks, in this order

1. Check the index group against the ADS table of the addressed device

1795 (0x703): Invalid index offset

What it means: Symbol ADSERR_DEVICE_INVALIDOFFSET. The index offset in the request is invalid for the addressed device. HRESULT form: 0x98110703.^[1]

Likely causes

• Wrong index offset for that device

First checks, in this order

1. Check the index offset against the ADS table of the addressed device

1796 (0x704): Reading or writing not permitted

What it means: Symbol ADSERR_DEVICE_INVALIDACCESS. Reading or writing is not permitted. Beckhoff says several causes are possible, for example an incorrect password entered when creating routes. HRESULT form: 0x98110704.^[1]

Likely causes

• Incorrect password entered when creating a route
• Read or write not permitted for that data

First checks, in this order

1. If it appeared while adding a route, enter the target's user name and password again
2. Check that the data addressed may be read or written

1797 (0x705): Parameter size not correct

What it means: Symbol ADSERR_DEVICE_INVALIDSIZE. The parameter size in the request is not correct. HRESULT form: 0x98110705.^[1]

Likely causes

• Wrong data length in the call

First checks, in this order

1. Check that the length passed (for example LEN) matches the data the service expects

1798 (0x706): Invalid data values

What it means: Symbol ADSERR_DEVICE_INVALIDDATA. The data values in the request are invalid. HRESULT form: 0x98110706.^[1]

Likely causes

• Invalid data values

First checks, in this order

1. Check the values written in the call

1799 (0x707): Device is not ready to operate

What it means: Symbol ADSERR_DEVICE_NOTREADY. The addressed device is not ready to operate. HRESULT form: 0x98110707.^[1]

Likely causes

• Device not ready

First checks, in this order

1. Check the state of the addressed device

1800 (0x708): Device is busy

What it means: Symbol ADSERR_DEVICE_BUSY. The addressed device is busy. HRESULT form: 0x98110708.^[1]

Likely causes

• Device busy

First checks, in this order

1. Check what the addressed device is processing, then send the request again

1801 (0x709): Invalid operating system context

What it means: Symbol ADSERR_DEVICE_INVALIDCONTEXT. Invalid operating system context. Beckhoff says this can result from using ADS blocks in different tasks, and may be resolved through multitasking synchronization in the PLC. HRESULT form: 0x98110709.^[1]

Likely causes

• ADS function blocks used from different PLC tasks

First checks, in this order

1. Check whether the same ADS function block or resource is called from more than one task
2. Synchronize the tasks in the PLC (multitasking synchronization)

1802 (0x70A): Insufficient memory

What it means: Symbol ADSERR_DEVICE_NOMEMORY. The addressed device has insufficient memory. HRESULT form: 0x9811070A.^[1]

Likely causes

• Insufficient memory

First checks, in this order

1. Check the free memory of the target system

1803 (0x70B): Invalid parameter values

What it means: Symbol ADSERR_DEVICE_INVALIDPARM. The parameter values in the request are invalid. HRESULT form: 0x9811070B.^[1]

Likely causes

• Invalid parameter values

First checks, in this order

1. Check the parameters passed in the call

1804 (0x70C): Not found (files, ...)

What it means: Symbol ADSERR_DEVICE_NOTFOUND. The object the request referred to was not found, for example a file. In the Tc2_System file function blocks (FB_FileOpen, FB_FileDelete) Beckhoff lists 0x70C as file not found, caused by an invalid file name, path or ePath parameter; FB_FileOpen in append mode also returns 1804 when the storage path is not known. HRESULT form: 0x9811070C.^[1][10][11]

Likely causes

• File or object does not exist on the target
• Invalid file name or file path (sPathName)
• Wrong TwinCAT system path selected (ePath)

First checks, in this order

1. Check the file name and full path used in the call
2. Check the ePath setting
3. Check that the file or folder exists on the target device

1805 (0x70D): Syntax error in file or command

What it means: Symbol ADSERR_DEVICE_SYNTAX. Syntax error in a file or command. HRESULT form: 0x9811070D.^[1]

Likely causes

• Syntax error in the file or command sent

First checks, in this order

1. Check the syntax of the file or command

1806 (0x70E): Objects do not match

What it means: Symbol ADSERR_DEVICE_INCOMPATIBLE. The objects do not match. HRESULT form: 0x9811070E.^[1]

Likely causes

• Objects do not match

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1807 (0x70F): Object already exists

What it means: Symbol ADSERR_DEVICE_EXISTS. The object already exists. HRESULT form: 0x9811070F.^[1]

Likely causes

• Object already exists

First checks, in this order

1. Check whether the object (for example a file) was already created

1808 (0x710): Symbol not found

What it means: Symbol ADSERR_DEVICE_SYMBOLNOTFOUND. The symbol name in the request was not found on the target. HRESULT form: 0x98110710.^[1]

Likely causes

• Symbol name spelled differently from the PLC project
• Symbol not present in the project running on the target

First checks, in this order

1. Check the spelling and full path of the symbol name
2. Check that the symbol exists in the project running on the target

1809 (0x711): Invalid symbol version

What it means: Symbol ADSERR_DEVICE_SYMBOLVERSIONINVALID. The symbol version is invalid. Beckhoff says this can occur due to an online change, and a new handle must be created. HRESULT form: 0x98110711.^[1]

Likely causes

• Online change on the target after the handle was created

First checks, in this order

1. Create a new symbol handle

1810 (0x712): Device (server) is in invalid state

What it means: Symbol ADSERR_DEVICE_INVALIDSTATE. The device (server) is in an invalid state. HRESULT form: 0x98110712.^[1]

Likely causes

• Server in invalid state

First checks, in this order

1. Check the state of the addressed device

1811 (0x713): AdsTransMode not supported

What it means: Symbol ADSERR_DEVICE_TRANSMODENOTSUPP. The requested AdsTransMode is not supported. HRESULT form: 0x98110713.^[1]

Likely causes

• AdsTransMode not supported

First checks, in this order

1. Check the transmission mode used for the notification

1812 (0x714): Notification handle is invalid

What it means: Symbol ADSERR_DEVICE_NOTIFYHNDINVALID. The notification handle is invalid. HRESULT form: 0x98110714.^[1]

Likely causes

• Invalid notification handle

First checks, in this order

1. Check that the notification handle is still valid

1813 (0x715): Notification client not registered

What it means: Symbol ADSERR_DEVICE_CLIENTUNKNOWN. The notification client is not registered. HRESULT form: 0x98110715.^[1]

Likely causes

• Notification client not registered

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1814 (0x716): No further handle available

What it means: Symbol ADSERR_DEVICE_NOMOREHDLS. No further handle is available. In FB_FileOpen, Beckhoff lists 0x716 as no further free file handles. HRESULT form: 0x98110716.^[1][11]

Likely causes

• All handles in use
• Files opened and not closed again

First checks, in this order

1. Release handles that are no longer needed, for example close files the program no longer uses

1815 (0x717): Notification size too large

What it means: Symbol ADSERR_DEVICE_INVALIDWATCHSIZE. The notification size is too large. HRESULT form: 0x98110717.^[1]

Likely causes

• Notification size too large

First checks, in this order

1. Reduce the size of the data in the notification

1816 (0x718): Device not initialized

What it means: Symbol ADSERR_DEVICE_NOTINIT. The device is not initialized. HRESULT form: 0x98110718.^[1]

Likely causes

• Device not initialized

First checks, in this order

1. Check the state of the addressed device

1817 (0x719): Device has a timeout

What it means: Symbol ADSERR_DEVICE_TIMEOUT. The device reported a timeout. HRESULT form: 0x98110719.^[1]

Likely causes

• Device timeout

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1818 (0x71A): Interface query failed

What it means: Symbol ADSERR_DEVICE_NOINTERFACE. An interface query failed. HRESULT form: 0x9811071A.^[1]

Likely causes

• Interface query failed

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1819 (0x71B): Wrong interface requested

What it means: Symbol ADSERR_DEVICE_INVALIDINTERFACE. The wrong interface was requested. HRESULT form: 0x9811071B.^[1]

Likely causes

• Wrong interface requested

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1820 (0x71C): Class ID is invalid

What it means: Symbol ADSERR_DEVICE_INVALIDCLSID. The class ID is invalid. HRESULT form: 0x9811071C.^[1]

Likely causes

• Invalid class ID

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1821 (0x71D): Object ID is invalid

What it means: Symbol ADSERR_DEVICE_INVALIDOBJID. The object ID is invalid. HRESULT form: 0x9811071D.^[1]

Likely causes

• Invalid object ID

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1822 (0x71E): Request pending

What it means: Symbol ADSERR_DEVICE_PENDING. The request is pending. HRESULT form: 0x9811071E.^[1]

Likely causes

• Request still pending

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1823 (0x71F): Request is aborted

What it means: Symbol ADSERR_DEVICE_ABORTED. The request was aborted. HRESULT form: 0x9811071F.^[1]

Likely causes

• Request aborted

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1824 (0x720): Signal warning

What it means: Symbol ADSERR_DEVICE_WARNING. A warning was signaled. HRESULT form: 0x98110720.^[1]

Likely causes

• Signal warning

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1825 (0x721): Invalid array index

What it means: Symbol ADSERR_DEVICE_INVALIDARRAYIDX. The array index in the request is invalid. HRESULT form: 0x98110721.^[1]

Likely causes

• Invalid array index

First checks, in this order

1. Check the array index used in the call

1826 (0x722): Symbol not active

What it means: Symbol ADSERR_DEVICE_SYMBOLNOTACTIVE. The symbol is not active. HRESULT form: 0x98110722.^[1]

Likely causes

• Symbol not active

First checks, in this order

1. Check the symbol used in the call

1827 (0x723): Access denied

What it means: Symbol ADSERR_DEVICE_ACCESSDENIED. Access was denied. Beckhoff says several causes are possible, for example a unidirectional ADS route used in the opposite direction. HRESULT form: 0x98110723.^[1]

Likely causes

• Unidirectional ADS route used in the opposite direction

First checks, in this order

1. Check the direction of the ADS route between the two systems

1828 (0x724): Missing license

What it means: Symbol ADSERR_DEVICE_LICENSENOTFOUND. A license is missing. HRESULT form: 0x98110724.^[1]

Likely causes

• Missing license

First checks, in this order

1. Check the TwinCAT licenses on the target system

1829 (0x725): License expired

What it means: Symbol ADSERR_DEVICE_LICENSEEXPIRED. The license has expired. HRESULT form: 0x98110725.^[1]

Likely causes

• License expired

First checks, in this order

1. Check the TwinCAT licenses on the target system

1830 (0x726): License exceeded

What it means: Symbol ADSERR_DEVICE_LICENSEEXCEEDED. The license is exceeded. HRESULT form: 0x98110726.^[1]

Likely causes

• License exceeded

First checks, in this order

1. Check the TwinCAT licenses on the target system

1831 (0x727): Invalid license

What it means: Symbol ADSERR_DEVICE_LICENSEINVALID. The license is invalid. HRESULT form: 0x98110727.^[1]

Likely causes

• Invalid license

First checks, in this order

1. Check the TwinCAT licenses on the target system

1832 (0x728): License problem: System ID is invalid

What it means: Symbol ADSERR_DEVICE_LICENSESYSTEMID. License problem: the system ID is invalid. HRESULT form: 0x98110728.^[1]

Likely causes

• System ID of the license invalid

First checks, in this order

1. Check that the license matches the system ID of the target

1833 (0x729): License not limited in time

What it means: Symbol ADSERR_DEVICE_LICENSENOTIMELIMIT. The license is not limited in time. HRESULT form: 0x98110729.^[1]

Likely causes

• License not limited in time

First checks, in this order

1. Check the TwinCAT licenses on the target system

1834 (0x72A): Licensing problem: time in the future

What it means: Symbol ADSERR_DEVICE_LICENSEFUTUREISSUE. Licensing problem: a time in the future. HRESULT form: 0x9811072A.^[1]

Likely causes

• License time in the future

First checks, in this order

1. Check the TwinCAT licenses on the target system

1835 (0x72B): License period too long

What it means: Symbol ADSERR_DEVICE_LICENSETIMETOLONG. The license period is too long. HRESULT form: 0x9811072B.^[1]

Likely causes

• License period too long

First checks, in this order

1. Check the TwinCAT licenses on the target system

1836 (0x72C): Exception at system startup

What it means: Symbol ADSERR_DEVICE_EXCEPTION. An exception occurred at system startup. HRESULT form: 0x9811072C.^[1]

Likely causes

• Exception at system startup

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1837 (0x72D): License file read twice

What it means: Symbol ADSERR_DEVICE_LICENSEDUPLICATED. The license file was read twice. HRESULT form: 0x9811072D.^[1]

Likely causes

• License file read twice

First checks, in this order

1. Check the TwinCAT licenses on the target system

1838 (0x72E): Invalid signature

What it means: Symbol ADSERR_DEVICE_SIGNATUREINVALID. A signature is invalid. HRESULT form: 0x9811072E.^[1]

Likely causes

• Invalid signature

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1839 (0x72F): Invalid certificate

What it means: Symbol ADSERR_DEVICE_CERTIFICATEINVALID. A certificate is invalid. HRESULT form: 0x9811072F.^[1]

Likely causes

• Invalid certificate

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1840 (0x730): Public key not known from OEM

What it means: Symbol ADSERR_DEVICE_LICENSEOEMNOTFOUND. The public key is not known from the OEM. HRESULT form: 0x98110730.^[1]

Likely causes

• OEM public key not known

First checks, in this order

1. Check the TwinCAT licenses on the target system

1841 (0x731): License not valid for this system ID

What it means: Symbol ADSERR_DEVICE_LICENSERESTRICTED. The license is not valid for this system ID. HRESULT form: 0x98110731.^[1]

Likely causes

• License not valid for this system ID

First checks, in this order

1. Check that the license matches the system ID of the target

1842 (0x732): Demo license prohibited

What it means: Symbol ADSERR_DEVICE_LICENSEDEMODENIED. A demo license is prohibited. HRESULT form: 0x98110732.^[1]

Likely causes

• Demo license prohibited

First checks, in this order

1. Check the TwinCAT licenses on the target system

1843 (0x733): Invalid function ID

What it means: Symbol ADSERR_DEVICE_INVALIDFNCID. The function ID is invalid. HRESULT form: 0x98110733.^[1]

Likely causes

• Invalid function ID

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1844 (0x734): Outside the valid range

What it means: Symbol ADSERR_DEVICE_OUTOFRANGE. A value is outside the valid range. HRESULT form: 0x98110734.^[1]

Likely causes

• Value out of range

First checks, in this order

1. Check the values passed in the call

1845 (0x735): Invalid alignment

What it means: Symbol ADSERR_DEVICE_INVALIDALIGNMENT. Invalid alignment. HRESULT form: 0x98110735.^[1]

Likely causes

• Invalid alignment

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1846 (0x736): Invalid platform level

What it means: Symbol ADSERR_DEVICE_LICENSEPLATFORM. The platform level is invalid. HRESULT form: 0x98110736.^[1]

Likely causes

• Invalid platform level

First checks, in this order

1. Check the TwinCAT licenses on the target system

1847 (0x737): Context, forward to passive level

What it means: Symbol ADSERR_DEVICE_FORWARD_PL. Context: forward to passive level. Beckhoff's table gives only this short text. HRESULT form: 0x98110737.^[1]

Likely causes

• Cause not stated in Beckhoff's table

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1848 (0x738): Context, forward to dispatch level

What it means: Symbol ADSERR_DEVICE_FORWARD_DL. Context: forward to dispatch level. Beckhoff's table gives only this short text. HRESULT form: 0x98110738.^[1]

Likely causes

• Cause not stated in Beckhoff's table

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1849 (0x739): Context, forward to real-time

What it means: Symbol ADSERR_DEVICE_FORWARD_RT. Context: forward to real-time. Beckhoff's table gives only this short text. HRESULT form: 0x98110739.^[1]

Likely causes

• Cause not stated in Beckhoff's table

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1856 (0x740): Client error

What it means: Symbol ADSERR_CLIENT_ERROR. The ADS client reported an error. HRESULT form: 0x98110740.^[1]

Likely causes

• Client error

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1857 (0x741): Service contains an invalid parameter

What it means: Symbol ADSERR_CLIENT_INVALIDPARM. The service contains an invalid parameter. HRESULT form: 0x98110741.^[1]

Likely causes

• Invalid parameter in the service

First checks, in this order

1. Check the parameters passed in the call

1858 (0x742): Polling list is empty

What it means: Symbol ADSERR_CLIENT_LISTEMPTY. The polling list is empty. HRESULT form: 0x98110742.^[1]

Likely causes

• Polling list empty

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1859 (0x743): Var connection already in use

What it means: Symbol ADSERR_CLIENT_VARUSED. The variable connection is already in use. HRESULT form: 0x98110743.^[1]

Likely causes

• Var connection already in use

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1860 (0x744): The called ID is already in use

What it means: Symbol ADSERR_CLIENT_DUPLINVOKEID. The called (invoke) ID is already in use. HRESULT form: 0x98110744.^[1]

Likely causes

• ID already in use

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1861 (0x745): Timeout has occurred

What it means: Symbol ADSERR_CLIENT_SYNCTIMEOUT. A timeout occurred: the remote terminal did not respond within the ADS timeout. Beckhoff says the route setting of the remote terminal may be configured incorrectly. In ADSREAD (Tc2_System) a timeout sets ERR to TRUE with ERRID 1861, and the TMOUT input monitors whether the command is accepted, not how long it takes to execute. HRESULT form: 0x98110745.^[1][9][12]

Likely causes

• Remote system not responding within the ADS timeout
• ADS route of the remote system configured incorrectly
• In TwinCAT Multiuser: the remote repository was not created or was deleted (Beckhoff TE1000 FAQ)

First checks, in this order

1. Check the ADS route settings on both systems
2. Check that the remote system is running and reachable
3. In TwinCAT Multiuser, open Multiuser Explorer, Status tab: RemoteNotExists means the remote repository is missing. If the message repeats, restart the TwinCAT 3 AdsGitServer Windows service on the target

1862 (0x746): Error in Win32 subsystem

What it means: Symbol ADSERR_CLIENT_W32ERROR. An error occurred in the Win32 subsystem. HRESULT form: 0x98110746.^[1]

Likely causes

• Win32 subsystem error

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1863 (0x747): Invalid client timeout value

What it means: Symbol ADSERR_CLIENT_TIMEOUTINVALID. The client timeout value is invalid. HRESULT form: 0x98110747.^[1]

Likely causes

• Invalid client timeout value

First checks, in this order

1. Check the timeout value passed to the call

1864 (0x748): Port not open

What it means: Symbol ADSERR_CLIENT_PORTNOTOPEN. The ADS port is not open. HRESULT form: 0x98110748.^[1]

Likely causes

• Port not open

First checks, in this order

1. Check that the client opened its ADS port before the call

1865 (0x749): No AMS address

What it means: Symbol ADSERR_CLIENT_NOAMSADDR. No AMS address. HRESULT form: 0x98110749.^[1]

Likely causes

• No AMS address

First checks, in this order

1. Check the AMS Net ID and port used in the call

1872 (0x750): Internal error in Ads sync

What it means: Symbol ADSERR_CLIENT_SYNCINTERNAL. Internal error in ADS sync. HRESULT form: 0x98110750.^[1]

Likely causes

• Internal error in ADS sync

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1873 (0x751): Hash table overflow

What it means: Symbol ADSERR_CLIENT_ADDHASH. Hash table overflow. HRESULT form: 0x98110751.^[1]

Likely causes

• Hash table overflow

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1874 (0x752): Key not found in the table

What it means: Symbol ADSERR_CLIENT_REMOVEHASH. A key was not found in the table. HRESULT form: 0x98110752.^[1]

Likely causes

• Key not found

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1875 (0x753): No symbols in the cache

What it means: Symbol ADSERR_CLIENT_NOMORESYM. No symbols are in the cache. HRESULT form: 0x98110753.^[1]

Likely causes

• No symbols in the cache

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1876 (0x754): Invalid response received

What it means: Symbol ADSERR_CLIENT_SYNCRESINVALID. An invalid response was received. HRESULT form: 0x98110754.^[1]

Likely causes

• Invalid response received

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1877 (0x755): Sync Port is locked

What it means: Symbol ADSERR_CLIENT_SYNCPORTLOCKED. The sync port is locked. HRESULT form: 0x98110755.^[1]

Likely causes

• Sync port locked

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

1878 (0x756): The request was canceled

What it means: Symbol ADSERR_CLIENT_REQUESTCANCELLED. The request was canceled. HRESULT form: 0x98110756.^[1]

Likely causes

• Request canceled

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

4096 (0x1000): Internal error in the real-time system

What it means: Symbol RTERR_INTERNAL. Internal error in the TwinCAT real-time system. HRESULT form: 0x98111000.^[1]

Likely causes

• Internal real-time error

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

4097 (0x1001): Timer value is not valid

What it means: Symbol RTERR_BADTIMERPERIODS. A timer value is not valid. HRESULT form: 0x98111001.^[1]

Likely causes

• Invalid timer value

First checks, in this order

1. Check the real-time timer settings of the target

4098 (0x1002): Task pointer has the invalid value 0 (zero)

What it means: Symbol RTERR_INVALIDTASKPTR. A task pointer has the invalid value 0 (zero). HRESULT form: 0x98111002.^[1]

Likely causes

• Task pointer is 0

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

4099 (0x1003): Stack pointer has the invalid value 0 (zero)

What it means: Symbol RTERR_INVALIDSTACKPTR. A stack pointer has the invalid value 0 (zero). HRESULT form: 0x98111003.^[1]

Likely causes

• Stack pointer is 0

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

4100 (0x1004): The request task priority is already assigned

What it means: Symbol RTERR_PRIOEXISTS. The requested task priority is already assigned. HRESULT form: 0x98111004.^[1]

Likely causes

• Task priority already in use

First checks, in this order

1. Check that each real-time task has its own priority

4101 (0x1005): No free TCB (Task Control Block) available

What it means: Symbol RTERR_NOMORETCB. No free task control block (TCB) is available. Beckhoff gives the maximum as 64 TCBs. HRESULT form: 0x98111005.^[1]

Likely causes

• Maximum of 64 TCBs reached

First checks, in this order

1. Check the number of real-time tasks configured

4102 (0x1006): No free semaphores available

What it means: Symbol RTERR_NOMORESEMAS. No free semaphores are available. Beckhoff gives the maximum as 64 semaphores. HRESULT form: 0x98111006.^[1]

Likely causes

• Maximum of 64 semaphores reached

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

4103 (0x1007): No free space available in the queue

What it means: Symbol RTERR_NOMOREQUEUES. No free space is available in the queue. Beckhoff gives the maximum as 64 positions in the queue. HRESULT form: 0x98111007.^[1]

Likely causes

• Maximum of 64 queue positions reached

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

4109 (0x100D): An external synchronization interrupt is already applied

What it means: Symbol RTERR_EXTIRQALREADYDEF. An external synchronization interrupt is already applied. HRESULT form: 0x9811100D.^[1]

Likely causes

• External sync interrupt already applied

First checks, in this order

1. Check the external synchronization settings of the real-time system

4110 (0x100E): No external sync interrupt applied

What it means: Symbol RTERR_EXTIRQNOTDEF. No external sync interrupt is applied. HRESULT form: 0x9811100E.^[1]

Likely causes

• External sync interrupt not applied

First checks, in this order

1. Check the external synchronization settings of the real-time system

4111 (0x100F): Application of the external synchronization interrupt has failed

What it means: Symbol RTERR_EXTIRQINSTALLFAILED. Applying the external synchronization interrupt failed. HRESULT form: 0x9811100F.^[1]

Likely causes

• External sync interrupt could not be applied

First checks, in this order

1. Check the external synchronization settings of the real-time system

4112 (0x1010): Call of a service function in the wrong context

What it means: Symbol RTERR_IRQLNOTLESSOREQUAL. A service function was called in the wrong context. HRESULT form: 0x98111010.^[1]

Likely causes

• Service function called in the wrong context

First checks, in this order

1. Note the AMS Net ID, the port and the ADS call (index group and offset) that returned the code

4119 (0x1017): Intel VT-x extension is not supported

What it means: Symbol RTERR_VMXNOTSUPPORTED. The Intel VT-x extension is not supported by the processor. HRESULT form: 0x98111017.^[1]

Likely causes

• CPU without Intel VT-x

First checks, in this order

1. Check that the processor of the target supports Intel VT-x

4120 (0x1018): Intel VT-x extension is not enabled in the BIOS

What it means: Symbol RTERR_VMXDISABLED. The Intel VT-x extension is not enabled in the BIOS. HRESULT form: 0x98111018.^[1]

Likely causes

• Intel VT-x disabled in the BIOS

First checks, in this order

1. Enable Intel VT-x in the BIOS of the target

4121 (0x1019): Missing function in Intel VT-x extension

What it means: Symbol RTERR_VMXCONTROLSMISSING. A function is missing in the Intel VT-x extension. HRESULT form: 0x98111019.^[1]

Likely causes

• Missing Intel VT-x function

First checks, in this order

1. Check the Intel VT-x support of the processor and the BIOS settings

4122 (0x101A): Activation of Intel VT-x fails

What it means: Symbol RTERR_VMXENABLEFAILS. Activation of Intel VT-x fails. HRESULT form: 0x9811101A.^[1]

Likely causes

• Intel VT-x activation failed

First checks, in this order

1. Check the Intel VT-x settings in the BIOS of the target

10060 (0x274C): A connection timeout has occurred

What it means: Symbol WSAETIMEDOUT. Connection timeout: the connection could not be set up because the remote terminal did not respond properly in time, or an established connection was lost because the connected host stopped responding.^[1]

Likely causes

• Remote system not responding
• Connection lost because the host stopped responding

First checks, in this order

1. Check that the remote system is switched on and reachable on the network

10061 (0x274D): Connection refused

What it means: Symbol WSAECONNREFUSED. Connection refused: the target computer explicitly rejected the connection. Beckhoff says this usually comes from connecting to a service that is not running on the remote host.^[1]

Likely causes

• No server application running for that service on the remote host

First checks, in this order

1. Check that the service you connect to is running on the remote host

10065 (0x2751): No route to host

What it means: Symbol WSAEHOSTUNREACH. No route to host: a socket operation referred to an unavailable host.^[1]

Likely causes

• Host unavailable

First checks, in this order

1. Check the address of the target and the network path to it

17920 (0x4600): Drive ID not allowed

What it means: The drive ID set for the NC drive is not allowed: it is already assigned, zero or less, or above 255. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts
• Drive ID already used by another drive

First checks, in this order

1. Check the drive ID in the NC drive settings: Beckhoff's range is 1 to 255, and each ID may be used once

17921 (0x4601): Drive type not allowed

What it means: The drive type set for the NC drive is not a defined type. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the drive type in the NC drive settings: Beckhoff's range is 1 to 20

17922 (0x4602): Drive operation mode not allowed

What it means: The drive operation mode value is not allowed; Beckhoff lists mode 1 (default) as the allowed value. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the drive operation mode parameter: Beckhoff's value range is 1

17923 (0x4603): Motor polarity not allowed

What it means: The motor polarity flag is invalid. Flag 0 means positive motor polarity, flag 1 negative. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the motor polarity parameter: it must be 0 or 1

17924 (0x4604): Drift compensation / velocity offset (DAC offset)

What it means: The drift compensation (DAC offset, velocity offset) value is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the drift compensation value: Beckhoff's range is -100.0 to 100.0 (unit for example m/min)

17925 (0x4605): Reference velocity (velocity pre-control)

What it means: The reference velocity (velocity pre-control) value is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the reference velocity: Beckhoff's range is 0.0 to 10000.0 (unit for example m/min)

17926 (0x4606): Reference output in percent

What it means: The reference output in percent is not permitted. A value of 1.0 (100 percent) usually corresponds to 10.0 V. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the reference output: Beckhoff's range is 0.0 to 5.0

17927 (0x4607): Quadrant compensation factor not allowed

What it means: The quadrant compensation factor is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the quadrant compensation factor: Beckhoff's range is 0.0 to 100.0

17928 (0x4608): Velocity reference point in percent

What it means: The velocity reference point in percent is not permitted (1.0 means 100 percent). Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the velocity reference point: Beckhoff's range is 0.01 to 1.0

17929 (0x4609): Output reference point

What it means: The output reference point in percent is not permitted (1.0 means 100 percent). Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the output reference point: Beckhoff's range is 0.01 to 1.0

17930 (0x460A): Minimum or maximum output limits (output limitation)

What it means: The minimum or maximum output limit is not permitted: out of range, the maximum is below the minimum, or both are the same. Defaults are -1.0 (-100 percent) and 1.0 (100 percent). Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts
• Maximum limit set below the minimum limit
• Minimum and maximum limit set to the same value

First checks, in this order

1. Check the output limits: both must be within -1.0 to 1.0, with the maximum above the minimum

17931 (0x460B): Parameter 'Maximum value for output' is not allowed

What it means: The maximum output value (maximum number of output digits of the drive) is not allowed. Beckhoff notes that a velocity interface often uses a signed 16 bit output value (plus or minus 32767). Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the maximum output value against the drive interface: Beckhoff's range is 0x000000FF to 0xFFFFFFFF (INC or digits)

17932 (0x460C): Parameter 'Internal Drive Control Word' is not allowed

What it means: The internal Drive Control Word passed to the NC is not allowed. It carries information from the development environment that the NC evaluates at TwinCAT start. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the drive configuration of the axis in the TwinCAT project; Beckhoff's range for this internal value is greater than 0

17933 (0x460D): Parameter 'Internal timer for RESET behavior Drive' is not allowed

What it means: The special parameter for the internal timing between the NC drive and the I/O drive (servo drive) during reset is not allowed. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check this internal timer parameter: Beckhoff's range is greater than 5 NC SEC cycles

17934 (0x460E): Parameter 'Master Motion Controller ID' is not allowed

What it means: The Master Motion Controller ID is not allowed for an additional NC motion controller in slave mode. Beckhoff says the user cannot set it directly, only indirectly by configuring additional NC motion controllers under the NC axis. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the additional NC motion controllers configured under the NC axis (range 0 to 255)

17935 (0x460F): Drive torque output scaling is not allowed

What it means: The drive torque output scaling (force output scaling for a linear motor) is not allowed. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the torque output scaling: Beckhoff's range is 0 to 1000000

17936 (0x4610): Drive velocity output scaling is not allowed

What it means: The drive velocity output scaling is not allowed. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the velocity output scaling: Beckhoff's range is 0 to 1000000

17937 (0x4611): Profi Drive DSC proportional gain Kpc (controller) not allowed

What it means: The PROFIdrive DSC position control gain (Kpc factor) is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the Kpc value: Beckhoff's range is 0 to 0xFFFFFF (unit 0.001 x 1/s)

17938 (0x4612): Table ID is not allowed

What it means: The table ID is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the table ID: Beckhoff's range is 0 to 255

17939 (0x4613): Table interpolation type is not allowed

What it means: The table interpolation type is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the table interpolation type: 0 (LINEAR) or 2 (SPLINE)

17940 (0x4614): Output offset in percent is not allowed

What it means: The output offset in percent is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the output offset: Beckhoff's range is -1.0 to 1.0

17941 (0x4615): Profi Drive DSC scaling for calculation of 'Xerr' (controller) not allowed

What it means: The PROFIdrive DSC scaling for the calculation of Xerr is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the DSC scaling: Beckhoff's range is 0 to 1000000

17942 (0x4616): Drive acceleration output scaling not allowed

What it means: The drive acceleration/deceleration output scaling is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the acceleration output scaling: Beckhoff's range is 0 to 1000000

17943 (0x4617): Drive position output scaling not allowed

What it means: The drive position output scaling is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the position output scaling: Beckhoff's range is 0 to 1000000

17944 (0x4618): Parameter 'Dead time compensation mode' (Motion Controller) is invalid

What it means: The dead time compensation mode of the NC motion controller is invalid (OFF, ON with velocity, ON with velocity and acceleration). Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the dead time compensation mode: 0, 1 or 2

17945 (0x4619): Parameter 'Control bits of dead time compensation' (motion controller) is invalid

What it means: The control bits of the dead time compensation (for example relative or absolute time interpretation) are invalid. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the dead time compensation control bits: Beckhoff's range is greater than 0

17946 (0x461A): Parameter 'Time shift of dead time compensation mode' (motion controller) is invalid

What it means: The time shift of the dead time compensation (in nanoseconds) is invalid. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the time shift: Beckhoff's range is -1.0E9 to 1.0E9 ns

17947 (0x461B): Parameter 'Output delay velocity interface Motion Controller' is invalid

What it means: The optional output delay in the velocity interface to the motion controller is invalid. The delay must be less than 100 times the NC SEC cycle time. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the output delay: Beckhoff's range is 0.0 to 0.1 s, and below 100 NC SEC cycles

17948 (0x461C): Drive filter type not allowed for command variable filter for the output position

What it means: The drive filter type for smoothing the output position (command variable filter for the setpoint position) is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the filter type: Beckhoff's range is 0 to 2

17949 (0x461D): Drive filter time not allowed for command variable filter for the output position

What it means: The drive filter time for smoothing the output position is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the filter time: Beckhoff's range is 0.0 to 1.0 s

17950 (0x461E): Drive filter order not allowed for command variable filter for the output position

What it means: The drive filter order (P-Tn) for smoothing the output position is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the filter order: Beckhoff's range is 0 to 10

17952 (0x4620): Bit mask for stepper motor cycle not allowed

What it means: One of the stepper motor bit masks is not permitted for its cycle. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the stepper motor cycle masks: Beckhoff's range is 0 to 255

17953 (0x4621): Bit mask for stepper motor holding current not allowed

What it means: The stepper motor holding current mask is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the holding current mask: Beckhoff's range is 0 to 255

17954 (0x4622): Scaling factor for actual torque (actual current) not allowed

What it means: The scaling factor for the actual torque (or actual current) is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the actual torque scaling factor: Beckhoff's range is 0 to 1E+30

17955 (0x4623): Filter time for actual torque not allowed

What it means: The filter time (P-T1) for the actual torque (or actual current) is not permitted. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the actual torque filter time: Beckhoff's range is 0.0 to 60.0 s

17956 (0x4624): Filter time for the time derivative of the actual torque not allowed

What it means: The filter time (P-T1) for the time derivative of the actual torque (or actual current) is not allowed. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Parameter value outside the range the NC accepts

First checks, in this order

1. Check the filter time: Beckhoff's range is 0.0 to 60.0 s

17957 (0x4625): Parameter 'Drive operation mode' invalid

What it means: The drive operation mode (position, velocity or torque mode of the motion controller) is invalid. A mode changeover may have been attempted, or a preconfigured mode activated at TwinCAT startup. The NC maps its generic modes to SERCOS/SoE and CANopen/CoE (DS402) drives, and not every generic mode can be converted for every drive. Mode 0 asks for the NC default mode. Beckhoff error type: Parameter.^[2][3][8]

Likely causes

• Requested operation mode not supported by the drive or protocol
• With SoE: the mode is not predefined in S-0-0032 to S-0-0035

First checks, in this order

1. Check which operation mode was requested and whether the drive supports it
2. With a SoE (SERCOS) drive, check that the mode is predefined in parameters S-0-0032 to S-0-0035

17958 (0x4626): Motion Controller function is not supported.

What it means: A motion controller function was triggered that is not enabled or not implemented, for example writing or reading a drive operation mode some motion controllers do not support. It can also be only temporarily unavailable, for example while the drive is in error state or a drive enable is missing. Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Function not supported by this motion controller
• Drive in error state
• Drive enable missing

First checks, in this order

1. Check whether the drive and motion controller support the function
2. Check the drive for an error state and check the drive enable

17959 (0x4627): Drive operation mode busy

What it means: Symbol DRIVEOPERATIONMODEBUSY. Activating the drive operation mode failed because another object is already using this interface. Beckhoff error type: Function.^[2][3][8]

Likely causes

• Another object already uses the drive operation mode interface

First checks, in this order

1. Check which other object or function block is switching the drive operation mode

17960 (0x4628): Drive operation mode changeover is not configured or the desired drive operation mode cannot be found.

What it means: No drive operation mode changeover is configured, or the requested mode was not found in the list of predefined modes. For CoE motion controllers, objects 0x6060 Modes of operation and 0x6061 Modes of operation display must be in the cyclic process data with a valid default mode. For SoE, the mode must be predefined in S-0-0032 to S-0-0035. Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Operation mode changeover not configured
• CoE: objects 0x6060 and 0x6061 not in the cyclic process data (PDO list)
• SoE: mode not predefined in S-0-0032 to S-0-0035

First checks, in this order

1. CoE drive: check that 0x6060 and 0x6061 are in the PDO list and a valid default operation mode is set
2. SoE drive: check S-0-0032 to S-0-0035

17961 (0x4629): Feedback drive operation mode changeover

What it means: During a drive operation mode changeover, the requested mode was not reported back consistently within the monitoring time of 8 cycles. Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Drive did not confirm the new mode in time
• CoE: objects 0x6060 and 0x6061 not in the cyclic process data
• SoE: mode not predefined in S-0-0032 to S-0-0035

First checks, in this order

1. CoE drive: check that 0x6060 and 0x6061 are in the PDO list and a valid default operation mode is set
2. SoE drive: check S-0-0032 to S-0-0035

17968 (0x4630): Overtemperature

What it means: The drive or terminal detected or reported overtemperature. Codes 0x4630 to 0x463F are reserved for external drive errors, for example from a stepper motor terminal or the MC_PowerStepper function block. Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Overtemperature in the drive or terminal

First checks, in this order

1. Check the temperature of the drive or terminal that reported it

17969 (0x4631): Undervoltage

What it means: The drive or terminal detected or reported undervoltage (external drive error range 0x4630 to 0x463F). Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Undervoltage at the drive or terminal

First checks, in this order

1. Check the supply voltage of the drive or terminal that reported it

17970 (0x4632): Wire break in phase A

What it means: The drive or terminal detected or reported a wire break in motor phase A (external drive error range 0x4630 to 0x463F). Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Wire break in phase A

First checks, in this order

1. Check the phase A wiring between terminal and motor

17971 (0x4633): Wire break in phase B

What it means: The drive or terminal detected or reported a wire break in motor phase B (external drive error range 0x4630 to 0x463F). Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Wire break in phase B

First checks, in this order

1. Check the phase B wiring between terminal and motor

17972 (0x4634): Overcurrent in phase A

What it means: The drive or terminal detected or reported overcurrent in motor phase A (external drive error range 0x4630 to 0x463F). Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Overcurrent in phase A

First checks, in this order

1. Check phase A of the motor and its wiring

17973 (0x4635): Overcurrent in phase B

What it means: The drive or terminal detected or reported overcurrent in motor phase B (external drive error range 0x4630 to 0x463F). Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Overcurrent in phase B

First checks, in this order

1. Check phase B of the motor and its wiring

17974 (0x4636): Torque overload (stall)

What it means: The drive or terminal detected or reported a torque overload (stall) (external drive error range 0x4630 to 0x463F). Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Torque overload, motor stalled

First checks, in this order

1. Check the axis for blocking or overload

17984 (0x4640): Drive initialization

What it means: The drive has not been initialized. It was created, but the rest of the initialization was not done: initialization of the drive I/O, initialization of the drive, reset of the drive. Beckhoff error type: Initialization.^[2][3][8]

Likely causes

• Drive initialization not completed

First checks, in this order

1. Check the drive initialization steps Beckhoff lists: drive I/O, drive, drive reset

17985 (0x4641): Axis address

What it means: The drive does not know its axis, or the axis address has not been initialized. Beckhoff error type: Address.^[2][3][8]

Likely causes

• Axis address of the drive not initialized

First checks, in this order

1. Check the assignment of the drive to its NC axis in the TwinCAT configuration

17986 (0x4642): Address I/O input structure

What it means: The drive has no valid I/O input address in the process image. Beckhoff error type: Address.^[2][3][8]

Likely causes

• No valid input address for the drive in the process image

First checks, in this order

1. Check the input links of the NC drive to the I/O device in the TwinCAT configuration

17987 (0x4643): Address I/O output structure

What it means: The drive has no valid I/O output address in the process image. Beckhoff error type: Address.^[2][3][8]

Likely causes

• No valid output address for the drive in the process image

First checks, in this order

1. Check the output links of the NC drive to the I/O device in the TwinCAT configuration

18000 (0x4650): Drive hardware not ready to operate

What it means: The drive hardware is not ready for operation. After a hardware error, Beckhoff says the drive can take several seconds to start up again. Beckhoff error type: Monitoring.^{[2][3][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Drive in error state (hardware error)
• Drive still in its start-up phase, for example after an axis reset that followed a hardware error
• Drive missing its controller enable (ENABLE)

First checks, in this order

1. Check the drive itself for an error and read its own error code
2. After a reset that followed a hardware error, wait a few seconds for the drive to start up
3. Check that the controller enable reaches the drive

18001 (0x4651): Error in the cyclic communication of the drive (Life Counter)

What it means: An error in the cyclic communication of the drive was detected through the life counter. Beckhoff error type: Monitoring.^{[2][3][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Interrupted fieldbus
• Drive in error state

First checks, in this order

1. Check the fieldbus connection to the drive
2. Check the drive for an error

18002 (0x4652): Changing the table ID with active controller enable not allowed

What it means: The characteristic curve table ID was changed (selected or deselected) while the controller enable of the axis was active, which is not permitted. Beckhoff error type: Monitoring.^[2][3][8]

Likely causes

• Table ID changed with the controller enable active

First checks, in this order

1. Remove the controller enable before changing the table ID

18005 (0x4655): I/O data for more than 'n' continuous NC cycles invalid

What it means: The axis (encoder or drive) has seen invalid I/O data for more than n continuous NC cycles (NC SAF task), for example n = 3. On EtherCAT this is a working counter error (WCState), on Lightbus a CDL state error. The encoder can then lose its referenced state. Beckhoff error type: Monitoring.^{[2][3][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• EtherCAT working counter error (WcState) on the drive or encoder
• Lightbus CDL state error

First checks, in this order

1. Check the WcState of the EtherCAT device and its cabling
2. Check whether the axis lost its homed state and home it again if needed

16928 (0x4220): Group not ready / group not ready for new task

What it means: The group was given a new task while it is still executing an existing one, for example a positioning command or set actual position. For the set new end position function it is the other way round: the group or axis must still be moving. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• New command sent while the previous one is still running
• Set new end position sent while the axis is standing still

First checks, in this order

1. Check that the program waits for the running command to finish (or be aborted) before sending the next one

16929 (0x4221): Requested target velocity is not allowed.

What it means: The target velocity requested for a positioning task is zero or less, above the maximum velocity of the axis, or (with servo drives) above the reference velocity of the axis. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• Velocity zero or negative
• Velocity above the axis maximum velocity
• Velocity above the reference velocity of the drive

First checks, in this order

1. Check the velocity passed to the motion command
2. Compare it with the maximum velocity in the axis parameters and the reference velocity in the drive parameters

16930 (0x4222): Requested target position is not allowed (master axis).

What it means: The target position requested for a positioning task is outside the software end positions (master axis). This check only runs when end position monitoring is active. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• Target position below the minimum or above the maximum software end position

First checks, in this order

1. Check the target position passed to the motion command
2. Check the software end positions in the axis parameters

16931 (0x4223): No enable for controller and/or feed (master axis)

What it means: The enables needed to position the master axis are missing: the controller enable and/or the feed enable for the direction of travel (axis interface PlcToNc). Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• Controller enable missing
• Feed enable for that direction missing

First checks, in this order

1. Check the controller enable and the feed enables the PLC sends to the axis (PlcToNc)

16933 (0x4225): Drive hardware not ready to operate at axis start

What it means: At axis start the drive hardware was not ready to operate. Beckhoff says the drive can take several seconds to start up after a hardware error. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• Drive in error state (hardware error)
• Drive still in its start-up phase, for example after an axis reset that followed a hardware error
• Drive missing its controller enable (ENABLE)

First checks, in this order

1. Check the drive itself for an error
2. After a reset, wait for the drive to finish starting up before starting the axis
3. Check that the controller enable reaches the drive

16979 (0x4253): PLC reference cam became free too soon

What it means: During homing the axis moves towards the PLC reference cam and stops when the cam signal comes. The cam must stay occupied until the axis starts back down from it; here the cam signal became free too soon. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• Reference cam signal lost while the axis stood on the cam

First checks, in this order

1. Check the reference cam, its switch and the signal into the PLC

16992 (0x4260): Controller enable

What it means: The controller enable for an axis or a coupled slave axis is missing (axis interface PlcToNc). It is raised when the enable is removed while the axis or group is positioning, or when a PTP axis or coupled slave axis is started without it. Beckhoff error type: Monitoring.^{[2][4][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Controller enable removed during a move
• Axis or coupled slave axis started without controller enable

First checks, in this order

1. Check where the PLC program removes the controller enable
2. Check the controller enable of every coupled slave axis

17052 (0x429C): PLC referencing cam is not found.

What it means: During homing the axis moved towards the PLC reference cam, but the cam was not found as expected, so homing was aborted. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• Reference cam not reached or its signal not seen by the PLC

First checks, in this order

1. Check the reference cam, its switch and the signal into the PLC

17053 (0x429D): PLC referencing cam has not been released again.

What it means: During homing the axis reached the PLC reference cam and stopped, then started back down from it, but the cam did not become free again as expected, so homing was aborted. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• Reference cam signal stays on while the axis moves off the cam

First checks, in this order

1. Check the reference cam, its switch and the signal into the PLC

17054 (0x429E): I/O sync pulse was not found (only when using hardware latch).

What it means: With the hardware latch active, a sync pulse (zero pulse) was expected after a certain time or distance and was not found, so homing was aborted. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• Sync (zero) pulse not detected within the expected time or distance

First checks, in this order

1. Check the encoder zero pulse signal and the hardware latch settings

17135 (0x42EF): Axis is locked for motion commands because a stop command is still active.

What it means: The axis or group is locked for motion commands because a stop command is still active. The lock is released by calling the stop command with Execute = FALSE or by an axis reset. Beckhoff error type: Monitoring.^[2][4][8]

Likely causes

• MC_Stop still active (Execute still TRUE)

First checks, in this order

1. Set Execute of the stop command to FALSE, or reset the axis

17238 (0x4356): Controller enable

What it means: The controller enable for the axis is not present (axis interface PlcToNc). It is needed, for example, for a positioning task. Beckhoff error type: Monitoring.^[2][5][8]

Likely causes

• Controller enable not set by the PLC

First checks, in this order

1. Check the controller enable the PLC sends to the axis (PlcToNc)

17239 (0x4357): Feed enable minus

What it means: The feed enable for movement in the negative direction is not present (axis interface PlcToNc). Beckhoff error type: Monitoring.^[2][5][8]

Likely causes

• Feed enable minus not set by the PLC

First checks, in this order

1. Check the negative feed enable the PLC sends to the axis

17240 (0x4358): Feed enable plus

What it means: The feed enable for movement in the positive direction is not present (axis interface PlcToNc). Beckhoff error type: Monitoring.^[2][5][8]

Likely causes

• Feed enable plus not set by the PLC

First checks, in this order

1. Check the positive feed enable the PLC sends to the axis

17241 (0x4359): Target velocity not allowed

What it means: The target velocity requested for a positioning task is not allowed: zero or less, above the maximum axis velocity, or (servo drives) above the reference velocity of the axis. Beckhoff error type: Monitoring.^[2][5][8]

Likely causes

• Velocity zero or negative
• Velocity above the maximum axis velocity
• Velocity above the reference velocity

First checks, in this order

1. Check the velocity passed to the motion command against the axis and drive parameters

17244 (0x435C): PEH time monitoring

What it means: PEH time monitoring: after a positioning, the target position window was not reached within the PEH monitoring time. This monitoring only works when target position monitoring is active. Beckhoff error type: Monitoring.^[2][5][8]

Likely causes

• PEH monitoring time set too short
• Target position window or time set too strict
• Axis not settling into the target window

First checks, in this order

1. Check that the PEH monitoring time is long enough (Beckhoff suggests for example 1 to 5 s) and clearly longer than the target position monitoring time
2. Check the target position window and time

17245 (0x435D): Motion Monitoring

What it means: Motion monitoring: the actual position did not change, or changed only slightly, during the motion monitoring time. The axis must move by more than the motion monitoring window in at least one NC cycle within that time. Beckhoff error type: Monitoring.^{[2][5][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Axis mechanically blocked
• Encoder system failed

First checks, in this order

1. Check whether the axis is mechanically blocked
2. Check the encoder system

17488 (0x4450): Encoder counter underflow monitoring

What it means: The encoder's incremental counter has underflowed. Beckhoff error type: Monitoring.^[2][6][8]

Likely causes

• Encoder counter underflow

First checks, in this order

1. Check the encoder counter and the actual position of the axis

17489 (0x4451): Encoder counter overflow monitoring

What it means: The encoder's incremental counter has overflowed. Beckhoff error type: Monitoring.^[2][6][8]

Likely causes

• Encoder counter overflow

First checks, in this order

1. Check the encoder counter and the actual position of the axis

17504 (0x4460): Minimum software position limit (axis start)

What it means: With minimum software position limit monitoring active, the axis was started from a position below the minimum software limit. Beckhoff error type: Monitoring.^[2][6][8]

Likely causes

• Axis standing below the minimum software position limit at start

First checks, in this order

1. Check the actual position against the minimum software position limit
2. Check whether the axis is homed

17505 (0x4461): Maximum software position limit (axis start)

What it means: With maximum software position limit monitoring active, the axis was started from a position above the maximum software limit. Beckhoff error type: Monitoring.^[2][6][8]

Likely causes

• Axis standing above the maximum software position limit at start

First checks, in this order

1. Check the actual position against the maximum software position limit
2. Check whether the axis is homed

17506 (0x4462): Minimum software position limit (positioning process)

What it means: With minimum software position limit monitoring active, the actual position went below the minimum software limit during positioning. For servo axes the limit is extended by the lag error window. Beckhoff error type: Monitoring.^{[2][6][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Axis travelled below the minimum software position limit

First checks, in this order

1. Check the commanded target positions and the minimum software position limit
2. Check whether the axis is homed

17507 (0x4463): Maximum software position limit (positioning process)

What it means: With maximum software position limit monitoring active, the actual position went above the maximum software limit during positioning. For servo axes the limit is extended by the lag error window. Beckhoff error type: Monitoring.^{[2][6][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Axis travelled above the maximum software position limit

First checks, in this order

1. Check the commanded target positions and the maximum software position limit
2. Check whether the axis is homed

17508 (0x4464): Encoder hardware error

What it means: The drive or encoder system reports a hardware error of the encoder. Beckhoff says an optional error code may be found in the message in the event display. Beckhoff error type: Monitoring.^{[2][6][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Encoder hardware error

First checks, in this order

1. Read the full message in the event display for an additional error code
2. Check the encoder and its cable

17509 (0x4465): Position initialization error at system startup

What it means: When the actual position was initialized at system startup, it was outside the minimum and maximum end positions in all three initialization attempts (without and with underflow or overflow). Beckhoff error type: Monitoring.^[2][6][8]

Likely causes

• Actual position at startup outside the end positions

First checks, in this order

1. Check the actual position at startup against the minimum and maximum end positions

17510 (0x4466): Invalid I/O data for more than n continuous NC cycles (encoder)

What it means: The encoder has seen invalid encoder I/O data for more than n continuous NC cycles (NC SAF task), for example n = 3. With EtherCAT this is typically a working counter error (WcState). If it lasts, the axis can lose its homed state. Beckhoff names possible reasons: an EtherCAT slave left its OP state, the real-time load on the controller is too high, or the real-time jitter is too high. Beckhoff error type: Monitoring.^{[2][6][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• EtherCAT slave left its OP state
• Real-time load on the controller too high
• Real-time jitter too high

First checks, in this order

1. Check the EtherCAT state and WcState of the encoder device
2. Check the real-time load and jitter of the controller
3. Check whether the axis lost its homed state

17511 (0x4467): Invalid actual position (encoder)

What it means: The I/O device returns an invalid actual position (for CANopen/CoE, see bit 13 of the encoder state, TxPDO data invalid or invalid actual position value). Beckhoff error type: Monitoring.^[2][6][8]

Likely causes

• I/O device reports an invalid actual position

First checks, in this order

1. Check the encoder state of the I/O device (for CoE, bit 13)

17744 (0x4550): Lag error monitor (position)

What it means: Position lag error monitoring: the lag error (following error) was larger than the lag error window for longer than the lag error filter time. Beckhoff error type: Monitoring.^{[2][7][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Lag error larger than the lag error window for longer than the filter time

First checks, in this order

1. Check the lag error window and filter time in the axis parameters
2. Watch the lag distance on the axis Online tab while the axis moves

17745 (0x4551): Lag monitoring (velocity)

What it means: Velocity lag error monitoring: the velocity lag error was larger than the lag error window for longer than the lag error filter time. Beckhoff error type: Monitoring.^{[2][7][8][13][14][17]}

Response: The NC axis switches to error state. After fixing the cause, reset it with MC_Reset in the PLC or with F8 (Reset) on the axis Online tab; in many cases this also resets the drive, but some drives need their own reset.

Likely causes

• Velocity lag error larger than the window for longer than the filter time

First checks, in this order

1. Check the velocity lag error window and filter time in the axis parameters

I/O ERR continuous flashing: EMC problems

What it means: The red I/O ERR LED flashes persistently and continuously. Beckhoff points to EMC problems.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Undervoltage or overvoltage peaks on the power supply
• Electromagnetic interference at the coupler or terminals

First checks, in this order

1. Check the power supply for undervoltage or overvoltage peaks
2. Implement EMC measures
3. If a K-bus error is present, switch the coupler off and on again to localize it

I/O ERR 1 pulse, argument 0: EEPROM checksum error

What it means: The coupler found a checksum error in its EEPROM.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• EEPROM checksum error in the coupler

First checks, in this order

1. Restore the factory settings with the KS2000 configuration software (menu Online, Coupler, Services, Factory Setting)

I/O ERR 1 pulse, argument 1: Code buffer overflow

What it means: The table for the programmed configuration has too many entries.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Too many Bus Terminals attached for the programmed configuration

First checks, in this order

1. Insert fewer Bus Terminals

I/O ERR 1 pulse, argument 2: Unknown data type

What it means: The coupler met a data type it does not know. Beckhoff says a software update of the Bus Coupler is required.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Coupler firmware does not know the data type of an attached terminal

First checks, in this order

1. Update the Bus Coupler software

I/O ERR 2 pulses, argument 0: Programmed configuration has an incorrect table entry

What it means: The programmed configuration contains an incorrect table entry.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Incorrect entry in the programmed configuration

First checks, in this order

1. Check the programmed configuration for correctness

I/O ERR 2 pulses, argument n (n > 0): Table comparison (Bus Terminal n)

What it means: The table comparison failed at Bus Terminal n: incorrect table entry.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Incorrect table entry for Bus Terminal n

First checks, in this order

1. Check the entry for Bus Terminal n in the programmed configuration against the terminal actually fitted

I/O ERR 3 pulses, argument 0: K-bus command error

What it means: A K-bus command error occurred.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• No Bus Terminal inserted
• One of the Bus Terminals is defective

First checks, in this order

1. Check that Bus Terminals are attached to the coupler
2. Halve the number of attached Bus Terminals and check whether the error is still present with the rest; repeat until the defective terminal is found

I/O ERR 4 pulses, argument 0: K-bus data error, break behind the Bus Coupler

What it means: A K-bus data error: the K-bus is broken directly behind the Bus Coupler.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Bad connection or defective terminal right after the coupler

First checks, in this order

1. Check whether the next Bus Terminal (Beckhoff writes the n+1 Bus Terminal) is correctly connected; replace it if necessary

I/O ERR 4 pulses, argument n: Break behind Bus Terminal n

What it means: The K-bus is broken behind Bus Terminal n.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• K-bus interrupted after terminal n
• Bus end terminal missing

First checks, in this order

1. Check whether the bus end terminal 9010 is connected

I/O ERR 5 pulses, argument n: K-bus error in register communication with Bus Terminal n

What it means: Register communication with Bus Terminal n failed.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Fault in Bus Terminal n

First checks, in this order

1. Exchange Bus Terminal n

I/O ERR 14 pulses, argument n: nth Bus Terminal has the wrong format

What it means: Bus Terminal n reports the wrong format.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Bus Terminal n reports an unexpected format

First checks, in this order

1. Start the Bus Coupler again; if the error comes back, exchange Bus Terminal n

I/O ERR 15 pulses, argument n: Number of Bus Terminals is no longer correct

What it means: The number of Bus Terminals no longer matches.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• Terminal count changed or not read correctly

First checks, in this order

1. Start the Bus Coupler again; if the error comes back, restore the manufacturer's setting with the KS2000 configuration software

I/O ERR 16 pulses, argument n: Length of the K-bus data is no longer correct

What it means: The length of the K-bus data no longer matches.^[18][19]

Also on: BK1150, BK1250 (same table on the same Beckhoff page)

Response: In case of an error the Bus Coupler enters the Stop state; once the fault is rectified, switch it on again to return to the normal operating state.

Likely causes

• K-bus data length changed or not read correctly

First checks, in this order

1. Start the Bus Coupler again; if the error comes back, restore the manufacturer's setting with the KS2000 configuration software

AL Status Code 0x0003: AL Status Code '0x0003'

What it means: The TwinCAT EtherCAT master prints this in the logger window when a K-bus error is present and the coupler should enter the SAFEOP state.^[19]

Also on: BK1150, BK1250 (same manual)

Likely causes

• K-bus error present on the coupler

First checks, in this order

1. Rectify the K-bus error; the I/O ERR flash code on the coupler shows which one

AL Status Code 0x001E: Invalid SM IN cfg

What it means: The process data scope is incorrect, so the system reports a SyncManager error in the logger window. The EtherCAT master sets the coupler's process data from the KL terminals configured in TwinCAT, while the coupler builds its own process image from what its terminals report; here the two do not match.^[19]

Also on: BK1150, BK1250 (same manual)

Likely causes

• A KL terminal reports a process data format different from the TwinCAT configuration

First checks, in this order

1. Use the KS2000 software or correct the CoE startup entries so each KL terminal reports the process data format configured in TwinCAT