Oct 14 2024

Table of contents
Error messages
Non-fatal errors (F2xxx)

F2007 Switching to forbidden Operation Mode

F2008 RL The motor type has changed
F2010 Error when initializing I/O module
F2018 Device overtemperature shutdown
F2019 Motor overtemperature shutdown
F2021 Motor temperature monitor defective
F2022 Device temperature monitor defective
F2023 Device temperature model error
F2025 Drive not ready for control
F2026 Undervoltage in power section
F2028 Excessive deviation
F2032 Validation error during commutation fine adjustment
F2036 Excessive position feedback difference
F2042 Encoder 2: Encoder signals incorrect
F2043 Measuring encoder: Encoder signals incorrect
F2047 Low encoder battery voltage encoder 2
F2050 Overflow of target position preset memory
F2051 No sequential block in target position preset memory
F2053 Incr. encoder emulator: Pulse frequency too high
F2054 Encoder emulator: Hardware error
F2056 Overload at I/O module
F2057 Target position out of travel range
F2067 Synchronization to master communication incorrect
F2068 Brake error
F2074 Actual pos. value 1 outside absolute encoder window
F2075 Actual pos. value 2 outside absolute encoder window
F2076 Act. pos. value measuring enc. outside abs. encoder window
F2077 Current measurement trim wrong
F2080 Low battery voltage, encoder at XG20
F2081 Low battery voltage, encoder at XG21
F2082 Low battery voltage, encoder at XG22
F2088 24 V error at I/O module
F2099 F2 test error, axis reaction
F2100 Incorrect access to command value memory
F2104 Commutation offset invalid
F2107 Incorrect commutation angle
F2110 Internal access to forbidden memory range
F2131 Incorrect switching state of probe 1 input signal
F2174 Loss of encoder 1 reference
F2175 Loss of encoder 2 reference
F2176 Loss of measuring encoder reference
F2177 Encoder 1 modulo limitation error
F2178 Encoder 2 modulo limitation error
F2179 Modulo limitation error of measuring encoder
F2190 Incorrect Ethernet configuration
F2211 Non-fatal PLC error no. 1
F2212 Non-fatal PLC error no. 2
 F2213 Non-fatal PLC error no. 3
F2214 Non-fatal PLC error no. 4
F2215 Non-fatal PLC error no. 5
F2216 Non-fatal PLC error no. 6
F2217 Non-fatal PLC error no. 7
F2218 Non-fatal PLC error no. 8
F2270 Analog input, wire break
F2802 Error in mains synchronization
F2803 Black start impossible
F2804 Error, power section heat sink fan
F2805 Error, power section capacitors fan
F2806 Error, braking resistor fan
F2807 Switching to non-initialized power supply operation mode
F2808 Error in fan monitoring
F2809 Error, mains connection fan
F2811 Mains connection overtemperature
F2812 Mains frequency outside of the extended monitoring window
F2814 Mains voltage outside of the extended monitoring window
F2815 Overvoltage in mains
F2816 Softstart fault power supply unit
F2818 Phase failure
F2819 Mains failure
F2820 Braking resistor overload
F2821 Error in control of braking resistor
F2822 Device temperature monitor defective
F2823 Device temperature model error
F2825 HV discharge timeout
F2826 Undervoltage in DC bus
F2827 Excessive oscillation in DC bus
F2834 Contactor control error
F2860 Overcurrent in mains-side power section
F2877 Current measurement trim wrong
F2898 F2 test error, axis and supply unit reaction
F2899 F2 test error, supply unit reaction
F2901 Communication error: Check connection or network config.
F2902 File system corrupt: Contact the service team
F2903 Panel base parameters invalid: Contact the service team
Non-fatal safety technology errors (F3xxx)

F3010 SMO: IO mapper inputs error

F3011 Incorrect supply voltage
F3100 F3 test error during machine acceptance test
F3101 Axis validation missing
F3112 Safe reference missing
F3115 Brake check time interval exceeded
F3119 Error in initialization of P-0-3212
F3134 Dynamization time interval incorrect
F3140 SVM: Error in DC bus voltage monitoring
F3141 Operating status selection validation error
F3142 Activation time of enabling control exceeded
F3144 AKS validation during drive-controlled transition to SM1
F3165 Faulty SMO reference signal
 F3166 Reference position check failed
F3167 Encoder evaluation warning
F3360 SMO: Error in control of safe local outputs
F3363 SMO: Error in control of safe local inputs
F3364 SMO: Local inputs system error
F3365 SMO: Local inputs overvoltage error
F3366 SMO: Local inputs system error after overvoltage
F3367 SMO: Error in control of SAFETYlink inputs
F3370 SMO: B sample error
F3460 PROFIsafe error
F3461 PROFIsafe connection error
F3462 PROFIsafe: F-destination address mismatch
F3463 PROFIsafe: F-source address mismatch or not valid
F3464 PROFIsafe: F-parameter block inconsistent (CRC1 error)
F3465 PROFIsafe: iParameters inconsistent (iParCRC error)
F3466 PROFIsafe: Transmission data inconsistent (CRC2 error)
F3467 PROFIsafe: Transmission timeout (watchdog elapsed)
F3470 Safe CAN communication: General error
F3471 Safe CAN communication: Error connection #1
F3472 Safe CAN communication: Error connection #2
Interface errors (F4xxx)
F4001 Bus synchronization failure
F4002 Failure of a consumer connection
F4003 Invalid communication phase shutdown
F4004 Error during phase progression
F4005 Error during phase regression
F4006 Phase switching without ready signal
F4009 Bus failure
F4017 Incorrect sequence during phase switching
F4019 Incorrect sequence upon phase start
F4020 Communication bus cable break
F4034 Emergency-Stop activated
F4036 Disturbed internal communication with communication module
F4037 Excessive position command difference
F4040 DRIVElink: Consumer connection failure
F4041 DRIVElink: Communication failure
F4039 Communication return with enable signal set
F4072 EtherCAT: EoE Invalid Mac Address
F4090 EtherCAT: Invalid mailbox configuration
F4091 EtherCAT: Invalid output configuration
F4092 EtherCAT: Invalid input configuration
F4093 EtherCAT: Invalid watchdog configuration
F4099 F4 test error; axis and supply unit reaction
F4200 VPI: Consumer connection failure

Errors of category F6xxx

F6001 Non-fatal system error
F6007 Switching to non-initialized operation mode
F6010 PLC runtime error
F6028 Position limit value exceeded (overflow)
F6029 Positive position limit exceeded
 F6030 Negative position limit exceeded
F6034 Emergency-Stop activated
F6042 Both travel range limit switches activated
F6043 Positive travel range limit switch activated
F6044 Negative travel range limit switch activated
F6057 Synchronization not possible
F6058 Internal overflow by positioning input
F6059 Incorrect direction when jogging
F6099 F6 test error, axis reaction
F6200 Velocity command value > standstill window in SOS
F6644 Device-internal communication to I/O module disturbed
F6801 Non-fatal system error
F6899 F6 test error, axis and supply unit reaction
Safety technology errors (F7xxx)

F7009 Homing velocity exceeded

F7010 Safely-limited increment exceeded
F7011 SMP, SLP: Safe position limit value, positive exceeded
F7012 SMP, SLP: Safe position limit value, negative exceeded
F7013 Velocity threshold exceeded
F7014 Timeout in safely-monitored transient oscillation
F7020 Safe maximum speed exceeded
F7023 SLE: Safe position limit value, positive exceeded
F7024 SLE: Safe position limit value, negative exceeded
F7030 Position window for safe operating stop exceeded
F7031 Incorrect direction of motion
F7032 Forced zone safety
F7035 SAFETYlink error
F7050 Maximum transition time exceeded
F7051 Safely-monitored deceleration exceeded
F7052 Selected target velocity exceeded
F7059 Scaling-dependent maximum velocity exceeded
F7100 F7 test error during machine acceptance test
Fatal errors (F8xxx)

F8008 Autom. commutation: Axis blocked

F8009 Autom. commutation timeout: Axis in motion
F8010 Autom. commutation: Max. motion range when moving back
F8011 Commutation offset could not be determined
F8012 Autom. commutation: Max. motion range
F8013 Automatic commutation: Current too low
F8014 Automatic commutation: Overcurrent
F8015 Automatic commutation: Timeout
F8016 Automatic commutation: Iteration without result
F8018 Device overtemperature shutdown
F8019 Impossible to determine commutation offset
F8022 Encoder 1: Encoder signals incorrect
F8024 Maximum braking time exceeded
F8025 Overvoltage in power section
F8026 HV discharge while drive enabled
F8027 STO while drive enabled
F8035 Communication error, encoder interface modules
F8036 Communication error, onboard encoder modules
F8042 Encoder 2: Encoder signals incorrect
F8055 Incorrect processing of diagnostic message
F8060 Overcurrent in power section
F8064 Interruption of motor phase
F8072 Device carrier internal voltage error
F8078 Speed loop error
F8079 Velocity limit value exceeded
F8080 Frequency > 599Hz
F8081 Speed at drive shaft too low
F8091 Power section defective
F8098 F8 test error, F8022 error reaction
F8099 F8 test error, axis reaction
F8100 Error when initializing the parameter handling
F8101 Error during parameter set switching
F8102 Error when initializing power section
F8105 Firmware runtime error
F8106 SMO: Internal communication error
F8110 Firmware update incompatible
F8115 Firmware inconsistent
F8118 Invalid power section/firmware combination
F8122 Control section defective
F8130 Mains connection module (XLI) not ready for operation
F8131 Exception on optional module
F8132 Subsystem of encoder not ready for operation
F8211 Fatal PLC error no. 1
F8212 Fatal PLC error no. 2
F8213 Fatal PLC error no. 3
F8214 Fatal PLC error no. 4
F8215 Fatal PLC error no. 5
F8216 Fatal PLC error no. 6
F8217 Fatal PLC error no. 7
F8218 Fatal PLC error no. 8
F8300 Dynamization pulse width incorrect
F8301 Error when checking selection signals
F8303 STO system error
F8312 SMO: Invalid scaling setting
F8316 SMO: Incorrect change of system state
F8319 SMO: INIT system error
F8320 SMO: Invalid module/firmware combination
F8321 SMO: Invalid circuit board/firmware combination
F8322 SMO: Invalid combination HW/FW properties
F8323 SMO: Error in deactivation
F8324 SMO: Error in activation
F8325 SMO: Error output 3
F8326 SMO: Error during booting process
F8330 SMO: Configuration data record has not been activated
F8350 Maximum transition time exceeded
F8351 Safely-monitored deceleration exceeded
F8352 Drive enable set in STO
F8353 SBC system error
F8354 Error when checking interrupting circuits
 F8356 SMO: Incorrect parameter processing
F8359 SMO: Encoder evaluation error
F8360 Torque reset timeout
F8361 Validation error, current measurement
F8362 AKS validation by SMTR
F8399 SMO: Test error for enabling test
F8811 Device overtemperature shutdown
F8812 Mains frequency outside of the monitoring window
F8813 Connection error mains choke
F8814 Mains voltage outside of the extended monitoring window
F8815 Overvoltage in mains
F8816 Overvoltage in power section, mains
F8817 Overvoltage in power section
F8820 Braking resistor overload
F8821 Transistor short circuit of braking resistor control
F8822 Error in control of braking resistor
F8833 Ground fault current mains supply
F8834 Ground fault inverter
F8836 DC bus balancing monitor
F8844 Device-internal module communication disturbed
F8855 Incorrect processing of diagnostic message
F8860 Overcurrent in power section (does not decay)
F8861 Overcurrent in power section (does not decay, mains)
F8891 Power section defective
F8892 Defective power section device carrier
F8893 I/O module defective
F8899 F8 test error, axis and supply unit reaction
F8901 Panel fatal error: Contact the service team

Error messages
Non-fatal errors (F2xxx)
F2007 Switching to forbidden Operation Mode
The error was generated because, via the control word for J1939 [UDS-DID: 0x400 (Sercos: P-0-1930)], an ​Operation
Mode​ had been selected that is not supported or not allowed in the current state.

Cause Remedy

An attempt was made to switch to an In control word for J1939 [UDS-DID: 0x400 (Sercos:
​Operation Mode​ that is not supported P-0-1930)], select an ​Operation Mode​ that is
supported

An attempt was made to switch to an In control word for J1939 [UDS-DID: 0x400 (Sercos:
​Operation Mode​ that is not allowed in P-0-1930)], select an ​Operation Mode​ that is allowed
the current state in the current state
▶ Attributes

F2008 RL The motor type has changed

In the initialization phase (after the drive has been switched on), the controller checks whether the connected motor
type complies with the parameterization made in "Motor identification: Type" (0x2AD2:01 / S-0-0141 / --). If this is not the
case, the error F2008 is generated and the controller prompts the user to load the motor-specific control loop parameter
values from the encoder memory of the motor.

The display of the control panels shows “RL”.

Cause Remedy

Motor was replaced by a Clear the error with C0500

different motor type.
‑ or ‑
‑ or ‑
Press the [ Esc ] key on the control panel of controller
The value in "Motor
Note: After the error has been cleared, command for
identification: Type" (0x2AD2:01
loading the default values is automatically executed
/ S-0-0141 / --) of parameter file
["Application data default: C07_x Procedure command"
loaded to drive controller differs
(0x2B62:01 / S-0-0262 / --)], unless this was deactivated in
from the connected motor type.
"Axis configuration: Word" (0x2200:01 / P-0-0556 / --).
‑ or ‑
Attention: Executing the command causes the previous
Drive controller was switched on control loop settings to be overwritten with the default
for first time. Motor type stored control loop settings from the encoder memory!
in "Motor identification: Type"
(0x2AD2:01 / S-0-0141 / --)
differs from connected motor
type.

▶ Attributes

F2010 Error when initializing I/O module

An error occurred during the first initialization of the device (initialization of digital inputs/outputs).

Cause Remedy
 Cause Remedy

Conflict with last stored parameters of Check following parameter contents and correct
digital inputs/outputs them, if necessary:
"Digital inputs: Assignment list" ( 0x2A20:02 /
P-0-0300 / --)
"Digital inputs: Bit numbers" ( 0x2A20:03 / P-0-
0301 / --)
"Digital outputs: Assignment list" ( 0x2A22:02 /
P-0-0310 / --)
"Digital outputs: Bit numbers" ( 0x2A22:03 / P-
0-0311 / --)

▶ Attributes
Detailed diagnostics

006C0010

F2018 Device overtemperature shutdown

The heat sink temperature of the device is monitored by a temperature sensor and a temperature model. When the heat
sink temperature has reached the maximum value, the device is switched off in order to protect it against destruction.

Before the error F2018 is triggered, a device overtemperature prewarning ( E2050) is

output for 30 seconds.

Cause Remedy

Overtemperature (heat sink) due to Switch off drive and let it cool down. Check
overload of device mechanics and drive sizing (on average, machining
power may not exceed continuous power of drive)
For liquid-cooled devices: Check sizing of cooling
system (see documentation with material no.
R911309636)

Ambient temperature too high. Reduce ambient temperature, e.g. by cooling the
Specified performance data are valid control cabinet
up to an ambient temperature of 40 °C
 Cause Remedy

Heat sink of device is dirty Clean heat sink

Convection is prevented by other Mount device vertically and provide sufficient space
components or mounting position in for ventilating heat sink
control cabinet

Device-internal fan failed If fan fails, replace device or power section

Air conditioning of control cabinet Check air conditioning of control cabinet

failed

Incorrect control cabinet sizing with Check control cabinet sizing

regard to heat dissipation

Additional possible causes for liquid-cooled devices

Cause Remedy

No cooling system connected Connect cooling

system

Error in cooling system, e.g. coolant pump defective or filter clogged Check cooling
up; thus, flow rate too low/coolant inlet temperature too high system and remove
error

▶ Attributes

F2019 Motor overtemperature shutdown

The motor temperature measured by the temperature sensor has reached the limit value for the motor shutdown
temperature (S‑0‑0204).

The drive is immediately decelerated according to the selected error reaction ["Axis shutdown: Best possible shutdown"
(0x2870:01 / P-0-0119 / --)], and the drive is switched off.

Cause Remedy
 Cause Remedy

Motor shutdown Check and correct parameterization of "Motor temperature monitoring:

temperature Shutdown threshold" (0x2022:02 / S-0-0204 / --) using the motor or
incorrectly temperature sensor data sheet
parameterized
Note: For Bosch Rexroth motors with encoder memory, "Motor
temperature monitoring: Shutdown threshold" (0x2022:02 / S-0-0204 / --
), among other things, has been set to a fixed value and cannot (or not
directly) be changed. [For some motor types, the firmware reduces the
shutdown temperature below the value of "Motor temperature
monitoring: Shutdown threshold" (0x2022:02 / S-0-0204 / --) to protect
the rotor.]

Motor is Check sizing of motor. In the case of installations that have been
overloaded. operated for a long time, check whether drive conditions have changed
Effective torque (with regard to dirt accumulation, friction, moved masses etc.)
demanded from
motor has been
above allowed
continuous torque
for a too long time

Line interruption, Check line for motor temperature monitoring for line interruption, ground
ground fault or fault or short circuit
short circuit in line
for motor
temperature
monitoring

Instability in speed Check parameterization of speed control loop

control loop

Additional possible causes for liquid-cooled devices

Cause Remedy

No cooling system connected Connect cooling

system
 Cause Remedy

Error in cooling system, e.g. coolant pump defective or filter clogged Check cooling
up; thus, flow rate too low/coolant inlet temperature too high system and remove
error

See also Motor temperature monitoring

▶ Attributes

F2021 Motor temperature monitor defective

As soon as the drive is in the operating mode, the function of the temperature sensor used for motor temperature
monitoring is cyclically monitored by the drive.

The drive reacts with the error reaction that has been set or it refuses drive enable. Bit 2 is set in "Class 1 diagnostics:
Value" (0x2B87:01 / S-0-0011 / --).

Temperature Cause Remedy

sensor type
(see P‑0‑0512 )

NTC (e.g., If F2021 is generated 30 seconds after the warning Check motor
K227) E2021 [motor temperature measured by the connection and cable
temperature sensor is smaller than "Motor for interruption
temperature monitoring: Lower limit" (0x2022:07 /
P-0-0505 / --)
Interruption in line for motor temperature
monitoring

PTC sensor If F2021 is generated 30 seconds after the warning Check motor
with switching E2021 [motor temperature measured by the connection and cable
performance temperature sensor is smaller than "Motor for short circuit
(e.g., SNM- temperature monitoring: Lower limit" (0x2022:07 /
xxx.DK, P-0-0505 / --)
bimetal)
Short circuit in line for motor temperature
monitoring
 Temperature Cause Remedy
sensor type
(see P‑0‑0512 )

Sensors that The measured value is below -50° C or above Use replacement
can be 240° C; the sensor is detected to be defective temperature sensor (if
evaluated in available) or replace
analog form motor
(e.g., KTY84 or
PT1000)

NTC (e.g., Motor temperature stays below allowed ambient Comply with minimum
K227) temperature range allowed ambient
temperature (see
documentation of
respective motor series)

- Drive controller defective Replace drive controller

or power section

See also Motor temperature monitoring

▶ Attributes

F2022 Device temperature monitor defective

The function of the temperature sensor, that is the basis of device temperature monitoring, is cyclically monitored.

If a temperature less than or equal to ‑40 °C has been measured for a defined time (e.g., 30 seconds), a defect is
supposed to be present and the error F2022 is output.

Cause Remedy

Sensor in drive controller is defective Replace drive controller or power section

▶ Attributes

F2023 Device temperature model error

The device temperature is calculated using a device temperature model that takes the temperature sensor data and the
current operating conditions into account.
 Cause Remedy

An internal error occurred during initialization or in the cyclic Carry out an update of the
calculation of the device temperature model drive firmware.
If the error persists: Replace
the drive controller

▶ Attributes

F2025 Drive not ready for control

When drive enable is set, the drive must be ready; i.e. it has to signal the drive status "Ab" [bit 15="1" and bit 14="0" is
the setting required in "Axis state machine: Status word, axis" (0x2802:02 / P-0-0115 / --)].

However, if the drive only signals "bb" (ready for operation), the drive generates this error message.

Cause Remedy

Drive enable (AF) had been set Check logic for activating drive in connected control
before power supply was switched unit
on
‑ or ‑
Drive enable (AF) was set although
drive is still in parameterization
mode

Safety function "Safe Torque Off" First deselect safety function before drive enable is set
(STO) is active

Drive is in "Parking axis" state Disable the "Parking axis" state by executing "Parking
axis: C1700 Disable procedure command" (0x2380:02 /
S-0-0139.0.150 / P-0-1742). Only then can drive enable
be set.

E-Stop function is active as warning First deselect E-Stop before drive enable is set
E4034
 Cause Remedy

The command "Device reboot: If restart is not carried out, terminate the command
C6400 Command" (0x2BD0:01 / S-0- C6400 on all axes
1350 / --) was started on one axis of
the device

▶ Attributes

F2026 Undervoltage in power section

The level of the DC bus voltage is monitored by the drive controller. In "DC bus supply: Configuration" (0x2606:01 / P-0-
0118 / --), "Error" has been set with regard to the reaction to undervoltage.

With axis inverter: The readiness for power output of the DC bus is not displayed anymore ["DC bus supply: Control
word" (0x2606:02 / S-0-0240 / --, bit 0 changes from "1" to "0") or the DC bus voltage has fallen below the specified
minimum value [see value of "DC bus supply: Undervoltage threshold" (0x2606:03 / P-0-0114 / --)].

With converter/mains connection: The mains connection in the converter is faulty which causes the power supply to be
switched off. Thereby, the readiness for power output of the DC bus is not ensured anymore or the DC bus voltage has
fallen below the specified minimum value [see value of "DC bus supply: Undervoltage threshold" (0x2606:03 / P-0-0114 / -
-)].

Cause Remedy

Power is switched off without deactivating the drive Check logic for activating drive in
via drive enable (AF) beforehand connected control unit

Failure in power supply or overload of power supply Check the power supply

Mains failure Check the cause of the mains failure,

reconnect the mains voltage

Temporary power supply overload Reduce machining cycle of the machine

▶ Attributes

F2028 Excessive deviation

If the position control loop is closed, the drive monitors whether or not it can follow the preset position command value.
For this purpose, a model position feedback value is calculated in the drive and compared to the actual position
feedback value. If the difference between the calculated and actual position feedback value exceeds the value
parameterized in "Position controller, monitor: Following error window" (0x6065:00 / S-0-0159 / --), the drive apparently
cannot follow the preset command value and the error F2028 is generated.
 The monitoring function as to whether or not the drive can follow the preset position
command value is switched off by parameterizing "Position controller, monitor:
Following error window" (0x6065:00 / S-0-0159 / --) with "0”.

The maximum deviation between the calculated and the real actual position value can
be read in "Position controller, monitor: Max. model deviation" (0x220B:02 / P-0-0098
/ --).

Cause Remedy

Parameterized monitoring window Check and, if necessary, correct "Position controller,

is too small monitor: Following error window" (0x6065:00 / S-0-0159
/ --)

Command acceleration too high Reduce acceleration input of control unit (see control
due to incorrect command value unit manual)
input by control unit

Parameterized bipolar torque/force Check "Torque/force limitation: Limit value, bipolar"

limit value too small (0x230C:03 / S-0-0092 / --) and set it to maximum value
allowed for the application

Axis is blocked or sluggish Check mechanics and remove sluggishness

Faulty or non-optimized control Check control loop setting, e.g.:

loop parameters
"Position controller: Proportional gain" (0x220A:01 / S-
0-0104 / --)
"Velocity controller: Proportional gain" (0x2220:01 / S-
0-0100 / --)
"Axis configuration: Word" (0x2200:01 / P-0-0556 / --)

Drive acceleration capacity was Check drive sizing

exceeded

▶ Attributes

F2032 Validation error during commutation fine adjustment

When a synchronous motor with incremental measuring system is homed, the value of "Commutation offset: Effective
value" (0x218A:05 / P-0-0521 / --) is converted to the reference point reference and compared to "Commutation offset:
Value" (0x218A:01 / P-0-0508 / --). This comparison revealed that the deviation had been too big, and the drive was
decelerated.

If the deviation is too big, the operational safety of the motor is no longer ensured
since the motor might have a "runaway effect".

Cause Remedy

Initial commissioning was not carried out or carried Carry out initial commissioning
out incompletely

Motor encoder was replaced Carry out initial commissioning

Motor connections (U, V, W) were interchanged Check and, if necessary, correct motor
connection

The value of "Commutation offset: Value" ( 0x218A:01 Check value saved in "Commutation
/ P-0-0508 / --) and/or the value for the commutation offset: Value" (0x218A:01 / P-0-0508 / --
offset stored in the encoder data memory were ); if necessary, carry out initial
manipulated commissioning again

See also Establishing the position data reference

▶ Attributes

F2036 Excessive position feedback difference

The drive controller is in cyclic operation and both encoders have been homed. The error F2036 was generated because
the value between actual position value 1 and actual position value 2 ["Position difference monitor enc.1 - enc.2: Current
value" (0x24C4:01 / P-0-0391 / --)] had been greater than the monitoring window for encoder 2 ["Position difference
monitor enc.1 - enc.2: Window" (0x24C4:02 / S-0-0391 / --)].

The drive carries out the parameterized error reaction ["Axis shutdown: Best possible shutdown" (0x2870:01 / P-0-0119 /
--)], and the reference bits of both encoders are cleared ["Homing status: Feedback value status" (0x2508:01 / S-0-0403 /
--)].

The monitoring function is inactive if "Position difference monitor enc.1 - enc.2:

Window" (0x24C4:02 / S-0-0391 / --) has been parameterized with "0".
 If the measuring wheel mode has been activated, "Position difference monitor enc.1 -
enc.2: Window" (0x24C4:02 / S-0-0391 / --) is not active. In this case, the monitoring
function uses "Encoder slip monitor: Window" (0x24CA:03 / P-0-0244 / --).

Cause Remedy

Encoder 2 incorrectly Check "Encoder function and properties ENC_2: Value"

parameterized (0x24A0:01 / S-0-0115 / --) and resolution for encoder 2:
"Phys. encoder configuration ONBOARD: Resolution
(analog)" (0x2418:15 / S-0-0602.10.21 / S-0-2570) or
"Phys. encoder configuration ONBOARD: Resolution
(digital)" (0x2418:16 / S-0-0602.10.22 / S-0-2571)
"Phys. encoder configuration OPT_2: Resolution
(analog)" (0x241A:15 / S-0-0602.2.21 / S-0-2520) or
"Phys. encoder configuration OPT_2: Resolution (digital)
(0x241A:16 / S-0-0602.2.22 / S-0-2521)
"Phys. encoder configuration OPT_3: Resolution
(analog)" (0x241C:15 / S-0-0602.3.21 / S-0-2545) or
"Phys. encoder configuration OPT_3: Resolution
(digital)" (0x241C:16 / S-0-0602.3.22 / S-0-2546)

Mechanics between motor shaft Check "Gear ratio: Motor shaft revolutions" (0x6091:01 /
and encoder 2 incorrectly S-0-0121 / --), "Gear ratio: Driving shaft revolutions"
parameterized (0x6091:02 / S-0-0122 / --) and "Feed constant: Value"
(0x2390:01 / S-0-0123 / --)

Mechanics between motor shaft Increase "Position difference monitor enc.1 - enc.2:
and encoder 2 is not rigid (e.g., Window" (0x24C4:02 / S-0-0391 / --), switch it off in the
gear backlash, slip) and selected case of gear with slip
monitoring window is too small

Maximum allowed slip exceeded in Check or switch off "Encoder slip monitor: Window"
active measuring wheel mode (0x24CA:03 / P-0-0244 / --)

Encoder cable defective Replace encoder cable

Maximum input frequency of Reduce velocity

encoder interface exceeded
 Cause Remedy

Encoder 2 not mounted to driven Deactivate "Position difference monitor enc.1 - enc.2:
axis Window" (0x24C4:02 / S-0-0391 / --) (="0")

Incorrect encoder gearbox settings Check relevant encoder parameters and correct them, if
necessary:
Gearbox 1 (encoder 1):
motor side: "Gearbox encoder ENC_1: Revolutions,
mechanical side" (0x24A8:01 / P-0-0121 / --)
encoder side: "Gearbox encoder ENC_1: Revolutions,
encoder side" (0x24A8:02 / P-0-0122 / --)
Gearbox 2 (encoder 2):
load side: "Gearbox encoder ENC_2: Revolutions,
mechanical side" (0x24AA:01 / P-0-0124 / --)
encoder side: "Gearbox encoder ENC_2: Revolutions,
encoder side" (0x24AA:02 / P-0-0125 / --)
"Gear ratio: Motor shaft revolutions" (0x6091:01 / S-0-
0121 / --), "Gear ratio: Driving shaft revolutions"
(0x6091:02 / S-0-0122 / --)

Incorrect position data reference Execute command "Set absolute position function: C0300
of an absolute encoder Command procedure" (0x2510:01 / S-0-0447 / --)

See also Position control with cyclic command value input

▶ Attributes

F2042 Encoder 2: Encoder signals incorrect

Analog / combined encoders: The signals of the measuring system are monitored on hardware and software level with
regard to their amplitudes and signal shapes. If a signal (e.g., sin or cos) leaves the allowed range or if the signals are
disturbed in such a way that a position error occurs, this error is generated.

Digital encoders: In the case of digital measuring systems, the received encoder protocol is monitored according to the
manufacturer’s encoder specification:

Encoder error messages are cyclically evaluated

Telegram CRC checksums are monitored according to specification
Telegram failures are detected
 The error can be cleared in CM (configuration mode) or upon successful
reinitialization.

Since the position is no longer generated correctly when this error is detected, the
encoder has to be reinitialized.

When using an incremental encoder with square-wave signals, monitoring is carried

out with regard to an inadmissible edge.
On the software level, the signals of a resolver are monitored for their levels.

Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and
replace it, if necessary

Defective encoder Check measuring system and replace it, if

necessary

Faulty mounting of measuring head in the case of Check mounting of measuring head and
linear measuring systems correct it, if necessary

Measuring system dirty Replace measuring system

Hardware defect on control section of drive Replace control section or entire drive
controller controller

▶ Attributes

F2043 Measuring encoder: Encoder signals incorrect

Analog / combined encoders: The signals of the measuring system are monitored on hardware and software level with
regard to their amplitudes and signal shapes. If a signal (e.g., sin or cos) leaves the allowed range or if the signals are
disturbed in such a way that a position error occurs, this error is generated.

Digital encoders: In the case of digital measuring systems, the received encoder protocol is monitored according to the
manufacturer’s encoder specification:

Encoder error messages are cyclically evaluated

Telegram CRC checksums are monitored according to specification
Telegram failures are detected
 As the position of the measuring system is no longer generated correctly when this
error is detected, it is necessary to initialize the encoder again.
The error can be cleared in CM (configuration mode) or upon successful
reinitialization.

When using an incremental encoder with square-wave signals, monitoring is carried

out with regard to an inadmissible edge.
On the software level, the signals of a resolver are monitored for their levels.

Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and
replace it, if necessary

Defective encoder Check measuring system and replace it, if

necessary

Faulty mounting of measuring head in the case of Check mounting of measuring head and
linear measuring systems correct it, if necessary

Measuring system dirty Replace measuring system

Hardware defect on control section of drive Replace control section or entire drive
controller

Only Rexroth service engineers or especially trained users are allowed to replace the
control section. The replacement of the entire drive controller is described in the
Project Planning Manual for the power section.

▶ Attributes

F2047 Low encoder battery voltage encoder 2

For encoders with a battery, the absolute position information is maintained, even when the drive controller has been
switched off. This is ensured by an encoder cable-integrated battery that buffers the encoder data in case voltage is
switched off.
 The battery was designed for a service life of 10 years in its installed state for a
machine running in three-shift operation.

The battery voltage is measured cyclically during operation. If the value falls below the allowed battery voltage, the
warning E2047 is output.

CAUTION!

Error caused by battery undervoltage when controlling motors and

moving parts!
If the battery is not replaced before the 24V control voltage is switched off, the drive
controller signals "F2047 Low battery voltage" after restart and during phase
switching to "OM" or "P4". This deletes the reference of the drive controller to the
mechanics.
Replace battery immediately!

Cause Remedy

Battery voltage has fallen CAUTION: To avoid loss of reference, the battery has to be
below allowed value replaced before the 24V control voltage is switched off.
1. If the drive has been locked by a customer password, unlock
drive by entering the customer password.
2. Clear error.
3. Replace battery immediately.

See also Establishing the position data reference

▶ Attributes

F2050 Overflow of target position preset memory

For drive-controlled positioning, a new positioning command value x(k+1) can be preset while the drive moves to the
target position of the last positioning command value x(k). The new positioning command value is saved in an input
buffer (target position preset memory) and is only deleted after having been applied.

Cause Remedy
 Cause Remedy

An attempt was made to preset a new Check command value input in control unit and
positioning command value x(k+2) while make sure that a new positioning command value
the drive had moved to the target position x(k+2) is only preset if positioning command
of the positioning command value x(k) value x(k+1) had been applied and drive moves to
the corresponding target position

Incorect command value acceptance Check control program and only toggle "Drive-
[toggling of "Drive-controlled positioning: controlled positioning: Control word" (0x2844:02
Control word" (0x2844:02 / S-0-0346 / --, / S-0-0346 / --, bit 0) once for each new
bit 0)] in control unit causes preset positioning command value, since each bit change
positioning command value to be applied results in applying the current positioning
multiple times command value

Incorrect positioning mode was set in In "Drive-controlled positioning: Control word"

"Drive-controlled positioning: Control (0x2844:02 / S-0-0346 / --), set positioning mode
word" (0x2844:02 / S-0-0346 / --) for "immediately move to new target" for "moving to
"moving to target position" target position"

See also Drive-controlled positioning

▶ Attributes

F2051 No sequential block in target position preset memory

In the positioning block mode "sequential block without intermediate stop", the drive monitors whether or not a new
positioning block is available in the target position preset memory when the target position is reached.

Cause Remedy

When target position of a sequential Preset sequential block in time (before target
block is reached, no new positioning position is reached)
block is available in target position
preset memory
 Cause Remedy

Positioning block mode by mistake set Check positioning block mode and, if necessary,
to "sequential block without switch off sequential block processing ["Drive-
intermediate stop" controlled positioning: Control word" (0x2844:02 /
S-0-0346 / --)]

▶ Attributes

F2053 Incr. encoder emulator: Pulse frequency too high

In the drive, the number of the increments or lines output within the velocity controller cycle (125 µs) is monitored to
make sure that the maximum allowed frequency of the incremental encoder signals of 4 MHz (maximum value at 1-fold
oversampling) is not exceeded. Otherwise, a position offset would occur due to "lost increments".

The maximum allowed frequency of the incremental encoder signals also has to be
taken into account for the sizing of the subsequent evaluation electronics in the
control.

Cause Remedy

The resolution of the emulated encoder set in Reduce the number of increments of the
"Encoder emulation configuration OPT_3: incremental encoder emulator in "Encoder
Resolution" (0x29E1:03 / P-0-0901.3.3 / P-0- emulation configuration OPT_3: Resolution"
2359) is too high for the present travel velocity (0x29E1:03 / P-0-0901.3.3 / P-0-2359)
– or –
Reduce travel velocity

▶ Attributes

F2054 Encoder emulator: Hardware error

The cause of the error can be also read via the detailed diagnostics.

Cause Remedy
 Cause Remedy

During the operating mode (OM), an error was signaled via a Temporarily switch axis to PM to
bit in the status word of the encoder emulation hardware reset the encoder emulation
hardware
During the operating mode (OM), a faulty CRC was detected If occurring repeatedly: Replace
in the communication between drive and encoder emulation encoder emulation hardware
hardware

▶ Attributes
Detailed diagnostics

005100A0

005100A1

005100A2

005100A3

005100A4

005100A5

005100A6

005100A7

005100A8

F2056 Overload at I/O module

Overload occurred in the case of one of the following actuations:

In the case of "high" actuation of one or more digital outputs on the optional module "DA" [no "high" signal (+24 VDC ) is
output].

‑ or ‑
In the case of actuation of one or more analog inputs on the optional module "DA" in current mode.

The error can only be cleared when the cause of the error has been removed.

Cause Remedy

Overloaded output or overloaded outputs Reduce load on output or outputs

Short-circuited output or short-circuited outputs Remedy short circuit(s)

Input(s) overloaded Reduce the load of the input(s)

Wiring error Correct wiring

Hardware defective Replace hardware

▶ Attributes
Detailed diagnostics

006C0004

006C0005

006C0007

F2057 Target position out of travel range

In operation modes with internal position command value generation a check is run, before a movement is carried out, to
find out whether the preset target position is within the allowed travel range of the drive.

If position limit value monitoring has been activated and the target position is outside
of the allowed travel range, a warning bit is set in "Class 2 diagnostics: Value"
(0x2B88:01 / S-0-0012 / --). Additionally, the message "Positioning status: Target
position outside of travel range" (0x2848:06 / S-0-0323 / --) is set.
The positioning procedure is not started.
 The reaction to a travel range error may be set in "Travel range limitation:
Configuration" (0x2308:01 / S-0-0532 / --).

Cause Remedy

Position limit values Check parameterization of position limit values and adjust it
incorrectly according to desired travel range.
parameterized
Sercos/SoE: "Travel range limitation: Limit value, positive" (S-0-
0049 / --) has to be greater than "Travel range limitation: Limit
value, negative" (S-0-0050).
CoE: "Travel range limitation: Min position limit (0x607D:01)" has to
be greater than "Travel range limitation: Max position limit"
(0x607D:02).

Position limit value Deactivate position limit value monitoring if it is not required (e.g.,
monitoring has been in modulo mode):
activated although it is
Sercos/SoE: "Axis polarity: Position" (0x290A:01 / S-0-0055 / --)
not required
CoE: Set one of the two values to "0": "Travel range limitation: Min
position limit (0x607D:01)" or "Travel range limitation: Max position
limit" (0x607D:02)

In the case of relative Check "Drive-internal interpolation: Target position" ( 0x2842:01 / S-

interpolation, travel 0-0258 / --) and adjust it in control program, if necessary
distance value was set
too high, or multiple
travel distances that are
added cause "Positioning
profile: Effective target
position" (0x2840:04 / S-
0-0430 / --) to be outside
of the position limits
 Cause Remedy

In the case of absolute Check preset target position ["Drive-internal interpolation: Target
interpolation, preset position" (0x2842:01 / S-0-0258 / --) for "drive-internal
target position is interpolation" or "Drive-controlled positioning: Command value"
incorrect (0x2844:01 / S-0-0282 / --) "drive-controlled positioning")] and, if
necessary, adjust it in control program [only enter "Drive-internal
interpolation: Target position" (0x2842:01 / S-0-0258 / --) within
the position limit values minus "Position status: Position window"
(0x6067:00 / S-0-0057 / --); i.e. the target position has to be further
away from the position limit values than "Position status: Position
window"].

In "positioning block Check "Positioning block mode: Target position" ( 0x284E:01 / P-0-
mode", one or more 4006 / --) and "Positioning block mode: Selection" (0x284E:07 / P-
target positions have 0-4026 / --). In addition, check block selection via respective master
been incorrectly communication (e.g., field bus or digital I/Os)
parameterized or
incorrect positioning
block is selected

See also Travel range limit switches

See also Establishing the position data reference

▶ Attributes

F2067 Synchronization to master communication incorrect

Drive control is synchronized to the bus interface (Sercos, EtherCAT,…) via a phase control loop (Phase Locked Loop ‑
PLL). The proper function of synchronization is monitored by monitoring the respective control deviation of the PLL for
an allowed threshold. If it is exceeded, this error message is generated.

Cause Remedy

Interference injections due to faulty connection of Check and, if necessary, correct

master communication result in synchronization connection of master
problems communication (incl. shield
connection)
 Cause Remedy

Synchronization clock of master fluctuates very much Check communication master and
due to software or hardware error in master (e.g., ensure a stable, constant
jittering of MST in the case of Sercos) synchronization clock

Master communication hardware (e.g., optional Sercos Replace control section or entire
module) of drive controller defective drive controller

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

▶ Attributes

F2068 Brake error

The control of the self-applying brake is monitored. There is an error in the control.

Cause Remedy

Supply voltage for brake has Check supply voltage

not been correctly connected
or is outside of tolerance (24 V
+/-5 %)

A wire break has occurred in Check brake control for wire break
brake control
Note: If the activation of brake control causes problems with
wire break monitoring, wire break monitoring can be
deactivated [see "Brake control: Configuration" (0x2032:01 /
P-0-0525 / --)].

Motor cable has been Check motor cable

incompletely connected Check whether motor cable shield has been connected over
a large surface at the controller

Brake is defective Replace motor

Drive controller is defective Replace drive controller

See brake

▶ Attributes
Detailed diagnostics

00410002

00410003

00410004

00410005

F2074 Actual pos. value 1 outside absolute encoder window

When switching off a drive with an encoder 1 that can be evaluated in absolute form, the current actual position is stored
in the drive. When switching the drive back on, the current position is compared to the position stored when the drive
was switched off the last time. If the deviation is greater than the value of "Absolute encoder monitoring ENC_1: Window"
(0x24B8:01 / P-0-0095 / --), the error message F2074 is generated.

The monitoring function can be switched off by P‑0‑0095="0".

Cause Remedy

While switched off, axis was moved by more than Make sure displayed position is
distance entered in "Absolute encoder monitoring correct in relation to machine zero
ENC_1: Window" (0x24B8:01 / P-0-0095 / --) point. Then clear error and, if
necessary, reestablish position data
reference

Value entered in "Absolute encoder monitoring ENC_1: Check parameterization of "Absolute

Window" (0x24B8:01 / P-0-0095 / --) is too low for encoder monitoring ENC_1: Window"
existing encoder resolution so that encoder jitter will (0x24B8:01 / P-0-0095 / --) and
already cause monitoring function to be triggered increase monitoring window

Amplifier replaced without parameter update Clear error and establish position
data reference
 Cause Remedy

Encoder 1 defective Replace motor or motor encoder

WARNING!

Risk of accident caused by unintended axis motion!

⇒ Check position data reference. The encoder is defective if the position data
reference is incorrect! Replace the motor and send it to the manufacturer's service
department for inspection.

▶ Attributes
Detailed diagnostics

0044010F

F2075 Actual pos. value 2 outside absolute encoder window

When switching off a drive with an encoder 2 that can be evaluated in absolute form, the current actual position is stored
in the drive. When switching the drive back on, the current position is compared to the position stored when the drive
was switched off the last time. If the deviation is greater than the value of "Absolute encoder monitoring ENC_2: Window"
(0x24BA:01 / P-0-0096 / --), the error message F2075 is generated.

The monitoring function can be switched off by P‑0‑0095="0".

Cause Remedy

While switched off, axis was moved by more than Make sure displayed position is
distance entered in "Absolute encoder monitoring correct in relation to machine zero
ENC_2: Window" (0x24BA:01 / P-0-0096 / --) point. Then clear error and, if
necessary, reestablish position data
reference

Value entered in "Absolute encoder monitoring ENC_2: Check parameterization of "Absolute

Window" (0x24BA:01 / P-0-0096 / --) is too low for encoder monitoring ENC_2: Window"
existing encoder resolution so that encoder jitter will (0x24BA:01 / P-0-0096 / --) and
already cause monitoring function to be triggered increase monitoring window
 Cause Remedy

Amplifier replaced without parameter update Clear error and establish position
data reference

Encoder 2 defective Replace motor or motor encoder

WARNING!

Risk of accident caused by unintended axis motion!

⇒ Check position data reference. The encoder is defective if the position data
reference is incorrect! Replace the motor and send it to the manufacturer's service
department for inspection.

▶ Attributes
Detailed diagnostics

00440090

F2076 Act. pos. value measuring enc. outside abs. encoder window
When switching off a drive with a measuring encoder that can be evaluated in absolute form, the current actual position
is stored in the drive. When switching the drive on again, the current position is compared to the position stored when
the drive was switched off the last time. If the deviation is greater than the value in "Absolute encoder monitoring MEAS:
Window" (0x24BB:01 / P-0-0097 / --), the error message F2076 is generated.

The monitoring function can be switched off by "Absolute encoder monitoring MEAS:
Window" (0x24BB:01 / P-0-0097 / --)="0".

Cause Remedy

While switched off, axis was moved by more than distance Make sure displayed position is
entered in "Absolute encoder monitoring MEAS: Window" correct in relation to machine
(0x24BB:01 / P-0-0097 / --) zero point. Then clear error
and, if necessary, reestablish
position data reference
 Cause Remedy

The value entered in "Absolute encoder monitoring MEAS: Check parameterization of

Window" (0x24BB:01 / P-0-0097 / --) is too low for existing "Absolute encoder monitoring
encoder resolution so that normal encoder jitter already MEAS: Window" (0x24BB:01 /
causes monitoring function to be triggered. P-0-0097 / --) and increase
monitoring window

Encoder defective or encoder replacement Replace encoder, clear error

and establish position data
reference

Amplifier replaced without parameter update Clear error and establish

position data reference

The parameter "Measuring encoder function: Actual position Clear error and establish
value offset" (0x24CE:06 / P-0-0087 / --) is directly used in position data reference.
the generation of parameter "Encoder actual values MEAS:
Do not change "Measuring
Position" (0x24C3:01 / P-0-0052 / --).
encoder function: Actual
During the deactivation/switch-off of the measuring encoder position value offset"
evaluation and the reinitialization of the position, the value of (0x24CE:06 / P-0-0087 / --)
"Measuring encoder function: Actual position value offset" between switch-off and
(0x24CE:06 / P-0-0087 / --) was changed. reinitialization of the position.
The change in "Measuring encoder function: Actual position
value offset" (0x24CE:06 / P-0-0087 / --) is interpreted as a
distance in the deactivated state. The total distance detected
thereby is greater than the value in "Absolute encoder
monitoring MEAS: Window" (0x24BB:01 / P-0-0097 / --).

WARNING!

Risk of accident caused by unintended axis motion!

⇒ Check position data reference. The encoder is defective if the position data
reference is incorrect! Replace the encoder and send it to the manufacturer's service
department for inspection.

▶ Attributes
Detailed diagnostics
 0044220E

F2077 Current measurement trim wrong

The current measurement in the drive controller is trimmed in operation. The adjustment values of current measurement
have exceeded the allowed tolerance.

Cause Remedy

Defective hardware of control section or power Replace defective part or entire drive
section controller

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

▶ Attributes
Detailed diagnostics

0042030D

0042030E

0042030F

F2080 Low battery voltage, encoder at XG20

For encoders with a battery, the absolute position information is maintained, even when the drive controller has been
switched off. This is ensured by an encoder cable-integrated battery that buffers the encoder data in case voltage is
switched off.

The battery was designed for a service life of 10 years in its installed state for a
machine running in three-shift operation.
 CAUTION!

Error caused by battery undervoltage when controlling motors and moving parts!
The reference of the drive controller to the mechanics was deleted (see
F2174/F2175).
Replace battery immediately!

Cause Remedy

Battery voltage of the encoder 1. If the drive controller has been locked by a
connected to interface XG20 has fallen customer password, unlock drive by entering the
below allowed value customer password.
2. Clear error.
3. Replace battery.
4. Switch off drive and then switch it back on or go
to the "parking axis" state.
5. Reestablish reference of the drive controller to
the mechanics (see F2174/F2175).

▶ Attributes

F2081 Low battery voltage, encoder at XG21

For encoders with a battery, the absolute position information is maintained, even when the drive controller has been
switched off. This is ensured by an encoder cable-integrated battery that buffers the encoder data in case voltage is
switched off.

The battery was designed for a service life of 10 years in its installed state for a
machine running in three-shift operation.

CAUTION!

Error caused by battery undervoltage when controlling motors and moving parts!
The reference of the drive controller to the mechanics was deleted (see
F2174/F2175).
Replace battery immediately!
 Cause Remedy

Battery voltage of the encoder 1. If the drive controller has been locked by a
connected to interface XG21 has fallen customer password, unlock drive by entering the
below allowed value customer password.
2. Clear error.
3. Replace battery.
4. Switch off drive and then switch it back on or go
to the "parking axis" state.
5. Reestablish reference of the drive controller to
the mechanics (see F2174/F2175).

▶ Attributes

F2082 Low battery voltage, encoder at XG22

For encoders with a battery, the absolute position information is maintained, even when the drive controller has been
switched off. This is ensured by an encoder cable-integrated battery that buffers the encoder data in case voltage is
switched off.

The battery was designed for a service life of 10 years in its installed state for a
machine running in three-shift operation.

CAUTION!

Error caused by battery undervoltage when controlling motors and moving parts!
The reference of the drive controller to the mechanics was deleted (see
F2174/F2175).
Replace battery immediately!

Cause Remedy
 Cause Remedy

Battery voltage of the encoder 1. If the drive controller has been locked by a
connected to interface XG22 has fallen customer password, unlock drive by entering the
below allowed value customer password.
2. Clear error.
3. Replace battery.
4. Switch off drive and then switch it back on or go
to the "parking axis" state.
5. Reestablish reference of the drive controller to
the mechanics (see F2174/F2175).

▶ Attributes

F2088 24 V error at I/O module

The external 24V supply of the I/O module (optional module "DA" or eLION AD option) failed or has not been connected.

Monitoring of the external 24V supply of the I/O module can be activated/deactivated
["Analog input function: Control word adjustment" (0x2A30:01 / P-0-2901.0.1 / P-0-
1791, bit 12)].

Cause Remedy

The external 24V supply failed Check the 24V power supply unit

The external 24V supply has not been connected Check wiring

▶ Attributes
Detailed diagnostics

006C0008

F2099 F2 test error, axis reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the error reaction that has been set for errors of category F20xx.
 Cause Remedy

Bit 0 in "Axis shutdown: Activation of test Write the value "0" to "Axis shutdown:
errors" (0x2870:04 / P-0-0257 / --) was set Activation of test errors" (0x2870:04 / P-0-
0257 / --)
Reset error

See also Error reaction

▶ Attributes

F2100 Incorrect access to command value memory

An error occurred when the command value memory (flash/internal memory) of the control section had been accessed.

The error is signaled if one or multiple application parameters, process parameters or device parameters could not be
loaded after switching on. Either because the parameter data in the command value memory are invalid or because it was
not possible to write the parameter data to the parameter.

Furthermore, the error is signaled if during operation one or multiple application parameters or device parameters could
not be saved in the command value memory after a value change. Either because the command value memory is defective
or it had been impossible to access the parameter data.

The faulty parameters are marked as being invalid and entered in "IDN list generic: Invalid data" (0x2B64:06 / S-0-0423 --
).

Cause Remedy

After a firmware update, the Open "IDN list generic: Invalid data" (0x2B64:06 / S-0-0423 --
parameter data saved in the ).
command value memory are Check values of invalid parameters and set them to valid.
no longer compatible with Update parameter data in command value memory using the
the parameter definition. command "Application data: C2200 Backup procedure
command" (0x2B60:08 / S-0-0264 / --).
Switch device off and back on.
 Cause Remedy

Error occurs sporadically. Open "IDN list generic: Invalid data" (0x2B64:06 / S-0-0423 --
).
If possible, replace hardware
Check values of invalid parameters and set them to valid.
to exclude hardware defect.
Update parameter data in command value memory using the
command "Application data: C2200 Backup procedure
command" (0x2B60:08 / S-0-0264 / --).
Switch device off and back on.
If error occurs repeatedly, please contact our service
department. For this purpose, please note down the content of
"IDN list generic: Invalid data" (0x2B64:06 / S-0-0423 --) and
forward it to the service department, or make a parameter
backup of device and forward it to the service department.

Error occurs permantently. Control section or entire device has to be replaced.

Hardware in control section
defective.

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

▶ Attributes
Detailed diagnostics

006E0D02

006E0D05

006E0D06

006E0D0B

006E0D81
 006E0D85

006E0D87

006E0D88

006E0D89

006E0D8B

006E0D8C

006E0D8E

F2104 Commutation offset invalid

The value for the commutation offset stored in the motor encoder memory was detected to be invalid.

It is not allowed to operate the motor without a valid commutation offset!

Cause Remedy

Commutation offset has not yet For absolute encoders: Execute command "Ident.
been determined commutation offset: C1200 Command identification"
(0x218C:01 / P-0-0524 / --)
NOTE: The command cannot be executed for Bosch Rexroth
housing motors with an encoder mounted at the factory

Malfunction when reading Repeat procedure: Switch phases at device or switch device
commutation offset from off and back on so that offset is read from encoder memory
encoder memory again.
If error occurs again, check shielding and encoder lines; if
necessary, contact our service department.
 Cause Remedy

Defective encoder memory or Clear error.

encoder electronics
Replace encoder or replace motor in the case of
Bosch Rexroth housing motors with an encoder mounted at
the factory.
If necessary, determine commutation offset again.

Function was deactivated for Activate function

digital Hall sensors

See also Commutation setting

▶ Attributes
Detailed diagnostics

00420490

00420491

F2107 Incorrect commutation angle

Following the initialization of the relative measuring system (PM→OM transition, e.g. by switching the axis to ready for
operation), "Commutation offset: Coarse value" (0x218A:03 / P-0-0509 / --) becomes active as commutation angle for
linear Rexroth motors. However, the motor is only operational if the axis slide was in a defined initial position!

The defined initial position of the axis slide is signaled to the controller via an axis limit switch being activated. The
switch signal has to be assigned to the corresponding bit of "Ident. commutation offset: Control word" (0x218C:02 / P-0-
0522 / --), and the switching state must have been configured.

F2107 is only signaled when "AF" is set. The error can only be reset in the
parameterization mode (PM).

Cause Remedy
 Cause Remedy

During PM→OM transition, axis slide is not Switch axis to PM.

in defined initial position required for the Clear error.
motor function Bring axis slide to defined initial position to
activate the axis limit switch.
[The switching state is displayed in "Ident.
commutation offset: Control word"
(0x218C:02 / P-0-0522 / --).]
Switch axis to OM.

See also Commutation setting

▶ Attributes

F2110 Internal access to forbidden memory range

This diagnostic message is only generated for untested firmware!

A monitoring function checks whether the second processor of the communication interface accesses the external RAM
which is forbidden. This increases the runtime in the cyclic interrupts.

Cause Remedy

Second processor of The cause can be analyzed via the patch symbols
the communication ​:ExtRamAccessSource​ and ​:ExtRamAccessTarget​ with the "COM"
interface accesses the option. With the two symbols, the source and the target of the
external RAM access are displayed as addresses.
The cause can be identified via the *.map file belonging to the COM
firmware. The cause must be removed immediately.

▶ Attributes

F2131 Incorrect switching state of probe 1 input signal

An incorrect switching state was detected during the monitoring of the probe 1 input.

The switch-on level monitoring for probe 1 is configured via "Touch probe function,
extended: Control word" (0x2965:01 / P-0-0226 / --).
 Cause Remedy

The configuration in "Touch probe control: Control word" ( 0x2960:01 / S-0- 1. Remove
0169 / --) specifies that a positive edge at the input of probe 1 triggers the probe enable
recording of a measured value. 2. Clear error
3. Apply low
When probe enable was activated, "1" had already been applied at the input
level at input
of probe 1 ["Touch probe input 1: Switching state" (0x2966:01 / S-0-0401 / --
of probe1
)].
4. Set probe
enable again

The configuration in "Touch probe control: Control word" ( 0x2960:01 / S-0- 1. Remove
0169 / --) specifies that a negative edge at the input of probe 1 triggers the probe enable
recording of a measured value. 2. Clear error
3. Apply high
When probe enable was activated, "0" had already been applied at the input
level at input
of probe 1 ["Touch probe input 1: Switching state" (0x2966:01 / S-0-0401 / --
of probe1
)].
4. Set probe
enable again
‑ or ‑
Remove wire
break

See also Probe function

▶ Attributes

F2174 Loss of encoder 1 reference

With absolute encoder evaluation, the validity of the initialized absolute position is checked during position initialization.
If the controller detects that the position data reference of the encoder can no longer be established due to changes in
the mechanics parameters or replacement of the encoder or device, "Homing status: Feedback value status" (0x2508:01 /
S-0-0403 / --) goes to "relative" and the error F2174 is generated.

Cause Remedy
Cause Remedy

Switched on without reference Clear error and establish position data reference again
(at initial commissioning or caused,
e.g., by changes to parameters that
characterize the mechanical system
or affect position evaluation)

Loss of reference after switching off Ensure that a correctly connected suppressor circuit of
and back on the operating coil is used at 24 V switching elements
operated with DC
[24 V switching elements operated
with DC (such as relays or power
contactors) are used without active
suppressor circuit of the operating
coil]

Switched on without reference Clear error and establish position data reference
(after motor or encoder was
replaced)

Change in mechanics parameters Clear error and establish position data reference
(gearbox, feed constant,...)

Amplifier replaced without parameter Clear error and establish position data reference
update

Switched on without reference after Clear error and establish position data reference
device has been replaced with
‑ or ‑
loaded, axis-specific parameter values
[according to "Application data: IDN Clear error, then load parameter values of "Process
list" (0x2B60:03 / S-0-0192 / --)] data, retain: IDN list of retain data" (0x2B6E:01 / P-0-
0195 / --), if it had been possible to save them directly
before the device was replaced. Check correctness of
reestablished position data reference
 Cause Remedy

In the case of encoders with buffer Reestablish power supply of encoder memory.
battery:
Replace battery (see F2080/F2081/F2082) or remove
F2080/F2081/F2082 (low battery cable break.
voltage) was entered besides F2174
in "Diagnostic trace: Main
diagnostics" (0x2B84:0A / S-0-
1303.0.10 / S-0-1405).
Encoder memory is not supplied with
power because battery power is no
longer sufficient or there is cable
break in supply line.

Defective encoder Replace motor or encoder, clear error and establish

position data reference

▶ Attributes
Detailed diagnostics

0044002E

00440035

0044003A

0044003B

0044003C

0044003D

0044003E

00440046
 00440047

00440048

00440107

00440108

00440109

0044010A

0044010B

0044010C

0044010D

0044010E

00440111

0044011B

0044011C

F2175 Loss of encoder 2 reference

With absolute encoder evaluation, the validity of the initialized absolute position is checked during position initialization.
If the controller detects that the position data reference of the encoder can no longer be established due to changes in
the mechanics parameters or replacement of the encoder or device, "Homing status: Feedback value status" (0x2508:01 /
S-0-0403 / --) goes to "relative" and the error F2175 is generated.

Cause Remedy
Cause Remedy

Switched on without reference Clear error and establish position data reference again
(at initial commissioning or caused,
e.g., by changes to parameters that
characterize the mechanical system
or affect position evaluation)

Loss of reference after switching off Ensure that a correctly connected suppressor circuit of
and back on the operating coil is used at 24 V switching elements
operated with DC
[24 V switching elements operated
with DC (such as relays or power
contactors) are used without active
suppressor circuit of the operating
coil]

Switched on without reference Clear error and establish position data reference
(after encoder was replaced)

Change in mechanics parameters Clear error and establish position data reference
(gearbox, feed constant,...)

Amplifier replaced without parameter Clear error and establish position data reference
update

Switched on without reference after Clear error and establish position data reference
device has been replaced with
‑ or ‑
loaded, axis-specific parameter values
[according to "Application data: IDN Clear error, then load parameter values of "Process
list" (0x2B60:03 / S-0-0192 / --)] data, retain: IDN list of retain data" (0x2B6E:01 / P-0-
0195 / --), if it had been possible to save them directly
before the device was replaced. Check correctness of
reestablished position data reference
 Cause Remedy

In the case of encoders with buffer Reestablish power supply of encoder memory.
battery:
Replace battery (see F2080/F2081/F2082) or remove
F2080/F2081/F2082 (low battery cable break.
voltage) was entered besides F2175
in "Diagnostic trace: Main
diagnostics" (0x2B84:0A / S-0-
1303.0.10 / S-0-1405).
Encoder memory is not supplied with
power because battery power is no
longer sufficient or there is cable
break in supply line.

Defective encoder Replace encoder, clear error and establish position

data reference

▶ Attributes
Detailed diagnostics

00440091

00440092

00440093

00440094

00440095

00440096

F2176 Loss of measuring encoder reference

With absolute encoder evaluation, the validity of the initialized absolute position is checked during position initialization.
If the controller detects that the position data reference of the encoder can no longer be established due to changes in
the mechanics parameters or replacement of the encoder or device, the controller generates the error F2176.
 Cause Remedy

Switched on without reference Clear error and establish

position data reference
(during initial commissioning or caused, e.g., by changes to
parameters that characterize the mechanical system or
affect position evaluation)

Switched on without reference Clear error and establish

position data reference
(after measuring encoder was replaced)

Controller replaced without parameter update Clear error and establish

position data reference

Defective encoder Replace measuring encoder,

clear error and establish
position data reference

▶ Attributes
Detailed diagnostics

004421FC

004421FD

004421FE

00442203

00442204

00442205

00442206

00442207
 00442209

0044220A

0044220B

0044220C

0044220D

0044220F

00442224

00442225

F2177 Encoder 1 modulo limitation error

With modulo scaling activated, the drive limits its actual position values to "Maximum travel range: Modulo format"
(0x2488:01 / S-0-0103 / --); otherwise, to "Maximum travel range: Absolute format" (0x2488:02 / S-0-0278 / --). Since
these values possibly cannot be exactly represented in the internal format, the systematic errors are corrected in the
drive in the case of position overflow. If the drive falls behind with the correction, the error F2177 is generated.

Cause Remedy

Modulo value and/or maximum Check and, if necessary, correct "Maximum travel range:
travel range incorrectly Modulo format" (0x2488:01 / S-0-0103 / --) and "Maximum
parameterized and not adjusted to travel range: Absolute format" (0x2488:02 / S-0-0278 / --)
the application

Drive was moved so fast that Reduce drive velocity in the case of position overflow
correction dose not work correctly

▶ Attributes
Detailed diagnostics

0044000E
F2178 Encoder 2 modulo limitation error
With modulo scaling activated, the drive limits its actual position values to "Maximum travel range: Modulo format"
(0x2488:01 / S-0-0103 / --); otherwise, to "Maximum travel range: Absolute format" (0x2488:02 / S-0-0278 / --). Since
these values possibly cannot be exactly represented in the internal format, the systematic errors are corrected in the
drive in the case of position overflow. If the drive falls behind with the correction, the error F2178 is generated.

Cause Remedy

Modulo value and/or maximum Check and, if necessary, correct "Maximum travel range:
travel range incorrectly Modulo format" (0x2488:01 / S-0-0103 / --) and "Maximum
parameterized and not adjusted to travel range: Absolute format" (0x2488:02 / S-0-0278 / --)
the application

Drive was moved so fast that Reduce drive velocity in the case of position overflow
correction dose not work correctly

▶ Attributes

F2179 Modulo limitation error of measuring encoder

Depending on the scaling, the drive limits the measuring encoder position feedback values to the position range
determined by "Measuring encoder function: Travel range" (0x24CE:05 / P-0-0765 / --) and "Measuring encoder function:
Position resolution" (0x24CE:04 / P-0-0084 / --) or to the defined modulo value of 360,0000 degrees. See also "Measuring
encoder function: Control word" (0x24CE:01 / P-0-0330 / --), bit 2. Since these values possibly cannot be exactly
represented, errors are corrected in the drive.

Cause Remedy

Encoder speed was so high that correction does not work correctly Reduce encoder speed

▶ Attributes

F2190 Incorrect Ethernet configuration

During the initialization of the device, the parameterization for the Ethernet communication is checked. An error was
detected during this check.

Cause Remedy
 Cause Remedy

Unallowed configuration of parameters Set parameters for Ethernet communication (TCP/IP)

for Ethernet communication (TCP/IP): to valid values:
IP address and gateway address are not "IP target setting FIELD: IP address" ( 0x2C21:04 /
in the same IP network S-0-1020 / --)
"IP target setting FIELD: Subnet mask" ( 0x2C21:05
‑ or ‑
/ S-0-1021 / --)
IP address and gateway address are "IP target setting FIELD: Gateway address"
identical (0x2C21:06 / S-0-1022 / --)

Automatic setting of the IP address is Set IP address manually

impossible:
‑ or ‑
Setting of network mask does not
Set network mask to a class C network and use "MCI
comply with a class C network
identification: Drive address" (0x2C02:01 / S-0-1040
‑ or ‑ / --) in the range from 1 to 254
"MCI identification: Drive address"
(0x2C02:01 / S-0-1040 / --) is not in the
allowed range from 1 to 254

▶ Attributes

F2211 Non-fatal PLC error no. 1

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function "ctrlX DRIVE
Technology Function") allows non-fatal errors to be generated from within the PLC program.

Non-fatal errors are errors which still allow carrying out a freely definable, variable error reaction (0x2872:01 / P-0-0117 /
--, 0x2870:01 / P-0-0119 / --).

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F2212 Non-fatal PLC error no. 2

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function "ctrlX DRIVE
Technology Function") allows non-fatal errors to be generated from within the PLC program.

Non-fatal errors are errors which still allow carrying out a freely definable, variable error reaction (0x2872:01 / P-0-0117 /
--, 0x2870:01 / P-0-0119 / --).

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F2213 Non-fatal PLC error no. 3

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function "ctrlX DRIVE
Technology Function") allows non-fatal errors to be generated from within the PLC program.

Non-fatal errors are errors which still allow carrying out a freely definable, variable error reaction (0x2872:01 / P-0-0117 /
--, 0x2870:01 / P-0-0119 / --).

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F2214 Non-fatal PLC error no. 4

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function "ctrlX DRIVE
Technology Function") allows non-fatal errors to be generated from within the PLC program.

Non-fatal errors are errors which still allow carrying out a freely definable, variable error reaction (0x2872:01 / P-0-0117 /
--, 0x2870:01 / P-0-0119 / --).

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F2215 Non-fatal PLC error no. 5

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function "ctrlX DRIVE
Technology Function") allows non-fatal errors to be generated from within the PLC program.

Non-fatal errors are errors which still allow carrying out a freely definable, variable error reaction (0x2872:01 / P-0-0117 /
--, 0x2870:01 / P-0-0119 / --).

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F2216 Non-fatal PLC error no. 6

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function "ctrlX DRIVE
Technology Function") allows non-fatal errors to be generated from within the PLC program.

Non-fatal errors are errors which still allow carrying out a freely definable, variable error reaction (0x2872:01 / P-0-0117 /
--, 0x2870:01 / P-0-0119 / --).

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F2217 Non-fatal PLC error no. 7

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function "ctrlX DRIVE
Technology Function") allows non-fatal errors to be generated from within the PLC program.

Non-fatal errors are errors which still allow carrying out a freely definable, variable error reaction (0x2872:01 / P-0-0117 /
--, 0x2870:01 / P-0-0119 / --).

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes
F2218 Non-fatal PLC error no. 8
In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function "ctrlX DRIVE
Technology Function") allows non-fatal errors to be generated from within the PLC program.

Non-fatal errors are errors which still allow carrying out a freely definable, variable error reaction (0x2872:01 / P-0-0117 /
--, 0x2870:01 / P-0-0119 / --).

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F2270 Analog input, wire break

The drive provides the function of monitoring the input value of the analog inputs for wire break. The message to be
output can be configured as a warning or as an error in the control word for the respective analog input.

Conditions causing this error to be triggered:

The configuration in the respective control word for the analog input is such that an error is generated when the input
value falls below the input value at the analog input and
wire break monitoring was activated and
the current/voltage value at the selected analog input is smaller than the threshold value.

Control word Wire break monitoring

Analog input 1 0x2A31:02 / P-0-2900.0.1 / P-0-1783 0x2A31:09 / P-0-2900.0.10 / P-0-3480

Analog input 2 0x2A32:02 / P-0-2900.1.1 / P-0-3481 0x2A32:09 / P-0-2900.1.10 / P-0-3487

Analog input 3 0x2A33:02 / P-0-2900.2.1 / P-0-3482 0x2A33:09 / P-0-2900.2.10 / P-0-3494

Analog input 4 0x2A34:02 / P-0-2900.3.1 / P-0-3483 0x2A34:09 / P-0-2900.3.10 / P-0-3501

The error stays present as long as the conditions are met.

The value range of the voltage source or current source connected to the analog input
should be limited to the allowed value range of the analog input.

Cause Remedy
 Cause Remedy

Cable break was detected at one of the analog inputs Check the wiring of the analog input; if
(the input value is below the threshold value for wire applicable, reestablish contact to the
break monitoring) voltage source
‑ or ‑
Check threshold value for wire break
monitoring

The wiring of at least one of the analog inputs is Check the wiring of the analog input
wrong or defective

▶ Attributes
Detailed diagnostics

006C0000

006C0001

006C0002

006C0003

F2802 Error in mains synchronization

Synchronization to the mains voltage is not possible.

Cause Remedy

At least one phase is missing Check mains circuit breakers and replace them, if
necessary

Mains voltage is too low Measure mains voltage and compare it to allowed
value range

Mains frequency is outside of Measure mains frequency and compare it to allowed

specified range value range
▶ Attributes

F2803 Black start impossible

A voltage has been applied in the island grid. Thus, a black start is not possible.

Cause Remedy

One or multiple voltage Deactivate the existing voltage sources and run up again in black
sources, that provide an start
island grid, are available
‑ or ‑
in the island grid
Change parameterization and have supply unit synchronize to an
existing island grid. For this purpose, set the selected operation
mode to "island grid mode, closed-loop controlled" in the
corresponding operation mode parameter.
Operation mode parameters:
"Power supply operation modes: Primary operation mode"
(0x2604:02 / S-0-1709.0.1 / S-0-2046)
"Power supply operation modes: Secondary operation mode 1"
(0x2604:03 / S-0-1709.0.2 / S-0-2047)
"Power supply operation modes: Secondary operation mode 2"
(0x2604:04 / S-0-1709.0.3 / S-0-2048)
"Power supply operation modes: Secondary operation mode 3"
(0x2604:05 / S-0-1709.0.4 / S-0-2049)
"Power supply operation modes: List" (0x2604:01 / S-0-1705.0.1
/ S-0-2024)

There is residual voltage Have residual voltage decay or actively reduce it

in the island grid

▶ Attributes

F2804 Error, power section heat sink fan

The fan for the heat sink of the controller signals an error.

Cause Remedy

Clogged fan Remove clogging / clean fan

 Cause Remedy

Defective fan Replace fan

Defective controller Replace controller

▶ Attributes

F2805 Error, power section capacitors fan

The fan for the capacitors of the drive controller power section/of the supply unit signals an error.

Cause Remedy

Clogged fan Remove clogging / clean fan

Defective fan Replace fan

Defective drive controller power Drive controller: Replace drive controller or

section / supply unit power section
Supply unit: Replace supply unit

▶ Attributes

F2806 Error, braking resistor fan

The device fan of the drive controller/supply unit braking resistor signals an error.

Cause Remedy

Clogged fan Remove clogging / clean fan

Defective fan Replace fan

Defective drive controller power Drive controller: Replace drive controller or

section / supply unit power section
Supply unit: Replace supply unit
▶ Attributes

F2807 Switching to non-initialized power supply operation mode

When switching the active operation mode, the drive was switched to a non-initialized operation mode.

For the operation modes that can be selected, please see descriptions of the operation mode parameters:

"Power supply operation modes: Primary operation mode" ( 0x2604:02 / S-0-1709.0.1 / S-0-2046)
"Power supply operation modes: Secondary operation mode 1" ( 0x2604:03 / S-0-1709.0.2 / S-0-2047)
"Power supply operation modes: Secondary operation mode 2" ( 0x2604:04 / S-0-1709.0.3 / S-0-2048)
"Power supply operation modes: Secondary operation mode 3" ( 0x2604:05 / S-0-1709.0.4 / S-0-2049)
"Power supply operation modes: List" ( 0x2604:01 / S-0-1705.0.1 / S-0-2024)

Cause Remedy

A non-initialized operation mode was selected. The operation mode Input an operation mode
entered in the operation mode parameter is not supported by the supported by the supply
supply unit. unit

▶ Attributes

F2808 Error in fan monitoring

An internal error has occurred during the monitoring of the device fans.

Cause Remedy

Device error Replace the device or contact the service department (it might be
possible to fix the error by a device update of the FWL files)
Device-internal
components incorrectly
configured

▶ Attributes

F2809 Error, mains connection fan

The fan for the mains connection module signals an error.

Cause Remedy

Clogged fan Remove clogging / clean fan

 Cause Remedy

Defective fan Replace fan

Defective mains connection module Replace mains connection module

▶ Attributes

F2811 Mains connection overtemperature

The mains supply temperature measured by the temperature sensor is higher than the switch-off threshold specified for
the device.

Cause Remedy

Temperature monitoring Check mains connection to supply unit.

line interrupted or short-
Check temperature sensor connection line for mains connection
circuited
and corresponding terminals with regard to interruption and
short circuit.

Supply unit is overloaded Reduce load. To prevent the supply unit from being switched
off, this can also be done temporarily by the control unit.
Check sizing of the installation.
In the case of installations that have been operated for a long
time, check whether drive conditions have changed (with
regard to dirt accumulation, friction, moved masses etc.).
If an external cooling system is available: Check sizing of
cooling system.

Fan has failed Check cooling system

‑ or ‑
Defective coolant pump
‑ or ‑
Cooling circuit not
connected
 Cause Remedy

Cooling system dirty Clean heat sink.

In the case of water cooling: Check flow and clean pipes, if
necessary.

Ambient temperature too Check whether or not ambient temperature exceeds temperature
high allowed according to Project Planning Manual. Check control
cabinet cooling system. An air conditioning unit is possibly
required.

Bad transmission in Check device mounting on external cooling system. Retighten

cooling system mounting screws. If necessary, use heat transfer compound in
accordance with mounting instructions. Ensure plane connection.

Heat transmission by Check inward flow of cooling air. Increase distance between the
convection or heat devices. Thermally insulate heat sources on the external cooling
conduction by neighboring system.
devices or parts

Missing or bad convection Ensure free inward flow of cooling air

Incorrect control cabinet Check control cabinet sizing

sizing with regard to heat
dissipation

Device-internal cooling has Replace mains connection

failed

Defective supply unit Replace supply unit

▶ Attributes
Detailed diagnostics

00450319

F2812 Mains frequency outside of the extended monitoring window

The error message F2812 is generated if advanced mains monitoring has been activated ["Grid monitoring: Configuration
word" (0x2646:01 / S-0-1712.0.150 / P-0-1779, bit 0="1") and the mains frequency exceeded the threshold value
parameterized in "Grid monitoring: Frequency increase f> threshold value" (0x2646:05 / S-0-1712.0.165 / P-0-2225).

Cause Remedy

Mains frequency above the parameterized maximum value Check mains connection

▶ Attributes

F2814 Mains voltage outside of the extended monitoring window

For more than 2 seconds, the mains voltage in operation has fallen below the minimum value specified for the device. For
a device of the "XVR" type, this is 220 V minus 10% phase-to-phase mains voltage.

Cause Remedy

Mains connection voltage is too low Check the mains voltage

Mains voltage dip due to high load by Use "non-rigid" mains or mains connection
supply unit transformer

▶ Attributes

F2815 Overvoltage in mains

Cause Remedy

Mains voltage peak value has exceeded Check mains voltage. Use a matching
allowed maximum value transformer where necessary

▶ Attributes

F2816 Softstart fault power supply unit

During the soft start procedure (charging the DC bus capacitor), the curve of the DC bus voltage is monitored. Significant
deviations point to a defect in the power section and are diagnosed with the error F2816.

Cause Remedy

Short circuit in the DC bus Check DC bus wiring for short circuit
 Cause Remedy

Load on the DC bus Check DC bus wiring. If there is a faulty connection of an

external braking resistor, correct the connection

Insulation error in the DC Check DC bus wiring. If wiring is ok, there may be an insulation
bus error within the device or other devices connected to the DC
bus. To identify the defective device, gradually remove
connected devices from drive system (remove wiring)

Final value of DC bus voltage Check whether there is a defect at load connected externally to
is not reached within a DC bus
maximum time

Inadmissible voltage Check mains voltage

fluctuations in power grid.
Mains voltage dropped
inadmissibly during soft start
procedure

Device is defective Replace device

▶ Attributes
Detailed diagnostics

00450402

00450403

F2818 Phase failure

A single-phase mains failure, which lasted longer than the tolerated phase failure time, was detected.

Cause Remedy

Mains circuit breaker defective Replace mains circuit breaker

Incorrect wiring Check and correct wiring

▶ Attributes

F2819 Mains failure

In operation, two mains phase voltages (rms values) have dropped below a threshold value for 2 seconds.

Cause Remedy

Mains failure (permanent or temporary) Search and remove cause of mains failure

Mains circuit breakers defective Replace mains circuit breakers

▶ Attributes

F2820 Braking resistor overload

If the DC bus voltage exceeds "Brake resistor: Switching threshold, effective value" (0x2624:01 / P-0-0833 / --) as a result
of regenerative operation of the drive, the braking resistor is switched on to limit the DC bus voltage.

The load of the braking resistor has increased to 110 %. Power was switched off to avoid braking resistor overload.

The load of the braking resistor is displayed in "Brake resistor thermal model: Current
load" (0x2622:01 / P-0-0844 / --).

Cause Remedy

Deceleration of connected Reduce deceleration of connected drives

drives is too high

Energy absorption capacity of Switch off power supply with a delay in the case of "drive
braking resistor is exhausted OFF" or "E-STOP" (for regenerative supply units), or reduce
velocity

Regenerated energy in Increase cycle time or reduce maximum velocity

machining cycle is too high

Continuous regenerative power Reduce maximum velocity or check sizing of braking resistor
and/or rotary drive energy is too and, if necessary, increase sizing
high
▶ Attributes

F2821 Error in control of braking resistor

Devices of XCS type

An error has occurred in the control of the external braking resistor.

Cause Remedy

Control of braking resistor has Check braking resistor for correct resistance value. If
detected inadmissibly high necessary, use braking resistor with higher resistance
current value

Control of braking resistor has Check and, if necessary, correct inputs for external braking
detected that current is too low resistor

▶ Attributes

F2822 Device temperature monitor defective

The temperature of the supply unit heat sink is monitored using a temperature sensor.

Cause Remedy

Defective temperature sensor or conductor break of sensor in supply unit Replace supply unit

▶ Attributes

F2823 Device temperature model error

In addition to thermal monitoring by temperature sensors, the thermal conditions in the supply unit are monitored using
a thermal model.

Cause Remedy

The model parameters have been Defective device, the correct model parameters
incorrectly configured or do not match have to be loaded. Please contact our service
this supply unit department.

▶ Attributes
Detailed diagnostics

00420901

00420907

00420908

00420909

0042090A

0042090B

0042090C

0042090D

0042090E

F2825 HV discharge timeout

This error occurs if HV discharge is active, but the DC bus voltage has not fallen below 60 V within 5 seconds.

In the HV discharge status word (P–0–0221.0.3), bit 5 is set if this error occurs.

Cause Remedy

There is a connection between source Disconnect connection between source and DC bus
and DC bus (battery connection or supply) to successfully carry
out HV discharge

Electrical components of discharge MX PPS card, that contains the active discharge
circuit, such as IGBT, were damaged circuit, has to be replaced
by overheating
▶ Attributes

F2826 Undervoltage in DC bus

The DC bus voltage level is monitored by the supply unit and by the supply section in the converter.

Converter and supply unit XVE

With the converter/supply unit XVE, the DC bus voltage has fallen below 75% of the mains peak value during operation.

Supply unit XVR

In the case of the supply unit XVR, the peak value of the mains voltage is generated by Park's transformation (d/q
transformation) of the mains phase voltages (vector length in alpha/beta system). This mains voltage is PT1 filtered with
a time constant of 20 ms.

The monitoring for undervoltage in the DC bus contains two components:

The monitoring threshold (86% of the filtered mains voltage) is compared to the current measured value of the DC bus
voltage.
Or the DC bus voltage falls below the filtered peak value of the mains voltage, and the current command value
corresponds to the feeding current limit value (device overload).

The readiness for power output of the DC bus is not ensured anymore. The reaction of the devices to the undervoltage
error depends on the configuration of power off on error ["DC bus supply: Configuration" (0x2606:01 / P-0-0118 / --)].

Cause Remedy

Failure in power supply or Check the power supply

overload of power supply

Mains failure Check the cause of the mains failure, reconnect the mains
voltage

Temporary power supply Reduce machining cycle of the machine

overload

Supply unit XVR in island grid Increase "Voltage controller: Command value" ( 0x2676:01 /
mode: S-0-1716.0.160 / P-0-3829) or reduce "Characteristic curves:
U-Q curve, U0" (0x267A:03 / S-0-1716.0.172 / P-0-1631)
The peak value of the mains
voltage command value is too
high for the current DC bus
voltage
▶ Attributes
Detailed diagnostics

00450002

00450003

00450004

F2827 Excessive oscillation in DC bus

Excessive voltage oscillation occurred in the DC bus for several minutes.

The monitoring function is used to protect the motor-side power output stage against overheating.

Cause Remedy

One mains phase has failed Check mains connection. Check allowed power
consumption for single-phase operation

Drive oscillates. Oscillation might Check command torque of drive to know whether it
possibly not be mechanically visible, corresponds to expected load cycle. Check settings of
therefore check command torque velocity control loop and position control loop.

Allowed power is exceeded on mains Check consumed power of controller or drive system. If
side necessary, use additional DC bus capacitors, mains
choke or DC bus choke

Drive loads DC bus impulsively Check application

▶ Attributes

F2834 Contactor control error

It was impossible to connect the mains contactor or the mains contactor dropped out during operation. (The mains
contactor is in the mains connection module.)

Cause Remedy

Mains contactor sticks Replace mains contactor or mains connection

module
 Cause Remedy

Dirty auxiliary contacts of mains

contactor

▶ Attributes
Detailed diagnostics

00450324

00450325

F2860 Overcurrent in mains-side power section

The current in the mains-side power section has exceeded the maximum allowed value. The power supply was switched
off.

Cause Remedy

Mains choke incorrectly Check connection of mains choke

connected

Mains choke missing or Check mains choke

incorrectly sized

Mains filter missing or Check mains filter

incorrectly sized

Connected capacitance in Reduce capacitance according to Project Planning Manual;

DC bus too high check possibility of group supply

Device defective Replace device

▶ Attributes
Detailed diagnostics

00420801
 00420802

00420804

F2877 Current measurement trim wrong

The current measurement in the supply unit is trimmed with the mains switched off. The trim values are checked for
compliance with the allowed tolerance. If the values are higher, the error message F2877 is generated.

Cause Remedy

Defective supply unit Replace supply unit

▶ Attributes

F2898 F2 test error, axis and supply unit reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the error reaction that has been set for supply errors and axis errors of category F28xx.

When the error occurs, the best possible deceleration of the axis is carried out and
the power supply is switched off.

Cause Remedy

Bit 8 and bit 1 were set in "Axis shutdown: Write the value "0" to "Axis shutdown:
Activation of test errors" (0x2870:04 / P-0- Activation of test errors" (0x2870:04 / P-0-
0257 / --) 0257 / --)
Reset error

See also Error reaction

▶ Attributes

F2899 F2 test error, supply unit reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the error reaction that has been set for supply errors of category F28xx.

When the error occurs, the power supply is switched off.

 The reaction of the supply unit can be set via "Power supply control: Power off delay"
(0x2600:03 / S-0-1720.0.3 / S-0-2059).

Cause Remedy

The value "0x100" was written to "Axis Write the value "0" to "Axis shutdown:
shutdown: Activation of test errors" (0x2870:04 Activation of test errors" (0x2870:04 / P-
/ P-0-0257 / --) 0-0257 / --)
Reset error

See also Error reaction

▶ Attributes

F2901 Communication error: Check connection or network config.

An error occurred in the client/server communication.

Cause Remedy

Invalid network settings If required, check and modify the network

settings of the device.

Valid network settings

IP address: 192.168.222.0 to 192.168.222.199
Subnet mask: 255.255.255.0
Gateway address: 0.0.0.0

Electric connection between panel and Check the electric connection between panel and
device defective device. If required, replace the panel or the
device.

All axes were found but it is not possible to Check the network settings of the server to
establish a connection one or several which a connection is to be established to
servers

Manually restart the device after a Please wait until booting of the device has been
successful firmware download completed. Subsequently, delete the error
▶ Attributes

F2902 File system corrupt: Contact the service team

A corrupt file system was detected by the panel. Files cannot be accessed or cannot be used anymore. Panel function
requiring access to the file system do not work correctly.

Cause Remedy

Error during Disconnect the panel from the device and connect it to the device.
initialization of the Formatting and initialization of the memory is automatically triggered
external data carrier after switch on.
If the problem persists, please contact our service department.
Error during reading a
file

Error during writing to

a file

▶ Attributes

F2903 Panel base parameters invalid: Contact the service team

The panel is equipped with a set of basic parameters that are written once per production line. In case of invalid basic
parameters, this error is reported in the panel.

Cause Remedy

Basic parameters of the panel not updated or corrupt Please contact the service department

Invalid panel MAC ID

▶ Attributes

Non-fatal safety technology errors (F3xxx)

F3010 SMO: IO mapper inputs error
If in the "I/O mapper inputs", the function block type 6: "Safe AND with protection against restart " is used, the inputs
Start and Reset are monitored for compliance with "SMO IO mapper inputs: Minimum pulse duration" (0x3050:01 / P-0-
3332.0.1 / P-0-2527).
 Cause Remedy

Pulse duration of the Start input falls below the Check the pulse duration of the "Start" input
time parameterized in "SMO IO mapper inputs: or the value of "SMO IO mapper inputs:
Minimum pulse duration" (0x3050:01 / P-0- Minimum pulse duration" (0x3050:01 / P-0-
3332.0.1 / P-0-2527) 3332.0.1 / P-0-2527)

Pulse duration of the Reset input falls below the Check the pulse duration of the "Reset"
time parameterized in "SMO IO mapper inputs: input or the value of "SMO IO mapper
Minimum pulse duration" (0x3050:01 / P-0- inputs: Minimum pulse duration" (0x3050:01
3332.0.1 / P-0-2527) / P-0-3332.0.1 / P-0-2527)

▶ Attributes
Detailed diagnostics

00530096

00530097

0053349F

005334A0

00540096

00540097

0054349F

005434A0

F3011 Incorrect supply voltage

Cause Remedy
 Cause Remedy

An error was detected in the power supply of Check the power supply of the control device.
the integrated safety technology.
The detailed diagnostics shows whether
overvoltage or undervoltage has occurred.
If the voltage is back in the valid operating
range, the error can be cleared.

▶ Attributes
Detailed diagnostics

00533250

00533251

00543250

00543251

F3100 F3 test error during machine acceptance test

The error was generated within the scope of the machine acceptance test ("error reaction" testing point) to check the
reaction of the drive when an F3 error occurs [see "SMO axis validation support: Error reaction" (0x302C:01 / P-0-3211 /
--)].

▶ Attributes
Detailed diagnostics

00530054

0053349A

00540054

0054349A
F3101 Axis validation missing
The continuous operation of SafeMotion in the operating mode (OM) is only possible for a maximum of 15 minutes if the
validation status is missing [see "SMO axis validation: Status" (0x302E:03 / P-0-3210.0.2 / P-0-2543)]. Thereafter, the
drive is switched off automatically with this error message. If the error is cleared, the axis can be operated for another 15
minutes.

Cause Remedy

With non-validated axis configuration, the axis was operated for Carry out the validation of
15 minutes in the operating mode (OM). the axis configuration

▶ Attributes
Detailed diagnostics

00530074

00540074

F3112 Safe reference missing

This error is generated as a reaction to Safe reference missing, depending on the selected/active special mode and the
configured safety function.

Cause Remedy

The axis has been in the Establish "Safe reference"

following state for at least 15
Note: After a risk assessment , the parameterization can be
minutes:
such that the warning E3112 is signaled instead of the error
"Safe homing procedure" has F3112 (0x31B0:01 / P-0-3253.0.1 / P-0-2793).
been activated (0x31B0:01 /
P-0-3253.0.1 / P-0-2793)
The axis is in the operating
mode "SMO application"
(0x3082:04 / P-0-3231 / --)
"Safe reference" is missing
(0x310E:01 / P-0-3256 / --)

The error can be cleared even if its cause has not yet been removed; the time
monitoring is restarted by clearing the error.
▶ Attributes
Detailed diagnostics

000406E7

000406E8

000406E9

004606EA

F3115 Brake check time interval exceeded

If "time interval of holding brake check" was activated in "Brake control: Configuration" (0x2032:01 / P-0-0525 / --), the
drive monitors the time that has passed since the last holding brake check.

The time interval specified in P‑0‑0550, within which the brake test has to be carried out again, was exceeded.

Error reaction
The drive reacts with the error reaction that has been set. The status of holding brake check is set to "0" in "Brake
control: Status word" (0x2032:02 / P-0-0539 / --).

Cause Remedy

Drive had been put into operation and Brake test has to be carried out within 15 minutes
drive enable was set; after 15 minutes, after drive had been put into operation and drive
drive generates error F3115 enable was set [C2100 (P‑0‑0541)]

Time set in the time interval brake test Clear error; drive is operational again. Brake test has
(P‑0‑0550) has elapsed since last brake to be carried out within 15 minutes (with drive
test enable) [C2100 (P‑0‑0541)]

See brake

▶ Attributes

F3119 Error in initialization of P-0-3212

 Cause Remedy

Faulty read access to memory. Clear error and reconfigure "SMO

service: Code words for tests"
It was impossible to initialize "SMO service: Code
(0x3002:02 / P-0-3212 / --).
words for tests" (0x3002:02 / P-0-3212 / --) with its
data backup.

▶ Attributes
Detailed diagnostics

0053013D

00533489

0053348A

0053348B

0054013D

00543489

0054348A

0054348B

F3134 Dynamization time interval incorrect

The selection signals of channel 1 and 2 of safety technology are dynamized by short pulses (selection signal goes to "0")
to detect errors in the selection and in the safety-relevant circuits.

The diagnostic unit of safety technology monitors that each channel is dynamized at least once per hour. The safety
technology tolerates the failure of the dynamization pulse on one channel, if the 8 successive dynamization pulses occur
within the monitoring limit.

When the diagnostic unit detects an error, the error F3134 is generated and the parameterized error reaction is carried
out. In addition, a safety technology error reaction takes place after 30 minutes which switches off the output stage via
two channels.
In the case of a short circuit or "stuck at high" of the selection channels, there is a maximum delay of 2 hours until a
functional error reaction is initiated, or 2.5 hours until the safety technology error reaction is initiated.

Cause Remedy

Error in wiring​: Check wiring of selection and

remove error
loose connections
incorrect wiring of inputs and outputs
short circuit between both selection channels
short circuit between one or both selection channels
with 24 V

Hardware defective Replace drive controller

The error can be cleared by a selection and deselection combination. The cause
should be fixed first.

▶ Attributes

F3140 SVM: Error in DC bus voltage monitoring

An inconsistency was detected during DC link voltage measurement or evaluation. Reliable monitoring of the DC link
voltage is no longer possible.

A more precise cause of the error can be read via the detailed diagnostics.

▶ Attributes
Detailed diagnostics

00153321

00153322

00153323

00153324

00153325
 00153326

00153327

00153328

00153329

0015332B

F3141 Operating status selection validation error

Cause Remedy

Selection of a motion mode ("SMM 1" to A motion mode can be selected using safety
"SMM 16") in special mode "Safe motion" is bus communication or safe inputs; check the
not unequivocal; either there is no SMM signal selection.
active or multiple SMM signals are active [see
If necessary, correct the maximum allowable
"SMO state machine: Control word, safety"
time during which either no SMM signals or
(0x3082:01 / P-0-3261 / --)]
multiple SMM signals can be active during
selection of motion modes ["SMO state
machine prof. 1: Max. tol. time for dif.
selection" (0x3084:05 / P-0-3280.0.5 / --)]

▶ Attributes
Detailed diagnostics

0053000A

0053000B

00536029

0054000A
 0054000B

00546029

F3142 Activation time of enabling control exceeded

The parameterized maximum time for the activation of the enabling control has been exceeded.

Error reaction
The drive is decelerated according to "SMO error reaction: Configuration stopping process" (0x315E:01 / P-0-3263.0.1 / -
-). The drive automatically switches to "Safe stop 1" and the output stage is switched off via two channels.

Cause Remedy

Enabling control was activated too long Remove enabling signal before parameterized time is
over; parameterizable activation times of enabling
control:
"SMO special mode 1: Max. activation time
enabling control" (0x3140:02 / P-0-3290.1.6 / --)
"SMO special mode 2: Max. activation time
enabling control" (0x3141:02 / P-0-3290.2.6 / --)
...
"SMO special mode 16: Max. activation time
enabling control" (0x314F:02 / P-0-3290.16.6 / --)

Parameterization of maximum activation Check parameterization and change it, if necessary:

time of enabling control does not make
"SMO special mode 1: Max. activation time
sense
enabling control" (0x3140:02 / P-0-3290.1.6 / --)
"SMO special mode 2: Max. activation time
enabling control" (0x3141:02 / P-0-3290.2.6 / --)
...
"SMO special mode 16: Max. activation time
enabling control" (0x314F:02 / P-0-3290.16.6 / --)

Enabling control is defective or Check and, if necessary, replace/correct enabling

incorrectly wired control and wiring

After having removed the cause, start the command "Class 1 diagnostics: C0500 Reset command" (0x2B87:02 / S-0-0099
/ --) to clear the error and then set drive enable again.
▶ Attributes
Detailed diagnostics

0053000C

00533490

0054000C

00543490

F3144 AKS validation during drive-controlled transition to SM1

The drive-controlled transition to the safety technology operating state "special mode 1" (SM1) with motor phase short
circuit is implemented by an "AKS" of the functional part of the firmware.

During the transition to SM1 by the safety function "Safe stop 1" (SS1), the correct selection or actuation of the motor
phase short circuit is checked.

During an "AKS" of the functional part of the firmware, a PWM signal with a duty factor
of 100% is applied in the lower half bridge, and a PWM signal with a duty factor of 0%
is applied in the upper half bridge to short-circuit the motor phases. The PWM signal
of both half bridges is evaluated by SMO during the transition process.

Cause Remedy

During the drive-controlled transition, the selection or actuation If error occurs repeatedly,
of the motor phase short circuit is not correct. replace drive controller.

The cause for triggering the error can be found in the detailed diagnostics.

▶ Attributes
Detailed diagnostics

005335B6

005335B7
 005435B6

005435B7

F3165 Faulty SMO reference signal

The SMO reference signal is statically evaluated (0x31B0:01 / P-0-3253.0.1 / P-0-2793) and the Safe reference has been
established (0x310E:01 / P-0-3256 / --).

Although the axis is outside of the SMO reference position*, the SMO reference signal (0x31B0:02 / P-0-3253 / --) shows
high level. The Safe reference is cleared because the SMO reference signal is no longer unequivocal.

SMO reference position

CoE: 0x31B0:03 ± 0x31B0:04
Sercos: P-0-3253.0.3 ± P-0-3253.0.4
SoE: P-0-2795 ± P-0-2796

Cause Remedy

The selected "SMO safe homing: Tolerance window" ( 0x31B0:04 Remove cause and execute
/ P-0-3253.0.4 / P-0-2796) is too small command C4000

SMO home switch / reference cam was shifted

"Stuck at High" of SMO reference signal (0x31B0:02 / P-0-3253 /

--)

"Sporadic" high level (disturbances) of SMO reference signal

(0x31B0:02 / P-0-3253 / --)

▶ Attributes
Detailed diagnostics

004606C8

F3166 Reference position check failed

The SMO reference signal was not detected within the defined position range during the time interval in which the Safe
reference would have had to be cyclically checked.

Cause Remedy
 Cause Remedy

During the time interval in which the Safe Repeat command C4000 to set the status
reference would have had to be cyclically checked of the SMO encoder position feedback
(0x31B0:06 / P-0-3253.0.6 / P-0-2798), the SMO value to "safely homed" again (0x310E:01
reference signal (0x31B0:02 / P-0-3253 / --) was / P-0-3256 / --).
not detected within the SMO reference position*.
Make sure that the drive is moved over
SMO reference position the SMO reference position at a velocity <
"SMO safe homing: Maximum velocity"
CoE: 0x31B0:03 ± 0x31B0:04
(0x31B0:05 / P-0-3253.0.5 / P-0-2797) for
Sercos: P-0-3253.0.3 ± P-0-3253.0.4
subsequent reference position checks.
SoE: P-0-2795 ± P-0-2796

Use "SMO safe homing: Configuration" ( 0x31B0:01 / P-0-3253.0.1 / P-0-2793) to

configure whether or not the "Safe reference" is cyclically checked.

▶ Attributes
Detailed diagnostics

0046071B

0053071B

0054071B

F3167 Encoder evaluation warning

Cause Remedy
 Cause Remedy

The standard encoder evaluation signals a warning in Using the diagnostic trace, analyze
the "SMO application" system state (0x3082:04 / P-0- whether or not a warning of the
3231 / --). The warning points to a problem that might standard encoder evaluation had
potentially cause the Safe reference to get lost on the occurred before the error F3167
SMO side. occurred.
Eliminate the cause of the warning
The status of the SMO encoder position feedback value
using the description of the
is set to "relative" (0x310E:01 / P-0-3256 / --).
diagnostic message.
Execute the command C4000
again to set the status of the safe
reference of the SMO encoder to
"safely homed" again (0x310E:01 /
P-0-3256 / --).

▶ Attributes
Detailed diagnostics

0053071D

0054071D

F3360 SMO: Error in control of safe local outputs

With configured safe outputs (and the outputs actuated with 24 V), the safety technology cyclically monitors whether
they can be switched off to 0 V. In addition, the voltage level that is output is monitored both in the case of actuation
with 0 V and with 24 V. An error was detected by one of these monitoring functions.

Cause Remedy

State of output does not comply with Check the wiring for short circuit against V CC or
actuation GND.
If error occurs repeatedly, replace drive
controller.

Incorrect dynamization of the output If error occurs repeatedly, replace drive

controller.
See also detailed diagnostics.

▶ Attributes
Detailed diagnostics

001D0015

001D0016

001D0017

001D0018

001D0019

001D001A

00530470

00533445

00540470

00543445

F3363 SMO: Error in control of safe local inputs

With configured safe inputs, the safety technology cyclically monitors their actuation. An error was diagnosed in the
process.

Cause Remedy
 Cause Remedy

Only in the case of dual-channel selection ["SMO Check actuation for consistency. A
local IOs: Input signals configuration" (0x305C:01 tolerance time of inconsistent inputs of
/ P-0-3322.0.2 / P-0-3840, bit 2="0")] a maximum of 1 second is tolerated.
Check the wiring.
Inputs are not consistent
If error occurs repeatedly, replace drive
controller.

See also detailed diagnostics.

▶ Attributes
Detailed diagnostics

001D0010

001D0011

001D0012

001D0013

001D0014

00530775

00530776

00540775

00540776

F3364 SMO: Local inputs system error

With configured safe inputs, the safety technology cyclically monitors their actuation. An error was diagnosed in the
process.
 Cause Remedy

A hardware error was detected when the local inputs had been Replace drive
monitored. controller

▶ Attributes
Detailed diagnostics

00533466

00533488

00543466

00543488

F3365 SMO: Local inputs overvoltage error

Cause Remedy

An input voltage > 36 V has been applied at Make sure that the voltage applied at the local
a local input input is < 36 V

▶ Attributes
Detailed diagnostics

00533468

00543468

F3366 SMO: Local inputs system error after overvoltage

Cause Remedy
 Cause Remedy

After an overvoltage > 36 V the inputs were switched off. In this state, a level Replace
other than 0 V is still detected; a hardware error has occurred drive
controller

▶ Attributes
Detailed diagnostics

00533465

00543465

F3367 SMO: Error in control of SAFETYlink inputs

When the safe local input signals of SAFETYlink communication had been checked, different states between the signals
of input 1 and input 2 of the respective input pair were detected with active dual-channel evaluation. The affected input
pair can be recognized by the detailed diagnostics (input pair 1…8).

Cause Remedy

Cable break, contact error or incorrect wiring of the inputs at the Check wiring of the
SAFETYlink master inputs at the SAFETYlink
master

The delay in control of the inputs at the SAFETYlink master is Check control of the
greater than 1 second inputs at the SAFETYlink
master
NOTE: The tolerated discrepancy time for different states between
the signals of input 1 and input 2 of the corresponding input pair is
1 second and cannot be modified.

SAFETYlink master incorrectly configured Check configuration of

SAFETYlink master

Incorrect or unintended configuration of dual-channel evaluation of Check configuration of

the safe input signals of SAFETYlink communication dual-channel evaluation
(P–0–3320.0.2)
▶ Attributes
Detailed diagnostics

0017003C

0017003D

0017003E

0017003F

00170040

00170041

00170042

00170043

F3370 SMO: B sample error

An error has occurred in the use of B sample functionalities.

For further information, see the detailed diagnostics.

▶ Attributes
Detailed diagnostics

00020014

00020015

00020016

00020017
 00020018

00020019

F3460 PROFIsafe error

An invalid value was detected when the PROFIsafe data (F-parameters or useful data) had been checked.

The cause for triggering the error and the remedy can be found in the detailed
diagnostics.

▶ Attributes
Detailed diagnostics

005306AC

005306AD

005306B5

00530737

005406AC

005406B5

F3461 PROFIsafe connection error

A PROFIsafe connection error has occurred.

The cause for triggering the error and the remedy can be found in the detailed
diagnostics.

▶ Attributes
Detailed diagnostics
 005306AD

005306AF

005306B0

005306B1

005306B3

005406AD

005406AF

005406B0

005406B1

005406B3

F3462 PROFIsafe: F-destination address mismatch

When the PROFIsafe connection had been established, an F-destination address mismatch was detected, i.e. cyclic
PROFIsafe communication is not possible.

Cause Remedy

"SMO PROFIsafe: F-destination address" (0x30BA:02 / P- Correctly configure "SMO

0-3360.0.1 / --) does not match the F-parameters PROFIsafe: F-destination address"
received by the F-Host (safety control). (0x30BA:02 / P-0-3360.0.1 / --).

▶ Attributes
Detailed diagnostics

005306AD
 005406AD

F3463 PROFIsafe: F-source address mismatch or not valid

When the PROFIsafe connection had been established, an F-source address mismatch was detected, i.e. cyclic PROFIsafe
communication is not possible.

Cause Remedy

"SMO PROFIsafe: F-source address" (0x30BA:05 / P-0- Correctly configure "SMO

3360.0.7 / --) does not match the F-parameters received PROFIsafe: F-source address"
by the F-Host (safety control). (0x30BA:05 / P-0-3360.0.7 / --).

▶ Attributes
Detailed diagnostics

005306AE

005306B7

005406AE

005406B7

F3464 PROFIsafe: F-parameter block inconsistent (CRC1 error)

When the PROFIsafe connection had been established, the checksum of the F-parameter block (CRC1) was detected to
be wrong, i.e. cyclic PROFIsafe communication is not possible.

Cause Remedy

The checksum (CRC1) of "SMO Check the configuration of the F-parameters in the F-Host
PROFIsafe: F-parameters" (safety control) and analyze possible errors in the
(0x30BA:08 / P-0-3362 / --) is communication path or in the transmission
wrong

▶ Attributes
Detailed diagnostics
 005306B2

005406B2

F3465 PROFIsafe: iParameters inconsistent (iParCRC error)

When the PROFIsafe connection had been established, an F_iPar_CRC mismatch was detected, i.e. cyclic PROFIsafe
communication is not possible.

Cause Remedy

The "PROFIsafe iParCRC" of SMO (the first four bytes of S– Configure the "PROFIsafe
0–1800.0.15) does not match the F-parameters received by F_iPar_CRC" correctly in the F-
the F-Host (safety control). Host (safety control).

▶ Attributes
Detailed diagnostics

00530737

005336B0

00540737

005436B0

F3466 PROFIsafe: Transmission data inconsistent (CRC2 error)

Inconsistent data were detected in the cyclic PROFIsafe communication (CRC2 error). The useful data were set to
FailSafe values.

Cause Remedy

Inconsistent data were detected in the cyclic Analyze effects and disturbances on the
PROFIsafe telegram (CRC2 error). communication path.

▶ Attributes
F3467 PROFIsafe: Transmission timeout (watchdog elapsed)
A transmission timeout (watchdog timeout) was detected in the cyclic PROFIsafe communication. The useful data were
set to FailSafe values.

Cause Remedy

A transmission timeout (watchdog timeout) was Set the watchdog time (F_WD_Time) to a
detected in the cyclic PROFIsafe communication. higher value in the F-Host (safety control).
Analyze effects and disturbances on the
communication path.

▶ Attributes

F3470 Safe CAN communication: General error

An internal error or a general configuration error of the safe CAN communication (J1939-76) has been diagnosed.

The cause for triggering the error and the remedy can be found in the detailed
diagnostics.

▶ Attributes
Detailed diagnostics

0053340C

0053340D

00533410

00533411

00533412

00533413

0054340C
 0054340D

00543410

00543411

00543412

00543413

F3471 Safe CAN communication: Error connection #1

An error concerning connection #1 of the safe CAN communication (J1939-76) has been diagnosed.

The cause for triggering the error and the remedy can be found in the detailed
diagnostics.

▶ Attributes
Detailed diagnostics

0053340F

00533420

00533421

00533422

00533423

00533424

00533425

00533426
00533427

00533428

00533429

00533430

00533431

00533432

00533433

00533434

00533435

00533436

00533437

00533438

0054340F

00543420

00543421

00543422
 00543423

00543424

00543425

00543426

00543427

00543428

00543429

00543430

00543431

00543432

00543433

00543434

00543435

00543436

00543437

00543438

F3472 Safe CAN communication: Error connection #2

An error concerning connection #2 of the safe CAN communication (J1939-76) has been diagnosed.

The cause for triggering the error and the remedy can be found in the detailed
diagnostics.

▶ Attributes

Interface errors (F4xxx)

F4001 Bus synchronization failure
"Subdevice STM: Master communication configuration" ( 0x2BD2:01 / P-0-4088 / --) was parameterized so that an error is
to be the reaction to the failure of cyclic communication.

Bus-specific Sercos: phase-3 and phase-4

status

Generic Operational (Safe-Operational)

communication
status

Findings Application-synchronously operated buses require regular subsequent

synchronisation for error-free operation. This can be done by transmitting
a synchronization telegram (as with Sercos) or by synchronizing the clock
(as with EtherCAT). The slave detected that this did not happen within the
required space of time.
The system was automatically switched to ​Pre-Operational​.

Cause Disturbance on the bus

Incorrect return to ​Pre-Operational​
Synchronization master faulty or not available
Control section defective

Remedy The problem can only be solved by the master or configurator.

For some buses, the monitoring window in the slave can be increased.

Master All application-synchronous buses

communication(s)
▶ Attributes

F4002 Failure of a consumer connection

Bus-specific Sercos: phase-4

status

Generic Operational
communication
status

Findings The communication supports bus-specific monitoring mechanisms for

consumer connections (with process data, cyclic command values), such
as:
A connection has to be transmitted or updated in a configured space of
time.
A connection has to be transmitted in a configured space of time with a
defined property (counter, toggle bit, etc.).
A connection has to be transmitted in a configured point in time with a
defined property (counter, toggle bit, etc.).
The device had detected that the configured monitoring criterion was
violated for at least one consumer connection.
There was no automatic return to ​Pre-Operational​.

Cause There is disturbance on the bus.

The producer of the connection has an error and does not transmit
anymore.
The producer does not transmit in the configured pattern (e.g., due to
overload).
The timing settings are faulty.
The number of successive failures of a connection has exceeded the
parameterized limit value.
The settings of the “distributed clocks” or of the synchronization are
incorrect.

Remedy Check bus line and connector

Check settings in master
Sercos: Change line topology to ring topology
Sercos: Increase value in "MCI connection [x]: Allowed data losses"
(S‑0‑1050.x.11)
 Master All
communication(s)

▶ Attributes

F4003 Invalid communication phase shutdown

Bus-specific status All

Generic communication All

status

Findings Invalid communication phase was set by Sercos master module

(phase >4).
Automatic return to ​Pre-Operational​.

Cause Error in Sercos master module of the control

Remedy The problem can only be solved by the master

Master communication(s) Sercos

▶ Attributes

F4004 Error during phase progression

Bus-specific status All

Generic communication All

status

Findings The specified order had not been complied with during phase
progression.
Automatic return to ​Pre-Operational​.

Cause Error in Sercos master module of the control

 Remedy The problem can only be solved by the master

Master communication(s) Sercos

▶ Attributes

F4005 Error during phase regression

Bus-specific All
status

Generic All
communication
status

Findings When the device had been switched back from a communication phase, it
was not switched to communication phase 0.
Automatic return to ​Pre-Operational​.

Cause Error in Sercos master module of the control

Remedy The problem can only be solved by the master

Master Sercos
communication(s)

▶ Attributes

F4006 Phase switching without ready signal

Bus-specific All
status

Generic All
communication
status
 Findings An attempt was made from the Sercos master to carry out phase
switching without waiting for the drive’s ready signal.
Automatic return to ​Pre-Operational​.

Cause Error in Sercos master module of the control

Remedy The problem can only be solved by the master

Master Sercos
communication(s)

▶ Attributes

F4009 Bus failure

The cyclic communication via the master communication interface failed after the master communication interface had
been initialized and commissioned.

DANGER!

Dangerous movements! Danger to life, risk of injury, serious injury or

property damage due to automatic restart after a bus failure!
In the case of bus failure, an error reaction is to be carried out in the control, too, to
prevent automatic restart after the bus has been restored. This means that in the case
of bus failure, the bits "Drive Halt", "Drive enable" and "Drive ON" should be reset in
the control.

▶ EtherCAT

▶ PROFIBUS

▶ PROFINET

▶ Sercos

▶ Attributes

F4017 Incorrect sequence during phase switching

 Bus-specific All
status

Generic All
communication
status

Findings An attempt was made from the Sercos master to carry out phase
switching with a sequence that the drive detected as incorrect.
Automatic return to ​Pre-Operational​

Cause A timeout during phase switching occurred in the drive (individual

switching periods took too long).
The master has changed the phase without prior notice (new phase in
MST without CPS bit set).
The drive was switched on while Sercos had already been in a higher
phase.

Remedy The problem can only be solved by the master

Master Sercos
communication(s)

▶ Attributes

F4019 Incorrect sequence upon phase start

Bus-specific All
status

Generic All
communication
status

Findings An attempt was made from the Sercos master to carry out a phase switch
with a sequence that the slave detected as incorrect.
Automatic return to ​Pre-Operational​.
 Cause After a phase switch the bus master does not start with the announced
phase

Remedy The problem can only be solved by the master

Master Sercos
communication(s)

▶ Attributes

F4020 Communication bus cable break

Bus-specific status All

Generic All
communication status

Findings The Sercos topology was changed from "​Loop-back with Forward​"
(LF) to "​NRT-Modus​".
Automatic return to ​Pre-Operational​

Cause Cable break has occurred (defective cable)

Remedy Replace cable and restart phase progression by master

Master Sercos
communication(s)

▶ Attributes

F4034 Emergency-Stop activated

The drive provides a function for monitoring an E-Stop input (connection of an external hardware switch).
 The monitoring function for the E-Stop input has to be activated and parameterized
via "E-Stop function: Configuration" (0x2806:01 / P-0-0008 / --).
The axis is decelerated as parameterized in "Axis shutdown: Best possible shutdown"
(0x2870:01 / P-0-0119 / --).
The error can only be cleared, when the selection of E-Stop is removed or the
evaluation of E-Stop was switched off.

Cause Remedy

E-Stop input was Remove failure that caused E-Stop to be triggered and clear error
controlled (0 V at digital (reset key or error clearing command). Afterwards switch power
input) back on and clarify what caused E-Stop to trigger

Digital inputs and Check configuration of digital inputs/outputs on control section

outputs on control and correct it, if necessary
section incorrectly
parameterized

E-Stop switch or cable Check function and wiring of E-Stop switch

connection defective or
incorrectly wired

Control section or digital Replace control section or entire drive controller

inputs on control section
defective

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

See E-Stop function

See also Digital inputs/outputs

See Best possible deceleration

▶ Attributes
F4036 Disturbed internal communication with communication module
Multiple telegram failures between communication module and the control section.

Cause Remedy

Faulty internal cyclic data channel The error can be cleared if the failure has not occurred
anymore.
If the error occurs more often, the device has to be
replaced.

Faulty internal cyclic process data The error can be cleared in the “PreOP2” (CP2) state of
channel communication.
If the error occurs more often, the device has to be
replaced.

▶ Attributes
Detailed diagnostics

007B0156

F4037 Excessive position command difference

When the drive is running in the operation mode "position control with cyclic command value input", the preset position
command values are monitored ["Cyclic position control: Command value" (0x2820:01 / S-0-0047 / --)]. If the position
difference between two successive position command values is greater than the effective velocity limit value, position
command value monitoring is activated and the error F4037 is generated.

The excessive position command value is stored in "Position command value monitor:
Excessive value" (0x2824:01 / P-0-0010 / --).
The last valid position command value is stored in "Position command value monitor:
Last valid value" (0x2824:02 / P-0-0011 / --).

Cause Remedy

Incorrect command value input by the control Contact the control unit manufacturer or
programmer
 Cause Remedy

Parameterized velocity limit value is too low Check and, if necessary, correct velocity
limit values:
"Velocity limitation: Max profile velocity"
(0x607F:00 / S-0-0091 / --)
"Velocity limitation: Limit value,
positive" (0x2304:02 / S-0-0038 / --)
"Velocity limitation: Limit value,
negative" (0x2304:03 / S-0-0039 / --)

A firmware not requiring an export license is used; Check and, if necessary, correct position
position command values corresponding to an command values
inverter output frequency ≥ 600 Hz were preset

Limit values of motor were exceeded

"Motor basic data: Max. motor speed"
(0x6080:00 / S-0-0113 / --)
"Axis mechanical data: Velocity limit, bipolar"
(0x2204:03 / P-0-0113 / --)

Drive does not yet follow the external command Only enable change in command value if
value input ["Axis state machine: Status word, bit 3 of "Axis state machine: Status word,
axis" (0x2802:02 / P-0-0115 / --, bit 3="0") axis" (0x2802:02 / P-0-0115 / --) is "1"

See also "Position control" (Sercos) or "Cyclic sync position mode" (CoE)

See also "Position mode drive-controlled" (Sercos) or "Cyclic sync position mode drive controlled" (CoE)

▶ Attributes

F4040 DRIVElink: Consumer connection failure

In the Consumer connection of ctrlX DRIVElink, the configured monitoring criterion was detected to have been violated.

Cause Remedy

There is disturbance on the bus of ctrlX Check bus line and connector
DRIVElink
 Cause Remedy

The ​Producer​ of the connection has an error Check ​Producer​

and does not transmit anymore
– or –
The ​Producer​ does not transmit in the
configured pattern (e.g., due to overload)

The timing settings of ​Producer​ and Check timing settings

​Consumer​ do not match

The number of successive failures of a Increase value in "DRIVElink connection 2:

connection has exceeded the parameterized Allowed connection failures" (0x2DA4:08 / P-0-
limit value 1857 / --)

▶ Attributes

F4041 DRIVElink: Communication failure

The ctrlX DRIVElink communication was detected to have failed; the return to "​​Pre-Operational​​" was not correct.

Cause Remedy

There is disturbance on the bus of ctrlX DRIVElink Check bus line and connector

ctrlX DRIVElink node was switched off Check the ctrlX DRIVElink nodes

▶ Attributes
Detailed diagnostics

00770003

F4039 Communication return with enable signal set

Cause Remedy
 Cause Remedy

Sercos: First remove drive enable and then

set communication phase 0
The communication master set communication phase
0, although drive enable had been set

Ethercat: First remove drive enable before

leaving "​Operational​"
The communication master left the "​Operational​" state
although drive enable had been set

▶ Attributes

F4072 EtherCAT: EoE Invalid Mac Address

A problem occurred while the "Ethernet over EtherCAT (EoE)" telegrams had been processed.

Cause Remedy

The MAC address assigned In the EtherCAT ensure that the MAC address is not 00-00-00-00-
by the master is invalid 00 or that the "MultiCast Flag" is set in the MAC address

▶ Attributes

F4090 EtherCAT: Invalid mailbox configuration

Error in the configuration of ​Syncmanager 0​ / ​Syncmanager 1​ in the EtherCAT slave controller.

Bus-specific status EtherCAT: ​Pre-Operational​, ​Safe-Operational​ and ​Operational​

Generic ​Pre-Operational​, ​Safe-Operational​ and ​Operational​

communication status

Findings The configuration of ​Syncmanager 0​ or ​Syncmanager 1​ is invalid.

The system was automatically switched to ​Init​ or switching to ​Pre-
Operational​ was refused.
 Cause Start address of ​Syncmanager 0​ / ​Syncmanager 1​ is wrong
Length of ​Syncmanager 0​ / ​Syncmanager 1​ is wrong
​Syncmanager 0​ / ​Syncmanager 1​ are inactive
Wrong device description (ESI) in the EtherCAT master

Remedy The problem can only be solved by the master.

Correct the ​Syncmanager 0​ or ​Syncmanager 1​ configuration in the
EtherCAT master.

Master EtherCAT
communication(s)

▶ Attributes

F4091 EtherCAT: Invalid output configuration

The ​Syncmanager 2​ in the EtherCAT slave controller was deactivated.

Bus-specific status EtherCAT: ​Safe-Operational​ and ​Operational​

Generic communication ​Safe-Operational​ and ​Operational​

status

Findings ​Syncmanager 2​ was deactivated

The system was automatically switched to ​Pre-Operational​.

Cause Start address of ​Syncmanager 2​ is wrong

Length of ​Syncmanager 2​ is wrong
​Syncmanager 2​ was deactivated

Remedy The problem can only be solved by the master.

Correct the ​ Syncmanager 2​ configuration in the EtherCAT
master.

Master communication(s) EtherCAT

▶ Attributes
F4092 EtherCAT: Invalid input configuration
The ​Syncmanager 3​ in the EtherCAT slave controller was deactivated.

Bus-specific status EtherCAT: ​Safe-Operational​ and ​Operational​

Generic communication ​Safe-Operational​ and ​Operational​

status

Findings Syncmanager 3 was deactivated

The system was automatically switched to ​Pre-Operational​.

Cause Start address of ​Syncmanager 3​ is wrong

Length of ​Syncmanager 3​ is wrong
​Syncmanager 3​ was deactivated

Remedy The problem can only be solved by the master.

Correct the ​Syncmanager 3​ configuration in the EtherCAT
master.

Master communication(s) EtherCAT

▶ Attributes

F4093 EtherCAT: Invalid watchdog configuration

Bus-specific status ​Safe-Operational​ and ​Operational​

Generic ​Safe-Operational​ and ​Operational​

communication
status

Findings The configuration of the EtherCAT process data watchdog in the

EtherCAT slave controller is invalid.
The system was automatically switched to ​Pre-Operational​.

Cause The master deactivates the EtherCAT process data watchdog during
operation.
 Remedy The problem can only be solved by the master or configurator.

Master EtherCAT
communication(s)

▶ Attributes

F4099 F4 test error; axis and supply unit reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the error reaction that has been set for communication errors of category F4xxx.

The reaction of the supply unit can be set via "Power supply control: Power off delay"
(0x2600:03 / S-0-1720.0.3 / S-0-2059).

Cause Remedy

The value "0x210" was written to "Axis 1. Write the value "0" to "Axis shutdown:
shutdown: Activation of test errors" (0x2870:04 Activation of test errors" (0x2870:04 / P-0-
/ P-0-0257 / --) 0257 / --)
2. Reset error

See also Error reaction

▶ Attributes

F4200 VPI: Consumer connection failure

In the Consumer connection via VPI (virtual peripherals interface), the configured monitoring criterion was detected to
have been violated.

Cause Remedy

The ​Producer​ of the connection has an error and does not transmit Check ​Producer​
anymore
– or –
The ​Producer​ does not transmit in the configured pattern (e.g., due to
overload)
 Cause Remedy

The timing settings of ​Producer​ and ​Consumer​ do not match Check timing
settings

▶ Attributes

Errors of category F6xxx

F6001 Non-fatal system error
A non-fatal system error has occurred. The drive is decelerated using the configured F6 error reaction.

Cause Remedy

The diagnostic system has detected Save all of the parameters.

an undefined diagnostic message
Then please contact our service department, and make
parameter backup available to the service team

▶ Attributes
Detailed diagnostics

0044011D

0044011E

00661000

F6007 Switching to non-initialized operation mode

When switching the active operation mode, the drive was switched to a non-initialized operation mode.

For the operation modes that can be selected, please see descriptions of the operation mode parameters:

"Axis operation modes: Primary operation mode (0x2800:01 / S-0-0032 / --)

"Axis operation modes: Secondary operation mode 1" ( 0x2800:02 / S-0-0033 / --)
"Axis operation modes: Secondary operation mode 2" ( 0x2800:03 / S-0-0034 / --)
"Axis operation modes: Secondary operation mode 3" ( 0x2800:04 / S-0-0035 / --)
"Axis operation modes: Secondary operation mode 4" ( 0x2800:05 / S-0-0284 / --)
"Axis operation modes: Secondary operation mode 5" ( 0x2800:06 / S-0-0285 / --)
"Axis operation modes: Secondary operation mode 6" ( 0x2800:07 / S-0-0286 / --)
"Axis operation modes: Secondary operation mode 7" ( 0x2800:08 / S-0-0287 / --)
 Cause Remedy

An operation mode that had not been initialized was selected Enter desired operation mode
via the drive control word [e.g., "Axis operation modes: in operation mode parameter
Primary operation mode (0x2800:01 / S-0-0032 / --)="0"]. selected via drive control word

See Operating mode selection

▶ Attributes

F6010 PLC runtime error

ctrlX DRIVE PLC triggers error F6010 in the case of internal errors, configuration errors, runtime errors or task
watchdogs.

The cause of the error can be narrowed down via the detailed diagnostics. A more detailed diagnostics of the cause of
the error is displayed in "PLC diagnostics: Error message" (0x3406:01 / P-0-1365 / --).

Runtime errors are division by 0, illegal array addressing, invalid pointer access, calling mathematical functions with
invalid arguments, etc. These errors can be directly assigned to a code position or program line in the corresponding PLC
function block.

When connecting the programming system ctrlX PLC Engineering, the incorrect code
position/program line is highlighted in yellow in the case of error, if the error F6010
was generated by a runtime error.
If ctrlX PLC Engineering is not available on site, the error can be reproduced on a
different device with a parameter backup ["Replay Exception" function [see also "PLC
diagnostics: Internal exception data" (0x3406:03 / P-0-1362 / --) and "PLC function:
Control word" (0x3400:01 / P-0-1350 / --, bit 8)]. Thus, the position causing the error
can be shown on a different device with ctrlX PLC Engineering.

Error reaction
The PLC is not started or all tasks are stopped. The drive is also set to standstill with velocity command value zero
switching. I.e., the error reaction cannot parameterized by the user.

The error can only be cleared when it is no longer present.

The following is required, depending on the error type:

a PLC reset
in the case of configuration errors: program correction
in the case of internal errors: drive restart

Bug fixing
The following cases have to be distinguished for troubleshooting:

In a freely programmed application, the PLC program or the ctrlX DRIVE PLC configuration or the task configuration
have to be changed with the programming system to fix the error.
Depending on the cause of the error, the following actions can be seen in the detailed diagnostics:

In the case of runtime errors and task watchdogs: Remove the incorrect programming
In the case of configuration errors: Correct the configuration
In the case of internal errors: With the error present, make a parameter backup of all parameters and contact the
service team

For a technology function provided by Bosch Rexroth, please refer to the instruction for debugging of the relevant
documentation.

▶ Attributes
Detailed diagnostics

00260001

00260002

00260003

00260004

00260005

00260006

00260007

00260008

00260009

0026000A

0026000B
 0026000C

0026000D

0026000E

0026000F

00260010

00260011

00260012

00260013

00260014

00260015

00260016

00260017

00260018

F6028 Position limit value exceeded (overflow)

The drive provides a function for monitoring an allowed travel range using software limit switches that can be
parameterized.
 Travel range monitoring has to be activated and parameterized using the position limit
values ["Travel range limitation: Limit value, positive" (0x2308:04 / S-0-0049 / --),
"Travel range limitation: Limit value, negative" (0x2308:05 / S-0-0050 / --)]. Besides,
the polarities of the specified position data may be inverted using "Axis polarity:
Position" (0x290A:01 / S-0-0055 / --).
If the error occurs, the axis is decelerated with the reaction parameterized in "Axis
shutdown: Best possible shutdown" (0x2870:01 / P-0-0119 / --, bit 4…7).
In "Travel range limitation: Configuration" (0x2308:01 / S-0-0532 / --), parameterize
how the drive reacts when the travel range is exceeded (fatal warning or error).

Cause Remedy

A command value was specified for the drive that Clear error and switch on power
results in an axis position outside of positive or negative Set drive enable
travel range/position limit value Specify a command value that
leads back to the allowed travel
range
Contact the machine manufacturer
to clarify cause of faulty command
value

Positive or negative travel range/position limit value Check and, if necessary, correct
incorrectly parameterized parameterization of "Travel range
limitation: Limit value, positive"
(0x2308:04 / S-0-0049 / --) and
"Travel range limitation: Limit value,
negative" (0x2308:05 / S-0-0050 / --)

If position limit values are at the end of the possible Increase "Maximum travel range:
travel range [+/- "Maximum travel range: Absolute Absolute format" (0x2488:02 / S-0-
format" (0x2488:02 / S-0-0278 / --)], it is no longer 0278 / --)
possible to clearly detect the exceeded travel range via
‑ or ‑
the actual position values. Therefore, overflow
monitoring is carried out that generates the error reduce position limit values so that
defined deceleration is still possible
within the defined travel range.
 Additionally, the travel range may be limited by "Position status: Position window"
(0x6067:00 / S-0-0057 / --).

See also Position limit values

▶ Attributes

F6029 Positive position limit exceeded

The drive provides a function for monitoring an allowed travel range using software limit switches that can be
parameterized.

Travel range monitoring has to be activated and parameterized using the position limit
values ["Travel range limitation: Limit value, positive" (0x2308:04 / S-0-0049 / --),
"Travel range limitation: Limit value, negative" (0x2308:05 / S-0-0050 / --)]. Besides,
the polarities of the specified position data may be inverted using "Axis polarity:
Position" (0x290A:01 / S-0-0055 / --).
If the error occurs, the axis is decelerated with the reaction parameterized in "Axis
shutdown: Best possible shutdown" (0x2870:01 / P-0-0119 / --, bit 4…7).
In "Travel range limitation: Configuration" (0x2308:01 / S-0-0532 / --), parameterize
how the drive reacts when the travel range is exceeded (fatal warning or error).

Cause Remedy

A command value was specified for the drive Clear error and switch on power
that results in an axis position outside of the Set drive enable
positive travel range/position limit value Specify a command value that leads back
to the allowed travel range
Contact the machine manufacturer to clarify
cause of faulty command value

Positive travel range/position limit value Check and, if necessary, correct

incorrectly parameterized parameterization of "Travel range limitation:
Limit value, positive" (0x2308:04 / S-0-0049 /
--)
 Additionally, the travel range may be limited by "Position status: Position window"
(0x6067:00 / S-0-0057 / --).

See also Position limit values

▶ Attributes

F6030 Negative position limit exceeded

The drive provides a function for monitoring an allowed travel range using software limit switches that can be
parameterized.

Travel range monitoring has to be activated and parameterized using the position limit
values ["Travel range limitation: Limit value, positive" (0x2308:04 / S-0-0049 / --),
"Travel range limitation: Limit value, negative" (0x2308:05 / S-0-0050 / --)]. Besides,
the polarities of the specified position data may be inverted using "Axis polarity:
Position" (0x290A:01 / S-0-0055 / --).
If the error occurs, the axis is decelerated with the reaction parameterized in "Axis
shutdown: Best possible shutdown" (0x2870:01 / P-0-0119 / --, bit 4…7).
In "Travel range limitation: Configuration" (0x2308:01 / S-0-0532 / --), parameterize
how the drive reacts when the travel range is exceeded (fatal warning or error).

Cause Remedy

A command value was specified for the drive Clear error and switch on power
that results in an axis position outside of the Set drive enable
negative travel range/position limit value Specify a command value that leads back
to the allowed travel range
Contact the machine manufacturer to clarify
cause of faulty command value

Negative travel range/position limit value Check and, if necessary, correct

incorrectly parameterized parameterization "Travel range limitation:
Limit value, negative" (0x2308:05 / S-0-0050
/ --)
 Additionally, the travel range may be limited by "Position status: Position window"
(0x6067:00 / S-0-0057 / --).

See also Position limit values

▶ Attributes

F6034 Emergency-Stop activated

The drive provides a function for monitoring an E-Stop input (connection of an external hardware switch).

The monitoring function for the E-Stop input has to be activated and parameterized
via "E-Stop function: Configuration" (0x2806:01 / P-0-0008 / --).
The error can only be cleared, when the selection of E-Stop is removed or the
evaluation of E-Stop was switched off.

Cause Remedy

E-Stop input was controlled (0 V at digital Remove failure that caused E-Stop to be
input) triggered and clarify cause of triggering

Digital inputs and outputs on control Check configuration of digital inputs/outputs and
section incorrectly parameterized correct it, if necessary

E-Stop switch or cable connection Check function and wiring of E-Stop switch
defective or incorrectly wired

Control section or digital inputs on control Replace control section or entire drive controller
section defective

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

See E-Stop function

See also Digital inputs/outputs

▶ Attributes

F6042 Both travel range limit switches activated

The compliance with the allowed travel range of linear axes is monitored on the hardware side via two travel range limit
switches. If the travel range limit switches have been correctly mounted, one of the two travel range limit switches is
activated in case the travel range is exceeded.

The error F6042 is generated if the following conditions have been fulfilled:

The controller detects that both travel range limit switches have been simultaneously activated and
Exceeding the travel range is handled as an error [setting in "Travel range limitation: Configuration" (0x2308:01 / S-0-
0532 / --)].

Cause Remedy

Due to incorrect mounting, Mount travel range limit switches in such a way that they are
axis simultaneously activates activated shortly before axis end position is reached. Make
both travel range limit sure the braking distance is sufficient.
switches

Travel range limit switches Connect travel range limit switches correctly; check whether
were incorrectly connected switching logic parameterized in "Travel range limitation:
Configuration" (0x2308:01 / S-0-0532 / --) is complied with

Switching logic of travel range Check switching logic of travel range limit switches regarding
limit switches does not match the implemented wiring; adjust it in "Travel range limitation:
the implemented wiring Configuration" (0x2308:01 / S-0-0532 / --) if necessary

See also Travel range limit switches

▶ Attributes

F6043 Positive travel range limit switch activated

The drive provides a function for monitoring travel range limit switches (external hardware limit switches).

The monitoring function for the travel range limit switches may be activated and
parameterized via "Travel range limitation: Configuration" (0x2308:01 / S-0-0532 / --).
If the error occurs, the axis is decelerated with the reaction parameterized in "Axis
shutdown: Best possible shutdown" (0x2870:01 / P-0-0119 / --, bit 4…7).

Cause Remedy
 Cause Remedy

The travel range limit switch mounted in the positive direction (see Clear error and
Project Planning Manual of motor) was activated because the axis is switch on power
outside of the travel range defined by the travel range limit switches Set drive enable
Specify a command
value that leads back
to the allowed travel
range

Digital inputs and outputs on control section incorrectly Check and, if

parameterized necessary, correct
configuration of digital
inputs/outputs

Travel range limit switch or cable is defective or wired incorrectly Check function and
wiring of travel range
limit switch

Control section or digital inputs on control section defective Replace control

section or entire drive
controller

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

See also Travel range limit switches

See also Digital inputs/outputs

▶ Attributes

F6044 Negative travel range limit switch activated

The drive provides a function for monitoring travel range limit switches (external hardware limit switches).
 The monitoring function for the travel range limit switches may be activated and
parameterized via "Travel range limitation: Configuration" (0x2308:01 / S-0-0532 / --).
If the error occurs, the axis is decelerated with the reaction parameterized in "Axis
shutdown: Best possible shutdown" (0x2870:01 / P-0-0119 / --, bit 4…7).

Cause Remedy

The travel range limit switch mounted in the negative direction (see Clear error and
Project Planning Manual of motor) was activated because the axis is switch on power
outside of the travel range defined by the travel range limit switches Set drive enable
Specify a command
value that leads back
to the allowed travel
range

Digital inputs and outputs on control section incorrectly Check and, if

parameterized necessary, correct
configuration of digital
inputs/outputs

Travel range limit switch or cable is defective or wired incorrectly Check function and
wiring of travel range
limit switch

Control section or digital inputs on control section defective Replace control

section or entire drive
controller

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

See also Travel range limit switches

See also Digital inputs/outputs

▶ Attributes
F6057 Synchronization not possible
With the acceleration set in "Position control synchronization: Acceleration (0x2830:03 / P-0-0142 / --)", the current
actual velocity of the axis and the current external command value input, synchronization is not possible.

Possible causes (the exact cause for triggering the error and the remedy can be
found in the detailed diagnostics):
Value parameterized in "Position control synchronization: Acceleration" (0x2830:03 / P-0-0142 / --) is "0" or very small
Actual velocity of axis too high
Position difference of successive external position command values too big
Incorrect command value input by the external control

▶ Attributes
Detailed diagnostics

00520207

00520208

00520209

00520210

00520211

00520212

00520213

F6058 Internal overflow by positioning input

The error was generated because a problem had occurred in the generation of the position command value profile.

Possible causes (the exact cause for triggering the error and the remedy can be
found in the detailed diagnostics):
Overflow in braking distance calculation when positioning with modulo scaling
Validation error when positioning with modulo scaling

▶ Attributes
Detailed diagnostics
00520219

0052021A

0052021B

0052021C

0052021D

0052021E

0052021F

00520220

00520221

00520222

00520223

00520224

00520225

00520226

00520227

00520228

00520229
 0052022A

0052022B

0052022C

0052022D

0052022E

0052022F

00520230

00520231

00520232

00520233

00520234

00520235

00520236

00520237

F6059 Incorrect direction when jogging

If the configuration specifies that the position data of the axis are to be processed in the modulo format, and positive or
negative direction of rotation has been set as the mode for modulo positioning, jogging in the opposite direction causes
the error F6059 to be generated.
 Application profile "CiA 402":
The modulo format can be activated via "Position range limit: Max position range limit"
(0x607B:02 / P-0-1901.0.47 / --). The mode for modulo positioning can be set in
"Positioning option code" (0x60F2:00 / P-0-1901.0.60 / --).
Other application profiles:
The modulo format can be configured in "Position data scaling: Type" ( 0x2900:01 / S-
0-0076 / --). If modulo format has been activated, the mode for modulo positioning
can be set in "Positioning profile: Command value mode" (0x2840:01 / S-0-0393 / --).

The cause for triggering the error (motion in positive or negative direction not
possible) and the remedy can be found in the detailed diagnostics.

▶ Attributes
Detailed diagnostics

00520204

00520205

F6099 F6 test error, axis reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the error reaction that has been set for an axis error with emergency stop (error of category F6xxx).

Cause Remedy

The value "0x002" was written to "Axis 1. Write the value "0" to "Axis shutdown:
shutdown: Activation of test errors" (0x2870:04 Activation of test errors" (0x2870:04 / P-0-
/ P-0-0257 / --) 0257 / --)
2. Reset error

See also Error reaction

▶ Attributes

F6200 Velocity command value > standstill window in SOS

The safety function "Safe operating stop (SOS) " is active.
The drive monitors to ensure that no velocity command values are specified such that the standstill window is exited.

Cause Remedy

Incorrect velocity Check "Velocity controller: Command value" (0x2220:09 / P-0-0048

command values are / --) and adjust it according to parameterization of "SMO encoder
preset by drive or external function: Velocity threshold" (0x310E:04 / P-0-3255 / --)
control unit

▶ Attributes

F6644 Device-internal communication to I/O module disturbed

Multiple telegram failures to the I/O module (optional module "DA" or eLION AD option).

Cause Remedy

Disturbed communication to the I/O Switch off the device and then switch it back on
module

Faulty communication to the I/O module – Firmware update of I/O module might be
required
– Have defective optional module replaced
– Replace device

▶ Attributes
Detailed diagnostics

007B0076

007B0077

F6801 Non-fatal system error

A non-fatal system error occurred. The supply unit is decelerated using the configured F6 error reaction.

Cause Remedy
 Cause Remedy

The diagnostic system has detected Save all of the parameters.

an undefined diagnostic message
Then please contact our service department, and make
parameter backup available to the service team

▶ Attributes

F6899 F6 test error, axis and supply unit reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the error reaction that has been set for an emergency stop of the axis or a supply unit error.

The reaction of the supply unit can be set via "Power supply control: Power off delay"
(0x2600:03 / S-0-1720.0.3 / S-0-2059).

Cause Remedy

The value "0x102" was written to "Axis 1. Write the value "0" to "Axis shutdown:
shutdown: Activation of test errors" (0x2870:04 Activation of test errors" (0x2870:04 / P-0-
/ P-0-0257 / --) 0257 / --)
2. Reset error

See also Error reaction

▶ Attributes

Safety technology errors (F7xxx)

F7009 Homing velocity exceeded
The velocity feedback value has exceeded the maximum homing velocity. The maximum homing velocity is monitored,
because "Safe homing procedure" was activated, but the "Safe reference" is missing.

Cause Remedy
 Cause Remedy

Safe homing procedure is active Make sure the velocity feedback value (0x310E:03 / P-0-
(0x31B0:01 / P-0-3253.0.1 / P-0- 3258 / --) is smaller than "SMO safe homing: Maximum
2793) and the status of the SMO velocity" (0x31B0:05 / P-0-3253.0.5 / P-0-2797) until the
encoder position feedback value status for the "Safe reference" (0x310E:01 / P-0-3256 / --)
is "relative" (0x310E:01 / P-0- has been set.
3256 / --).
‑ or ‑
In this state, the velocity
Check whether "Safe homing procedure" is actually
feedback value (0x310E:03 / P-
required. This is the case if, e.g., safety functions of the safe
0-3258 / --) has exceeded "SMO
absolute positions are used (SLP, SLE, SMP). If "Safe
safe homing: Maximum velocity"
homing procedure" is not required, change the
(0x31B0:05 / P-0-3253.0.5 / P-0-
parameterization of "SMO safe homing: Configuration"
2797).
(0x31B0:01 / P-0-3253.0.1 / P-0-2793).

▶ Attributes
Detailed diagnostics

004606C9

F7010 Safely-limited increment exceeded

In the special mode "Safe motion" with configured safety function "Safely-limited increment", the monitoring function
makes sure that the values do not leave the parameterized position window (increment).

The bipolar position window is activated with the start of the special mode. For the duration of the special mode, the
drive can freely move within the limits of the position window.

Cause Remedy
 Cause Remedy

At least one of the position windows Check parameterization of position windows and
relevant for special mode "Safe adjust it to desired travel targets.
motion" has been incorrectly
Position window:
parameterized
"SMO safely-limited increment 1: Increment"
(0x3170:01 / P-0-3290.1.3 / --) or
"SMO safely-limited increment 2: Increment"
(0x3171:01 / P-0-3290.2.3 / --) or
...
"SMO safely-limited increment 16: Increment"
(0x317F:01 / P-0-3290.16.3 / --)
After troubleshooting, start command "Class 1
diagnostics: C0500 Reset command" (0x2B87:02 / S-0-
0099 / --) to clear the error an then set drive enable
again

Command value input is incorrect; i.e. Check command value input in control unit and adjust
drive moves to invalid target positions target positions according to travel range or required
target positions.
After troubleshooting, start command "Class 1
diagnostics: C0500 Reset command" (0x2B87:02 / S-0-
0099 / --) to clear the error an then set drive enable
again

▶ Attributes
Detailed diagnostics

0053000D

0054000D

F7011 SMP, SLP: Safe position limit value, positive exceeded

Cause Remedy
Cause Remedy

With active safety function " Safely-monitored position (SMP)" or " Safely-limited position
(SLP)"

The allowed positive absolute position limit was Check command value input and adjust it in
exceeded. accordance with the respective
parameterized value:
SMO safe position 1: Positive limit value
(0x3180:01 / P-0-3290.1.4 / --)
SMO safe position 2: Positive limit value
(0x3181:01 / P-0-3290.2.4 / --)
...
SMO safe position 16: Positive limit value
(0x318F:01 / P-0-3290.16.4 / --)
‑ or ‑
Check whether the "SMO safe position x:
Positive limit value" have been
parameterized correctly.

The actual position of the drive is outside of the Start "Class 1 diagnostics: C0500 Reset
allowed positive absolute position limit, and the command" (0x2B87:02 / S-0-0099 / --) to
drive moved at a velocity greater than "SMO safe clear the error.
homing: Maximum velocity" (0x31B0:05 / P-0- Set drive enable again.
3253.0.5 / P-0-2797). When moving back to the allowed position
range, make sure the drive moves at a
‑ or ‑
velocity smaller than "SMO safe homing:
The actual position of the drive is outside of the Maximum velocity" (0x31B0:05 / P-0-
allowed positive absolute position limit. When 3253.0.5 / P-0-2797) and does not leave
moving back to the allowed position range, the "SMO global functions: Standstill window
drive kept moving in the positive direction by a for safe direction" (0x3156:03 / P-0-
distance greater than parameterized in "SMO 3270.0.3 / --).
global functions: Standstill window for safe
direction" (0x3156:03 / P-0-3270.0.3 / --).

Only with active safety function " Safely-limited position (SLP) "
 Cause Remedy

The drive was moved in the direction of the In the case of movements in the direction of
positive position limit with a velocity at which the positive position limit, reduce the drive
the deceleration capacity no longer suffices for velocity so that the deceleration capacity
the drive to come to standstill within the suffices for the drive to come to standstill
positive position limit. within the positive position limit.
‑ or ‑
Check whether the "SMO safe position x:
Positive limit value" have been
parameterized correctly.

▶ Attributes
Detailed diagnostics

000406CE

000406D0

000406D2

000406D4

F7012 SMP, SLP: Safe position limit value, negative exceeded

Cause Remedy

With active safety function " Safely-monitored position (SMP)" or " Safely-limited position
(SLP)"
Cause Remedy

The allowed negative absolute position limit was Check command value input and adjust it in
exceeded. accordance with the respective
parameterized value:
SMO safe position 1: Negative limit value
(0x3180:02 / P-0-3290.1.5 / --)
SMO safe position 2: Negative limit value
(0x3181:02 / P-0-3290.2.5 / --)
...
SMO safe position 16: Negative limit value
(0x318F:02 / P-0-3290.16.5 / --)
‑ or ‑
Check whether the "SMO safe position x:
Negative limit value" have been
parameterized correctly.

The actual position of the drive is outside of the Start "Class 1 diagnostics: C0500 Reset
allowed negative absolute position limit, and the command" (0x2B87:02 / S-0-0099 / --) to
drive moved at a velocity greater than "SMO safe clear the error.
homing: Maximum velocity" (0x31B0:05 / P-0- Set drive enable again.
3253.0.5 / P-0-2797). When moving back to the allowed
position range, make sure the drive moves
‑ or ‑
at a velocity smaller than "SMO safe
The actual position of the drive is outside of the homing: Maximum velocity" (0x31B0:05 /
allowed negative absolute position limit. When P-0-3253.0.5 / P-0-2797) and does not
moving back to the allowed position range, the leave "SMO global functions: Standstill
drive kept moving in the negative direction by a window for safe direction" (0x3156:03 /
distance greater than parameterized in "SMO P-0-3270.0.3 / --).
global functions: Standstill window for safe
direction" (0x3156:03 / P-0-3270.0.3 / --).

Only with active safety function " Safely-limited position (SLP) "
 Cause Remedy

The drive was moved in the direction of the In the case of movements in the direction of
negative position limit with a velocity at which the negative position limit, reduce the drive
the deceleration capacity no longer suffices for velocity so that the deceleration capacity
the drive to come to standstill within the suffices for the drive to come to standstill
negative position limit. within the negative position limit.
‑ or ‑
Check whether the "SMO safe position x:
Negative limit value" have been
parameterized correctly.

▶ Attributes
Detailed diagnostics

000406CF

000406D1

000406D3

000406D5

F7013 Velocity threshold exceeded

In the special mode "Safe motion", a parameterized velocity threshold was exceeded.

Cause Remedy
 Cause Remedy

In the special mode "Safe Check command value input and adjust it according to
motion", one of the following parameter setting
velocity thresholds was
‑ or ‑
exceeded
Check parameterization and change it, if necessary.
"SMO safely-limited speed 1:
Velocity" (0x3160:01 / P-0- After troubleshooting, start command "Class 1 diagnostics:
3290.1.2 / --) C0500 Reset command" (0x2B87:02 / S-0-0099 / --) to clear
or the error an then set drive enable again
"SMO safely-limited speed 2:
Velocity" (0x3161:01 / P-0-
3290.2.2 / --)
or
...
"SMO safely-limited speed 16:
Velocity" (0x316F:01 / P-0-
3290.16.2 / --)

▶ Attributes
Detailed diagnostics

0053000E

0054000E

F7014 Timeout in safely-monitored transient oscillation

In the special mode "Safe motion" with configured safety function "Safely-monitored transient oscillation " monitoring
takes place so that the parameterized velocity limit is not exceeded for a longer period than the parameterized time
period.

Cause Remedy
Cause Remedy

In special mode "Safe motion" (with active safety Check command value input and adjust it
function "Safely-monitored transient oscillation ") according to parameter setting
the "Safely-reduced speed" was exceeded for a
‑ or ‑
longer period than the tolerated time period
Check parameter setting and change it, if
necessary.
Tip: For "Safely-reduced speed" and
tolerated time period for the respective
special mode "Safe motion", please see
the table below.
After troubleshooting, start command
"Class 1 diagnostics: C0500 Reset
command" (0x2B87:02 / S-0-0099 / --) to
clear the error an then set drive enable
again

Special mode "Safely-reduced speed" Tolerated time period

"Safe motion"

1 "SMO safely-limited "SMO safely-limited speed 1: Tolerance time for

speed 1: Reduced overshooting"
velocity"
(0x3160:03 / P-0-3290.1.7 / --)
(0x3160:02 / P-0-
3290.1.8 / --)

2 "SMO safely-limited "SMO safely-limited speed 2: Tolerance time for

speed 2: Reduced overshooting"
velocity"
(0x3161:03 / P-0-3290.2.7 / --)
(0x3161:02 / P-0-
3290.2.8 / --)

3 "SMO safely-limited "SMO safely-limited speed 3: Tolerance time for

speed 3: Reduced overshooting"
velocity"
(0x3162:03 / P-0-3290.3.7 / --)
(0x3162:02 / P-0-
3290.3.8 / --)
Special mode "Safely-reduced speed" Tolerated time period
"Safe motion"

4 "SMO safely-limited "SMO safely-limited speed 4: Tolerance time for

speed 4: Reduced overshooting"
velocity"
(0x3163:03 / P-0-3290.4.7 / --)
(0x3163:02 / P-0-
3290.4.8 / --)

5 "SMO safely-limited "SMO safely-limited speed 5: Tolerance time for

speed 5: Reduced overshooting"
velocity"
(0x3164:03 / P-0-3290.5.7 / --)
(0x3164:02 / P-0-
3290.5.8 / --)

6 "SMO safely-limited "SMO safely-limited speed 6: Tolerance time for

speed 6: Reduced overshooting"
velocity"
(0x3165:03 / P-0-3290.6.7 / --)
(0x3165:02 / P-0-
3290.6.8 / --)

7 "SMO safely-limited "SMO safely-limited speed 7: Tolerance time for

speed 7: Reduced overshooting"
velocity"
(0x3166:03 / P-0-3290.7.7 / --)
(0x3166:02 / P-0-
3290.7.8 / --)

8 "SMO safely-limited "SMO safely-limited speed 8: Tolerance time for

speed 8: Reduced overshooting"
velocity"
(0x3167:03 / P-0-3290.8.7 / --)
(0x3167:02 / P-0-
3290.8.8 / --)

9 "SMO safely-limited "SMO safely-limited speed 9: Tolerance time for

speed 9: Reduced overshooting" (0x3168:03 / P-0-3290.9.7 / --)
velocity"
(0x3168:02 / P-0-
3290.9.8 / --)

10 "SMO safely-limited "SMO safely-limited speed 10: Tolerance time for

speed 10: Reduced overshooting"
velocity"
(0x3169:03 / P-0-3290.10.7 / --)
(0x3169:02 / P-0-
3290.10.8 --)
 Special mode "Safely-reduced speed" Tolerated time period
"Safe motion"

11 "SMO safely-limited "SMO safely-limited speed 11: Tolerance time for

speed 11: Reduced overshooting" (0x316A:03 / P-0-3290.11.7 / --)
velocity"
(0x316A:02 / P-0-
3290.11.8 / --)

12 "SMO safely-limited "SMO safely-limited speed 12: Tolerance time for

speed 12: Reduced overshooting"
velocity"
(0x316B:03 / P-0-3290.12.7 / --)
(0x316B:02 / P-0-
3290.12.8 / --)

13 "SMO safely-limited "SMO safely-limited speed 13: Tolerance time for

speed 13: Reduced overshooting" (0x316C:03 / P-0-3290.13.7 / --)
velocity"
(0x316C:02 / P-0-
3290.13.8 / --)

14 "SMO safely-limited "SMO safely-limited speed 14: Tolerance time for

speed 14: Reduced overshooting"
velocity"
(0x316D:03 / P-0-3290.14.7 / --)
(0x316D:02 / P-0-
3290.14.8 / --)

15 "SMO safely-limited "SMO safely-limited speed 15: Tolerance time for

speed 15: Reduced overshooting"
velocity"
(0x316E:03 / P-0-3290.15.7 / --)
(0x316E:02 / P-0-
3290.15.8 / --)

16 "SMO safely-limited "SMO safely-limited speed 16: Tolerance time for

speed 16: Reduced overshooting"
velocity"
(0x316F:03 / P-0-3290.16.7 / --)
(0x316F:02 / P-0-
3290.16.8 / --)

▶ Attributes
Detailed diagnostics

0053000F
 0054000F

F7020 Safe maximum speed exceeded

When monitoring of the Safe maximum speed has been configured [see "SMO global functions: Configuration"
(0x3156:01 / P-0-3270.0.1 / --)], the drive in normal operation and in special mode monitors the current actual velocity.

When the velocity threshold parameterized in P‑0‑3270.0.2 is exceeded, the error F7020 is generated.

Cause Remedy

Velocity threshold Check and, if necessary, increase parameterization of "SMO global

was incorrectly functions: Safe max. speed" (0x3156:02 / P-0-3270.0.2 / --)
parameterized

Incorrect Check command value input in the control or, for drive-internal
command value interpolation, check parameterized positioning data [cf. "Positioning
input; i.e. velocity profile: Profile velocity" (0x6081:00 / S-0-0259 / --) or "Positioning block
command value mode: Velocity" (0x284E:02 / P-0-4007 / --)]
too high

▶ Attributes
Detailed diagnostics

00530010

00533491

00540010

00543491

F7023 SLE: Safe position limit value, positive exceeded

In normal operation or in normal operation and special mode [depending on the setting in "SMO global functions:
Configuration" (0x3156:01 / P-0-3270.0.1 / --) or "SMO normal operation: Configuration" (0x3159:01 / P-0-3277.0.1 / P-0-
2464)] with configured safety function "Safely-limited end position (SLE)", the parameterized position limit value had
already been exceeded in positive direction, or the axis was on the point of exceeding the position limit value.
Cause Remedy

The drive was moved in the direction of the Check whether the value in "SMO safe end
positive position limit with a velocity at which position: Positive limit value" (0x3150:01 / P-0-
the deceleration capacity no longer suffices 3270.0.4 / --) has been parameterized
for the drive to come to standstill within the correctly. ATTENTION: If the value is
positive position limit. increased, make sure this does not cause
damage to machines or personal injury!
‑ or ‑
In the case of movements in the direction of
the positive position limit, reduce the drive
velocity so that the deceleration capacity
suffices for the drive to come to standstill
within the positive position limit.

The allowed positive absolute position limit Check command value input and adjust it in
was exceeded accordance with the value parameterized in
"SMO safe end position: Positive limit value"
(0x3150:01 / P-0-3270.0.4 / --).
‑ or ‑
Check whether the value in "SMO safe end
position: Positive limit value" (0x3150:01 / P-0-
3270.0.4 / --) has been parameterized
correctly.

The actual position of the drive is outside of When moving back to the allowed position
the allowed positive absolute position limit, range, make sure the drive moves at a velocity
and the drive moved at a velocity greater than smaller than "SMO safe homing: Maximum
"SMO safe homing: Maximum velocity" velocity" (0x31B0:05 / P-0-3253.0.5 / P-0-2797)
(0x31B0:05 / P-0-3253.0.5 / P-0-2797). and does not leave the standstill window
parameterized in "SMO global functions:
Standstill window for safe direction"
(0x3156:03 / P-0-3270.0.3 / --).
 Cause Remedy

The actual position of the drive is outside of Check whether the value in "SMO global
the allowed positive absolute position limit. functions: Standstill window for safe direction"
When moving back to the allowed position (0x3156:03 / P-0-3270.0.3 / --) has been
range, the drive kept moving in the positive parameterized correctly. ATTENTION: If the
direction by a distance greater than value is increased, make sure this does not
parameterized in "SMO global functions: cause damage to machines or personal injury!
Standstill window for safe direction"
‑ or ‑
(0x3156:03 / P-0-3270.0.3 / --).
When moving back to the allowed position
range, make sure the drive moves at a velocity
smaller than "SMO safe homing: Maximum
velocity" (0x31B0:05 / P-0-3253.0.5 / P-0-2797)
and does not leave the standstill window
parameterized in "SMO global functions:
Standstill window for safe direction"
(0x3156:03 / P-0-3270.0.3 / --).

▶ Attributes
Detailed diagnostics

000406DA

000406DC

000406DE

000406E0

F7024 SLE: Safe position limit value, negative exceeded

In normal operation or in normal operation and special mode [depending on the setting in "SMO global functions:
Configuration" (0x3156:01 / P-0-3270.0.1 / --) or "SMO normal operation: Configuration" (0x3159:01 / P-0-3277.0.1 / P-0-
2464)] with configured safety function "Safely-limited end position (SLE)", the parameterized position limit value had
already been exceeded in negative direction, or the axis was on the point of exceeding the position limit value.

Cause Remedy
Cause Remedy

The drive was moved in the direction of the Check whether the value in "SMO safe end
negative position limit with a velocity at position: Negative limit value" (0x3150:02 / P-
which the deceleration capacity no longer 0-3270.0.5 / --) has been parameterized
suffices for the drive to come to standstill correctly. ATTENTION: If the value is
within the negative position limit. increased, make sure this does not cause
damage to machines or personal injury!
‑ or ‑
In the case of movements in the direction of
the negative position limit, reduce the drive
velocity so that the deceleration capacity
suffices for the drive to come to standstill
within the negative position limit.

The allowed negative absolute position limit Check command value input and adjust it in
was exceeded accordance with the value parameterized in
"SMO safe end position: Negative limit value"
(0x3150:02 / P-0-3270.0.5 / --).
‑ or ‑
Check whether the value in "SMO safe end
position: Negative limit value" (0x3150:02 / P-
0-3270.0.5 / --) has been parameterized
correctly.

The actual position of the drive is outside of When moving back to the allowed position
the allowed negative absolute position limit, range, make sure the drive moves at a velocity
and the drive moved at a velocity greater than smaller than "SMO safe homing: Maximum
"SMO safe homing: Maximum velocity" velocity" (0x31B0:05 / P-0-3253.0.5 / P-0-2797)
(0x31B0:05 / P-0-3253.0.5 / P-0-2797). and does not leave the standstill window
parameterized in "SMO global functions:
Standstill window for safe direction"
(0x3156:03 / P-0-3270.0.3 / --).
 Cause Remedy

The actual position of the drive is outside of Check whether the value in "SMO global
the allowed negative absolute position limit. functions: Standstill window for safe direction"
When moving back to the allowed position (0x3156:03 / P-0-3270.0.3 / --) has been
range, the drive kept moving in the negative parameterized correctly. ATTENTION: If the
direction by a distance greater than value is increased, make sure this does not
parameterized in "SMO global functions: cause damage to machines or personal injury!
Standstill window for safe direction"
‑ or ‑
(0x3156:03 / P-0-3270.0.3 / --).
When moving back to the allowed position
range, make sure the drive moves at a velocity
smaller than "SMO safe homing: Maximum
velocity" (0x31B0:05 / P-0-3253.0.5 / P-0-2797)
and does not leave the standstill window
parameterized in "SMO global functions:
Standstill window for safe direction"
(0x3156:03 / P-0-3270.0.3 / --).

▶ Attributes
Detailed diagnostics

000406DB

000406DD

000406DF

000406E1

F7030 Position window for safe operating stop exceeded

In the safety function "Safe operating stop " the axis is monitored for standstill. The bipolar position window used for this
purpose is activated at the start of the Safe operating stop.

Cause Remedy
 Cause Remedy

"SMO safe standstill: Monitoring window Change parameterization of "SMO safe

safe operational stop" (0x3155:02 / P-0- standstill: Monitoring window safe operational
3285.0.2 / --) has been incorrectly stop" (0x3155:02 / P-0-3285.0.2 / --) to a valid
parameterized value

Incorrect command values are preset by Check command value input and adjust it
drive or external control according to parameterization

▶ Attributes
Detailed diagnostics

00530011

00540011

F7031 Incorrect direction of motion

During the execution of the safety function "Safe direction", the drive is monitored with regard to whether it inadmissibly
moves against the parameterized direction of motion by more than the distance parameterized in "SMO global functions:
Standstill window for safe direction" (0x3156:03 / P-0-3270.0.3 / --).

Cause Remedy

Incorrect command value input Adjust command value input according to

parameterized direction of motion and "SMO global
functions: Standstill window for safe direction"
(0x3156:03 / P-0-3270.0.3 / --).
Tip: For parameterization of direction of motion, please
see table below.

Incorrect parameterization of Check parameterization of direction of motion and

direction of motion change it, if necessary.
Tip: For parameterization of direction of motion, please
see table below.
 Cause Remedy

Incorrect parameterization of "SMO Check and, if necessary, change parameterization of

global functions: Standstill window "SMO global functions: Standstill window for safe
for safe direction" (0x3156:03 / P-0- direction" (0x3156:03 / P-0-3270.0.3 / --).
3270.0.3 / --)

Parameterization of direction of motion

Parameter name Parameter numbers

SMO global functions: Configuration 0x3156:01 / P-0-3270.0.1 / --

SMO special mode 1: Configuration 0x3140:01 / P-0-3290.1.1 / --

SMO special mode 2: Configuration 0x3141:01 / P-0-3290.2.1 / --

SMO special mode 3: Configuration 0x3142:01 / P-0-3290.3.1 / --

SMO special mode 4: Configuration 0x3143:01 / P-0-3290.4.1 / --

SMO special mode 5: Configuration 0x3144:01 / P-0-3290.5.1 / --

SMO special mode 6: Configuration 0x3145:01 / P-0-3290.6.1 / --

SMO special mode 7: Configuration 0x3146:01 / P-0-3290.7.1 / --

SMO special mode 8: Configuration 0x3147:01 / P-0-3290.8.1 / --

SMO special mode 9: Configuration 0x3148:01 / P-0-3290.9.1 / --

SMO special mode 10: Configuration 0x3149:01 / P-0-3290.10.1 / --

SMO special mode 11: Configuration 0x314A:01 / P-0-3290.11.1 / --

SMO special mode 12: Configuration 0x314B:01 / P-0-3290.12.1 / --

SMO special mode 13: Configuration 0x314C:01 / P-0-3290.13.1 / --

 Parameter name Parameter numbers

SMO special mode 14: Configuration 0x314D:01 / P-0-3290.14.1 / --

SMO special mode 15: Configuration 0x314E:01 / P-0-3290.15.1 / --

SMO special mode 16: Configuration 0x314F:01 / P-0-3290.16.1 / --

▶ Attributes
Detailed diagnostics

00530012

00530013

00540012

00540013

F7032 Forced zone safety

An error was detected in the safety zone.

If the zone master signals this error, then it locks normal operation via the zone bus; i. e. all zone nodes are kept in a safe
state or are transitioned into a safe state by the drive reaction to error F7032.

Cause Remedy

Zone node in normal operation receives the signal "Normal operation locked" Put zone
via the zone bus [see "SMO SAFETYlink: Control word" (0x3060:02 / P-0- master to
3266.0.1 / P-0-2546)] error-free
state

▶ Attributes
Detailed diagnostics

0053008F
 0054008F

F7035 SAFETYlink error

In connection with the telegrams and signals of the safety control, errors were detected.

Subsequently, the input signals as well as the signals for " zone errors", "zone acknowledgment" and "safe door locking"
are internally set to fail-safe values.

The cause of the error can be read via the detailed diagnostics.

Cause Remedy

In the wiring of ctrlX SAFETYlink, none or Make sure that exactly one safety control
more than one safety control has been (= zone master) is available in the ctrlX
connected SAFETYlink ring

Connection between safety control and zone Correct wiring of ctrlX SAFETYlink
node or between zone nodes is missing

The inputs/outputs of ctrlX SAFETYlink

(XG42/XG43) were directly connected

Safety control or zone node1) has no control Switch on control voltage at the respective
voltage device1)

A zone node1) is in configuration mode (CM) Switch zone node to PM or OM

An axis 1) is independent regarding safety Remove the axis from the safety zone (pull the
(not a zone node), but connected to a safety connectors at XG42 and XG43)
zone

The safety technology is not active at a zone Carry out initial commissioning
node1)

Sporadic errors in the cyclic communication Check impact of EMC and shielding
of ctrlX SAFETYlink
 Cause Remedy

No cyclic ctrlX SAFETYlink communication, Remove possible ctrlX SAFETYlink ring break at
but there is bus activity a following zone node

No cyclic ctrlX SAFETYlink communication Remove possible ctrlX SAFETYlink ring break at
and no bus activity this or previous zone node

Legend:
1): Several axes/zone nodes may be concerned

▶ Attributes
Detailed diagnostics

00530480

005304B2

00530526

00530527

00530528

00530FF1

00530FF2

0053312D

0053312E

0053312F
00533130

00533131

00533132

00533133

00533134

00533135

00533136

00533137

00533138

00533139

0053313A

0053313B

0053313C

0053313D

0053313E

0053313F

00533140
00533141

00533142

00533143

00533144

00533145

00533146

00533147

00533148

00533149

0053314A

0053314B

00540480

005404B2

00540526

00540527

00540528
00540FF1

00540FF2

0054312D

0054312E

0054312F

00543130

00543131

00543132

00543133

00543134

00543135

00543136

00543137

00543138

00543139

0054313A

0054313B
0054313C

0054313D

0054313E

0054313F

00543140

00543141

00543142

00543143

00543144

00543145

00543146

00543147

00543148

00543149

0054314A

0054314B
F7050 Maximum transition time exceeded
In the transition to a safe state the drive is not able to reach the new target velocity/standstill within the parameterized
maximum transition time.

The drive can also be shut down in an NC-controlled way [cf. "SMO state machine
prof. 1: Config operation mode transitions" (0x3084:01 / P-0-3280.0.1 / --)].

Safety technology, change in operating state

After respective transition time has expired, depending on the selected safety technology operating state, the following
checks are made:

Active Selected Relevant Actual velocity below the Drive

operating operating parameters parameterized threshold? enable
state state removed?

NO EMERGENCY 0x3084:02 / P-0- 0x310E:04 / P-0-3255 / -- '2) √

STOP/SMST1 3280.0.2 / -- '3)

SMST2 0x3084:02 / P-0- 0x310E:04 / P-0-3255 / -- '2) -

3280.0.2 / -- '3)

SMMx*1) 0x3084:04 / P-0- 0x3160:01..0x316F:01 / P-0- -

3280.0.4 / -- *5) 3290.1.2..P-0-3290.16.2 / -- *6)

SMMx*1) SMMx*1) 0x3084:03 / P-0- 0x3160:01..0x316F:01 / P-0- -

3280.0.3 / -- *4) 3290.1.2..P-0-3290.16.2 / -- *6)

EMERGENCY 0x3084:03 / P-0- 0x310E:04 / P-0-3255 / -- '2) √

STOP/SMST1 3280.0.3 / -- *4)

SMST2 0x3084:03 / P-0- 0x310E:04 / P-0-3255 / -- '2) -

3280.0.3 / -- *4)

SMST2 EMERGENCY 0x3084:03 / P-0- 0x310E:04 / P-0-3255 / -- '2) √

STOP/SMST1 3280.0.3 / -- *4)
Active Selected Relevant Actual velocity below the Drive
operating operating parameters parameterized threshold? enable
state state removed?

Legend:
*1): x=1...16
*2): "SMO encoder function: Velocity threshold" ( 0x310E:04 / P-0-3255 / --)
*3): "SMO state machine prof. 1: Max. trans. time, NO to SMST/SMES" ( 0x3084:02 / P-0-
3280.0.2 / --)
*4): "SMO state machine prof. 1: Max. trans. time, between SMxx" ( 0x3084:03 / P-0-3280.0.3 /
--)
*5): "SMO state machine prof. 1: Max. trans. time, NO to SMM" ( 0x3084:04 / P-0-3280.0.4 / --)
*6): "SMO safely-limited speed x: Velocity" (0x3160:01..0x316F:01 / P-0-3290.1.2..P-0-
3290.16.2 / --)

Cause Remedy

Parameterization of the maximum Check parameterizations of "SMO state machine prof. 1:

transition time from normal Max. trans. time, NO to SMST/SMES" (0x3084:02 / P-0-
operation to special mode "Safe 3280.0.2 / --) and correct them accordingly
standstill" is too low

Parameterization of the maximum Check parameterizations of "SMO state machine prof. 1:

transition time from special mode Max. trans. time, between SMxx" (0x3084:03 / P-0-
to another special mode is too 3280.0.3 / --) and correct them accordingly
low

Parameterization of the maximum Check parameterizations of "SMO state machine prof. 1:

transition time from normal Max. trans. time, NO to SMM" (0x3084:04 / P-0-3280.0.4 /
operation to special mode "Safe --) and correct them accordingly
motion" is too low

Parameterization of the velocity Check parameterizations of "SMO encoder function:

threshold for safe standstill is too Velocity threshold" (0x310E:04 / P-0-3255 / --) and correct
low them accordingly

Parameterization of Safely-limited Check parameterizations of "SMO safely-limited speed x:

speed is too low Velocity" (0x3160:01..0x316F:01 / P-0-3290.1.2..P-0-
3290.16.2 / --) and correct them accordingly
 Cause Remedy

Drive enable is still set Make sure that drive enable is removed

"NC-controlled stopping process" Check "SMO state machine prof. 1: Config operation
was activated by mistake mode transitions" (0x3084:01 / P-0-3280.0.1 / --) and
correct it accordingly; i. e. activate "drive-controlled
stopping process"

Parameterized deceleration is too With drive-controlled transition, deceleration takes

low or not adjusted to place via "Axis shutdown: Best possible shutdown"
parameterized tolerance time (0x2870:01 / P-0-0119 / --); the error reaction
parameterized in drive has to be checked
With NC-controlled transition, check deceleration
parameterized in the control

F3 error reaction
After the tolerance time for the F3 error reaction has expired, the following checks are made:

Active Selected Relevant Actual velocity below the Drive enable

operating operating parameters parameterized threshold? removed?
state state

NO, SMST2, Error state 0x315E:02 / P-0- 0x310E:04 / P-0-3255 / -- '2) √

SMMx*1) 3263.0.6 / -- '3)

Legend:
*1): x=1...16
*2): "SMO encoder function: Velocity threshold" ( 0x310E:04 / P-0-3255 / --)
*3): "SMO error reaction: F3 tolerance time" (0x315E:02 / P-0-3263.0.6 / --)

Cause Remedy

Parameterization of Check parameterizations of "SMO error reaction: F3 tolerance

tolerance time for F3 error time" (0x315E:02 / P-0-3263.0.6 / --) and correct them
reaction is too low accordingly
 Cause Remedy

Parameterization of the Check parameterizations of "SMO encoder function: Velocity

velocity threshold for safe threshold" (0x310E:04 / P-0-3255 / --) and correct them
standstill is too low accordingly

Drive enable is still set Make sure that drive enable is removed

Parameterized deceleration With drive-controlled transition, deceleration takes place via

is too low or not adjusted to "Axis shutdown: Best possible shutdown" (0x2870:01 / P-0-0119
parameterized tolerance / --); the error reaction parameterized in drive has to be checked
time

▶ Attributes
Detailed diagnostics

00530014

00533492

00533493

005335AB

00533624

00540014

00543492

00543493

005435AB

00543624
F7051 Safely-monitored deceleration exceeded
In the transition to a safe state the drive is not able to reach the selected special mode with the parameterized
deceleration.

The error is generated by the safety function "Safely-monitored deceleration " (SMD) during a change in safety
technology operating state or monitoring of the F3 error reaction if the current actual velocity of the drive is not within
the parameterized velocity envelope curve.

Safety technology, change in operating state

Cause Remedy

If transitions between safety technology operating states are Adjust command value input
NC-controlled ["SMO state machine prof. 1: Config operation (deceleration caused by NC)
mode transitions" (0x3084:01 / P-0-3280.0.1 / --, bit 0="0”)], to the values parameterized in
deceleration caused by NC is insufficient the following parameters:
"SMO state machine prof. 1:
Max. trans. time, NO to
SMST/SMES" (0x3084:02 P-
0-3280.0.2 --)
"SMO state machine prof. 1:
Max. trans. time, between
SMxx" (0x3084:03 / P-0-
3280.0.3 / --)
"SMO state machine prof. 1:
Max. trans. time, NO to
SMM" (0x3084:04 / P-0-
3280.0.4 / --)

If transitions between safety technology operating states are Check parameterization of

drive-controlled ["SMO state machine prof. 1: Config "Axis shutdown: Best
operation mode transitions" (0x3084:01 / P-0-3280.0.1 / --, possible shutdown"
bit 0="1”)], deceleration caused by drive is insufficient (0x2870:01 / P-0-0119 / --)
Check "Torque/force
limitation: Peak limit value"
(0x230C:02 / P-0-0109 / --)
Cause Remedy

Overshooting the actual velocity when selecting safety Check control settings and
technology operating states during acceleration procedures adjust them, if necessary
Check parameterizations:
"SMO safely-monitored
decel.: Oscillation velocity
window" (0x315A:01 / P-
0-3280.0.6 / --)
"SMO safely-monitored
decel.: Reaction time"
(0x315A:02 / P-0-3280.0.7
/ --)
"SMO safely-monitored
decel.: Trans. time, NO to
standstill" (0x315A:06 P-0-
3280.0.11 --)
"SMO safely-monitored
decel.: Trans. time, SMD
between SMx" (0x315A:07
/ P-0-3280.0.12 / --)
"SMO safely-monitored
decel.: Trans. time, NO to
SMM" (0x315A:08 / P-0-
3280.0.13 / --)

Overshooting the actual velocity when reaching "Velocity Check control settings and
window of SMD" adjust them, if necessary
Check parameterization of
"SMO safely-monitored
decel.: Velocity window"
(0x315A:03 / P-0-3280.0.8 /
--)

Bosch Rexroth AG Page 158

 Oct 14 2024

Cause Remedy

Incorrect parameterization "SMO state machine prof. 1:

Config operation mode
transitions" (0x3084:01 / P-
0-3280.0.1 / --)
"SMO state machine prof. 1:
Max. trans. time, NO to
SMST/SMES" (0x3084:02 P-
0-3280.0.2 --)
"SMO state machine prof. 1:
Max. trans. time, between
SMxx" (0x3084:03 / P-0-
3280.0.3 / --)
"SMO state machine prof. 1:
Max. trans. time, NO to
SMM" (0x3084:04 / P-0-
3280.0.4 / --)
"SMO safely-monitored
decel.: Oscillation velocity
window" (0x315A:01 / P-0-
3280.0.6 / --)
"SMO safely-monitored
decel.: Reaction time"
(0x315A:02 / P-0-3280.0.7 /
--)
"SMO safely-monitored
decel.: Velocity window"
(0x315A:03 / P-0-3280.0.8 /
--)
"SMO safely-monitored
decel.: Deceleration"
(0x315A:05 / P-0-3280.0.9 /
--)

Monitoring the F3 error reaction

Cause Remedy

Bosch Rexroth AG Page 159

 Oct 14 2024

Cause Remedy

With "drive reaction to errors of Check parameterization of "Axis shutdown: Best

category F3", the deceleration by the possible shutdown" (0x2870:01 / P-0-0119 / --)
drive is insufficient Check "Torque/force limitation: Peak limit value"
(0x230C:02 / P-0-0109 / --)

Overshooting of actual velocity upon an Check control settings and adjust them, if
F3 error during acceleration necessary
procedures Check parameterization:
"SMO state machine prof. 1: Max. trans. time, NO
to SMST/SMES" (0x3084:02 P-0-3280.0.2 --)
"SMO state machine prof. 1: Max. trans. time,
between SMxx" (0x3084:03 / P-0-3280.0.3 / --)

Overshooting the actual velocity when Check control settings and adjust them, if
reaching "Velocity window SMD-E" necessary
Check parameterization of "SMO state machine
prof. 1: Max. trans. time, NO to SMM" (0x3084:04 /
P-0-3280.0.4 / --)

Incorrect parameterization Check parameterizations and change them, if

necessary:
"SMO state machine prof. 1: Max. trans. time, NO
to SMST/SMES" (0x3084:02 P-0-3280.0.2 --)
"SMO state machine prof. 1: Max. trans. time,
between SMxx" (0x3084:03 / P-0-3280.0.3 / --)
"SMO state machine prof. 1: Max. trans. time, NO
to SMM" (0x3084:04 / P-0-3280.0.4 / --)
"SMO state machine prof. 1: Max. tol. time for dif.
selection" (0x3084:05 / P-0-3280.0.5 / --)
"SMO safely-monitored decel.: Oscillation velocity
window" (0x315A:01 / P-0-3280.0.6 / --)

▶ Attributes
Detailed diagnostics

00530015

Bosch Rexroth AG Page 160

 Oct 14 2024

00533494

00540015

00543494

F7052 Selected target velocity exceeded

Cause Remedy

In an NC-controlled safety technology operation mode Safety technology operation mode

transition, the control prematurely terminated the transitions to the special mode
transition to the selected operating state ["SMO state "Safe standstill " or " EMERGENCY
machine: Control word, functional" (0x3082:02 / P-0- STOP"
3261.0.1 / P-0-2463)].
The transition is only permitted to be
The target velocity of the selected operating state was terminated prematurely if the actual
not yet reached. velocity is within "SMO global
functions: Velocity threshold"
(0x3156:04 / P-0-3238 / --)

Safety technology operation mode

transitions to the special mode
"Safe motion "
The transition is only permitted to be
terminated prematurely if the actual
velocity is within the parameterized
velocity window of the selected
motion mode:
"SMO safely-limited speed 1:
Velocity" (0x3160:01 / P-0-3290.1.2
/ --)
"SMO safely-limited speed 2:
Velocity" (0x3161:01 / P-0-3290.2.2
/ --)
...
"SMO safely-limited speed 16:
Velocity" (0x316F:01 / P-0-
3290.16.2 / --)

Bosch Rexroth AG Page 161

 Oct 14 2024

Cause Remedy

▶ Attributes
Detailed diagnostics

00530016

00533495

00533496

00533497

00533498

00533622

Bosch Rexroth AG Page 162

 Oct 14 2024

00540016

00543495

00543496

00543497

00543498

00543622

F7059 Scaling-dependent maximum velocity exceeded

In normal operation and special mode, the current actual velocity is monitored for compliance with the maximum velocity
calculated in scaling-dependent form.

The actual velocity has exceeded this maximum velocity.

Cause Remedy

Modulo format ["SMO position scaling: Type" Check/adjust the following

(0x3022:01 / P-0-3222.0.1 / --, bit 7="1”)] has been parameterizations:
selected as the position data processing format
Value at which the position data
overflow ["SMO axis mechanics:
Modulo value" (0x3020:05 / P-0-
3221.0.6 / --)]
"SMO velocity scaling: Type"
(0x3024:01 / P-0-3223.0.1 / --)
"SMO position scaling: Type"
(0x3022:01 / P-0-3222.0.1 / --)

Absolute format ["SMO position scaling: Type" Adjust "SMO axis mechanics: Max. travel
(0x3022:01 / P-0-3222.0.1 / --, bit 7="0”)] has been range" (0x3020:06 / P-0-3221.0.7 / --)
selected as the processing format.

▶ Attributes
Detailed diagnostics

Bosch Rexroth AG Page 163

 Oct 14 2024

00530F37

0053354B

00540F37

0054354B

F7100 F7 test error during machine acceptance test

The error was generated within the scope of the machine acceptance test ("error reaction" testing point) to check the
reaction of the drive when an F7 error occurs [see "SMO axis validation support: Error reaction" (0x302C:01 / P-0-3211 /
--)].

▶ Attributes
Detailed diagnostics

0053005A

0054005A

Fatal errors (F8xxx)

F8008 Autom. commutation: Axis blocked
For synchronous motors with incremental motor encoder, the commutation offset is determined when drive enable is
switched on. An error occurred in the process.

Due to the method that has been set for determining the commutation offset ["Ident. commutation offset: Control word"
(0x218C:02 / P-0-0522 / --)], it is required that the motor can move. If this is not the case, this error is output and the
offset determination is canceled.

Cause Remedy

Axis blocked Remove blocking

Brake applied Check brake control

Axis is in contact Make sure that axis is not switched off at the limit stop. Move away the
with a limit stop axis from limit stop before setting drive enable

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▶ Attributes

F8009 Autom. commutation timeout: Axis in motion

During the execution of the automatic commutation setting, the axis has to be at standstill and/or the axis has to come to
standstill after a motion that was triggered by the execution of the command. If this is not possible, this error is output
and the commutation offset determination is canceled.

The automatic commutation setting is always carried out when for synchronous motors with an incremental encoder
drive enable is switched on and the drive has previously been in the parameterization mode.

Cause Remedy

Motor coasts to Wait for the motor to coast to stop

stop
‑ or ‑
Decelerate motor mechanically
‑ or ‑
Induce short-circuit braking
‑ or ‑
Before phase switching and/or switching off the control voltage,
decelerate motor in a controlled way

Axis oscillates for a Dampen the axis; if required, generate a low additional friction at the
long time axis

▶ Attributes

F8010 Autom. commutation: Max. motion range when moving back

During commutation setting, the axis left the allowed actual position value range while there had been an attempt to
move the motor back to the position at which the motor had been before the start of the commutation setting.

The "return to start position" function supports the detection of a commutation

offset that was not correctly determined and also the detection of an axis that does
not work correctly.
With the sine-wave method, the motion range is also monitored while the offset is
determined. If necessary, the error message F8012 is output.

Cause Remedy

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Cause Remedy

Positive feedback of Check motor encoder signals. For this purpose, move motor knowing
motor the manufacturer-side settings of rotational direction and/or
velocity/polarity, and check position feedback values with regard to
The commutation
polarity and validation.
offset determination
has generated an If necessary, reverse polarity of motor encoder or exchange two
incorrect value for motor phases. Repeat commutation setting.
"Commutation offset:
With sine-wave method, determine new start values for "Ident.
Effective value"
commutation offset sine-wave method: Amplitude" (0x2184:01 / P-0-
(0x218A:05 / P-0-0521
0514 / --) and "Ident. commutation offset sine-wave method:
/ --)
Frequency" (0x2184:02 / P-0-0520 / --). For this purpose, set
0x2184:01 / P-0-0514="0" and start command C1200. If necessary,
manually adjust values in 0x2184:01 / P-0-0514 and 0x2184:02 / P-0-
0520.
With saturation method, determine new start values for "Ident.
commutation offset saturation method: Amplitude" (0x2182:01 / P-0-
0506 / --) and "Ident. commutation offset saturation method:
Frequency" (0x2182:02 / P-0-0507 / --). For this purpose, set
0x2182:01 / P-0-0506="0" and start command C1200. If necessary,
manually adjust values in 0x2182:01 / P-0-0506 and 0x2182:02 / P-0-
0507.

Positive feedback of Check whether rotational direction of motor complies with rotational
motor after motor direction of motor encoder. If not, reverse rotational direction of
replacement motor (exchange phases) or reverse rotational direction of motor
(servicing) due to encoder
connection error

Due to low friction of With saturation method, switch off "Return to start position" ["Ident.
mechanics, axis moved commutation offset: Control word" (0x218C:02 / P-0-0522 / --,
away from its initial bit 5="0")], if possible on axis side!
position at start of
commutation offset
setting

▶ Attributes

F8011 Commutation offset could not be determined

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The method for commutation setting could not determine any value for the commutation offset.

Cause Remedy

Axis could not carry out Check axis for stiffness or blocking; if necessary, reduce friction
required motion (lubrication, guide rail of flexible cable track) or remove blocking
‑ or ‑
In "Ident. commutation offset: Control word" (0x218C:02 / P-0-0522
/ --), set "Increase of amplitude with priority" under "Search
direction for sine-wave method"
‑ or ‑
Increase value of "Ident. commutation offset sine-wave method:
Amplitude" (0x2184:01 / P-0-0514 / --) to modify excitation
amplitude for sine-wave method opposite to friction force of axis

Axis has developed In "Ident. commutation offset: Control word" (0x218C:02 / P-0-0522
resonance during / --), set "Increase of frequency with priority" under "Search
determination of direction for sine-wave method"
commutation offset
‑ or ‑
Reduce value "Ident. commutation offset sine-wave method:
Frequency" (0x2184:02 / P-0-0520 / --) to modify excitation
frequency for sine-wave method opposite to resonance frequency
of axis

Motor is not supplied Check motor connection

with current

Sine-wave method is If automatic search for motor-specific values of "Ident.

without success, commutation offset sine-wave method: Amplitude" (0x2184:01 / P-
although axis possesses 0-0514 / --) and "Ident. commutation offset sine-wave method:
required mobility and Frequency" (0x2184:02 / P-0-0520 / --) for angle acquisition shows
does not show any no result in spite of multiple repetition, then try with manually input
resonance phenomena values

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Cause Remedy

Signals of motor encoder Check motor encoder signals. For this purpose, move motor
do not reflect movement knowing the manufacturer-side settings of rotational direction
of axis, encoder cables of and/or velocity/polarity, and check position feedback values with
2 drives possibly regard to polarity and validation
interchanged
‑ or ‑
Incorrect polarity of
encoder signals

During the execution of Make sure that device has been switched on and mains voltage in
command for setting the operation does not fall below minimum value specified for the
commutation offset, device, and again execute command for setting the commutation
power supply was offset
switched off or there
was undervoltage

▶ Attributes

F8012 Autom. commutation: Max. motion range

The axis left the allowed actual position value range while commutation settings (sine-wave method) had been made.

Cause Remedy

Strong axis motion due to too high drive Reduce value of "Ident. commutation offset sine-
torque or force generation during wave method: Amplitude" (0x2184:01 / P-0-0514 /
commutation setting --)
‑ and/or ‑
Increase value of "Ident. commutation offset sine-
wave method: Frequency" (0x2184:02 / P-0-0520
/ --)

External forces or torques move axis out Check axis mechanics for whether external forces
of the allowed actual position value range occur, e.g. due to flexible cable track, hanging
load, etc.

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Cause Remedy

Cogging force or cogging torque moves Make sure that cogging forces of motor do not
axis out of the allowed actual position cause position limits to be exceeded during
value range commutation setting

▶ Attributes

F8013 Automatic commutation: Current too low

The amplitude of the actual current value, that results from commutation setting using the saturation method, is
monitored. When the commutation offset had been determined, the amplitude of the actual current value did not reach
the minimum threshold.

Cause Remedy

Amplitude of Increase "Ident. commutation offset saturation method: Amplitude"

actual current (0x2182:01 / P-0-0506 / --) or reduce "Ident. commutation offset saturation
value does not method: Frequency" (0x2182:02 / P-0-0507 / --)
suffice for
‑ or ‑
safely
determining the Enter value "0" for "Ident. commutation offset saturation method: Amplitude"
commutation (0x2182:01 / P-0-0506 / --). Hereby, the appropriate value for signal voltage
offset is automatically determined during commutation setting
‑ or ‑
If the commutation setting is repeated multiple times at different motor
positions (drive remains in "Ab") and approx. 30 similar values are
determined for "Commutation offset: Effective value" (0x218A:05 / P-0-0521
/ --): Iteratively reduce "Ident. commutation offset saturation method:
Harmonics rate" (0x2182:03 / P-0-0517 / --) until the error F8018 no longer
occurs. Finally, check the function multiple times!

If the error occurs repeatedly, please contact our service department.

See also Commutation setting

▶ Attributes

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F8014 Automatic commutation: Overcurrent

The amplitude of the actual current value, that results from automatically determining the commutation offset, is
monitored. The error F8014 is generated if a maximum value is exceeded.

Cause Remedy

Amplitude of actual Reduce "Ident. commutation offset saturation method: Amplitude"

current value is higher (0x2182:01 / P-0-0506 / --) or increase "Ident. commutation offset
than allowed maximum saturation method: Frequency" (0x2182:02 / P-0-0507 / --)
current
‑ or ‑
Enter value "0" for "Ident. commutation offset saturation method:
Amplitude" (0x2182:01 / P-0-0506 / --). Hereby, the appropriate value
for signal voltage is automatically determined during commutation
setting

If the error occurs repeatedly, please contact our service department.

▶ Attributes

F8015 Automatic commutation: Timeout

Saturation method
An error was detected during the execution of the automatic commutation offset determination (after drive enable).

Cause Remedy

Due to the commutation setting routine, the axis may To locate the source of the error, the
slightly move away from its initial position. With the return function may be switched off.
"return" function [can be activated in "Ident. It might be possible to entirely do
commutation offset: Control word" (0x218C:02 / P-0- without the return function.
0522 / --)], the axis again moves to the position it had However, this is not recommended
before the start of commutation setting. An error for the sine-wave method! In the
occurred in the process. Possible causes may be that control then track the position
the axis is blocked, the load is too big or that there are during commutation setting, or apply
very high cogging torques. the position at the end.
Remove cause, if possible. Increase
torque limitation, if necessary.

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Cause Remedy

An error occurred in the signal generator Switch drive off and then back on. If
the error continues to be signaled,
contact our service department

▶ Attributes

F8016 Automatic commutation: Iteration without result

The determination of the commutation offset ["Ident. commutation offset: C1200 Command identification" (0x218C:01 /
P-0-0524 / --)] failed. It had been impossible to find appropriate values for "Ident. commutation offset saturation method:
Amplitude" (0x2182:01 / P-0-0506 / --) and "Ident. commutation offset saturation method: Frequency" ( 0x2182:02 / P-0-
0507 / --) or "Ident. commutation offset saturation method: Factor current" (0x2182:04 / P-0-0518 / --) used to achieve
sufficient magnetic saturation effects in the motor. Therefore, it had been impossible to determine a suitable value for
the commutation offset.

Cause Remedy

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Cause Remedy

Test current Only if bit 2-0="010" has been set in "Ident. commutation offset: Control
generated in the word" (0x218C:02 / P-0-0522 / --):
motor is too low
Maybe a higher current is required at the current motor position for
determining the commutation.
Repeat initial commissioning of the method. Try different positions with
command C1200.
Increase value of "Ident. commutation offset saturation method:
Amplitude" (0x2182:01 / P-0-0506 / --) or reduce value of "Ident.
commutation offset saturation method: Frequency" (0x2182:02 / P-0-
0507 / --) so that a higher test current is achieved.
Enter value "0" for "Ident. commutation offset saturation method:
Amplitude" (0x2182:01 / P-0-0506 / --). Hereby, the appropriate value
for signal voltage is automatically determined during commutation
setting
Iteratively reduce "Ident. commutation offset saturation method:
Harmonics rate" (0x2182:03 / P-0-0517 / --).
Note: Afterwards, check at multiple different motor positions that the
commutation offset is determined correctly!
If changing the values was unsuccessful, check whether it is possible to
use a different method for setting the commutation offset.

The current level for Only if bit 2-0="101" has been set in "Ident. commutation offset: Control
determining the word" (0x218C:02 / P-0-0522 / --):
commutation offset
The current level is specified via "Ident. commutation offset saturation
does not match
method: Factor current" (0x2182:04 / P-0-0518 / --). The appropriate
current level could not be determined correctly. Proceed as described:
1. Manually specify a value in "Ident. commutation offset saturation
method: Factor current" (0x2182:04 / P-0-0518 / --). If 0x2182:04 / P-0-
0518="0" has been specified or if the initial commissioning mode has
been selected, enter half the value displayed in 0x2182:04 / P-0-0518 in
0x2182:04 / P-0-0518.
2. Restart C1200.

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Cause Remedy

Type current of Check whether it is possible to use a different method for setting the
controller is too low commutation offset
for using saturation
‑ or ‑
method to set the
commutation offset Use a controller that is able to supply the motor with sufficiently high
current (for Bosch Rexroth kit motors, the required minimum current
for magnetic saturation effects is approx. the 2.0…2.5-fold continuous
current at standstill)

Motor has no or only Check whether it is possible to use a different method for setting the
very low saturation commutation offset
effects ("ironless
motor")

Motor not correctly Check connections of motor phases to controller. Check all motor
connected phases from controller to motor for interruptions

See also Commutation setting

▶ Attributes

F8018 Device overtemperature shutdown

The heat sink temperature of the device is monitored by a temperature sensor and a temperature model. If the heat sink
temperature exceeds the maximum value set for the device and when the load determined by the temperature model has
reached the absolute limit value set for the device, the device goes torque-free to protect it against destruction.

The error can only be cleared when the device has cooled down.

Cause Remedy

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Cause Remedy

Overtemperature (heat sink) due to Switch off drive and let it cool down. Check
overload of device mechanics and drive sizing (on average,
machining power may not exceed continuous
power of drive)
For liquid-cooled devices: Check sizing of cooling
system (see documentation with material no.
R911309636)

Ambient temperature too high. Specified Reduce ambient temperature, e.g. by cooling the
performance data are valid up to an control cabinet
ambient temperature of 40 °C

Heat sink of device is dirty Clean heat sink

Convection is prevented by other Mount device vertically and provide sufficient

components or mounting position in space for ventilating heat sink
control cabinet

Device-internal fan failed If fan fails, replace device or power section

Air conditioning of control cabinet failed Check air conditioning of control cabinet

Incorrect control cabinet sizing with regard Check control cabinet sizing
to heat dissipation

For liquid-cooled devices: Connect cooling system

No cooling system connected

For liquid-cooled devices: Check cooling system and remove error

Error in cooling system, e.g. coolant pump
defective or filter clogged up; thus, flow
rate too low/coolant inlet temperature too
high

▶ Attributes

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F8019 Impossible to determine commutation offset

It is not possible to determine the commutation offset.

Cause Remedy

With the selected settings for the control Select other method for determining the
loop performance, the selected commutation offset ["Ident. commutation offset:
commutation offset determination Control word" (0x218C:02 / P-0-0522 / --, bit 0–2)]
procedure cannot be executed
– or –
change performance setting ["Inverter power
section: Switching frequency" (0x2120:03 / P-0-
0001 / --); or maybe "Axis configuration: Word"
(0x2200:01 / P-0-0556 / --)]

▶ Attributes

F8022 Encoder 1: Encoder signals incorrect

Analog / combined encoders: The signals of the measuring system are monitored on hardware and software level with
regard to their amplitudes and signal shapes. If a signal (e.g., sin or cos) leaves the allowed range or if the signals are
disturbed in such a way that a position error occurs, this error is generated.

Digital encoders: In the case of digital measuring systems, the received encoder protocol is monitored according to the
manufacturer’s encoder specification:

Encoder error messages are cyclically evaluated

Telegram CRC checksums are monitored according to specification
Telegram failures are detected

The error can be cleared in CM (configuration mode) or upon successful

reinitialization.

Since the position is no longer generated correctly when this error is detected, the
encoder has to be reinitialized.

When using an incremental encoder with square-wave signals, monitoring is carried

out with regard to an inadmissible edge.
On the software level, the signals of a resolver are monitored for their levels.

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Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and
replace it, if necessary

Defective encoder Check measuring system and replace it, if

necessary

Faulty mounting of measuring head in the case Check mounting of measuring head and
of linear measuring systems correct it, if necessary

During motor operation with the measuring Faults such as an electrostatic discharge to
system ACURO®link: the shaft of the motor may lead to failure of
the encoder sending telegram.
A fault was detected in the transmission
telegram of the encoder; telegram failed twice Make sure that faults do not occur

Measuring system dirty Clean or replace measuring system

Hardware defect on control section of drive Replace control section or entire drive
controller

Only for ACUROlink encoder of the 1st Mount a ferrite sleeve (snap-on ferrite) to
generation (0x2AE2:08 / S-0-1300.20.8 / S-0- the encoder cable of the hybrid cable:
3536≠"Cxx"), connected using a hybrid cable ferrite sleeve "manufacturer parts number
REH0804 ("single cable solution") to one of 74272733" of Adolf Würth GmbH & Co. KG
the following ctrlX DRIVE device types: XMS*- (can also be ordered with Bosch Rexroth
W0006...0036; XMD*-W2323; XCD*-2323 using the material number R913082363).
Encoder signal interferences occur in the Please note that only a hybrid cable length
previously mentioned constellation. of ≤10 meters is permitted for an
interference suppression using so-called
ferrite sleeves.

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Cause Remedy

Only for ACUROlink encoder of the 2nd Ensure that the hybrid cable length does not
generation (0x2AE2:08 / S-0-1300.20.8 / S-0- exceed 25 meters.
3536="Cxx"), connected using a hybrid cable
REH0804 ("single cable solution") to one of
the following ctrlX DRIVE device types: XMS*-
W0006...0036; XMD*-W2323; XCD*-2323
Encoder signal interferences occur in the
previously mentioned constellation as the
hybrid cable length exceeds 25 meters.

▶ Attributes
Detailed diagnostics

004421F0

F8024 Maximum braking time exceeded

The drive checks automatically whether, in the case of closed-loop-controlled best possible deceleration, it is
decelerated within the parameterized "Axis shutdown: Maximum drive off delay time" (0x2870:05 / S-0-0273 / --).

The maximum delay time for "Drive Off" was exceeded.

Cause Remedy

"Axis shutdown: Maximum drive Increase "Axis shutdown: Maximum drive off delay time"
off delay time" (0x2870:05 / S- (0x2870:05 / S-0-0273 / --)
0-0273 / --) incorrectly
parameterized

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Cause Remedy

Deceleration ramp for best Depending on the parameterized "Axis shutdown: Best
possible deceleration possible shutdown" (0x2870:01 / P-0-0119 / --), correct the
incorrectly parameterized parameterization of the deceleration ramp for best possible
deceleration:
"Jerk limitation: Value" (0x284A:01 / S-0-0349 / --),
"Acceleration limitation: Bipolar profile limit value"
(0x2302:01 / S-0-0138 / --),
"Axis shutdown: Emergency stop deceleration" (0x2870:06 /
S-0-0429 / --) or
"Drive Halt: Quick stop deceleration signed" ( 0x2808:02 / S-
0-0372 / --)

Insufficient torque/force, Check "Torque/force limitation: Peak limit value" ( 0x230C:02

possibly due to thermal / P-0-0109 / --) and "Torque/force limitation: Effective peak
overload value" (0x230C:06 / P-0-0444 / --)

Hardware defect in the device Replace entire drive controller

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

See Best possible deceleration

▶ Attributes

F8025 Overvoltage in power section

The DC voltage reached an impermissibly high value.

When the error is triggered, the motor immediately goes torque-free or is decelerated
via short-circuit braking.

Cause Remedy

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Cause Remedy

The power supply of the drive controller cannot Reduce motor power
consume the regenerative motor power

The power feedback unit of the power supply cannot Check power feedback unit
consume the motor power

The braking resistor cannot consume the motor Check braking resistor, the resistance
power. value might be too high

The power supply provides a DC voltage that is too Check mains connection voltage
high

The device is defective (error in the DC bus voltage Replace device

measurement)

▶ Attributes

F8026 HV discharge while drive enabled

The function "Discharge DC bus (HV discharge)" is only available for drive controllers
for mobile machines (EDS).

Discharging the DC bus (HV discharge) was activated with drive enable having been set. The discharging resistor for DC
bus discharge is activated once selected.

If the EMF of the motor was greater than 50 V at the time of selection, the motor phase short circuit is activated by the
error entry [irrespective of the configuration in "Axis shutdown: Best possible shutdown" (0x2870:01 / P-0-0119 / --)]. If
the EMF of the motor was smaller than 50 V, drive enable is deactivated.

Cause Remedy

HV discharge was selected with active Remove drive enable before selecting HV
control discharge
‑ or ‑
Check actuation / wiring

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▶ Attributes

F8027 STO while drive enabled

When this error occurs, the drive immediately goes torque-free!

Cause Remedy

Drive enable was set in special First go from special mode "Safe standstill" to normal
mode "Safe standstill" operation and then set drive enable
‑ or ‑
Check actuaction / wiring

▶ Attributes

F8035 Communication error, encoder interface modules

A multiple telegram failure to the encoder interface has been reported.

1. Switch off the drive and then switch it back on (restart).

2. Analyze the entries in the diagnostic memory and proceed depending on the error history
after a drive restart (see the following table).

Cause Remedy

If error F8131 occurred after a drive restart: Save all parameters.

During the execution of the safety technology, Contact our service department to
monitoring determined a severe exception that have the parameter file analyzed.
prevents further operation.

If the error occurs sporadically (without previous Remove external disturbances which
error F8131): can be caused by insufficient or
defective shielding.
The internal communication to the encoder interface
is disrupted.

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Cause Remedy

If the error occurs permanently (without previous Please contact our service department
error F8131): to replace the hardware.
The encoder interface is defective.

See also Loading, storing and saving parameters

▶ Attributes
Detailed diagnostics

0044C80E

007D0012

007D0013

F8036 Communication error, onboard encoder modules

A multiple telegram failure to the encoder interface has been reported.

Cause Remedy

If the error occurs sporadically: Remove external disturbances which can be caused
by insufficient or defective shielding.
The internal communication to the
encoder interface is disrupted.

If the error occurs permanently: Please contact our service department to replace the
hardware.
The encoder interface is defective.

▶ Attributes
Detailed diagnostics

007D0014

007D0015

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007D0018

F8042 Encoder 2: Encoder signals incorrect

Faulty encoder signals were detected for encoder 1, the warning E8022 was generated and the motor and axis control
were switched to the signals of encoder 2 in the function as "redundant motor encoder". The error F8042 was generated,
because faulty encoder signals were also detected at encoder 2.

The signals of analog measuring systems (encoder 2) are monitored on the hardware and software levels with regard to
their amplitudes and signal shapes. If a signal (sin or cos) leaves the allowed range or if the signals are disturbed in such
a way that a position error occurs, this error is generated.

For digital measuring systems (encoder 2), the transmission of the position is monitored using a checksum (CRC). If a
checksum error is detected, this error is generated.

The error can be cleared in CM (configuration mode) or upon successful

reinitialization.

Since the position is no longer generated correctly when this error is detected, the
encoder has to be reinitialized.

When using an incremental encoder with square-wave signals, monitoring is carried

out with regard to an inadmissible edge.
On the software level, the signals of a resolver are monitored for their levels.

Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and
replace it, if necessary

Defective encoder Check measuring system and replace it, if

necessary

Faulty mounting of measuring head in the case Check mounting of measuring head and
of linear measuring systems correct it, if necessary

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Cause Remedy

During motor operation with the measuring Faults such as an electrostatic discharge to
system ACURO®link: the shaft of the motor may lead to failure of
the encoder sending telegram.
A fault was detected in the transmission
telegram of the encoder; telegram failed twice Make sure that faults do not occur

Measuring system dirty Clean or replace measuring system

Hardware defect on control section of drive Replace control section or entire drive
controller

Only for ACUROlink encoder of the 1st Mount a ferrite sleeve (snap-on ferrite) to
generation (0x2AE2:08 / S-0-1300.20.8 / S-0- the encoder cable of the hybrid cable:
3536≠"Cxx"), connected using a hybrid cable ferrite sleeve "manufacturer parts number
REH0804 ("single cable solution") to one of 74272733" of Adolf Würth GmbH & Co. KG
the following ctrlX DRIVE device types: XMS*- (can also be ordered with Bosch Rexroth
W0006...0036; XMD*-W2323; XCD*-2323 using the material number R913082363).
Encoder signal interferences occur in the Please note that only a hybrid cable length
previously mentioned constellation. of ≤10 meters is permitted for an
interference suppression using so-called
ferrite sleeves.

Only for ACUROlink encoder of the 2nd Ensure that the hybrid cable length does not
generation (0x2AE2:08 / S-0-1300.20.8 / S-0- exceed 25 meters.
3536="Cxx"), connected using a hybrid cable
REH0804 ("single cable solution") to one of
the following ctrlX DRIVE device types: XMS*-
W0006...0036; XMD*-W2323; XCD*-2323
Encoder signal interferences occur in the
previously mentioned constellation as the
hybrid cable length exceeds 25 meters.

▶ Attributes

F8055 Incorrect processing of diagnostic message

Cause Remedy

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Cause Remedy

A problem occurred in the processing of the Carry out a parameter backup of all
diagnostic messages of the drive. Too many parameters.
diagnostic messages had been signaled in Have a look at the diagnostic trace to find out
too short a time; the diagnostic system was which diagnostic messages were signaled
unable to process the diagnostic messages. last. A warning or an error is likely to have
been cyclically signaled. This diagnostic
message usually appears repeatedly in the
diagnostic trace.
Switch the drive off and back on.
Put drive into operation again and prevent the
corresponding diagnostic message from being
cyclically generated.
Please contact our service department to
forward the parameter backup to the service
team.

▶ Attributes
Detailed diagnostics

00660032

00661032

F8060 Overcurrent in power section

The current in the power transistor bridge has exceeded the maximum allowed device peak current (cf. "Inverter type
data: Peak current" (0x2314:02 / S-0-0110 / --)].

Cause Remedy

Short circuit in motor or motor Check motor cable and motor for short circuit
cable

Power section of drive controller Replace drive controller

defective

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Cause Remedy

Current controller parameterized Check current controller parameterization (cf. motor data
incorrectly sheet) and correct it, if necessary, after consulting our
service department

Voltage fluctuations in DC bus Reduce system impedance, e.g. increase supply line cross
too high because system sections
impedance too big

▶ Attributes
Detailed diagnostics

00420401

00420402

00420404

F8064 Interruption of motor phase

In individual motor phases or in the entire motor, the current is "0" or current specified by the current command value is
by far not attained in individual phases.

DANGER!

Lethal injury caused by coasting axis (torque disable)!

⇒ Additional measures might be necessary to stop the axis.

The phase current is monitored both in V/Hz (U/f) operation and in closed-loop operation in SVC and FOC. Phase current
monitoring is also active during the execution of travel commands. Particularly the command "C37 Command Check
direction of motion" can be used to verify the electric continuity of the individual motor phases.

Restrictions of the correct monitoring function

Safe monitoring of individual motor phases is only possible with a speed command value of >10 rpm.
If the required current is very small in closed-loop operation with low motor load, phase failure is not detected. This is
especially the case in no-load operation.
With strongly fluctuating currents, phase failure might not be detected in closed-loop operation if the currents
cyclically go down to "0" or cyclically change rapidly between positive and negative values.

Bosch Rexroth AG Page 185

 Oct 14 2024

DANGER!

Lethal electric shock from live parts with more than 50 V!

⇒ Comply with the safety regulations when working/conducting checks at the drive
controller/motor.

CAUTION!

Property damage with phase current monitoring switched off

Phase current monitoring can be switched off in "Motor control function:
Configuration 1" (0x210C:01 / P-0-0045 / --, bit 4).
If phase current monitoring has been switched off, the system can no longer monitor
the correct function of the motor connection. Property damage may occur because
the motor does not work.

Cause Remedy

At least one motor phase has not been Check motor cable connection (check
connected to drive controller or line break assignment motor connection↔axis).
has occurred Check individual motor phases from
connection at drive controller for line break
and high ohmic resistance.
Check motor line for loose contact.
Check terminal connecting points of motor
line for tight fit.
Check for squeezed insulation.

Motor power connections of a multi-axis Check whether assignment of motor

device were interchanged connections is correct for the axes

Incorrect axis assignment between motor Check whether assignment of motor

and drive controller connections is correct for the axes

Bosch Rexroth AG Page 186

 Oct 14 2024

Cause Remedy

In V/Hz (U/f) operation: Check/correct parameterization of V/Hz (U/f)

characteristic.
User-defined V/Hz (U/f) characteristic has
been selected ["Motor control function: ‑ or ‑
Configuration 1" (0x210C:01 / P-0-0045 / --,
Switch off phase current monitoring ["Motor
bit 11/10)] and parameterized voltage at
control function: Configuration 1" (0x210C:01 /
frequency="0" is too low.
P-0-0045 / --, bit 4)].
‑ or ‑
CAUTION: With phase current monitoring
No value specified for frequency="0" in "V/Hz switched off, the system can no longer monitor
(U/f) control: User-defined characteristics, the correct function of the motor connection.
freq." (0x2100:0A / P-0-0614 / --) and "V/Hz Property damage may occur because the motor
(U/f) control: User-defined characteristics, does not work.
voltages" (0x2100:0B / P-0-0615 / --).
‑ or ‑
V/Hz (U/f) characteristic has been incorrectly
parameterized.

In V/Hz (U/f) operation: Adjust "V/Hz (U/f) control: Voltage boost"

(0x2100:0C / P-0-0568 / --) until magnetizing
Voltage boost too low in V/Hz (U/f)
current flows in standstill ["Motor current
operation.
control: Absolute output current value"
(0x2102:0D / P-0-0440 / --) corresponds to
"Induction motor data: Magnetizing current"
(0x2006:06 / P-0-4004 / --)]

Bosch Rexroth AG Page 187

 Oct 14 2024

Cause Remedy

In V/Hz (U/f) operation: Accelerate the motor faster. If necessary,

increase speed ramps, e.g. "V/Hz (U/f) control:
The motor is accelerated very slowly out of
Stator frequency slope, maximum value"
the standstill range (< 1 Hz/s² )
(0x2100:09 / P-0-0569 / --).
In V/Hz (U/f) operation, asymmetrical
‑ or ‑
currents may occur in case very small phase
voltages are output, so that no current flow Increase "V/Hz (U/f) control: Voltage boost"
is detected in individual phases. (0x2100:0C / P-0-0568 / --), if necessary until a
higher current than "Induction motor data:
Magnetizing current" (0x2006:06 / P-0-4004 / --
) flows in standstill.
‑ or ‑
Switch off phase current monitoring ["Motor
control function: Configuration 1" (0x210C:01 /
P-0-0045 / --, bit 4)].
CAUTION: With phase current monitoring
switched off, the system can no longer monitor
the correct function of the motor connection.
Property damage may occur because the motor
does not work.

In FOC or SVC operation: Activate field weakening ["Motor control

function: Configuration 2" (0x210C:02 / P-0-
Motor is operated at the voltage limit (motor
3945 / --, bit 0="1")
voltage » DC bus voltage / 1.415) or motor is
operated above the nominal speed with Check parameterization of field weakening and
incorrect voltage control. voltage control:
"Motor voltage control: Proportional gain"
(0x211C:01 / P-0-0533 / --)
"Motor voltage control: Integral action time"
(0x211C:02 / P-0-0534 / --)
"Motor voltage control: Voltage command
value 2" (0x211C:03 / P-0-0535 / --)
"Motor voltage control: Voltage command
value 1" (0x211C:04 / P-0-0536 / --)

Bosch Rexroth AG Page 188

 Oct 14 2024

Cause Remedy

Motor or control incorrectly parameterized, Compare motor data in drive to actual motor
particularly in V/Hz (U/f) operation the data.
magnetizing current is too high by at least
Check parameterization of current control:
the factor 2, or in closed-loop operation in
SVC or FOC the current controller P-gain or "Motor current control: Proportional gain 1"
the integral action time is wrong by at least (0x2102:05 / S-0-0106 / --)
the factor 2. "Motor current control: Integral action time 1"
(0x2102:06 / S-0-0107 / --)
Check parameterization of voltage control:
"Motor voltage control: Proportional gain"
(0x211C:01 / P-0-0533 / --)
"Motor voltage control: Integral action time"
(0x211C:02 / P-0-0534 / --)
"Motor voltage control: Voltage command
value 2" (0x211C:03 / P-0-0535 / --)
"Motor voltage control: Voltage command
value 1" (0x211C:04 / P-0-0536 / --)

DC bus voltage="0" or too low Check "Inverter DC bus: Voltage, actual value"
(0x2648:01 / S-0-0380 / --) for correct value.
Check DC bus voltage for voltage dips.
Switch on power.

Motor winding (U, V, W) has burned out Check motor winding using an ohmmeter and
replace motor, if necessary

Power section defective Replace drive controller

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

See also Rexroth motors

▶ Attributes

Bosch Rexroth AG Page 189

 Oct 14 2024

F8072 Device carrier internal voltage error

An internal error of the board mains voltage (device carrier) has been detected. The supply of peripheral devices
connected to the device may be affected.

Cause Remedy

Device defective Please contact our service department

▶ Attributes

F8078 Speed loop error

The velocity control loop monitoring triggers if the following conditions occur simultaneously:

"Torque/Force: Torque demand" (0x6074:00 / P-0-0049 / --) is at the torque/force limit.

"Torque/Force: Torque demand" (0x6074:00 / P-0-0049 / --) and the actual velocity have different signs.
The actual velocity at the motor shaft is greater than 20 rpm (or 20 mm/min for linear motors).
Actual acceleration and control deviation have different signs.

Cause Remedy

Motor phases (U, V, W) interchanged so that Check motor cable connection and correct
commutation of motor is incorrect phase assignment, if necessary.
Note: The wired rotating field direction
(U > V > W) can be checked using the
direction of motion check when executing
the command C3700.

Incorrect encoder arrangement Correct the encoder equipment (inverting

rotational direction of encoder might
resolve the problem)
Note: With the help of the encoder
validation check during the execution of the
command C3700, the rotational direction of
the encoder can be checked.

Incorrect velocity controller setting Check velocity controller setting according

to Functional Description/Application
Manual

Bosch Rexroth AG Page 190

 Oct 14 2024

Cause Remedy

Incorrect commutation offset Make commutation settings, if possible

‑ or ‑
Replace motor

Motor encoder defective Replace motor encoder (or motor)

For voltage-controlled motor operation: Deactivate velocity control loop monitoring

in "Axis configuration: Word" (0x2200:01 /
Motor is operated in a voltage-controlled way
P-0-0556 / --)
(without encoder; V/Hz (U/f) control); with this
type of motor control, velocity control loop
monitoring does not make sense

▶ Attributes

F8079 Velocity limit value exceeded

The velocity feedback value reached an impermissibly high value.

Cause Remedy

"Velocity controller: Velocity Check and, if necessary, correct "Velocity limitation: Max
actual value" (0x606C:00 / S-0- profile velocity" (0x607F:00 / S-0-0091 / --).
0535 / --) has exceeded the
[Within the "Velocity status: Standstill window" ( 0x2212:01 /
1.125‑fold value of the velocity
S-0-0124 / --) the actual velocity is not monitored.]
limit value

Velocity control loop unstable Check and, if necessary, correct parameterization of velocity
or too heavily oscillating due to controller
incorrect parameterization

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 Oct 14 2024

Cause Remedy

A firmware not requiring an Check operability: Does the drive follow a preset velocity
export license is used; velocity command value? If necessary, ensure operability by
command values repeating commissioning.
corresponding to an inverter Sensorless motor operation: Check slip compensation. In
output frequency ≥ 600 Hz the case of over-compensation, velocity feedback value can
were preset be higher than velocity command value. If necessary, reduce
velocity command value or "Induction motor data: Rated
slip frequency" (0x2006:03 / P-0-0600 / --).
Check whether another connected motor "tows" the motor
to a higher velocity.

Torque input without sufficient Check axis mechanics

counter-torque
– OR –
Reduce torque input

Incorrect commutation offset Re-determine commutation offset

See also Commutation setting

▶ Attributes

F8080 Frequency > 599Hz

The output frequency of the drive controller is higher than 599 Hz.

Firmware for drive controllers requires an export license according to applicable

export regulations if it enables an output frequency exceeding 599 Hz. For this reason,
the maximum output frequency of the drive controller is monitored with regard to
599 Hz.

Cause Remedy

The preset velocity command The motor speed cannot be reached. Check the command value
value requires an output input
frequency > 599 Hz

Bosch Rexroth AG Page 192

 Oct 14 2024

Cause Remedy

The preset velocity command Check operability: Does the drive follow a preset velocity
value requires an output command value? If necessary, ensure operability by repeating
frequency "near" 599 Hz commissioning.
Asynchronous motors:
Check slip compensation. With asynchronous motors, the
output frequency is increased by the slip frequency as
compared to the velocity command value. Reduce velocity
command value.

Velocity control loop Check and, if necessary, correct parameterization of velocity

unstable or too heavily controller
oscillating due to incorrect
parameterization

▶ Attributes

F8081 Speed at drive shaft too low

The speed at the drive shaft has fallen below the fixed value depending on the direction of rotation of 100 rpm or –
100 rpm.

Cause Remedy

The measured speed signal has fallen below the value Input a higher speed
depending on the direction of rotation of 100 rpm or – Before reducing the speed below
100 rpm with active DC bus voltage control. 100 rpm or –100 rpm, leave the
"DC bus voltage control" mode

▶ Attributes

F8091 Power section defective

Cause Remedy

During the initialization of the power section, invalid power Restart the device. If the error
parameters, invalid safety calibration values or a non- persists, please contact our
adjusted device were detected. service department.

Bosch Rexroth AG Page 193

 Oct 14 2024

The cause for triggering the error and the remedy can be found in the detailed
diagnostics.

▶ Attributes
Detailed diagnostics

00450312

00450313

00620050

00620051

00620052

F8098 F8 test error, F8022 error reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the controlled deceleration of an axis.

Cause Remedy

The value "0x0008" was written to "Axis 1. Write the value "0" to "Axis shutdown:
shutdown: Activation of test errors" (0x2870:04 / Activation of test errors" (0x2870:04 / P-0-
P-0-0257 / --) 0257 / --)
2. Reset error

See also Error reaction

▶ Attributes

F8099 F8 test error, axis reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the fatal error reaction of an axis.

Bosch Rexroth AG Page 194

 Oct 14 2024

Depending on how the best possible deceleration ( P‑0‑0119) has been configured,
short-circuit braking is triggered or drive enable is immediately switched off.

Cause Remedy

The value "0x004" was written to "Axis 1. Write the value "0" to "Axis shutdown:
shutdown: Activation of test errors" (0x2870:04 Activation of test errors" (0x2870:04 / P-0-
/ P-0-0257 / --) 0257 / --)
2. Reset error

See also Error reaction

▶ Attributes

F8100 Error when initializing the parameter handling

During the initialization of the drive controller, the control section is checked for correct function. An error was detected
during this check.

Cause Remedy

After the device had been switched on it was impossible to load Switch drive off and back
the saved application parameters, process parameters or device on. If error still occurs,
parameters from the command value memory (flash/internal contact our service
memory) of the control section. Either because the command department and, if
value memory is defective or the data on the command value necessary, replace control
memory are invalid. section or entire drive
controller

Control section configuration is invalid Switch drive off and back

on. If error occurs again,
replace control section by
different control section
with appropriate
configuration.
If necessary, contact our
service department

Bosch Rexroth AG Page 195

 Oct 14 2024

Cause Remedy

Firmware used is not suitable, i.e. hardware and firmware do Select suitable firmware
not match using the Application
Manual, index entry
"Supported control sections"

Hardware defect on control section (e.g., F8844) Switch drive off and back
on. If error still occurs,
Before the last switch-off, a processor crash/exception please contact our service
occurred during operation department and, if
necessary, replace control
section or entire drive
controller.

See also Firmware replacement

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

▶ Attributes
Detailed diagnostics

006E0D00

006E0D01

006E0D03

006E0D07

006E0D08

006E0D09

Bosch Rexroth AG Page 196

 Oct 14 2024

006E0D0A

006E0D80

F8101 Error during parameter set switching

An error occurred within the scope of the command for parameter set switching [ C4100 (S‑0‑0216)].

Cause Remedy

Impossible to reset the selected 1. Check the configuration list of the parameters
parameter set to the previously active selected for parameter set switching (S‑0‑0219),
parameter set. including the respective parameter set data of the
selected parameter set (S‑0‑0217).
The parameters configured in S‑0‑0219
are mutually inconsistent and therefore 2. Restart the command for parameter set switching
do not correspond to the configured [C4100 (S‑0‑0216)].
parameter set data.
3. If the cause of the error was removed, the error
can afterwards be cleared by the command C0500.

▶ Attributes

F8102 Error when initializing power section

During the initialization of the drive controller, the power section is checked for correct function. An error was detected
during this check.

Cause Remedy

Hardware and firmware do not match Check Firmware Release Notes or Firmware
Version Notes and, if necessary, use latest
firmware release

Axis type-specific physical type data of power Switch drive off and back on. If error occurs
output stage ["Output stage data, axis: Type- again, check content of "Output stage data,
specific" (0x2A94:01 / P-0-1519.0.1 / --) saved axis: Type-specific" (0x2A94:01 / P-0-
on the power section are invalid or were 1519.0.1 / --) and please contact our service
incorrectly written department
It might be necessary to replace power
section or entire drive controller

Bosch Rexroth AG Page 197

 Oct 14 2024

Cause Remedy

Hardware defect on power section Replace power section or entire drive

controller

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

▶ Attributes

F8105 Firmware runtime error

A serious runtime error occurred.

The cause of the error can be read via the detailed diagnostics.

Cause Remedy

A serious runtime error in the Check Firmware Release Notes and, if necessary, use
firmware was detected. latest firmware release

▶ Attributes
Detailed diagnostics

007B0003

007B0155

007B0157

007D0016

007D0017

007D0019

Bosch Rexroth AG Page 198

 Oct 14 2024

007D001A

007D001B

007D001C

007D001D

F8106 SMO: Internal communication error

An internal communication error to safety technology (SMO) was detected.

1. Switch off the drive and then switch it back on (restart).

2. Analyze the entries in the diagnostic trace and proceed depending on the error history after
drive restart (see table below).

Cause Remedy

If error F8131 occurred after drive restart: Save all parameters.

During the execution of a safety function, a Contact our service department to have
monitoring function detected a severe exception the parameter file analyzed.
that prevents further operation.

If the error occurs sporadically (without previous Remove external disturbances which can
error F8131): be caused, for example, by insufficient or
defective shielding.
The internal communication to safety technology
(SMO) is disrupted.

If the error occurs permanently (without previous Please contact our service department to
error F8131): have the hardware replaced.
The optional safety technology card (SMO) is
defective.

See also Loading, storing and saving parameters

▶ Attributes
Detailed diagnostics

Bosch Rexroth AG Page 199

 Oct 14 2024

007D1001

007D1002

007D1003

007D1004

007D1005

007D1006

007D1007

007D1008

007D1009

007D100A

007D100B

007D100C

007D100D

007D100E

007D100F

007D1010

007D1011

Bosch Rexroth AG Page 200

 Oct 14 2024

007D1012

F8110 Firmware update incompatible

After the firmware update, a check is run to find out whether all subsystems, that are to be updated by the firmware file
loaded, were actuallly updated. If this is not the case, the update is incomplete and the error F8110 is displayed.

Cause Remedy

The firmware file is not compatible with the hardware. Load a compatible firmware file
to the device.
TIP: The Firmware Release Notes contain information on
the incompatibility of firmware files with certain hardware
versions.

The firmware file is outdated. The hardware at hand is more Load a current firmware file to
recent than the loaded firmware and not fully supported. the device.

The firmware file is defective. Please contact our service

department to get a faultless
firmware file.

▶ Attributes

F8115 Firmware inconsistent

During the initialization of the device, a check is run to find out whether the firmware of all components and optional
modules is compatible. If this is not the case, the error F8115 is displayed.

The error F8115 can be expected after a firmware download, or after an optional
module or component has been replaced. The error cannot be cleared. The error has
to be removed to operate the device.

Cause Remedy

Bosch Rexroth AG Page 201

 Oct 14 2024

Cause Remedy

A previous firmware download was not completed. Repeat the firmware download in
order to complete it.
The download was interrupted by communication
breakdown or voltage failure.
The download was carried out from the loader and the
loader could not be updated.

In the case of ctrlX DRIVEplus with communication: X3 Make sure that all required apps
have been installed in the target
The firmware of ctrlX CORE and ctrlX DRIVE was updated.
version
One or more of the required apps have not been installed
or have been installed in the wrong version

The firmware file is outdated. Optional modules or Use a current firmware file.
components not supported by the firmware file were
installed in the device.

An optional module or component was replaced. Carry out the firmware download
completely to update the
firmware.

The firmware file is defective. Please contact our service

department to get a faultless
firmware file.

See also Firmware replacement

▶ Attributes
Detailed diagnostics

007B0048

007C0009

007C000A

F8118 Invalid power section/firmware combination

Bosch Rexroth AG Page 202

 Oct 14 2024

The power section is incompatible with the firmware used.

Cause Remedy

Firmware does not support the Replace firmware. Use a firmware version or a firmware
available power section type release that supports the power section type.
‑ or ‑
Replace power section. Use a power section type that is
supported by the firmware version and release used.

▶ Attributes
Detailed diagnostics

0045050A

0045050B

0045050C

F8122 Control section defective

An error occurred during the initialization of the control section.

Cause Remedy

In the case of ctrlX DRIVEplus with 1. Downgrade the firmware of ctrlX CORE to the
communication: X3 original version.
The firmware updates of ctrlX CORE and 2. Update the firmware of ctrlX DRIVE.
ctrlX DRIVE were installed in the wrong
3. Update the firmware of ctrlX CORE.
order.

Bosch Rexroth AG Page 203

 Oct 14 2024

Cause Remedy

In the case of ctrlX DRIVEplus with Make sure that the firmware version of ctrlX
communication: X3 CORE is compatible with the firmware version of
ctrlX DRIVE.
The firmware of ctrlX CORE and ctrlX DRIVE
was updated. Tip: The compatibility of the firmware versions is
documented in the Release Notes of ctrlX CORE
The firmware version of ctrlX CORE is not
Runtime
compatible with the firmware version of
ctrlX DRIVE

The hardware of the control section is Replace drive controller; use hardware
defective configuration of the same type

See Controller replacement

(Only Rexroth service engineers are allowed to replace the control section.)

▶ Attributes
Detailed diagnostics

007C0200

007C0201

007C0202

007D000D

007D000E

007D000F

007D0010

007D0011

Bosch Rexroth AG Page 204

 Oct 14 2024

F8130 Mains connection module (XLI) not ready for operation

The communication with the external mains connection module (XLI) could not be established or is faulty.

Cause Remedy

Faulty connection between supply Check correct wiring between supply module and
module and mains connection module mains connection module

Faulty power supply of mains Supply the supply module and mains connection
connection module module from the same voltage source (24 V)

Defective mains connection module Replace mains connection module

▶ Attributes
Detailed diagnostics

007B0080

F8131 Exception on optional module

A serious runtime error occurred.

Cause Remedy

A serious Switch device off and on again.

runtime error
If the error occurs repeatedly, please save all parameter values, with the
was detected.
error present, by means of ctrlX DRIVE Engineering (context menu of the
device: {Device} ➔ Parameters ➔ Save...).
To evaluate the parameter file, please contact our service department; the
hardware might be defective.

▶ Attributes
Detailed diagnostics

00050002

00400006

Bosch Rexroth AG Page 205

 Oct 14 2024

0040001B

0040001C

0040001D

00400021

00400022

00400023

00400024

00400025

00400026

00400027

00400028

00400029

00400030

00400031

00400032

00400419

Bosch Rexroth AG Page 206

 Oct 14 2024

0040041A

0040041B

0040041C

0040041D

0040041E

0040041F

00400420

00400421

00400422

00400423

00400424

00400425

00400426

00400427

00410009

0041000A

0041000B

Bosch Rexroth AG Page 207

 Oct 14 2024

0041000C

0041000D

0041000E

0041000F

004606CA

004606CB

004606CC

004606CD

004606CE

004606F0

004606F7

00480121

00480122

00530460

00530FF5

0053349B

Bosch Rexroth AG Page 208

 Oct 14 2024

0053349C

0053349D

0053349E

005334A1

005334A2

005334A3

005334A4

005334A6

005334A7

005334A8

005334A9

005334AA

005334AB

005334AC

005334AD

005334AE

005334B4

Bosch Rexroth AG Page 209

 Oct 14 2024

005334B8

005334B9

005334BA

005334BB

005334BC

005334BD

005334BE

005334BF

005334C0

005334C1

005334CB

005334CC

005334D2

005334D3

005334D4

005334D5

Bosch Rexroth AG Page 210

 Oct 14 2024

005334D6

005334D7

005334D8

005334D9

005334DA

005334DB

005334DC

005334DD

005334DE

005334DF

005334E0

005334E1

005334E2

005334E3

005334E4

005334E5

005334E6

Bosch Rexroth AG Page 211

 Oct 14 2024

005334E7

005334F6

005334F7

005334F8

005334F9

005334FA

005334FB

005334FC

005334FD

005334FE

005334FF

00533500

00533501

00533502

00533503

00533504

Bosch Rexroth AG Page 212

 Oct 14 2024

00533505

00533506

00533507

00533508

00533509

0053350A

0053350B

0053350C

0053350D

0053350E

0053350F

00533510

00533511

00533512

00533513

00533514

00533515

Bosch Rexroth AG Page 213

 Oct 14 2024

00533516

00533517

00533518

00533519

0053351A

0053351B

0053351C

0053351D

0053351E

0053351F

00533520

00533521

00533522

00533523

00533524

00533525

Bosch Rexroth AG Page 214

 Oct 14 2024

00533526

00533527

00533528

00533529

0053352A

0053352B

00533540

00533541

00533542

00533543

00533544

00533549

0053354A

0053354C

0053354D

0053354E

0053354F

Bosch Rexroth AG Page 215

 Oct 14 2024

00533550

00533551

00533552

00533553

00533554

00533555

00533556

0053355A

0053355B

0053355C

00533609

0053360A

0053360B

0053360C

00533619

0053361A

Bosch Rexroth AG Page 216

 Oct 14 2024

0053361B

0053361C

0053361D

0053361E

0053361F

00533620

00533621

0053602A

00540460

00540FF5

0054349B

0054349C

0054349D

0054349E

005434A1

005434A2

005434A3

Bosch Rexroth AG Page 217

 Oct 14 2024

005434A4

005434A6

005434A7

005434A8

005434A9

005434AA

005434AB

005434AC

005434AD

005434AE

005434B4

005434B8

005434B9

005434BA

005434BB

005434BC

Bosch Rexroth AG Page 218

 Oct 14 2024

005434BD

005434BE

005434BF

005434C0

005434C1

005434CB

005434CC

005434D2

005434D3

005434D4

005434D5

005434D6

005434D7

005434D8

005434D9

005434DA

005434DB

Bosch Rexroth AG Page 219

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005434DC

005434DD

005434DE

005434DF

005434E0

005434E1

005434E2

005434E3

005434E4

005434E5

005434E6

005434E7

005434F6

005434F7

005434F8

005434F9

Bosch Rexroth AG Page 220

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005434FA

005434FB

005434FC

005434FD

005434FE

005434FF

00543500

00543501

00543502

00543503

00543504

00543505

00543506

00543507

00543508

00543509

0054350A

Bosch Rexroth AG Page 221

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0054350B

0054350C

0054350D

0054350E

0054350F

00543510

00543511

00543512

00543513

00543514

00543515

00543516

00543517

00543518

00543519

0054351A

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0054351B

0054351C

0054351D

0054351E

0054351F

00543520

00543521

00543522

00543523

00543524

00543525

00543526

00543527

00543528

00543529

0054352A

0054352B

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00543540

00543541

00543542

00543543

00543544

00543549

0054354A

0054354C

0054354D

0054354E

0054354F

00543550

00543551

00543552

00543553

00543554

Bosch Rexroth AG Page 224

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00543555

00543556

0054355A

0054355B

0054355C

00543609

0054360A

0054360B

0054360C

00543619

0054361A

0054361B

0054361C

0054361D

0054361E

0054361F

00543620

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00543621

0054602A

00620035

006E0002

006E0003

006E0004

006E0005

006E0006

006E0007

006E0008

F8132 Subsystem of encoder not ready for operation

An error occurred during the initialization of the encoder (subsystem).

Cause Remedy

Encoder hardware incorrectly Please contact our service department to have the
configured. hardware replaced.

▶ Attributes

F8211 Fatal PLC error no. 1

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function “ctrlX DRIVE
Technology Function”) allows fatal errors to be generated from within the PLC program.

Fatal errors are errors which do not allow carrying out a freely definable error reaction.

Bosch Rexroth AG Page 226

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Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F8212 Fatal PLC error no. 2

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function “ctrlX DRIVE
Technology Function”) allows fatal errors to be generated from within the PLC program.

Fatal errors are errors which do not allow carrying out a freely definable error reaction.

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F8213 Fatal PLC error no. 3

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function “ctrlX DRIVE
Technology Function”) allows fatal errors to be generated from within the PLC program.

Fatal errors are errors which do not allow carrying out a freely definable error reaction.

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F8214 Fatal PLC error no. 4

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function “ctrlX DRIVE
Technology Function”) allows fatal errors to be generated from within the PLC program.

Fatal errors are errors which do not allow carrying out a freely definable error reaction.

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of

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 Oct 14 2024

the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F8215 Fatal PLC error no. 5

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function “ctrlX DRIVE
Technology Function”) allows fatal errors to be generated from within the PLC program.

Fatal errors are errors which do not allow carrying out a freely definable error reaction.

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F8216 Fatal PLC error no. 6

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function “ctrlX DRIVE
Technology Function”) allows fatal errors to be generated from within the PLC program.

Fatal errors are errors which do not allow carrying out a freely definable error reaction.

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F8217 Fatal PLC error no. 7

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function “ctrlX DRIVE
Technology Function”) allows fatal errors to be generated from within the PLC program.

Fatal errors are errors which do not allow carrying out a freely definable error reaction.

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

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 Oct 14 2024

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F8218 Fatal PLC error no. 8

In conjunction with Technology Apps, the PLC integrated in the drive (optional firmware function “ctrlX DRIVE
Technology Function”) allows fatal errors to be generated from within the PLC program.

Fatal errors are errors which do not allow carrying out a freely definable error reaction.

Occurrence of this error depends on the particular PLC project (or the active Technology App). If the error message is
generated by a Technology App provided by Bosch Rexroth, the causes and remedies can be found in the description of
the Technology App.

Note: The English diagnostic text is stored as the default text in all language versions.

The diagnostic text can be edited via the integrated PLC. This allows meaningful and language-dependent diagnostic
messages to be assigned.

▶ Attributes

F8300 Dynamization pulse width incorrect

The dynamization pulses of the selection signals should not fall below a minimum sampling ratio of tPH / tP =90%, i.e. the
values cannot fall below the relation between the duration of the HIGH time (tPH) and the periodic time of the test pulse
(t P ), because this can affect the availability of the axis.

This error does not affect the safety technology!

This error is detected by the diagnostic unit of the safety technology. In case an error is detected, an immediate error
reaction is initiated (safe and functional output stage switch-off).

Cause Remedy

Sampling ratio of dynamization pulses too low on one or Check wiring of inputs and
on both selection channels outputs and remove error

In the case of selection by active safety unit: Test pulse Replace drive controller
generation is not suitable or faulty

The error can be cleared by a selection and deselection combination. The cause
should be fixed first.

▶ Attributes

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F8301 Error when checking selection signals

The check during the selection/deselection of the safety functions showed that the selection signals of channel 1 and
channel 2 differed for more than 1 second.

In case a selection reaction error is detected, an immediate error reaction is initiated (safe and functional output stage
switch-off) after the error occurred once.

Cause Remedy

Error in wiring​: Check wiring of selection and remove error.

loose connections or wire break Then switch power supply off and back on.
incorrect wiring of inputs and outputs
short circuit between one or both
selection channels and 24 V or 0 V

Delay between selection channels Correct selection timing and then clear error by
exceeded during a selection or selecting and deselecting the safety functions.
deselection
Then acknowledge error message.

With active safety unit: Incorrect Replace drive controller

selection (selection not suitable or faulty)

Hardware defective Replace drive controller

▶ Attributes

F8303 STO system error

The diagnostic unit of the safety technology monitors its function. In case an error is detected, an immediate error
reaction (safe and functional output stage switch-off) is initiated.

Cause Remedy

Firmware update was carried out after drive Switch power supply off and back on. Then
controller had been in "AF" repeat firmware update

System error within diagnostic unit of safety Switch power supply off and back on.
technology (e.g., watchdog)
If error occurs repeatedly, replace drive
controller

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▶ Attributes

F8312 SMO: Invalid scaling setting

Cause Remedy

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Cause Remedy

Invalid setting in the SMO Check parameterization and change it, if necessary
scaling parameters
SMO axis mechanics
"SMO axis mechanics: Polarity" (0x3020:01 / P-0-3221.0.1 /
--)
"SMO axis mechanics: Input revolutions of load gearbox"
(0x3020:02 / P-0-3221.0.2 / --)
"SMO axis mechanics: Output revolutions of load gearbox"
(0x3020:03 / P-0-3221.0.3 / --)
"SMO axis mechanics: Feed constant" (0x3020:04 / P-0-
3221.0.4 / --)
"SMO axis mechanics: Modulo value" ( 0x3020:05 / P-0-
3221.0.6 / --)
"SMO axis mechanics: Max. travel range" (0x3020:06 / P-0-
3221.0.7 / --)
"SMO axis mechanics: Type of motor construction"
(0x3020:07 / P-0-3221.0.8 / --)

SMO position scaling

"SMO position scaling: Type" (0x3022:01 / P-0-3222.0.1 / --)
"SMO position scaling: Exponent" (0x3022:02 / P-0-3222.0.2
/ --)
"SMO position scaling: Resolution" (0x3022:03 / P-0-
3222.0.3 / --)

SMO velocity scaling

"SMO velocity scaling: Type" (0x3024:01 / P-0-3223.0.1 / --)
"SMO velocity scaling: Exponent" (0x3024:02 / P-0-3223.0.2
/ --)

SMO acceleration scaling

"SMO acceleration scaling: Type" (0x3026:01 / P-0-3224.0.1
/ --)
"SMO acceleration scaling: Exponent" (0x3026:02 / P-0-
3224.0.2 / --)
"SMO acceleration scaling: Ramp reference velocity"
(0x3026:03 / P-0-3224.0.3 / --)
‑ or ‑
Start the command C0720 to load the SMO default values

Bosch Rexroth AG Page 232

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Cause Remedy

▶ Attributes

F8316 SMO: Incorrect change of system state

An error was detected with regard to an inactive SMO during the state change between the "condition as supplied" and
"functional commissioning".

The state change can take place with the following actions:

With "SMO configuration: Functional commissioning" (0x3010:04 / P-0-3201 / --)

After switching on the control voltage during the first run-up
When activating the SMO
With "SMO parameterization: C8300 Command Activate parameter image" (0x3012:02 / P-0-3231.0.3 / P-0-2467)

The cause of the error can be read via the detailed diagnostics.

▶ Attributes
Detailed diagnostics

005300F6

0053066D

0053066E

005400F6

0054066D

0054066E

F8319 SMO: INIT system error

When the safety technology was started, an error was detected that prevents further operation.

1. Switch off the drive and then switch it back on.

2. If the error continues to be reported, backup all parameters.
3. Contact our service department.

See also Loading, storing and saving parameters

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▶ Attributes
Detailed diagnostics

005334CE

005434CE

F8320 SMO: Invalid module/firmware combination

An invalid module/firmware combination is used, please contact our service department.

▶ Attributes
Detailed diagnostics

00533469

0053346A

0053346B

0053346C

00533545

00533546

00533547

00533548

00533611

00543469

0054346A

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0054346B

0054346C

00543545

00543546

00543547

00543548

00543611

F8321 SMO: Invalid circuit board/firmware combination

An invalid circuit board/firmware combination is used, please contact our service department.

▶ Attributes

F8322 SMO: Invalid combination HW/FW properties

During the initialization phase, the safety technology checks the requirements on the hardware stored in the firmware
against the hardware properties. A mismatch was detected during this check.

The error cannot be cleared.

Cause Remedy

Hardware properties expected or requested by firmware Please contact our service

are missing department

▶ Attributes

F8323 SMO: Error in deactivation

An error occurred while deactivating the SMO.

The state "SMO_not_active" was not reached. The "SMO password: Level" (0x3018:01 / P-0-3230 / --) is maintained.

The cause of the error can be read via the detailed diagnostics.

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▶ Attributes

F8324 SMO: Error in activation

"SafeMotion" could not be activated.

Activating "SafeMotion" can be triggered by different actions.

If this error occurs, the detailed diagnostics usually provide information on the error
cause.

Cause Remedy

The control voltage was switched on. Check "SMO password: Level" (0x3018:01 / P-0-
3230 / --).
Although a valid safety technology
password had been detected, the If 0x3018:01 / P-0-3230="0", switch off the
parameterization mode could not be control voltage and then switch it back on.
activated. If the error occurs repeatedly, please contact our
service department.
If 0x3018:01 / P-0-3230="2", analyze the entries
in the diagnostic memory and debug the errors
that occurred when executing the command
C8200.

The safety technology password was Switch off the control voltage and then switch it
assigned for the first time. back on.
Assign a new valid safety technology password.
Although the password had been valid,
the safety technology could not be
activated.
(The safety technology password entered
originally was discarded.)

An attempt was made to load a Analyze the entries in the diagnostic memory.
parameter image and an error occurred in If the diagnostic memory contains errors that
the process. occurred in the execution of the command
C8300, remove these errors.
In addition, make sure that the parameter image
originates from a pattern axis that was
completely commissioned and validated.
Load the parameter image again.

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Cause Remedy

The control voltage had been switched Assign new password following the requirements
on and no valid safety technology for the safety technology password ["SMO
password was detected. password: Entry" (0x3018:02 / P-0-3230.0.1 / P-0-
2468)]

If the auxiliary function "Safe homing Assign a value unequal zero to "SMO Safe homing
procedure" is used: procedure: Tolerance window" (0x31B0:04/
P‑0‑3253.0.4 / P-0-2796)
"SMO Safe homing procedure: Tolerance
window" (0x31B0:04/ P‑0‑3253.0.4 / P-0-
2796) has been parameterized with "0"

If the error occurs repeatedly, please contact our service department.

▶ Attributes
Detailed diagnostics

00400008

00400009

0040000B

0040000C

F8325 SMO: Error output 3

An error occurred at the local output 3 in "push-pull mode". All outputs were switched off.

The error cannot be cleared.

"Output 3" ("high-side output" or "push-pull mode") is configured via "SMO local IOs:
Output signals configuration" (0x305C:06 / P-0-3323.0.1 / --).

Cause Remedy

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Cause Remedy

State of output does not comply with Check the wiring for short circuit against V CC or
actuation GND.
If error occurs repeatedly, replace drive
controller.

Incorrect dynamization of the output If error occurs repeatedly, replace drive

controller.

▶ Attributes
Detailed diagnostics

00120024

0012002A

F8326 SMO: Error during booting process

When safe outputs have been configured, the safety technology monitors during the booting process whether the voltage
at the output is within the specification for "Low".

Cause Remedy

During the booting process, a wiring error (short circuit against Remove wiring error at
24 V) was detected at a local output the local output

▶ Attributes
Detailed diagnostics

00120025

00120026

00120027

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00120029

F8330 SMO: Configuration data record has not been activated

When initializing the drive-integrated safety technology, the saved SafeMotion parameter image was detected to have
been modified.

Cause Remedy

A new parameter set with modified To continue operating the safety technology, activate the
SafeMotion parameter image was modified parameter image by executing the command
loaded C8300

▶ Attributes
Detailed diagnostics

005334D1

005434D1

F8350 Maximum transition time exceeded

Safety technology, change in operating state

During the transition to the safety technology operating state "EMERGENCY STOP" or the special mode "Safe standstill"
via the safety function "Safe stop 1" (SS1) in the "time-prioritized" characteristic ["SMO state machine prof. 1: Config
operation mode transitions" (0x3084:01 / P-0-3280.0.1 / --, bit 1="0”)], the drive is unable to reach standstill within the
parameterized maximum transition time.

Cause Remedy

The parameterized transition time for the NC-controlled transition Check

from normal operation to special mode " Safe standstill " is too short parameterization of
"SMO state machine
prof. 1: Max. trans.
time, NO to
SMST/SMES"
(0x3084:02 / P-0-
3280.0.2 / --) and
correct it accordingly

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Cause Remedy

The parameterized transition time for the NC-controlled transition Check

from one special mode to another special mode is too short parameterization of
"SMO state machine
prof. 1: Max. trans.
time, between SMxx"
(0x3084:03 / P-0-
3280.0.3 / --) and
correct it accordingly

Drive enable is still set Make sure that drive

enable is removed
Note: Monitoring of drive enable in SafeMotion always refers to the
internal drive enable ["Axis state machine: Status word, axis"
(0x2802:02 / P-0-0115 / --, bit 15/14)] and not to drive enable of the
control ["Axis state machine: Control word, axis" (0x2802:03 / P-0-
0116 / --)]. When drive enable is switched off, the internal drive
enable is always extended by the parameterized delay after drive
enable was reset ["Axis delay time: Off" (0x2804:02 / S-0-0207 / --)].
This has to be taken into account when parameterizing transition
times or error reaction times.

In the configuration "SS1 time-prioritized" with deceleration With drive-

monitoring ["SMO state machine prof. 1: Config operation mode controlled
transitions" (0x3084:01 / P-0-3280.0.1 / --, bit 1="0" and bit 2="1”)], transition,
the parameterized deceleration is too low or has not been adjusted to deceleration takes
the parameterized tolerance time place via "Axis
shutdown: Best
possible shutdown"
(0x2870:01 / P-0-
0119 / --); the error
reaction
parameterized in
drive has to be
checked
With NC-controlled
transition, check
deceleration
parameterized in the
control

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Cause Remedy

"NC-controlled stopping process" was activated by mistake Check "SMO state

machine prof. 1:
Config operation mode
transitions"
(0x3084:01 / P-0-
3280.0.1 / --) and
correct it accordingly;
i. e. activate "drive-
controlled stopping
process"

F7 error reaction
During the transition to the "Safe standstill error", the drive is not able to reach standstill within the parameterized
maximum transition time. F8350 is an error resulting from the error F7050.

Cause Remedy

The tolerance time parameterized for the reaction to F7 errors is too Check "SMO error
short reaction: F7 tolerance
time" (0x315E:03 / P-
0-3263.0.7 / --) and
correct it accordingly

Drive enable is still set Make sure that drive

enable is removed
Note: Monitoring of drive enable in SafeMotion always refers to the
internal drive enable ["Axis state machine: Status word, axis"
(0x2802:02 / P-0-0115 / --, bit 15/14)] and not to drive enable of the
control ["Axis state machine: Control word, axis" (0x2802:03 / P-0-
0116 / --)]. When drive enable is switched off, the internal drive
enable is always extended by the parameterized delay after drive
enable was reset ["Axis delay time: Off" (0x2804:02 / S-0-0207 / --)].
This has to be taken into account when parameterizing transition
times or error reaction times.

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Cause Remedy

Parameterized deceleration is too short or not adjusted to With drive-controlled

parameterized tolerance time transition,
deceleration takes
place via "Axis
shutdown: Best
possible shutdown"
(0x2870:01 / P-0-0119
/ --); the error reaction
parameterized in drive
has to be checked

See also SafeMotion documentation

▶ Attributes
Detailed diagnostics

00530017

00533499

005335AB

00533608

00533623

00540017

00543499

005435AB

00543608

Bosch Rexroth AG Page 242

 Oct 14 2024

00543623

F8351 Safely-monitored deceleration exceeded

In the transition to the "Safe standstill error" (SMD‑E), the drive is not able to reach standstill with the parameterized
deceleration.

The error is generated by the safety function "Safely-monitored deceleration " (SMD) with monitoring of the F7 error
reaction if the actual velocity of the drive is not within the parameterized velocity envelope curve.

Cause Remedy

With "drive reaction to Check parameterization of "Axis shutdown: Best possible

errors of category F7", the shutdown" (0x2870:01 / P-0-0119 / --)
deceleration by the drive is Check torque limit (P‑0‑0109)
insufficient

Overshooting of actual Check control settings and adjust them, if necessary

velocity upon an F7 error Check parameterization of "SMO safely-monitored decel. error:
during acceleration Oscillation vel. window" (0x315F:01 / P-0-3263.0.2 / --) and
procedures "SMO safely-monitored decel. error: Reaction time" (0x315F:02
/ P-0-3263.0.3 / --)

Overshooting of actual Check control settings and adjust them, if necessary

velocity when reaching the Check parameterization of "SMO state machine prof. 1: Max.
velocity window SMD-E trans. time, NO to SMM" (0x3084:04 / P-0-3280.0.4 / --)

Incorrect parameterization Check parameterizations and change them, if necessary:

"SMO safely-monitored decel. error: Oscillation vel. window"
(0x315F:01 / P-0-3263.0.2 / --)
"SMO safely-monitored decel. error: Reaction time" (0x315F:02
/ P-0-3263.0.3 / --)
"SMO safely-monitored decel. error: Velocity window"
(0x315F:03 / P-0-3263.0.4 / --)
"SMO safely-monitored decel. error: Deceleration" ( 0x315F:04 /
P-0-3263.0.5 / --)
"SMO error reaction: F7 tolerance time" (0x315E:03 / P-0-
3263.0.7 / --)
"SMO safely-monitored decel. error: Jerk" (0x315F:05 / P-0-
3263.0.8 / --)

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▶ Attributes
Detailed diagnostics

00530018

00540018

F8352 Drive enable set in STO

Cause Remedy

Drive enable was set while the safety function “ Safe Go to normal operation before
torque off (STO)“ had been active setting drive enable
‑ or ‑
Check control / wiring

Special mode “Safe standstill” was selected with active Remove drive enable before
control. selection
‑ or ‑
Check control / wiring

▶ Attributes
Detailed diagnostics

00050001

F8353 SBC system error

The correct functioning of the interrupting circuit is cyclically checked to lock the brake in a safe way when the safety
technology has detected an error. This is done on the one hand during the actions "release brake" / "lock brake", on the
other hand statically while the brake drivers are being enabled or locked. The corresponding hardware implementation
ensures that this is possible without impacting the brake state.

An error was detected when the brake had been locked or when the brake drivers of the safety function "Safe brake
control (SBC)" had been cyclically checked.

Cause Remedy

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Cause Remedy

An error was detected during check Make sure that brake current is at least 0.1 A. With
of interrupting circuit values smaller than 0.1 A, it is not possible to monitor
the switch-off capability

Check brake wiring for short circuit or wire break

If brake wiring is error-free:

Start command "Class 1 diagnostics: C0500 Reset
command" (0x2B87:02 / S-0-0099 / --) to clear the error
an then set drive enable again.
If error occurs repeatedly, replace drive controller.

Safety function "Safe Brake Control Deselect "Safe brake control (SBC)" configuration in
(SBC)" was configured although no "SMO safe braking and holding function: Configuration"
brake has been connected (0x315C:02 / P-0-3265.0.1 / P-0-2544)

▶ Attributes
Detailed diagnostics

0053043A

0053043B

0053355D

0054043A

0054043B

0054355D

F8354 Error when checking interrupting circuits

To be able to safely lock the output stage in case of an error detected by the safety technology, the correct functioning of
the interrupting circuit is checked cyclically. This is done on the one hand during the actions "enable output stage" and

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 Oct 14 2024

"lock output stage", on the other hand statically while the output stage is enabled or locked. The corresponding
hardware implementation ensures that this is possible without impacting the PWM control pulses.

An error was detected when the output stage had been locked or when the locking of the output stage of the safety
function "Safe torque off (STO)" had been cyclically checked.

Safety is not acknowledged; i.e. bit 0="0" in "SMO state machine: Status word"
(0x3082:05 / P-0-3237 / --).

Cause Remedy

An error was detected during check of Switch the control voltage off and back on to
interrupting circuit restart the device.
If error occurs repeatedly, replace drive
controller.

▶ Attributes
Detailed diagnostics

00530438

00530439

00530467

005304A4

00540438

00540439

00540467

005404A4

F8356 SMO: Incorrect parameter processing

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An undefined state occurred in the processing of the safety technology parameters.

1. Save all parameters.

2. Contact our service department.
3. Remove the causes of the errors additionally signaled.
4. Switch the drive to the configuration mode ( C8100) and then execute the command "Class 1
diagnostics: C0500 Reset command" (0x2B87:02 / S-0-0099 / --).

See also Loading, storing and saving parameters

▶ Attributes
Detailed diagnostics

00530250

00530251

00530252

00530253

00530266

00530267

0053348C

0053348D

005334C3

005334C4

00540250

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00540251

00540252

00540253

00540266

00540267

0054348C

0054348D

005434C3

005434C4

F8359 SMO: Encoder evaluation error

The signals of the measuring system are monitored on hardware and software. If a monitoring functions is triggered, the
error F8359 is generated.

In addition, the actual position values calculated by the encoder evaluation and the generated status are monitored. If
the difference of the actual position values generated by channel 1 and channel 2 exceed the monitored threshold or if
the generated actual velocity value cannot be displayed or if channel 1 and channel 2 report different status information,
error F8359 is generated.

Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and
replace it, if necessary

Defective measuring system Check measuring system and replace it, if

necessary

Faulty mounting of measuring head in the case of Check mounting of measuring head and
linear measuring systems correct it, if necessary

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Cause Remedy

Measuring system dirty Clean or replace measuring system

Channel 1 and channel 2 provide different data Restart drive

Hardware defect on control section of drive Replace control section or entire drive
controller

▶ Attributes

F8360 Torque reset timeout

During the transition to the "special mode 1" and/or "Safe error state", the drive is not able to reach the target torque "0"
within the parameterized maximum transition time.

Cause Remedy

After the maximum allowed time Make sure that drive enable was removed before "SMO
after the start of the safety safely-monitored torque reduction: Max. transition time"
function "Safely-monitored (0x3153:02 / P-0-3311.0.2 / --) is over
torque reduction (SMTR)" had
‑ or ‑
been over (transition time), drive
enable was not yet removed Correct "SMO safely-monitored torque reduction: Max.
transition time" (0x3153:02 / P-0-3311.0.2 / --) until which
drive enable must have been removed. The selected
maximum transition time has to be greater than the
duration of "Axis shutdown: Ramp, torque/force reset"
(0x2870:02 / P-0-0119.0.1 / P-0-2413) to "0".

▶ Attributes
Detailed diagnostics

00190100

F8361 Validation error, current measurement

The validity of the measured values of phase current measurement is validated on the basis of different criteria in SMO. If
this validation fails, this diagnostic message is generated.

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Cause Remedy

An error occurred during validation of measured phase If error occurs repeatedly, replace
current values by SMO. drive controller.

▶ Attributes
Detailed diagnostics

00536024

00536025

00546024

00546025

F8362 AKS validation by SMTR

During a motor phase short circuit (AKS) of the functional part of the firmware, the "Safely-monitored torque reduction"
(SMTR) additionally monitors whether the PWM pattern evaluated in SMO matches the "Motor phase short circuit active"
state.

During an "AKS" of the functional part of the firmware, a PWM signal with a duty factor
of 100% is applied in the lower half bridge, and a PWM signal with a duty factor of 0%
is applied in the upper half bridge to short-circuit the motor phases. The PWM signal
of both half bridges is evaluated by SMO during the transition process.

Cause Remedy

The PWM pattern evaluated in SMO does not match the If error occurs repeatedly,
"Motor phase short circuit active" state. replace drive controller.

The cause for triggering the error can be found in the detailed diagnostics.

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▶ Attributes
Detailed diagnostics

00190101

F8399 SMO: Test error for enabling test

The error is generated for tests (“error reaction” testing point) to check the reaction of the drive when an F83 error
occurs.

▶ Attributes

F8811 Device overtemperature shutdown

The heat sink temperature of the device is monitored by a temperature sensor and a temperature model. When the heat
sink temperature has reached the maximum value, the device is switched off in order to protect it against destruction.

Before the error F8818 was triggered, the error message F2811 had been output.
After F2811 had been output, the device load was not reduced within 30 seconds;
thus the error F8818 was triggered. The supply unit reacted by immediately switching
off the power supply.

Cause Remedy

Overtemperature (heat sink) due to Switch off supply unit and let it cool down. Check
overload of device mechanics and drive sizing (on average,
machining power may not exceed continuous
power of drive)
For liquid-cooled devices: Check sizing of cooling
system (see documentation with material no.
R911309636)

Ambient temperature too high. Specified Reduce ambient temperature, e.g. by cooling the
performance data are valid up to an control cabinet
ambient temperature of 40 °C

Heat sink of device is dirty Clean heat sink

Convection is prevented by other Mount device vertically and provide sufficient

components or mounting position in space for ventilating heat sink
control cabinet

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Cause Remedy

Air conditioning of control cabinet failed Check air conditioning of control cabinet

Incorrect control cabinet sizing with Check control cabinet sizing

regard to heat dissipation

For liquid-cooled devices: Connect cooling system

No cooling system connected

For liquid-cooled devices: Check cooling system and remove error

Error in cooling system, e.g. coolant pump
defective or filter clogged up; thus, flow
rate too low/coolant inlet temperature too
high

▶ Attributes
Detailed diagnostics

0045030C

0045030E

00450314

F8812 Mains frequency outside of the monitoring window

The mains frequency is monitored to protect the device; for this purpose, limit values have been stored in the device (38
to 67 Hz).

When advanced mains monitoring has been activated in the island grid mode ["Grid
monitoring: Configuration word" (0x2646:01 / S-0-1712.0.150 / P-0-1779, bit 0="1")],
the parameterized monitoring limits ["Grid monitoring: Frequency reduction f<
threshold value" (0x2646:04 / S-0-1712.0.164 / P-0-2224) and "Grid monitoring:
Frequency increase f> threshold value" (0x2646:05 / S-0-1712.0.165 / P-0-2225)]
apply additionally.

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Cause Remedy

Mains frequency below the mains frequency allowed for the Check mains connection
device (approx. 38 Hz)

Mains frequency above the mains frequency allowed for the

device (approx. 67 Hz)

Switch-off order of XVR not complied with If the mains is disconnected

by an upstream main
contactor while XVR is in
operation, the mains filters
may start oscillating.
ÞFirst switch off the supply
unit, and then disconnect
the upstream main
contactor.

When advanced mains monitoring has been activated in the Check island grid
island grid mode "Grid monitoring: Configuration word"
(0x2646:01 / S-0-1712.0.150 / P-0-1779, bit 0="1”), this applies
additionally:
Mains frequency outside of parameterized monitoring limits
["Grid monitoring: Frequency reduction f< threshold value"
(0x2646:04 / S-0-1712.0.164 / P-0-2224) and "Grid monitoring:
Frequency increase f> threshold value" (0x2646:05 / S-0-
1712.0.165 / P-0-2225)]

▶ Attributes
Detailed diagnostics

00450005

00450006

0045000B

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0045000C

F8813 Connection error mains choke

After power supply has been switched on for the first time, after the control voltage was switched on, the connection of
the commutation choke is checked with regard to the following aspects:

the phase sequence of power connections has to be the same as the phase sequence of synchronization inputs
the inductance of the commutation choke has to match the supply unit

The check detected an error; the corresponding detailed diagnostics provides information on the exact cause of the
error.

▶ Attributes
Detailed diagnostics

0045040C

0045040D

00450416

00450417

F8814 Mains voltage outside of the extended monitoring window

For more than 2 seconds, the mains voltage in operation has fallen below the minimum value specified for the device. For
a device of the "XVR" type, this is 220 V minus 10% phase-to-phase mains voltage.

Cause Remedy

Mains connection voltage is too low Check the mains voltage

Mains voltage dip due to high load by Use "non-rigid" mains or mains connection
supply unit transformer

▶ Attributes
Detailed diagnostics

00450007

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00450008

00450009

0045000A

F8815 Overvoltage in mains

To monitor the mains voltage, the mains voltage peak value is generated and filtered over multiple mains periods. This
error is generated if the filtered measured value is 10 % above the mains connection voltage specified for the device.
This error is also generated if the unfiltered measured value is 15 % above the mains connection voltage specified for the
device.

Cause Remedy

Mains voltage peak value has Check whether the mains voltage range has been complied
exceeded allowed maximum with (see “Technical data”, “Mains voltag”e for the device
value used)
Use a matching transformer where necessary

▶ Attributes
Detailed diagnostics

0045030A

F8816 Overvoltage in power section, mains

The supply unit detected a DC bus voltage far above the allowed value. The power supply was switched off.

Cause Remedy

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Cause Remedy

Energy regenerated to the DC bus by machine Reduce regenerative power by lower

mechanics during braking process was so high that it acceleration values
could not be dissipated by supply unit within the
– or –
regeneration time. This caused the DC bus voltage to
rise to an inadmissible value Activate power limitation ["Power
limitation: Withdrawal from DC bus"
(0x230A:04 / S-0-0561 / --) / "Power
limitation: Supply to DC bus"
(0x230A:03 / S-0-0562 / --)]
– or –
Correct the drive sizing
– or –
Ensure that supply unit is adequately
sized with regard to braking energy
requirements

Mains supply voltage (alternating input voltage) too Check mains supply voltage
high (alternating voltage/3‑phase)

F8xxx error at high speed (field weakening range) of a Check whether braking resistance
synchronous motor value in DC bus exceeds maximum
value allowed for motor; reduce
braking resistance value to or below
the allowed value if necessary

Supply unit in island grid mode / XMV in DC/DC mode

If a supply unit is operated in island grid mode or a device of the XMV type in DC/DC mode, the device has to be supplied
externally with an appropriate DC bus voltage. If the applied DC bus voltage is above the maximum allowed value for the
DC bus voltage, this error is output.

CAUTION!

This error message prevents operation of the device, but the device is not protected
from destruction, since the device cannot switch off the externally applied DC bus
voltage.

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Cause Remedy

Externally applied DC bus voltage is higher than value allowed Bring applied DC bus
for the device voltage to allowed range

On the DC output voltage, more energy is fed in than the supply Reduce energy supply
unit of the primary DC bus can dissipate.
– or –
Increase regenerative
capacity of supply unit

▶ Attributes

F8817 Overvoltage in power section

The DC bus voltage is monitored. The error is triggered when the maximum value is exceeded.

Cause Remedy

Energy regenerated to the DC bus by machine Reduce regenerative power through lower
mechanics during braking process was so high that acceleration values
it could not be dissipated by supply unit within the
– or –
regeneration time. This caused DC bus voltage to
rise to an inadmissible value. Correct the drive sizing
– or –
Activate power limitation ["Power
limitation: Supply to DC bus" (0x230A:03
/ S-0-0562 / --)]
– or –
Ensure that supply unit is adequately
sized with regard to braking energy
requirements; if sizing of available braking
resistor is not adequate, use additional
braking resistor where necessary

Mains supply voltage (alternating input voltage) is Check mains supply voltage (alternating
too high. voltage/3‑phase)

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Cause Remedy

No braking resistor (HLR) / braking unit (HLT) Connect braking resistor (HLR) / braking
connected, or connection or cable defective unit (HLT) or check connection

F8xxx error at high speed (field weakening range) Check whether braking resistance value
of a synchronous motor in DC bus exceeds maximum value
allowed for motor; reduce braking
resistance value to or below the allowed
value if necessary

The parameterization of the supply unit is Check parameterization

incorrect, e.g.
Regeneration deactivated
Current limit value too low
…

▶ Attributes

F8820 Braking resistor overload

If the DC bus voltage exceeds the current switch-on threshold of the braking resistor (P‑0‑0833), as a result of
regenerative operation of the drive, the braking resistor is switched on to limit the DC bus voltage.

The load of the braking resistor has by far exceeded the load limit. Power was switched off to avoid braking resistor
overload.

The load of the braking resistor is displayed in "Brake resistor thermal model: Current
load" (0x2622:01 / P-0-0844 / --).

The error can only be cleared when its cause has been removed.
Once the cause of the error has been removed, the braking resistor has to be checked
for operability!

Cause Remedy

Mains contactor was opened so that regenerated energy of the Only switch off the mains
supplied axes had to be absorbed by braking resistor. Energy contactor if the supplied
absorption capacity of braking resistor is exhausted. axes are not in operation.

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Cause Remedy

Enable signal of supply unit was switched off, even though the Only switch off supply unit
supplied axes were still active, so that regenerated energy of the when axes were
supplied axes had to be absorbed by braking resistor. Energy decelerated.
absorption capacity of braking resistor is exhausted.

Allowed deceleration of connected drives is too high. Reduce deceleration of

connected drives.
Connect additional
capacitances in the DC bus
to enable the regenerated
energy to be stored.

Rotary drive energy is too high. Reduce maximum speed or

check sizing of supply
module, and increase sizing
of supply module if
necessary.

▶ Attributes
Detailed diagnostics

00450307

F8821 Transistor short circuit of braking resistor control

The current is monitored by controlling the braking resistor. This error is output if the current is significantly higher than
the specified minimum resistance would expect.

Cause Remedy

Terminal connectors for external braking resistor have been Check connection of braking
short-circuited resistor

Faulty braking transistor ⇒ device defective Replace device

▶ Attributes

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Detailed diagnostics

00450305

00450306

F8822 Error in control of braking resistor

The current is monitored by controlling the braking resistor. This error is output if the current is significantly lower than
the specified maximum resistance would expect.

Cause Remedy

No braking resistor has been connected Connect a braking resistor

‑ or ‑
Configure operation without braking resistor
["Power supply, device: Configuration word"
(0x2628:01 / P-0-0860 / --)], if the braking resistor is
not required

Maximum resistance value was clearly Connect specified braking resistors only
exceeded

Braking resistance value has been Measure braking resistance value and compare it to
incorrectly parameterized or is outside resistance value displayed in ctrlX DRIVE Engineering
of the allowed tolerance (see “Braking resistor” dialog).
Internal braking resistor: If resistance value clearly
deviates, please contact our service department.
External braking resistor: If resistance value clearly
deviates, please check parameterized resistance
value and, if necessary, correct it according to the
data sheet.

Braking resistor is defective Check braking resistor

There is an internal device defect Replace device

(current in braking transistor is
detected although braking resistor has
not been controlled)

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▶ Attributes

F8833 Ground fault current mains supply

The total current of the three mains phases is not equal to “0”. A ground fault in the supply unit or in the supplied
devices was thereby detected by the supply unit. To isolate the ground fault, the monitoring function switches off the
main contactor.

Cause Remedy

Ground fault in supply unit Check the insulation of the DC bus line with a measuring
device. If the DC bus cabling is not faulty, there is a device
error or a connection error

Ground fault in the supplied Carry out insulation test for all devices
devices

Ground fault in the motor Pay attention to ground fault message of axis controllers.
supply or in the motor of a Carry out insulation test for motors and controllers
supplied motor controller

▶ Attributes
Detailed diagnostics

00450404

F8834 Ground fault inverter

The total current of the three motor phases is not equal to “0”. This implies a ground fault in the motor phases. The
power supply was switched off.

Cause Remedy

Ground fault in one or multiple Check insulation of motor cable with a measuring device and
motor lines remove ground fault

Ground fault in motor winding Check insulation of motor with a measuring device and
remove ground fault, replace motor if necessary

Ground fault by wrong wiring Check and correct wiring

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Cause Remedy

Ground fault in a drive Replace device

controller of the drive system

▶ Attributes

F8836 DC bus balancing monitor

An unbalance of the internal DC bus capacitances was detected.

Cause Remedy

There is an unbalance of the internal DC bus Switch device off/on.

capacitances.
If the error still occurs, replace the
device

▶ Attributes
Detailed diagnostics

00450303

F8844 Device-internal module communication disturbed

Multiple telegram failures to the internal optional module / to external optional cards.

Cause Remedy

Faulty communication with one of the optional cards Replace defective optional card

Faulty communication with subsystems Firmware update of subsystems

might be required
‑ or ‑
Replace device

Internal optional module defective Replace device

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Cause Remedy

Only for the device combination XVR supply unit with Check and, if necessary, replace 24V
XLI mains connection module: DC power supply
Communication error due to drop of 24V DC power Note: Check and, if necessary,
supply or current limitation replace fusing elements

▶ Attributes
Detailed diagnostics

006C000A

006C000B

006C000C

007B004C

F8855 Incorrect processing of diagnostic message

Cause Remedy

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Cause Remedy

A problem occurred in the processing of Carry out a parameter backup of all

the diagnostic messages. Too many parameters.
diagnostic messages had been signaled in Have a look at the diagnostic trace to find out
too short a time; the diagnostic system was which diagnostic messages were signaled last.
unable to process the diagnostic messages. A warning or an error is likely to have been
cyclically signaled. This diagnostic message
usually appears repeatedly in the diagnostic
trace.
Switch device off and back on.
Put device into operation again and prevent the
corresponding diagnostic message from being
cyclically generated.
Please contact our service department to
forward the parameter backup to the service
team.

▶ Attributes

F8860 Overcurrent in power section (does not decay)

The motor current and the DC bus current are monitored by the power section. If the DC bus current rises to a multiple
of the device peak current, the power transistors are switched off.

Cause Remedy

Short-circuit between Check the impedance between the motor phases

the motor phases
Check cables and connections for short circuits

Short circuit in the DC Check for short circuit between L+ and L‑ and remove it if possible,
bus or replace damaged component if necessary

If the error occurs repeatedly, please contact our service department.

▶ Attributes
Detailed diagnostics

00420408

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00420410

00450300

F8861 Overcurrent in power section (does not decay, mains)

The supply unit monitors the mains current. If the current rises above the 1.3‑fold to 1.5‑fold device peak current, the
power transistors are switched off. After the output stage was switched off, the overcurrent does not decay or only
decays slowly.

Cause Remedy

Mains current Check parameterization of mains current controller ["Mains current controller:
controller Proportional gain" (0x2658:11 / S-0-1708.0.11 / S-0-2038) and "Mains current
incorrectly controller: Integral time" (0x2658:12 / S-0-1708.0.12 / S-0-2039)] and, if
parameterized necessary, correct it after consulting our service department.

Short circuit Check for short circuit between L+ and L‑ and remove it if possible, or replace
in the DC bus damaged component if necessary

Device Replace device

defective

See also Mains current control

▶ Attributes
Detailed diagnostics

00420808

00420810

0045030D

F8891 Power section defective

During the initialization of the power section, invalid power parameters or a non-adjusted device were detected.

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Cause Remedy

One of the parameters of the power section is invalid (e.g., checksum error) or Replace
contains an inadmissible value. device

Defective control section and/or power section of drive controller / defective

supply unit

▶ Attributes

F8892 Defective power section device carrier

An error occurred on the carrier board of the power section.

Cause Remedy

Internal program flow control has detected an error Switch off the device and then switch it
(watchdog) back on.
If error occurs again, the device has to be
An error occurred when the parameters saved had replaced.
been read

▶ Attributes
Detailed diagnostics

007B0070

F8893 I/O module defective

An error occurred on the I/O module (optional module "DA" or eLION AD option).

Cause Remedy

Internal program flow control has detected an error Switch off the device and then switch it
(watchdog) back on.
If error occurs again, the device has to be
An error occurred when the parameters saved had replaced.
been read

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Cause Remedy

The synchronization of the analog channels is

incorrect

▶ Attributes
Detailed diagnostics

007B0153

007B0154

F8899 F8 test error, axis and supply unit reaction

Using "Axis shutdown: Activation of test errors" (0x2870:04 / P-0-0257 / --), this error was triggered for test purposes to
check the error reaction that has been set for fatal axis and supply unit errors (category F88xx).

If errors of this category occur, the power supply is switched off immediately.

Cause Remedy

The value "0x404" was written to "Axis 1. Write the value "0" to "Axis shutdown:
shutdown: Activation of test errors" (0x2870:04 Activation of test errors" (0x2870:04 / P-0-
/ P-0-0257 / --) 0257 / --)
2. Reset error

See also Error reaction

▶ Attributes

F8901 Panel fatal error: Contact the service team

A critical error occurred in the panel.

Cause Remedy

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Cause Remedy

Error in hardware initialization of Disconnect the panel from the device and connect it to
the panel the device.
If the error persists, please contact our service
Memory error department.

Error during RTOS initialization

▶ Attributes

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