Beckhoff AX8000

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Diagmessages of module AxisMain

Multi axis servo system - AX8000158

Version: 1.1

6.59 8A81, Illegal Modes Of Operation change

The modes of operation was changed in an illegal transition while the axis was enabled.

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

8A81 35457

Class Type

Error Error

Standard Reaction Reset

Closed loop ramp Execute Reset-Command (Fault reset).

Possible Causes Solutions

The modes of operation was changed in an illegal

transition while the axis was enabled.

Please check the write operations to Object 0x6060

(Ch A) or Object 0x6860 (Ch B).

Internal: 0x8A81, Illegal Modes Of Operation change

Main Page

Default Chapter3
- Table of Contents3
1 Notes on the Documentation9
2 Introduction to the Diagnostic System10
- Basic Knowledge of the Diagnostic System10
- Settings with Respect to the Diagnostic System14
3 Standard-Messages15
- 0000, no Error15
- 5190, Test 5V Supply Failed16
- 5580, Read Failure EEPROM17
- 5581, Checksum Failure EEPROM18
- 5582, EEPROM Contains Blank Data19
- 5583, Unexpected EEPROM20
- 5584, EEPROM Contains Blank Data21
- 5585, Unexpected EEPROM22
- 5586, Restored Errormessages from Persistent Memory23
- 5590, Detected Incompatible Pcb24
- 5591, Identity Incompatible to a Pcb25
- 5592, Firmwareindex Is Incompatible to this Firmware26
- 5593, Structure Version Is Incompatible to this Firmware27
- 5594, Simulating Persistent Data Features28
- 5596, Storing of Persistent Data Failed29
- 5597, Unsupported Prototype Hardware30
- 5598, Identity Incompatible to Device31
- 5599, Identity Incompatible to a Device32
- 6180, Internal Software Error Type a33
- 6181, Internal Software Error Type B34
- 6182, Internal Software Error Type C35
- 6190, Init Timeout36
- 6382, Illegal Slotconfiguration. Slot Is Empty37
- 6383, Illegal Slotconfiguration. Double Feedback Selection38
- 6384, Illegal Slotconfiguration. Slot Has to be Empty39
- 63B0, Transition Pre-Op to Safe-Op (Ecat) Not Successful40
- 63B1, Transition Safe-Op to Op (Ecat) Not Successful41
- 63B2, Transition Op to Safe-Op (Ecat) Not Successful42
- 63B3, Transition Safe-Op to Pre-Op (Ecat) Not Successful43
- 8180, System Restart or Sync Lost44
- 8181, Lost Distributed Clocks Sync45
- A000, Transition Pre-Op to Safe-Op Not Successful. Sync Manager Length Error46
- A001, Transition Pre-Op to Safe-Op Not Successful. Sync Manager Address Error47
- A002, Transition Pre-Op to Safe-Op Not Successful. Sync Manager Settings Error48
- A003, Transition Pre-Op to Safe-Op Not Successful. Sync Manager Address Range Overlap49
- A004, Sync Manager Is Disabled and Has a Size Unequal Zero50
- A005, Sync Manager Address Is Not Multiple of 451
- A00B, Dynamic Sync Manager Address Is Not Multiple of 452
- A00C, Dynamic Sync Manager Address Range Overlap53
- A00D, Dynamic Sync Manager Settings Error54
- A00E, Dynamic Sync Manager Address Error55
- A00F, Dynamic Sync Manager Length Error56
- A010, SDO Complete Access Error57
- A011, Pdo Mapping Error: Unable to Map Object (Not Possible)58
- A013, Pdo Mapping Error: Double Mapping of Object59
- A015, Pdo Mapping Error: Unable to Map Object (no Mappings Left)60
- A017, Pdo Mapping Error: Object Has to be Mapped Always61
- A019, Pdo Mapping Error: Object Has to be Mapped Because of Modes of Operation62
- A01B, Pdo Bitmapping Error: Object a Is Not Next to Object B63
- A01D, Pdo Bitmapping Error: Can Not Transform Bit-Mappings to Byte-Mappings64
- A01F, Pdo Mapping Error: Invalid Oversampling Factor65
- A021, Pdo Mapping Error: Oversampling Is Not Allowed66
- A023, Pdo Assignment Error67
- A031, Dynpdo Mapping Warning: Unable to Map Object (Not Possible)68
- A033, Dynpdo Mapping Warning: Double Mapping of Object69
- A035, Dynpdo Mapping Warning: Unable to Map Object (no Mappings Left)70
- A037, Dynpdo Mapping Warning: Object Has to be Mapped Always71
- A039, Dynpdo Mapping Warning: Object Has to be Mapped Because of Modes of Operation72
- A03B, Dynpdo Bitmapping Warning: Object a Is Not Next to Object B73
- A03D, Dynpdo Bitmapping Warning: Can Not Transform Bit-Mappings to Byte-Mappings74
- A03F, Dynpdo Mapping Warning: Invalid Oversampling Factor75
- A041, Dynpdo Mapping Warning: Oversampling Is Not Allowed76
- A043, Dynpdo Assignment Warning77
- A080, Safe-Op Is Not Possible Because the Local Twincat Runtime Is in Configmode78
- A081, Transition Pre-Op to Safe-Op Not Successful. Safetycard Not Detected79
- A082, Ethercat Slave Stack Error80
- FFFD, Debug Firmware, Replace "As Soon as Possible81
- FFFF, Internal Error, Additional Errorcode82
4 Diagmessages of Module Devicemain83
- 3210, DC Link Overvoltage83
- 4380, Fan Speed Seems to be Zero84
- 5112, Supply Undervoltage: Supply +24V85
- 5181, Power Supply Controlword, Torque off Order86
- 5182, Power Supply Controlword, Live Counter Inactive87
- 5183, Power Supply Controlword, NC Handling Order88
- 5185, Power Supply Controlword, Non-Regenerative Brake Order89
- 5186, Power Supply Controlword, Regenerative Brake Order90
- 5192, Supply Overvoltage: Supply +24V91
- 6320, Parameter Error92
- 8780, Configured Sync1 Cycle Time Is above Maximum93
- 8781, Configured Sync1 Cycle Time Is below Minimum94
- 8782, Configured Sync1 Cycle Time Is Not a Multiple of the Sync0 Cycle Time95
- 8783, Configured Sync0 Cycle Time Is Not Legal96
- A017, Pdo Mapping Error: Object Has to be Mapped Always97
- FFFF, Internal Error, Additional Errorcode98
5 Diagmessages of Module Devicedebug99
- FFFF, Internal Error, Additional Errorcode99
6 Diagmessages of Module Axismain100
- 0000, no Error100
- 2340, Short Circuit (Motor-Side)101
- 2380, Continuous over Current (Device Output Side) Phase U102
- 2381, Continuous over Current (Device Output Side) Phase V103
- 2382, Continuous over Current (Device Output Side) Phase W104
- 2383, Phase U Current Offset out of Range105
- 2384, Phase V Current Offset out of Range106
- 2385, Phase W Current Offset out of Range107
- 3180, Phase Failure Motor108
- 3220, DC Link Under-Voltage109
- 3280, DC Link Is Not Ready110
- 4310, Drive Overtemperature Shut down111
- 5180, Output Stage STO Active112
- 5184, Supply DC Link Circuit Is Not Ready113
- 5187, Power Supply Communication Is Not Established114
- 5441, Positive Limit Switch Active115
- 5442, Negative Limit Switch Active116
- 5443, Loss of the Hardware Enable117
- 5444, Loss of the Hardware Enable (Reaction Torqueoff)118
- 5595, Modulo Remainder will Not be Stored119
- 6183, Internal Watchdog Error120
- 638A, the Axis Seems Not to be Parameterized121
- 6390, Factor Group Parameters: Feed Constant Illegal Feed122
- 6391, Factor Group Parameters: Feed Constant Illegal Shaft Revolutions123
- 6392, Factor Group Parameters: Gear Ratio Illegal Motor Shaft Revolutions124
- 6393, Factor Group Parameters: Gear Ratio Illegal Driving Shaft Revolutions125
- 6394, Factor Group Parameters: Position Encoder Resolution Illegal Encoder Increments126
- 6395, Factor Group Parameters: Position Encoder Resolution Illegal Motor Revolutions127
- 6396, Additional Factor Group Parameters: Feed Constant Illegal Feed128
- 6397, Additional Factor Group Parameters: Feed Constant Illegal Shaft Revolutions129
- 6398, Additional Factor Group Parameters: Gear Ratio Illegal Motor Shaft Revolutions130
- 6399, Additional Factor Group Parameters: Gear Ratio Illegal Driving Shaft Revolutions131
- Additional Factor Group Parameters: Position Encoder Resolution Illegal Encoder Increments132
- Additional Factor Group Parameters: Position Encoder Resolution Illegal Motor Revolutions133
- 639C, Velocity Factor Illegal134
- 639D, Acceleration Factor Illegal135
- Scaling Index Object Does Not Fit the Factor Group Parameters for the First Encoder136
- Scaling Index Object Does Not Fit the Factor Group Parameters for the Second Encoder137
- 63A0, Motor or Primary Feedback Changed138
- 63A1, Secondary Feedback Changed139
- 63A2, Offset Position Actual Value: no Position Offset Existing in Source 'Encoder Memory140
- 63A3, Offset Additional Position Actual Value: no Position Offset Existing in Source 'Encoder Memory141
- 63A4, Offset Position Actual Value: no Position Offset Existing in Source 'Drive Memory142
- 63A5, Offset Additional Position Actual Value: no Position Offset Existing in Source 'Drive Memory143
- 63A6, Jerk Factor Illegal144
- 63A7, the Range of the Position Range Limit Is below the Minimum Accepted Value145
- 63A8, Position Range Limit Inc with Remainder Is Not Supported for Primary Feedback146
- 63A9, Position Range Limit Inc with Remainder Is Not Supported for Secondary Feedback147
- 63AA, Object Changed in Ethercat Safeop or OP148
- 7180, Motor Brake: Current Monitoring Error149
- 7380, Current Sensor Motor Phase U150
- 7381, Current Sensor Motor Phase V151
- 7382, Current Sensor Motor Phase W152
- 8182, Ethercat Statemachine Shutdown with Enabled Axis153
- 8183, Controlword Output Cycle Counter Monitoring154
- 8184, Dynoutput Cycle Counter Monitoring155
- 8185, Axis Needs an Extended Fault Reset Command156
- 8A80, Illegal Modes of Operation157
- 8A81, Illegal Modes of Operation Change158
- A017, Pdo Mapping Error: Object Has to be Mapped Always159
- FF01, Init Timeout160
- FF07, Error Reaction Forced: Torque off161
- FF08, Error Reaction Forced: Shorted Coils Brake162
- FF09, Error Reaction Forced: Open Loop Ramp163
- FF0A, Error Reaction Forced: Closed Loop Ramp164
- FF0B, Error Reaction Forced: NC Handling165
- FF0C, Error Reaction Torqueoff with Emergency Brake166
- FFFF, Internal Error167
7 Diagmessages of Module Interpolator168
- 6386, Parameter Interpolator: Illegal NC-Task Cycle Time168
- 8680, Position Demand Value Outside of the Specified Position Range Limits169
- A01A, Txpdo Mapping Error: Object 0 Has to be Mapped for Modes of Operation170
- FFFF, Internal Error171
8 Diagmessages of Module Positioncontrol172
- 8611, Following Error172
- FFFF, Internal Error, Additional Errorcode173
9 Diagmessages of Module Velocitycontrol174
- 3183, the Bipolar Velocity Limit Is Higher than 1/4 of Position Range Limit Per Ethercat Sync1 Cycle174
- 7186, Detected Moving Axis on Enable Transition175
- 8480, Overspeed Error176
- FFFF, Internal Error177
10 Diagmessages of Module Velocitycontrol2178
- 3183, the Bipolar Velocity Limit Is Higher than 1/4 of Position Range Limit Per Ethercat Sync1 Cycle178
- 7186, Detected Moving Axis on Enable Transition179
- 8480, Overspeed Error180
- FFFF, Internal Error181
11 Diagmessages of Module Biquadfilter182
- 6320, Parameter Error in Object182
- 63AB, the Filter Parameterization Is Not Valid183
- FFFF, Internal Error184
12 Diagmessages of Module Torquecontrol185
- 2330, Earth Leakage (Motor-Side)185
- 3181, Phase Frequency (Motor-Side) Raised above 600 Hz186
- 3182, Velocity Actual Value Raised above the Max Channel Accepted Velocity187
- 6320, Parameter Error188
- 6388, Parameter Torque Control: the Value in Object Is Higher then the Motor Peak Current189
- 6389, Parameter Torque Control: the Value in Object Is Higher then the Configured Peak Current190
- Parameter Torque Control: the Value in Object Is Higher then the Motor Maximum Voltage Slope191
- FFFF, Internal Error, Additional Errorcode192
13 Diagmessages of Module Activefrontend193
- 2330, Earth Leakage (Motor-Side)193
- 3181, Phase Frequency (Motor-Side) Raised above 600 Hz194
- 3182, Velocity Actual Value Raised above the Max Channel Accepted Velocity195
- 6320, Parameter Error196
- 6388, Parameter Torque Control: the Value in Object Is Higher then the Motor Peak Current197
- 6389, Parameter Torque Control: the Value in Object Is Higher then the Configured Peak Current198
- Parameter Torque Control: the Value in Object Is Higher then the Motor Maximum Voltage Slope199
- FFFF, Internal Error200
14 Diagmessages of Module OCT Rotary (Hiperface DSL)201
- 7320, Hpfdsl: Encoder Error (Position Invalid)201
- 7380, Hpfdsl: Encoder Start Sequence Failed202
- 7381, Hpfdsl: Encoder Shutdown Failed203
- 7382, Hpfdsl: Parameter Access Error204
- 7383, Hpfdsl: Internal Error205
- 7384, Hpfdsl: Cyclic Monitoring Error206
- 7385, Hpfdsl: Encoder File Processing207
- 7386, Hpfdsl: Found no Encoder (no Link to an Encoder)208
- 7387, Hpfdsl: the Encoder Doesn't Meet the Specified Policies209
- FFFF, Internal Error210
15 Diagmessages of Module Simulationrotary211
- 63AC, Encoder Simulation Is Not Supported for the Selected Motor Type211
- FFFF, Internal Error212
16 Diagmessages of Module Syncservomotor213
- 6320, Parameter Error213
- 6387, Parameter Motor. the Configured Dclink Max Voltage Is Higher then the Motor Max Voltage214
- 638A, the Axis Seems Not to be Parameterized215
- Parameter Torque Current Curve: Unable to Calculate Torque Current Curve216
- 638C, Motor Type Does Not Match217
- Connected Motor Is Compatible to the Configured Motor218
- 638E, the Motor Brake Is Automatically Unlocked219
- 7122, Motor Error or Commutation Malfunction220
- 7181, Motor Thermal Utilization Has Reached the Warning Level221
- 7182, Motor Thermal Utilization Has Left the Warning Level222
- 7183, Motor Thermal Utilization Has Reached the Error Level223
- 7184, Motor Overload Shut down224
- 7185, Motor Overtemperature Shut down225
- 7186, Commutation Offset Source: no Commutation Offset Existing in Source 'Encoder Memory226
- 7187, Cogging Compensation Init Error227
- FFFF, Internal Error228
17 Diagmessages of Module Powergridconnection229
- FFFF, Internal Error, Additional Errorcode229
18 Diagmessages of Module Asynchronousmotor230
- 6320, Parameter Error230
- 6387, Parameter Motor. the Configured Dclink Max Voltage Is Higher then the Motor Max Voltage231
- The Axis Seems Not to be Parameterized232
- Parameter Torque Current Curve: Unable to Calculate Torque Current Curve233
- Motor Type Does Not Match234
- Connected Motor Is Compatible to the Configured Motor235
- The Motor Brake Is Automatically Unlocked236
- 7122, Motor Error or Commutation Malfunction237
- 7181, Motor Thermal Utilization Has Reached the Warning Level238
- 7182, Motor Thermal Utilization Has Left the Warning Level239
- 7183, Motor Thermal Utilization Has Reached the Error Level240
- 7184, Motor Overload Shut down241
- 7185, Motor Overtemperature Shut down242
- 7186, Commutation Offset Source: no Commutation Offset Existing in Source 'Encoder Memory243
- 7187, Cogging Compensation Init Error244
- FFFF, Internal Error245
19 Diagmessages of Module Axisdebug246
- FFFF, Internal Error246

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