Baumuller Error No. 512

Redundancy case in the cross-communication

The SDC has Phase 0 in the cross-communication ring and can receive master-sync telegrams.

Phase start is however, not possible as the cross-communication master is in Phase 4. Error 512 is only generated if cross communication is desired, i.e. if:

ID1102 "VL-Mode", Bit5 = 1 and 

ID1109 "VL-Inter_Section" = 1 

Signal to primary control by: Setting the error bit in VL status. Output of the error number. Acknowledge after error correction:

Source And Remedy

Reset or short-term voltage failure at the SDC
Identifier
ID1005 "SIS-Phase[Axle = 2]" = 0 and 
ID257 "optical fibre distortion[Axle = 2]" < 70%
With SDC 3.02 as master: 
ID1055 "SIM-Phase[Axle = 2]" = 402
At MLC 3.02 as master: 
ID2431 "SIMx Phase[Axle = Ring-No.] = 402 Restart the cross-communication, i.e.: 
At SDC 3.02 as master: 
Overwrite ID1058 "SIM-Slave-Number[Axle= 2]" with the same value. 
At MLC 3.02 as master: 
Describe ID2533 "ML Ring-command[Axle= Ring No.]" with the value 1. 
Wrong number of slaves

Identifier
At SDC 3.02 as master: 
Check the ID1055 "SIM-Phase[Axle = 2]" = 001
for MLC 3.02 as master: 
Check the ID2429 "SIMx SlaveNumber[Axle= Ring No.] 
The value does not equal the number of cross communication slaves. At SDC 3.02 as master: 
Correct and save ID1058 
with MLC 3.02 as master: 
Correct and save 
ID2501 "ML Member 1[Axle = Ring No.] to 
ID2532 "ML Member 32[Axle = Ring No.] 

Baumuller Error No. 132

Offset of the analog position differs by more than one sector

          The error message is triggered by the pick-up monitoring module if the offset monitoring of the analog position is active and the offset of the analog position has changed by more than one sector. Offset monitoring of the analog position is activated by bit 11 in the parameter ID280 "G-Mon.Command Ax" and can trigger a fatal error if bit 11 is also set in the parameter ID282 "G-Mon.error_mask".

          The positional information of a SINCOS rotary encoder is coded with the help of an analog sinus and an analog cosine track (a sine/cosine period equals one PPR). The angle within a stroke period is calculated as follows:
Angle = arc tan (measured sine value/measured cosine value).

          The track signals are used in the main processor (DSP) to continuously calculate the position. Positional information from the track signals is also formed in a register of the CPLD (A1) within the pick-up evaluation of the drive controller. The analog positions of the two separate pick-up signal evaluations are continuously compared with each other. As the CPLD register is reset to zero at the time a rotary encoder is activated, an offset arises between the analog position (i.e. the calculated position in the DSP) and the position value in the CPLD register, which depends on the current position on activation of the rotary encoder. This offset value is calculated on initialisation of the rotary encoder and is displayed in parameter ID2345 (“Analog Offset [Ax]“).

         The error is triggered if the offset changes by more than one sector, i.e. more than 90° related to a signal period. The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill.
         Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.
The error can be acknowledged from the control centre after the cause of the error has been corrected.

Source And Remedy 

If the error occurs repeatedly, 
the rotary encoder or the pick-up lead may be defective, 
the M drive may be defective 
Check the pick-up lead for correct plugged connections, intact signal leads and functioning shielding.
If necessary, replace the controller cassette or the rotary encoder.

Baumuller Error No. 7

Link/activate module error

A program module was found to be missing on starting the controller software program. This error is used for diagnosis during software development. The error does not occur during operation.

The controller software is not started correctly. The drive controller cannot be released.

Source and Remedy 
The controller software was wrongly generated or saved. Replace the controller software. 

Baumuller Error No. 6

 Link/activate module error

Initialisation of part of a program incorrectly terminated on starting the controller software program. This error is used for diagnosis during software development. The error does not occur during operation.

The controller software is not started correctly. The drive controller cannot be released.

Source and Remedy 
The controller software was wrongly generated or saved. Replace the controller software. 

Baumullar Error No. 37

Axle is overloaded (overcurrent)/Motor I2t monitoring 

The error is triggered if the current motor current is continuously larger than the motor’s rated current. This monitoring protects the motor from thermal overload. It is based on a thermal motor model. Monitoring is activated via the parameter ID43 'Overload Ax_Mask'. The overload threshold is specified in parameter ID44 'Overload [Ax]'. Parameter ID45 'Number Overload [Ax]' specified how many remaining time cycles the overload threshold has to pass in order for an error message to be triggered. The length of the remaining time cycles is not a fixed period and is highly dependent on the processes currently running in the main processor (DSP). The duration of the remaining time cycles can be read out via the parameter ID8 "remaining time".

The error is triggered if the I2t value ID59 "Monit.Motor I2t value" reaches the limit value entered in parameter ID58 "Mon.M. I2t threshold". The I2t value is a measure of the thermal motor load with respect to the nominal values. The I2t value is initialised by the motor temperature measured via the motor temperature sensor (KTY sensor). The error is signalled to the primary control. If the primary control switches the drive controller off, renewed release of the drive controller is prevented until the cause of the error is corrected and the error acknowledged.

Source and Remedy 
All malfunctions, which in some way or other result in the motor temperature value being too high can trigger the error if I2t monitoring has activated (even during deactivated releases). Check the KTY motor temperature sensor, check the connection lead, if the motor is cold check the displayed motor temperature ID1682 "MT temperature" (ambient temperature expected). 
A defective KTY sensor can lead to incorrect initialisation of the I2t value. Check the KTY sensor and KTY sensor cable and replace if necessary. 
Incorrect parameterisation of the I2t monitoring. Check the parameter ID469 "Nominal field current", ID470 "Nom.Mom.Strom", ID468 "Field current", ID462 "Max.Mom.Current", ID57 
"Motor time constants", ID58 "Mon.M. threshold". 
The motor is mechanically overloaded. Check mechanical load and reduce if possible. Malfunctions in the motor commutation or in the actual position 
acquisition (rotary encoder) can lead to malcommutation. This can cause a sharp rise in power demand. 
Carry out BA22 stop angle run and ensure that the drive can freely rotate. 
Check actual position acquisition, i.e. (absolute) rotary encoder and parameterisation of the pick-up evaluation, replace rotary encoder if necessary.

Baumuller Error No. 565

Power section fault current / earth fault monitoring

The ready for service of the power section is monitored in the M drive during software controller release. The earth fault current of the power section is monitored in order to detect a motor earth fault. The error message is generated if the fault current exceeds 20% of the permissible peak current of the power section. The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Source and  Remedy 
The earth-fault can occur in the motor, in the motor cable or in the brake resistor resp. its incoming cable. Find defective device and replace it.

Baumuller Error No. 120

Maximum signal amplitude exceeded

The error is triggered by the pick-up monitoring module if the amplitude of the rotary encoder tracking signals (sin/cos signals) are larger than the limit value given in parameter ID285 "G-Mon.maxValue[Ax]. Monitoring is activated by bit 0 in the parameter ID280 "G-Mon.Command Ax" and can trigger a fatal error if bit 0 is set in the parameter ID282 "G-Mon.error_mask".

The limit value ID284 is set automatically if bit 1 is activate in parameter ID280 "G-Mon.Command Ax". Sin/cos signals with over-large amplitudes lead to poorer controller performance, because the AD transformers are overmodulated and the sin/cos rotary encoder behaves like a square-wave incremental encoder with a correspondingly lower resolution. Under unfavourable conditions, sin/cos signals with an over-large offset lead to an incorrect actual position. In this case, rotation in positional synchronism is no longer possible. In the case of synchronous motors, malcommutation also results.

The amplitude of the sin/cos signals is measured by calculating the measured value "m” as follows:
m = sin^2 + cos^2.
The measured value “m” is displayed in parameter ID2362 "G-Mon measured value". For ideal sin/cos signals the measured value must always be constant, for real signals the measured value should lie within certain limits.

The error response time can be parameterised in parameter ID2366 "G-Ue response time". The higher the response time, the more robust the monitoring is against malfunctions, however the longer the switch-off time too in case of errors.

The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Source and Remedy 

Strong interfering signals can lead to an error being triggered by the rotary encoder track monitoring. Check the shielding of the rotary encoder cable. 
A short circuit between the signal leads and the supply line of the rotary encoder can lead to overmodulated sin/cos signals. Check the rotary encoder lead for short circuits 
In all Heidenhain rotary encoders, a defective 5V sense line can lead to the automatic rotary encoder detection assuming a Stegmann rotary encoder and therefore switching the supply voltage to 8V. In this case, the usual result is that the SMD fuses of the hardware circuit blow (error 117/121). In rare cases the signals are very highly overmodulated and the parameter ID113 "evaluation mode " is switched to value 4. In this case the rotary encoder lead should be renewed. 
Defective rotary encoder. Replace rotary encoder. 
Defective rotary encoder input to the rotary encoder evaluation (hardware) in the M drive. Replace M Drive.

Baumuller Error No. 4

Link module error, duplicate or wrong ID

A duplicate or wrongly assigned Parameter ID was detected on starting the controller software program. This error is used for diagnosis during software development. The error does not occur during operation.
The controller software is not started correctly. The drive controller cannot be released. No acknowledgement possible.

Source and Remedy 
The controller software was wrongly generated or saved. Replace the controller software.

Baumuller Error No. 502

Communication has failed between the primary control and SDC or MDS

The SDC or MDS does not receive any data from the primary control. As the corresponding VL is no longer operated this VL is braked with secure hold

Source and  Remedy 
Sercos ring for primary control has failed. 
Identifier: Fallen or severed optical fibre
Reinstate optical fibre link 
Ethernet communication with primary control has failed. 
Identifier: The green LED on connector X39 (ETH0) is off or the Link LED on the switch is off.
Check the Ethernet connector on the M drive and at the switch and or replace the Ethernet cable. 
ETHERNET connection with control: The ETHERNET switches run in half-duplex operation. This can lead to increased collisions. Automatic configuration of the switches can cause this case. 
Identifier: Ethernet switch is configured for half-duplex
Manual setting to full duplex operation. 
ETHERNET connection with control: The MAC addresses in the system are not clear. This causes the telegrams to be incorrectly routed, which means loss of telegrams for individual subscribers. [From MDS with the serial number 0114 xxxx the MAX is configured in the serial EEPROM of the controller cassettes by the manufacturer. Problems can occur if several flash cards on an MDS configured in this way are pre-recoded and saved with parameters and are then slotted into an unconfigured MDS.] Check the parameters ID1461 and ID1462. Written together as 6 byte value, each address may only occur once in the ETHERNET.
Replace the controller cassette
OR
Change over the parameterised values of the ID1462 
Primary control has failed: The sign-of-life monitoring with the primary control must toggle the handshake bit in the control word within a parameterizable time. 
Identifier: Failure of all functions carried out by this primary control.
Check primary control 
Sign-of-life monitoring with primary control is incorrectly (too small) parameterised. 
Identifier: The parameter 1010 CommTimeout (for MDS) or SIS timeout (for SDC) is incorrectly parameterised.
Set parameter 1010 to correct value.

Baumuller Error No. 1000

USS - communication with axis not possible

The diagnostic system cyclically scanns the error storage of the individual drives. If the communication to one of the drives cannot be set up, this is signalled via the error number 1000.
No effect on machine control Only display at diagnostic system

Source and Remedy 
Error only at one controller:
Incorrect controller parameterisation Check controller parameter set:
USS Basic address (ID 329)
USS No. of Axles (ID 316) )

Error only at one controller:
Cable connection interrupted Check connection cable 
Connected connector on controller side (X23A and X23B) 
Connector connected on SDC side (X5) 
Connector connected to conversion module 

Error only at one controller: Wrong configuration in the diagnosis system Check configuration data (BAS) 
Error at several controllers: Cable connection interrupted Check the complete cable branch. The error lies between the last controller whose communications are running and the first controller with interrupted communication 
Error at several controllers: Wrong port address at diagnosis system Check configuration data (BAS) 

Baumuller Error No. 570

Power section auxiliary voltage supply . + safety relay

The error is triggered if both the auxiliary voltage supply (Error 566) or the power section (internal or external) and the safety relay (error 568) is not switched on. The voltage supply to the transistor triggering is released in the power section via the safety relay. The switching on sequence specified in the documentation must be complied with to avoid error messages when switching in a drive.
The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Source and Remedy 
Check the voltage supply of the auxiliary voltage, Safety relay is switched off
Incorrect activation of the safety relay Examine the activation of the safety relay. 

Baumuller Error No. 564

Power section I > Imax

The motor current in the motor phases is monitored and if a phase current is exceeded by 30 % of the permissible peak current the overcurrent signal is generated. 

Limiting of the permissible motor phase current in the controller is set too high 
Check controller parameter ID446 “maximum current converter” and ID462 “maximum torque current”. 
Check motor leads 
Check motor connection 

The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Baumuller Error No. 121

Minimum signal amplitude value not reached

The error is triggered by the pick-up monitoring module if the amplitude of the rotary encoder tracking signals (sin/cos signals) is smaller than the limit value given in parameter ID284 "G-Mon.minValue[Ax]. Monitoring is activated by bit 0 in the parameter ID280 "G-Mon.Command Ax" and can trigger a fatal error if bit 0 is set in the parameter ID282 "G-Mon.error_mask".
The limit value ID284 is set automatically if bit 1 is activate in parameter ID280 "G-Mon.Command Ax".
If the sin/cos signals are too small this can lead to an incorrect actual position. In this case, rotation in positional synchronism is no longer possible. In the case of synchronous motors, malcommutation also results.
The amplitude of the sin/cos signals is measured by calculating the measured value "m” as follows:
m = sin^2 + cos^2.
The measured value “m” is displayed in parameter ID2362 "G-Mon measured value". For ideal sin/cos signals the measured value must always be constant, for real signals the measured value should lie within certain limits.

The error response time can be parameterised in parameter ID2366 "G-Ue response time". The higher the response time, the more robust the monitoring is against malfunctions, however the longer the switch-off time too in case of errors.
The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Source and Remedy 
Strong interfering signals can lead to the amplitude of the sin/cos signals being too small at times. Check the shielding of the rotary encoder lead. 
The error is triggered if the sin/cos signals of the rotary encoder are missing. This can be caused by e.g. disconnected or loose rotary encoder connectors, cable breakage or a loose contact. Check the rotary encoder lead and replace if necessary. 
A loose rotary encoder cable can lead to loose contacts. The rotary encoder tracking signals are then temporarily too small and the error can be triggered. Check the screw fitting of the rotary encoder cable. 
Rotary encoder defective. Replace rotary encoder. 
Rotary encoder input of the rotary encoder evaluation (hardware) in the M drive is defective. Replace M Drive. 

Baumuller Error No. 42

Power section monitoring

The error is triggered by the diagnosis module if the power section monitoring (Ixt monitoring ) has responded.
If the calculated value exceeds the value in Parameter ID52 "Mon. LT Ixt Value" by 100%, the error is triggered and the maximum torque current (ID462) limited so that the power section runs with power section nominal current . The Ixt value is proportional to the power section current load.
The error is also triggered if the measured power section temperature exceeds 85°C. The power section temperature can be read out via the parameter ID1657 "LT Temperature".

The error is signalled to the primary control. If the primary control switches the drive controller off, renewed release of the drive controller is prevented until the cause of the error is corrected and the error acknowledged.

Source and Remedy 
Power section monitoring has responded and max. torque current ID462 was limited. Check parameter ID 55 ( LT Nom Current) or drive system parameterisation. 
Mechanical load too high. Check the mechanical system. 
Malfunction in the motor commutation leads to overloading of the power section. Check the commutation angle and the parameterisation of the field current ID468 "Field Current". 
Temperature of the power section greater than 85°C. Check the connections of the power section temperature sensor.

Baumuller Error No. 513

Cross-communication failure

Precisely one of the 2 possibilities apply: 

A) The SDC is the cross-communication master and switches to isolated operation, i.e. it no longer participates in the cross-communication. 

B) The SDC is the cross-communication slave and switches to isolated operation, i.e. it no longer participates in the cross-communication. 

Note: Error 513 is only generated if cross communication is desired, i.e. if: 

ID1102 "VL-Mode", Bit5 = 1 and 
ID1109 "VL-Inter_Section" = 1 

Signal to primary control by: 
Setting the error bit in VL status 
Output of the error number 

Source and  Remedy 
Cause of A)
Incorrect parameterization

Identifier
ID1102 "VL-Mode", Bit0 set from 1 to 0 or
ID1050 "SIM-Command[Axle= 2]" set from 1 to 0 or
ID1114 "VL-DRR-Protocol" changed or 
ID1115 "VL-ISR-Protocol" changed Reset and prevent incorrect parameterization . 
Cause of A)
The ISR bit was deleted at a cross-communication slave. 

Identifier
Check ID1102 "VL-Mode" at all slaves; 
at one slave Bit5 = 0. Set and save Bit 5 to 1 for the slave concerned ID1102 "VL-Mode" 
Cause of A)
The cross-communication ring has collapsed.

Identifier
ID1055 "SIM phase[Axle = 2]" < 402 Find the cause of the ring collapse. 
Either the cross-communication master independently arrives back into phase 4, there e.g. the following is possible: 

ID1058 "SIM-Slave-Number[Axle= 2]" was overwritten. 
Reset or short-term voltage failure at two adjacent cross-communication slaves 
Or the cross-communication master does not succeed in achieving phase start, then the following causes of error 511 are possible. 
Cause of B)
Incorrect parameterization

Identifier
ID1102 "VL-Mode", Bit0 set from 0 to 1 or
ID1000 "SIS Command[Axle= 2]" set from 1 to 0 or
ID1114 "VL-DRR-Protocol" changed or 
ID1115 "VL-ISR-Protocol" changed Reset and prevent incorrect parameterization . 
Cause of B)
The ISR bit was deleted at another cross-communication slave. 

Identifier
Check ID1102 "VL-Mode" at all slaves other; at one slave Bit5 = 0. Set and save Bit 5 to 1 for the slave concerned ID1102 "VL-Mode" 
Cause of B)
The cross-communications ring has collapsed

Identifier
ID1005 "SIS-Phase[Axle= 2]" < 400 
and with SDC 3.02 as master:
ID1055 "SIM-Phase[Axle = 2]" <402
or with MLC 3.02 as master: 
ID2431 "SIMx Phase[Axle = Ring-No.] < 402 Find the cause of the ring collapse. 
Either the cross-communication master independently arrives back into phase 4, there e.g. the following is possible: 

Reset or short-term voltage failure at the cross-communication master 
Restart the phase start at the cross-communication master 
Reset or short-term voltage failure at two adjacent cross-communication slaves 
Or the cross-communication master does not succeed in achieving phase start, then the following causes of error 511 are possible. 
Cause of B)
The SDC is itself the 1st cross-communications slave in the ring and its 1st fibre optic input is faulty. 

Identifier
ID1005 "SIS-Phase[Axle= 2]" = 0 and 
ID257 "fibre optic distortion[Axle = 2]" > 0% and
LED "ERR" lights up. 
At SDC 3.02 as master: 
ID1055 "SIM-Phase[Axle = 2]" = 402
At MLC 3.02 as master: 
ID2431 "SIMx Phase[Axle = Ring-No.] = 402 Check of own fibre optic receiver "IN1", the fibre optic cable at "IN1" and the fibre optic transmitter "OUT1" at the master. Replace defective hardware. 

Check the transmitter power for "OUT1" at the master: 
At SDC 3.02 as master:
Correct and save ID251 "1.LWL transmitter [Axle = 2]".
At MLC 3.02 as master: 
Correct and save ID251 "1.fibre optic transmitter [Axle = ring number]". 

Restart the cross-communication, i.e.: 
At SDC 3.02 as master: 
Overwrite ID1058 "SIM-Slave-Number[Axle= 2]" with the same value.
At MLC 3.02 as master: 
Describe ID2533 "ML Ring-command[Axle= Ring No.]" with the value 1. 
Cause of B)
At an SDC in the ring both the 1st and the 2nd fibre optic input is faulty.

The following are possible: 
the cross-communication master, 
the 2nd, 3rd ... and last cross-communication slave in the ring. 
At all the slaves 
ID1005 "SIS-Phase[Axle = 2]" = 400 
Several SDC constantly switch backwards and forwards between "IN1" and "IN2". 
The LED "ERR" lights up at almost all SDCs. 
One of the possible SDCs displays both for "IN1" and for "IN2" 
ID257 "fibre optic distortion[Axle = 2]" > 0%. Check "IN1" and "IN2" of the SDCs concerned, the fibre optic cable at "IN1" and "IN2" and the corresponding fibre optic transmitter. Replace defective hardware. 

Check the transmitter powers set: 
At SDC 3.02 as predecessor: 
Correct and save ID251 "1. fibre optic transmitter [Axle = 2]". 
At MLC 3.02 as predecessor:
Correct and save ID251 "1.fibre optic transmitter [Axle = ring number]". 
At SDC 3.02 as predecessor: 
Correct and save ID252 "2. fibre optic transmitter [Axle = 2]". 
At MLC 3.02 as predecessor: 
Correct and save ID252 "2.fibre optic transmitter [Axle = ring number]". 
Restart the cross-communication, i.e.: 
At SDC 3.02 as master: 
Overwrite ID1058 "SIM-Slave-Number[Axle= 2]" with the same value. 
At MLC 3.02 as master: 
Describe ID2533 "ML Ring-command[Axle= Ring No.]" with the value 1. 
Cause of B)
1. fibre optic output faulty

Identifier
ID1024 "SIS-Watchdog[Axle = 2]" displays the Max value 15 and
ID1005 "SIS-Phase[Axle = 2]" = 400 and 
the successor has switched over to input "IN2", i.e.: 
At SDC 3.02 as predecessor: 
ID258 "optical fibre input [Axle = 2]" = 1
With MLC 3.02 as master: 
ID258 "optical fibre input [Axle = Ring No.]" = 1 Pull off the optical fibre connection at "IN2" of the successor, in this way "IN1" automatically becomes active again. 
Check of own fibre optic transmitter "OUT1", the fibre optic cable at "OUT1" and the fibre optic receiver "IN1" at the successor. Replace defective hardware. 

Correct the ID251 "1.optic fibre transmitter [Axle= 2]" the following applies up to the receiver: 
At SDC 3.02 as receiver: 
ID257 "optical fibre distortion [Axle = 2]" = 1
With MLC 3.02 as Receiver: 
ID257 "optical fibre distortion [Axle = Ring No.]" = 0%Save corrected transmitter power Reinstate the optical fibre link to "IN2" of the successor.

Restart the cross-communication, i.e.: 
At SDC 3.02 as master: 
Overwrite ID1058 "SIM-Slave-Number[Axle= 2]" with the same value. 
At MLC 3.02 as master: 
Describe ID2533 "ML Ring-command[Axle= Ring No.]" with the value 1. 
Cause of B)
Older software version loaded onto cross-communication master 

Identifier
ID1024 "SIS-Watchdog[Axle = 2]" displays the Max value 15 and the error occurs during putting into service. Load compatible software 

Baumuller Error No. 39

Negative servo lag limit exceeded

This error message is triggered by the diagnosis module if the current servo lag limit (e1 error ID435 "e1=w1-x1 Visu.[Ax]") is less than the negative limit value entered in Parameter ID51 "Loca.dif.neg.max[Ax]”,
The error response time can be parameterised in parameter ID64 "e1 e2 response time". The higher the response time, the more robust the monitoring is against malfunctions, however the longer the switch-off time too in case of errors.
The rotary encoder of axle 1 is always used for position control, i.e. hardware interface X24. If the negative servo lag limit is to be given for the load, a gear unit may possibly have to be taken into consideration, after acknowledging the error, the rotary encoder is reinitialised and if necessary the home position run is restarted.

The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Source and Remedy 
If a position control drive has a load-side pick-up and an overload between the motor and load clutch, the servo lag can be triggered by the overload clutch slipping through. Reduce mechanical load. 
The load controller’s dynamic response setting is inadequate or too high, so that the position controller vibrates. 
Optimise the proportional gain (parameter ID408 "Kv position controller [Ax]") of the position controller.
Parameterise the negative limit to a smaller value (parameter ID51 "Loca.dif.neg.max [Ax]").
Faulty position setpoint generation. Check position setpoint via parameter ID434 "W1 Visu. [Ax]”. 
Faulty actual position acquisition. 
Check actual position via parameter ID433 "X1 Visu. [Ax]”.
Check parameterisation e.g. of ID85 "pick-up attachment [Ax]", ID88 "pick-up PPR count [Ax]", ID112 "pick-up active [Ax]" and ID113 "evaluation mode [Ax]".
Check the serial communication between the absolute encoder and M drive.
If the mechanical load is too large (overload) the drive can no longer follow the position setpoints and the servo lag steadily increases. In this case the setpoint torque current D484 "isq-setpt I-controller" has reached the maximum torque current ID462 "Max Mom.Current" (red LED of display field H21). 
If possible, e.g. for short-term higher loads, increase the ID462 "Max Mom.Current" or reduce the mechanical load.
Parameterise the negative limit to a smaller value (parameter ID51 "Loca.dif.neg.max [Ax]").
Malcommutation can lead to increased power demand for synchronous machines. This case occurs, e.g., if the position pick-up system provides an incorrect commutation angle to the motor commutation. 
Repeat the BA22 stop angle run and check the actual position acquisition (absolute encoder).
Check the parameterisation of the motor commutation, e.g. parameter ID460 "pole pair pitch [Ax]", ID468 "field current [Ax]" (For SM < 0.5, for ASM > 0.5), ID471 "slip (_1)[Ax]" (only ASM).
Check the current control function, optimise if necessary.
The error can occur in a rotating drive as a sequential fault e.g. following a malfunction in the power section Locate and correct the original cause of the error. 

Baumuller Error No. 38

Positive servo lag limit exceeded.

This error message is triggered by the diagnosis module if the current servo lag limit (e1 error ID435 "e1=w1-x1 Visu.[Ax]") exceeds the positive limit value entered in Parameter ID50 "Loca.dif.pos.max[Ax]”,.
The error response time can be parameterised in parameter ID64 "e1 e2 response time". The higher the response time, the more robust the monitoring is against malfunctions, however the longer the switch-off time too in case of errors. The rotary encoder of axle 1 is always used for position control, i.e. hardware interface X24. If the positive servo lag limit is to be given for the load, a gear unit may possibly have to be taken into consideration. after acknowledging the error, the rotary encoder is reinitialised and if necessary the home position run is restarted..

The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Source and Remedy 
If a position control drive has a load-side pick-up and an overload between the motor and load clutch, the servo lag can be triggered by the overload clutch slipping through. Reduce mechanical load. 
The load controller’s dynamic response setting is inadequate or too high, so that the position controller vibrates. Remedy by:
Optimise the proportional gain (parameter ID408 "Kv position controller [Ax]") of the position controller.
Parameterise the positive limit value to be larger (parameter ID50 "Loca.dif.pos.max [Ax]").
Faulty position setpoint generation. Check position setpoint via parameter ID434 "W1 Visu. [Ax]”. 
Faulty actual position acquisition. 
Check actual position via parameter ID433 "X1 Visu. [Ax]”. 
Check parameterisation e.g. of ID85 "pick-up attachment [Ax]", ID88 "pick-up PPR count [Ax]", ID112 "pick-up active [Ax]" and ID113 "evaluation mode [Ax]".
Check the serial communication between the absolute encoder and M drive.
If the mechanical load is too large (overload) the drive can no longer follow the position setpoints and the servo lag steadily increases. In this case the setpoint torque current D484 "isq-setpt I-controller" has reached the maximum torque current ID462 "Max Mom.Current" (red LED of display field H21). 
If possible, e.g. for short-term higher loads, increase the ID462 "Max Mom.Current" or reduce the mechanical load. 
Parameterise the positive limit to a smaller value (parameter ID50 "Loca.dif.pos.max [Ax]").
Malcommutation can lead to increased power demand for synchronous machines. This case occurs, e.g., if the position pick-up system provides an incorrect commutation angle to the motor commutation. Remedy by:
Repeat the BA22 stop angle run and check the actual position acquisition (absolute encoder).
Check the parameterisation of the motor commutation, e.g. parameter ID460 "pole pair pitch [Ax]", ID468 "field current [Ax]" (For SM < 0.5, for ASM > 0.5), ID471 "slip (_1)[Ax]" (only ASM).
Check the current control function, optimise if necessary.
The error can occur in a rotating drive as a sequential fault e.g. following a malfunction in the power section. Locate and correct the original cause of the error. 

Baumuller Error No. 200

 SERCOS slave has no cyclical communication

The data between the master/control and the slave (drive controller) is cyclically swapped via the SERCOS drive ring. The function of this communication is monitored via a “sign-of-life” exchange. This error is generated if this sign-of-life is missing for more than a timeout period. 
Note: The monitoring is not activated by the master / controls until after the first activation of the sign-of-life exchange.
The drive is braked with a secured hold and is independently switched off on coming to a standstill. (If the parameter ID 557 “SH setpoint acc.[Ax]” is zero or if the drive is not on the set safety braking ramp after 1.5-times the time, it is also independently switched off.)

Source and Remedy 
Control function (temporarily) faulty Reinstate the control function (restart, switch back on, etc.) 
Function of the drive master faulty (e.g. SDC / MDS) Reinstate the function of the drive master (restart, switch back on, etc.) 
Communication between the controls and the master is physically interrupted. Reinstate the connection 
Only for SDC: The active bit (bit index 0) of the corresponding drive control parameter has been deleted The control – drive connection has been logically disconnected. The drive-control parameter must be reinstated. 
Communication between the master and drive is physically interrupted. Reinstate the connection 
The phase run-up in the drive ring has be re-triggered. Wait until the drive ring is ready for service again (SERCOS phase 4 and reached synchronicity). 
The successor in the drive ring has switched to the SERCOS redundancy input. The slave telegrams sent out therefore no longer reach the master. After correcting the error, the ring has to be restarted (see documentation or BAUDIS web tool on SERCOS restart). 
The SERCOS hardware of the drive slave is faulty. Replace the controller cassette.

Baumuller Error No. 117

Error, no pick-up available

The error is triggered by the pick-up monitoring module if the amplitude of the rotary encoder tracking signals (sin/cos signals) is less than 5%. Sin/cos signals with an amplitude that is too small can lead to an incorrect actual position. In this case, rotation in positional synchronism is no longer possible. In the case of synchronous motors, malcommutation also results.
The amplitude of the sin/cos signals is measured by calculating the measured value "m” as follows:
m = sin^2 + cos^2.
The measured value “m” is displayed in parameter ID2362 "G-Mon measured value". For ideal sin/cos signals the measured value must always be constant, for real signals the measured value should lie within certain limits.
The error response time can be parameterised in parameter ID2366 "G-Ue response time". The higher the response time, the more robust the monitoring is against malfunctions, however the longer the switch-off time too in case of errors.

The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Source and Remedy 
Rotary encoder lead defective. Check the rotary encoder cable and replace if necessary. 
Rotary encoder connector at the rotary encoder or the M drive is loose or disconnected. Check plug-in connectors. 
Rotary encoder defective. Replace rotary encoder. 
Rotary encoder input of the rotary encoder evaluation (hardware) in the M drive is defective. Replace M Drive. 

Baumuller Error No. 35

Negative maximum speed exceeded.

This error message is triggered by the diagnosis module if the current motor speed ID487 "Speed Visu. [Ax]" is less than the negative limit value entered in the Parameter ID47 "neg.max.speed[Ax]".
The rotary encoder used for monitoring the negative maximum speed is always the one used for the motor commutation. If the negative limit speed value is to be given for the load, a gear unit may possibly have to be taken into consideration, after acknowledging the error, the rotary encoder is reinitialised and if necessary the home position run is restarted.

The error is fatal and leads to immediate shutoff of the drive controller. In this case the drive coasts to a standstill. Renewed release of the drive by the controller is prevented until the cause of the error has been corrected and the error has been acknowledged.

Source and Remedy 
Incorrect parameterisation of the negative limit speed value or gearing factor between the motor and load incorrectly taken into account when parameterizing the positive limit speed value. Check the parameter ID47 "neg.max.speed.[Ax]". 
A malfunction in the motor commutation of synchronous motors can lead to incorrect commutation. The drive then possibly revs up to maximum speed after receiving the controller releases and shuts down with overspeed.
Carry out new stop angle run and ensure that the drive can move freely throughout. Check the actual position recorded (rotary encoder ). 
Setpoint speed specified by the controls is too high. Check setpoint values! 
Recording of actual speed value faulty or wrongly parameterised. 
Check the parameter ID88 "pick-up PPR count [ax]", ID112 "Pick-up active [ax]". Replace rotary encoder.