Beckhoff AX8000 User Information

Brand: Beckhoff

Model: AX8000

Type: User Information

User information

Multi axis servo system - AX8000

Diagnostic messages

1.1

2019-02-28

Version:

Date:

Inhaltsverzeichnis

Multi axis servo system - AX8000 3

Version: 1.1

Inhaltsverzeichnis

1 Notes on the documentation ....................................................................................................................9

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

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

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

3 Standard-Messages.................................................................................................................................15

3.1 0000, No Error .................................................................................................................................15

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

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

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

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

3.6 5583, Unexpected EEPROM...........................................................................................................20

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

3.8 5585, Unexpected EEPROM...........................................................................................................22

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

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

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

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

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

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

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

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

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

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

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

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

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

3.22 6190, Init Timeout............................................................................................................................36

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Inhaltsverzeichnis

Multi axis servo system - AX80004

Version: 1.1

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

4 Diagmessages of module DeviceMain ..................................................................................................83

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

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

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

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

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

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

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

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

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

4.10 6320, Parameter error .....................................................................................................................92

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

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

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

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

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

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

Inhaltsverzeichnis

Multi axis servo system - AX8000 5

Version: 1.1

5 Diagmessages of module DeviceDebug ...............................................................................................99

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

6 Diagmessages of module AxisMain ....................................................................................................100

6.1 0000, No Error ...............................................................................................................................100

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

.......................................................................................................................................................132

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

.......................................................................................................................................................133

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

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

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

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

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

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

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

Inhaltsverzeichnis

Multi axis servo system - AX80006

Version: 1.1

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

memory' .........................................................................................................................................141

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

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

memory' .........................................................................................................................................143

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

6.61 FF01, Init Timeout .........................................................................................................................160

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

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

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

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

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

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

6.68 FFFF, Internal Error, .....................................................................................................................167

7 Diagmessages of module Interpolator ................................................................................................168

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

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

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

7.4 FFFF, Internal Error, .....................................................................................................................171

8 Diagmessages of module PositionControl .........................................................................................172

8.1 8611, Following error.....................................................................................................................172

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

9 Diagmessages of module VelocityControl..........................................................................................174

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

.......................................................................................................................................................174

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

9.3 8480, Overspeed error ..................................................................................................................176

9.4 FFFF, Internal Error,......................................................................................................................177

10 Diagmessages of module VelocityControl2........................................................................................178

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

.......................................................................................................................................................178

Inhaltsverzeichnis

Multi axis servo system - AX8000 7

Version: 1.1

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

10.3 8480, Overspeed error ..................................................................................................................180

10.4 FFFF, Internal Error, .....................................................................................................................181

11 Diagmessages of module BiquadFilter ...............................................................................................182

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

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

11.3 FFFF, Internal Error,......................................................................................................................184

12 Diagmessages of module TorqueControl ...........................................................................................185

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

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

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

12.4 6320, Parameter error ...................................................................................................................188

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

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

.......................................................................................................................................................190

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

slope ..............................................................................................................................................191

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

13 Diagmessages of module ActiveFrontEnd..........................................................................................193

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

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

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

13.4 6320, Parameter error ...................................................................................................................196

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

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

.......................................................................................................................................................198

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

slope ..............................................................................................................................................199

13.8 FFFF, Internal Error, .....................................................................................................................200

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

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

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

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

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

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

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

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

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

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

14.10 FFFF, Internal Error, .....................................................................................................................210

15 Diagmessages of module SimulationRotary.......................................................................................211

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

15.2 FFFF, Internal Error, .....................................................................................................................212

16 Diagmessages of module SyncServoMotor........................................................................................213

16.1 6320, Parameter error ...................................................................................................................213

Inhaltsverzeichnis

Multi axis servo system - AX80008

Version: 1.1

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

.......................................................................................................................................................214

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

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

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

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

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

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

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

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

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

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

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

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

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

16.16 FFFF, Internal Error, .....................................................................................................................228

17 Diagmessages of module PowerGridConnection ..............................................................................229

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

18 Diagmessages of module AsynchronousMotor .................................................................................230

18.1 6320, Parameter error ...................................................................................................................230

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

.......................................................................................................................................................231

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

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

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

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

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

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

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

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

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

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

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

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

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

18.16 FFFF, Internal Error,......................................................................................................................245

19 Diagmessages of module AxisDebug .................................................................................................246

19.1 FFFF, Internal Error,......................................................................................................................246

Notes on the documentation

Multi axis servo system - AX8000 9

Version: 1.1

1 Notes on the documentation

This description is only intended for the use of trained specialists in control and automation engineering who

are familiar with the applicable national standards.

It is essential that the documentation and the following notes and explanations are followed when installing

and commissioning the components.

It is the duty of the technical personnel to use the documentation published at the respective time of each

installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the

requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under

development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the

data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff

, TwinCAT

, EtherCAT

, EtherCAT P

, Safety over EtherCAT

, TwinSAFE

, XFC

and XTS

are

registered trademarks of and licensed by Beckhoff Automation GmbH.

Other designations used in this publication may be trademarks whose use by third parties for their own

purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and

patents:

EP1590927, EP1789857, DE102004044764, DE102007017835

with corresponding applications or registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications and

patents:

EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT

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

Germany

The reproduction, distribution and utilization of this document as well as the communication of its contents to

others without express authorization are prohibited.

patent, utility model or design.

Introduction to the diagnostic system

Multi axis servo system - AX800010

Version: 1.1

2 Introduction to the diagnostic system

2.1 Basic knowledge of the diagnostic system

Control in the AX8000 is monitored by the device itself. Diagnostic messages are generated if an error

occurs in the control process or in the parameterization. In case of an error, all previous diagnostic

messages should be examined in addition to the latest message. All diagnostic messages are displayed in

the TwinCAT Drive Manager 2 and in the System Manager.

Background information: Layout of the firmware structure

The AX8000 has various slots that can be combined with a module. A module is assigned automatically to

each slot by TwinCAT Drive Manager 2, irrespective of the configuration. The modules are already contained

in the firmware of the AX8000.

A module is mandatory for some slots. In other cases the slot is always occupied by the same module,

because only one module is available (see Device Main or Axis Main, for example). Otherwise the TC Drive

Manager 2 chooses between the modules, e.g. sync servo module and linear module for the motor slot.

Fig.1: Modules and slots - basic knowledge

A module becomes effective and can send diagnostic messages as soon as it is assigned to a slot.

However, the different modules can issue the same diagnostic messages. In order for the cause of each

message to be identified and remedied, it is important to know the origin of the diagnostic message.

Therefore, in addition to the diagnostic message itself, the module that issued it needs to be known.

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

subindex has a pool of parameter objects.

Introduction to the diagnostic system

Multi axis servo system - AX8000 11

Version: 1.1

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

Parameter object Description

0x60xx Standardized CoE parameter objects for the first axis

0x68xx Standardized CoE parameter objects for the second axis

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

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

Layout of the diagnostic system

The Axis Main slot is combined automatically with the Axis Main module. There are several CoE objects

within this module, including the object 0x10F3:xx. This contains information about the diagnostic system.

The subindices of this CoE object contain the following:

Parameter object Description

01 Maximum number of diagnostic messages

02 Latest diagnostic message

03 Latest confirmed diagnostic message

04 Availability of new diagnostic messages

05 Flags

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

The structure of the individual subindices is shown in the diagram. The parameter objects of the subindices

are described in detail below.

Structure of a diagnostic message

The following section described the parameter objects of a saved diagnostic message (subindex 06 to 255)

in the diagnosis history object 0x10F3.

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

parameter objects:

• Diagnostic class

• Diagnostic type

• (Error) reaction

• Reset condition

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

Diagnostic class

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

Diagnostic class Information

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

tion of errors:

• Disable the axis

• Rectify the error

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

• Enable the axis

• Put the plant into operation again

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

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

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

solution.

Introduction to the diagnostic system

Multi axis servo system - AX800012

Version: 1.1

Diagnostic type

Each diagnostic message is assigned to a diagnosis type that contains the type group of the diagnostic

object. In total, there are 20 different diagnosis type groups (see table).

The diagnosis type groups 0 to 16 differ from the rest because the error counters are read directly via the

associated CoE object. The CoE object is called 0x2C1E:x (DeviceMain error counter) and, analogous to the

diagnosis type groups, has 17 sub-objects. Each of these sub-objects has the same name as the assigned

diagnosis type group.

Diagnosis type group Description

0 Motor overload shut down Motor overloaded

1 Motor overtemperature shut down Motor temperature exceeded

2 Drive overtemperature shut down Axis module temperature exceeded

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

4 Feedback error Error in the feedback system

5 Commutation error Commutation error

6 Overcurrent error Overcurrent error in the motor phases

7 Overvoltage error Overvoltage in DC link

8 Undervoltage error Undervoltage in DC link

9 Power supply phase error Phase error in the supply module

10 Communication error Communication error

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

12 Motor connection error Motor connection error

13 Safety STO error Axis enabled and STO active

14 Overspeed error Speed exceeded

15 Motor Brake connection error Motor brake connection error

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

17 Warning A warning has no effect on the AX8000.

18 Information Information has no effect on the AX8000.

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

Reaction

The AX8000 can react in different ways to a diagnostic message. See also "AX8000 Diagnostic Messages".

In total there are seven different types of reaction, sorted hierarchically.

Since not all types of reaction are implemented, the next executable type of reaction is executed in the case

of an inexecutable reaction. The lowest type of reaction in this hierarchy is "torque-free".

Execution hierarchy Type of reaction Description

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

the AX8000 takes control can be parameterized (see "AX8000 Diagnostic Mes-

sages")

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

terizable.

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

terizable.

4 Emergency brake The motor is ramped down.

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

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

tion.

Examples of the hierarchical reaction execution

Expected reaction according to diagnostic Reaction performed by AX8000

1 NC control 2 "Closed loop" ramp

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

3 "Open loop" ramp 5 Torque-free

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

synchronous motors torque-free

5 Torque-free 5 Torque-free

Introduction to the diagnostic system

Multi axis servo system - AX8000 13

Version: 1.1

Object 605E

– Fault reaction option code

With the Fault reaction option code you can specify the reaction to the diagnosis that is to be exe-

cuted. The "Closed Loop Ramp" reaction is stored as standard.

Reset condition

Depending on the diagnostic message, reset conditions will be specified for eliminating the diagnostic

message. The following resets can be executed with the AX8000.

Diagnostic class / cause Rest possible Remedy

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

Error: fatal error Yes Restart AX8000

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

Error Yes Execute an NC error reset

Error due to motor replacement Yes Execute an NC error reset

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

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

tion.

Possible causes

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

causes.

Solutions

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

the "solutions" correspond to one another.

Readout on the AX8000 display

Supply module

Display Description

EtherCAT symbol flashes red

There is an EtherCAT error

Power symbol lights up red

There is a power supply error

Power symbol flashes red

There is a power supply error and the DC link is being charged or discharged

• Fast: DC link > 48V

• Slowly: DC link ≤48V

Axis module

Display Description

Axis symbol is flashing red-green

Axis error reaction is active

Axis symbol is flashing red

There is an axis error

Introduction to the diagnostic system

Multi axis servo system - AX800014

Version: 1.1

2.2 Settings with respect to the diagnostic system

Standard reactions of the AX8000 are stored for a diagnostic message of the diagnostic class Error. They

can be set individually by means of parameterization.

Object 605E

– Fault reaction option code

With the Fault reaction option code you can specify the reaction to the diagnosis that is to be executed. The

Closed Loop Ramp reaction is stored as standard.

The new reaction is defined by specifying the following values.

Value Error reaction Comment

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

reaction to the error is performed.

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

in an uncontrolled manner.

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

the NC for a certain time before the

AX8000 "ramps down")

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

Standard-Messages

Multi axis servo system - AX8000 15

Version: 1.1

3 Standard-Messages

3.1 0000, No Error

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

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

0000 0

Class Type

Info Information

Standard Reaction Reset

No Information: No reset required.

Possible Causes Solutions

An Axis entered the error free state.

Internal: 0x0000, No Error

Standard-Messages

Multi axis servo system - AX800016

Version: 1.1

3.2 5190, Test 5V supply failed

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

5190 20880

Class Type

Error Error

Standard Reaction Reset

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

hard- or software error.

Possible Causes Solutions

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

responsible for you.

Internal: 0x5190, Test 5V supply failed

Standard-Messages

Multi axis servo system - AX8000 17

Version: 1.1

3.3 5580, Read failure EEPROM

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

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

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

5580 21888

Class Type

Error Error

Standard Reaction Reset

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

hard- or software error.

Possible Causes Solutions

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

responsible for you.

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

Standard-Messages

Multi axis servo system - AX800018

Version: 1.1

3.4 5581, Checksum failure EEPROM

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

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

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

5581 21889

Class Type

Error Error

Standard Reaction Reset

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

hard- or software error.

Possible Causes Solutions

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

responsible for you.

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

Standard-Messages

Multi axis servo system - AX8000 19

Version: 1.1

3.5 5582, EEPROM contains blank Data

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

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

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

5582 21890

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

This Message is generated instead of 0x5584, if you

are using a debug Firmware or a special Prototype

Hardware.

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

Standard-Messages

Multi axis servo system - AX800020

Version: 1.1

3.6 5583, Unexpected EEPROM

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

- ID 0: ControlPcb

- ID 1: FrontPcb

- ID 2: AdditionalAxisPcb

- ID 3: DisplayPcb

- ID 6: SafetyPcb

- ID 7: CpuPcb

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

5583 21891

Class Type

Warning Warning

Standard Reaction Reset

No Warning: No reset required.

Possible Causes Solutions

This Message is generated instead of 0x5585, if you

are using a debug Firmware.

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

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Beckhoff AX8000 User Information

Brand: Beckhoff

Model: AX8000

Type: User Information

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Beckhoff AX8000 User Information

Beckhoff AX8000 User Information

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