Servo Motion Complete Error Codes

Below are all the status messages and error codes for both CANopen and EtherCAT servos.

Servo Drive Status and Alarm Codes

COM Servo Ladder Function Status Messages

Servo Alarm Codes, CANopen and EtherCAT

Servo Alarm Codes are displayed on the servo's display. Note that these are relevant for both CANopen and EtherCAT servo drives.

The following codes are an excerpt from the UMD Series AC Servo User's Manual_V1.05, Appendix B, Alarm Display.

Code	Alarm name	Possible reason	Solution
A.01	Parameter breakdown	The power supply was turned OFF while changing the parameter setting.	Set Fn001 to initialize the parameter and input parameter again.
		The number of times that parameters were written exceeded the limit. For example, the parameter was change every scan through the host controller.	Replace the servo drive.
		The circuit of servo drive is faulty.	Replace the servo drive.
A.02	A/D breakdown	A malfunction occurred in reading section of the analog reference input.	Clear and reset the alarm and restart the operation.
A.02	A/D breakdown	A servo drive board fault occurred	Replace the servo drive.
A.03	Over speed	The position or speed reference input is too large.	Reduce the reference value.
		The setting of the reference input gain is incorrect.	Correct the reference input gain setting.
		The order of phase U,V and W in the servo motor wiring is incorrect.	Correct the servo motor wiring.
		A servo drive board fault occurred.	Replace the servo drive.
A.04	Overloaded	The servo motor wiring is incorrect or the connection is faulty.	Correct the servo motor wiring.
		The actual torque exceeds the rated torque or the starting torque largely exceeds the rated torque.	Reconsider the load and operation conditions, or reconsider the servo motor capacity.
		The encoder wiring is incorrect or the connection is faulty.	Correct the encoder wiring.
		The servo motor over temperature and lead to demagnetization.	Cooling the servo motor, or replace the servo motor.
		A servo drive board fault occurred.	Replace the servo drive.
A.05	Deviation counter error	Internal pulse counter fault occurred.	Clear and reset the alarm and restart the operation.
A.05	Deviation counter error	A servo drive fault occurred.	Replace the servo drive.
A.06	Position error pulse overflow	The servo drive gain adjustment is improper.	Increase the speed loop gain (Pn102) and the position loop gain (Pn104).
		The position reference pulse frequency is too high.	Smooth the pulse input and reduce the electronic gear ratio.
		Setting of the overflow counter (Pn504) is incorrect.	Set the parameter Pn504 to proper value.
		The servo motor specifications do not meet the load conditions such as a torque and moment of inertia.	Recalculate and correct the load and servo motor capacity.
		Wiring of the servo motor U,V and W are incorrect.	Correct the servo motor wiring.
		A servo drive board fault occurred.	Replace the servo drive.
A.07	Electronic gear over limited	The electronic gear ratio outside the setting range.	Reduce the fraction (both numerator and denominator) until you obtain integers within the range (0.01 ≤ Electronic gear ratio (B/A) ≤ 100).
A.07	Electronic gear over limited	The input frequency is incorrect.	Check the input technical specification of reference pulse.
A.08	Current feedback (channel A) error	A servo drive board fault occurred.	Set Fn005 to automatic adjustment of the offset of current.
A.09	Current feedback (channel B) error	A servo drive board fault occurred.	Set Fn005 to automatic adjustment of the offset of current.
A.10	Encoder feedback error	The encoder wiring is incorrect or the connection is faulty.	Correct the encoder wiring.
		An encoder fault occurred.	Replace the servo motor.
		A servo drive fault occurred.	Replace the servo drive.
A.12	Overcurrent	The encoder wiring is incorrect or the connection is faulty.	Correct the encoder wiring.
		A short circuit occurred between phase U, V and W of the servo motor.	Repair or replace the servo motor power cable.
		A short circuit occurred between the grounding and UV or W of the servo motor cable.	Repair or replace the servo motor power cable.
		The dynamic brake was activated too frequently.	Replace the servo drive, and reduce the DB operation frequency.
		The ambient temperature exceed 55°c.	Relocate the servo drive, and keep it away from other devices.
		A servo drive fan fault occurred.	Replace the servo drive.
		The overload or regenerative power exceeds the regenerative resistor capacity.	Reconsider the load and operation conditions.
		C Phase angle of encoder was deflected.	Refer to the guidance, adjust the operation of the encoder installation.
A.13	overvoltage	The AC power voltage is too high.	Correct the input voltage.
		The motor speed is high and load movement of inertia is excessive, resulting in insufficient regenerative capacity.	Check the load movement of inertia and minus load specifications, Re-calculate the load and operation conditions.
		A servo drive board fault occurred	Replace the servo drive.
A.14	Under voltage	The AC power supply voltage was lowered, and large voltage drop occurred.	Correct the input voltage.
		The fuse of the servo drive is blown out.	Replace the servo drive.
		The surge current limit resistor is disconnected, resulting in an abnormal power supply voltage or in an overload of the surge current limit resistor.	Replace the servo drive. Check the power supply voltage, and reduce the number of times that the main circuit is turned ON or OFF.
		The jumper of servo drive between and is removed.	Correct the wiring.
		A servo drive board fault occurred	Replace the servo drive.
A.15	Regenerative resistor breakdown	Check for incorrect wiring or a disconnected wire in the regenerative resistor.	Correct the wiring for the external regenerative resistor.
		The jumper of servo drive between B2 and B3 is removed.	Correct the wiring.
		A servo drive fault occurred, such as regenerative transistor or internal regenerative resistor was breakdown.	Replace the servo drive.
A.16	Regeneration error detected	The generating state continued.	Select a proper regenerative resistance capacity, or reconsider the load and operation conditions.
		The regenerative energy is excessive.	Select a proper regenerative resistance capacity, or reconsider the load and operation conditions.
		The power supply is overvoltage.	Correct the input voltage.
		A servo drive board fault occurred	Replace the servo drive.
A.17	Resolver error	Resolver feedback fault occurred	Replace the servo motor.
		A servo drive board fault occurred	Replace the servo drive.
		After power on the drive, fault occurred	Connect and grounding the pin50 (1CN) to earth.
A.20	Power lines open phase	The three-phase power supply wiring is incorrect.	Correct the power supply wiring.
		The three-phase power supply is unbalanced.	Balance the power supply by changing phases.
		A servo drive fault occurred.	Replace the servo drive, check the power supply voltage.
A.21	Voltage fluctuation detected	The three-phase power supply wiring is incorrect.	Correct the power supply wiring.
		One cycle of input voltage waveform lost.	Correct the input voltage, recommend to utilize voltage stabilizer.
		A servo drive fault occurred.	Replace the servo drive, check the power supply voltage.
A．23	Brake overcurrent alarm	Bleeder resistor is too small, or bleeder module is faulty.	-
A．25	Motor power line U overcurrent	Mechanical stuck or motor power line U phase sequence is wrong.	-
A．26	Motor power line V overcurrent	Mechanical stuck or motor power line V phase sequence is wrong.
A．27	Motor power line W overcurrent	Mechanical stuck or motor power line W phase sequence is wrong.	-
A．28	Nikon encoder temperatur is too high	Nikon Encode internal Temperature (unit: ℃)	-
A．38	Encoder LED error	Encoder is faulty.	-
A．39	Encoder EEPROM error	Encoder is faulty.	-
A．41	Reserved	Reserved	-
A.42	Motor model unmatched	The encoder wiring is incorrect or the connection is faulty.	Correct the encoder wiring.
A.42	Motor model unmatched	The parameter setting for servo motor are incorrect.	Correct the setting of Pn005.3 .
A.43	Drive model unmatched	A servo drive fault occurred.	Set Fn001 to initialize the parameter.
A.43	Drive model unmatched	The parameter setting for servo drive are incorrect.	Correct the setting of Pn840.2 .
A.45*	Absolute encoder Multiturn information error	Multiturn information of encoder is faulty.	Set Fn010 to clear error.
A.45*	Absolute encoder Multiturn information error	An absolute encoder fault occurred.	If the alarm cannot be reset by setting Fn011, replace the encoder.
A.46*	Encoder Multiturn information overflow	Multiturn information of encoder is overflow	Set Fn010 to clear error.
A.46*	Encoder Multiturn information overflow	An absolute encoder fault occurred.	If the alarm cannot be reset by setting Fn011, replace the encoder.
A.47*	Absolute encoder battery error	Multiturn information of encoder is lost.	Set Fn010 to clear error.
A.47*	Absolute encoder battery error	The battery voltage is lower than the specified value 2.5V	Replace the battery, and then turn ON the power to the encoder.
A.48	Absolute encoder battery error	The battery voltage is lower than the specified value 3.1V	Replace the battery, and then turn ON the power to the encoder.
A.48	Absolute encoder battery error	The encoder cable does not have a battery inside.	Set Pn002.2 to 1, and change the absolute encoder into incremental mode.
A.50	Encoder communicating timeout occurred	The parameter setting for encoder are incorrect.	Correct the setting of Pn840.0 .
		The encoder wiring is incorrect or the connection is faulty.	Correct the encoder wiring.
		An encoder fault occurred.	Replace the servo motor.
		Noise interference occurred on the signal line from encoder.	Take the measure against noise for the encoder wiring.
A.51*	Encoder over-speed	The servo motor runs at 100RPM without power supply.	Set Fn010 to clear error.
A.51*	Encoder over-speed	An encoder fault occurred.	Replace the servo motor.
A.52	Encoder data error	Absolute state of encoder is faulty.	Set Fn011 to clear error.
A.52	Encoder data error	An encoder fault occurred.	Replace the servo motor.
A.53	Encoder data error	Calculation result of encoder is faulty.	Set Fn011 to clear error.
A.53	Encoder data error	An encoder fault occurred.	Replace the servo motor.
A.54	Encoder data error	The parity bit and cut-off bit of control field are faulty.	Clear and reset the alarm and restart the operation.
A.54	Encoder data error	An encoder fault occurred.	Replace the servo motor.
A.55	Encoder checksum error	A servo drive fault occurred.	Replace the servo drive.
A.55	Encoder checksum error	An encoder fault occurred.	Replace the servo motor.
A.56	Encoder data error	The cut-off bit of control field is faulty.	Clear and reset the alarm and restart the operation.
A.56	Encoder data error	An encoder fault occurred.	Replace the servo motor.
A.58	Encoder data error	Datum of EEPROM is empty.	Clear and reset the alarm and restart the operation.
A.58	Encoder data error	An encoder fault occurred.	Replace the servo motor.
A.59	Encoder data error	Data format of EERPOM is faulty.	Clear and reset the alarm, please refer to the guidance for encoder phase angle adjustment.
A.59	Encoder data error	An encoder fault occurred.	Replace the servo motor.
A.60	Communicate module undetected	The communicate module is incorrect.	Clear and reset the alarm and restart the operation.
		The contact between the module and the servo drive is faulty.	Insert securely the connector.
		A module fault occurred.	Replace the communication module.
A.61	Handshaking fault occurred	CPU of communication module is faulty.	Replace the communication module.
A.61	Handshaking fault occurred	A servo drive fault occurred.	Replace the servo drive.
A.62	Communicate fault occurred	Servo drive cannot receive cyclist data from communication module.	Check and fix the connection between servo drive and module.
A.62	Communicate fault occurred	A servo drive board fault occurred	Replace the servo drive.
A.63	Module fault occurred	Communication module cannot receive proper response from servo drive.	Replace the communication module.
A.63	Module fault occurred	A servo drive board fault occurred	Replace the servo drive.
A.64	Connection dropping detected	The BUS connection is incorrect.	Correct the BUS wiring.
A.64	Connection dropping detected	A module fault occurred.	Replace the communication module.
A.66	CAN communicate faulty occurred	Noise interference occurred on the signal line from encoder.	Take the measure against noise for the encoder wiring.
A.66	CAN communicate faulty occurred	A module fault occurred.	Replace the communication module.
A．67	Receiving heartbeat timeout	The master station sends heartbeat time timeout.	-
A．68	Synchronous frame was premature	The time interval for monitoring the synchronization frame is less than half of the set synchronization period.	-
A．69	Synchronization signal monitoring cycle is longer than setting	The filling time and the cycle of the synchronous signal does not match.	-
A．70	Reserved	Reserved	-
A．71	Internal error of ESC chip	An error has occurred inside the communication chip.	-
A．80	CPU parallel port communication abnormal	CPU data line, address line or FRAM is faulty.	-
A．81	Power line is disconnected	The input signals U, V or W of motor is disconnected.	-
A．82	Torque output alarm	The torque output of the motor exceeds the set value.	-
A．98	Pn parameter ferroelectric memory failed	Pn parameter storage operation is unsuccessful.	-
A.00	Not an error	Normal status.	-
* If A.45,A.46,A.47,A.51 alarm occurred, please refer to the assistance function.(Fn010,Fn011)

Axis Statuses and Errors

Axis Struct > Status

MC Function Block Status (Error ID)

The MC Function Block parameter contains all Error ID codes, both for Discrete and Cyclic Axes.

General MC Function Block Status (Error ID) Codes (Discrete and Cyclic)

Code	Description	Suggestion
-100	Internal	Contact support
-101	Internal	Contact support
-102	Internal	Contact support
-103	Internal	Contact support
-104	Internal	Contact support
-105	SDO send queue full	See if application is trying to send too many commands at the same time (example: toggling execute bit of 20 FBs at each cycle)
-106	Internal	Contact support
-107	Wrong SDO sequence	Check SDO sends
-108	Internal	Contact support
-300	PLCOpen transition not allowed	Look at PLCOpen state machine diagram and check the “status” field of Axis struct to know in which PLCOpen state the axis is.
-301	Wrong “Direction” input parameter value	Check the MC_Direction PLCOpen enum possible values
-302	Wrong acceleration/deceleration value	“Acceleration” input parameter must be over 0. “Deceleration” may be equal to zero only if the FB has an “Acceleration” parameter in which case acceleration value will be used for deceleration.
-303	Relevant for MC_read / MCWrite	Wrong parameter number Check the MC_read MC_write enum list
-304	Relevant for MC_Read	Read:that parameter is read-only
-305	Relevant for MC_Write	Write: that parameter is read-only
-306	Can’t jog in both directions at the same time	The function block MC_Jog has the inputs “Jog forward” and “Jog backward” set at the same time
-307	Drive disconnected	Check connection
-308	Homing error	Check drive error
-309	SDO timeout (CANopen)	Check your connection to the drive. Consider augmenting SDO timeout time in CANOpen node.
-310	Invalid drive vendor ID	Not Unitronics drive
-311	SDO abort (CANopen)	Check SDO abort code in CANopen node’s struct
-312	Drive communication disabled	Drive struct has an “enable communication” bit. If it is OFF, no communication can be made to the drive. Please turn it ON to enable communication
-313	Jog max velocity value passed	It should be max 2147483647 (if not it would be interpreted as max velocity)
-314	EtherCAT module not connected	EtherCAT only
-315	Invalid SDO value (EtherCAT)	EtherCAT only
-316	EtherCAT not initiated	If error is recurrent, contact support
-317	EtherCAT connection timed out
-318	Voltage disabled
-319	Invalid torque	Conversion between user units and 0.1 % of motor rated torque gives a value which is not between -3000 and 3000
-320	invalid force	Conversion between user units and 0.1 % of motor rated force gives a value which is not between -3000 and 3000
-321	EtherCAT axis in error state	Check Axis error ID
-322	CAM_IN Master or Slave axis missing	The CAM table selected for the CAM_In function is missing one or more of the axes needed for the function
-323	Wrong Absolute position for Modulo Mode
-324	Current direction not implemented on Cyclic Axes
-325	Safety ON
-326	Touch Probe is not avaiable for this drive

EtherCAT cyclic axes only, Error codes

EtherCAT applications are via the EtherCAT master module.
You can store the error ID number from an MC function into the Ladder element Get Cyclic Mode Error Description, in order to write the error description into an ASCII tag.

Error Stop
For axes set to Mode: Cyclic, when the Axis Struct Status parameter indicates Error Stop (bit 7 in the bit array), the Error Stop ID number is written to the Error ID parameter of the MC functions in your program.

Servo Cyclic Axes Error Codes

0x00	NO ERROR	No error.
0x0101	NULL POINTER	Invalid pointer: function arguments or internal objects are NULL.
0x0102	OUT OF MEMORY	Memory cannot be allocated.
0x0103	REGISTRY	Error during object attaching to RefRegistry instance.
0x0104	POSITIONAL LIMIT	Attempt to break position limit is detected.
0x0106	INVALID BLENDING PARAMETER	Wrong combination for buffer mode and transition mode.
0x0107	INVALID TRANSITION PARAMETER	Wrong combination for buffer mode and transition mode.
0x0109	WRONG STATE	Wrong state during execution command
0x0105	MASTER WRONG STATE	Master axis was switched to wrong state.
0x0108	SLAVE WRONG STATE	Slave axis was switched to wrong state.
0x010A	AXIS IS LINKED	Axis in master slave relationship, which is not allowed.
0x010B	UNEXPECTED CMD STATE	Found unexpected command state.
0x010C	COMMAND BUFFER IS FULL	Command buffer is full -> impossible to add and execute new FB.
0x010D	COMMAND WRONG STATE
0x0110	EXECUTION TIME CALCULATION	An error occurred during the first step of the algorithm (i.e., during the calculation of the synchronization time)
0x0111	SYNCHRONIZATION	An error occurred during the second step of the algorithm (i.e., during the synchronization of the trajectory).
0x0113	NUMBER OF DOFS	Mismatch between degrees of freedom of parameter nDOFs and group.
0x0114	NO PHASE SYNCHRONIZATION	It is not possible to calculate a physically (and mathematically) correct phase-synchronized (i.e., homothetic) trajectory.
0x0115	EXECUTION TIME TOO BIG	Minimum value of the trajectory execution time exceeds its limit, value of MAX EXECUTION TIME.
0x0116	USER TIME OUT OF RANGE	Max execution time exceeded.
0x0117	VECTORS ARE COLLINEAR	The input vectors describing the circle for a circular motion are linearly dependent.
0x011A	CYLINDER SINGULARITY	The current position in cylinder coordinates is exactly in the center, so that meaningful values cannot be computed.
0x011B	ACCESS DENY	Access to a certain parameter is denied, it can not be modified.
0x011C	INVALID STATE OF MOTION	Invalid state of motion has been generated by trajectory generator.
0x0124	EXCESS OF ACCEPTABLE DEVIATION	Deviation from ideal trajectory has exceeded the acceptable deviation.
0x0125	INVALID PATH OPT SETTINGS	Path Optimizer settings (epsilon and optimization type) were not set.
0x0128	POSITION OVERSHOOTING	Expected target speed can not be reached within specified constraints.
0x0129	NOT ENOUGH CYCLES	Not enough cycles for transition.
0x012A	IMPOSSIBLE TO CALCULATE SMOOTH TRANSITION	Smooth transition can not be calculated.
0x0133	INVALID PATH EPSILON	Invalid input of epsilon neighborhood value.
0x0134	OBJECT NOT VALID	An object is not valid.
0x0135	NOT IMPLEMENTED	The functionality hasn't been implemented yet.
0x0136	NOT FOUND	Can't find the specified item.
0x0140	PATH OPTIMIZER FAILURE	Unable to process trajectory via path optimizer.
0x0141	WRONG NUMBER OF DOFS	The number of DOFs for coordinated motions has to be two or three. In all other cases, this error value will be returned.
0x0146	FORWARD TRANSFORMATION	Forward transformation is impossible.
0x0147	INVERSE TRANSFORMATION	Inverse transformation is impossible.
0x0148	TOUCH PROBE BUSY	Hardware touch probe is used by the other axis touch probe instance.
0x0149	TOUCH PROBE GP SET	Error occurred during commit #VarGpSet touch probe trigger ref to DS402.
0x0150	TOUCH PROBE GP ACTUAL	Error occurred during set #VarGpActual touch probe positon.value.
0x0151	TOUCH PROBE WINDOW ONLY	Wrong window position values in #FbTouchProbe.
0x0152	AXIS MODULE NOT SUPPORT	Wrong first and last position values in #FbTouchProbe.
0x0153	BP INCOMPATIBLE DIRECTION	Direction of movement at transition point is not applicable for specified blending.
0x0154	POWER AXIS OWNERSHIP VIOLATED	Attempt to set second FbPower on an axis.
0x0155	GEAR IN SAME AXIS MASTER SLAVE	Master and slave axes id are identical.
0x0156	GEAR IN COEFFICIENT ERROR	Value of numerator or denominator is not correct.
0x0157	BELT MODE NOT ALLOWED	Axis with belt mode enabled is not allowed in this FB.
0x0159	MASTER VEL NOTCONST	Master axis velocity is not a constant.
0x015A	SLAVE MOVED FROM SYNC POS	Slave moved away from sync position while waiting master.
0x015B	MASTER SLAVE LOOP DETECTED	Detected loop in master slave relationships, which is not allowed.
0x015C	NOT ALLOWED GEARING SOURCE ACTUAL	Gearing is not allowed when master and slave are not in sync positions with SOURCE ACTUAL VALUE.
0x0165	CAM TABLE ARGS VALIDATION	Interpolation function arguments have incorrect format.
0x0166	CAM TABLE VERSION	Unknown cam table version.
0x0167	CAM TABLE POINTS SIZE	Not enough (< 2) or too many (> CAM TABLE MAX POINTS) points in cam table.
0x0168	CAM TABLE POINTS SEQUENCE	Some point is lower than previous (or equals to it).
0x0169	CAM TABLE BUFFER SIZE	Incorrect buffer size (unexpected end of buffer).
0x016A	CAM TABLE INTERVAL NOT FOUND	Master position is out of cam table range.
0x016B	INVALID CAM TABLE ID	The input CamID instance is not referenced to CamTableSelected.
0x016C	INVALID CAM TABLE REF	The input CamRef instance is not referenced to CamTable.
0x0170	PATH DATA BUSY	Path data is used by move path fb, therefore it is not allowed to edit.
0x0171	PATH DATA OVERFLOW	Path data vector size >= capacity
0x0172	INVALID PATH REF	The input PathRef instance is not referenced to KMC path.
0x0173	INVALID PATH DATA REF	The input PathDataRef instance is not referenced to KMC path data.
0x190	PARAMETER READ ONLY	Parameter is read only.
0x191	OBSOLETE PARAMETER	Parameter is obsolete.
0x192	POSITION LAG VALUE NOT SET	Parameter PARAM PositionLagValue is not set.
0x193	POSITION WINDOW VALUE NOT SET	Parameter PARAM PositionWindowValue is not set.
0x194	INVALID BELT LIMITS	Parameter PARAM BELT MIN LIMIT is greater than parameter PARAM BELT MAX LIMIT.
0x195	INVALID POSITION LIMITS	Parameter PARAM POSITIONAL LIMITS MIN is greater than parameter PARAM POSITIONAL LIMITS MAX.
0x0158	BLENDING PROCESSING FAILED	Error during processing of blending commands.
0x01A0	WARNING PROCESSING NO APPROPRIATE VELOCITY	No appropriate velocity for the optimized transition.
0x01A1	WARNING PROCESSING INAPPROPRIATE DIRECTION	Initial direction doesn't correspond to the optimized transition.
0x01A3	WARNING PROCESSING NO APPROPRIATE VELOCITY FOR SMOOTH	No appropriate velocity for the smooth optimized transition.
0x01A4	WARNING PROCESSING WRONG VELOCITY RANGE	Wrong velocity range is obtained for the optimized transition.
0x01A5	WARNING PROCESSING ABNORMAL INITIAL ACCELERATION	Abnormal initial acceleration for path segment.
0x01A6	WARNING PROCESSING WRONG DIRECTION	Error during direction computing.
0x01A7	WARNING PROCESSING SMOOTH LEADS TO VELOCITY REDUCTION	Velocity reduction by smooth. Jerk-limited motion side effect.
0x01A8	WARNING PROCESSING OBSOLETE	Path processing obsolete.
0x01A9	WARNING ZERO DECELERATION PATH	Zero deceleration path.

Licensing:

0x0201	INVALID LIC ARG	Invalid arguments.
0x0203	INVALID LIC EXPIRED	Expired license.
0x0204	INVALID LIC INV HW	Hardware-bound license doesn't match hardware identification.
0x0205	INVALID LIC INV PROTO	Invalid licensing URL.
0x0206	INVALID LIC INV	Licensing initialization failed, license parsing error.
0x0207	INVALID LIC INV TARGET	Invalid licensing target: OS, product, ...
0x0208	INVALID LIC CONN LOST	Connection to remote licensing service is lost.
0x0209	INVALID LIC REJECTED	An attempt to use a feature that is not available or rejected, or max number of instances is exceeded, etc.
0x020A	INVALID LIC NOT FOUND	License file is not found.
0x020B	INVALID LIC CONFIRM DEMO	Licensing can not be applied. Call#ApplyLicense("demo: ") to confirm demo mode.
0x020C	INVALID LIC ACCESS DENY	Access to a certain parameter is denied, it cannot be modified.

Generic profile:

0x0301	GP POWER SET	An error occurred at Generic Profile: Failed to introduce a new 'power set' value.
0x0302	GP POWER ACTUAL	An error occurred at Generic Profile: Failed to obtain 'power actual' value.
0x0304	GP POSITION SET	An error occurred at Generic Profile: Failed to introduce a new 'position set' value.
0x0305	GP APPLICATION MODE SET	An error occurred at Generic Profile: Failed to introduce a new 'application mode set' value.
0x0306	GP APPLICATION MODE ACTUAL	An error occurred at Generic Profile: Failed to obtain 'application mode actual' value.
0x0307	GP HOMING METHOD SET	An error occurred at Generic Profile: Failed to introduce a new 'homing method set' value.
0x0308	GP HOMING METHOD ACTUAL	An error occurred at Generic Profile: Failed to obtain 'homing method actual' value.
0x0309	GP HOMING COMMAND	An error occurred at Generic Profile: Failed to introduce a new 'homing command' value.
0x030A	GP HOMING STATUS	An error occurred at Generic Profile: Failed to obtain 'homing status' value.
0x030B	GP TOUCH PROBE POSITION	An error occurred at Generic Profile: Failed to obtain 'touch probe position' value.
0x030C	GP DEVICE ERROR	Drive has an internal error indicated by 'device error'.
0x030D	GP BUS ERROR	Drive has TRUE in gp actual.bus error.value.
0x030E	GP GET PROFILE	An error occurred at Primary profile during GetProfile processing.
0x030F	GP SET PROFILE	An error occurred at Primary profile during SetProfile processing.
0x0310	CREATE DRIVE REF	An error occurred at Primary profile during CreateDriveRef processing.
0x0311	GP POS VEL FEEDBACK MISSED	An error occurred at Generic Profile: actual position and actual velocity are missed.

Invalid input values:

0x04A4	INVALID INPUT MAX VELOCITY	Maximum velocity value is not greater than zero.
0x04A5	INVALID INPUT MAX ACCELERATION	The value for the maximum acceleration is not greater than zero.
0x04A6	INVALID INPUT MAX JERK	The value for the maximum jerk is not greater than zero.
0x04A7	INVALID INPUT TARGET VELOCITY	The value for the target velocity is greater than the maximum velocity.
0x04A8	INVALID INPUT ORDER OF MAGNITUDE	The orders of magnitude covers too large range.
0x04A9	INVALID INPUT MINIMUM SYNC TIME	The value for the user-specified synchronization time is too large.
0x04AD	INVALID FF FEED CONSTANT	Feed-forward need feed constant parameter to be set first.
0x04AE	INVALID FF INERTIA MOMENT	Feed-forward need inertia moment parameter to be set first.
0x04AF	INVALID FF RATED TORQUE	Feed-forward need rated torque parameter to be set first.
0x04B0	INVALID FF RELATIVE PEAK TORQUE	Feed-forward need relative peak torque parameter to be set first.
0x04B2	INVALID FF VELOCITY SCALING	Feed-forward need velocity scaling parameter to be set first.
0x04B3	INVALID FF TORQUE SCALING	Feed-forward need torque scaling parameter to be set first.
0x04B5	INVALID AXIS REF	The input KMC AxisRef instance is not referenced to KMC axis.
0x04B6	INVALID AXES GROUP REF	The input KMC AxesGroupRef instance is not referenced to KMC axes group.
0x04C0	INVALID AXIS IDENT IN GROUP	Invalid argument: axes identificator in group.
0x04B7	INVALID ARGUMENT	Invalid argument: function arguments has invalid value (e.g. no such index or handle).
0x04B9	INVALID SYNC CYCLES	Invalid synchronization cycles amount.
0x04BA	INVALID PID PROPORTIONAL CFNT	Invalid proportional coefficient in PID regulator (for CST mode).
0x0400	INVALID INPUT VALUES	Function was called with invalid arguments.
0x0404	IIV OF TRAJECTORY GENERATOR	Function was called with invalid arguments.
0x0405	IIV TRANSFORM ACS TO PCS	Function was called with invalid arguments.
0x0406	IIV TRANSFORM PCS TO ACS	Function was called with invalid arguments.
0x0407	IIV CYLINDER TO CHART COORDINATES BORDER SPEC	Function was called with invalid arguments.
0x0409	IIV ROTATE VECTOR TO CIRCLE SEGMENT POINT	Function was called with invalid arguments.
0x040A	IIV COMPUTE CIRCLE CENTER AND RADIUS	Function was called with invalid arguments.
0x040B	IIV IS CIRCLE SEGMENT CLOCKWISE FROM 3POINTS	Function was called with invalid arguments.
0x040C	IIV COMPUTE CIRCLE SEGMENT CENTER POSITION	Function was called with invalid arguments.
0x040D	IIV COMPUTE CIRCLE SEGMENT CENTER POSITION2	Function was called with invalid arguments.
0x040E	IIV CIRCLE RADIUS	Function was called with invalid arguments.
0x040F	IIV CHART TO CYLINDER COORDINATES BORDER SPEC	Function was called with invalid arguments.
0x0410	IIV FIND MAX VELOCITY FOR KNOWN INITIALS	Function was called with invalid arguments.
0x0411	IIV CALC CIRCULAR MAX VELOCITY BASED ON ACCELERATION	Function was called with invalid arguments.
0x0412	IIV CALC LINEAR MAX VELOCITY BASED ON ACCELERATION	Function was called with invalid arguments.
0x0413	IIV ADJUST TARGET VELOCITY BY TG	Function was called with invalid arguments.
0x0414	IIV ADJUST INITIAL VELOCITY BY TG	Function was called with invalid arguments.
0x0415	IIV PROCESS BLENDING MODE	Function was called with invalid arguments.
0x0416	IIV PROCESS TRANSITION MODE	Function was called with invalid arguments.
0x0417	IIV PROCESS PATH ACCELERATION	Function was called with invalid arguments.
0x0418	IIV PROCESS PATH DECELERATION	Function was called with invalid arguments.
0x0419	IIV OBTAIN MAX VELOCITY FOR THIS	Function was called with invalid arguments.
0x041A	IIV OBTAIN MAX VELOCITY FOR SMOOTH EXECUTION	Function was called with invalid arguments.
0x041B	IIV MAKE SMOOTH CONNECTION BASED ON VELOCITY	Function was called with invalid arguments.
0x041C	IIV MAKE SMOOTH CONNECTION BASED ON EPSILON	Function was called with invalid arguments.
0x041D	IIV TRANSITION CENTER POSITION	Function was called with invalid arguments.
0x041E	IIV COMPUTE POSITION DIFFERENCE	Function was called with invalid arguments.
INVALID INPUT VALUES	IIV FIRST	Function was called with invalid arguments.
IIV COMPUTE POSITION DIFFERENCE	IIV LAST	Function was called with invalid arguments.
0x041F	IIV TRANSITION AUX BORDER POSITION	Function was called with invalid arguments.
0x0420	IIV TRANSFORM TO TRAGETRORY GENERATOR CS	Function was called with invalid arguments.
0x0421	INVALID INITIAL DATA OF CIRCLE	Invalid initial data of circle segment.
0x0422	INVALID CENTER TOLERANCE OFFSET	Center of tolerance is not allowed.
0x0423	INVALID SHARED TRANSITION SEQUENCE	Invalid shared transition sequence.
0x0424	INVALID EPSILON	Optimization with current epsilon is not possible.
0x0426	INVALID RADIUS	Arc has infinite radius.
0x0427	INVALID MOVEMENT TYPE	Movement type of motion is incorrect.
0x042A	INVALID UPPERBOUND VELOCITY LENGTH	Upperbound velocity is not correct
0x0425	SOLUTION NOT FOUND	Quadratic equation has no solution.
0x042B	MOVEMENT TYPES ARE IDENTICAL	Identical movement type for segments that requires different type. Ex: linear+circularcircular+linear.
0x042C	ZERO LINEAR MOVEMENT	Starting and ending points are coinciding.
0x042D	MOVEMENT TYPE IS NOT LINEAR	Movement type is not linear.
0x042E	LINES ARE NOT COLLINEAR	Lines aren't collinear.
0x042F	MOTION IS NOT COORDINATED	Motion is not coordinated.
0x0430	COMPUTE CIRCLE CENTER AND RADIUS	Computation of the circle radius and center is not possible.
0x0431	CART TO CYLINDER COORDINATES CONSTRAINTS	Conversion of constraints from cartesian to cylindrical coordinate system is impossible.
0x0432	CART TO CYLINDER COORDINATES BORDERSPEC	Conversion of data from cartesian to cylindrical coordinate system is impossible.
0x0433	COMMAND SHARED TRANSITION SEQUENCE AT IS NULL	Shared transition sequence is null.

Input params errors:

0x0434	INVALID ACCELERATION PARAMETER	Invalid acceleration parameter.
0x0435	INVALID JERK PARAMETER	Invalid jerk parameter.
0x0436	INVALID TIME ACCELERATION DATA	Invalid time acceleration data (size < 3).
0x0437	INVALID BUFFERMODE VALUE	Invalid jerk parameter.
0x0438	TIME ACCELERATION DATA BUSY	Time-acceleration data is used by acceleration profile fb, therefore it is not allowed to edit.
0x0440,	ATTACH APPLICATION MODE CHANGED	Application mode after detaching not equal application mode before detaching.
0x0441	ATTACH DEVICE STATE CHANGED	Device power was enabled or disabled during operation in detached state. *
0x0442	INVALID POSITION PARAMETER	Invalid position parameter.
0x0443	INVALID TIME POSITION DATA	Invalid time position data (size < 3).
0x0444	TIME POSITION DATA BUSY	Time-position data is used by position profile fb, therefore it is not allowed to edit.
0x0450	AXES GROUP UPDATE FORBIDDEN	Immutable axes group was changed.
0x0451	CIRC MODE UPDATE FORBIDDEN	Immutable circ mode was changed.
0x0452	AUX POINT UPDATE FORBIDDEN	Immutable aux point was changed.
0x0453	END POINT UPDATE FORBIDDEN	Immutable end point was changed.
0x0454	PATH CHOISE UPDATE FORBIDDEN	Immutable path choise was changed.
0x0455	COORD SYSTEM UPDATE FORBIDDEN	Immutable coord system was changed.
0x0456	TRANSITION MODE UPDATE FORBIDDEN	Immutable transition mode was changed.
0x0457	TRANSITION PARAMETER UPDATE FORBIDDEN	Immutable transition parameter was changed.
0x0458	OVERSHOOTING TOLERANCE UPDATE FORBIDDEN	Immutable overshooting tolerance was changed.
0x0459	BUFFER MODE UPDATE FORBIDDEN	Immutable buffer mode system was changed.
0x045a	MASTER AXIS UPDATE FORBIDDEN	Immutable master axis was changed.
0x045b	SLAVE AXIS UPDATE FORBIDDEN	Immutable slave axis was changed.
0x045c	MASTER SYNC POS UPDATE FORBIDDEN	Immutable master sync position was changed.
0x045d	SLAVE SYNC POS UPDATE FORBIDDEN	Immutable slave sync position was changed.
0x045e	MASTER START DISTANCE UPDATE FORBIDDEN	Immutable master start distance was changed.
0x045f	MASTER VALUE SOURCE UPDATE FORBIDDEN	Immutable master value source was changed.
0x460	REGISTRY ALREADY EXISTS	Object with specefied name already exists in registry>.
0x0461	SYNC MODE UPDATE FORBIDDEN	Immutable sync mode was changed.
0x0462	AXIS UPDATE FORBIDDEN	Immutable axis was changed.
0x0463	OVERRIDE FOR SLAVE AXIS FORBIDDEN	The use override logic on slave axes is forbidden. (Axes in the state synchronized motion). *

Code	Description
0	Success
1	Pending (in Queue)
2	In Progress
-1	Enable Communication Bit is OFF (struct tag IO / ServoName / Enable Communication
-2	Queue Full; retry after current program scan is complete
-3	Enable Communication Bit has been turned OFF while pending requests are in queue (code 1), or requests are in progress (code 2)
-4	Communication Timeout Exceeded
-5	Configuration File Mismatch
-6	Store/Load Configuration Error: File Name does not exist
-7	Servo Write Modified in use. Rebuild and download your project, if the error persists, contact Support
The next two codes, -8 & -9 relate to COM: Servo Read/Write function commands that use indirect addressing.
-8	Read/Write, Group Number Error: the Group does not exist
-9	Read/Write, Command Function Error: the parameter does not exist
-11	Invalid Permission
-12	Unexpected response from servo
-13	Servo identification in progress. Note that during the identification process, in the servo struct, the servo is Connected bit is OFF.
-14	Auto-tune - Mode does not exist
-15	Network noise
-16	SDO abort, check SDO abort code
-17	No previous load configuration
-18	Error loading file
-19	For EtherCAT only: EtherCAT module not connected
-100 -> -114	Internal, contact Support

BIT Array	Status Indication: the current state of the axis.
0.	Ready
1.	Disabled
2.	Standstill
3.	Discrete
4.	Continuous
5.	Stopping
6.	Homing
7.	Error Stop
8.	Positive direction
9.	Negative direction
10.	Position: Software Limits Exceeded If Enable Software Limits is selected in the Axis's Mechanical Properties>Position, this bit turns ON whenever the axis position is not within the set limits. In order to see the direction and number of units exceeded, monitor the parameter Actual Position with the FB MC Read.

Servo Motion Complete Status and Error Codes