Error Codes
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When any error occurs in the RMC, an error code is reported. The error codes, along with all controller events, are recorded in the Event Log. This log can be viewed in the Event Log Monitor in RMCTools.
Error codes that occur on a specific axis will set the corresponding Error Bit on the axis. For the RMC75 and RMC150, the most recent error code that occurred on the axis will be stored in the Last Error Number status register.
Error codes that do not occur on a specific axis will not set error bits on any axes.
Error Code Descriptions
Command Errors
These errors set the Command Error bit, if the error code occurred on a specific axis.
Note:
The Command Error bit is cleared when any valid command is issued.
No.
Description
1
Invalid command
2
Command not implemented
3
Invalid command parameter 0
4
Invalid command parameter 1
5
Invalid command parameter 2
6
Invalid command parameter 3
7
Invalid command parameter 4
8
Invalid time calculated
9
Unable to clear Halt condition
10
Unable to clear transducer errors
11
Axis is not enabled
12
Pressure/Force Limit not allowed in Direct Output
13
Unspecified error trying to start at the requested program
14
User Programs are stopped or not loaded
15
Target pressure must be set before enabling pressure limit
16
This axis cannot be enabled because of parameter inconsistencies
17
Requires axis to be set up as incremental SSI
18
Command not supported by current control mode
19
Invalid command parameter 5
20
Invalid command parameter 6
21
Invalid command parameter 7
22
Invalid command parameter 8
23
Command can only be issued when axis is stopped or geared
24
Master position already past Master Sync Position
25
This command is only supported by certain gear states
26
Command requires that the axis be geared to a position
27
Command not allowed while gear ratio is changing
28
Master Sync Position cannot equal the current position
29
Command requires that the axis be running a sine move
30
Discontiguous target not allowed without selecting a transition behavior
31
Unsupported combination of Cycles, Starting Location, and Frequency
32
The requested Curve ID is not valid
33
The requested Curve ID does not support multiple cycles
34
Curve Add failed because the curve queue is full
35
Command is not supported by this RMC75S/RMC75P hardware revision
36
Cannot join a synchronized move in progress
37
Cannot do a synchronized stop on a non-synchronized axis
38
Cannot change the final position of a synchronized move in progress
39
Cannot start a synchronized move when the axis is moving
40
Motion command ignored due to grouped halt
41
Program cannot run on selected task
42
Position is too large relative to Position Unwind
43
Command requires that the axis be following a curve move
44
Command not supported in current Gain Set mode
45
Command not allowed when Controller is Disabled
46
Command not allowed when RUN/Disabled input is low
47
The axis cannot be enabled because the axis is not authorized
48
This timer cannot be used because it is already armed
49
Unsupported combination of Trigger Type and Home Input
50
The selected Home or Registration Input is configured as an output
51
Command not allowed with invalid valve linearization curve selected for this axis
52
The selected touch probe is armed on a different latch with a different source.
53
Command requires an EtherCAT PDO that is not mapped.
54
Command not allowed when no EtherCAT module is present or active.
55
Non-zero write to reserved command parameter.
Command Modified Errors
These errors set the Command Modified error bit, if the error code occurred on a specific axis.
No.
Description
81
Requested position truncated at limit
82
Requested pressure/force truncated at limit
83
Master already in clutch area. Master Start Distance truncated
Configuration Errors
These errors set the Configuration Error bit, if the error code occurred on a specific axis.
Note:
The Configuration Error bit is cleared when any valid parameter write occurs.
No.
Description
101
Value out of range
102
Non-zero write to a reserved register
103
Invalid data field
104
Write to a read-only register
105
Write to an un-implemented register
106
The value was truncated to fit in range
107
The value was rounded to the nearest acceptable value
108
One or more Auto Stop settings were invalid
109
This value cannot be changed while in Run mode
110
This value can only be changed in Direct Output or with the axis disabled
111
Count Unwind is invalid for Absolute Rotary SSI
112
An Indirect Data Map entry cannot point to Indirect Data
113
The IP settings are locked and can only be changed via USB
114
Non-zero value written to an unconfigured Indirect Data Map entry
115
The selected SSI features require a version 6 or newer SSI module
116
Both axes using this resolver module must be in Direct Output or disabled
117
Prs/Frc Orientation cannot be changed while Prs/Frc Control or Limit is enabled
119
Enable Output already used by another axis
120
This value cannot be changed when Controller is in disabled state
121
The real-time clock registers cannot be written to at this time.
122
Count Unwind or Encoder Wrap Min/Max are invalid for Absolute Rotary.
123
The I/O module firmware does not support control output synchronization.
124
The Base firmware does not support the Loop Time Adjust register.
Runtime Errors
These errors set the Runtime Error bit, if the error code occurred on a specific axis.
No.
Description
151
Incorrect module detected
152
Unsupported module detected
153
Active I/O module removed
154
Axis is missing a required I/O module
155
Unexpected failure saving to flash
156
Task exception register contents
157
Error saving controller image to the SD card
158
Error restoring controller image from the SD card
159
Valve linearization curve is no longer valid
160
Maximum loop time carryover exceeded
161
Output DMA is unexpectedly busy. Outputs not written this control loop.
162
Real time clock has an internal fault.
163
Real time clock battery is low.
164
Home, Registration 0, or Registration 1 disarmed. Required Touch Probe Index removed.
165
Unable to enable axis due to inconsistent axis parameters. Count Unwind or Encoder Wrap Min/Max are invalid for Absolute Rotary.
166
Home, Registration 0, or Registration 1 disarmed. Touch Probe Position variable invalid.
167
Home, Registration 0, or Registration 1 disarmed. Touch Probe Status variable invalid.
168
Unable to enable axis due to inconsistent axis parameters. Required EtherCAT PDO is not mapped.
169
Enable Axis cancelled.
170
I/O module has incorrect firmware.
201
Command block dropped
202
Flash update failed
203
Unable to initialize the PROFIBUS sub-system
204
Target Position went out of limits
205
Unsupported Flash command received
206
Save of IP Setting to Flash failed
207
Command overwritten within a Task step
208
Drive disabled due to Watchdog timeout
209
Commands overwritten in the PROFIBUS command area
210
Command overwritten in the PROFIBUS command area
211
PROFIBUS read/write length invalid
212
No follow-up command after Adv. Gear Move command
213
PROFIBUS command received but no axes were selected.
214
Simulate Mode Model Invalid.
215
Model-based Filter Model Invalid
216
Internal Target Generator fault
217
Count Unwind is invalid for Absolute Rotary SSI.
218
No follow-up command after Adv. Time Move command.
219
Invalid time calculated by Speed at Position command.
220
Axis Home Failed. Encoder A or B wire break when triggered.
221
Positive Limit Input's I/O point is configured as an Output.
222
Negative Limit Input's I/O point is configured as an Output.
223
Axis Home Failed. Index (Z) wire break.
224
Control Fault. I-PD requires a non-zero Integral Gain.
225
Control Fault. Control algorithm is not implemented. Please contact Delta technical support.
226
Master Sync Pos cannot equal the current position
227
Task Fault on Task n
228
Curve Add failed
Curve Add failed.
229
No follow-up command after non-terminated Curve profile
230
Unable to auto-delete curve due to a full curve processing queue
231
Unable to allocate memory from Curve Store or unable to allocate buffer for assembling curve data
232
Master Register out of range specified by Gear Absolute command
233
Master Register out of range specified by Curve
234
Failure to save retentive variables to NVRAM
235
Not all variables marked retentive can fit in the NVRAM
236
Loop Time Exceeded
237
Flash image too large
238
Image Area is busy. Unable to process new command
239
Image Area: Invalid command received
240
Image Area: Image downloaded out of sequence
241
Image Area: Image uploaded out of sequence
242
Image Area: Invalid Current Index value written
243
Image Area: Download not allowed in this state
244
Image Area: Unable to build upload image
245
Image Area: Unable to apply downloaded image
246
Program Error
247
Program Error
248
Curve master is moving too fast relative to the curve length
249
EtherNet/IP I/O production(s) missed
250
Image Area: Copy protection is enabled. Unable to build upload image
251
Position is too large relative to Position Unwind
252
Unable to return to RUN mode
253
Unable to enable axis because axis is not authorized
254
System task exception detected
255
Task exception memory contents
Startup Errors
These errors occur when the RMC powers up, or after it restarts.
No.
Description
1
Unable to create axis. Unsupported axis type.
2
Unable to create axis. Unsupported input type.
3
Unable to create axis. Unsupported output type.
4
Unable to create axis. Unsupported transducer type.
5
Unsupported axis module.
6
Out of memory.
7
Unable to create axis. Invalid axis definition.
8
Unable to create axis. Unsupported axis simulator type.
9
Unable to create axis. Unsupported axis Target Manager.
10
Unable to create axis. Unsupported axis Control Manager.
11
Unable to load User Programs from Flash.
12
Unrecognized serial protocol selected on Port 0.
13
Unrecognized serial protocol selected on Port 1.
14
Unexpected error loading files from Flash.
15
Beta User Program Image saved in Flash was discarded.
16
Unsupported module.
17
Unable to create all axes. Reverting to defaults.
18
Cancelled startup in RUN mode because Axis Defs were reverted to defaults.
19
No MAC address has been assigned. Ethernet cannot be started.
20
Internal TCP/IP stack startup error.
21
Internal Ethernet Driver startup error.
22
Internal TCP/IP interface startup error.
23
FPGA revision mismatch.
24
The RMC150 requires Quad modules to be version 7 or higher.
25
The requested loop time is not supported by this controller.
26
Unable to start the Omron/FINS ethernet service.
27
Unable to start the DF1 over Ethernet (CSP) ethernet service.
28
Unable to start the EtherNet/IP ethernet service.
29
Unable to start the DMCP ethernet service.
30
Unable to start the Mitsubishi ethernet service.
31
Unable to start the Modbus/TCP ethernet service.
32
Unable to create axis. Out of memory.
33
Unable to create axis. Unable to locate feedback interface.
34
Unable to create axis. Unable to locate output interface.
35
Unable to create axis. Feedback channel not found.
36
Unable to create axis. Control output channel not found.
37
The following axis could not be created.
38
Non-volatile RAM hardware error.
39
Error encountered loading Retained variables.
40
Saved current value for non-retentive variable ignored.
41
Upgrades to one or more modules are available to improve performance at the 4ms loop time.
42
The UI/O channel is not configured for use by this axis.
43
Unable to load field FPGA image into UI/O module.
44
Unexpected error loading curves from flash.
45
Unable to start the PROFINET service.
46
Controller restarted due to an internal Watchdog Timeout.
47
Controller restarted due to an internal Unhandled Exception.
48
Unable to load some settings from flash.
49
Stopped creating axes due to prior failures.
50
Error loading File Image from memory.
51
Error loading memory region from kernel.
52
Controller restarted due to an internal System Fault.
53
Module could not be identified.
54
Controller restarted due to an internal CPU power supply fault.
55
No valid feature key was detected.
56
Module is missing Soft ID information.
57
CPU is missing FPGA firmware.
58
Axis is not authorized and cannot be enabled.
59
One or more axes is not authorized by Feature Key.
60
I/O module missing on startup.
61
Controller Watchdog is disabled.
62
Axis resource is missing from controller configuration.
63
Too many physical control axes defined.
64
Axis is not authorized and cannot be enabled.
65
Expansion modules were detected on NX CPU and will be ignored.
See Also
Troubleshooting Overview
| Error Bits
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