Application Error ABB Motion Drives Error trouble shooting manual

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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.

• 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.

Motion Control Products

Application Error

ABB Motion Drives Error trouble shooting manual

AN00267

Rev B EN

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Error categories

Controllers 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.

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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 scale factor

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.

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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 .

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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 ONERROR only.

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.

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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.

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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).

Code Error Cause What to do

Where to

look?

Initialization

error (check

memory unit

insertion) or

recovery mode.

Possible Cause

#1 The memory module is

not fitted correctly.

#2 Confused shipment of

activated and inactive MU.

Try powering the drive down removing

the Memory module and reconnecting it

If you have other connections such as to

an RTE master, then disconnect it

Sometimes a damaged encoder can

drag the control board voltage down so

remove the encoder connection, then

Power up again.

If the problem persists, replace the

drive.

Memory

Module

Firmware

Connected

External

Hardware

Suspend active

Cannot get to Firmware

loading stage.

Note: This can also mean

the Mint SUSPEND

command is active.

Firmware

Firmware Cannot be loaded

from memory card

The system is

disabled (OFF)

Normal State During boot

up should not stay in this

state permanently

The system is

initialized (INIT)

Normal State During boot

up should not stay in this

state permanently

The MML is

booted

(

MML_BOOT)

Normal State During boot

up should not stay in this

state permanently

The MML is

initialized

(MML_INIT)

Normal State During boot

up should not stay in this

state permanently

The MML is

ready to use

(

MML_READY)

Normal State During boot

up should not stay in this

state permanently

The object

dictionary is

created

(

OD_CREATE)

Normal State During boot

up should not stay in this

state permanently

The object

dictionary

values are set to

default

(OD_RESET)

Normal State During boot

up should not stay in this

state permanently

The object

dictionary

handling is done

(OD_DONE)

Normal State During boot

up should not stay in this

state permanently

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Code Error Cause What to do

Where to

look?

Default

configuration

(DEFAULT)

Normal State During boot

up should not stay in this

state permanently. Note: a

state of "8" also states that

drive is enabled so don’t

confuse a normal enabled

drive with one that is stuck

in an error state!

Try powering the drive down removing

the Memory module and reconnecting it

also if you have other connections such

as to an RTE master then disconnect it,

also sometimes a damaged encoder can

drag the control board voltage down so

remove the encoder connection, then

Power up again.

If problem persists, replace the drive.

Memory

Module

Firmware

Connected

External

Hardware

Default

communication

profile

configuration

(DEFAULT_CO

MMS)

Normal State During boot

up should not stay in this

state permanently

Possible causes are;

• Encoder configuration is different

with the Hardware type (FB-xx) – to

solve this correct configuration and

power cycle.

• Drive's parameter configuration is

causing a problem - to solve this

problem, put the drive-in recovery

mode, power cycle drive, Open

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.

b00000

b06409

Various

The drive displayed a boot

error code in case of a fatal

error during boot up. The

code is displayed on the

seven-segment starting

with a ‘b’.

Try powering the drive down, removing

the memory module and reconnecting it.

Disconnect all connections apart from

the logic supply power source

(sometimes a damaged encoder can

drag the control board voltage down so

remove the encoder connection) then

power up again. If problem persists,

replace the memory module. If the

problem still persists, replace the drive.

b06410

Error Applying

Mint Motion

Library

Command

During the Firmware

upgrade process the

parameters are stored then

re-instated after a Firmware

upgrade to make the drive

operational again. Normally

this Error indicates that the

new firmware version has a

new parameter so it cannot

set it as the old parameter

file doesn't tell it what to

configure it to.

Connect Mint WorkBench to the drive,

access the command line and enter the

"FDF" or "FACTORYDEFAULTS"

command and power cycle the drive

(note that IP address will return to

192.168.0.1). Either recommission the

drive or download a previously saved

parameter (PTX) file to continue.

b06411

b13066

Various

The drive displayed a boot

error code in case of a fatal

error during boot up. The

code is displayed on the

seven-segment starting

with a ‘b’.

Try powering the drive down, removing

the memory module and reconnecting it.

Disconnect all connections apart from

the logic supply power source

(sometimes a damaged encoder can

drag the control board voltage down so

remove the encoder connection) then

power up again.

If problem persists, replace the memory

module. If the problem still persists,

replace the drive.

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Autotuning errors

Autotuning errors for drives 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

(_ecAUTOTUNE_SU

CCESS)

There is no autotuning error.

No Action

4001

Drive rating data

invalid

One of the following

conditions has not been met

1. Drive bus nominal voltage

< 1

2. Drive rated current <= 0

Check memory module is connected

correctly, check power supply level is

correct

Hardware

4002

Drive speed max

invalid

DriveSpeedMax <= 0

Only check AutoTune test ID

auoDESIGN_MOTION_CON

TROL .

Re-run commissioning and check

that DriveSpeedMax is set correctly

Drive

parameters

4003

Config doesn't

support that test

(_ecCONFIG_NOT_

RIGHT_TYPE)

The autotuning operation

does not support this

controller configuration.

This error will not occur unless the

configuration has been manually

changed using the CONFIG keyword.

Mint

Workbench

Parameter

View Check;

Configuration

4004

Axis error has

occurred

(_ecAXIS_ERROR)

An asynchronous axis error

or drive error has occurred

during the autotuning

operation.

See the Mint WorkBench Motion

toolbar for more information on the

error.

Mint

WorkBench or

Drive display

4005

Calculated torque

constant invalid

Drive had calculated a

Torque Constant which is too

small.

Check motor data is correct.

Mint

WorkBench

4006

Inductance value is

zero

For the selected motor the

winding inductance is zero

To avoid this error, make sure that a

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.

Motor Data

4007

Resistance value is

zero

(_ecZERO_RESIST

ANCE_VALUE)

For the selected motor the

winding resistance is zero

To avoid this error, make sure that a

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.

Motor Data

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Code

Error

Cause

What to do

Where to

look?

4008

User has aborted

test

(_ecUSER_TEST_A

BORT)

The autotuning operation has

been manually aborted.

This will occur if the Autotune tool's

STOP button is clicked while tests

are being performed.

Mint

WorkBench

4009

Cannot capture data

during test

(_ecCAPTURE_FAIL

ED)

Many of the autotuning

operations use the data

capture facility. This error

message can occur if the

capture facility is in use prior

to performing the autotuning

operation.

Not normally a problem, but to

prevent this before autotuning, type

CP=0 in the Command window to

halt any capture operations.

Mint

WorkBench

4010

Resistance too low,

possible short circuit

(_ecPOSSIBLE_SH

ORT_CIRCUI

This error can occur during

the Measure motor

resistance and inductance

test and indicates that the

effective motor winding

resistance is very low.

Check that there are no short circuits

between the U, V and W terminals of

the motor and that the motor power

cable is wired correctly.

Mint

WorkBench

4011

Autotuning doesn't

support feedback

device

(_ecUNSUPPORTE

D_FEEDBACK_

The Test the feedback or

Feedback calibration test

(EnDat absolute encoders

only) does not operate on

this feedback type.

This error will not normally occur

because Mint WorkBench will not

allow autotuning on unsupported

feedback types. Ie the combination of

Motor and Feedback device is not

supported by Mint Workbench.

Mint

WorkBench

4012

Encoder resolver

rotation sense is

wrong

(_ecFEEDBACK_SE

NSE_WRONG)

During the Measure the

voltage constant and

Measure the motor inertia

tests, a torque is applied to

the motor. This error will

occur if the resulting motion

is in the opposite direction to

the torque (a positive torque

should cause positive

velocity).

The most common cause of this error

is an incorrectly wired or set up

feedback device (encoder or

resolver), or an incorrectly wired

motor. Select the Test the feedback

option. This will indicate if there is a

problem with the wiring or setup of

the drive and will automatically

compensate for certain wiring errors.

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.

Feedback,

Motor,

Connected

Load, Noise

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Code

Error

Cause

What to do

Where to

look?

4013

Hall sequence

doesn't behave as

expected

(_ecHALL_FAULT_OR

_NO_ROTATION

)

The Hall sequence doesn't

behave as expected. This

error can occur during the

Test the feedback test when

using an incremental

encoder + Halls feedback

system.

The error can occur for a number of

reasons, so try the following tests:

•Return to the Confirm Motor

Information page of the Drive Setup

Wizard to check these values. If the

resolver is not a standard ABB

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

load is purely inertial, or load friction

is small.

Note: watch the movement of the

rotor. For rotary motors, the shaft

should rotate through just over one

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.

Feedback

Specification,

Motor,

Connected

Load, Noise

4014

Resolver value

doesn't behave as

expected

(_ecRESOLVER_FAULT_

OR_NO_ROTATION

)

The resolver value doesn't

behave as expected through

one electrical cycle. This

error can occur during the

feedback test when using a

resolver feedback system.

Feedback

Specification,

Motor,

Connected

Load, Noise

4015

Position control

update rate invalid

Position loop control rate

(ControlRate(0, 1)) < 1.

Change control rate to expected

value (normally 4000)

Mint

Workbench

Parameter

view

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Code

Error

Cause

What to do

Where to

look?

4016

Mathematic error in

gain calculations

(_ecGAIN_CALCS_F

AILED)

This error can occasionally

occur during the Calculate

current loop gains or

Calculate the speed and

position gains tests,

indicating a numerical

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.

The error can usually be cleared by

changing the design bandwidth for

the appropriate operation (click

Options... in the Autotune tool). If that

fails, try running the entire autotuning

sequence again.

Mint

Workbench

Tuning

4017

Drive setup is invalid

This error can potentially

occur in any of the

autotuning operations,

although it is rare. It indicates

a problem with the

fundamental setup of the

drive such as the settings for

motor rated current or peak

current.

Try running the Commissioning

Wizard again, making sure that the I

am starting a new application. Reset

memory to factory defaults option on

the Welcome page is selected.

Mint

Workbench

Tuning

4018

Can't fit model to

voltage/current data

(

_ecCANNOT_FIT_RE

SISTANCE_MODEL)

During the Measure motor

resistance and inductance

test, a gradually increasing

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.

Check the wiring between the drive

and motor and the motor windings for

open circuits

Motor Wiring

4019

Can't fit model to

voltage/current

transient

(_ecCANNOT_FIT_IND

UCTANCE_MODEL

)

During the Measure motor

resistance and inductance

test, stator inductance is

measured by applying a

voltage step to the motor and

logging the generated current

waveform. Inductance is then

calculated from the resulting

voltage/current characteristic.

Error 4019 indicates that this

calculation cannot be

performed because of

insufficient data or an

unusual characteristic.

Try skipping the Measure motor

resistance and inductance test. To do

this, manually enter the motor

resistance and inductance in the

Confirm Motor Information page of

the Drive Setup Wizard (most motor

manufacturers will supply this

information) and confirm that the test

is not selected in the Autotune tool.

Once autotuning is complete, check

that the response of the current

controllers is satisfactory using the

Fine-tuning tool's Current tab.

Mint

Workbench

Tuning

ABB Motion control products 13

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Code

Error

Cause

What to do

Where to

look?

4020

Can't fit load model

speed data

(_ecCANNOT_FIT_L

OAD_MODEL)

During the Measure the

motor inertia test, a torque

waveform is applied by the

motor and the motor speed

logged. A simple

inertia/damping model is then

fitted numerically to the

resulting torque/speed

characteristic. Error 4020

indicates that the fitting

process failed. A common

cause for this is lack of

sufficient information to fit the

load model.

Click Options... in the Autotune tool

and then select the Limits tab.

Increase the value in the Max Travel

box to allow the motor to rotate

further during the test and

consequently log more data. The

model fitting process can also fail for

certain types of load. For example,

loads with high coulomb or static

friction will not conform well to an

inertial load model. Likewise,

gravitational loading (i.e. vertical

axes) will cause problems for

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.

Mint

Workbench

Tuning

4021

Motor test timed out

(_ecAUTOTUNE_TEST

_TIMEOUT)

During the Measure the

voltage constant and

Measure the motor inertia

tests, current is applied to the

motor to accelerate the motor

and load. Error 4021

indicates that the rotor did

not reach a sufficient speed,

or travel a sufficient distance,

within the duration of the test.

Error 4021 can occur if the

torque (or force) generated

by the motor is insufficient to

overcome friction in the load.

Click Options... in the Autotune tool

and then select the Limits tab.

Increase the value in the Max Torque

box to allow the motor to generate

sufficient torque to overcome friction.

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 / Velocity and Position

tabs.

Mint

Workbench

Tuning

4022

Motor travelled too

far during test

(_ecAUTOTUNE_TEST

_OVERTRAVEL)

During the Measure the

voltage constant and

Measure the motor inertia

tests, current is applied to the

motor to accelerate the motor

and load. Once the motor

has reached a sufficient

speed, the direction of

applied current is reversed to

bring the rotor to a halt within

specified travel limits. Error

4022 indicates that the test

was unable to impose these

limits.

Click Options... in the Autotune tool

and then select the Limits tab.

Increase the value in the Max Travel

box to allow the motor to rotate

further during the test. Also, try

reducing the value in the Max Speed

box. 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 / Velocity

and Position tabs.

Mint

Workbench

Tuning

ABB Motion control products 14

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Code

Error

Cause

What to do

Where to

look?

4023

Not enough test

data to analyze

(_ecINSUFFICIENT_T

EST_DATA)

This error can occur during

any of the autotuning tests,

namely the Measure motor

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.

See errors 4018, 4019 and 4020 for

the reasons why these tests fail.

Mint

Workbench

Tuning

4024

Flux model

parameters are

invalid

(_ecINVALID_FLUX_M

ODEL)

The Measure the motor

inertia test will fail with this

error if the voltage constant

has not been defined.

To determine the voltage constant,

either select a standard motor from

the database in the Drive Setup

Wizard , enter a voltage constant

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.

Motor

Parameters

4025

Load model is

invalid

(_ecINVALID_LOAD_M

ODEL)

If this error occurs during the

Measure the motor inertia

test, it suggests that the

characteristics of the load are

such that inertia cannot be

accurately calculated.

See error 4020 for more information.

Mint

Workbench

Tuning

Error 4025 can also occur

during the Calculate the

speed and position gains test

if the values of load inertia

and damping have not been

defined.

In this case, run the Measure the

motor inertia test to measure load

inertia and damping.

Mint

Workbench

Tuning

4026

Encoder parameter

invalid

Either;

ENCODERRESOLUTION <

1 or ENCODERCYCLESIZE

= 0.

Correct Encoder parameters and re

run autotune tests

Encoder

Parameters

4027

Motor inductance is

not set

When motor type is AM, Lm

or Llr <= 0.

To avoid this error, make sure that a

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.

Motor

Parameters

ABB Motion control products 15

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Code

Error

Cause

What to do

Where to

look?

4028

Can't set stator

resistance

(_ecCANNOT_SET_ST

ATOR_RESISTANCE)

Can't set stator resistance.

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

allowable range of values. These

errors should not normally occur.

If the problems persist, make sure

that a 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.

If the problem persists, you will need

to manually tune the control loops in

the drive

Motor

Parameters or

characteristics

4029

Can't set stator

leakage inductance

(_ecCANNOT_SET_ST

ATOR_INDUCTANCE)

Can't set stator leakage

inductance.

Motor

Parameters or

characteristics

4030

Motor pole pitch

invalid

Calculated motor pole pitch

<= 0.

Motor

Parameters or

characteristics

4031

Motor pole number

invalid

Calculated motor poles < 2.

Motor

Parameters or

characteristics

4032

Load inertia is not set

Calculated load inertia <= 0.

Motor

Parameters or

characteristics

4033

Can't set maximum

motor flux

(_ecCANNOT_SET_M

OTOR_MAX_FLUX)

Can't set motor flux model

time constant.

Motor

Parameters or

characteristics

4035

Can't set load inertia

(_ecCANNOT_SET_

LOAD_INERTIA)

Can't set load inertia.

Motor

Parameters or

characteristics

4036

Can't set load

damping

(_ecCANNOT_SET_

LOAD_DAMPING)

Can't set load damping.

Motor

Parameters or

characteristics

4037

Can't set controller

proportional gain

(_ecCANNOT_SET_

GAIN_KIPROP)

Can't set controller

proportional gain.

Motor

Parameters or

characteristics

4038

Can't set current

controller integral

gain

(_ecCANNOT_SET_

GAIN_KIINT)

Can't set current controller

integral gain.

Motor

Parameters or

characteristics

4039

Can't set speed

controller

proportional gain

(_ecCANNOT_SET_

GAIN_KVPRO)

Can't set speed controller

integral gain.

Motor

Parameters or

characteristics

ABB Motion control products 16

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Code

Error

Cause

What to do

Where to

look?

4040

Can't set speed

controller integral

gain

(_ecCANNOT_SET_

GAIN_KVINT)

Can't set speed controller

integral gain.

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

allowable range of values. These

errors should not normally occur.

If the problems persist, make sure

that a 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. If

the problem persists, you will need to

manually tune the control loops in the

drive

Motor

Parameters or

characteristics

4041

Can't set position

proportional gain

(_ecCANNOT_SET_

GAIN_KPROP)

Can't set position

proportional gain.

Motor

Parameters or

characteristics

4042

Can't set position

derivative gain

(_ecCANNOT_SET_

GAIN_KDERIV)

Can't set position derivative

gain.

Motor

Parameters or

characteristics

4043

Can't set position

integral gain

(_ecCANNOT_SET_

GAIN_KINT)

Can't set position integral

gain.

Motor

Parameters or

characteristics

4044

Can't set velocity

feedforward gain

(_ecCANNOT_SET_

GAIN_KVELFF)

Can't set velocity feedforward

gain.

Motor

Parameters or

characteristics

4045

Can't set velocity

feedback gain

(_ecCANNOT_SET_

GAIN_KVEL)

Can't set velocity feedback

gain.

Motor

Parameters or

characteristics

4046

Can't set

acceleration

feedforward gain

(_ecCANNOT_SET_

GAIN_KACCEL)

Can't set acceleration

feedforward gain.

Motor

Parameters or

characteristics

4047

Inertia test failed

(_ecINERTIA_TEST

_FAILED)

Inertia measurement failed

Motor

Parameters or

characteristics

4048

Voltage constant test

failed

(_ecVOLTAGE_CONS

TANT_TEST_FAILED)

Voltage constant

measurement failed

Motor

Parameters or

characteristics

4049

Can't set offset

angle

(_ecCANNOT_SET_

ANGLE_OFFSET)

Can't set motor feedback

offset angle

(Possible encoder Error or

wrong config)

Motor

Parameters or

characteristics

4050

Can't set observer

gain K1

(_ecCANNOT_SET_O

BSERVER_GAIN_K1)

Can't set observer gain K1.

Motor

Parameters or

characteristics

ABB Motion control products 17

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Code

Error

Cause

What to do

Where to

look?

4050

Can't set observer

gain K1

(_ecCANNOT_SET_O

BSERVER_GAIN_K1)

Can't set observer 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

allowable range of values. These

errors should not normally occur.

If the problems persist, make sure

that a 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. If

the problem persists, you will need to

manually tune the control loops in the

drive

Motor

Parameters or

characteristics

4051

Can't set observer

gain K2

(_ecCANNOT_SET_O

BSERVER_GAIN_K2)

Can't set observer gain K2.

Motor

Parameters or

characteristics

4052

Can't set observer

gain KJ

(_ecCANNOT_SET_O

BSERVER_GAIN_KJ)

Can't set observer gain KJ.

Motor

Parameters or

characteristics

4053

Can't enable integral

position control

(_ecCANNOT_SET_KI

NT_MODE)

Can't enable integral position

control.

Motor

Parameters or

characteristics

4054

Can't set integral

term limit

(_ecCANNOT_SET_KI

NT_LIMIT)

Can't set integral term limit.

Motor

Parameters or

characteristics

4055

Invalid autotuning

operation number

(_ecINVALID_OPERAT

ION)

This will only occur if Mint

WorkBench attempts to run

an autotuning operation not

supported by the firmware.

Check Drive parameters and Re run

Autotuning tests

Mint

Workbench

Tuning

4060

Cannot enable drive

(_ecCANNOT_ENAB

LE_DRIVE)

A drive cannot be enabled

unless;

the hardware enable is

configured but not active or

the AC supply (or shared DC

bus supply) is present.

Go to Mint Workbench Parameter

view and Check; Enabling >

DriveEnableInput setting is correct - if

so ensure that the input is active

before running autotune.

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)

Drive Config,

Electrical

Supply

4061

Drive

communications

error

(_ecDRIVE_COMMS

_ERROR)

Communication between the

host PC and the controller

has failed.

Check the serial or USB cable.

PC, Mint

Workbench,

Grounding of

Drive and PC

power supply

4062

Absolute encoder is

wired incorrectly

(_ecABS_ENCODER

_WIRING_INCORRE

CT)

This error can occur for

absolute encoders (that use

a mix of digital and analog

signals) if the direction of

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.

Check SIN COS Wiring of Endat 2.1

Encoder

Wiring

ABB Motion control products 18

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Code

Error

Cause

What to do

Where to

look?

4063

Encoder fault

(_ecPOSSIBLE_ENCO

DER_FAULT)

General Encoder fault

Check encoder configuration, wiring

and encoder operation when rotating

by hand.

Encoder

Parameters,

Encoder

wiring, noise

4065

Test move will take

too long

Test move takes too long

Check that test moves are set so that

they will not take an excessive

amount of time, also check scaling is

set correctly by checking

SCALEFACTOR

Mint

Workbench

Tuning

4066

Test move velocity is

too high

Calculated velocity >

DriveSpeedMax in velocity

autotune.

Re-run commissioning and check

that DriveSpeedMax is set correctly

Drive

parameters

4067

Motor rated current

undefined

Motor rated current < 0.2A

Check Motor data is correct, if the

motor current is below 0.2A then it’s

too small to be controlled by the drive

Motor

parameters

4068

Current control loop

is not tuned

Current loop has not been

tuned before performing the

Rotor parameters autotuning

(applicable to asynchronous

motors only)

Re-run Autotuning

Mint

Workbench

Tuning

4069

Autotuning doesn't

support motor type

Cannot do the wanted

Autotune for this motor type.

Check Motor data is correct

Motor

parameters

4070

Can't set flex control

proportional gain

Can't set flux control loop

proportional gain.

Check Motor data is correct

Motor

parameters

4071

Can't set flex control

integral gain

Cannot be shown because

there is no error in API.

Check Motor data is correct

Motor

parameters

4074

Can't set

magnetizing

inductance

Cannot set motor Lm.

Check Motor data is correct

Motor

parameters

ABB Motion control products 19

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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.

Code

Error

Cause

What to do

Where to

look?

10000

Motion aborted

(_ecABORT)

This error is caused by using the

ABORT keyword or breaking a Mint

program. See ABORT and

ABORTMODE

The ABORT keyword has

been issued by the mint

program. This may be normal

in the operation. If it’s not,

find the issue with the Mint

program.

Mint Program

10001

Forward hard limit

hit

(_ecFWD_HARD_

LIMIT)

Drive has been configured to have a

Forward Limit input and its currently

active.

Check Drive configuration,

Mint Program and/or

Parameter file. See

LIMITFORWARD and

LIMITMODE.

Wiring to

Digital Inputs,

Drive

Configuration

10002

Reverse hard limit

hit

(_ecREV_HARD_

LIMIT)

See LIMITREVERSE and LIMITMODE

Check Drive configuration,

Mint Program and/or

Parameter file. See

LIMITREVERSE and

LIMITMODE

Wiring to

Digital Inputs,

Drive

Configuration

10003

Forward soft limit

hit

(_ecFWD_SOFT_

LIMIT)

The axis may be configured to have a

maximum and minimum limit of travel

in software. If the axis position

exceeds one of these limit values, a

motion error will be generated.

Check Drive configuration,

Mint Program and/or

Parameter file. See

SOFTLIMITFORWARD and

SOFTLIMITMODE.

Mint Program

or Parameter

File

10004

Reverse soft limit

hit

(_ecREV_SOFT_L

IMIT)

The axis may be configured to have a

maximum and minimum limit of travel

in software. If the axis position

exceeds one of these limit values, a

motion error will be generated.

Check Drive configuration,

Mint Program and/or

Parameter file. See

SOFTLIMITREVERSE and

SOFTLIMITMODE

Mint Program

or Parameter

File

10005

Fatal following

error exceeded

(_ecFOLLOWING

_ERROR)

FOLERRORFATAL sets the maximum

permissible following error before an

error is generated. The following error

is defined as the demand position

minus the actual motor position. If the

following error exceeds the value set

by FOLERRORFATAL (maximum

following error) an error may be

generated.

Note:If this error occurs when using a

Smart Inc encoder, see Smart Inc

encoders in Mint Help.

If this error occurs the axis

may not be free to move, is

moving when it should not

(for example a suspended

load with a bad motor brake)

or there could be a limitation

within the drive (e.g. current

or speed limit) or motor size

(e.g. Inertia) that stops it

moving to the target position

with the given ACCEL

/DECEL rates before the

following error is beyond the

value set by the user. See

FOLERRORFATAL and

FOLERRORMODE.

Mint Program

or Parameter

File or

Generated

profile target

Position

ABB Motion control products 20

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Code

Error

Cause

What to do

Where to

look?

10006

Fatal velocity error

exceeded

(_ecVEL_FATAL)

VELFATAL, velocity error checking

allows the measured velocity (VEL) of

an axis to be compared to its demand

velocity (VELDEMAND). If the

difference between the two values

exceeds the limit set with VELFATAL,

then an error will be created.

Check the Mint program or

other source of velocity

demand is not attempting to

run the axis faster than the

programmed

DRIVESPEEDMAX

Mint Program

or Parameter

File or

Generated

profile target

Velocity

10007

Error input active

(_ecERROR_INP

UT)

An input is defined as an

ERRORINPUT and it has active an

error condition.

See ERRORINPUT and

ERRORINPUTMODE

Mint Program

or Parameter

File or

Generated

profile target

Velocity

10009

Invalid trajectory

(_ecPROFILE_ER

ROR)

Trajectory generation error. The

controller was unable to perform the

requested profile. This can occur

during CAM moves if an invalid

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.

Check Mint CAM parameter

file for anomalous Data

points. Excel is a helpful tool

to help with this.

Mint Program

10010

Drive enable input

is inactive

(_ecDRIVE_ENAB

LE_INACTIVE)

DRIVEENABLEINPUTMODE is

configured to

_emCRASH_STOP_DISABLE and the

input defined by DRIVEENABLEINPUT

has become inactive whilst the drive

was enabled

Check Digital Input status

and correct

Wiring to

Digital Inputs,

Drive

Configuration

10011

Drive I.T exceeded

limit

(_ecDRIVE_OVER

LOAD)

The drive overload algorithm has

integrated up to 100% and has tripped

the drive to protect it. This will happen

if the RMS current for the application

exceeds the DRIVERATEDCURRENT

value

Check tuning, check motion

profile (especially

acceleration and

deceleration). If necessary,

select a larger drive (which

may also require an

alternative motor)

System

design

10012

Power base is not

ready to enable

(_ecPOWER_BAS

E_NOT_READY)

The Power base has been asked to

enable but is not ready. For it to be so

it must have the correct voltage and

supply and not be overheated.

Check of power base

ambient conditions and

supply voltage. Include

interlocks in any program

being used that check

DRIVEENABLEREADY

Power base

condition

ABB Motion control products 21

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Code

Error

Cause

What to do

Where to

look?

10013

Power module has

an error

(_ecPOWER_MO

DULE_FAULT)

There’s circuit detection in power unit

and the signal is connected to the

DSP. The power unit generated an

error while in operation.

Possible causes of this are

Over temperature, Over

Current, Brake chopper Short

circuit or poor earthing or

shielding (particularly of

motor power cables). Power

cycle to clear the error.

Power base

condition

10014

Over current trip

(_ecOVER_CURR

ENT)

Based on the drives currently

configured DRIVERATINGZONE the

drive has detected a motor overcurrent

state. Measured current should not

exceed the maximum current. The

maximum current is related with the

over current and the rated current.

Check the motor is free to

rotate, has been sized

correctly and there are no

short circuits on the drive

output wiring.

Motor wiring

10015

Over speed trip

(_ecOVER_SPEED)

The drive has detected the apparent

motor velocity has exceeded the trip

threshold set by DRIVESPEEDMAX

and the VELFATAL parameters

Note: If this error occurs when using a

Smart Inc encoder, see Smart Inc

encoders

Setting a high application

max speed and 200%

velocity threshold may be

necessary when using

Smartabs). For other

feedback types check the

integrity of the feedback

wiring and the earthing

/shielding of all cables

to/from the drive

Configuration

/ wiring

10016

Over voltage trip

(_ecBUS_OVER_

VOLTAGE)

The drive has shut down to protect

itself after the measured dc bus

voltage exceeded the preset limit. This

can often occur during deceleration,

particularly with large inertial loads

Decrease deceleration rate,

add a regen resistor if one is

not fitted. Consider use of

common dc bus if there are

multiple drives where some

regenerate and some motor

System

design

10017

Under voltage trip

(_ecBUS_UNDER

_VOLTAGE)

The drive has shut down to protect

itself after the measured dc bus

voltage fell below a preset limit. This

can occur during acceleration,

particularly with large inertial loads

Note: if

DRIVEBUSUNDERVOLTSOVERRIDE

is 0, low limit will use internal drive

data, otherwise will use

DRIVEBUSUNDERVOLTSOVERRIDE

Decrease the acceleration

rate. If the fault occurs when

the axis is not accelerating

check the supply connections

to the drive. A larger

motor/drive combination may

be required if the needed

acceleration cannot be

achieved

System

design / wiring

10018

Motor I^2.T

exceeded limit

(_ecMOTOR_OVE

RLOAD)

The motor overload algorithm has

integrated up to 100% and has tripped

the drive to protect the motor. This will

happen if the RMS current for the

application exceeds the

MOTORRATEDCURRENT value

Check tuning, check motion

profile. If necessary select a

larger motor (which may also

require an alternative drive)

System

design

ABB Motion control products 22

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Code

Error

Cause

What to do

Where to

look?

10019

Motor temperature

trip

(_ecMOTOR_TEMP

_INPUT)

#1. Motor Over Temperature has been

detected on the drive and the drives

hardwired Thermistor X10 input has

detected Motor overheating from the

connected motor PTC sensor

When using feedback

temperature monitoring, X10

connections TH1 and TH2

should be connected with a

wire link (short-circuited) to

suppress the normal

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.

Motor

Temperature

or Thermistor

Wiring or

Thermistor

operation

10019

10020

Motor temperature

trip

(_ecMOTOR_TEMP

_INPUT)

Phase search

failure

(_ecPHASE_SEA

RCH_FAILED)

#2. Motor Over Temperature has been

detected on the drive and the Motor

Encoder is of a serial variety (such as

Hiperface DSP which provides motor

thermistor resistance as part of the

feedback data). If this value exceeds

MOTORTEMPERATURETRIP the

drive trips with a motor

overtemperature error

Set MOTORTEMPERATURE

TRIP to a resistance that is

suitable for the motor's

thermistor device. e.g.

MOTORTEMPERATURE

TRIP(0) = 1200.

Also look for a fault with

feedback cable or wiring.

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.

Motor

Temperature

or Thermistor

Wiring or

Thermistor

operation

Configuration

Phase search must be completed to

control a motor with type "encoder

only"

Phase search must be

completed to control a motor

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

incorrect

(_ecHALL_SIGNA

L_LOSS)

This error indicates that a feedback

type of halls only or Encoder + Halls is

used and has detected an error. If this

is so the halls sensor state is checked

by the drive and that the Hall state

detected is illegal (0 or 7).

This error would normally

indicate a faulty encoder in

the motor (the encoders

include simulated hall

signals) or bad wiring to the

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.

Encoder or

encoder

wiring

ABB Motion control products 23

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Code

Error

Cause

What to do

Where to

look?

10022

Encoder signals

lost or incorrect

(_ecENCODER_SIG

NAL_LOSS)

This indicates that either there has

been a total break or total disruption

with the encoder signals.

Check the quality of

installation, wiring and

encoder type selection.

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

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

Encoder or

encoder

wiring

10023

Encoder power

supply loss

(_ecENCODER_S

UPPLY_LOSS)

Power supply to encoder has been lost

or has dropped below the minimum

level for the selected encoder type.

Note: encoder voltage is supplied by

the drive. Encoder power is given from

power board, then transferred from 8v

to 5v by control board.

Check that there are no

shorts in the encoder wiring

to the encoder supply (e.g.

ensure the shields are not

shorting to the supply or

other signal pins). If the

wiring is OK and the problem

persists, then it is likely one

of the internal power supplies

is failing.

Encoder or

encoder

wiring

10026

PDO data is not

present (Mn to Cn)

(_ecPDO_DATA_

MISSING_MN_TO

_CN)

EtherCAT or EPL PDO data from the

manager (MN) to the remote axis (CN)

has been lost. This error occurs if the

remote axis detects that at least two

consecutive PDO packets have not

been received correctly.

This error will occur on the

drive if it has lost its

connection to the Manager.

Check that the Manager is

running, configured correctly

and the network is operating

correctly

RTE Master

controller or

Network

10027

Remote motion

command failed

(_ecREMOTE_MO

TION_FAILED)

Unable to load motion on the remote

axis. Generally speaking, this error

indicates MML in drive is not ready for

operation.

This can be caused by a

number of reasons, such as

incorrect operating mode, the

motor brake being enabled or

the move buffer being full.

Drive

Configuration

or Mint

Program

ABB Motion control products 24

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Code

Error

Cause

What to do

Where to

look?

10028

Encoder not ready

to operate

(_ecENCODER_N

OT_READY)

The drive is configured to use a Serial

Encoder and it is not able to provide

position information.

The encoder may take

several seconds to become

ready and this error will be

generated if an attempt is

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

information on this error

connect to the Drive with

Mint Workbench go to

"Parameters > Encoder >

Channel 0 > Encoder

Parameter(Encoder0, Fault

value other than 0 you can

use this value to give you

more help on the error. See

help file subject:

ENCODERPARAMETER

Drive

Configuration

or Mint

Program

10029

Supply phase loss

detected

(_ecSUPPLY_PH

ASE_LOSS)

The three phase drive has detected

that one of the AC supply phases may

been lost. The drive can normally only

operate using a three phase supply.

MotiFlex e100 drives have dedicated

phase monitoring hardware, MotiFlex

e180 drives monitor the ripple on the

dc bus and if this becomes excessive

then they assume an input phase has

been lost

Check the connection of the

input phases. If the

connections are OK and a

MotiFlex e180 is tripping

spuriously (e.g. because the

application requires harsh

repeated accel and decel

cycles) then you can disable

phase loss detection using

PHASELOSSMODE(0) = 0

Electrical

Supply

10030

PDO data is not

present (Cn to Mn)

(_ecPDO_DATA_

MISSING_CN_TO

_MN)

PDO data from the remote axis (CN) to

the manager (MN) has been lost. This

error occurs if the manager detects

that at least two consecutive PDO

packets have not been received

correctly.

This error will occur on the

NextMove e100 if it detects a

drive disappears from the

network. This may be

"normal" for an optional node

(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

RTE Master

controller or

Network

10031

Heat sink too hot

to phase search

(_ecPHASE_SEA

RCH_TOO_HOT)

Phase search has been prevented due

to excessive heatsink temperature

Allow drive to cool down

N/A

ABB Motion control products 25

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Code

Error

Cause

What to do

Where to

look?

10032

PDO value out of

range

(_ecPDO_VALUE_O

UT_OF_RANGE)

When controlling an axis using Real

time Ethernet one of the PDOs sent to

the drive were out of range. This is

often the velocity reference PDO and

can be caused when an axis is geared

to a master axis/encoder and the

master position/encoder value is

changed via the program to a new

value causing an infinite velocity

demand

Connect to the drive whilst

the error is active and use

the Error Log to determine

which PDO is out of range. If

it's velocity then check the

Mint program to ensure axes

that are geared to master

references are not geared

when those master

references position/encoder

values are written to

RTE Master

controller

10033

STO active

(_ecSTO_ACTIVE)

Either one or both of the Safe Torque

Off inputs is not powered. This error

can occur only when the drive is

enabled.

Check drive STO inputs, if

used check the wiring of the

safety circuit or for open

guards or Emergency stops

etc.

Safety

System or

Drives STO

input

10034

STO hardware

fault

(_ecSTO_HARDW

ARE_FAULT)

Either one or both of the internal fault

circuit outputs has been asserted,

indicating an internal hardware fault in

the STO circuits. This error can occur

when the drive is enabled or disabled.

Check drive STO inputs, if

used check the wiring of the

safety circuit or for open

guards or Emergency stops

etc.

Safety

System or

Drives STO

input

10035

STO input

mismatch

(_ecSTO_INPUT_

MISMATCH)

The drive has detected a mismatch in

its internal STO registers. This error

can occur when the drive is enabled or

disabled.

Check the two drive STO

inputs are in the same state

with a multimeter. It may be

necessary to adjust

STOMISMATCHTIME to

account for any timing

discrepancies in the

connected safety circuit.

Safety

System or

Drives STO

input

10036

Encoder reading

wrong or Hall fault

(_ecENCODER_RE

ADING_WRONG)

The drive has detected that the

measured Hall transition angle differs

from the electrical angle used in the

control by at least 70 degrees.

Check the quality of

installation, wiring and

encoder type selection.

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

Encoder or

wiring

10037

All axis errors

cleared

(_ecAXIS_ERROR

S_CLEARED)

This information message can appear

in the error log to indicate that all axis

errors have been cleared.

No action required

N/A

10038

Encoder battery

dead

(_ecENCODER_B

ATTERY_DEAD)

This information message can appear

at startup, or when the drive is

enabled, if the battery backup supply

for a Smart Abs encoder has failed.

Change the Encoder battery

SmartABS

Encoder

battery

ABB Motion control products 26

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Code

Error

Cause

What to do

Where to

look?

10039

Resolver signals

lost or incorrect

(_ecRESOLVER_

SIGNAL_LOSS)

An error has occurred when using the

Resolver Adapter (OPT-MF-201 or FB-

03). The error is caused by the loss of

resolver signals.

Check the wiring to the

motor’s feedback device, the

integrity of the motor

connector, and the

connections inside to the

adapter.

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

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 / shielding

is as per the drive installation

manual

Resolver or

wiring

10040

Hiperface DSL

encoder error

(_ecHIPERFACE_

DSL_ENCODER_

ERROR

An error has occurred when reading

the position over Hiperface DSL.

Check the wiring to the

motor’s feedback device, the

integrity of the motor

connector, and the

connections inside to the

adapter.

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

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 / shielding

is as per the drive installation

manual

Reduce your application's

speed.

Resolver or

wiring

10041

Output frequency

over limit

(_ecOUTPUT_FR

EQ_OVER_LIMIT)

The drive has detected that the output

frequency exceeded 550 Hz. This

restriction is required to meet relevant

European Export Control Regulation.

Control

System

10042

Drive speed

Maximum is out of

range

(ecDRIVESPEED

MAX_OUT_OF_R

ANGE)

Motor velocity is above parameter

DRIVESPEEDMAX(0)

Go to parameters > Drive >

DRIVESPEEDMAX and

check value is set correctly.

Check Commanded Drive

Speed is not too high.

Parameters

ABB Motion control products 27

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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...

See Error Event: ONERROR for other examples.

Code

Error

Cause

What to do

Where to

look?

20003

All axis warnings cleared

(_ecAXIS_WARNINGS_CLEARED)

This information message

can appear in the error log to

indicate that all axis warnings

have been cleared.

No Action required

N/A

20004

Encoder battery low

(_ecENCODER_BATTERY_LOW)

When using an encoder with

battery backup (e.g. Smart

Abs multi-turn) a battery low

condition has been reported.

Consider changing the

Encoder battery

SmartABS

Encoder

battery

20005

Phase loss detected

(_ecPHASE_LOSS_WARNING)

One of the AC supply phases

has been lost. Check the AC

supply wiring to the drive.

The drive has detected

that one of the AC

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

Electrical

Supply

20006

Motor temperature not read

(_ecMOTOR_TEMP_NOT_READ_

WARNING)

The Hiperface DSL feedback

device has indicated a motor

overtemperature condition.

Check the motor

temperature

Motor or

Encoder

ABB Motion control products 28

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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

(_ecETHERCAT_AL_STATUSCODE)

This error is listed

together with a Profile

Code in the Mint

WorkBench Error Log.

Note: The displayed

profile code must be

converted to hexadecimal

to give the specific

EtherCAT error code.

This error status

indicates that the

EtherCAT master has

been sent an error

code by the drive.

Check the error log to

determine what the

"real" drive error code

is.

Mint

Workbench

Error Log

8001

CIP configuration error

(_ecCIP_CFG_ERROR)

This error is listed

together with a Profile

Code in the Mint

WorkBench Error Log.

The displayed profile

code must be converted

to hexadecimal to give

the specific CIP general

status code.

This error status

indicates that the

EtherCAT master has

been sent a CIP error

code by the drive.

Check the error log to

determine what the

"real" drive error code

is.

Mint

Workbench

Error Log

8002

POWERLINK error code

(_ecPOWERLINK_ERROR)

This error is listed

together with a Profile

Code in the Mint

WorkBench Error Log.

The displayed profile

code must be converted

to hexadecimal to give

the specific POWERLINK

error code.

This error status

indicates that the

POWERLINK master

has been sent an error

code by the drive.

Check the error log to

determine what the

"real" drive error code

is.

Mint

Workbench

Error Log

8003

PROFInet error code

(ecPROFINET_CFG_ERROR)

This error is reported

when multicast MAC filter

configuration fails.

This error status

indicates that the

PROFInet master has

tried to configure the

device ID but has

failed.

Master

Configuration

ABB Motion control products 29

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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

Code

Error

Cause

What to do

Where to

look?

2102

Lexically

incorrect

This should never occur an indicates

that a predefined symbol has a name

that does not conform to the naming

rules for identifiers.

Check Mint program for none standard

symbol names and remove them then

redownload Mint Program

Mint

Code

2103

Anachronism

This is not an error, but merely an

indication that Mint now has a better

feature than the one that has been

used.

For example, labeled subroutines

called with GoSub and ended with

Return should be replace with the true

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.

Mint

Code

2104

Too many

errors

This is generated when the maximum

number of errors allowed is exceeded.

Check Mint program for none standard

symbol names and remove them then

redownload Mint Program

Mint

Code

Lexical Errors

Code

Error

Cause

What to do

Where

to look?

2150

Unterminated

string

This occurs when a string literal is

not terminated with a closing double

quote before the end of the line is

reached.

Check Mint program correct mistakes,

then redownload Mint Program

Mint

Code

2152

Bad ASCII code

This occurs when an incorrect ASCII

code is specified within a string

literal. Valid ASCII codes are \" to

specify a double quote, \\ to specify

a backslash, and \hh where hh is a

two digit hexadecimal number.

Check mint program for an invalid

character such as \￡ , or an invalid

ASCII code such as \Fg, will cause the

error.and remove them then redownload

Mint Program

Mint

Code

2153

Bad number

This occurs when a badly formed

number is encountered, such as

"1.128r-6" or "0xffgffff".

Check mint program for none standard

number formats, correct them and then

redownload Mint Program

Mint

Code

ABB Motion control products 30

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Syntax Errors

Code

Error

Cause

What to do

Where to

look?

2200

Unexpected

end of file

This occurs when end of file is reached while

processing a construct that has not been

terminated.

Check Mint Workbench

Build window for the

location of the error,

correct it then redownload

Mint Program

Mint

Workbench

Build

window

2201

Unexpected

symbol

This indicates that a symbol has been encountered

that is either out of context or not a recognized

language element.

2202

Expected

end of line

This occurs when the end of a line is required but is

not present.

2203

Expected

Then

This occurs while parsing an If statement that does

not have a Then clause immediately after the

conditional expression.

2204

Unexpected

Else

This occurs while parsing an If block that has

already had it Else clause processed, thus making

further Else clauses illegal.

2205

Expected

End If

This occurs when a block If statement is terminated

with something other than End If.

2206

Expected

Case

This occurs when a block If statement is terminated

with something other than End If.

2207

Expected

End Select

This occurs when a Select statement is terminated

with something other than End Select.

2208

Expected

End While

This occurs when a While statement is terminated

with something other than End While, Endw or

Wend .

2209

Expected

Until

This occurs when a Repeat statement is terminated

with something other than Until.

2210

Expected

End Loop

This occurs when a Loop statement is terminated

with something other than End Loop or Endl .

2211

Expected

identifier

This occurs when an identifier is expected and was

not found, or example, tasks, events, subroutines

and functions, amongst others, all require an

identifier.

2212

Expected

assignment

operator

This occurs when an assignment operator is

expected, such as after a For loop variable, or after

the name of a Define, but one is not found.

2213

Expected

This occurs while parsing a For statement when

there is no To keyword after the initial value

expression.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 31

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2214

Expected

This occurs when a for statement is terminated with

something other than Next.

Check Mint Workbench

Build window for the

location of the error,

correct it then redownload

Mint Program

Mint

Workbench

Build

window

2215

Incorrect

identifier in

This occurs when the optional loop counter identifier

is used, but which does not match that which is

used.

2216

Expected

expression

This occurs when an expression is required, but one

is not present. For example x=myFunc(a,b,) would

generate this error, as there is no expression after

the last comma.

2217

Unexpected

Return

This occurs when a Return statement is used

anywhere other than the outer scope, i.e. inside a

subroutine, task, etc.

2218

Unexpected

Sub

This occurs when an attempt i made to declare a

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

Function

This occurs when an attempt is made to declare a

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:

Startup module, event, subroutine, function or any

block construct.

2220

Expected (

This occurs when an opening bracket is expected,

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

open

square

bracket

This occurs when the Axes statement is not

immediately followed by [.

2223

Expected

square

bracket

This occurs when an expression list initiated with [ is

no terminated with ].

2224

Expected

comma

This occurs when items required to be separated by

a comma are not.

2225

Unexpected

comma

This occurs when a parameter list has a trailing

comma with no expression after i.

2226

Expected

End Sub

This occurs when a subroutine declaration is

terminated with something other than End Sub.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 32

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2227

Expected

data type

This occurs when something other than integer,

float or string follows an As clause.

Check Mint Workbench

Build window for the

location of the error,

correct it then redownload

Mint Program

Mint

Workbench

Build

window

2228

Expected

End

Function

This occurs when a function declaration is

terminated with something other than End Function.

2229

Unexpected

Task

This occurs when an attempt is made to declare a

task at anywhere other than the outer scope.

2230

Expected

End Task

This occurs when a task declaration is terminated

with something other than End Task.

2231

Unexpected

Event

This occurs when an attempt is made to declare an

event at anywhere other than the outer scope.

2232

Expected

End Event

This occurs when an event declaration is terminated

with something other than End Event.

2233

Unexpected

Startup

This occurs when an attempt is made to declare a

Startup module at anywhere other than the outer

scope.

2234

Expected

End Startup

This occurs when a Startup module declaration is

terminated with something other than End Startup.

2235

Non-

reference

array

parameter

This occurs when an array parameter is specified as

being passed by value using the ByVal keyword.

This is ill gal, as arrays are always passed by

reference.

2236

Cannot

initialize

parameters

Parameters receive their initial values from the call

statement, and so it makes no sense, and is illegal,

to try and initialize them.

2237

Else

without If

This occurs when an Else clause is encountered

outside an If statement.

2238

End If

without If

This occurs when an End If clause is encountered

outside an If statement.

2239

Case

without

Select

This occurs when a Case clause is encountered

outside a Select statement.

2240

End Select

without

Select

This occurs when an End Select clause is

encountered outside a Select statement.

2241

End While

without

While

This occurs when an End While clause is

encountered outside a While statement.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 33

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2242

Until

without

Repeat

This occurs when an Until clause is encountered

outside a Repeat statement.

Check Mint Workbench

Build window for the

location of the error,

correct it then redownload

Mint Program

Mint

Workbench

Build

window

2243

End Loop

without

Loop

This occurs when an End Loop clause is

encountered outside a Loop statement.

2244

without For

This occurs when a Next clause is encountered

outside a For statement.

2245

End Sub

without Sub

This occurs when an End Sub clause is

encountered outside a subroutine declaration.

2246

End

Function

without

Function

This occurs when an End Function clause is

encountered outside a function declaration.

2247

End Task

without

Task

This occurs when an End Task clause is

encountered outside a task declaration.

2248

End Event

without

Event

This occurs when an End Event clause is

encountered outside an Event declaration.

2249

End Startup

without

Startup

This occurs when an End Startup clause is

encountered outside a Startup module declaration.

2250

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.

2251

Sub block

not found

This occurs when an Exit statement qualified with

Sub is used without being in a subroutine.

2252

Function

block not

found

This occurs when an Exit statement qualified with

Function is used without being in a function.

2253

Task block

not found

This occurs when an Exit statement qualified with

Task is used without being in a task.

2254

Event block

not found

This occurs when an Exit statement qualified with

Event is used without being in an event.

2255

Startup

module not

found

This occurs when an Exit statement qualified with

Startup is used without being in the Startup module.

2256

While block

no found

This occurs when an Exit or Continue statement

qualified with While is used without being in a While

statement.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 34

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2257

Repeat

block not

found

This occurs when an Exit or Continue statement

qualified with Repeat is used without being in a

Repeat statement.

Check Mint Workbench

Build window for the

location of the error,

correct it then redownload

Mint Program

Mint

Workbench

Build

window

2258

For block

not found

This occurs when an Exit or Continue statement

qualified with For is used without being in a For

statement.

2259

Loop block

not found

This occurs when an Exit or Continue statement

qualified with Loop is used without being in a Loop

statement.

2260

Unexpected

end of

statement

This occurs when a statement ends unexpectedly,

for example Input followed by no input variable.

2261

Expected

statement

separator

This occurs when a statement separator is expected

but not found, for example: While Rnd()<0.5 Print

"Mint" .

2262

Can only

size a string

in a Dim

statemen

This occurs when an attempt is made to size a

string outside a Dim statement, for example:

Function abc(s As String * 12)

2263

Expected

End Critical

This occurs when a critical block is terminated with

something other than End Critical.

Semantic Errors

Code

Error

Cause

What to do

Where to

look?

2301

Multiple

declaration

This occurs when an identifier is used twice in the same

scope for declaring an object such as a variable,

subroutine, task, etc.

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

2302

Event preclusion

This occurs when events that are mutually exclusive are

declared.

2303

Unused

declaration

This occurs when an object is declared but never used.

This is not an error but indicates that the object in

question could safely be removed.

2304

Identifier not

found

This occurs when an attempt is made to use something

that has not been declared, such as a variable or

subroutine.

2305

Identifier name

shared with

predefined s

This occurs when a user defined object is given the same

name as a predefined symbol, such as an MML routine,

event name or constant.

2306

Cannot call tasks

or events

This occurs when an attempt is made to call a task or

event as if was a subroutine or function.

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

constant

This occurs when a constant is supplied as a parameter

to a subroutine or function that modifies the parameters

value.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 35

new.abb.com/motion

2309

Expected

variable

This occurs whenever a variable is expected, but

something else is supplied, such as a constant or literal.

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

2310

Expected

constant

This occurs whenever a constant is expected, but

something else is supplied, such as a variable.

2311

Expected

variable or value

This occurs when a parameter is supplied to a subroutine

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

call

This occurs when a supplied parameter is illegal, for

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

of parameters.

This occurs when a call is made with the wrong number

of parameters and can occur with subroutines/functions

and MML routines.

2316

Incorrect number

of indices

This occurs when an array is indexed with the wrong

number of indices For array parameters, where the

number of indices and index ranges are not explicitly

specified, the first usage determines the number of

indices.

2317

Cannot index a

scalar

This occurs when an attempt is made to index a scalar.

2318

Wrong call class

used

This occurs when a callable routine is used in the wrong

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-

callable object

This occurs when an attempt is made to call an object

that is not callable, such as an event or a task.

2320

Declaration hides

other

This occurs when a declaration hides a declaration in an

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

range

This occurs when the compiler evaluates a constant

integer expression, and the result lies outside the range

of a 32-bit signed integer.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 36

new.abb.com/motion

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.

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

2324

Character out of

range

This occurs when the value supplied to the Chr() function

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

ignored

This is displayed when the Using clause is used with

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

modifiers used

with non-zero

The Hex and Bin print modifiers imply integer output, and

so specifying a number of decimal places other than 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

array

This occurs when an MML call that requires an array of

floats and is supplied with an array of another type.

2330

Expected integer

array

This occurs when an MML call that requires an array of

integers and is supplied with an array of another type.

2331

Too many right-

hand sides

This occurs when the number of right-hand side values

supplied in a statement exceeds the number of left-hand

sides. This often occurs when using the square bracket

notation.

2332

Cannot jump into

For loop

This occurs when a label inside the body of a For loop is

referenced from outside the loop. This is not allowed

because the initialization stage of the For loop will be

bypassed leading to undefined behavior.

2333

Too many tasks

This occurs on controllers that support only a limited

number of tasks when more than the maximum number

of tasks allowed are declared. Some controllers, such as

the Flex+Drive II, support only a single task.

2334

Unexpected

semi-colon

This occurs when an attempt is made to use a semi-

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

not assigned

This occurs when a function is declared, but the

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

task/event/startup

This occurs when a module name used with the scope

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.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 37

new.abb.com/motion

2338

String constant

too long

This occurs when the string assigned to a string variable

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.

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

2339

Implicit cast

may/will lose

precision

This warning occurs when a value is assigned to a

destination of a different type. Depending on the value

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

with parameter

'<parameter

This warns that a value passed to a subroutine will be

stored in a temporary (invisible) variable so that the

variable's address can be used as the reference. This is

particularly important for strings, as using a temporary

variable to contain an intermediate string result has the

problem that the temporary variable may be too

small, causing run-time string overflows. However, this

warning is generated for any type of temporary variable

that may have to be created. To avoid this warning,

either ensure that the value is held in an appropriate

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

'<define_name>'

used before

decla

This error is generated when a define name is used

before it has been defined (see Define) To avoid this

error, ensure that Define appears before the name is

used, for example: Define my_axes = 0,1,2,3

Print my_axes

2342

Use '<new

keyword>'

instead of '<old

key

This warning is generated when the specified 'old

keyword' has been superseded by a differently named

'new keyword'. It is likely that both keywords operate in

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.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 38

new.abb.com/motion

2343

Expected 'integer'

found '<non-

integer>'

This error is generated by the Shift an Rotate commands

(when used as a statement) if the item to be shifted is not

an integer, for example: D m x As Float Shift (x, 2)

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

2344

Bad parameters

'<parameter 1>'

and '<par

This error is generated if bad parameters are used in a

Using clause, such as a string. For example: Print

"Position = ", POS(0) Using("6,3")

2345

Unrecognized

option '<name>'

specified

This will be generated if an option name is used that is

not recognized, such as "Option billygoatgruff 1".

2346

Unsupported

option '<name>'

specified

This w ll be generated if an option is set that is

unsupported by a certain target format, such as "Option

CFormatting 1" on target formats below 10.

2347

Bad value

'<value>'

specified for

option

This will be generated if an option is assigned a value

that i invalid/out of range, such as "Option OptLevel 6".

2348

Option '<option>'

set more than

once

his will be displayed if the same option is set more than

once in a program.

2349

Option '<option>'

not defined at the

out

This will be displayed if an option is set inside a module

of any type (Task, Sub, Function, Event or Startup).

2350

String out of

range

This will be displayed when the Asc function is supplied

with an empty string.

2351

Label out of

scope

This will be displayed if a GoTo or GoSub (obsolete)

specifies a label that is not situated in the same scope as

the GoTo or GoSub statement.

2352

Parameter Must

Be Reference

This occurs when a parameter that must be passed by

reference is specified as being ByVal.

2353

Unexpected Size

This occurs when a size specification is used with a

parameter declaration or with data types that cannot be

sized. Only strings can be sized.

2354

Incompatible

Operands

This occurs when an operator is given operands that are

incompatible, such as when trying to divide a float by a

string.

2355

Must Be Scalar

This occurs when an item that must be scalar has been

given dimensions, such as a constant or a bitfield

member.

2356

Bad Module

Nesting

This occurs when modules are incorrectly nested, such

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

Else

This occurs when a Case statement is encountered after

a Case Else statement.

2360

Multiple Case

Else

This occurs when more than one Case Else statement is

present.

2361

Expected Case

This occurs when a Case statement was expected, but

something else was encountered.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 39

new.abb.com/motion

2362

Expected Scalar

This occurs when a scalar (a single value) is expected,

but an aggregate such as an array o structure is

encountered.

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

2363

Expected 1D

Array

This occurs when a one-dimensional array is expected,

but a multi-dimensional array is encountered.

2364

Expected Array

Or Null

This occurs when an array or Null is expected, but

something else is encountered.

2365

Result

Indeterminate

This occurs when a result cannot be determined from the

given operands/parameters.

2366

Illegal

Initialization

This occurs when an initialization is encountered that is

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

Initialised

This occurs when a variable has been used but has not

been assigned a value.

2369

Expected

Assignment

This occurs when as assignment is expected, but

something else is encountered.

2370

Incorrect

Identifier in Next

This occurs when the expression used with Next does

not match that used in the For.

2371

Anachronism (old

Method used)

This occurs when an out of date language feature is

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

example, in the statement Input i Using (6, 0), if i

is an integer then the zero (which specifies the fractional

places to display) is redundant.

-The use of obsolete parameter formats, such as POS.0

or POS[0] . See Mint v5 (MT) to Mint v5.5 .

-The use of Axes , Bank , Bus or Terminal to set a default

value. Each item should now be explicitly defined with

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

Array

This occurs when a string array is expected, but

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

Output Modifier

This occurs when an output modifier is unexpectedly

encountered, such as when one is used in an Input

statement.

2375

Unexpected

Using Clause

This occurs when a Using clause is encountered when it

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

Module

This occurs when executable statements are present

after any module declaration.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 40

new.abb.com/motion

2378

Not In Outer

Level

This occurs when something is incorrectly nested within

a module, such as a task declaration.

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

2379

Bad Input

Parameter

This occurs when an incorrect Input parameter is

encountered, such as when there are no parameters or

just a prompt string.

2380

Too Few Right-

Hand Sides

This occurs when not enough parameters are supplied to

the right of an = symbol.

2381

Incompatible

Type

This occurs when an incompatible type is encountered,

such as using something other than a floating-point or

integer For loop counter, or when assigning structures of

different types.

2382

Expected

Structure

This occurs when a structure is expected, but something

else is encountered.

2383

Expected

Member

This occurs when a member is expected, but something

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

Redirect

This occurs when a redirection is expected, but

something else is encountered.

2386

Expected

Redirect Or Mml

Api

This occurs when a redirection or a Mint function is

expected, but something else is encountered.

2387

Too Many

Redirections

This occurs when too many redirections are used (the

current maximum allowed is 15).

2388

Expected Case

Statement

This occurs when a Case statement is expected, but

something else is encountered.

2389

Expected Type

Name

This occurs when a type name is expected, but

something else is encountered.

2390

Expected Time

This occurs when a variable of type Time is expected,

but something else is encountered.

2391

Expected Time

Array

This occurs when an array of type Time is expected, but

something else is encountered.

2392

Recursive

Structure

This occurs when a structure contains a member that is

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

Brace

This occurs when a brace { is encountered, but

something else is expected.

2395

Too Few

Elements

This occurs when there are fewer initializers than

structure members.

2396

Too Many

Elements

This occurs when there are more initializers than

structure members.

2397

Expected

Variable or Mml

Api

This occurs when a variable or a Mint function is

expected, but something else is encountered.

2398

Multiple Event

Priority

This occurs when the Event Priority command is used

more than once in a program.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 41

new.abb.com/motion

2399

Incorrect Event

Enumeration

This occurs when an event enumeration is used that is

not recognized in a call to Event Priority.

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

2400

Expected

Indexing

This occurs when an array indexing operation is

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

Statement

This error results when a statement is expected, but

something else is found. For example, Rnd + 1 is not a

statement, and would generate this error if used as one.

2406

Case Value

Already Used

This warning is issued when a case value is used more

than once, including overlapping ranges or ranges that

include any previously used value

2407

Expected Simple

Type

This error is issued when a function return type is not a

simple type. It must be an intrinsic type, like Float, and

must not be an array.

2408

Expected

Semaphore

This error is issued when the expression in a 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

Range

This error is issued when a bitrange is expected but

something else is encountered, for example declaring a

bitfield member a using a As Float.

2411

Result

Determinate

This warning is issued hen an expression's result is

determinate, even though it is not composed entirely of

literal values. For example, the expression (x > 10) = 2

will always be false because x > 10 the values 0 or 1, so

can never be equal to 2. can only take

2412

Expected Label

This error is issued when a GoTo statement uses

something other than a label for its target, e.g. GoTo

_false.

2413

Statement

Ignored

This occurs when a statement is encountered that has no

effect and so is ignored, for example running a task from

the Startup or Shutdown modules.

2414

Bad Defined

parameter

This occurs when he parameter to the Defined statement

is not a simple identifier.

2415

Defined function

not in #If

This error is issued when the Defined function is used

anywhere other than in a #If or #ElseIf expression.

2416

Bad #If

expression

This indicates a #If expression that is invalid, for

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

message]

This indicates the user generated error or warning

specified in a #Error or #Warning statement.

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 42

new.abb.com/motion

2418

Empty statement

This occurs when a block statement (Loop, Case, etc.) or

a module declaration (Sub , Function , etc.) contains no

statements, which may indicate a problem such as

incomplete, inefficient or incorrect code. Consider

converting empty loops to use the Pause statement,

which is more efficient in a multi-tasking program. Empty

Case statements should be checked to ensure that

C/C++ operation is not being assumed.

Check Mint

Workbench

Build window

for the location

of the error,

correct it then

redownload

Mint Program

Mint Code

ABB Motion control products 43

new.abb.com/motion

Controller errors

These errors are assigned unique numbers in the range 30000-39999.

Code

Error

Cause

What to do

Where to look?

30001

Controller over-

temperature

(_ecOVER_TEMPERAT

URE)

The drive has detected it is

dangerously hot.

Check the drive ambient

conditions allow for sufficient

cooling.

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

Drive Cabinet

or Installation

30005

FPGA failed to

initialize

(_ecFPGA_INITIALISA

TION_ERROR)

The controller FPGA has failed

to initialize. If this error is

received

Power cycle. If Error

Persists, Replace the Drive

Drive

30007

Error accessing non-

volatile memory

(_ecNON_VOL_MEM

ORY_FAILURE)

Unable to access non-volatile

memory.

Power cycle. If Error

Persists, Replace the Drive

Drive

30008

Error applying

parameter value

(_ecPARAM_ERROR)

Errors have occurred during a

parameter table download or

during startup. Some of the

parameters could not be applied

correctly. See the Error Log for

details of the failures. The

controller's status display will

flash only 'E', and will not be

followed with the usual error

code digits.

This Error is most commonly

associated with either a

parameter file (.ptx) issue. It

is a common problem if the

parameter file is generated

from an older firmware

version with either different

parameters or different

parameter limits. Read the

Error log for specific

guidance on the effected

parameters.

Parameter file

30009

General internal

controller error

(_ecINTERNAL_ERROR)

An internal error has occurred.

Read parameter failed

Power cycle. If Error

Persists, Replace the Drive

Drive

30010

Fan is not operating

correctly

(_ecFAN_LOSS)

The drive has detected that an

internal cooling fan has failed.

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, the general

is the fan hardware failure,

need to replace the fan.

Drive Fan

ABB Motion control products 44

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Code

Error

Cause

What to do

Where to look?

30023

Mint option card

comms error tx

(_ecMINT_OPTION_C

ARD_COMMS_ERRO

R_TX)

A communication error between

the drive and the Mint option has

been detected by the drive.

Power cycle and try again. If

the problem persists, then

there is probably a hardware

failure - contact ABB

technical support.

Mint Option

Card

30029

Controller under-

temperature

(_ecUNDER_TEMPER

ATURE)

The controller has detected an

ambient temperature lower than

-5 °C.

The ambient temperature

must be increased before the

drive can be enabled.

Drive Cabinet

or Installation

30030

All controller errors

cleared

(_ecCONTROLLER_E

RRORS_CLEARED)

This information message can

appear in the error log to

indicate that all controller errors

have been cleared.

No Action

N/A

30032

Hardware revision

does not support EPL

(_ecHARDWARE_DOES

_NOT_SUPPORT_EPL)

The controller does not support

Ethernet POWERLINK.

Earlier Hardware revisions of

e180 (with GCU-01 control

cards before Rev A) do not

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

Check

ABB Motion control products 45

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Controller warnings

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

warnings.

Code

Error

Cause

What to do

Where to

look?

40006

Attempt to configure

too many axes

(_ecTOO_MANY_AX

ES)

The device configuration file has

attempted to assign more axes than

are available on the controller.

Re-run the System

Configuration Wizard.

Configuration

File

40007

CamBox segments

have been skipped

(_ecCAM_BOX_OVE

RRUN)

The cam box has skipped a segment.

This can happen if the source is

moving fast enough to cause a

segment to be skipped.

See CAMBOX in Mint

WorkBench Help, look at

"position_array". Either

slow down the source or

increase the size of the

segments

Mint Program

40012

A host event has

failed with retries

(_ecEVENT_RETRY_

WARNING)

A host (i.e. ActiveX) event handler

has failed to acknowledge an event

that has been raised by the

controller. There is a 'time-out' period

of 1 second in which the host must

acknowledge an event.

If the host does not

acknowledge the event

after 3 time-out periods, the

controller generates

warning 40012. See

ERRDATA for details of the

error.

Host

application

40013

Attempted to assign

too many servo axes

(_ecTOO_MANY_SE

RVO_AXES)

During the processing of the .CMCF /

.DCF (device configuration file), too

many servo axes were configured.

To fix this issue, use the

System Config Wizard to

reduce the number of

configured servo axes.

Mint

Workbench

40014

Attempted to assign

too many stepper

axes

(_ecTOO_MANY_ST

EPPER_AXES)

During the processing of the .CMCF /

.DCF (device configuration file), too

many stepper axes were configured.

To fix this issue, use the

System Config Wizard to

reduce the number of

configured stepper axes.

Mint

Workbench

40015

Attempted to assign

too many virtual axes

(_ecTOO_MANY_VIR

TUAL_AXES)

During the processing of the .CMCF /

.DCF (device configuration file), too

many virtual axes were configured.

To fix this issue, use the

System Config Wizard to

reduce the number of

configured virtual axes.

Mint

Workbench

40016

Attempted to assign

too many remote axes

(_ecTOO_MANY_RE

MOTE_AXES)

During the processing of the .CMCF /

.DCF (device configuration file), too

many remote axes were configured.

To fix this issue, use the

System Config Wizard to

reduce the number of

configured remote axes.

Mint

Workbench

40021

All controller

warnings cleared

(_ecCONTROLLER_

WARNINGS_CLEAR

ED)

This information message can

appear in the error log to indicate that

all controller warnings have been

cleared.

No Action Required

Hardware

40022

Last reset was not

controlled

(_ecRESET_NOT_C

ONTROLLED)

Last reset was not controlled

To fix this issue, use the

System Config Wizard to

reduce the number of

configured servo axes.

Hardware

40023

Default MAC detected

(_ecDEFAULT_MAC_

DETECTED)

Default MAC has been detected,

valid MAC address is not set.

Set valid MAC address

Hardware

40024

Could not open

license file or Error

reading license file

(_ecMISSING_LICEN

CE_FILE)

Could not open license file or Error

reading license file

If this error is received,

please contact ABB

technical support.

Hardware

ABB Motion control products 46

new.abb.com/motion

Code

Error

Cause

What to do

Where to

look?

40025

License file doesn't

match hardware ID

(_ecFOREIGN_LICENC

E_FILE_PRESENT)

Wrong licensing version or platform,

or Flash unique ID does not match

the one in the license file

If this error is received,

please contact ABB

technical support.

Hardware

40026

Invalid License file

(_ecINVALID_LICENCE

_FILE_PRESENT)

License data hash does not match

the one in the License File

If this error is received,

please contact ABB

technical support.

Hardware

40027

Warning applying

parameter value

(_ecPARAM_WARNI

NG)

This warning will be generated if an

attempt is made to write to a

parameter that is no longer

supported.

If necessary, recommission

the drive to create a new

parameter table

Mint

Workbench

40028

Warning fan fault

(_ecFAN_FAULT_WA

RNING)

The fan is possibly faulty, unplugged

or jammed.

Firstly, ensure the latest

firmware is in use (as the

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

Hardware

ABB Motion control products 47

new.abb.com/motion

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.

Code

Error

Cause

What to do

Where to

look?

1003

erBAD_COMMAND

Unrecognized command code

Check ActiveX

Controller (See MIL.h

(for Visual C++),

MIL.pas (for Delphi)

and MIL.bas (for VB)

for a complete list, in

the folder:

Windows XP:

C:\Program

Files\Mint

WorkBench\Include.

Windows 7:

C:\Users\Public\Docu

ments\Public

Mint\Examples\Includ

ActiveX

Controller

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

RMAT

Non-NULL terminated string used as

parameter

1020

erCOMMAND_ABORTE

The front command was aborted by the user

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

1033

erTEMP_FILE_ERROR

Error creating temp file

1034

erCODE_ERROR

Internal error: please contact supplier

1039

erPORT_NOT_OPEN

The serial port has not been opened, or the

hardware (or device driver) is not present

1043

erCHECKSUM_ERROR

Checksum failure

1044

erNAK_RECEIVED

The controller reports corruption (NAK)

1046

erERROR_OPENING_P

ORT

The port could not be opened

1047

erINVALID_CARDNUMB

The card number was out of range

1053

erUSER_ABORT

The function was cancelled by the user

1056

erRECEIVE_BUFFER_E

MPTY

The receive buffer is empty

1057

erTRANSMIT_BUFFER_

FULL

The transmit buffer is full

1058

erINVALID_RETRIES

An incorrect retry value was selected

1060

erUNDEFINED_SERIAL_

ERROR

An unrecognized serial error occurred

1061

erPSERIAL_BUFFER_C

ORRUPTION

The pseudo-serial buffers are corrupt

1062

erFUNCTION_NOT_SUP

PORTED

The function is not available on this platform

1063

erCANNOT_OPEN_FILE

The file is bad or doesn't exist

ABB Motion control products 48

new.abb.com/motion

Code

Error

Cause

What to do

Where to

look?

1064

erINVALID_FORMAT

The file is not proper COFF format

Check ActiveX

Controller (See MIL.h

(for Visual C++),

MIL.pas (for Delphi)

and MIL.bas (for VB)

for a complete list, in

the folder:

Windows XP:

C:\Program

Files\Mint

WorkBench\Include.

Windows 7:

C:\Users\Public\Docu

ments\Public

Mint\Examples\Includ

ActiveX

Controller

1065

erDATA_TOO_LONG

The data string was too long

1066

erINCORRECT_ARRAY_

SIZE

The array size or pointer is incorrect

1067

erUNKNOWN_ERROR_

CODE

The error code is unrecognized

1068

erCONTROLLER_NOT_

RUNNING

The controller is not running

1070

erNO_DEVICE_DRIVER

_SUPPORT

Device driver not installed, or not configured

for this controller

1079

erINVALID_PLATFORM

Invalid firmware for the controller

1084

erBAD_DEVICE_DRIVE

R_CALL

The device driver call failed

1086

erINVALID_EVENT

Could not register the event

1087

erFUNCTION_NOT_AVA

ILABLE

Function not currently available

1088

erBOOT_TEST_FAIL

Power-up self-test failed

1089

erBUFFER_TOO_SMAL

Not enough memory to load data object

1090

erREQUIRES_DEV_DRI

VER

Requires a development build of the device

driver

1092

erICM_RX_TIMEOUT

Timeout on ICM (Host RX)

1093

erICM_RX_SIZE_ERRO

Error in ICM protocol

1094

erICM_PROCESS_TIME

OUT

Timeout on ICM (Host Process)

1095

erDEV_DRV_UNKNOW

N_IOCTL

Device driver mismatch

1096

erBBP_ACK_TIMEOUT

No response from controller

1101

erBBP_INVALID_DATA_

LENGTH

Invalid data field length for transaction

1107

erBBP_END_OF_BLOC

End of block reached

1108

erBBP_PACKET_ID_MIS

MATCH

Packet ID does not match

1110

erNO_CAPTURED_DAT

No captured data is available to upload

1127

erNO_LINK_TO_CONTR

OLLER

Must use a setXXXLink function

1128

erFIRST_ARRAY_ELEM

ENT_IS_SIZE

The first element in the array must specify

the number of elements (not including itself)

1129

erPOS_ARRAY_REQUI

RED

The position array is not optional

1130

erARRAY_SIZE_MISMA

TCH

One or more array(s) are the wrong size

1131

erPARAMETER_CANNO

T_BE_NEGATIVE

The parameter cannot be negative

1132

erCAN_INIT_FAILED

Initialization of CAN bus failed

1133

erEEPROM_CRC_FAILE

EEPROM failed CRC check

1134

erINSUFFICENT_MEMO

Insufficient memory to run application

1135

erCANNOT_RUN_APP

Cannot run application for unknown reason

ABB Motion control products 49

new.abb.com/motion

Code

Error

Cause

What to do

Where to

look?

1136

erEVENT_HANDLER_IN

_USE

Event handler is in use by this or another

application

Check ActiveX

Controller (See MIL.h

(for Visual C++),

MIL.pas (for Delphi)

and MIL.bas (for VB)

for a complete list, in

the folder:

Windows XP:

C:\Program

Files\Mint

WorkBench\Include.

Windows 7:

C:\Users\Public\Docu

ments\Public

Mint\Examples\

Include)

ActiveX

Controller

1137

erSERIAL_PORT_OPEN

Action not possible with serial port open

1138

erBAD_PARAMETER1

Error in parameter 1

1139

erBAD_PARAMETER2

Error in parameter 2

1140

erBAD_PARAMETER3

Error in parameter 3

1141

erBAD_PARAMETER4

Error in parameter 4

1142

erBAD_PARAMETER5

Error in parameter 5

1143

erBAD_PARAMETER6

Error in parameter 6

1144

erAUTOTUNE_POLES_

OR_PPR

Incorrect number of poles or feedback pulses

during autotune

1145

erAUTOTUNE_INDEX_P

ULSE_MISSING

Index pulse missing during autotune

1146

erAUTOTUNE_UVW_SI

GNAL_LOSS

UVW signal lost during autotune

1147

erINCORRECT_UVW_P

HASING

UVW phasing or polarity is incorrect

1148

erLOGGING_NOT_ENA

BLED

Logging to file not enabled for RX or TX

1149

erMINTCONTROLLER_

NOT_FOUND

The MintController control could not be

located in the same container

1150

erMONOSPACED_FONT

_REQUIRED

A monospaced (fixed pitch) font, such as

Courier New, must be selected

1151

erOBJECT_TOO_BIG

Application object too big

1152

erMINT_CONTROLLER_

Must call setMintControllerID

1153

erCAPTURE_UPLOAD_

RESTART

Capture restarted during upload process

1154

erINVALID_ANSI328_NO

Maximum node ID for ANSI 328 host comms

is 15

1155

erINV_COMPILER_VER

SION

Compiler version is not registered

1156

erCOMPILER_NOT_RE

Compiler is not registered

1157

erBAD_SYMBOL_TABLE

Bad symbol table

1159

erNO_HOST_FIRMWAR

No host firmware available for drive

1160

erINV_PARAM_TABLE

Parameter table version doesn't match

controller

1161

erINCOMPATIBLE_FIRM

WARE

Incompatible firmware for controller

1162

erBOOTLOADER_NOT_I

NITIALISED

Boot loader not initialized to accept firmware

1163

erBOOTLOADER_PROG

RAMMING_FAILED

Boot loader programming failed

1164

erCOMPILE_FAILED

Failed to compile Mint program

1165

erBAD_FIRMWARE_OO

Incompatible firmware - you must download

compatible firmware before using the

controller

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 50

new.abb.com/motion

1166

erCOMPONENT_REG_F

AILED

Component registration failed

Check ActiveX

Controller (See MIL.h

(for Visual C++),

MIL.pas (for Delphi)

and MIL.bas (for VB)

for a complete list, in

the folder:

Windows XP:

C:\Program

Files\Mint

WorkBench\Include.

Windows 7:

C:\Users\Public\Docu

ments\Public

Mint\Examples\

Include)

ActiveX

Controller

1167

erNO_USB_DEVICES

Can't find any USB devices

1168

erNON_UNIQUE_NODE

_NUMBERS

Multiple devices with the same node ID

1169

erNODE_NOT_FOUND

Node not found

1170

erDEVICE_NOT_OPEN

Device not open, bad handle

1171

erMODBUS_PACKET_T

OO_BIG

Packet too big for protocol

1172

erMODBUS_PACKET_T

OO_SMALL

Packet too small for protocol

1173

erINVALID_FLASH_TYP

Flash type incorrect

1174

erINVALID_FLASH_BLO

Flash block invalid

1175

erINVALID_TEST_TYPE

Test type invalid

1176

erINVALID_PACKET_ID

Packet ID invalid

1177

erINVALID_SPI_DEVICE

SPI device invalid

1178

erINVALID_DOWNLOAD

_MODE

Download mode invalid

1179

erMODBUS_EXCEPTIO

Modbus exception

1180

erMB_ILLEGAL_FUNCTI

Modbus exception 1

1181

erMB_ILLEGAL_DATA_

ADDRESS

Modbus exception 2

1182

erMB_ILLEGAL_DATA_

VALUE

Modbus exception 3

1183

erMB_SLAVE_DEVICE_

FAILURE

Modbus exception 4

1184

erMB_EXCEPTION_ACK

Modbus exception 5

1185

erMB_SLAVE_DEVICE_

BUSY

Modbus exception 6

1186

erMODBUS_PACKET_S

YNC

Modbus protocol error

1187

erMODBUS_RX_PACKE

T_SIZE

Modbus packet size incorrect

1188

erMODBUS_WRITE_ER

ROR

Modbus packet not written

1189

erMODBUS_NODE_INV

ALID

Modbus node address incorrect

1190

erMODBUS_ARRAY_SIZ

E_INVALID

Modbus array size incorrect

1191

erMODBUS_RX_TIMEO

Modbus receive time-out

1192

erINVALID_INDEX

Index out of range

1193

erMODBUS_EMPTY_PA

CKET

Empty Modbus packet received

1194

erNOT_IN_BOOTBLOCK

_MODE

Cannot download bootloader

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 51

new.abb.com/motion

1195

erONLY_ONE_USB_DE

VICE_FOR_FIRMWARE

_UPDATE

Too many connections

Check ActiveX

Controller (See MIL.h

(for Visual C++),

MIL.pas (for Delphi)

and MIL.bas (for VB)

for a complete list, in

the folder:

Windows XP:

C:\Program

Files\Mint

WorkBench\Include.

Windows 7:

C:\Users\Public\Docu

ments\Public

Mint\Examples\

Include)

ActiveX

Controller

1196

erMB_EXCEPTION_PID

_ENCODING

Modbus exception

1197

erMB_EXCEPTION_PID

_UNKNOWN

Modbus exception

1198

erMB_EXCEPTION_WR

ONG_PACKET_TYPE

Modbus exception

1199

erMB_EXCEPTION_TOK

EN_CRC_ERROR

Modbus exception

1200

erMB_EXCEPTION_DAT

A_CRC_ERROR

Modbus exception

1201

erMB_EXCEPTION_TIM

EOUT_ERROR

Modbus exception

1202

erMB_EXCEPTION_BAB

BLE_ERROR

Modbus exception

1203

erMB_EXCEPTION_UNE

XPECTED_END_OF_PA

CKET

Modbus exception

1204

erMB_EXCEPTION_NAK

Modbus exception

1205

erMB_EXCEPTION_SEN

D_STALL

Modbus exception

1206

erMB_EXCEPTION_OVE

RFLOW

Modbus exception

1207

erMB_EXCEPTION_SEN

T_EMPTY_PACKET

Modbus exception

1208

erMB_EXCEPTION_BIT_

STUFF_ERROR

Modbus exception

1209

erMB_EXCEPTION_SYN

C_ERROR

Modbus exception

1210

erMB_EXCEPTION_WR

ONG_TOGGLE_BIT

Modbus exception

1211

erMB_EXCEPTION_REC

EIVED_LENGTH_ERRO

Modbus exception

1212

erMB_EXCEPTION_REC

EIVED_CRC_ERROR

Modbus exception

1213

erEND_OF_FILE

End of file found

1214

erUSB_PACKET_NUMB

ER_MISMATCH

Packet number wrong

1215

erNO_ICM_SUPPORT

No ICM support for fn

1216

erWRITE_FAILED

The operation failed

1217

erUSB_ONLY

Only supported over USB

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 52

new.abb.com/motion

1218

erADDRESS_TOO_LAR

GE_FOR_DEVICE

EE Address too large

Check ActiveX

Controller (See MIL.h

(for Visual C++),

MIL.pas (for Delphi)

and MIL.bas (for VB)

for a complete list, in

the folder:

Windows XP:

C:\Program

Files\Mint

WorkBench\Include.

Windows 7:

C:\Users\Public\Docu

ments\Public

Mint\Examples\

Include)

ActiveX

Controller

1219

erINCOMPATIBLE_PAR

AMETERS

Incompatible parameter

1220

erUSB_PORT_IN_USE

USB port in use

1221

erCANNOT_BUFFER_C

OMMAND

Cannot buffer command

1222

erCOMMAND_BUFFER_

FULL

Command buffer full

1223

erNO_COMMANDS_BU

FFERED

No commands buffered

1224

erCOM_SERVER_ERRO

Internal COM Error

1225

erINVALID_TABLE_NUM

BER

Invalid parameter table number

1226

erINVALID_DATATYPE

Invalid data type

1227

erUSB_DISCONNECT

USB communication failure

ABB Motion control products 53

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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...

See Error Event: ONERROR for other examples.

Code

Error

Cause

What to do

Where to

look?

No error

(_ecSUCCESS)

The Err keyword will return 0 if no

error has occurred.

No Action Required

N/A

Synchronous MML

error

(_ecMML_ERROR)

This is a generic error generated by

the MML when there is no more

specific information available.

Find cause in Mint program,

heck the Mint Terminal

Window for the error line, this

will direct the user to the

offending instruction

Mint Program

Axis specified out of

range

(_ecINVALID_AXIS)

The specified axis number is not

supported by the controller (e.g.

issuing SPEED(50) = 5000)

Amend the program to

address a valid axis number.

Single drives only accept

[CommandType](0)

Mint Program

Data specified out of

range

(_ecVALUE_OUT_O

F_RANGE)

The value assigned to the keyword is

outside the accepted range of values

for that keyword (e.g. MOVER(0) =

8388608)

Amend the program to use a

value that is within the valid

range.

Mint Program

Channel out of range

(_ecINVALID_CHAN

NEL)

The specified channel parameter is

not supported by the controller (e.g.

DAC(2000) = 35). Other examples;

Analog input channels/ Analog

output channels/ Encoder channels/

Temperature channels/ digital input

channels/ CamBox channels…

Amend the Mint program to

use a valid channel.

Mint Program

No digital input

assigned

(_ecNO_INPUT_SP

ECIFIED)

The requested function references a

digital input that hasn't been

assigned.

Check configuration or Mint

program for errors. For

example, homing mode

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/

Mint Program

Configuration

No digital output

assigned

(_ecNO_OUTPUT_S

PECIFIED)

The requested function references a

digital output that hasn't been

assigned.

Check Mint program for

errors. For example,

COMPAREENABLE(1)=

_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).

Mint Program

Configuration

ABB Motion control products 54

new.abb.com/motion

Code

Error

Cause

What to do

Where to

look?

Digital input specified

out of range

(_ecINVALID_INPUT)

A digital input has been specified

that is not supported by the controller

Check configuration or Mint

program for errors. e.g. using

INX(yy) where yy is beyond

the values available in the

controller.

Mint Program

Configuration

Digital output

specified out of

range

(_ecINVALID_OUTPUT

)

A digital output has been specified

that is not supported by the

controller.

Check configuration or Mint

program for errors. e.g. using

OUTX(yy) where yy is

beyond the values available

in the controller.

Mint Program

Configuration

Not enough heap

memory for operation

(_ecOUT_OF_MEM

ORY)

The controller has run out of

dynamically allocated memory.

Reduce the amount of

memory used. The following

actions can reduce the

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

Mint Program

Configuration

Action not possible

when axis in motion

(_ecMOTION_IN_PR

OGRESS)

This error is caused by writing to a

motion keyword while the axis is in

motion.

Check the current

AXISMODE is suitable for

issuing the next keyword. If

this occurs at the end of a

move try 'Pause(IDLE) '

before issuing the next

command.

Mint Program

Configuration

Incorrect axis

configuration

(_ecAXIS_NOT_RIG

HT_TYPE)

This error is caused by writing to a

keyword that is not supported by the

configuration (CONFIG) of this axis

(e.g. writing a value for KPROP to an

axis configured as _cfSTEPPER).

Amend the Mint program to

either remove the invalid

command or change the axis

configuration as required

Mint Program

Configuration

Axis is in error

(_ecMOTION_ERROR)

This error is caused by writing to a

motion keyword whilst the axis is in

error.

Read the error list for axis

errors to determine which

motion errors are present.

Improve the Mint program so

that motion commands are

not attempted whilst the axis

is in the error state

Mint Program

Configuration

Table data incorrect

or missing

(_ecTABLE_ERROR)

An error exists in a spline or cam

table.

Ensure that SPLINESTART

(or CAMSTART) and

SPLINEEND (or CAMEND)

are valid segment values

before setting the

SPLINETABLE (or

CAMTABLE). Check that the

MASTERDISTANCE table

does not specify any zero

distance values.

Mint Program

Configuration

Incorrect ADC

channel setup

(_ecCHANNEL_NOT

_RIGHT)

This error is caused when a function,

for example HTACHANNEL,

references an analog input that is

configured as off - see ADCMODE

Ensure that the analog input

is available and configured

correctly before attempting to

use it.

Mint Program

Configuration

ABB Motion control products 55

new.abb.com/motion

Code

Error

Cause

What to do

Where to

look?

Keyword not

supported on this

platform

(_ecWRONG_PLAT

FORM)

A keyword has been used that is not

supported by this controller, even

though it may be supported by other

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.

Amend the program to only

use supported keywords

Mint Program

Configuration

DB Error

(_ecDB_ERROR）

DB Error

If this problem occurs, please

contact ABB Technical

Support

Hardware

Hardware not

present

_ecINVALID_HARD

WARE

Hardware which is referenced in

configuration or Mint program is not

present

Check configuration and Mint

Program

Hardware

Configuration

Port value is out of

range

(_ecTERMINAL_OU

T_OF_RANGE)

This error is caused when the

specifed terminal has not been

associated as a BaldorCAN

KeypadNode

Check configuration or Mint

program for errors. E.g.

check if it has not been

assigned, see

TERMINALDEVICE, or the

maximum number of

KeypadNodes (four) have

already been added to the

bus.

Mint Program

Configuration

Non-volatile data

corrupted

(_ecNON_VOLATILE

_MEMORY_ERROR

)

An error accessing EEPROM or

NVRAM data has occurred. This

could occur if the controller was

power-cycled during a write

operation to the EEPROM or

NVRAM. If this error occurs during

normal operation there may be a

fault in the device, possibly due to it

reaching its maximum number of

write cycles (see EEPROM

memory).

Use NVRAMDEFAULTS to

reset memory. Check for

correct earthing/shielding of

the control system (electrical

noise can corrupt these

memory devices). If the

earthing/shielding is correct

and the problem reoccurs

then the controller will need

replacing

Mint Program

Configuration

Terminal Buffer is full

(ecTERMINAL_BUF

FER_FULL)

Terminal Buffer is full

Bit 0 of TERMINALMODE

can be used to turn off

handshaking, allowing further

characters to be sent to the

port even when the buffer is

full

Mint Program

Configuration

Axis is not enabled

(_ecDRIVE_DISABL

ED)

This error is caused by trying to start

a move while the axis is disabled.

In a program, use

DRIVEENABLE to enable the

axis. In Mint WorkBench ,

click the clear errors button,

then click the drive enable

button.

Mint Program

Configuration

File too big

(_ecFILE_TOO_BIG)

The program is too big for the

available memory.

See Mint WorkBench help

section "Reducing program

size"

Mint program

ABB Motion control products 56

new.abb.com/motion

Code

Error

Cause

What to do

Where to

look?

Move buffer full

(_ecMOVE_BUFFER

_FULL)

The move cannot be loaded into the

move buffer because it is full. The

move buffer becomes full when

several move statements have been

issued, but the moves have not been

triggered by a GO statement (or

other triggering method, see Move

buffer and GO).

Note: This error cannot be captured

by a Mint program, but it is returned

to an ActiveX host and is transmitted

within fieldbus response telegrams.

Try increasing the size of the

move buffer (e.g.

MOVEBUFFERSIZE(0) = 30)

or checking that there are the

required number of segments

free before loading the next

moves into it (e.g. If

MOVEBUFFERFREE(0) > 1

Then LoadNextMove)

Mint program

Function not

available

(_ecMML_NOT_SUP

PORTED)

A keyword has been used that is not

supported by this controller, even

though it may be supported by other

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.

Remove unsupported

Function from the Mint

Program

Mint program

Action not possible in

current mode

(_ecINVALID_MODE)

This error occurs when attempting to

change CAMBOXDATA while the

associated CAMBox is enabled.

The CAMBox must be

disabled before changing its

data.

Mint program

Invalid Master

Channel

(_ecINVALID_MAST

ER_CHANNEL)

A master/slave move has been

configured so that it is trying to follow

itself, for example:

MASTERSOURCE(0) = _msPOS

MASTERCHANNEL(0) = 0

FOLLOW(0) = 1

Amend mint program.

Mint program

Action not allowed in

this Axis Mode

(_ecINVALID_AXISM

ODE)

This error occurs when trying to load

a move type that is not compatible

with the current AXISMODE For

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.

Amend Mint program

Mint program

Capture in progress

(_ecCAPTURE_IN_P

ROGRESS)

It is not possible to upload capture

data to the host application whilst

data is still being captured.

Read the status of

CAPTUREMODE to test for

the _cpIDLE condition (41)

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

Mint Program

Configuration

ABB Motion control products 57

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Code

Error

Cause

What to do

Where to

look?

Hardware channel

required is in use

(_ecCHANNEL_IN_

USE)

This error is caused when attempting

to use a keyword (e.g. DAC) to

access a hardware channel that is

already assigned to another purpose

(e.g. as a servo axis demand

output), or when attempting to assign

the same combination of

LATCHSOURCE ,

LATCHSOURCECHANNEL and

LATCHTRIGGERCHANNEL to more

than one latch channel (see

Latching).

Use the Mint WorkBench

System Config Wizard to

study the existing hardware

configuration and either

adjust the hardware

configuration or amend the

Mint program

Mint Program

Configuration

Action not possible

when axis is enabled

(_ecDRIVE_ENABLE

This error is caused by trying to

change the configuration of an axis

while it is still enabled.

In Mint WorkBench, click the

drive enable button to disable

the axis. In a program, use

the DRIVEENABLE keyword

to disable the axis.

Mint Program

Configuration

Output is already in

use

(_ecOUTPUT_IN_U

SE)

This error is caused by trying to use

a digital output that has already been

assigned to another purpose, such

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.

Amend Mint program

Mint Program

Configuration

Invalid capture

channel mix

(_ecCAPTURE_CHA

NNEL_MIX)

This error is caused by trying to

perform data capture (e.g. with

CAPTURE or

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

Correct the Capture Channel

Configuration

Mint Program

Configuration

Invalid variable type

for Remote Object

(_ecINVALID_VAR_

TYPE)

This error is caused when specifying

the incorrect variable type parameter

to the REMOTEOBJECT keyword

(e.g. the remote object may be

expecting a signed 8-bit integer and

the user specifies an unsigned 16 bit

integer)

Amend Mint Program. Refer

to manufacturer's

documentation for object

dictionary definition. See Mint

Workbench help for

REMOTEOBJECT for valid

data types.

Mint Program

Configuration

112

Parameter is read

only

(_ecREAD_ONLY)

This error occurs when attempting to

use ERRORCODEENABLE to

disable a read-only error (axis errors

10000- 19999 and controller errors

30000-39999).

Action not possible

Mint

Workbench

124

Mint program not

found

(_ecOBJECT_NOT_FO

UND)

No Mint object (e.g. program) exists.

Check Mint program is

downloaded.

Mint

Workbench

ABB Motion control products 58

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Code

Error

Cause

What to do

Where to

look?

125

A Mint program is

already running

(_ecMINT_PROGRA

M_RUNNING)

This error is caused if a program is

already running on the controller

when a host application issues a

DoMintRun command (or a

DoMintCommand /

DoMintCommandEx command). It

makes no difference whether the

currently running program was

started from the host application or

from within Mint WorkBench.

In the host application, use

the MintExecuting function to

test for a running program

before using a DoMintRun,

DoMintCommand, or

DoMintCommandEx

command. To stop the

currently running program,

click the stop button in Mint

WorkBench.

Mint

Workbench

126

The Mint command

is invalid

(_ecINVALID_MINT_

COMMAND)

This error will be returned to an

ActiveX host application if it attempts

to access Mint status information

that is not valid for the controller.

Amend ActiveX Program.

See Mint Workbench Help:

MintStatus /

MintExtendedStatus .

Mint

Workbench

132

Host busy

(_ecICM_HOST_BU

SY)

The controller has tried to signal an

event to a host application, but the

host has not acknowledged this

event

Check operation of the host

application. Power cycle. If

error persists, contact ABB

Technical Support

Mint Program

Configuration

133

Invalid platform code

(_ecINVALID_PLATF

ORM_CODE)

This occurs when a Mint executable

compiled for a specific controller type

or target format is downloaded to a

different controller or the correct type

of controller running firmware that

supports a different target format (i.e.

earlier or later firmware)

If the correct controller type is

being used check if it is

installed with the correct

firmware version. If firmware

is not available, then

recompile the Mint source

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.

Mint Program

Configuration

134

Invalid image format

(_ecINVALID_IMAG

E_FORMAT_CODE)

This occurs when a Mint executable

is downloaded to a controller that

was compiled for a different

controller type.

Amend Mint program This

error condition should only be

possible when using a means

other than Mint WorkBench to

download a program to the

controller.

Mint Program

Configuration

142

Move buffer is not

empty

(_ecMOVE_BUFFER

_NOT_EMPTY)

This occurs when trying to restore

the move buffer from a backup

(using MOVEBUFFERBACKUP), but

the buffer is not empty, or the axis is

not idle.

Amend Mint program, the

buffer is cleared when the

axis is disabled, unless

DRIVEDISABLEMODE has

been used to change this

behavior. Use the IDLE

keyword to test for the axis

being idle.

Mint Program

143

Incorrect control

mode

(_ecINCOMPATIBLE

_CONTROL_MODE)

This occurs when trying to use a

command that is not valid in the

existing control moDE

Amend Mint program

Mint Program

144

Static variable not

found

(_ecVARIABLE_NOT

_FOUND)

This error will be returned to an

ActiveX host application if it attempts

to use DoDataFileDownload ,

DoDataFileUpload or VariableData

when the specified variable is not

present.

Amend ActiveX Program.

ActiveX

ABB Motion control products 59

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Code

Error

Cause

What to do

Where to

look?

145

Invalid handle for

static variable

(_ecINVALID_STATI

C_HANDLE)

If the static handle wasn't found,

then return an error

Amend ActiveX Program.

ActiveX

146

Invalid chunk

specified for static

(_ecINVALID_STATI

C_CHUNK)

Invalid chunk specified for static

Amend ActiveX Program.

ActiveX

147

Static data overrun

(_ecSTATIC_DATA_

OVERRUN)

This error will be returned to an

ActiveX host application if it attempts

to use DoDataFileDownload or

VariableData when the specified

array is not large enough to contain

the data.

Amend ActiveX Program.

ActiveX

148

Static data underrun

(_ecSTATIC_DATA_

UNDERRUN)

This error will be returned to an

ActiveX host application if it attempts

to use DoDataFileDownload or

VariableData when the specified

array is larger than the amount of

received data.

Amend ActiveX Program.

ActiveX

149

Incorrect Ref Source

(_ecINCORRECT_R

EF_SOURCE)

Reference source is not Host when

trying to set a speed ref using Mint

keyword

Amend ActiveX Program.

ActiveX

151

Phase search is in

progress

(_ecPHASE_SEARC

H_RUNNING)

This error occurs when trying to

update a phase search parameter

(PHASESEARCH...) while a phase

search is in progress.

Wait for Phase search to

finish

Mint Program

162

Knife handler not

installed

(_ecKNIFE_HANDLE

R_NOT_INSTALLED

)

This error occurs if a KNIFE move is

loaded but a knife event has not

been created.

Correct configuration or Mint

Program. The knife event is

called at each knife lift point,

so it must be present in the

program.

Mint Program

163

Knife axes not

configured

(_ecKNIFE_AXES_N

OT_CONFIGURED)

This error occurs if a KNIFE move is

loaded but the master axis has not

been specified.

Correct configuration or Mint

Program. Before issuing the

first KNIFE command, use

KNIFEAXIS to associate the

knife rotation axis to the

master axis of the vector

move.

Mint Program

167

Too many tasks in

Mint program

(_ecTOO_MANY_TA

SKS)

This error should not normally occur,

as it is only caused if a program

specifies more than 65535 tasks.

Correct Mint program if there

are more than 65535 tasks. If

there aren't then either there

is a problem with the Mint

compiler, or the controller is

faulty.

Mint Program

179

File handle is not

valid

(_ecFILE_HANDLE_I

NVALID)

File handle is not valid.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

180

File does not exist

(_ecFILE_NOT_FOU

ND)

File does not exist.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

181

File is in use

(_ecFILE_IN_USE)

File is in use.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

ABB Motion control products 60

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Code

Error

Cause

What to do

Where to

look?

182

Attempting to store

too many files

(_ecTOO_MANY_FI

LES)

Attempting to store too many files.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

183

File has the wrong

type

(_ecFILE_TYPE_INC

ORRECT)

File has the wrong type.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

184

Too many files open

(_ecTOO_MANY_FI

LES_OPEN)

Too many files open at once.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

185

Problems writing to

file

(_ecFILE_WRITE_IN

VALID)

Problems writing to file in flash.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

186

Problems reading

from file

(_ecFILE_READ_IN

VALID)

Problems reading from file in flash.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

188

Unable to assign

software resource

(_ecRESOURCE_U

NAVAILABLE)

Unable to assign software resource.

If problem persists, replace

controller or memory unit if

the controller has one

Hardware

189

Unrecognized index

of object

(_ecINVALID_OBJE

CT_INDEX)

Invalid Object Dictionary index. The

specified object does not exist in the

object dictionary of the target device

Amend Mint program or PLC

application

Mint program

190

Sub-index out of

range for object

(_ecINVALID_OBJE

CT_SUBINDEX)

Invalid Object Dictionary subindex.

The specified sub-index of the object

does not exist in the object dictionary

of the target device

Amend Mint program or PLC

application

Mint program

194

Failed to receive

reply in time

(_ecEPL_TIMEOUT)

Failed to receive a reply in time.

Check DCF file (create a new

one if necessary). Close Mint

Machine Centre if in use.

Check EPL hardware

connections. Try to ensure all

redirected Mint calls are in a

single program task.

Mint Program

/ Hardware

195

Axis will not accept

remote commands

(_ecAXIS_NOT_IN_

REMOTE_MODE)

Axis will not accept remote

commands. This can occur if axis

PDOs are not operational (see

REMOTEPDOVALID), axis PDOs

are not yet ready (see

AXISSTATUSWORD), or

CONTROLREFSOURCE and/or

CONTROLREFSOURCESTARTUP

is not set to 1

(_crsRT_ETHERNET_402).

Amend Mint Program. Ensure

the "doInitialiseEPL" routine

from the Mint library is

included. Ensure all remote

axes are configured to startup

in Real time Ethernet mode

Mint Program

Configuration

ABB Motion control products 61

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Code

Error

Cause

What to do

Where to

look?

196

System must be

disabled

(_ecSYSTEM_ENAB

LED)

This error occurs when attempting to

use the command window or a

program to set a parameter that is

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.

Use the System Config

Wizard to make changes to

the axis configuration.

Configuration

197

No position encoder

has been assigned

(_ecINVALID_POS_

ENCODER)

No position encoder has been

assigned.

Use AXISPOSENCODER to

specify a position encoder

Configuration

198

No velocity encoder

has been assigned

(_ecINVALID_VEL_E

NCODER)

No velocity encoder has been

assigned.

Use AXISVELENCODER to

specify a position encoder

Configuration

199

No DAC has been

assigned

(_ecINVALID_DAC)

No DAC has been assigned. A servo

axis (using an analog drive) has

been configured but a DAC channel

has not been assigned to use with

this axis

Correct configuration in DCF

file

Configuration

200

No pulse/dir output

has been assigned

(_ecINVALID_PDOU

TPUT)

A stepper axis has been configured

but the associated step and direction

output channel has not been

specified

Correct configuration in DCF

file

Configuration

201

A redirect call is

already in progress

(_ecREDIRECT_IN_

PROGRESS)

A redirect call is already in progress.

Check the Mint program is

not making redirected calls

via multiple tasks. Close Mint

Machine Centre if it's in use

Mint Program

202

Invalid Object

Dictionary access

(_ecINVALID_OBJE

CT_ACCESS)

Invalid Object Dictionary access.

Correct configuration / Mint

Program

Configuration

203

Move is not

supported by remote

profiler

(_ecMOTION_TYPE_N

OT_SUPPORTED)

Move is not supported by remote

profiler. The controller has attempted

to issue a move type that is not

supported by the remote drive

Use an alternative

(supported) move type. If

necessary, the remote axis

may need to be configured as

manager profiled rather than

controlled node profiled (e.g.

Cyclic Sync Position instead

of Profiled Position)

Mint

Program/

Configuration

204

Unable to pend event

(_ecUNABLE_TO_P

END_EVENT)

On older firmware versions, this error

will occur if DPREVENT is used

while there is still an event pending

from its previous use.

Check Mint program. Use

EVENTPENDING to check

for the presence of a pending

event. More recent firmware

versions handle multiple calls

to DPREVENT; see DPR

Event: DPR .

Mint Program

205

Update rate not

compatible with

profiler

(_ecINCOMPATIBLE

_UPDATE_RATES)

Update rate not compatible with

profiler.

Amend DCF configuration file

Configuration

ABB Motion control products 62

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Code

Error

Cause

What to do

Where to

look?

206

Axis is not in a frame

(_ecAXIS_NOT_IN_

A_FRAME)

Axis is not in a frame. Ensure the

axes being used for coordinated

moves are all manager profiled

Amend DCF configuration file

Mint Program

207

Axes are not all in

the same frame

(_ecAXES_NOT_IN_

SAME_FRAME)

This error occurs if the master axis

used in a multi-axis move is

changed. For example, issuing

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.

Amend Mint program

Mint Program

213

Bank specified out of

range

(_ecINVALID_BANK)

Bank parameter is out of range. The

program has tried to access a bank

that has not been defined (e.g.

OUT(3) = 24 would cause this error if

bank 3 did not exist)

Check Mint Program and

Configuration File

Mint Program

Configuration

218

Motor brake is

engaged

(_ecMOTOR_BRAK

E_ENGAGED)

Cannot execute a move while the

motor brake is engaged.

Check Mint Program and

Configuration File. When

using automatic brake

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.

Mint Program

219

Capture not running

(_ecCAPTURE_NOT

_IN_PROGRESS)

This error occurs if

CAPTURETRIGGER is issued when

a capture is not running.

Check capture is armed and

waiting to be triggered before

issuing Capturetrigger

Mint Program

220

Capture not waiting

for trigger

(_ecCAPTURE_NOT

_WAITING_FOR_TR

IGGER)

This error occurs if

CAPTURETRIGGER is issued when

the capture in progress does not

require a trigger (i.e. pre-triggered

capture is not being used).

Amend Mint program

Mint Program

222

The data cannot be

mapped into the

PDO

(_ecPDO_MAPPING

_ERROR)

The data object(s) cannot be

mapped into the PDO, as either the

object is not PDO mappable or the

number and length of objects to be

mapped is too great.

Check DCF file

Configuration

ABB Motion control products 63

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Code

Error

Cause

What to do

Where to

look?

223

The data cannot fit

into an ICM telegram

(_ecICM_TELEGRA

M_OVERFLOW)

The data cannot fit into an ICM

telegram.

If a host application is in use

and doMultipleCommands is

used, then reduce the

number of encapsulated calls

Host

application

225

Warning during

parameter

application

(_ecPARAM_APPLI

CATION_WARNING)

Parameter application warning.

Occurs when downloading a

parameter table to an e100 drive, if a

parameter in the table was not

supported by the drive or that

instance of the parameter did not

exist.

Check parameter table. This

error occurs when either:

• The argument list of a

parameter update contains

more than 2 parameters.

• The value list of a

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).

Configuration

234

Power ready

configuration

incorrect

(_ecPOWER_READ

Y_CONFIG_WRON

Occurs when an attempt is made to

assign the POWERREADYINPUT /

POWERREADYOUTPUT to an

input/output with an incorrect

configuration (e.g. INPUTMODE,

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.

Check Mint Program and

Configuration File

Mint Program

Configuration

236

Axis is stopping,

cannot load move

(_ecSTOP_IN_PRO

GRESS)

This error will be returned if an

attempt is made to issue (load)

another moves when the axis is

stopping. This can occur is a

CANCEL or STOP is issued whilst

the axis is stopping or processing a

CANCEL already, so be aware it

does not just apply to moves.

Amend Mint program. The

axis must be idle before

another move can be issued -

use PAUSE IDLE (0)) to

check for this condition

Mint program

246

Event not

present/installed

(_ecEVENT_NOT_P

RESENT)

Event not present/installed

Amend Mint program.

Mint

program

247

Event not supported

(_ecEVENT_NOT_S

UPPORTED)

Event not supported

Amend Mint program.

Mint

program

ABB Motion control products 64

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Code

Error

Cause

What to do

Where to

look?

251

Channel is mapped

(_ecCHANNEL_IS_

MAPPED)

This error will be returned if an

attempt is made to set an analog

output (DAC) when the output value

is already mapped to (being

controlled by) an enabled process

data object PDO.

Check Mint program or

Parameter file.

Mint Program

Configuration

252

Network error

occurred during

access

(_ecMBC_NETWOR

K_ERROR)

This Modbus error corresponds to

Modbus exception code -1 and will

be returned if any of the socket

operations failed. This can happen if

a server does not exist or a TCP

connection is closed during a

transaction. A response time-out will

also cause this error.

Check operation of the

remote Modbus TCP device.

Try increasing the Modbus

TCP timeout for the client via

the Configuration page in

Workbench. Check Ethernet

connections

Configuration

/ Hardware

253

Parameter error

occurred during

access

(_ecMBC_PARAME

TER_ERROR)

This Modbus error corresponds to

Modbus exception code -2 and

occurs if an invalid parameter is

supplied to the read or write function.

For example, issuing a Modbus

command and specifying a server ID

that does not exist.

Check configuration file.

Configuration

254

Protocol error

occurred during

access

(_ecMBC_PROTOC

OL_ERROR)

This Modbus error corresponds to

Modbus exception code -3 and

occurs if the Modbus server returns

an unexpected result. This can

happen if the server is not a Modbus

server or there is a problem with the

Modbus implementation on the

server.

Check Ethernet connections.

Check operation of remote

Modbus device

Hardware

255

Illegal function

exception

(_ecMBC_ILLEGAL_

FUNCTION)

This Modbus error corresponds to

Modbus exception code 1 and

occurs if the function code received

in the query is not recognized or

allowed by slave.

Check which Modbus

functions are supported by

the remote device and amend

Mint program to only use the

allowed commands

Mint program

256

Illegal data address

exception

(_ecMBC_ILLEGAL_

ADDRESS)

This Modbus error corresponds to

Modbus exception code 2 and

occurs if the data address of some or

all the required entities are not

allowed or do not exist in the slave.

Amend Mint program so it

does not address invalid

Modbus registers

Mint program

257

Illegal data value

exception

(_ecMBC_ILLEGAL_

VALUE)

This Modbus error corresponds to

Modbus exception code 3 and

occurs if the value is not accepted by

the slave.

Amend Mint program so it

does attempt to write an out

of range Modbus register

address on the server device

Mint program

258

Slave device failure

exception

(_ecMBC_SLAVE_FAI

LURE)

This Modbus error corresponds to

Modbus exception code 4 and

indicates that an unrecoverable error

occurred while the slave was

attempting to perform the requested

action.

Check Ethernet connections.

Check operation of remote

Modbus device

Hardware

Code

Error

Cause

What to do

Where to

look?

ABB Motion control products 65

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259

General Modbus

client error

(_ecMBC_GENERAL

)

This error occurs if any other type of

Modbus error (exception codes -5, -

4, 5, 8, Ah, Bh) occurs.

Check configuration file. For

example, a state error or

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.

Configuration

260

Slave device busy

exception

(_ecMBC_SLAVE_B

USY)

This Modbus error corresponds to

Modbus exception code 6 and

occurs if the slave is still busy

processing a previous command.

Amend Mint program to

reduce the amount of

Modbus calls being made to

the server device

Mint program

ABB Motion control products 66

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Parameter errors

These errors are assigned unique numbers in the range 6000-6999.

Code

Error

Cause

What to do

Where to look?

6001

Parameter value out of range

(_ecPARAM_VALUE_OUT_OF_RANGE)

The value supplied

for the parameter is

out of range.

The value you have entered

or that is stored in the

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

Firmware or

Parameter file

6004

Parameter definition has changed

(_ecPARAM_DEFINITION_ERROR)

The specified

parameter exists,

but its definition has

changed.

Check the latest

documentation for the

parameter.

Parameter file

or user action

ABB Motion control products 67

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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...

See Error Event: ONERROR for other examples.

Code Error Cause What to do Where

to look?

3100 Division by zero

(_ecDIVIDE_BY

_ZERO)

This occurs when the denominator of a division is

zero.

Rerun program and check

Mint Workbench's Terminal

window for the location of

the error, correct it then

redownload Mint Program

Mint

Code

3101

Invalid argument

(_ecINVALID_A

RGUMENT)

This occurs when an invalid argument is supplied

to an intrinsic function, for example: Dim a = -50

Print Log(a)

3102

Stack overflow

(_ecSTACK_OV

ERFLOW)

This usually occurs when a subroutine or function

is called that allocates an array too large to fit in

the remaining memory, or when a recursive

function does not terminate before the internal

stacks run out of free memory. It might also occur

if an expression is too complex, or when a string

is pushed onto the stack (either directly, from

casting a value to string, converting a string to a

reference, or using ErrStr).

This error is 'fatal' and will

not call the ONERROR

event. So you will need to

DeBug the Mint Program

manually to find the

location of the error in the

program

Mint

Code

3103

Index out of

range

(_ecINDEX_OU

T_OF_RANGE)

This occurs when an index outside the range of

the declaration is used. An example of this is: Dim

a(-5 To 5) : a(6)=0 This error is 'fatal' and will not

call the ONERROR event.

Rerun program and check

Mint Workbench's Terminal

window for the location of

the error, correct it then

redownload Mint Program

Mint

Code

3104 Integer out of

range

(_ecINTEGER_O

UT_OF_RANGE)

This occurs when a floating-point value is cast to

an integer using Int() or Round() , but the value is

outside the range -2147483648 to 2147483647.

3105

Bank out of

range

(_ecBANK_OUT

_OF_RANGE)

This occurs when the bank is set to a value

outside the range of banks supported by the

controller.

3106 Bus out of range

(_ecBUS_OUT_

OF_RANGE)

This occurs when the bus is set to a value outside

the range of buses supported by the controller.

3107 Axis out of

range

(_ecAXIS_OUT_

OF_RANGE)

This occurs when a specified axis number is

outside the range of axes supported by the

controller.

3108

Stack underflow

(_ecSTACK_UN

DERFLOW)

This occurs when a Return statement is

encountered that was not called with GoSub

(obsolete). This error is 'fatal' and will not call the

ONERROR event.

3109

String overflow

(_ecSTRING_O

VERFLOW)

This occurs when a string is assigned more

characters than its declared length. The default

length for a string variable is 64 characters, unless

a different value is specified using a Dim

statement.

ABB Motion control products 68

new.abb.com/motion

Code

Error

Cause

What to do

Where

to look?

3110

Error registers

not enabled

(_ecERROR_R

EGS_NOT_PRI

MED)

The Erl , Err , ErrAxis , ErrStr keywords are not

normally supported on products with Ethernet but

are not enabled.

If required, these keywords

must be enabled by setting

the run-time error registers

(ErrorRegs) option to 2,

which will prevent this

error. Rerun program

Mint

Code

3111

Evaluation error

(_ecEVAL_ERR

OR)

This occurs when the Eval function cannot

evaluate the supplied expression.

Rerun program and check

Mint Workbench's Terminal

window for the location of

the error, correct it then

redownload Mint Program

Mint

Code

3112

MVM out of

memory

(_ecMVM_OUT

_OF_MEMORY)

There is not enough memory to initialize the Mint

program. Try reducing the size of the program by

removing code and variables.

Rerun program and check

Mint Workbench's Terminal

window for the location of

the error, correct it then

redownload Mint Program

Mint

Code