Appendix 2 Error Information & Solution
Error Description Solutions
The slave device address (Adp) setting value of
ESC read command exceeded the range.
Check the slave device address (Adp) range according to the
EtherCAT command code(EcatCmd) setting value to set it.
The data size setting value of the ESC read
command exceeded the range.
Set the data size setting value of the ESC read command to 1 ~
4 (BYTE).
EtherCAT command code(EcatCmd) setting
value of the ESC read command was incorrect.
Set the EtherCAT command code to one among 1(APRD),
4(FPRD) and 7(BRD).
There was no response from the slave device for
the ESC read command.
Check whether the salve device designated as Adp is installed
properly, or the Ado address value is in the read-permission area.
The slave device address (Adp) setting value of
ESC write command exceeded the range.
Check the slave device address (Adp) range according to the
EtherCAT command code(EcatCmd) setting value to set it.
0F71 3953 The data size setting value of the ESC write
command exceeded the range.
Set the data size setting value of the ESC read command to 1 ~
0F72 3954 EtherCAT command code(EcatCmd) setting
value of the ESC write command was incorrect.
Set the EtherCAT command code to one among 2(APWR),
0F73 3955 There was no response from the slave device for
Check whether the salve device designated as Adp is installed
properly, or the Ado address value is in the read-permission area.
0F74 3956 You cannot write the specified area to the ESC
address(Ado) during execution of the
communication connection/disconnection
command or in the communication connection
Set the ESC address (Ado) that can be written during execution
of the communication connection/disconnection command or in
the communication connection state.
0FF2 4082 The normal operation in relation to encoder input
cannot be executed due to controller H/W
Place requests for A/S if it occurs repeatedly when the power is
supplied again.
The axis is not ready for driving. (It is not
connected to EtherCAT network.)
Execute the command when the axis is ready for operation.
It cannot be executed in "Disabled" state.
Check the operable axis status of the command and execute the
command when the command can be run.
It cannot be executed in "Standstill" state.
Check the operable axis status of the command and execute the
command when the command can be run.
1003 4099 It cannot be executed in "Discrete" state. Check the operable axis status of the command and execute the
command when the command can be run.
1004 4100 It cannot be executed in "Continuous" state. Check the operable axis status of the command and execute the
command when the command can be run.
1005 4101 It cannot be executed in "Synchronized" state. Check the operable axis status of the command and execute the
command when the command can be run.
1006 4102 It cannot be executed in "Homing" state. Check the operable axis status of the command and execute the
command when the command can be run.
It cannot be executed in "Stopping" state.
Check the operable axis status of the command and execute the
command when the command can be run.
It cannot be executed in "Errorstop" state.
Check the operable axis status of the command and execute the
command when the command can be run.
Motion command cannot be executed when the
belonging axis group is active.
Execute the command after changing the axis group to
GroupDisabled state with the axis group disable command.
This command cannot be given to a virtual axis.
The command cannot be executed on a virtual axis. Check
whether the command is executed on the virtual axis.
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