ABB Motion Drives Error Trouble Shooting Manual

Motion Control Products
Application Error
ABB Motion Drives Error trouble shooting manual
AN00267
Rev B EN
What this Document contains

If you have followed all the instructions in this manual in sequence, you should have few problems installing the
ABB Servo Drives. If you do have a problem, this document will help you to navigate then diagnose and resolve
the problem. The following pages contain information on how to understand and resolve issues that can occur.
Before we get to this it’s important to first discuss the fault diagnosis system used in ABB Motion products.
Problem diagnosis
There are 3 ways to get information on the faults that have occurred;
• In Mint WorkBench, connect to the drive and use the Error Log tool to view recent errors, get the descriptions
and then check the help files for more information.
• The drive status display indicates errors and general status information. When an error occurs, the drive
displays a sequence starting with the symbol “E” or “b”, followed by the five-digit error code.
• The drive also has two Network status LEDs that indicate the status of a used RTE master. You can check
the drives hardware manual for more information on how to diagnose the LED status.
How to reset faults

The drive can be used in different configurations so, to answer this question we must first consider which
configuration we are using;
• In Analog Mode the user can set RESETINPUT(0) = [input] or in parameters group: “Error Handling >
Reset Input” to a Digital input.
• In Direct mode if the drive is running a mint program and it goes into an error state, it will automatically try
to call the ONERROR event. See below section “ONERROR event” for more help.
• If configured as a DS402 RTE Slave, the drive is using the DS402 state machine so disabling and re-
enabling the drive will reset any active error, though ts best to issue a reset first.
SupportMe
If you cannot solve the problem or the problem persists, the Support Me can be used. This is a feature is available
from the Mint WorkBench Help menu, or by clicking the “+” button on the toolbar. The SupportMe can be used to
gather information which can then be, saved as a text file, copied to another application or e-mailed to the ABB
support line (CN-motionsupport@cn.abb.com).
Power-cycling the ABB Motion drive

The term ‘power-cycle the drive’ is used in the Troubleshooting sections. If the mains AC supply (or DC supply) is
removed, wait for 2 minutes before reapplying the supply.
Safety
_________________________________________________________________
WARNING! Only qualified electricians are allowed to service the drive. Read the Safety instructions on the first
pages of the Hardware manual before working on the drive.
ABB Motion control products 1

new.abb.com/drives/low-voltage-ac/motion
Error categories
Controllers with Ethernet use an error handling system that allocates a unique number for each error. This
means that an error code does not need to be deciphered to determine exactly which individual error has
occurred.
Errors are recorded in two ways:
• Error List: This is designed to be manipulated by the Mint program. The controller's error list can store up to
256 entries on MicroFlex e190 and MotiFlex e180.
• Error Log: This is a historical record of errors and is displayed in Mint WorkBench using the Error Log tool.
On MicroFlex e190 and MotiFlex e180, 5 KB of memory is reserved for the error log, where each error is
dynamically sized. This allows approximately 100 or more errors to be stored.
Entries in the error list can be viewed by type or sequentially, for which there are additional keywords (shown in
brackets in the following lists). Errors are arranged in several categories, with each error having a unique code.
The error list categorizes errors, with each category using a range of error numbers:
Error category Error code range Type
Boot Up errors b and 0-9 Asynchronous
MML run-time errors 0 - 999 Synchronous
Host application errors 1000 - 1999 Synchronous
Compilation errors 2000 - 2999 -
Program run-time errors 3000 - 3999 Synchronous
Autotuning errors 4000 - 4999 Asynchronous
Parameter errors 6000 - 6999 Asynchronous
Parameter warnings 7000 - 7999 Asynchronous
Communication errors 8000 - 8999 Asynchronous
Axis errors 10000 - 19999 Asynchronous
Axis warnings 20000 - 29999 Asynchronous
Controller errors 30000 - 39999 Asynchronous
Controller warnings 40000 - 49999 Asynchronous
Controller events 50000 - 59999 Asynchronous
Some errors are classed as 'warnings'. Warnings are less critical than errors and are disabled by default but
can be individually enabled using ERRORCODEENABLE. Warnings are stored and handled in the same way
as errors, so all references to error handling should be taken to include the warning categories.
When an error occurs, an entry is added to the error list containing the following information:
• Error code: The unique error code number.
• Error line: The program line number (if applicable, -1 shows the error is not caused by a line in the Program).
• Error data: Four 32-bit words of additional data. This will vary for each error group, but might contain the
relevant axis number, bus number or node ID if applicable, -1 otherwise.
• Time stamp: The value of SYSTEMSECONDS when the error occurred.
Each time an error is added to the error list, the ONERROR event is called. However, individual errors can be
prevented from calling the ONERROR event by using the ERRORCODEENABLE keyword.

Synchronous errors (Back to top)
Synchronous errors are generally programming errors. They occur at a line of code that is either incorrect or
is trying to do something that cannot be done at that time. Errors in the MML run-time errors and Mint run-
time errors categories are synchronous errors. When a synchronous error occurs*, Mint will look for an event
called ONERROR . If this is defined, it will be called. If not, an error message will be printed to the terminal
and the Mint program will be terminated (aborted) immediately.
Example
SCALEFACTOR(0) = -3 'Must be a positive scalefactor
This generates the error 'Data specified out of range' which has the code 3. If there is no Mint ONERROR
event, the error message printed to the terminal would be:
Error 3: Data specified out of range on line n
With an ONERROR event, then an entry would be added to the error list and the ONERROR event would be
called. Synchronous errors do not cause motion to terminate and require no special action to recover from.
However, the cause of a synchronous error should always be investigated and removed since it generally
indicates a programming problem.
* Error 3102 (Stack overflow), error 3103 (Index out of range) and error 3108 (Stack underflow) are 'fatal'
and will not call the ONERROR event.
Asynchronous errors (Back to top)
Asynchronous errors can occur at any time and are not directly related to a line of Mint code. When an
asynchronous error occurs, an entry is added to the error list and the ONERROR event will be called if it
is defined in the Mint program. If no ONERROR event is defined, the Mint program will continue to run.
The controller will automatically take action according to the error code; this is known as the 'default
action':
• For Axis Warnings and Controller Warnings there is no default action. Motion will not be stopped.
• For Autotuning errors, the default action is to crash stop and disable the axis.
• For Axis Errors the default action can be specified for some error codes and is fixed for others.
• For Controller Errors, the default action varies according to the error code.

ONERROR event (Back to top)
If there are any entries in the error list, then the Mint ONERROR event will be called if it is defined in the
Mint program. It is not essential to handle all errors within the error handler as it will be called again if there
are any entries remaining in the error list. It is recommended to always include an ONERROR event.
Using the error list (Back to top)

There are two keywords that can read an entry from the error list; ERRORREADNEXT and ERRORREADCODE :
• ERRORREADNEXT reads the next entry from the error list. This also allows errors from specific categories
and axes to be read.
• ERRORREADCODE allows the error list to be searched for a specific error code. This also allows the list to
be searched only for errors on a specific axis.
If ERRORREADNEXT or ERRORREADCODE finds a matching entry in the error list, then details about that
error are placed in the ERR ... keywords and the entry is removed from the list. The ERR ... keywords are as
follows:
ERRCODE - the error code.

ERRSTRING - description of the error code.
ERRLINE - the line number on which the error occurred for synchronous error types.
ERRDATA - the axis number involved in the error. Can also provide the object index and object sub index
for errors caused by PDO operations.
ERRTIME - the time (in System Seconds) when the error occurred.
Depending on the error code, the ERRLINE and ERRDATA keywords may not have any relevant
information, in which case they will return -1. The following example reads the next entry from the error list
and prints the information to the terminal:
Event ONERROR
If ERRORREADNEXT(_egALL, -1) Then

Print "Error code: ", ERRCODE Print
"Description: ",
ERRSTRING
Print "Axis (if applicable): ", ERRDATA(1)
Print "Line number (if applicable): ", ERRLINE Print
"Time: ", ERRTIME
End If
End Event
For more examples of error handling, see Error event: ONERROR . It is also possible to mask errors from
being generated by using ERRORCODEENABLE , and to read if an error is present (without removing it
from the list) by using ERRORPRESENT . Errors may also be cleared using ERRORCLEAR .

Changing the default action of motion errors (Back to top)
It is possible to select the default action taken on an axis errors using the keywords listed below:
Mint Keyword Controls default action for error

ABORTMODE Abort error (10000).
LIMITMODE Forward and reverse hardware limit errors (10001 & 10002).
SOFTLIMITMODE Forward and reverse software limit errors (10003 & 10004).
FOLERRORMODE Following error (10005).

ERRORINPUTMODE External error input active (10007).
ADCERRORMODE ADC limit error (10008).
VELFATALMODE Velocity error (10006).
The possible modes are:
Mode Action
0 Ignore the error condition.
1 Call the error event ONERROR. Crash stop the axis and drop the enable line.
2 Call the error event ONERROR. Crash stop the axis, leave the axis enabled.
3 Call the error event ONERROR. Perform a controlled stop on the axis at the rate specified by the
ERRORDECEL or TORQUEREFERRORFALLTIME, leave the axis enabled.
4 Reserved
5 Call the error event ONERRORonly.
6 Reserved
7 Crash stop the axis and drop the enable line, don't generate an error. This is equivalent to Mode 1,
except that no error is generated.
8 Crash stop the axis, leave the axis enabled, don't generate an error. This is equivalent to Mode 2,
except that no error is generated.
9 Perform a controlled stop on the axis at the rate specified by the ERRORDECEL or
TORQUEREFERRORFALLTIME , leave the axis enabled, don't generate an error. This is equivalent to
Mode 3, except that no error is generated.
Each of the errors for each of the axes can be given a separate mode and the controller will react
accordingly. As the above table shows, the ONERROR event will be called immediately. The error list entry
is created when the error first occurs. See the individual keywords to see which modes are supported for
each keyword.

Recovering from errors (Back to top)
If there any entries in the error list then the ONERROR event will be called. Errors should therefore be removed
from the list otherwise the Mint program will keep calling ONERROR , holding out all other tasks and events.
Synchronous errors should simply be removed from the error list. This happens when they are read with
ERRORREADNEXT or ERRORREADCODE Alternatively, ERRORCLEAR can be used to discard errors without
reading them. For example, in a system expecting only synchronous error 'ecNODE_NOT_LIVE' (error 22) to
occur, any other errors can be displayed by the program:
If ERRORREADCODE(_ecFWD_HARD_LIMIT, 0) Then
'Take some action here
End If
'Display info about others

If ERRORREADNEXT(_egMINT_API, -1) Then
Print "Error code: ", ERRCODE Print
"Description: ",
ERRSTRING
Print "Axis (if applicable): ", ERRDATA(1)
Print "Line number (if applicable): ", ERRLINE
Print "Time: ", ERRTIME
End If
ERRORCLEAR(_egMINT_RUNTIME, -1)
Asynchronous errors must be handled before an axis may perform further motion. Use the
ERRORREADNEXT and ERRORREADCODE keywords to read and remove errors from the list. Once all
the errors on an axis have been cleared, the axis may be enabled and motion performed. The
ERRORPRESENT keyword provides an easy way to check if an axis is in error:
If ERRORPRESENT(_egAXIS_ERROR, 0) Then
Print "Drive is in error" Else
DRIVEENABLE(3) = _TRUE
End If
ERRORCLEAR can also be used to clear axis errors. The CANCEL keyword will also clear all errors and stop
any motion that is in progress on a specified axis.
If ERRORPRESENT(_egAXIS_ERROR, 0) Then
'These do the same thing
CANCEL(0)
Pause(IDLE(0))
ERRORCLEAR(_egAXIS_ERROR, 0)
End If
Error Codes explained (Back to top)
In the above examples and the following lists some of the Errors are shown with a corresponding
“_ec….” error codes. These codes are enumerations for the error codes and can be used in the Mint
program, for example in the error checking routine.
The error output (Back to top)
The GLOBALERROROUTPUT keyword can be used to specify an output that will be deactivated if there
are any errors in the error list. The output must be manually activated.

Boot Up Errors
Boot up errors will indicate issues encountered by the drive while initializing. These can be categorized in one of
two ways; those captured by the firmware (bxxxx) and “lock ups” during initialization not captured by firmware
where a single character is displayed permanently on the drive display (‘-‘ to 9).
Where to
Code Error Cause What to do
look?
Initialization Possible Cause

error (check #1 The memory module is
memory unit not fitted correctly.
insertion) or #2 Confused shipment of
recovery mode. activated and inactive MU.
Cannot get to Firmware

loading stage.
Suspend active Note: This can also mean
the Mint SUSPEND
command is active.
Firmware Firmware Cannot be loaded

loading from memory card
Normal State During boot
The system is
0 up should not stay in this
disabled (OFF) Try powering the drive down removing
state permanently
Normal State During boot the Memory module and reconnecting it
The system is
1 up should not stay in this Memory
initialized (INIT) If you have other connections such as to
state permanently Module
an RTE master, then disconnect it
or
The MML is Normal State During boot Firmware
2 booted up should not stay in this Sometimes a damaged encoder can
or
(MML_BOOT) state permanently drag the control board voltage down so
Connected
remove the encoder connection, then
External
The MML is Normal State During boot Power up again.
Hardware
3 initialized up should not stay in this
(MML_INIT) state permanently If the problem persists, replace the
drive.
The MML is Normal State During boot
4 ready to use up should not stay in this
(MML_READY) state permanently
The object
dictionary is
created
state permanently
(OD_CREATE)
The object
dictionary Normal State During boot
6 values are set to up should not stay in this
default state permanently
(OD_RESET)
The object
dictionary
handling is done
state permanently
(OD_DONE)

Where to
Code Error Cause What to do
look?
Try powering the drive down removing

the Memory module and reconnecting it
up should not stay in this
also if you have other connections such
state permanently. Note: a
Default as to an RTE master then disconnect it,
state of "8" also states that
8 configuration also sometimes a damaged encoder can
drive is enabled so don’t
(DEFAULT) drag the control board voltage down so
confuse a normal enabled
remove the encoder connection, then
drive with one that is stuck
Power up again.
in an error state!
If problem persists, replace the drive.
Possible causes are;
• Encoder configuration is different
with the Hardware type (FB-xx) – to
solve this correct configuration and
Default power cycle.
communication • Drive's parameter configuration is
profile causing a problem - to solve this
configuration problem, put the drive-in recovery
state permanently
(DEFAULT_CO mode, power cycle drive, Open
MMS) workbench, and selected the file
manager of MFE180, Delete the
cmcf file, power the drive up, the
drive shall in factory default status. If
problem persists, replace the drive.
Try powering the drive down, removing Memory
the memory module and reconnecting it. Module
The drive displayed a boot Disconnect all connections apart from or
error code in case of a fatal the logic supply power source Firmware
b00000
error during boot up. The (sometimes a damaged encoder can or
- Various
code is displayed on the drag the control board voltage down so Connected
b06409
seven-segment starting remove the encoder connection) then External
with a ‘b’. power up again. If problem persists, Hardware
replace the memory module. If the
problem still persists, replace the drive.
During the Firmware
upgrade process the
parameters are stored then Connect Mint WorkBench to the drive,
re-instated after a Firmware access the command line and enter the
Error Applying upgrade to make the drive "FDF" or "FACTORYDEFAULTS"
Mint Motion operational again. Normally command and power cycle the drive
b06410
Library this Error indicates that the (note that IP address will return to
Command new firmware version has a 192.168.0.1). Either recommission the
new parameter so it cannot drive or download a previously saved
set it as the old parameter parameter (PTX) file to continue.
file doesn't tell it what to
configure it to.
Try powering the drive down, removing
the memory module and reconnecting it.
Disconnect all connections apart from
The drive displayed a boot
the logic supply power source
error code in case of a fatal
b06411 (sometimes a damaged encoder can
error during boot up. The
- Various drag the control board voltage down so
code is displayed on the
b13066 remove the encoder connection) then
seven-segment starting
power up again.
with a ‘b’.
If problem persists, replace the memory
module. If the problem still persists,
replace the drive.
Autotuning errors
Autotuning errors for drives with Ethernet are assigned unique numbers in the range 4000-4999. Autotuning error
codes are generated by the Autotune tool. The following list of error codes is not continuous as some codes are
reserved for future use.
Code Error Cause What to do Where to

look?
4000 No autotuning error There is no autotuning error. No Action Na
(_ecAUTOTUNE_SU
CCESS)
4001 Drive rating data One of the following Check memory module is connected Hardware
invalid conditions has not been met correctly, check power supply level is
1. Drive bus nominal voltage correct
<1
2. Drive rated current <= 0
4002 Drive speed max DriveSpeedMax <= 0 Re-run commissioning and check Drive
invalid Only check AutoTune test ID that DriveSpeedMax is set correctly parameters
auoDESIGN_MOTION_CON
TROL .
4003 Config doesn't The autotuning operation This error will not occur unless the Mint
support that test does not support this configuration has been manually Workbench
(_ecCONFIG_NOT_ controller configuration. changed using the CONFIG keyword. Parameter
RIGHT_TYPE) View Check;
Configuration
4004 Axis error has An asynchronous axis error See the Mint WorkBench Motion Mint
occurred or drive error has occurred toolbar for more information on the WorkBench or
(_ecAXIS_ERROR) during the autotuning error. Drive display
operation.
4005 Calculated torque Drive had calculated a Check motor data is correct. Mint
constant invalid Torque Constant which is too WorkBench
small.
4006 Inductance value is For the selected motor the To avoid this error, make sure that a Motor Data
zero winding inductance is zero motor has been selected from the
database in the Drive Setup Wizard.
Alternatively, if a custom motor has
been selected and you are unsure of
motor data, check that the "Measure
motor resistance and inductance"
test has been selected and run using
the Autotune tool.
4007 Resistance value is For the selected motor the To avoid this error, make sure that a Motor Data
zero winding resistance is zero motor has been selected from the
(_ecZERO_RESIST database in the Drive Setup Wizard.
ANCE_VALUE) Alternatively, if a custom motor has
the Autotune tool.

look?
4008 User has aborted The autotuning operation has This will occur if the Autotune tool's Mint
test been manually aborted. STOP button is clicked while tests WorkBench
(_ecUSER_TEST_A are being performed.
BORT)
4009 Cannot capture data Many of the autotuning Not normally a problem, but to Mint
during test operations use the data prevent this before autotuning, type WorkBench
(_ecCAPTURE_FAIL capture facility. This error CP=0 in the Command window to
ED) message can occur if the halt any capture operations.
capture facility is in use prior
to performing the autotuning
operation.
4010 Resistance too low, This error can occur during Check that there are no short circuits Mint
possible short circuit the Measure motor between the U, V and W terminals of WorkBench
(_ecPOSSIBLE_SH resistance and inductance the motor and that the motor power
ORT_CIRCUI test and indicates that the cable is wired correctly.
effective motor winding
resistance is very low.
4011 Autotuning doesn't The Test the feedback or This error will not normally occur Mint
support feedback Feedback calibration test because Mint WorkBench will not WorkBench
device (EnDat absolute encoders allow autotuning on unsupported
(_ecUNSUPPORTE only) does not operate on feedback types. Ie the combination of
D_FEEDBACK_ this feedback type. Motor and Feedback device is not
supported by Mint Workbench.
4012 Encoder resolver During the Measure the The most common cause of this error Feedback,
rotation sense is voltage constant and is an incorrectly wired or set up Motor,
wrong Measure the motor inertia feedback device (encoder or Connected
(_ecFEEDBACK_SE tests, a torque is applied to resolver), or an incorrectly wired Load, Noise
NSE_WRONG) the motor. This error will motor. Select the Test the feedback
occur if the resulting motion option. This will indicate if there is a
is in the opposite direction to problem with the wiring or setup of
the torque (a positive torque the drive and will automatically
should cause positive compensate for certain wiring errors.
velocity). Note that the Test the feedback test
should ideally be run with the motor
disconnected from the load.
This error can also occur when
autotuning a motor connected to
some types of load. In particular,
loads with a lot of compliance (e.g.
belt drives) or torque offsets (e.g.
gravitational loading) can cause
problems for autotuning.
Another cause of the error may be
because the position feedback is
noisy, perhaps due to long cables on
resolver feedback systems, for
example. In either of these cases, it
may be necessary to manually tune
the system using the Fine-tuning tool.

look?
4013 Hall sequence The Hall sequence doesn't The error can occur for a number of Feedback
doesn't behave as behave as expected. This reasons, so try the following tests: Specification,
expected error can occur during the •Return to the Confirm Motor Motor,
(_ecHALL_FAULT_OR Test the feedback test when Information page of the Drive Setup Connected
_NO_ROTATION) using an incremental Wizard to check these values. If the Load, Noise
encoder + Halls feedback resolver is not a standard ABB
system. product, check that the specification
is compatible in the drives hardware
manual
•A common cause of this error is an
incorrectly wired or set up
encoder/resolver. Try manually
moving the rotor and watching the
position field in the Axis tab. If the
position does not change, or it
changes erratically, this indicates a
problem with the encoder wiring.
•Run the Test the feedback test
again. Ideally, the Test the feedback
test should be run with the motor
disconnected from the load, although
it will operate successfully where the
4014 Resolver value The resolver value doesn't Feedback
load is purely inertial, or load friction
doesn't behave as behave as expected through Specification,
is small.
expected one electrical cycle. This Motor,
(_ecRESOLVER_FAULT_
Note: watch the movement of the
error can occur during the Connected
OR_NO_ROTATION) rotor. For rotary motors, the shaft
feedback test when using a Load, Noise
should rotate through just over one
resolver feedback system.
revolution in one direction followed
by one revolution in the opposite
direction. For linear motors, the rotor
should move through just over one
pole pitch in one direction followed by
one pole pitch in the opposite
direction. If the rotor moves
significantly more or less than these
distances, this indicates that the
number of motor poles is not set
correctly (rotary motors), or the pole
pitch is not set correctly (linear
motors). If the motion during the test
is not smooth, this indicates that
friction is high and the test will not be
able to obtain conclusive results.
4015 Position control Position loop control rate Change control rate to expected Mint
update rate invalid (ControlRate(0, 1)) < 1. value (normally 4000) Workbench
Parameter
view

look?
4016 Mathematic error in This error can occasionally The error can usually be cleared by Mint
gain calculations occur during the Calculate changing the design bandwidth for Workbench
(_ecGAIN_CALCS_F current loop gains or the appropriate operation (click Tuning
AILED) Calculate the speed and Options... in the Autotune tool). If that
position gains tests, fails, try running the entire autotuning
indicating a numerical sequence again.
problem in the gain
equations. It can also
indicate a problem with the
values of motor resistance
and inductance (MOTORRS
and MOTORLS) when it
occurs during current loop
gain calculations, or with the
values of inertia and damping
(LOADINERTIA and
LOADDAMPING) when it
occurs during speed/position
loop gain calculations.
4017 Drive setup is invalid This error can potentially Try running the Commissioning Mint
occur in any of the Wizard again, making sure that the I Workbench
autotuning operations, am starting a new application. Reset Tuning
although it is rare. It indicates memory to factory defaults option on
a problem with the the Welcome page is selected.
fundamental setup of the
drive such as the settings for
motor rated current or peak
current.
4018 Can't fit model to During the Measure motor Check the wiring between the drive Motor Wiring
voltage/current data resistance and inductance and motor and the motor windings for
(_ecCANNOT_FIT_RE test, a gradually increasing open circuits
SISTANCE_MODEL) voltage is applied to the
motor and the generated
current is logged. The
process is stopped when the
drive current reaches 80% of
the specified motor rated
current value. The resulting
voltage/current characteristic
is used to calculate the
resistance of the windings
and certain parameters of the
drive's power stage.
4019 Can't fit model to During the Measure motor Try skipping the Measure motor Mint
voltage/current resistance and inductance resistance and inductance test. To do Workbench
transient test, stator inductance is this, manually enter the motor Tuning
(_ecCANNOT_FIT_IND measured by applying a resistance and inductance in the
UCTANCE_MODEL) voltage step to the motor and Confirm Motor Information page of
logging the generated current the Drive Setup Wizard (most motor
waveform. Inductance is then manufacturers will supply this
calculated from the resulting information) and confirm that the test
voltage/current characteristic. is not selected in the Autotune tool.
Error 4019 indicates that this Once autotuning is complete, check
calculation cannot be that the response of the current
performed because of controllers is satisfactory using the
insufficient data or an Fine-tuning tool's Current tab.
unusual characteristic.

look?
4020 Can't fit load model During the Measure the Click Options... in the Autotune tool Mint
speed data motor inertia test, a torque and then select the Limits tab. Workbench
(_ecCANNOT_FIT_L waveform is applied by the Increase the value in the Max Travel Tuning
OAD_MODEL) motor and the motor speed box to allow the motor to rotate
logged. A simple further during the test and
inertia/damping model is then consequently log more data. The
fitted numerically to the model fitting process can also fail for
resulting torque/speed certain types of load. For example,
characteristic. Error 4020 loads with high coulomb or static
indicates that the fitting friction will not conform well to an
process failed. A common inertial load model. Likewise,
cause for this is lack of gravitational loading (i.e. vertical
sufficient information to fit the axes) will cause problems for
load model. autotuning. If the Measure the motor
inertia test continues to fail then the
subsequent Calculate the speed and
position gains test will also fail, as it
requires values for load inertia and
damping. It may be necessary to
manually tune the system using the
Fine-tuning tool's Speed and Position
tabs.
4021 Motor test timed out During the Measure the Click Options... in the Autotune tool Mint
(_ecAUTOTUNE_TEST voltage constant and and then select the Limits tab. Workbench
_TIMEOUT) Measure the motor inertia Increase the value in the Max Torque Tuning
tests, current is applied to the box to allow the motor to generate
motor to accelerate the motor sufficient torque to overcome friction.
and load. Error 4021 If the Measure the motor inertia test
indicates that the rotor did continues to fail then the subsequent
not reach a sufficient speed, Calculate the speed and position
or travel a sufficient distance, gains test will also fail, as it requires
within the duration of the test. values for load inertia and damping.
Error 4021 can occur if the It may be necessary to manually tune
torque (or force) generated the system using the Fine-tuning
by the motor is insufficient to tool's Speed / Velocity and Position
overcome friction in the load. tabs.
4022 Motor travelled too During the Measure the Click Options... in the Autotune tool Mint
far during test voltage constant and and then select the Limits tab. Workbench
(_ecAUTOTUNE_TEST Measure the motor inertia Increase the value in the Max Travel Tuning
_OVERTRAVEL) tests, current is applied to the box to allow the motor to rotate
motor to accelerate the motor further during the test. Also, try
and load. Once the motor reducing the value in the Max Speed
has reached a sufficient box. If the Measure the motor inertia
speed, the direction of test continues to fail then the
applied current is reversed to subsequent Calculate the speed and
bring the rotor to a halt within position gains test will also fail, as it
specified travel limits. Error requires values for load inertia and
4022 indicates that the test damping. It may be necessary to
was unable to impose these manually tune the system using the
limits. Fine-tuning tool's Speed / Velocity
and Position tabs.

look?
4023 Not enough test This error can occur during See errors 4018, 4019 and 4020 for Mint
data to analyze any of the autotuning tests, the reasons why these tests fail. Workbench
(_ecINSUFFICIENT_T namely the Measure motor Tuning
EST_DATA) resistance and inductance
test, the Measure the voltage
constant and Measure the
motor inertia tests, and the
Feedback calibration test (for
absolute encoders only).
Generally, error 4023 means
that insufficient data was
logged during the test to
obtain accurate parameter
measurement.
4024 Flux model The Measure the motor To determine the voltage constant, Motor
parameters are inertia test will fail with this either select a standard motor from Parameters
invalid error if the voltage constant the database in the Drive Setup
(_ecINVALID_FLUX_M has not been defined. Wizard , enter a voltage constant
ODEL) value in the Confirm Motor
Information page of the Drive Setup
Wizard (see manufacturer's motor
data), or run the Measure the voltage
constant test.
4025 Load model is If this error occurs during the See error 4020 for more information. Mint
invalid Measure the motor inertia Workbench
(_ecINVALID_LOAD_M test, it suggests that the Tuning
ODEL) characteristics of the load are
such that inertia cannot be
accurately calculated.
Error 4025 can also occur In this case, run the Measure the Mint
during the Calculate the motor inertia test to measure load Workbench
speed and position gains test inertia and damping. Tuning
if the values of load inertia
and damping have not been
defined.
4026 Encoder parameter Either; Correct Encoder parameters and re Encoder

invalid ENCODERRESOLUTION < run autotune tests Parameters
1 or ENCODERCYCLESIZE
= 0.
4027 Motor inductance is When motor type is AM, Lm To avoid this error, make sure that a Motor
not set or Llr <= 0. motor has been selected from the Parameters
database in the Drive Setup Wizard.
Alternatively, if a custom motor has
the Autotune tool.

look?
4028 Can't set stator Can't set stator resistance. Motor
resistance Parameters or
(_ecCANNOT_SET_ST characteristics
ATOR_RESISTANCE)
4029 Can't set stator Can't set stator leakage Motor
leakage inductance inductance. Parameters or
(_ecCANNOT_SET_ST characteristics
ATOR_INDUCTANCE)
4030 Motor pole pitch Calculated motor pole pitch Motor
invalid <= 0. Parameters or
characteristics
4031 Motor pole number Calculated motor poles < 2. Motor

invalid Parameters or
characteristics
4032 Load inertia is not set Calculated load inertia <= 0. Motor
Parameters or
characteristics
4033 Can't set maximum Can't set motor flux model Error codes 4026 to 4054 will occur if Motor
motor flux time constant. the associated drive parameter, Parameters or
(_ecCANNOT_SET_M calculated by one of the autotuning characteristics
OTOR_MAX_FLUX) tests, or set by the user is outside the
allowable range of values. These
4035 Can't set load inertia Can't set load inertia. errors should not normally occur. Motor
(_ecCANNOT_SET_ If the problems persist, make sure Parameters or
LOAD_INERTIA) that a motor has been selected from characteristics
the database in the Drive Setup
4036 Can't set load Can't set load damping. Wizard. Alternatively, if a custom Motor
damping motor has been selected and you are Parameters or
(_ecCANNOT_SET_ unsure of motor data, check that the characteristics
LOAD_DAMPING) "Measure motor resistance and
inductance" test has been selected
4037 Can't set controller Can't set controller and run using the Autotune tool. Motor
proportional gain proportional gain. If the problem persists, you will need Parameters or
(_ecCANNOT_SET_ to manually tune the control loops in characteristics
GAIN_KIPROP) the drive
4038 Can't set current Can't set current controller Motor

controller integral integral gain. Parameters or
gain characteristics
(_ecCANNOT_SET_
GAIN_KIINT)
4039 Can't set speed Can't set speed controller Motor

controller integral gain. Parameters or
proportional gain characteristics
(_ecCANNOT_SET_
GAIN_KVPRO)

look?
4040 Can't set speed Can't set speed controller Motor
controller integral integral gain. Parameters or
gain characteristics
(_ecCANNOT_SET_
GAIN_KVINT)
4041 Can't set position Can't set position Motor

proportional gain proportional gain. Parameters or
(_ecCANNOT_SET_ characteristics
GAIN_KPROP)
4042 Can't set position Can't set position derivative Motor
derivative gain gain. Parameters or
GAIN_KDERIV)
4043 Can't set position Can't set position integral Motor
integral gain gain. Parameters or
GAIN_KINT)
4044 Can't set velocity Can't set velocity feedforward Motor
Error codes 4026 to 4054 will occur if
feedforward gain gain. Parameters or
the associated drive parameter,
calculated by one of the autotuning
GAIN_KVELFF)
tests, or set by the user is outside the
4045 Can't set velocity Can't set velocity feedback allowable range of values. These Motor
feedback gain gain. errors should not normally occur. Parameters or
(_ecCANNOT_SET_ If the problems persist, make sure characteristics
GAIN_KVEL) that a motor has been selected from
4046 Can't set Can't set acceleration the database in the Drive Setup Motor
acceleration feedforward gain. Wizard. Alternatively, if a custom Parameters or
feedforward gain motor has been selected and you are characteristics
(_ecCANNOT_SET_ unsure of motor data, check that the
GAIN_KACCEL) "Measure motor resistance and
4047 Inertia test failed Inertia measurement failed inductance" test has been selected Motor
(_ecINERTIA_TEST and run using the Autotune tool. If Parameters or
_FAILED) the problem persists, you will need to characteristics
manually tune the control loops in the
drive
4048 Voltage constant test Voltage constant Motor
failed measurement failed Parameters or
(_ecVOLTAGE_CONS characteristics
TANT_TEST_FAILED)
4049 Can't set offset Can't set motor feedback Motor

angle offset angle Parameters or
(_ecCANNOT_SET_ (Possible encoder Error or characteristics
ANGLE_OFFSET) wrong config)
4050 Can't set observer Can't set observer gain K1. Motor
gain K1 Parameters or
(_ecCANNOT_SET_O characteristics
BSERVER_GAIN_K1)

look?
(_ecCANNOT_SET_O characteristics
BSERVER_GAIN_K1) Error codes 4026 to 4054 will occur if
the associated drive parameter,
calculated by one of the autotuning
tests, or set by the user is outside the
(_ecCANNOT_SET_O
allowable range of values. These
characteristics
BSERVER_GAIN_K2) errors should not normally occur.
4052 Can't set observer Can't set observer gain KJ. If the problems persist, make sure Motor
gain KJ that a motor has been selected from Parameters or
(_ecCANNOT_SET_O the database in the Drive Setup characteristics
BSERVER_GAIN_KJ) Wizard. Alternatively, if a custom
4053 Can't enable integral Can't enable integral position motor has been selected and you are Motor
position control control. unsure of motor data, check that the Parameters or
(_ecCANNOT_SET_KI "Measure motor resistance and characteristics
NT_MODE) inductance" test has been selected
4054 Can't set integral Can't set integral term limit. and run using the Autotune tool. If Motor
term limit the problem persists, you will need to Parameters or
(_ecCANNOT_SET_KI manually tune the control loops in the characteristics
NT_LIMIT) drive
4055 Invalid autotuning This will only occur if Mint Check Drive parameters and Re run Mint
operation number WorkBench attempts to run Autotuning tests Workbench
(_ecINVALID_OPERAT an autotuning operation not Tuning
ION) supported by the firmware.
4060 Cannot enable drive A drive cannot be enabled Go to Mint Workbench Parameter Drive Config,
(_ecCANNOT_ENAB unless; view and Check; Enabling > Electrical
LE_DRIVE) the hardware enable is DriveEnableInput setting is correct - if Supply
configured but not active or so ensure that the input is active
the AC supply (or shared DC before running autotune.
bus supply) is present. To check drives connected voltage
Go to Mint Workbench Parameter
view and Check; Drive >
DriveBusVolts is at the correct level
(325VDC for 230VAC supply,
565VDC for 400VAC supply)
4061 Drive Communication between the Check the serial or USB cable. PC, Mint
communications host PC and the controller Workbench,
error has failed. Grounding of
(_ecDRIVE_COMMS Drive and PC
_ERROR) power supply
4062 Absolute encoder is This error can occur for Check SIN COS Wiring of Endat 2.1 Encoder
wired incorrectly absolute encoders (that use Encoder Wiring
(_ecABS_ENCODER a mix of digital and analog
_WIRING_INCORRE signals) if the direction of
CT) increasing absolute position,
as read from the
communications channel, is
different to the direction of
the count derived from the
sine and cosine signals. This
will only occur if the sine and
cosine channels are wired
incorrectly.

look?
4063 Encoder fault General Encoder fault Check encoder configuration, wiring Encoder
(_ecPOSSIBLE_ENCO and encoder operation when rotating Parameters,
DER_FAULT) by hand. Encoder
wiring, noise
4065 Test move will take Test move takes too long Check that test moves are set so that Mint
too long they will not take an excessive Workbench
amount of time, also check scaling is Tuning
set correctly by checking
SCALEFACTOR
4066 Test move velocity is Calculated velocity > Re-run commissioning and check Drive
too high DriveSpeedMax in velocity that DriveSpeedMax is set correctly parameters
autotune.
4067 Motor rated current Motor rated current < 0.2A Check Motor data is correct, if the Motor
undefined motor current is below 0.2A then it’s parameters
too small to be controlled by the drive
4068 Current control loop Current loop has not been Re-run Autotuning Mint
is not tuned tuned before performing the Workbench
Rotor parameters autotuning Tuning
(applicable to asynchronous
motors only)
4069 Autotuning doesn't Cannot do the wanted Check Motor data is correct Motor
support motor type Autotune for this motor type. parameters
4070 Can't set flex control Can't set flux control loop Check Motor data is correct Motor
proportional gain proportional gain. parameters
4071 Can't set flex control Cannot be shown because Check Motor data is correct Motor
integral gain there is no error in API. parameters
4074 Can't set Cannot set motor Lm. Check Motor data is correct Motor
magnetizing parameters
inductance

Axis errors
These errors are assigned unique numbers in the range 10000-19999. The accompanying _ec error codes can be
used in error handling routines to test for particular errors, for example:
If ERRCODE = _ecADC_ERROR Then...
See Error Event: ONERROR for other examples.

look?
10000 Motion aborted This error is caused by using the The ABORT keyword has Mint Program
(_ecABORT) ABORT keyword or breaking a Mint been issued by the mint
program. See ABORT and program. This may be normal
ABORTMODE in the operation. If it’s not,
find the issue with the Mint
program.
10001 Forward hard limit Drive has been configured to have a Check Drive configuration, Wiring to
hit Forward Limit input and its currently Mint Program and/or Digital Inputs,
(_ecFWD_HARD_ active. Parameter file. See Drive
LIMIT) LIMITFORWARD and Configuration
LIMITMODE.
10002 Reverse hard limit See LIMITREVERSE and LIMITMODE Check Drive configuration, Wiring to
hit Mint Program and/or Digital Inputs,
(_ecREV_HARD_ Parameter file. See Drive
LIMIT) LIMITREVERSE and Configuration
LIMITMODE
10003 Forward soft limit The axis may be configured to have a Check Drive configuration, Mint Program
hit maximum and minimum limit of travel Mint Program and/or or Parameter
(_ecFWD_SOFT_ in software. If the axis position Parameter file. See File
LIMIT) exceeds one of these limit values, a SOFTLIMITFORWARD and
motion error will be generated. SOFTLIMITMODE.
10004 Reverse soft limit The axis may be configured to have a Check Drive configuration, Mint Program
hit maximum and minimum limit of travel Mint Program and/or or Parameter
(_ecREV_SOFT_L in software. If the axis position Parameter file. See File
IMIT) exceeds one of these limit values, a SOFTLIMITREVERSE and
motion error will be generated. SOFTLIMITMODE
10005 Fatal following FOLERRORFATAL sets the maximum If this error occurs the axis Mint Program
error exceeded permissible following error before an may not be free to move, is or Parameter
(_ecFOLLOWING error is generated. The following error moving when it should not File or
_ERROR) is defined as the demand position (for example a suspended Generated
minus the actual motor position. If the load with a bad motor brake) profile target
following error exceeds the value set or there could be a limitation Position
by FOLERRORFATAL (maximum within the drive (e.g. current
following error) an error may be or speed limit) or motor size
generated. (e.g. Inertia) that stops it
Note:If this error occurs when using a moving to the target position
Smart Inc encoder, see Smart Inc with the given ACCEL
encoders in Mint Help. /DECEL rates before the
following error is beyond the
value set by the user. See
FOLERRORFATAL and
FOLERRORMODE.

look?
10006 Fatal velocity error VELFATAL, velocity error checking Check the Mint program or Mint Program
exceeded allows the measured velocity (VEL) of other source of velocity or Parameter
(_ecVEL_FATAL) an axis to be compared to its demand demand is not attempting to File or
velocity (VELDEMAND). If the run the axis faster than the Generated
difference between the two values programmed profile target
exceeds the limit set with VELFATAL, DRIVESPEEDMAX Velocity
then an error will be created.
10007 Error input active An input is defined as an See ERRORINPUT and Mint Program
(_ecERROR_INP ERRORINPUT and it has active an ERRORINPUTMODE or Parameter
UT) error condition. File or
Generated
profile target
Velocity
10009 Invalid trajectory Trajectory generation error. The Check Mint CAM parameter Mint Program
(_ecPROFILE_ER controller was unable to perform the file for anomalous Data
ROR) requested profile. This can occur points. Excel is a helpful tool
during CAM moves if an invalid to help with this.
element is detected (e.g. a negative
master distance). An axis performing a
cam profile can skip over very short
slave segments if the master velocity is
such that the slave segment is less
than one profiler tick in length. If more
than 5 slave segments are skipped in
one profiler tick, this error will be
generated. The axis will be crash
stopped and disabled.
10010 Drive enable input DRIVEENABLEINPUTMODE is Check Digital Input status Wiring to
is inactive configured to and correct Digital Inputs,
(_ecDRIVE_ENAB _emCRASH_STOP_DISABLE and the Drive
LE_INACTIVE) input defined by DRIVEENABLEINPUT Configuration
has become inactive whilst the drive
was enabled
10011 Drive I.T exceeded The drive overload algorithm has Check tuning, check motion System
limit integrated up to 100% and has tripped profile (especially design
(_ecDRIVE_OVER the drive to protect it. This will happen acceleration and
LOAD) if the RMS current for the application deceleration). If necessary,
exceeds the DRIVERATEDCURRENT select a larger drive (which
value may also require an
alternative motor)
10012 Power base is not The Power base has been asked to Check of power base Power base
ready to enable enable but is not ready. For it to be so ambient conditions and condition
(_ecPOWER_BAS it must have the correct voltage and supply voltage. Include
E_NOT_READY) supply and not be overheated. interlocks in any program
being used that check
DRIVEENABLEREADY

look?
10013 Power module has There’s circuit detection in power unit Possible causes of this are Power base
an error and the signal is connected to the Over temperature, Over condition
(_ecPOWER_MO DSP. The power unit generated an Current, Brake chopper Short
DULE_FAULT) error while in operation. circuit or poor earthing or
shielding (particularly of
motor power cables). Power
cycle to clear the error.
10014 Over current trip Based on the drives currently Check the motor is free to Motor wiring
(_ecOVER_CURR configured DRIVERATINGZONE the rotate, has been sized
ENT) drive has detected a motor overcurrent correctly and there are no
state. Measured current should not short circuits on the drive
exceed the maximum current. The output wiring.
maximum current is related with the
over current and the rated current.
10015 Over speed trip The drive has detected the apparent Setting a high application Configuration
(_ecOVER_SPEED) motor velocity has exceeded the trip max speed and 200% / wiring
threshold set by DRIVESPEEDMAX velocity threshold may be
and the VELFATAL parameters necessary when using
Smartabs). For other
Note: If this error occurs when using a feedback types check the
Smart Inc encoder, see Smart Inc integrity of the feedback
encoders wiring and the earthing
/shielding of all cables
to/from the drive
10016 Over voltage trip The drive has shut down to protect Decrease deceleration rate, System
(_ecBUS_OVER_ itself after the measured dc bus add a regen resistor if one is design
VOLTAGE) voltage exceeded the preset limit. This not fitted. Consider use of
can often occur during deceleration, common dc bus if there are
particularly with large inertial loads multiple drives where some
regenerate and some motor
10017 Under voltage trip The drive has shut down to protect Decrease the acceleration System
(_ecBUS_UNDER itself after the measured dc bus rate. If the fault occurs when design / wiring
_VOLTAGE) voltage fell below a preset limit. This the axis is not accelerating
can occur during acceleration, check the supply connections
particularly with large inertial loads to the drive. A larger
Note: if motor/drive combination may
DRIVEBUSUNDERVOLTSOVERRIDE be required if the needed
is 0, low limit will use internal drive acceleration cannot be
data, otherwise will use achieved
DRIVEBUSUNDERVOLTSOVERRIDE
10018 Motor I^2.T The motor overload algorithm has Check tuning, check motion System
exceeded limit integrated up to 100% and has tripped profile. If necessary select a design
(_ecMOTOR_OVE the drive to protect the motor. This will larger motor (which may also
RLOAD) happen if the RMS current for the require an alternative drive)
application exceeds the
MOTORRATEDCURRENT value

look?
10019 Motor temperature #1. Motor Over Temperature has been When using feedback Motor
trip detected on the drive and the drives temperature monitoring, X10 Temperature
(_ecMOTOR_TEMP hardwired Thermistor X10 input has connections TH1 and TH2 or Thermistor
_INPUT) detected Motor overheating from the should be connected with a Wiring or
connected motor PTC sensor wire link (short-circuited) to Thermistor
suppress the normal operation
temperature trip function.
Note:
MOTORTEMPERATURE
TRIP does not monitor the
drive's X10 motor thermistor
input. Also look for a fault
with feedback cable or
wiring.
10019 Motor temperature #2. Motor Over Temperature has been Set MOTORTEMPERATURE Motor
10020 trip detected on the drive and the Motor TRIP to a resistance that is Temperature
(_ecMOTOR_TEMP Encoder is of a serial variety (such as suitable for the motor's or Thermistor
_INPUT) Hiperface DSP which provides motor thermistor device. e.g. Wiring or
Phase search thermistor resistance as part of the MOTORTEMPERATURE Thermistor
failure feedback data). If this value exceeds TRIP(0) = 1200. operation
(_ecPHASE_SEA MOTORTEMPERATURETRIP the Also look for a fault with Configuration
RCH_FAILED) drive trips with a motor feedback cable or wiring.
overtemperature error Note:
MOTORTEMPERATURE
TRIP operates only with
motors that have a positive
temperature coefficient
(PTC) thermistor, where
resistance increases with
temperature, or with motors
that have a switch that goes
open-circuit at high
temperatures.
Phase search must be completed to Phase search must be

control a motor with type "encoder completed to control a motor
only" with type "encoder only"- if it
does not finish successfully
check encoder settings in
drive and check the correct
number of motor poles has
been configured.
10021 Hall signals lost or This error indicates that a feedback This error would normally Encoder or
incorrect type of halls only or Encoder + Halls is indicate a faulty encoder in encoder
(_ecHALL_SIGNA used and has detected an error. If this the motor (the encoders wiring
L_LOSS) is so the halls sensor state is checked include simulated hall
by the drive and that the Hall state signals) or bad wiring to the
detected is illegal (0 or 7). motor encoder. Check the
quality of installation, wiring
and encoder type selection.
Note: You can use Mint
Workbench to scope the
Encoder Hall State to look for
problems.

look?
10022 Encoder signals This indicates that either there has Check the quality of Encoder or
lost or incorrect been a total break or total disruption installation, wiring and encoder
(_ecENCODER_SIG with the encoder signals. encoder type selection. wiring
NAL_LOSS) Note: You can use Mint
Workbench to scope
Encoder Hall State and
Encoder to look for problems.
Note: To get more
information on this error
connect to the Drive with
Mint Workbench go to
"Parameters > Encoder >
Channel 0 > Encoder
Parameter(Encoder0, Fault
Register)" If this contains a
value other than 0 you can
use this value to give you
more help on the error. See
help file subject:
ENCODERPARAMETER.
Check all earthing and
shielding arrangements are
as per the instruction manual
10023 Encoder power Power supply to encoder has been lost Check that there are no Encoder or
supply loss or has dropped below the minimum shorts in the encoder wiring encoder
(_ecENCODER_S level for the selected encoder type. to the encoder supply (e.g. wiring
UPPLY_LOSS) Note: encoder voltage is supplied by ensure the shields are not
the drive. Encoder power is given from shorting to the supply or
power board, then transferred from 8v other signal pins). If the
to 5v by control board. wiring is OK and the problem
persists, then it is likely one
of the internal power supplies
is failing.
10026 PDO data is not EtherCAT or EPL PDO data from the This error will occur on the RTE Master
present (Mn to Cn) manager (MN) to the remote axis (CN) drive if it has lost its controller or
(_ecPDO_DATA_ has been lost. This error occurs if the connection to the Manager. Network
MISSING_MN_TO remote axis detects that at least two Check that the Manager is
_CN) consecutive PDO packets have not running, configured correctly
been received correctly. and the network is operating
correctly
10027 Remote motion Unable to load motion on the remote This can be caused by a Drive
command failed axis. Generally speaking, this error number of reasons, such as Configuration
(_ecREMOTE_MO indicates MML in drive is not ready for incorrect operating mode, the or Mint
TION_FAILED) operation. motor brake being enabled or Program
the move buffer being full.

look?
10028 Encoder not ready The drive is configured to use a Serial The encoder may take Drive
to operate Encoder and it is not able to provide several seconds to become Configuration
(_ecENCODER_N position information. ready and this error will be or Mint
OT_READY) generated if an attempt is Program
made to enable the axis
before the encoder is ready.
This error can also occur if
the resolution configured on
the drive is not compatible
with the encoder. The axis
will be crash stopped and
disabled.
Note: To get more
Channel 0 > Encoder
help file subject:
ENCODERPARAMETER
10029 Supply phase loss The three phase drive has detected Check the connection of the Electrical
detected that one of the AC supply phases may input phases. If the Supply
(_ecSUPPLY_PH been lost. The drive can normally only connections are OK and a
ASE_LOSS) operate using a three phase supply. MotiFlex e180 is tripping
MotiFlex e100 drives have dedicated spuriously (e.g. because the
phase monitoring hardware, MotiFlex application requires harsh
e180 drives monitor the ripple on the repeated accel and decel
dc bus and if this becomes excessive cycles) then you can disable
then they assume an input phase has phase loss detection using
been lost PHASELOSSMODE(0) = 0
10030 PDO data is not PDO data from the remote axis (CN) to This error will occur on the RTE Master
present (Cn to Mn) the manager (MN) has been lost. This NextMove e100 if it detects a controller or
(_ecPDO_DATA_ error occurs if the manager detects drive disappears from the Network
MISSING_CN_TO that at least two consecutive PDO network. This may be
_MN) packets have not been received "normal" for an optional node
correctly. (and the error must be
handled via the ONERROR
event). If this error is
unexpected check the drive
is not resetting and check the
integrity of the Ethernet
(EPL) cabling
10031 Heat sink too hot Phase search has been prevented due Allow drive to cool down N/A
to phase search to excessive heatsink temperature
(_ecPHASE_SEA
RCH_TOO_HOT)

look?
10032 PDO value out of When controlling an axis using Real Connect to the drive whilst RTE Master
range time Ethernet one of the PDOs sent to the error is active and use controller
(_ecPDO_VALUE_O the drive were out of range. This is the Error Log to determine
UT_OF_RANGE) often the velocity reference PDO and which PDO is out of range. If
can be caused when an axis is geared it's velocity then check the
to a master axis/encoder and the Mint program to ensure axes
master position/encoder value is that are geared to master
changed via the program to a new references are not geared
value causing an infinite velocity when those master
demand references position/encoder
values are written to
10033 STO active Either one or both of the Safe Torque Check drive STO inputs, if Safety
(_ecSTO_ACTIVE) Off inputs is not powered. This error used check the wiring of the System or
can occur only when the drive is safety circuit or for open Drives STO
enabled. guards or Emergency stops input
etc.
10034 STO hardware Either one or both of the internal fault Check drive STO inputs, if Safety
fault circuit outputs has been asserted, used check the wiring of the System or
(_ecSTO_HARDW indicating an internal hardware fault in safety circuit or for open Drives STO
ARE_FAULT) the STO circuits. This error can occur guards or Emergency stops input
when the drive is enabled or disabled. etc.
10035 STO input The drive has detected a mismatch in Check the two drive STO Safety
mismatch its internal STO registers. This error inputs are in the same state System or
(_ecSTO_INPUT_ can occur when the drive is enabled or with a multimeter. It may be Drives STO
MISMATCH) disabled. necessary to adjust input
STOMISMATCHTIME to
account for any timing
discrepancies in the
connected safety circuit.
10036 Encoder reading The drive has detected that the Check the quality of Encoder or
wrong or Hall fault measured Hall transition angle differs installation, wiring and wiring
(_ecENCODER_RE from the electrical angle used in the encoder type selection.
ADING_WRONG) control by at least 70 degrees. Note: You can use Mint
Workbench to scope
Encoder Hall State and
Encoder to look for problems.
Check that all earthing /
shielding is as per the drive
installation manual
10037 All axis errors This information message can appear No action required N/A
cleared in the error log to indicate that all axis
(_ecAXIS_ERROR errors have been cleared.
S_CLEARED)
10038 Encoder battery This information message can appear Change the Encoder battery SmartABS
dead at startup, or when the drive is Encoder
(_ecENCODER_B enabled, if the battery backup supply battery
ATTERY_DEAD) for a Smart Abs encoder has failed.

look?
10039 Resolver signals An error has occurred when using the Check the wiring to the Resolver or
lost or incorrect Resolver Adapter (OPT-MF-201 or FB- motor’s feedback device, the wiring
(_ecRESOLVER_ 03). The error is caused by the loss of integrity of the motor
SIGNAL_LOSS) resolver signals. connector, and the
connections inside to the
adapter.
Note: To get more
Channel 0 > Encoder
help file subject:
ENCODERPARAMETER.
Check all earthing / shielding
is as per the drive installation
manual
10040 Hiperface DSL An error has occurred when reading Check the wiring to the Resolver or
encoder error the position over Hiperface DSL. motor’s feedback device, the wiring
(_ecHIPERFACE_ integrity of the motor
DSL_ENCODER_ connector, and the
ERROR connections inside to the
adapter.
Note: To get more
10041 Output frequency The drive has detected that the output Mint Workbench go to Control
over limit frequency exceeded 550 Hz. This "Parameters > Encoder > System
(_ecOUTPUT_FR restriction is required to meet relevant Channel 0 > Encoder
EQ_OVER_LIMIT) European Export Control Regulation. Parameter(Encoder0, Fault
help file subject:
ENCODERPARAMETER.
Check all earthing / shielding
is as per the drive installation
manual
Reduce your application's
speed.
10042 Drive speed Motor velocity is above parameter Go to parameters > Drive > Parameters
Maximum is out of DRIVESPEEDMAX(0) DRIVESPEEDMAX and
range check value is set correctly.
(ecDRIVESPEED Check Commanded Drive
MAX_OUT_OF_R Speed is not too high.
ANGE)

Axis warnings
These errors are assigned unique numbers in the range 20000-29999. Axis warnings can be disabled using
ERRORCODEENABLE . There is no default action on axis warnings; motion will not be stopped. The
accompanying _ec warning codes can be used in error handling routines to test for particular warnings, for
example:
If ERRCODE = _ecREMOTE_DRIVE_WARNING Then...

look?
20003 All axis warnings cleared This information message No Action required N/A
(_ecAXIS_WARNINGS_CLEARED) can appear in the error log to
indicate that all axis warnings
have been cleared.
20004 Encoder battery low When using an encoder with Consider changing the SmartABS
(_ecENCODER_BATTERY_LOW) battery backup (e.g. Smart Encoder battery Encoder
Abs multi-turn) a battery low battery
condition has been reported.
20005 Phase loss detected One of the AC supply phases The drive has detected Electrical
(_ecPHASE_LOSS_WARNING) has been lost. Check the AC that one of the AC Supply
supply wiring to the drive. supply phases has been
lost. The drive can only
operate using a three
phase supply.
Note: If incorrect
detection then you can
turn the detection off in
the command line
using;
PHASELOSSMODE(0)
=0
20006 Motor temperature not read The Hiperface DSL feedback Check the motor Motor or
(_ecMOTOR_TEMP_NOT_READ_ device has indicated a motor temperature Encoder
WARNING) overtemperature condition.

Communication errors
These errors are assigned unique numbers in the range 8000-8999.
Code Error Cause What to do Where to look?
8000 EtherCAT AL status code This error is listed This error status Mint
(_ecETHERCAT_AL_STATUSCODE) together with a Profile indicates that the Workbench
Code in the Mint EtherCAT master has Error Log
WorkBench Error Log. been sent an error
Note: The displayed code by the drive.
profile code must be Check the error log to
converted to hexadecimal determine what the
to give the specific "real" drive error code
EtherCAT error code. is.
8001 CIP configuration error This error is listed This error status Mint
(_ecCIP_CFG_ERROR) together with a Profile indicates that the Workbench
Code in the Mint EtherCAT master has Error Log
WorkBench Error Log. been sent a CIP error
The displayed profile code by the drive.
code must be converted Check the error log to
to hexadecimal to give determine what the
the specific CIP general "real" drive error code
status code. is.
8002 POWERLINK error code This error is listed This error status Mint
(_ecPOWERLINK_ERROR) together with a Profile indicates that the Workbench
Code in the Mint POWERLINK master Error Log
WorkBench Error Log. has been sent an error
The displayed profile code by the drive.
code must be converted Check the error log to
to hexadecimal to give determine what the
the specific POWERLINK "real" drive error code
error code. is.
8003 PROFInet error code This error is reported This error status Master
(ecPROFINET_CFG_ERROR) when multicast MAC filter indicates that the Configuration
configuration fails. PROFInet master has
tried to configure the
device ID but has
failed.

Compilation errors
These errors are assigned unique numbers in the range 2000-2999. Mint generates errors based upon the
programming rules of the Mint language. These errors a e called compilation error codes and are reported by Mint
WorkBench in the Build tab of the Output window when an attempt is made to run a program that contains errors.
The error codes are subdivided into four groups:
• 2100+ general errors

• 2150+ lexical errors
• 2200+ syntax errors
• 2300+ semantic errors
General Errors

look?
2102 Lexically This should never occur an indicates Check Mint program for none standard Mint
incorrect that a predefined symbol has a name symbol names and remove them then Code
that does not conform to the naming redownload Mint Program
rules for identifiers.
2103 Anachronism This is not an error, but merely an For example, labeled subroutines Mint
indication that Mint now has a better called with GoSub and ended with Code
feature than the one that has been Return should be replace with the true
used. subroutines now provided by Mint. Also,
if the newer constructs are used, they
will be displayed in the Mint WorkBench
tree view for easier program navigation.
2104 Too many This is generated when the maximum Check Mint program for none standard Mint
errors number of errors allowed is exceeded. symbol names and remove them then Code
redownload Mint Program
Lexical Errors
Code Error Cause What to do Where
to look?
2150 Unterminated This occurs when a string literal is Check Mint program correct mistakes, Mint
string not terminated with a closing double then redownload Mint Program Code
quote before the end of the line is
reached.
2152 Bad ASCII code This occurs when an incorrect ASCII Check mint program for an invalid Mint
code is specified within a string character such as \￡ , or an invalid Code
literal. Valid ASCII codes are \" to
ASCII code such as \Fg, will cause the
specify a double quote, \\ to specify
error.and remove them then redownload
a backslash, and \hh where hh is a
Mint Program
two digit hexadecimal number.
2153 Bad number This occurs when a badly formed Check mint program for none standard Mint
number is encountered, such as number formats, correct them and then Code
"1.128r-6" or "0xffgffff". redownload Mint Program

Syntax Errors

look?
2200 Unexpected This occurs when end of file is reached while
end of file processing a construct that has not been
terminated.
2201 Unexpected This indicates that a symbol has been encountered

symbol that is either out of context or not a recognized
language element.
2202 Expected This occurs when the end of a line is required but is
end of line not present.
2203 Expected This occurs while parsing an If statement that does

Then not have a Then clause immediately after the
conditional expression.
2204 Unexpected This occurs while parsing an If block that has

Else already had it Else clause processed, thus making
further Else clauses illegal.
2205 Expected This occurs when a block If statement is terminated

End If with something other than End If.
2206 Expected This occurs when a block If statement is terminated

Case with something other than End If.
2207 Expected This occurs when a Select statement is terminated

End Select with something other than End Select.
2208 Expected This occurs when a While statement is terminated

End While with something other than End While, Endw or
Wend . Check Mint Workbench Mint
Build window for the Workbench
2209 Expected This occurs when a Repeat statement is terminated location of the error, Build
Until with something other than Until. correct it then redownload window
Mint Program
2210 Expected This occurs when a Loop statement is terminated
End Loop with something other than End Loop or Endl .
2211 Expected This occurs when an identifier is expected and was

identifier not found, or example, tasks, events, subroutines
and functions, amongst others, all require an
identifier.
2212 Expected This occurs when an assignment operator is
assignment expected, such as after a For loop variable, or after
operator the name of a Define, but one is not found.
2213 Expected This occurs while parsing a For statement when

To there is no To keyword after the initial value
expression.

look?
2214 Expected This occurs when a for statement is terminated with
Next something other than Next.
2215 Incorrect This occurs when the optional loop counter identifier
identifier in is used, but which does not match that which is
Next used.
2216 Expected This occurs when an expression is required, but one

expression is not present. For example x=myFunc(a,b,) would
generate this error, as there is no expression after
the last comma.
2217 Unexpected This occurs when a Return statement is used
Return anywhere other than the outer scope, i.e. inside a
subroutine, task, etc.
2218 Unexpected This occurs when an attempt i made to declare a

Sub subroutine anywhere other than the outer scope or
the outer scope of a task. For example, it is illegal to
declare a subroutine inside any of the following:
Startup module, event, subroutine, function or any
block construct.
2219 Unexpected This occurs when an attempt is made to declare a
Function function anywhere other than the out-r scope or the
outer scope of a task. For example, it is illegal to
declare a function inside any of the following: Check Mint Workbench Mint
Startup module, event, subroutine, function or any Build window for the Workbench
block construct. location of the error, Build
correct it then redownload window
2220 Expected ( This occurs when an opening bracket is expected, Mint Program
but not found. For example, subroutine and function
parameter lists must be bracketed and intrinsic
functions (Sin, Cos, Atan2, Task Status , etc.) must
have their parameters bracketed.
2221 Expected) This occurs when a closing bracket is expected, but
not found. For example, subroutine and function
parameter lists must be bracketed and intrinsic
functions (Sin, Cos, Atan2 , Task Status , et .) must
have their parameters bracketed.
2222 Expected This occurs when the Axes statement is not
open immediately followed by [.
square
bracket
2223 Expected This occurs when an expression list initiated with [ is
close no terminated with ].
square
bracket
2224 Expected This occurs when items required to be separated by
comma a comma are not.
2225 Unexpected This occurs when a parameter list has a trailing

comma comma with no expression after i.
2226 Expected This occurs when a subroutine declaration is

End Sub terminated with something other than End Sub.

look?
2227 Expected This occurs when something other than integer,
data type float or string follows an As clause.
2228 Expected This occurs when a function declaration is

End terminated with something other than End Function.
Function

Task task at anywhere other than the outer scope.
2230 Expected This occurs when a task declaration is terminated

End Task with something other than End Task.
2231 Unexpected This occurs when an attempt is made to declare an

Event event at anywhere other than the outer scope.
2232 Expected This occurs when an event declaration is terminated

End Event with something other than End Event.

Startup Startup module at anywhere other than the outer
scope.
Check Mint Workbench Mint
2234 Expected This occurs when a Startup module declaration is Build window for the Workbench
End Startup terminated with something other than End Startup. location of the error, Build
correct it then redownload window
Mint Program
2235 Non- This occurs when an array parameter is specified as
reference being passed by value using the ByVal keyword.
array This is ill gal, as arrays are always passed by
parameter reference.
2236 Cannot Parameters receive their initial values from the call
initialize statement, and so it makes no sense, and is illegal,
parameters to try and initialize them.
2237 Else This occurs when an Else clause is encountered

without If outside an If statement.
2238 End If This occurs when an End If clause is encountered

without If outside an If statement.
2239 Case This occurs when a Case clause is encountered

without outside a Select statement.
Select
2240 End Select This occurs when an End Select clause is

without encountered outside a Select statement.
Select
2241 End While This occurs when an End While clause is

without encountered outside a While statement.
While

look?
2242 Until This occurs when an Until clause is encountered
without outside a Repeat statement.
Repeat
2243 End Loop This occurs when an End Loop clause is

without encountered outside a Loop statement.
Loop
2244 Next This occurs when a Next clause is encountered

without For outside a For statement.
2245 End Sub This occurs when an End Sub clause is

without Sub encountered outside a subroutine declaration.
2246 End This occurs when an End Function clause is

Function encountered outside a function declaration.
without
Function
2247 End Task This occurs when an End Task clause is
without encountered outside a task declaration.
Task
2248 End Event This occurs when an End Event clause is

without encountered outside an Event declaration.
Event
2249 End Startup This occurs when an End Startup clause is

without encountered outside a Startup module declaration. Check Mint Workbench Mint
Startup Build window for the Workbench
location of the error, Build
2250 Block not This occurs when an unqualified Exit or Continue correct it then redownload window
found statement is used without being in a block that can Mint Program
be exited or continued.
2251 Sub block This occurs when an Exit statement qualified with
not found Sub is used without being in a subroutine.
2252 Function This occurs when an Exit statement qualified with

block not Function is used without being in a function.
found
2253 Task block This occurs when an Exit statement qualified with
not found Task is used without being in a task.
2254 Event block This occurs when an Exit statement qualified with
not found Event is used without being in an event.
2255 Startup This occurs when an Exit statement qualified with

module not Startup is used without being in the Startup module.
found
2256 While block This occurs when an Exit or Continue statement

no found qualified with While is used without being in a While
statement.

look?
2257 Repeat This occurs when an Exit or Continue statement
block not qualified with Repeat is used without being in a
found Repeat statement.
2258 For block This occurs when an Exit or Continue statement

not found qualified with For is used without being in a For
statement.
2259 Loop block This occurs when an Exit or Continue statement

not found qualified with Loop is used without being in a Loop
Check Mint Workbench Mint
statement.
Build window for the Workbench
2260 Unexpected This occurs when a statement ends unexpectedly, location of the error, Build
end of for example Input followed by no input variable. correct it then redownload window
statement Mint Program
2261 Expected This occurs when a statement separator is expected

statement but not found, for example: While Rnd()<0.5 Print
separator "Mint" .
2262 Can only This occurs when an attempt is made to size a

size a string string outside a Dim statement, for example:
in a Dim Function abc(s As String * 12)
statemen
2263 Expected This occurs when a critical block is terminated with
End Critical something other than End Critical.
Semantic Errors
look?
2301 Multiple This occurs when an identifier is used twice in the same
declaration scope for declaring an object such as a variable,
subroutine, task, etc.
2302 Event preclusion This occurs when events that are mutually exclusive are
declared.
2303 Unused This occurs when an object is declared but never used.
declaration This is not an error but indicates that the object in
question could safely be removed.
2304 Identifier not This occurs when an attempt is made to use something
found that has not been declared, such as a variable or Check Mint Mint Code
subroutine. Workbench
2305 Identifier name This occurs when a user defined object is given the same Build window
shared with name as a predefined symbol, such as an MML routine, for the location
predefined s event name or constant. of the error,
2306 Cannot call tasks This occurs when an attempt is made to call a task or correct it then
or events event as if was a subroutine or function. redownload
Mint Program
2307 Expected value This is generated whenever a value is required, but one
is not present. For exam le, the string literal "Value" is not
a value, but the literal 1.0 and variable x are values.
2308 Attempt to modify This occurs when a constant is supplied as a parameter

constant to a subroutine or function that modifies the parameters
value.

look?
2309 Expected This occurs whenever a variable is expected, but
variable something else is supplied, such as a constant or literal.
2310 Expected This occurs whenever a constant is expected, but
constant something else is supplied, such as a variable.
2311 Expected This occurs when a parameter is supplied to a subroutine
variable or value or function call that is neither a variable nor a value, such
as a task or event name.
2312 Expected Null This occurs when an MML routine is called that accepts
an array parameter that may be null but is supplied with a
constant value other than zero (null).
2313 Bad parameter in This occurs when a supplied parameter is illegal, for
call example: ? An incorrect value is supplied to an intrinsic
function, like Acos(-1.2) , Str(s, 37) , Asc("") , etc.
? An invalid compound parameter is used, like GO([0, 1,
2]) , CONTOURPARAMETER(0, [_ctpSTOP_ANGLE,
_ctpSLEW_ANGLE]) = 10, 15, etc.
? A compound parameter is used with an intrinsic
function, which is not currently allowed.
2314 Bad cast This occurs when an attempt is made to cast an object to
a type that is incompatible. An example of this would be
the implicit casting of a string to an integer during an
assignment, for example j="Hello world" .
2315 Incorrect number This occurs when a call is made with the wrong number
of parameters. of parameters and can occur with subroutines/functions
and MML routines.
Check Mint
2316 Incorrect number This occurs when an array is indexed with the wrong Workbench
of indices number of indices For array parameters, where the Build window Mint Code
number of indices and index ranges are not explicitly for the location
specified, the first usage determines the number of of the error,
indices. correct it then
2317 Cannot index a This occurs when an attempt is made to index a scalar. redownload
scalar Mint Program
2318 Wrong call class This occurs when a callable routine is used in the wrong
used context. Examples of this are functions called as
subroutines, subroutines called as functions, MML
command routines used as get/set routines and read
only MML routines being written to.
2319 Call of non- This occurs when an attempt is made to call an object
callable object that is not callable, such as an event or a task.
2320 Declaration hides This occurs when a declaration hides a declaration in an
other outer scope that shares the same name.
2321 Expected task This occurs when a task name is expected but is not
found. The TaskSuspend, TaskPriority and TaskStatus
keywords all require qualifying with a task name, and the
Run and End commands may be qualified with a task
name.
2322 Integer out of This occurs when the compiler evaluates a constant
range integer expression, and the result lies outside the range
of a 32-bit signed integer.

look?
2323 Float out of range This occurs when the compiler evaluates a constant
floating-point expression, and the result falls outside the
range of a 4-byte IEEE float.
2324 Character out of This occurs when the value supplied to the Chr() function
range lies outside the range 0 to 255.
2325 Division by zero This occurs when the compiler evaluates a constant
expression and contains a division by zero.
2326 Using clause This is displayed when the Using clause is used with
ignored character and string data. Note: This error is obsolete. It
will not appear in more recent versions of Mint
WorkBench that support string variables.
2327 Hex or Bin The Hex and Bin print modifiers imply integer output, and
modifiers used so specifying a number of decimal places other than zero
with non-zero makes no sense.
2328 Expected array This occurs when an MML call that requires an array
parameter is not supplied with an array.
2329 Expected float This occurs when an MML call that requires an array of
array floats and is supplied with an array of another type.
2330 Expected integer This occurs when an MML call that requires an array of
array integers and is supplied with an array of another type.
2331 Too many right- This occurs when the number of right-hand side values
hand sides supplied in a statement exceeds the number of left-hand
sides. This often occurs when using the square bracket
notation.
2332 Cannot jump into This occurs when a label inside the body of a For loop is
For loop referenced from outside the loop. This is not allowed Check Mint
because the initialization stage of the For loop will be Workbench
bypassed leading to undefined behavior. Build window Mint Code
for the location
2333 Too many tasks This occurs on controllers that support only a limited of the error,
number of tasks when more than the maximum number correct it then
of tasks allowed are declared. Some controllers, such as redownload
the Flex+Drive II, support only a single task. Mint Program
2334 Unexpected This occurs when an attempt is made to use a semi-

semi-colon colon with a MML routine that does not require it. The
semi- colon is only appropriate for use with axis related
commands that either use an axis string (or have the
axes specified in square brackets), or non axis related
commands that make use of square bracket notation.
2335 Function result This occurs when a function is declared, but the
not assigned statements in the function's body do not include an
assignment to the function's name to specify the return
value. The process used for checking this error does not
confirm that all paths through the function are valid.
2336 Expected This occurs when a module name used with the scope
task/event/startup override operator:: is not the name of a Task, Event or
Startup module.
2337 Expected string This occurs when a string is expected in an assignment

to a string array, but something else is supplied.

look?
2338 String constant This occurs when the string assigned to a string variable
too long is longer than the variable. For example: Dim
variable_name As String * 10
variable_name 0123456789abcd
The string assigned to variable name is longer than 1

character, so the error occurs. Similarly, the error can
occur if a string array is initialized with a string that is too
long. The default length for string variables is 64
characters. See Strings.
2339 Implicit cast This warning occurs when a value is assigned to a
may/will lose destination of a different type. Depending on the value
precision being assigned, this can lead to a significant change in
the value, such as when assigning a float to an integer
where any fractional data will be lost, or when an integer
is assigned to a float where some of the lower digits may
be lost. To check for this, if an integer was assigned to a
float and the float assigned back to another integer, then
would the two-integer values match? This check is
performed on assignments, calls to subroutines/functions
that take parameters and constant declarations where
the type is explicitly specified. For example, the following
program will generate two warnings about the
assignments of i to x and x to j, and will display
123456789 and 123456784, highlighting the problem:
Dim i As Integer, j As Integer, x As Float

i=123456789 : x=i : j=x
Print i; j
2340 Temporary use This warns that a value passed to a subroutine will be
with parameter stored in a temporary (invisible) variable so that the
'<parameter variable's address can be used as the reference. This is
Check Mint
particularly important for strings, as using a temporary
Workbench Mint Code
variable to contain an intermediate string result has the
Build window
problem that the temporary variable may be too
for the location
small, causing run-time string overflows. However, this
of the error,
warning is generated for any type of temporary variable
correct it then
that may have to be created. To avoid this warning,
redownload
either ensure that the value is held in an appropriate
Mint Program
variable before it is passed to the subroutine/function or,
if the parameter is not intended to return a value, make it
a value parameter by prefixing it with the ByVal keyword.
2341 Define This error is generated when a define name is used

'<define_name>' before it has been defined (see Define) To avoid this
used before error, ensure that Define appears before the name is
decla used, for example: Define my_axes = 0,1,2,3
Print my_axes
2342 Use '<new This warning is generated when the specified 'old
keyword>' keyword' has been superseded by a differently named
instead of '<old 'new keyword'. It is likely that both keywords operate in
key exactly the same way, so it will be possible to use the old
keyword name without problems. However, it is better to
use the new keyword name to maintain maximum
compatibility with any future developments.

look?
2343 Expected 'integer' This error is generated by the Shift an Rotate commands
found '<non- (when used as a statement) if the item to be shifted is not
integer>' an integer, for example: D m x As Float Shift (x, 2)
2344 Bad parameters This error is generated if bad parameters are used in a
'<parameter 1>' Using clause, such as a string. For example: Print
and '<par "Position = ", POS(0) Using("6,3")
2345 Unrecognized This will be generated if an option name is used that is
option '<name>' not recognized, such as "Option billygoatgruff 1".
specified
2346 Unsupported This w ll be generated if an option is set that is
option '<name>' unsupported by a certain target format, such as "Option
specified CFormatting 1" on target formats below 10.
2347 Bad value This will be generated if an option is assigned a value

'<value>' that i invalid/out of range, such as "Option OptLevel 6".
specified for
option
2348 Option '<option>' his will be displayed if the same option is set more than
set more than once in a program.
once
2349 Option '<option>' This will be displayed if an option is set inside a module
not defined at the of any type (Task, Sub, Function, Event or Startup).
out
2350 String out of This will be displayed when the Asc function is supplied
range with an empty string.
2351 Label out of This will be displayed if a GoTo or GoSub (obsolete)
scope specifies a label that is not situated in the same scope as
the GoTo or GoSub statement.
2352 Parameter Must This occurs when a parameter that must be passed by
Be Reference reference is specified as being ByVal.
2353 Unexpected Size This occurs when a size specification is used with a Check Mint
parameter declaration or with data types that cannot be Workbench Mint Code
sized. Only strings can be sized. Build window
2354 Incompatible This occurs when an operator is given operands that are for the location
Operands incompatible, such as when trying to divide a float by a of the error,
string. correct it then
2355 Must Be Scalar This occurs when an item that must be scalar has been redownload
given dimensions, such as a constant or a bitfield Mint Program
member.
2356 Bad Module This occurs when modules are incorrectly nested, such
Nesting as would occur if an event were declared inside a
subroutine.
2357 ElseIf After Else This occurs when an ElseIf statement is encountered
after an Else statement.
2358 Multiple Else This occurs when more than one Else statement s
present.
2359 Case After Case This occurs when a Case statement is encountered after
Else a Case Else statement.
2360 Multiple Case This occurs when more than one Case Else statement is
Else present.
2361 Expected Case This occurs when a Case statement was expected, but
something else was encountered.

look?
2362 Expected Scalar This occurs when a scalar (a single value) is expected,
but an aggregate such as an array o structure is
encountered.
2363 Expected 1D This occurs when a one-dimensional array is expected,
Array but a multi-dimensional array is encountered.
2364 Expected Array This occurs when an array or Null is expected, but
Or Null something else is encountered.
2365 Result This occurs when a result cannot be determined from the
Indeterminate given operands/parameters.
2366 Illegal This occurs when an initialization is encountered that is
Initialization not allowed, such as with parameters or structure
members.
2367 Expected Float This occurs when a float is expected, but something else
is encountered.
2368 Used but Not This occurs when a variable has been used but has not
Initialised been assigned a value.
2369 Expected This occurs when as assignment is expected, but
Assignment something else is encountered.
2370 Incorrect This occurs when the expression used with Next does
Identifier in Next not match that used in the For.
2371 Anachronism (old This occurs when an out of date language feature is
Method used) used. For example:
-The use of GoSub or Return.
-The use of labeled events, for example #OnError,
#Timer etc.
-When redundant decimals have been ignored. For Check Mint
example, in the statement Input i Using (6, 0), if i Workbench Mint Code
is an integer then the zero (which specifies the fractional Build window
places to display) is redundant. for the location
-The use of obsolete parameter formats, such as POS.0 of the error,
or POS[0] . See Mint v5 (MT) to Mint v5.5 . correct it then
-The use of Axes , Bank , Bus or Terminal to set a default redownload
value. Each item should now be explicitly defined with Mint Program
each keyword.
-Omitting an optional parameter to an MML function, like
POS = 0. Each parameter should now be explicitly
defined, e.g. POS( axis) = 0.
-The use of an obsolete keyword, such as Adc0 , In0 ,
Out0 , ik, rk, etc.
2372 Expected String This occurs when a string array is expected, but
Array something else is encountered.
2373 Block Invalid This occurs when an invalid block type is encountered,
such as when trying to continue a subroutine.
2374 Unexpected This occurs when an output modifier is unexpectedly
Output Modifier encountered, such as when one is used in an Input
statement.
2375 Unexpected This occurs when a Using clause is encountered when it
Using Clause was not expected, such as wit the prompt string of an
Input statement.
2376 Bad Is Operator This occurs when an Is operator is use outside a Case
expression.
2377 Statement After This occurs when executable statements are present
Module after any module declaration.
look?
2378 Not In Outer This occurs when something is incorrectly nested within
Level a module, such as a task declaration.
2379 Bad Input This occurs when an incorrect Input parameter is
Parameter encountered, such as when there are no parameters or
just a prompt string.
2380 Too Few Right- This occurs when not enough parameters are supplied to
Hand Sides the right of an = symbol.
2381 Incompatible This occurs when an incompatible type is encountered,
Type such as using something other than a floating-point or
integer For loop counter, or when assigning structures of
different types.
2382 Expected This occurs when a structure is expected, but something
Structure else is encountered.
2383 Expected This occurs when a member is expected, but something
Member else is encountered, which can occur with the structure
member access operator and the scope override
operator.
2384 Float Equality This occurs when a test for equality is made when either
or both operands are floating point.
2385 Expected This occurs when a redirection is expected, but
Redirect something else is encountered.
2386 Expected This occurs when a redirection or a Mint function is
Redirect Or Mml expected, but something else is encountered.
Api
2387 Too Many This occurs when too many redirections are used (the
Redirections current maximum allowed is 15). Check Mint
Workbench Mint Code
2388 Expected Case This occurs when a Case statement is expected, but Build window
Statement something else is encountered. for the location
2389 Expected Type This occurs when a type name is expected, but of the error,
Name something else is encountered. correct it then
redownload
2390 Expected Time This occurs when a variable of type Time is expected,
Mint Program
but something else is encountered.
2391 Expected Time This occurs when an array of type Time is expected, but
Array something else is encountered.
2392 Recursive This occurs when a structure contains a member that is
Structure of the same type as the structure being declared, which
can also be through mutually recursive structures.
2393 Expected Brace This occurs when a brace { is expected, but something
else is encountered.
2394 Unexpected This occurs when a brace { is encountered, but
Brace something else is expected.
2395 Too Few This occurs when there are fewer initializers than
Elements structure members.
2396 Too Many This occurs when there are more initializers than
Elements structure members.
2397 Expected This occurs when a variable or a Mint function is
Variable or Mml expected, but something else is encountered.
Api
2398 Multiple Event This occurs when the Event Priority command is used
Priority more than once in a program.

look?
2399 Incorrect Event This occurs when an event enumeration is used that is
Enumeration not recognized in a call to Event Priority.
2400 Expected This occurs when an array indexing operation is
Indexing expected but is not present.
2401 Block Not Found This occurs when an unqualified Exit or Continue
statement is used without being in a block that can be
exited or continued.
2402 Expected This error results when a statement is expected, but
Statement something else is found. For example, Rnd + 1 is not a
statement, and would generate this error if used as one.
2406 Case Value This warning is issued when a case value is used more
Already Used than once, including overlapping ranges or ranges that
include any previously used value
2407 Expected Simple This error is issued when a function return type is not a
Type simple type. It must be an intrinsic type, like Float, and
must not be an array.
2408 Expected This error is issued when the expression in a semaphore
Semaphore block is not of type Semaphore.
2409 Expected Bitfield This error is issued when a bitfield is expected but
something else is found, e.g. myBitfieldVar1
2410 Expected Bit This error is issued when a bitrange is expected but
Range something else is encountered, for example declaring a
bitfield member a using a As Float.
2411 Result This warning is issued hen an expression's result is

Determinate determinate, even though it is not composed entirely of
Check Mint
literal values. For example, the expression (x > 10) = 2
Workbench
will always be false because x > 10 the values 0 or 1, so
Build window Mint Code
can never be equal to 2. can only take
for the location
2412 Expected Label This error is issued when a GoTo statement uses of the error,
something other than a label for its target, e.g. GoTo
correct it then
_false. redownload
2413 Statement This occurs when a statement is encountered that has no Mint Program
Ignored effect and so is ignored, for example running a task from
the Startup or Shutdown modules.
2414 Bad Defined This occurs when he parameter to the Defined statement
parameter is not a simple identifier.
2415 Defined function This error is issued when the Defined function is used
not in #If anywhere other than in a #If or #ElseIf expression.
2416 Bad #If This indicates a #If expression that is invalid, for
expression example:
? An expression that is non-numeric

? An expression that uses a variable or function call.
? An expression that uses a constant ahead of its
declaration.
? An expression that uses an unevaluated constant. For
example, Const _n = _m, _m = 12 will result in
_n being unevaluated because it is a function of a
constant declared after itself.
2417 [User defined This indicates the user generated error or warning
message] specified in a #Error or #Warning statement.
look?
2418 Empty statement This occurs when a block statement (Loop, Case, etc.) or Check Mint Mint Code
a module declaration (Sub , Function , etc.) contains no Workbench
statements, which may indicate a problem such as Build window
incomplete, inefficient or incorrect code. Consider for the location
converting empty loops to use the Pause statement, of the error,
which is more efficient in a multi-tasking program. Empty correct it then
Case statements should be checked to ensure that redownload
C/C++ operation is not being assumed. Mint Program

Controller errors
30001 Controller over- The drive has detected it is Check the drive ambient Drive Cabinet
temperature dangerously hot. conditions allow for sufficient or Installation
(_ecOVER_TEMPERAT cooling.
URE) Note: TEMPERATURE will
return the current
temperature, in degrees
Celsius, from the drive's
internal temperature sensor.
If the temperature exceeds
the predefined
TEMPERATURELIMITFATA
L value (model dependent),
then an overtemperature trip
will be caused.
TEMPERATURELIMITFATA
L for each drive is;
e190 3A is 80°C,
e190 6A and 9A is 75°C
e180 is 80°C
30005 FPGA failed to The controller FPGA has failed Power cycle. If Error Drive
initialize to initialize. If this error is Persists, Replace the Drive
(_ecFPGA_INITIALISA received
TION_ERROR)
30007 Error accessing non- Unable to access non-volatile Power cycle. If Error Drive
volatile memory memory. Persists, Replace the Drive
(_ecNON_VOL_MEM
ORY_FAILURE)
30008 Error applying Errors have occurred during a This Error is most commonly Parameter file
parameter value parameter table download or associated with either a
(_ecPARAM_ERROR) during startup. Some of the parameter file (.ptx) issue. It
parameters could not be applied is a common problem if the
correctly. See the Error Log for parameter file is generated
details of the failures. The from an older firmware
controller's status display will version with either different
flash only 'E', and will not be parameters or different
followed with the usual error parameter limits. Read the
code digits. Error log for specific
guidance on the effected
parameters.
30009 General internal An internal error has occurred. Power cycle. If Error Drive
controller error Read parameter failed Persists, Replace the Drive
(_ecINTERNAL_ERROR)
30010 Fan is not operating The drive has detected that an Check the bottom of the drive Drive Fan
correctly internal cooling fan has failed. to determine that the fan
(_ecFAN_LOSS) inlets are not blocked, and
the fan is rotating. If the drive
fan does not turn, the general
is the fan hardware failure,
need to replace the fan.

30023 Mint option card A communication error between Power cycle and try again. If Mint Option
comms error tx the drive and the Mint option has the problem persists, then Card
(_ecMINT_OPTION_C been detected by the drive. there is probably a hardware
ARD_COMMS_ERRO failure - contact ABB
R_TX) technical support.
30029 Controller under- The controller has detected an The ambient temperature Drive Cabinet
temperature ambient temperature lower than must be increased before the or Installation
(_ecUNDER_TEMPER -5 °C. drive can be enabled.
ATURE)
30030 All controller errors This information message can No Action N/A
cleared appear in the error log to
(_ecCONTROLLER_E indicate that all controller errors
RRORS_CLEARED) have been cleared.
30032 Hardware revision The controller does not support Earlier Hardware revisions of Check
does not support EPL Ethernet POWERLINK. e180 (with GCU-01 control
(_ecHARDWARE_DOES cards before Rev A) do not
_NOT_SUPPORT_EPL) support EPL and on these
old hardware revisions if the
EPL address switches are
not both set at '0' then this
error will be generated. Old
drives will still work in every
other mode but if EPL is
needed the Hardware will
need to be exchanged

Controller warnings
These errors are assigned unique numbers in the range 40000-49999. There is no default action on controller
warnings.

look?
40006 Attempt to configure The device configuration file has Re-run the System Configuration
too many axes attempted to assign more axes than Configuration Wizard. File
(_ecTOO_MANY_AX are available on the controller.
ES)
40007 CamBox segments The cam box has skipped a segment. See CAMBOX in Mint Mint Program
have been skipped This can happen if the source is WorkBench Help, look at
(_ecCAM_BOX_OVE moving fast enough to cause a "position_array". Either
RRUN) segment to be skipped. slow down the source or
increase the size of the
segments
40012 A host event has A host (i.e. ActiveX) event handler If the host does not Host
failed with retries has failed to acknowledge an event acknowledge the event application
(_ecEVENT_RETRY_ that has been raised by the after 3 time-out periods, the
WARNING) controller. There is a 'time-out' period controller generates
of 1 second in which the host must warning 40012. See
acknowledge an event. ERRDATA for details of the
error.
40013 Attempted to assign During the processing of the .CMCF / To fix this issue, use the Mint
too many servo axes .DCF (device configuration file), too System Config Wizard to Workbench
(_ecTOO_MANY_SE many servo axes were configured. reduce the number of
RVO_AXES) configured servo axes.
too many stepper .DCF (device configuration file), too System Config Wizard to Workbench
axes many stepper axes were configured. reduce the number of
(_ecTOO_MANY_ST configured stepper axes.
EPPER_AXES)
too many virtual axes .DCF (device configuration file), too System Config Wizard to Workbench
(_ecTOO_MANY_VIR many virtual axes were configured. reduce the number of
TUAL_AXES) configured virtual axes.
too many remote axes .DCF (device configuration file), too System Config Wizard to Workbench
(_ecTOO_MANY_RE many remote axes were configured. reduce the number of
MOTE_AXES) configured remote axes.
40021 All controller This information message can No Action Required Hardware
warnings cleared appear in the error log to indicate that
(_ecCONTROLLER_ all controller warnings have been
WARNINGS_CLEAR cleared.
ED)
40022 Last reset was not Last reset was not controlled To fix this issue, use the Hardware
controlled System Config Wizard to
(_ecRESET_NOT_C reduce the number of
ONTROLLED) configured servo axes.
40023 Default MAC detected Default MAC has been detected, Set valid MAC address Hardware
(_ecDEFAULT_MAC_ valid MAC address is not set.
DETECTED)
40024 Could not open Could not open license file or Error If this error is received, Hardware
license file or Error reading license file please contact ABB
reading license file technical support.
(_ecMISSING_LICEN
CE_FILE)

look?
40025 License file doesn't Wrong licensing version or platform, If this error is received, Hardware
match hardware ID or Flash unique ID does not match please contact ABB
(_ecFOREIGN_LICENC the one in the license file technical support.
E_FILE_PRESENT)
40026 Invalid License file License data hash does not match If this error is received, Hardware
(_ecINVALID_LICENCE the one in the License File please contact ABB
_FILE_PRESENT) technical support.
40027 Warning applying This warning will be generated if an If necessary, recommission Mint
parameter value attempt is made to write to a the drive to create a new Workbench
(_ecPARAM_WARNI parameter that is no longer parameter table
NG) supported.
40028 Warning fan fault The fan is possibly faulty, unplugged Firstly, ensure the latest Hardware
(_ecFAN_FAULT_WA or jammed. firmware is in use (as the
RNING) fan is controlled by
firmware). Check the
bottom of the drive to
determine that the fan inlets
are not blocked, and the
fan is rotating. If the drive
fan does not turn, see the
drive installation manual for
instructions on how to
replace the fan

Host application (ActiveX) errors
These errors are assigned unique numbers in the range 1000-1999. They are generated by the ActiveX control
and may be returned by Mint WorkBench or another host application. See the ActiveX Error Codes topic in Mint
Online Help.

look?
1003 erBAD_COMMAND Unrecognized command code
1004 erBAD_ADDRESS Invalid file (bad address record)
1005 erBAD_ERASE Flash erase failed
1006 erBAD_BURN Flash programming failed
1010 erTIMEOUT A time-out occurred
1011 erDPRAM_LOCATION Dual Port RAM location out of range
1012 erNOT_ENOUGH_MEM Insufficient memory
1013 erBAD_BOOT_DEVICE Bad boot source id
1014 erCARD_NOT_FOUND Unable to locate NextMove
1017 erINVALID_STRING_FO Non-NULL terminated string used as
RMAT parameter
1020 erCOMMAND_ABORTE The front command was aborted by the user
D
1024 erFRONT_DISABLED The PC-Front interface has been disabled
1025 erINVALID_HANDLE The handle to the controller is not valid

1027 erPROTOCOL_ERROR Invalid protocol used
1028 erFILE_ERROR Error reading from or writing to the file
1029 erINVALID_FILETYPE Incorrect file type specified Check ActiveX
1033 erTEMP_FILE_ERROR Error creating temp file Controller (See MIL.h
1034 erCODE_ERROR Internal error: please contact supplier (for Visual C++),
1039 erPORT_NOT_OPEN The serial port has not been opened, or the MIL.pas (for Delphi)
hardware (or device driver) is not present and MIL.bas (for VB)
for a complete list, in ActiveX
1043 erCHECKSUM_ERROR Checksum failure the folder: Controller
1044 erNAK_RECEIVED The controller reports corruption (NAK) Windows XP:
1046 erERROR_OPENING_P The port could not be opened C:\Program
ORT Files\Mint
1047 erINVALID_CARDNUMB The card number was out of range WorkBench\Include.
ER Windows 7:
1053 erUSER_ABORT The function was cancelled by the user C:\Users\Public\Docu
1056 erRECEIVE_BUFFER_E The receive buffer is empty ments\Public
MPTY Mint\Examples\Includ
1057 erTRANSMIT_BUFFER_ The transmit buffer is full e)
FULL
1058 erINVALID_RETRIES An incorrect retry value was selected
1060 erUNDEFINED_SERIAL_ An unrecognized serial error occurred

ERROR
1061 erPSERIAL_BUFFER_C The pseudo-serial buffers are corrupt

ORRUPTION
1062 erFUNCTION_NOT_SUP The function is not available on this platform

PORTED
1063 erCANNOT_OPEN_FILE The file is bad or doesn't exist

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1064 erINVALID_FORMAT The file is not proper COFF format
1065 erDATA_TOO_LONG The data string was too long
1066 erINCORRECT_ARRAY_ The array size or pointer is incorrect
SIZE
1067 erUNKNOWN_ERROR_ The error code is unrecognized
CODE
1068 erCONTROLLER_NOT_ The controller is not running
RUNNING
1070 erNO_DEVICE_DRIVER Device driver not installed, or not configured
_SUPPORT for this controller
1079 erINVALID_PLATFORM Invalid firmware for the controller
1084 erBAD_DEVICE_DRIVE The device driver call failed
R_CALL
1086 erINVALID_EVENT Could not register the event
1087 erFUNCTION_NOT_AVA Function not currently available
ILABLE
1088 erBOOT_TEST_FAIL Power-up self-test failed
1089 erBUFFER_TOO_SMAL Not enough memory to load data object
L
1090 erREQUIRES_DEV_DRI Requires a development build of the device
VER driver
1092 erICM_RX_TIMEOUT Timeout on ICM (Host RX)
1093 erICM_RX_SIZE_ERRO Error in ICM protocol
R
1094 erICM_PROCESS_TIME Timeout on ICM (Host Process)
OUT
1095 erDEV_DRV_UNKNOW Device driver mismatch
N_IOCTL
1096 erBBP_ACK_TIMEOUT No response from controller
Check ActiveX
1101 erBBP_INVALID_DATA_ Invalid data field length for transaction Controller (See MIL.h
LENGTH
(for Visual C++),
1107 erBBP_END_OF_BLOC End of block reached MIL.pas (for Delphi)
K
erBBP_PACKET_ID_MIS
and MIL.bas (for VB)
1108 Packet ID does not match
MATCH for a complete list, in ActiveX
1110 erNO_CAPTURED_DAT No captured data is available to upload the folder: Controller
A Windows XP:
1127 erNO_LINK_TO_CONTR Must use a setXXXLink function C:\Program
OLLER Files\Mint
1128 erFIRST_ARRAY_ELEM The first element in the array must specify WorkBench\Include.
ENT_IS_SIZE the number of elements (not including itself) Windows 7:
C:\Users\Public\Docu
1129 erPOS_ARRAY_REQUI The position array is not optional ments\Public
RED Mint\Examples\Includ
1130 erARRAY_SIZE_MISMA One or more array(s) are the wrong size e)
TCH
1131 erPARAMETER_CANNO The parameter cannot be negative

T_BE_NEGATIVE
1132 erCAN_INIT_FAILED Initialization of CAN bus failed
1133 erEEPROM_CRC_FAILE EEPROM failed CRC check
D
1134 erINSUFFICENT_MEMO Insufficient memory to run application
RY
1135 erCANNOT_RUN_APP Cannot run application for unknown reason

look?
1136 erEVENT_HANDLER_IN Event handler is in use by this or another
_USE application
1137 erSERIAL_PORT_OPEN Action not possible with serial port open

1138 erBAD_PARAMETER1 Error in parameter 1
1144 erAUTOTUNE_POLES_ Incorrect number of poles or feedback pulses
OR_PPR during autotune
1145 erAUTOTUNE_INDEX_P Index pulse missing during autotune
ULSE_MISSING
1146 erAUTOTUNE_UVW_SI UVW signal lost during autotune

GNAL_LOSS
1147 erINCORRECT_UVW_P UVW phasing or polarity is incorrect
HASING
1148 erLOGGING_NOT_ENA Logging to file not enabled for RX or TX

BLED
1149 erMINTCONTROLLER_ The MintController control could not be
NOT_FOUND located in the same container
1150 erMONOSPACED_FONT A monospaced (fixed pitch) font, such as
_REQUIRED Courier New, must be selected Check ActiveX
1151 erOBJECT_TOO_BIG Application object too big Controller (See MIL.h
1152 erMINT_CONTROLLER_ Must call setMintControllerID (for Visual C++),
ID MIL.pas (for Delphi)
1153 erCAPTURE_UPLOAD_ Capture restarted during upload process and MIL.bas (for VB)
RESTART
for a complete list, in ActiveX
1154 erINVALID_ANSI328_NO Maximum node ID for ANSI 328 host comms the folder: Controller
DE is 15 Windows XP:
1155 erINV_COMPILER_VER Compiler version is not registered C:\Program
SION
Files\Mint
1156 erCOMPILER_NOT_RE Compiler is not registered
G WorkBench\Include.
1157 erBAD_SYMBOL_TABLE Bad symbol table Windows 7:
1159 erNO_HOST_FIRMWAR No host firmware available for drive ments\Public
E Mint\Examples\
1160 erINV_PARAM_TABLE Parameter table version doesn't match Include)
controller
1161 erINCOMPATIBLE_FIRM Incompatible firmware for controller
WARE
1162 erBOOTLOADER_NOT_I Boot loader not initialized to accept firmware

NITIALISED
1163 erBOOTLOADER_PROG Boot loader programming failed

RAMMING_FAILED
1164 erCOMPILE_FAILED Failed to compile Mint program

1165 erBAD_FIRMWARE_OO Incompatible firmware - you must download
PS compatible firmware before using the
controller
look?
1166 erCOMPONENT_REG_F Component registration failed
AILED
1167 erNO_USB_DEVICES Can't find any USB devices
1168 erNON_UNIQUE_NODE Multiple devices with the same node ID

_NUMBERS
1169 erNODE_NOT_FOUND Node not found
1170 erDEVICE_NOT_OPEN Device not open, bad handle
1171 erMODBUS_PACKET_T Packet too big for protocol

OO_BIG
1172 erMODBUS_PACKET_T Packet too small for protocol
OO_SMALL
1173 erINVALID_FLASH_TYP Flash type incorrect
E
1174 erINVALID_FLASH_BLO Flash block invalid
CK
1175 erINVALID_TEST_TYPE Test type invalid
1176 erINVALID_PACKET_ID Packet ID invalid
1177 erINVALID_SPI_DEVICE SPI device invalid
1178 erINVALID_DOWNLOAD Download mode invalid

_MODE
1179 erMODBUS_EXCEPTIO Modbus exception
N
1180 erMB_ILLEGAL_FUNCTI Modbus exception 1 Check ActiveX
ON Controller (See MIL.h
1181 erMB_ILLEGAL_DATA_ Modbus exception 2 (for Visual C++),
ADDRESS MIL.pas (for Delphi)
1182 erMB_ILLEGAL_DATA_ Modbus exception 3 and MIL.bas (for VB)
VALUE for a complete list, in ActiveX
1183 erMB_SLAVE_DEVICE_ Modbus exception 4 the folder: Controller
FAILURE Windows XP:
1184 erMB_EXCEPTION_ACK Modbus exception 5 C:\Program
1185 erMB_SLAVE_DEVICE_ Modbus exception 6 Files\Mint
BUSY WorkBench\Include.
1186 erMODBUS_PACKET_S Modbus protocol error Windows 7:
YNC C:\Users\Public\Docu
1187 erMODBUS_RX_PACKE Modbus packet size incorrect ments\Public
T_SIZE Mint\Examples\
1188 erMODBUS_WRITE_ER Modbus packet not written Include)
ROR
1189 erMODBUS_NODE_INV Modbus node address incorrect
ALID
1190 erMODBUS_ARRAY_SIZ Modbus array size incorrect
E_INVALID
1191 erMODBUS_RX_TIMEO Modbus receive time-out

UT
1192 erINVALID_INDEX Index out of range
1193 erMODBUS_EMPTY_PA Empty Modbus packet received

CKET
1194 erNOT_IN_BOOTBLOCK Cannot download bootloader
_MODE

look?

1195 erONLY_ONE_USB_DE Too many connections
VICE_FOR_FIRMWARE
_UPDATE
1196 erMB_EXCEPTION_PID Modbus exception
_ENCODING
1197 erMB_EXCEPTION_PID Modbus exception
_UNKNOWN
1198 erMB_EXCEPTION_WR Modbus exception

ONG_PACKET_TYPE
1199 erMB_EXCEPTION_TOK Modbus exception

EN_CRC_ERROR
1200 erMB_EXCEPTION_DAT Modbus exception

A_CRC_ERROR
1201 erMB_EXCEPTION_TIM Modbus exception

EOUT_ERROR
1202 erMB_EXCEPTION_BAB Modbus exception

BLE_ERROR
1203 erMB_EXCEPTION_UNE Modbus exception

XPECTED_END_OF_PA
CKET
1204 erMB_EXCEPTION_NAK Modbus exception
1205 erMB_EXCEPTION_SEN Modbus exception

D_STALL
1206 erMB_EXCEPTION_OVE Modbus exception Check ActiveX

RFLOW Controller (See MIL.h
(for Visual C++),
1207 erMB_EXCEPTION_SEN Modbus exception MIL.pas (for Delphi)
T_EMPTY_PACKET
and MIL.bas (for VB)
1208 erMB_EXCEPTION_BIT_ Modbus exception for a complete list, in
STUFF_ERROR the folder: ActiveX
1209 erMB_EXCEPTION_SYN Modbus exception Windows XP: Controller
C_ERROR C:\Program
Files\Mint
1210 erMB_EXCEPTION_WR Modbus exception WorkBench\Include.
ONG_TOGGLE_BIT
Windows 7:
1211 erMB_EXCEPTION_REC Modbus exception C:\Users\Public\Docu
EIVED_LENGTH_ERRO ments\Public
R Mint\Examples\
1212 erMB_EXCEPTION_REC Modbus exception Include)
EIVED_CRC_ERROR
1213 erEND_OF_FILE End of file found
1214 erUSB_PACKET_NUMB Packet number wrong

ER_MISMATCH
1215 erNO_ICM_SUPPORT No ICM support for fn
1216 erWRITE_FAILED The operation failed
1217 erUSB_ONLY Only supported over USB

look?

1218 erADDRESS_TOO_LAR EE Address too large
GE_FOR_DEVICE
1219 erINCOMPATIBLE_PAR Incompatible parameter

AMETERS
1220 erUSB_PORT_IN_USE USB port in use Check ActiveX

Controller (See MIL.h
1221 erCANNOT_BUFFER_C Cannot buffer command
OMMAND (for Visual C++),
MIL.pas (for Delphi)
1222 erCOMMAND_BUFFER_ Command buffer full and MIL.bas (for VB)
FULL for a complete list, in ActiveX
1223 erNO_COMMANDS_BU No commands buffered the folder: Controller
FFERED
Windows XP:
C:\Program
1224 erCOM_SERVER_ERRO Internal COM Error Files\Mint
R
WorkBench\Include.
1225 erINVALID_TABLE_NUM Invalid parameter table number
BER
Windows 7:
1226 erINVALID_DATATYPE Invalid data type ments\Public
Mint\Examples\
1227 erUSB_DISCONNECT USB communication failure Include)

MML run-time errors
These errors are assigned unique numbers in the range 0 - 999. Run-time error codes are generated by the
underlying functions of the Mint Motion Library (MML) keywords. These errors cannot be foreseen by Mint
WorkBench when it compiles the program so only occur when the program is running. When Mint reports an error,
the error is entered on the error list. The accompanying _ec error codes can be used in an ONERROR event to
test for particular errors, for example:
If ERRCODE = _ecFOLLOWING_ERROR Then...

look?
0 No error The Err keyword will return 0 if no No Action Required N/A
(_ecSUCCESS) error has occurred.
1 Synchronous MML This is a generic error generated by Find cause in Mint program, Mint Program
error the MML when there is no more heck the Mint Terminal
(_ecMML_ERROR) specific information available. Window for the error line, this
will direct the user to the
offending instruction
2 Axis specified out of The specified axis number is not Amend the program to Mint Program
range supported by the controller (e.g. address a valid axis number.
(_ecINVALID_AXIS) issuing SPEED(50) = 5000) Single drives only accept
[CommandType](0)
3 Data specified out of The value assigned to the keyword is Amend the program to use a Mint Program
range outside the accepted range of values value that is within the valid
(_ecVALUE_OUT_O for that keyword (e.g. MOVER(0) = range.
F_RANGE) 8388608)
4 Channel out of range The specified channel parameter is Amend the Mint program to Mint Program
(_ecINVALID_CHAN not supported by the controller (e.g. use a valid channel.
NEL) DAC(2000) = 35). Other examples;
Analog input channels/ Analog
output channels/ Encoder channels/
Temperature channels/ digital input
channels/ CamBox channels…
5 No digital input The requested function references a Check configuration or Mint Mint Program
assigned digital input that hasn't been program for errors. For or
(_ecNO_INPUT_SP assigned. example, homing mode Configuration
ECIFIED) HOME(0)=0 detects a digital
input transition as the target
for the initial phase. Error 5
will be caused if this HOME
command is issued before a
digital input has been
assigned as a home input/
6 No digital output The requested function references a Check Mint program for Mint Program
assigned digital output that hasn't been errors. For example, or
(_ecNO_OUTPUT_S assigned. COMPAREENABLE(1)= Configuration
PECIFIED) _TRUE enables the compare
function on digital output 1.
Error 6 will be caused if this
COMPAREENABLE
command is issued before
DO1 has been set as as a
compare output (using
COMPAREOUTPUT).
look?
7 Digital input specified A digital input has been specified Check configuration or Mint Mint Program
out of range that is not supported by the controller program for errors. e.g. using or
(_ecINVALID_INPUT) INX(yy) where yy is beyond Configuration
the values available in the
controller.
8 Digital output A digital output has been specified Check configuration or Mint Mint Program
specified out of that is not supported by the program for errors. e.g. using or
range controller. OUTX(yy) where yy is Configuration
(_ecINVALID_OUTPUT beyond the values available
) in the controller.
9 Not enough heap The controller has run out of Reduce the amount of Mint Program
memory for operation dynamically allocated memory. memory used. The following or
(_ecOUT_OF_MEM actions can reduce the Configuration
ORY) amount of used memory: If
the size of the move buffer(s)
has been increased using
MOVEBUFFERSIZE, try
reducing the size. Reduce the
size of any arrays declared in
the program if possible
10 Action not possible This error is caused by writing to a Check the current Mint Program
when axis in motion motion keyword while the axis is in AXISMODE is suitable for or
(_ecMOTION_IN_PR motion. issuing the next keyword. If Configuration
OGRESS) this occurs at the end of a
move try 'Pause(IDLE) '
before issuing the next
command.
11 Incorrect axis This error is caused by writing to a Amend the Mint program to Mint Program
configuration keyword that is not supported by the either remove the invalid or
(_ecAXIS_NOT_RIG configuration (CONFIG) of this axis command or change the axis Configuration
HT_TYPE) (e.g. writing a value for KPROP to an configuration as required
axis configured as _cfSTEPPER).
12 Axis is in error This error is caused by writing to a Read the error list for axis Mint Program
(_ecMOTION_ERROR) motion keyword whilst the axis is in errors to determine which or
error. motion errors are present. Configuration
Improve the Mint program so
that motion commands are
not attempted whilst the axis
is in the error state
13 Table data incorrect An error exists in a spline or cam Ensure that SPLINESTART Mint Program
or missing table. (or CAMSTART) and or
(_ecTABLE_ERROR) SPLINEEND (or CAMEND) Configuration
are valid segment values
before setting the
SPLINETABLE (or
CAMTABLE). Check that the
MASTERDISTANCE table
does not specify any zero
distance values.
15 Incorrect ADC This error is caused when a function, Ensure that the analog input Mint Program
channel setup for example HTACHANNEL, is available and configured or
(_ecCHANNEL_NOT references an analog input that is correctly before attempting to Configuration
_RIGHT) configured as off - see ADCMODE use it.

look?
17 Keyword not A keyword has been used that is not Amend the program to only Mint Program
supported on this supported by this controller, even use supported keywords or
platform though it may be supported by other Configuration
(_ecWRONG_PLAT models in the same family of
FORM) controllers. This error will also be
returned if an ActiveX host uses a
keyword which is not supported by
the controller.
18 DB Error DB Error If this problem occurs, please Hardware

(_ecDB_ERROR） contact ABB Technical
Support
24 Hardware not Hardware which is referenced in Check configuration and Mint Hardware
present configuration or Mint program is not Program Configuration
_ecINVALID_HARD present
WARE
36 Port value is out of This error is caused when the Check configuration or Mint Mint Program
range specifed terminal has not been program for errors. E.g. or
(_ecTERMINAL_OU associated as a BaldorCAN check if it has not been Configuration
T_OF_RANGE) KeypadNode assigned, see
TERMINALDEVICE, or the
maximum number of
KeypadNodes (four) have
already been added to the
bus.
37 Non-volatile data An error accessing EEPROM or Use NVRAMDEFAULTS to Mint Program
corrupted NVRAM data has occurred. This reset memory. Check for or
(_ecNON_VOLATILE could occur if the controller was correct earthing/shielding of Configuration
_MEMORY_ERROR power-cycled during a write the control system (electrical
) operation to the EEPROM or noise can corrupt these
NVRAM. If this error occurs during memory devices). If the
normal operation there may be a earthing/shielding is correct
fault in the device, possibly due to it and the problem reoccurs
reaching its maximum number of then the controller will need
write cycles (see EEPROM replacing
memory).
39 Terminal Buffer is full Terminal Buffer is full Bit 0 of TERMINALMODE Mint Program
(ecTERMINAL_BUF can be used to turn off or
FER_FULL) handshaking, allowing further Configuration
characters to be sent to the
port even when the buffer is
full
40 Axis is not enabled This error is caused by trying to start In a program, use Mint Program
(_ecDRIVE_DISABL a move while the axis is disabled. DRIVEENABLE to enable the or
ED) axis. In Mint WorkBench , Configuration
click the clear errors button,
then click the drive enable
button.
54 File too big The program is too big for the See Mint WorkBench help Mint program
(_ecFILE_TOO_BIG) available memory. section "Reducing program
size"

look?
59 Move buffer full The move cannot be loaded into the Try increasing the size of the Mint program
(_ecMOVE_BUFFER move buffer because it is full. The move buffer (e.g.
_FULL) move buffer becomes full when MOVEBUFFERSIZE(0) = 30)
several move statements have been or checking that there are the
issued, but the moves have not been required number of segments
triggered by a GO statement (or free before loading the next
other triggering method, see Move moves into it (e.g. If
buffer and GO). MOVEBUFFERFREE(0) > 1
Note: This error cannot be captured Then LoadNextMove)
by a Mint program, but it is returned
to an ActiveX host and is transmitted
within fieldbus response telegrams.
66 Function not A keyword has been used that is not Remove unsupported Mint program
available supported by this controller, even Function from the Mint
(_ecMML_NOT_SUP though it may be supported by other Program
PORTED) models in the same family of
controllers. This error will also be
returned if an ActiveX host uses a
keyword which is not supported by
the controller.
68 Action not possible in This error occurs when attempting to The CAMBox must be Mint program
current mode change CAMBOXDATA while the disabled before changing its
(_ecINVALID_MODE) associated CAMBox is enabled. data.
70 Invalid Master A master/slave move has been Amend mint program. Mint program
Channel configured so that it is trying to follow
(_ecINVALID_MAST itself, for example:
ER_CHANNEL) MASTERSOURCE(0) = _msPOS
MASTERCHANNEL(0) = 0
FOLLOW(0) = 1
72 Action not allowed in This error occurs when trying to load Amend Mint program Mint program
this Axis Mode a move type that is not compatible
(_ecINVALID_AXISM with the current AXISMODE For
ODE) example, issuing a CAMPHASE
command when there is no CAM
move in progress will cause this
error. Also, if the axis is currently
performing a FOLLOW move (axis
mode _mdFOLLOW) then it is not
possible to load a MOVER move
(axis mode _mdLINEAR). It will be
necessary for the axis to complete
the move and become idle (or be
stopped) before loading the next
move type.
74 Capture in progress It is not possible to upload capture Read the status of Mint Program
(_ecCAPTURE_IN_P data to the host application whilst CAPTUREMODE to test for or
ROGRESS) data is still being captured. the _cpIDLE condition (41) Configuration
before attempting to upload
the capture data. Mint
Workbench also displays the
status of the capture process
in the bottom right corner of
the screen

look?
89 Hardware channel This error is caused when attempting Use the Mint WorkBench Mint Program
required is in use to use a keyword (e.g. DAC) to System Config Wizard to or
(_ecCHANNEL_IN_ access a hardware channel that is study the existing hardware Configuration
USE) already assigned to another purpose configuration and either
(e.g. as a servo axis demand adjust the hardware
output), or when attempting to assign configuration or amend the
the same combination of Mint program
LATCHSOURCE ,
LATCHSOURCECHANNEL and
LATCHTRIGGERCHANNEL to more
than one latch channel (see
Latching).
90 Action not possible This error is caused by trying to In Mint WorkBench, click the Mint Program
when axis is enabled change the configuration of an axis drive enable button to disable or
(_ecDRIVE_ENABLE while it is still enabled. the axis. In a program, use Configuration
D) the DRIVEENABLE keyword
to disable the axis.
95 Output is already in This error is caused by trying to use Amend Mint program Mint Program
use a digital output that has already been or
(_ecOUTPUT_IN_U assigned to another purpose, such Configuration
SE) as a drive enable output, compare
output or global error output . For
example, if digital output 1 has been
assigned as the
GLOBALERROROUTPUT ,
attempting to issue a MOVEOUTX
command on digital output 1 will
cause this error.
96 Invalid capture This error is caused by trying to Correct the Capture Channel Mint Program
channel mix perform data capture (e.g. with Configuration or
(_ecCAPTURE_CHA CAPTURE or Configuration
NNEL_MIX) CAPTURECOMMAND) when no
capture channels have been
configured. Use CAPTUREMODE
and other associated capture
keywords to configure capture
channels. The error will also be
caused if the value supplied as a
CAPTUREMODEPARAMETER is
invalid for the channel's
CAPTUREMODE
98 Invalid variable type This error is caused when specifying Amend Mint Program. Refer Mint Program
for Remote Object the incorrect variable type parameter to manufacturer's or
(_ecINVALID_VAR_ to the REMOTEOBJECT keyword documentation for object Configuration
TYPE) (e.g. the remote object may be dictionary definition. See Mint
expecting a signed 8-bit integer and Workbench help for
the user specifies an unsigned 16 bit REMOTEOBJECT for valid
integer) data types.
112 Parameter is read This error occurs when attempting to Action not possible Mint
only use ERRORCODEENABLE to Workbench
(_ecREAD_ONLY) disable a read-only error (axis errors
10000- 19999 and controller errors
30000-39999).
124 Mint program not No Mint object (e.g. program) exists. Check Mint program is Mint
found downloaded. Workbench
(_ecOBJECT_NOT_FO
UND)

look?
125 A Mint program is This error is caused if a program is In the host application, use Mint
already running already running on the controller the MintExecuting function to Workbench
(_ecMINT_PROGRA when a host application issues a test for a running program
M_RUNNING) DoMintRun command (or a before using a DoMintRun,
DoMintCommand / DoMintCommand, or
DoMintCommandEx command). It DoMintCommandEx
makes no difference whether the command. To stop the
currently running program was currently running program,
started from the host application or click the stop button in Mint
from within Mint WorkBench. WorkBench.
126 The Mint command This error will be returned to an Amend ActiveX Program. Mint
is invalid ActiveX host application if it attempts See Mint Workbench Help: Workbench
(_ecINVALID_MINT_ to access Mint status information MintStatus /
COMMAND) that is not valid for the controller. MintExtendedStatus .
132 Host busy The controller has tried to signal an Check operation of the host Mint Program
(_ecICM_HOST_BU event to a host application, but the application. Power cycle. If or
SY) host has not acknowledged this error persists, contact ABB Configuration
event Technical Support
133 Invalid platform code This occurs when a Mint executable If the correct controller type is Mint Program
(_ecINVALID_PLATF compiled for a specific controller type being used check if it is or
ORM_CODE) or target format is downloaded to a installed with the correct Configuration
different controller or the correct type firmware version. If firmware
of controller running firmware that is not available, then
supports a different target format (i.e. recompile the Mint source
earlier or later firmware) code to create a new
executable suitable for the
current controller. If a
different controller is being
used, then either change the
controller or recompile the
Mint program source.
134 Invalid image format This occurs when a Mint executable Amend Mint program This Mint Program
(_ecINVALID_IMAG is downloaded to a controller that error condition should only be or
E_FORMAT_CODE) was compiled for a different possible when using a means Configuration
controller type. other than Mint WorkBench to
download a program to the
controller.
142 Move buffer is not This occurs when trying to restore Amend Mint program, the Mint Program
empty the move buffer from a backup buffer is cleared when the
(_ecMOVE_BUFFER (using MOVEBUFFERBACKUP), but axis is disabled, unless
_NOT_EMPTY) the buffer is not empty, or the axis is DRIVEDISABLEMODE has
not idle. been used to change this
behavior. Use the IDLE
keyword to test for the axis
being idle.
143 Incorrect control This occurs when trying to use a Amend Mint program Mint Program
mode command that is not valid in the
(_ecINCOMPATIBLE existing control moDE
_CONTROL_MODE)
144 Static variable not This error will be returned to an Amend ActiveX Program. ActiveX
found ActiveX host application if it attempts
(_ecVARIABLE_NOT to use DoDataFileDownload ,
_FOUND) DoDataFileUpload or VariableData
when the specified variable is not
present.

look?
145 Invalid handle for If the static handle wasn't found, Amend ActiveX Program. ActiveX
static variable then return an error
(_ecINVALID_STATI
C_HANDLE)
146 Invalid chunk Invalid chunk specified for static Amend ActiveX Program. ActiveX
specified for static
(_ecINVALID_STATI
C_CHUNK)
147 Static data overrun This error will be returned to an Amend ActiveX Program. ActiveX
(_ecSTATIC_DATA_ ActiveX host application if it attempts
OVERRUN) to use DoDataFileDownload or
VariableData when the specified
array is not large enough to contain
the data.
148 Static data underrun This error will be returned to an Amend ActiveX Program. ActiveX
(_ecSTATIC_DATA_ ActiveX host application if it attempts
UNDERRUN) to use DoDataFileDownload or
VariableData when the specified
array is larger than the amount of
received data.
149 Incorrect Ref Source Reference source is not Host when Amend ActiveX Program. ActiveX
(_ecINCORRECT_R trying to set a speed ref using Mint
EF_SOURCE) keyword
151 Phase search is in This error occurs when trying to Wait for Phase search to Mint Program
progress update a phase search parameter finish
(_ecPHASE_SEARC (PHASESEARCH...) while a phase
H_RUNNING) search is in progress.
162 Knife handler not This error occurs if a KNIFE move is Correct configuration or Mint Mint Program
installed loaded but a knife event has not Program. The knife event is
(_ecKNIFE_HANDLE been created. called at each knife lift point,
R_NOT_INSTALLED so it must be present in the
) program.
163 Knife axes not This error occurs if a KNIFE move is Correct configuration or Mint Mint Program
configured loaded but the master axis has not Program. Before issuing the
(_ecKNIFE_AXES_N been specified. first KNIFE command, use
OT_CONFIGURED) KNIFEAXIS to associate the
knife rotation axis to the
master axis of the vector
move.
167 Too many tasks in This error should not normally occur, Correct Mint program if there Mint Program
Mint program as it is only caused if a program are more than 65535 tasks. If
(_ecTOO_MANY_TA specifies more than 65535 tasks. there aren't then either there
SKS) is a problem with the Mint
compiler, or the controller is
faulty.
179 File handle is not File handle is not valid. If problem persists, replace Hardware
valid controller or memory unit if
(_ecFILE_HANDLE_I the controller has one
NVALID)
180 File does not exist File does not exist. If problem persists, replace Hardware
(_ecFILE_NOT_FOU controller or memory unit if
ND) the controller has one
181 File is in use File is in use. If problem persists, replace Hardware
(_ecFILE_IN_USE) controller or memory unit if
the controller has one

look?
182 Attempting to store Attempting to store too many files. If problem persists, replace Hardware
too many files controller or memory unit if
(_ecTOO_MANY_FI the controller has one
LES)
183 File has the wrong File has the wrong type. If problem persists, replace Hardware
type controller or memory unit if
(_ecFILE_TYPE_INC the controller has one
ORRECT)
184 Too many files open Too many files open at once. If problem persists, replace Hardware
(_ecTOO_MANY_FI controller or memory unit if
LES_OPEN) the controller has one
185 Problems writing to Problems writing to file in flash. If problem persists, replace Hardware
file controller or memory unit if
(_ecFILE_WRITE_IN the controller has one
VALID)
186 Problems reading Problems reading from file in flash. If problem persists, replace Hardware
from file controller or memory unit if
(_ecFILE_READ_IN the controller has one
VALID)
188 Unable to assign Unable to assign software resource. If problem persists, replace Hardware
software resource controller or memory unit if
(_ecRESOURCE_U the controller has one
NAVAILABLE)
189 Unrecognized index Invalid Object Dictionary index. The Amend Mint program or PLC Mint program
of object specified object does not exist in the application
(_ecINVALID_OBJE object dictionary of the target device
CT_INDEX)
190 Sub-index out of Invalid Object Dictionary subindex. Amend Mint program or PLC Mint program
range for object The specified sub-index of the object application
(_ecINVALID_OBJE does not exist in the object dictionary
CT_SUBINDEX) of the target device
194 Failed to receive Failed to receive a reply in time. Check DCF file (create a new Mint Program
reply in time one if necessary). Close Mint / Hardware
(_ecEPL_TIMEOUT) Machine Centre if in use.
Check EPL hardware
connections. Try to ensure all
redirected Mint calls are in a
single program task.
195 Axis will not accept Axis will not accept remote Amend Mint Program. Ensure Mint Program
remote commands commands. This can occur if axis the "doInitialiseEPL" routine /
(_ecAXIS_NOT_IN_ PDOs are not operational (see from the Mint library is Configuration
REMOTE_MODE) REMOTEPDOVALID), axis PDOs included. Ensure all remote
are not yet ready (see axes are configured to startup
AXISSTATUSWORD), or in Real time Ethernet mode
CONTROLREFSOURCE and/or
CONTROLREFSOURCESTARTUP
is not set to 1
(_crsRT_ETHERNET_402).

look?
196 System must be This error occurs when attempting to Use the System Config Configuration
disabled use the command window or a Wizard to make changes to
(_ecSYSTEM_ENAB program to set a parameter that is the axis configuration.
LED) defined by the controller's device
configuration file (.CMCF / .DCF).
The .CMCF / .DCF defines
parameters relating to axis
configuration, including the type (e.g.
servo / stepper), demand output and
feedback input.
197 No position encoder No position encoder has been Use AXISPOSENCODER to Configuration
has been assigned assigned. specify a position encoder
(_ecINVALID_POS_
ENCODER)
198 No velocity encoder No velocity encoder has been Use AXISVELENCODER to Configuration
has been assigned assigned. specify a position encoder
(_ecINVALID_VEL_E
NCODER)
199 No DAC has been No DAC has been assigned. A servo Correct configuration in DCF Configuration
assigned axis (using an analog drive) has file
(_ecINVALID_DAC) been configured but a DAC channel
has not been assigned to use with
this axis
200 No pulse/dir output A stepper axis has been configured Correct configuration in DCF Configuration
has been assigned but the associated step and direction file
(_ecINVALID_PDOU output channel has not been
TPUT) specified
201 A redirect call is A redirect call is already in progress. Check the Mint program is Mint Program
already in progress not making redirected calls
(_ecREDIRECT_IN_ via multiple tasks. Close Mint
PROGRESS) Machine Centre if it's in use
202 Invalid Object Invalid Object Dictionary access. Correct configuration / Mint Configuration
Dictionary access Program
(_ecINVALID_OBJE
CT_ACCESS)
203 Move is not Move is not supported by remote Use an alternative Mint
supported by remote profiler. The controller has attempted (supported) move type. If Program/
profiler to issue a move type that is not necessary, the remote axis Configuration
(_ecMOTION_TYPE_N supported by the remote drive may need to be configured as
OT_SUPPORTED) manager profiled rather than
controlled node profiled (e.g.
Cyclic Sync Position instead
of Profiled Position)
204 Unable to pend event On older firmware versions, this error Check Mint program. Use Mint Program
(_ecUNABLE_TO_P will occur if DPREVENT is used EVENTPENDING to check
END_EVENT) while there is still an event pending for the presence of a pending
from its previous use. event. More recent firmware
versions handle multiple calls
to DPREVENT; see DPR
Event: DPR .
205 Update rate not Update rate not compatible with Amend DCF configuration file Configuration
compatible with profiler.
profiler
(_ecINCOMPATIBLE
_UPDATE_RATES)

look?
206 Axis is not in a frame Axis is not in a frame. Ensure the Amend DCF configuration file Mint Program
(_ecAXIS_NOT_IN_ axes being used for coordinated
A_FRAME) moves are all manager profiled
207 Axes are not all in This error occurs if the master axis Amend Mint program Mint Program
the same frame used in a multi-axis move is
(_ecAXES_NOT_IN_ changed. For example, issuing
SAME_FRAME) VECTORR(0,1,2) = 100,200,300
followed by VECTORR(1,0,2) =
50,100,150 causes the error
because the first axis in the
statements (the master axis for the
move) has changed from 0 to 1. To
avoid this error, carefully list each
axis in order when issuing a multi-
axis command such as CIRCLER,
HELIXR or VECTORR, together with
a value for each axis, even if it is
zero.
213 Bank specified out of Bank parameter is out of range. The Check Mint Program and Mint Program
range program has tried to access a bank Configuration File /
(_ecINVALID_BANK) that has not been defined (e.g. Configuration
OUT(3) = 24 would cause this error if
bank 3 did not exist)
218 Motor brake is Cannot execute a move while the Check Mint Program and Mint Program
engaged motor brake is engaged. Configuration File. When
(_ecMOTOR_BRAK using automatic brake
E_ENGAGED) control, read
MOTORBRAKESTATUS to
determine the state of the
brake output before
attempting to execute the
move. If using manual brake
control, set MOTORBRAKE
to 0 to disengage the brake
before attempting to execute
a move. Note!
MOTORBRAKE must always
be used with great care - see
MOTORBRAKE for details.
219 Capture not running This error occurs if Check capture is armed and Mint Program
(_ecCAPTURE_NOT CAPTURETRIGGER is issued when waiting to be triggered before
_IN_PROGRESS) a capture is not running. issuing Capturetrigger
220 Capture not waiting This error occurs if Amend Mint program Mint Program
for trigger CAPTURETRIGGER is issued when
(_ecCAPTURE_NOT the capture in progress does not
_WAITING_FOR_TR require a trigger (i.e. pre-triggered
IGGER) capture is not being used).
222 The data cannot be The data object(s) cannot be Check DCF file Configuration
mapped into the mapped into the PDO, as either the
PDO object is not PDO mappable or the
(_ecPDO_MAPPING number and length of objects to be
_ERROR) mapped is too great.

look?
223 The data cannot fit The data cannot fit into an ICM If a host application is in use Host
into an ICM telegram telegram. and doMultipleCommands is application
(_ecICM_TELEGRA used, then reduce the
M_OVERFLOW) number of encapsulated calls
225 Warning during Parameter application warning. Check parameter table. This Configuration
parameter Occurs when downloading a error occurs when either:
application parameter table to an e100 drive, if a • The argument list of a
(_ecPARAM_APPLI parameter in the table was not parameter update contains
CATION_WARNING) supported by the drive or that more than 2 parameters.
instance of the parameter did not • The value list of a
exist. parameter update contains
more than 1 parameter.
• The argument list of a
parameter update contains
the wrong number of
parameters.
• The type of the value is
incorrect.
• The parameter table
generated by one product
(e.g. MotiFlex e100 with
resolver option) has been
downloaded to a differently
specified product (e.g.
MotiFlex e100 with no
option).
234 Power ready Occurs when an attempt is made to Check Mint Program and Mint Program
configuration assign the POWERREADYINPUT / Configuration File /
incorrect POWERREADYOUTPUT to an Configuration
(_ecPOWER_READ input/output with an incorrect
Y_CONFIG_WRON configuration (e.g. INPUTMODE,
G) INPUTACTIVELEVEL /
OUTPUTACTIVELEVEL). Also
occurs if a subsequent attempt is
made to alter the configuration of an
input/output that has already been
assigned as the
POWERREADYINPUT /
POWERREADYOUTPUT.
236 Axis is stopping, This error will be returned if an Amend Mint program. The Mint program
cannot load move attempt is made to issue (load) axis must be idle before
(_ecSTOP_IN_PRO another moves when the axis is another move can be issued -
GRESS) stopping. This can occur is a use PAUSE IDLE (0)) to
CANCEL or STOP is issued whilst check for this condition
the axis is stopping or processing a
CANCEL already, so be aware it
does not just apply to moves.
246 Event not Event not present/installed Amend Mint program. Mint
present/installed program
(_ecEVENT_NOT_P
RESENT)
247 Event not supported Event not supported Amend Mint program. Mint
(_ecEVENT_NOT_S program
UPPORTED)
look?
251 Channel is mapped This error will be returned if an Check Mint program or Mint Program
(_ecCHANNEL_IS_ attempt is made to set an analog Parameter file. /
MAPPED) output (DAC) when the output value Configuration
is already mapped to (being
controlled by) an enabled process
data object PDO.
252 Network error This Modbus error corresponds to Check operation of the Configuration
occurred during Modbus exception code -1 and will remote Modbus TCP device. / Hardware
access be returned if any of the socket Try increasing the Modbus
(_ecMBC_NETWOR operations failed. This can happen if TCP timeout for the client via
K_ERROR) a server does not exist or a TCP the Configuration page in
connection is closed during a Workbench. Check Ethernet
transaction. A response time-out will connections
also cause this error.
253 Parameter error This Modbus error corresponds to Check configuration file. Configuration
occurred during Modbus exception code -2 and
access occurs if an invalid parameter is
(_ecMBC_PARAME supplied to the read or write function.
TER_ERROR) For example, issuing a Modbus
command and specifying a server ID
that does not exist.
254 Protocol error This Modbus error corresponds to Check Ethernet connections. Hardware
occurred during Modbus exception code -3 and Check operation of remote
access occurs if the Modbus server returns Modbus device
(_ecMBC_PROTOC an unexpected result. This can
OL_ERROR) happen if the server is not a Modbus
server or there is a problem with the
Modbus implementation on the
server.
255 Illegal function This Modbus error corresponds to Check which Modbus Mint program
exception Modbus exception code 1 and functions are supported by
(_ecMBC_ILLEGAL_ occurs if the function code received the remote device and amend
FUNCTION) in the query is not recognized or Mint program to only use the
allowed by slave. allowed commands
256 Illegal data address This Modbus error corresponds to Amend Mint program so it Mint program
exception Modbus exception code 2 and does not address invalid
(_ecMBC_ILLEGAL_ occurs if the data address of some or Modbus registers
ADDRESS) all the required entities are not
allowed or do not exist in the slave.
257 Illegal data value This Modbus error corresponds to Amend Mint program so it Mint program
exception Modbus exception code 3 and does attempt to write an out
(_ecMBC_ILLEGAL_ occurs if the value is not accepted by of range Modbus register
VALUE) the slave. address on the server device
258 Slave device failure This Modbus error corresponds to Check Ethernet connections. Hardware
exception Modbus exception code 4 and Check operation of remote
(_ecMBC_SLAVE_FAI indicates that an unrecoverable error Modbus device
LURE) occurred while the slave was
attempting to perform the requested
action.
look?

259 General Modbus This error occurs if any other type of Check configuration file. For Configuration
client error Modbus error (exception codes -5, - example, a state error or
(_ecMBC_GENERAL 4, 5, 8, Ah, Bh) occurs. function not supported error.
) A state error (exception -4)
should not occur in normal
operation. A function not
supported error (exception -5)
cannot occur if Mint
WorkBench is used to
configure Modbus, but if the
configuration was setup from
the network (via objects 4156
and 4157) then an invalid
function code could be set.
Currently only functions 3 and
4 (read) and 16 (write) are
supported.
260 Slave device busy This Modbus error corresponds to Amend Mint program to Mint program
exception Modbus exception code 6 and reduce the amount of
(_ecMBC_SLAVE_B occurs if the slave is still busy Modbus calls being made to
USY) processing a previous command. the server device

Parameter errors
6001 Parameter value out of range The value supplied The value you have entered Firmware or
(_ecPARAM_VALUE_OUT_OF_RANGE) for the parameter is or that is stored in the Parameter file
out of range. parameter file (.ptx) you have
loaded does not fit within the
limits specified by the drive
firmware version loaded. If
needed update the firmware
first then load the parameter
file. To do this in Mint
Workbench go to Tools >
Download Firmware > Select
and download firmware file.
Once complete try again
6004 Parameter definition has changed The specified Check the latest Parameter file
(_ecPARAM_DEFINITION_ERROR) parameter exists, documentation for the or user action
but its definition has parameter.
changed.

Program run-time errors
These errors are assigned unique numbers in the range 3000-3999. These errors are caused by the non-
specialized general programming keywords. The accompanying _ec error codes can be used in error handling
routines to test for particular errors, for example:
If ERRCODE = _ecSTRING_OVERFLOW Then...

to look?
3100 Division by zero This occurs when the denominator of a division is Rerun program and check Mint
(_ecDIVIDE_BY zero. Mint Workbench's Terminal Code
_ZERO) window for the location of
3101 Invalid argument This occurs when an invalid argument is supplied the error, correct it then
(_ecINVALID_A to an intrinsic function, for example: Dim a = -50 redownload Mint Program
RGUMENT) Print Log(a)
3102 Stack overflow This usually occurs when a subroutine or function This error is 'fatal' and will Mint
(_ecSTACK_OV is called that allocates an array too large to fit in not call the ONERROR Code
ERFLOW) the remaining memory, or when a recursive event. So you will need to
function does not terminate before the internal DeBug the Mint Program
stacks run out of free memory. It might also occur manually to find the
if an expression is too complex, or when a string location of the error in the
is pushed onto the stack (either directly, from program
casting a value to string, converting a string to a
reference, or using ErrStr).
3103 Index out of This occurs when an index outside the range of
range the declaration is used. An example of this is: Dim
(_ecINDEX_OU a(-5 To 5) : a(6)=0 This error is 'fatal' and will not
T_OF_RANGE) call the ONERROR event.
3104 Integer out of This occurs when a floating-point value is cast to
range an integer using Int() or Round() , but the value is
(_ecINTEGER_O outside the range -2147483648 to 2147483647.
UT_OF_RANGE)
3105 Bank out of This occurs when the bank is set to a value
range outside the range of banks supported by the
(_ecBANK_OUT controller.
_OF_RANGE)
3106 Bus out of range This occurs when the bus is set to a value outside Rerun program and check
(_ecBUS_OUT_ the range of buses supported by the controller. Mint Workbench's Terminal
OF_RANGE) window for the location of
the error, correct it then
3107 Axis out of This occurs when a specified axis number is redownload Mint Program Mint
range outside the range of axes supported by the
Code
(_ecAXIS_OUT_ controller.
OF_RANGE)
3108 Stack underflow This occurs when a Return statement is
(_ecSTACK_UN encountered that was not called with GoSub
DERFLOW) (obsolete). This error is 'fatal' and will not call the
ONERROR event.
3109 String overflow This occurs when a string is assigned more
(_ecSTRING_O characters than its declared length. The default
VERFLOW) length for a string variable is 64 characters, unless
a different value is specified using a Dim
statement.
to look?
3110 Error registers The Erl , Err , ErrAxis , ErrStr keywords are not If required, these keywords Mint
not enabled normally supported on products with Ethernet but must be enabled by setting Code
(_ecERROR_R are not enabled. the run-time error registers
EGS_NOT_PRI (ErrorRegs) option to 2,
MED) which will prevent this
error. Rerun program
3111 Evaluation error This occurs when the Eval function cannot Rerun program and check Mint
(_ecEVAL_ERR evaluate the supplied expression. Mint Workbench's Terminal Code
OR) window for the location of
the error, correct it then
3112 MVM out of There is not enough memory to initialize the Mint Rerun program and check Mint
memory program. Try reducing the size of the program by Mint Workbench's Terminal Code
(_ecMVM_OUT removing code and variables. window for the location of
_OF_MEMORY) the error, correct it then


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Motion Control Products

What this Document contains

How to reset faults

Power-cycling the ABB Motion drive

ABB Motion control products 1

Error category Error code range Type

Boot Up errors b and 0-9 Asynchronous

MML run-time errors 0 - 999 Synchronous

Host application errors 1000 - 1999 Synchronous

Compilation errors 2000 - 2999 -

Program run-time errors 3000 - 3999 Synchronous

Autotuning errors 4000 - 4999 Asynchronous

Parameter errors 6000 - 6999 Asynchronous

Parameter warnings 7000 - 7999 Asynchronous

Communication errors 8000 - 8999 Asynchronous

Axis errors 10000 - 19999 Asynchronous

Axis warnings 20000 - 29999 Asynchronous

Controller errors 30000 - 39999 Asynchronous

Controller warnings 40000 - 49999 Asynchronous

Controller events 50000 - 59999 Asynchronous

ABB Motion control products 2

Error 3: Data specified out of range on line n

Asynchronous errors (Back to top)

ABB Motion control products 3

Using the error list (Back to top)

ERRCODE - the error code.

If ERRORREADNEXT(_egALL, -1) Then

ABB Motion control products 4

Mint Keyword Controls default action for error

FOLERRORMODE Following error (10005).

ADCERRORMODE ADC limit error (10008).

VELFATALMODE Velocity error (10006).

The possible modes are:

0 Ignore the error condition.

5 Call the error event ONERRORonly.

ABB Motion control products 5

'Display info about others

Error Codes explained (Back to top)

The error output (Back to top)

ABB Motion control products 6

Initialization Possible Cause

Cannot get to Firmware

Firmware Firmware Cannot be loaded

ABB Motion control products 7

Try powering the drive down removing

Code Error Cause What to do Where to

ABB Motion control products 9

ABB Motion control products 10

ABB Motion control products 11

ABB Motion control products 12

ABB Motion control products 13

4026 Encoder parameter Either; Correct Encoder parameters and re Encoder

ABB Motion control products 14

4031 Motor pole number Calculated motor poles < 2. Motor

4038 Can't set current Can't set current controller Motor

4039 Can't set speed Can't set speed controller Motor

ABB Motion control products 15

4041 Can't set position Can't set position Motor

4049 Can't set offset Can't set motor feedback Motor