专业维修贝加莱伺服驱动器 伺服控制器维修中心 贝加莱伺服驱动器报警维修 贝加莱伺服电机维修 贝加莱放大器报警维修
专业维修高精度的贝加莱控制器，贝加莱伺服驱动常见故障代码：
4005:使能控制器无效,驱动器错误、 4007:跟随误差限停止、
6020:硬件:24V电源、 6021:启动锁出激活
6045:功率级：连接X5：无电流、 6019：硬件:IGBT功率放大器过流
7210:连接电路:电压太低或不稳定、
7215:DC连接电路:至少一组动力线失败 、 7200:直流母线：过压、 7211：直流母线：电压降
- 检查电源线、
9002：散热器温度传感器：未连接或销毁、 32012:系统模块读取错误模块描述
32060从驱动得到的循环数据时>标志无效;等一些故障引起机器不能正常工作，
ACOPOS 贝加莱伺服出错代码表（全）
ACOPOS 出错代码表
1: 参数 ID 无效 Parameter ID invalid
2: 参数不可读 ( 变量不能在该时刻读取) Parameter can not be read (value is not available at the
moment)
3: 对只读参数写访问 Write access for a read only parameter
4: 对只写参数读访问 Read access for a write only parameter
5: 参数数值无效 Value of parameter is invalid
(REAL): 变量格式 Info(REAL): Value of Parameter
6: 参数数值无效 Value of parameter is invalid
(UDINT): 变量格式 Info(UDINT): Value of Parameter
7: 参数数值无效 Value of parameter is invalid
(DINT): 变量格式 Info(DINT): Value of Parameter
8: 数据块读访问已经初始化 Data block read access already initialized
9: 数据块写访问已经初始化 Data block write access already initialized
10: 数据块读访问未初始化 Data block read access not initialized
11: 数据块写访问未初始化 Data block write access not initialized
12: 数据块读访问仍激活 ( 读访问初始化不可能)
Data block write access still active (INIT for read access not possible)
13: 数据块写访问仍激活（写访问初始化不可能）
Data block read access still active (INIT for write access not possible)
14: 读响应超时 Timeout for Read Response
15: 写响应超时 Timeout for Write Response
16: 数据块数据段在读已经在最后 The Data segment at data block read is already the last
17: 数据块数据段在写已经在最后 The Data segment at data block write is already the last
18: 数据块数据段未在读在最后 The Data segment at data block read is not yet the last
Info(UDINT): 数据块偏移 Data block offset
19: 数据段未在写数据块的最后
Info(UDINT): 数据块偏移 Data block offset
20: 数据块读后检验和无效 Checksum after data block read is invalid
21: 数据块写后检验和无效 Checksum after data block write is invalid
22: 参数 ID 在数据块中无效（读数据块） Parameter ID in data block is invalid (data block read)
Info('PARID'): Parameter ID
23: 参数 ID 在数据块中无效（写数据块） Parameter ID in data block is invalid (data block write)
Info('PARID'): Parameter ID
24: 在启动状态不允许下载系统模块 System module download not allowed in this boot state
Info(UINT): Boot state
25: 只在下载后允许立即烧结系统模块 Burn system module only allowed immediately after download
26: 在启动状态不允许改变启动状态请求 Requested change of boot state is not allowed in this boot
state
Info(UINT): Boot state
27: 启动操作系统不可能（操作系统不在FPROM 存储器中）
Start of operating system not possible (operating system is not on the FPROM)
28: 在此驱动状态不允许读参数 Read parameter not allowed in this drive state
Info(UINT): Drive state
29: 在此驱动状态
文库
不允许写参数 Write parameter not allowed in this drive state
Info(UINT): Drive state
30: 因为硬件故障不能读参数 Read parameter not possible because of hardware error
Info(UINT): Hardware error
31: 因为硬件故障不能写参数 Write parameter not possible because of hardware error
Info(UINT): Hardware error
32: 命令参数无效 Command parameter is invalid
Info('PARID'): Parameter ID
40: 参数数值大于最大值 Value of parameter higher than maximum value
Info(REAL): Maximum value
41: 参数数值大于最大值 Value of parameter higher than maximum value
Info(UDINT): Maximum value
42: 参数数值大于最大值 Value of parameter higher than maximum value
Info(DINT): Maximum value
43: 参数1 数值大于最大值 Value of parameter1 higher than maximum value
Info(REAL): Maximum value
44: 参数1 数值大于最大值 Value of parameter1 higher than maximum value
Info(UDINT): Maximum value
45: 参数1 数值大于最大值 Value of parameter1 higher than maximum value
Info(DINT): Maximum value
46: 参数2 数值大于最大值 Value of parameter2 higher than maximum value
Info(REAL): Maximum value
47: 参数2 数值大于最大值 Value of parameter2 higher than maximum value
Info(UDINT): Maximum value
48: 参数2 数值大于最大值 Value of parameter2 higher than maximum value
Info(DINT): Maximum value
49: 参数3 数值大于最大值 Value of parameter3 higher than maximum value
Info(REAL): Maximum value
50: 参数3 数值大于最大值 Value of parameter3 higher than maximum value
Info(UDINT): Maximum value
51: 参数3 数值大于最大值 Value of parameter3 higher than maximum value
Info(DINT): Maximum value
52: 参数数值小于最小值 Value of parameter lower than minimum value
Info(REAL): Minimum value
53: 参数数值小于最小值 Value of parameter lower than minimum value
Info(UDINT): Minimum value
54: 参数数值小于最小值 Value of parameter lower than minimum value
Info(DINT): Minimum value
55: 参数1 数值小于最小值 Value of parameter1 lower than minimum value
Info(REAL): Minimum value
56: 参数1 数值小于最小值 Value of parameter1 lower than minimum value
Info(UDINT): Minimum value
57: 参数1 数值小于最小值 Value of parameter1 lower than minimum value
Info(DINT): Minimum value
58: 参数2 数值小于最小值 Value of parameter2 lower than minimum value
Info(REAL): Minimum value
59: 参数2 数值小于最小值 Value of parameter2 lower than minimum value
Info(UDINT): Minimum value
60: 参数2 数值小于最小值 Value of parameter2 lower than minimum value
Info(DINT): Minimum value
61: 参数3 数值小于最小值 Value of parameter3 lower than minimum value
Info(REAL): Minimum value
62: 参数
3 数值小于最小值 Value of parameter3 lower than minimum value
Info(UDINT): Minimum value
63: 参数3 数值小于最小值 Value of parameter3 lower than minimum value
Info(DINT): Minimum value
64: 硬件ID 在B&R 模块中无效（数据块写） Hardware ID in B&R module is invalid (data block
write)
Info(USINT): Hardware ID
65: 硬件版本在B&R 模块中无效（数据块写）
Hardware Version in B&R module is invalid (data block write)
Info(USINT): Hardware Revision
66: 硬件ID 的操作系统不兼容现在的总线网络
Hardware ID of operating system is incompatible to the existing network
Info(USINT): Hardware ID
1001: 数据先进先出溢出 Error FIFO overflow
1002: 参数超出有效范围 Parameter outside the valid range
1003: 在回路控制激活时不允许写参数 Writing parameter is not allowed during loop control is
active
1004: 激活信号控制网络超时 Timeout in network live sign control
1005: 在动作激活时不允许写参数 Writing parameter is not allowed during a movement is active
1006: 用于触发事件（数字量输入+ 边沿）无效参数
Invalid parameter for trigger event (digital input + edge)
1007: 主站用于网络耦合未激活-一个主站已经发送
Master for network coupling deactivated - one master is already sending
1008: 主站用于网络耦合未激活-编码器错误 Master for network coupling deactivated - Encoder error
1009: 内存分配错误 Error on memory allocation
1010: 先进先出功能块溢出 Function FIFO overflow
1011: 快停输入激活 Quickstop input active
1012: 循环网络通信切断 Breakdown of cyclic network communication
1013: 用于网络通信的站点不可行 Station is not available for network communication
1014: AC112 命令接口占用 AC112 command interface is occupied
2001: 上载跟踪曲线数据不允许：记录激活 Upload of trace data not allowed: Recording active
2002: 无跟踪曲线数据可上载 No trace data available for upload
2003: 跟踪曲线启动不允许：记录激活 Trace start not allowed: Recording active
2004: 跟踪曲线启动不允许：未定义跟踪数据Trace start not allowed: No trace test data defined
2005: 无效的参数ID 用于跟踪测试数据 Invalid parameter ID for trace test data
Info('PARID'): Parameter ID
2006: 初始跟踪参数不允许：记录激活 Initialization of trace parameters not allowed: Recording
active
4002: 在仿真命令无效的动作代码 Invalid action code in simulation command
4004: 在控制器命令无效的动作代码 Invalid action code in controller command
4005: 使能控制器无效：驱动器错误 Switch controller on not possible: Drive in error state
4007: 跟随误差超限停止 Lag error stop limit exceeded
Info(REAL): Current lag error
4008: 正限位开关到达 Positive limit switch r
eached
4009: 负限位开关到达 Negative limit switch reached
4010: 使能控制器无效：两限位关闭 Switch controller on not possible: Both limit switches are
closed
4011: 关闭控制器无效：运动激活 Switch controller off not possible: Movement active
4012: 使能控制器无效：初始参数丢失或无效
Switch controller on not possible: Initial parameter missing or not valid
Info('PARID'): Parameter ID
4014: 双编码器控制：位置偏差超限停止 Two encoder control: Stop limit of positions difference
exceeded
Info(REAL): Current positions difference
5001: 目标位置大于正向软限位 Target position > positive SW limit
5002: 目标位置小于负向软限位 Target position < negative SW limit
5003: 正向软限位到达 Positive SW limit reached
5004: 负向软限位到达 Negative SW limit reached
5005: 运动启动不可能：位置控制器未激活 Start of movement not possible: Position controller
inactive
5006: 运动启动不可能：轴未寻参考位置 Start of movement not possible: Axis not referenced
5010: 正向位置运动不可能：正向限位开关关闭
Move in pos. direction not possible: Pos. limit switch is closed
5011: 负向位置运动不可能：负向限位开关关闭
Move in neg. direction not possible: Neg. limit switch is closed
5012: 运动启动不可能：停止激活 Start of movement not possible: Stop ramp active
5013: 打开循环设值模式不可能：运动激活
Switching on cyclic set value mode is not possible: Movement active
5014: 关闭循环设值模式不可能 Switching off cyclic set value mode is not possible
5015: 运动启动不可能：正在寻参 Start of movement not possible: Homing procedure active
5016: 写参数不允许：正在寻参 Write parameter not allowed: Homing procedure active
5017: 寻参步骤模式不可能：位置控制器未激活
Homing procedure mode not possible: Position controller inactive
5018: 寻参步骤模式不可能：运动激活 Homing procedure not possible: Movement active
5019: 寻参参数超出有效值 Homing parameter outside the valid range
Info('PARID'): Parameter ID
5020: 寻参步骤不可能；两个限位开关关闭 Homing procedure not possible: Both limit switches are
closed
5021: 限位开关关闭；无方向改变用于寻参 Limit switch closed: No direction change for this homing
mode
5022: 第二个限位开关信号收到：参考开关信号未发现 Second limit switch signal received: Reference
switch not found
5023: 对于当前运动方向收到不正确的限位开关信号 Incorrect limit switch signal received for current
movement direction
5024: 循环设置数据模式放弃：设定位置丢失 Cyclic set value mode aborted: Set positions missing
5025: 设置参考点位置偏
差用于修正计数范围不可能 Set homing offset with correction of counting range not possible
5026: 基本运动参数超过速度限制 Basis movement parameter (with override) exceed speed limit
value
5027: 基本运动参数超过加速度限制 Basis movement parameter (with override) exceed acceleration
limit value
5028: 当前运动不是基本运动 Current movement is no basis movement
5029: 触发忽略-保持位置超过软限位 Trigger ignored - remaining distance exceeds SW limit
5030: 寻参步骤模式不可能：位置控制器激活 Homing procedure mode not possible: Position controller
active
5031: 寻参步骤模式不可能：循环设值模式关闭 Homing procedure mode not possible: Cyclic set values
mode is off
5101: 凸轮曲线补偿：超出界限值 Cam profile compensation gears: Limit values exceeded
5102: 过多的变化在每个凸轮曲线（主周期过短） Too many changes of cam profile per cycle (master
period too short)
5103: 从触发先进先出满 Slave trigger FIFO full
5104: 从触发先进先出空 Slave trigger FIFO empty
5105: 主触发先进先出满 Master trigger FIFO full
5106: 主触发先进先出空 Master trigger FIFO empty
5107: 启动凸轮曲线连接不可能：参数超出有效值 Start cam profile linkage not possible: Parameter
outside the valid range
Info('PARID'): Parameter ID
5108: 主补偿触发先进先出满 Master compensation trigger FIFO full
5109: 主补偿触发先进先出空 Master compensation trigger FIFO empty
5110: 凸轮曲线连接放弃：循环设定位置丢失 Cam profile linkage aborted: Cyclic set positions
missing
5111: 凸轮曲线连接放弃：编码器错误 Cam profile linkage aborted: Encoder error
5112: 命令不允许：凸轮曲线连接未激活 Command not allowed: Cam profile linkage not active
5113: 命令不允许：控制器仍激活 Command not allowed: Controller is still active
5114: 写参数不允许：凸轮曲线连接激活 Write parameter not allowed: Cam profile linkage active
5115: 重启命令不可能：凸轮时序以前从未激活 Restart command not possible: The cam automat was never
active before
5201: 写参数不允许：鼓序列激活 Write parameter not allowed: Drumsequencer active
5202: 鼓序列发生器：位置不在上升顺序 Drumsequencer: Switch positions not in ascending order
5300: 数据块上载无效： Data block for upload is not available
5302: 写参数不允许：凸轮时序激活 Write parameter not allowed: Cam automat active
5303: 凸轮曲线未提供索引 Cam profile data no
t available at index
5304: 格式错误在凸轮曲线数据 Format error in cam profile data
Info(UINT): Detail
5306: 补偿：入口速度超限 Compensation gears: Speed for entrance exceeds limit value
5307: 补偿：连接速度超限 Compensation gears: Speed for connection exceeds limit value
5308: 补偿：最大爬坡超出 Compensation gears: Maximum jolt exceeded
5311: 凸轮时序：事件指向未初始化状态 Cam automat: Event leads to non initialized state
5312: 仅事件类型ncTRIGGER1/2 能进入ncLATCHPOS 补偿
Only event type ncTRIGGER1/2 possible for entry in ncLATCHPOS compensation
5315: 下载错误：凸轮曲线数据被凸轮时序使用 Download error: Cam profile data in use by cam automat
5316: 事件类型ncST_END+ncNEGATIVE 不能进入补偿
Event type ncST_END+ncNEGATIVE is not possible for entry in compensation gears
5317: 启动凸轮时序指向未初始状态 Start of cam automat leads to non initialized state
5318: 主轴相对位置高于凸轮曲线周期 Relative distance of master axis higher than cam profile
period
5319: 凸轮曲线数据不能用于状态0 Cam profile data not allowed for state 0
6000: 主站采样时间不是位置控制器采样时间的整数倍
Master sampling time is not a multiple of position controller sampling time
6001: 同步控制器：同步报文超时 Sync controller: Timeout for sync telegram occured
6002: 同步控制器：系统时间偏差超出
Sync Controller: Error tolerance of system time difference exceeded
6003: 控制器在位置模式仍激活 Controller is still active in position mode
6004: 控制器在速度模式仍激活 Controller is still active in speed mode
6005: 控制器在力矩模式仍激活 Controller is still active in torque mode
6006: 控制器在定子电压旋转磁场模式仍激活 Controller is still active in stator voltage rotating
field mode
6007: 控制器在定子电流旋转磁场模式仍激活 Controller is still active in stator current rotating
field mode
6008: 控制器仍激活 Controller is still active
6009: 参数写保护对现有电机模式 Parameter is write protected for existing motor type
6010: 参数写保护对现有编码器模式 Parameter is write protected for existing encoder type
6011: 控制器不在速度模式 Controller is not in speed mode
6012: CAN 控制器：没有CAN 对象空闲 CAN controller: No CAN object free
6013: 双编码器控制器激活 Two encoder control active
6014: 驱动器初始化激活
Drive initialisation active
6015: CAN 控制器：CAN 总线接收干扰
CAN controller: CAN bus disturbance (receive error counter >= 96)
Info(USINT): Slot
6016: CAN 控制器：CAN 总线发送干扰 CAN controller: CAN bus disturbance (transmit error
counter >= 96)
Info(USINT): Slot
6017: 软件：看门狗激活 Software: Watchdog active
6018: 硬件：15 电源失败 Hardware: 15V power supply fail
6019: 硬件：IGBT 功率放大器过流 Hardware: Overcurrent in IGBT
6020: 硬件：24V 电源失败 Hardware: 24V power supply fail
6021: 启动锁出激活 Starting lockout active
6022: 电流控制器：允许电流偏差值超出 Current controller: Permissible current offset values
exceeded
6023: 硬件：累积错误激活 Hardware: Sum error active
6024: 电流记录在转变前 Current was latched befor conversion (OpSys error in ABLS)
6025: 温度记录在转变前 Temperature was latched befor conversion (OpSys error in ABLS)
6026: 保持制动器：定子电流超过限制 Holding brake: Stator current limit exeeded during release
6027: 保持制动器：手动操作不允许 Holding brake: Manual operation not permitted
6028: 保持制动器：低于电压/ 电流（接线，检查24VDC）
Holding brake: Undervoltage/-current (wire breakage, check 24V supply)
6029: 保持制动器：电压或电流失败（接线，检查24VDC）
Holding brake: Voltage- or currentfail (wire breakage, check 24V supply)
6030: 保持制动器：制动输出激活，但无制动进入电机数据
Holding brake: Brake output is active, but no brake entered in motor data
6031: 系统模块已检测 System module already deleted
6032: 接口：FPGA 组态错误 Interface: FPGA configuration error
Info(USINT): Slot
6033: EEPROM ：重要数据无效 Serielles EEPROM: Critical datum is not valid
6034: 循环设置数值放弃：设定速度丢失 Cyclic set value mode aborted: Set speeds missing
6035: 上载编码器未提供 Load encoder not available
6037: 力矩限制《0.0 Torque limit <= 0.0
6038: 力矩限制》最大允许力矩 Torque limit > maximum permissible torque
Info(REAL): Maximum permissible torque
6039: PID 控制器错误超限停止 PID controller error stop limit exceeded
Info(REAL): Current PID controller error
6040: 参数功能不支持Parameter function not supported. (Modul ?)
Info(UINT): Slot
7014: Endat 编码器：CRC 校验错误传送参数Endat encoder: CRC error during
transfer parameter
Info(USINT): Slot
7015: Endat 编码器：超时错误传送参数Endat encoder: Timeout error during transfer parameter
Info(USINT): Slot
7016: Endat 编码器：繁忙错误传送参数Endat encoder: Busy error during transfer parameter
Info(USINT): Slot
7017: Endat 编码器：错误读编码器参数Endat encoder: Error while reading encoder parameter
Info(USINT): Slot
7019: OEM 数据无效OEM data not valid
Info(USINT): Slot
7020: OEM 数据：数据写错误OEM data: Data write error
Info(USINT): Slot
7021: Endat 编码器：超时错误读绝对位置Endat encoder: Timeout error while reading absolut
position
Info(USINT): Slot
7022: Endat 编码器：初始化未激活Endat encoder: Initialization is active
Info(USINT): Slot
7023: Endat 编码器：参数传送激活Endat encoder: Parameter transfer is active
Info(USINT): Slot
7025: OEM 数据：无效电机类型OEM data: Invalid motor type
7028: OEM 数据：数据模块不兼容现有操作系统
OEM data: Data modul not compatible with operating system
7030: Endat 编码器：模拟信号干扰Endat encoder: Analog track disturbance
Info(USINT): Slot
7032: Endat 编码器：未连接Encoder: No connection
Info(USINT): Slot
7036: 编码器：接口ID 无效（检查插槽和接口EEPROM 数据）
Encoder: Interface ID invalid (Check slot and Interface EEPROM data)
Info(USINT): Slot
7038: 编码器：位置数据不同步和绝对值）
Encoder: Position value not synchronous with absolute value
Info(USINT): Slot
7039: 增量编码器：电缆干扰A 线Incremental encoder: Cable disturbance track A
Info(USINT): Slot
7040: 增量编码器：电缆干扰B 线Incremental encoder: Cable disturbance track B
Info(USINT): Slot
7041: 增量编码器：电缆干扰R 线Incremental encoder: Cable disturbance track R
Info(USINT): Slot
7042: 增量编码器：边沿位置信号太小Incremental encoder: Edge distance of quadrature signal too
small
Info(USINT): Slot
7043: SSI 编码器：电缆干扰D 线SSI encoder: Cable disturbance track D
Info(USINT): Slot
7044: SSI 编码器：极性SSI encoder: Parity
Info(USINT): Slot
7045: 旋变：电缆干扰核对Resolver: Cable disturbance (plausibility check)
Info(UINT): Slot
7046: 旋变：电缆干扰Resolver: Cable disturbance
Info(UINT): Slot
7200: DC 连接电路：硬件过压检测 DC link circuit: Overvoltage detected by Hardware
Info(REAL): DC link voltage
7201: DC 连接电路：过压DC link circuit: Overvoltage
Info(REAL): DC link voltage
7210: DC 连接电路：电压太低或不稳定DC link circuit: Voltage too low or unstable (check the
power line)
Info(REAL): DC link voltage
7211: DC 连接电路：电压断线检查动力线DC link circuit: Voltage breakdown (check the power line)
Info(REAL): Low voltage limit
7212: DC 连接电路：电压断线急停中断
DC link circuit: Voltage breakd
own -> Emergency-Stop interrupted
Info(REAL): Low voltage limit
7213: DC 连接电路：时间常数决定激活动力线
DC link circuit: Time constant determination with activ power line
Info(REAL): DC link voltage
7214: DC 连接电路：电阻过热（太多动力线失败）
DC link circuit: Inrush resistor hot (To much power line fails)
7215: DC 连接电路：至少一相动力线失败DC link circuit: At least one phase of the power line
failed
7216: DC 连接电路制动：泄放功率超过最大值DC link circuit: Bleeder power higher than maximum
value
7300: 数字量IO：IO 组态无效Digital IO: IO Configuration invalid
Info(UINT): Slot
7301: 数字量IO：接口未提供Digital IO: Interface not available
Info(UINT): Slot
7302: 数字量IO：错误设置分辨率或增量Digital IO: Set wrong resolution or increment error
Info(UINT): Measured increments per encoder revolution
7400: 无效参数ID 用于循环数据Invalid parameter ID for cyclic data
7401: 参数位置超过最大数据长度Parameter position exceeds maximum data length
7402: 处理参数步骤放弃：写错误Processing of parameter sequence aborted: Write error
Info(UINT): Index of parameter
7403: 处理参数步骤仍激活Processing of parameter sequence is still active
7404: 参数步骤未提供在索引Parameter sequence not available at index
8001: EEPROM 选择无效EEPROM select not valid
8002: EEPROM 地址无效EEPROM address not valid
8003: 列表索引无效Table index not valid
8004: EEPROM 变量类型无效EEPROM variable type not valid
8005: EEPROM 类型无效EEPROM type not valid
8006: EEPROM 参数数值为零Value of EEPROM parameter is zero
Info(UINT): EEPROM Parameter ID
8007: EEPROM 参数数值无效Value of EEPROM parameter is not valid
Info(UINT): EEPROM Parameter ID
8008: EEPROM 参数数值大于最大值Value of EEPROM parameter higher than maximum value
Info(REAL): Maximum value
8009: EEPROM 参数数值小于最小值Value of EEPROM parameter lower than minimum value
Info(REAL): Minimum value
8010: 模块标志无效Modul identification not valid
Info(INT): Modul (0 processor plate,1 power plate,2 slot1,3 slot2,4 slot3,5
slot4)
8020: 无效开关频率Invalid switch frequency
9000: IGBT 表面温度过温Heatsink overtemperature
Info(REAL): Heatsink temperatur
9002: IGBT 表面温度传感器未连接或损坏
Temperature sensor in the heatsink is not connected or destroyed
Info(REAL): Heatsink temperatur
9003: IGBT 表面温度传感器未连接或损坏
Temperature sensor in the heatsink is not connected or destroyed
Info(REAL): Heatsink temperatur
9010: 电机超温Motor overtemperature
Info(REAL): Motor temperatur
9012: 电机温度传感器未连接或损坏Motor temperature sensor is not connected or destroyed
Info(REAL): Motor temperatur
9013: 短路电机温度Shorted Motor temperature
Info(REAL): Motor
temperatur
9030: IGBT PN 结超温Junction overtemperature
Info(REAL): Junction temperatur
9031: IGBT PN 结超温（没有急停）Junction overtemperature (Without Emergency-Stop)
Info(REAL): Junction temperatur
9040: 制动系统超温Bleeder overtemperature
Info(REAL): Bleeder temperatur
9050: 峰值电流过载Peak current overload (i2t)
Info(REAL): Peak current load [%]
9060: 持续电流过载Continuous current overload (i2t)
Info(REAL): Continuous current load [%]
9070: 电机超温（温度模型）Motor overtemperature (temperature model)
Info(REAL): calculated Motor temperatur
9300: 电流控制器（IGBT 功率放大器过流）电流不可测
Current controller: Overcurrent IGBT (current not measurable)
Info(REAL): Absolute value of the biggest phase current
9301: 电流控制器：停止因为IGBT 功率放大器过流
Current controller: Stop due to overcurrent IGBT (current not measurable)
Info(REAL): Modulo of the current phasor
32001: 调用CAN_xopen() 错误Error at call of CAN_xopen()
Info(UINT): Status of CAN_xopen()
32002: 用于广播命令定义写COB 时错误Error at definition of Write COB for Broadcast Command
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32003: 用于读请求定义写COB 时错误Error at definition of Write COB for Parameter Read
Request
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32004: 用于写请求定义写COB 时错误Error at definition of Write COB for Parameter Write
Request
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32005: 用于读反应定义读COB 时错误Error at definition of Read COB for Parameter Read
Response
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32006: 用于写反应定义读COB 时错误Error at definition of Read COB for Parameter Write
Response
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32007: 用于监视驱动器数据定义读COB 错误
Error at definition of Read COB for Monitor Data from the drive
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32008: 在发送读反应错误（网络错误？）Error at sending Read Request (network error ?)
Info(UINT): Status of CAN_sendCOB()
32009: 在发送写反应错误（网络错误？）Error at sending Write Request (network error ?)
Info(UINT): Status of CAN_sendCOB()
32010: 对读反应的驱动无反应（驱动存在于网络？）
No response of drive for Read Request (exists drive in network ?)
32011: 对写反应的驱动无反应（驱动存在于网络？）
No response of drive for Write Request (exists drive in network ?)
32012: 在系统模块读描述时错误Error at reading module description of system module
32013: 驱动器未装操作系统No operating system existing on the drive
32014: 操作系统版本和NC 管理器版本不兼容
Operating system version on the drive not compatibel with NC manager version
Info(UINT): Operating system version on the drive (hexadecimal)
32015: 创建信息请求错误Error at creation of message queue
Info(UINT): Status of q_create()
32016: 对NC 管理器任务发送空闲时间命令错误
Error at sending a idle time command to the NC Manager Task
Info(UINT): Status of q_send()
32017: 在启动操作系统后，错误的引导状态Wrong boot state after start of operating system
Info(UINT): Boot state
32018: 在系统模块中无效的参数ID Invalid Parameter ID in system module
32019: 下载NC 系统模块不允许（系统模块存在PCC）
Download of NC system module not allowed (the module exists on the PCC)
32020: 在NC 管理器中初始驱动不能读出系统模块数据
System module data could not be read from the drive at NC manager INIT
32021: 在下载后，从驱动器中不能够读出系统模块
System module data could not be read from the drive after download
32022: 在下载前，访问数据块放弃时错误Error at abort of data block access before download
32023: 在下载前，读引导状态区错误Error at reading boot state before download
32024: 在SW 复位下载前，读引导状态区错误Error at reading boot state after SW Reset before
download
32025: 在SW 复位下载前，状态区错误Wrong boot state after SW Reset before download
32026: 用于下载初始数据块写访问错误Error at INIT of data block write access for download
32027: 用于下载发送数据标识错误Error at sending data segment for download
32028: 用于下载发送数据标识超时Timout after sending data segment for download
32029: 用于下载发送数据标识反应错误Response error after sending data segment for download
32030: 在下载后，命令烧结系统模块命令错误Error at command for burn system module after download
32031: 在下载后，读状态烧结系统模块命令错误
Error at reading status for burn system module after download
32032: 在下载后，烧结系统模块命令错误Error at burn system module after download
32033: 在下载后，烧结系统模块命令超时Timeout at burn system module after download
32034: 在SW 复位下载前错误Error at SW Reset before download
32035: 在SW 复位下载后错误Error at SW Reset after download
32036: 在下载后，不同系统模块数据Different system module data after download
32037: 错误信息丢失因为FIFO 溢出（确认错误）
Error message(s) lost because of FIFO overflow (acknowledge errors)
32038: 查找初始化参数数据模块错误Error at searching INIT parameter data module
Info(UINT): Status of function MO_modul_search()
32039: 读初始化参数数据模块错误Error at reading INIT parameter data module
Info(UINT): Status of function MO_read()
32040: 初始化参数数据模块版本和NC 管理器版本不兼容
Version of INIT parameter data module is not compatible to NC manager
Info(UINT): Version of INIT parameter data module (hexadecimal)
32041: acp10cfg 模块不存在The module acp10cfg does not exist
32042: acp10cfg 模块不是NC 数据模块The module acp10cfg is no NC data module
32043: acp10cfg 模块不是有效的NC 模块类型The NC module type of the module acp10cfg is
invalid
32044: acp10cfg 模块NC 模块类型不可读The NC module type of the module acp10cfg cannot be
read
32045: acp10cfg 模块数据地址不可读The data address in module acp10cfg cannot be read
32046: acp10cfg 模块版本不兼容NC 管理器
Version of the module acp10cfg is not compatible with NC manager
32047: acp10cfg 模块站号无效 A node number in module acp10cfg is invalid
32048: acp10cfg 模块站号多次使用A node number in module acp10cfg is multiple used
32049: 跟踪启动已经激活Trace is already active at trace start
32050: 跟踪数据上载已经激活A Trace Data Upload is already active
32051: 用于跟踪数据上载的跟踪状态无效Invalid Trace Status for Trace Data Upload
32052: 用于跟踪数据上载ev_send() 错误Error at ev_send() for Trace Data Upload
Info(UINT): Status of function ev_send()
32053: 用于参数读请求2 的写COB 定义错误
Error at definition of Write COB for Parameter Read Request 2
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32054: 用于参数写请求2 的写COB 定义错误
Error at definition of Write COB for Parameter Write Request 2
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32055: 用于参数读请求2 的读COB 定义错误
Error at definition of Read COB for Parameter Read Response 2
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32056: 用于参数写请求2 的写COB 定义错误
Error at definition of Read COB for Parameter Write Response 2
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32057: 访问高速任务列表错误Error at access to HS task class table
Info(UINT): Status of SS_get_entry()
32058: 访问任务列表错误Error at access to task class table
Info(UINT): Status of SS_get_entry()
32059: 访问高速任务列表参数tk_no 无效Parameter tk_no invalid for access to task class table
Info(UINT): Value of tk_no
32060: 从驱动得到的循环数据超时》标志无效（网络错误？）
Timeout for cyclic data from drive => Indications invalid (network error ?)
32061: 发送读请求报文超时（网络错误？）
Timeout for sending a Read Request Telegram (network error ?)
32062: 发送写请求报文超时（网络错误？）
Timeout for sending a Write Request Telegram (network error ?)
32063: 数据地址为零（设/ 读参数通过
SERVICE 通道）
Data address zero (set/read parameter via service interface)
32064: 参数类型不能设置可选的
ncDATA_TEXT Parameter with that type cannot be set with option ncDATA_TEXT
32065: 参数类型不能读取可选的
ncDATA_TEXT Parameter with that type cannot be read with option ncDATA_TEXT
32066: 参数ID 零（设/ 读参数通过SERVICE 通道）
Parameter ID zero (set/read parameter via service interface)
32067: 参数ID 无效（设/ 读参数通过可选的ncDATA_TEXT ）
Parameter ID invalid (set/read parameter with option ncDATA_TEXT)
32068: 下载新的BS Loader acp10bsl 版本是必须的
Download of new version of BS Loader acp10bsl to the drive is necessary
Info(UINT): Version of BS Loader on the drive (hexadecimal)
32069: acp10cfg 模块的电机参数数据地址是不可读的
The data address of the motor parameters in module acp10cfg cannot be read
32070: acp10cfg 模块的电机参数驱动未发现Drive for motor parameters in module acp10cfg not
found
Info(UINT): Interface index (in HB) and node number (in LB) of this drive
32071: 电机参数无效（升级AS 必须）
The motor parameters are invalid (an update of AutomationStudio is necessary)
32072: 在SW 复位后错误的引导状态Wrong boot state after SW Reset
Info(UINT): Boot state
32073: 下载NC 系统模块：读取BS Loader 中的NC HW 版本错误
Download of NC system module: Error at reading NC HW Version of BS Loader
32074: 不兼容NC HW 版本：下载BS Loader 不可能
Incompatible NC HW Version: Download of BS Loader not possible
32075: 不兼容NC HW 版本：下载操作系统
不可能Incompatible NC HW Version: Download of operating system not possible
32076: FIFO 用于高级别信息到NC 管理器的任务满
FIFO for messages with high priority to NC Manager Task is full
32095: 在CAN-组态模块的驱动组的数值高于最大值
Value of drive group in CAN-CFG-Module higher than maximum value
Info(UINT): Maximum value
32096: 用于跟踪数据上载的数据缓冲区的尺寸在acp10cfg 中
太小Size of data buffer for trace data upload in module acp10cfg too small
32097: 用于CAN 接口的acp10cfg 的计数值为零
The count of used CAN interfaces in module acp10cfg is zero
32098: acp10cfg 模块的数据是空 The Data section of module acp10cfg is empty
Info(UINT): Number of data section
32099: acp10cfg 模块的数据长度太小Length of data section of module acp10cfg is too small
Info(UINT): Number of data section
32100: 用于NC 错误管理的内存不能被收集
Memory for NC error text management cannot be allocated
Info(UINT): Status of SM_malloc()
32101: 在BR 系统模块列表的NC 访问错误Error at access to NC error text module in B&R module
table
Info(UINT): Status of SS_get_entry()
32102: 错误文本模块的版本ID 不同于NC 管理器
Version ID of error text module not equal to that
of NC manager
32103: 错误文本模块的数据不可读Data section of error text module cannot be read
Info(UINT): Number of data section
32104: 错误文本模块的数据是空Data section of error text module is empty
Info(UINT): Number of data section
32105: 错误文本模块的数据长度太小Length of data section of error text module is too small
Info(UINT): Number of data section
32106: 错误文本模块不同于NC 管理器的错误列表
Error list of error text module not equal with that of NC manager
Info(UINT): First invalid error number
32107: 错误文本模块不同于NC 管理器的参数列表
Parameter list of error text module not equal with that of NC manager
Info(UINT): First invalid parameter ID
32108: 错误文本模块的最后一个错误代码不等于65535
The last error number of error text module is not equal to 65535
32109: 错误文本模块的最后一个参数ID 不等于65535
The last parameter id of error text module is not equal to 65535
32110: 在CAN-组态模块的数据长度不可读Length of data section of CAN-CFG-Module cannot be read
Info(UINT): Status of function MO_section_lng()
32111: 在CAN-组态模块的数据长度太小Length of data section of CAN-CFG-Module is too small
Info(UINT): Expected length
32112: 在CAN-组态模块的数据地址不可读The data address in the CAN-CFG-Module cannot be read
Info(UINT): Status of function MO_read()
32113: 在CAN-组态模块的势能代码无效The enable code in the CAN-CFG-Module is invalid
32114: 在CAN-组态模块的保留区的数据不等于零
Values not equal to zero in reserved area of CAN-CFG-Module
32115: 在CAN-组态模块的基本CAN ID 用于写/ 读通道1 无效
The basis CAN ID for WR/RD channel1 in the CAN-CFG-Module is invalid
32116: 在CAN-组态模块的基本CAN ID 用于写/ 读通道2 无效
The basis CAN ID for WR/RD channel2 in the CAN-CFG-Module is invalid
32117: 在CAN-组态模块的基本CAN ID 用于写/ 读通道3 无效
The basis CAN ID for WR/RD channel3 in the CAN-CFG-Module is invalid
32118: 在CAN-组态模块的基本CAN ID 用于监视数据无效
The basis CAN ID for monitor data in the CAN-CFG-Module is invalid
32119: 在CAN-组态模块的基本CAN ID 用于对驱动器循环数据无效
Invalid basis CAN ID for cyclic data to the drive in CAN-CFG-Module
32120: 在CAN-组态模块的基本CAN ID 用于从驱动器循环数据无效
Invalid basis CAN ID for cyclic data from the drive in CAN-CFG-Module
32121: 在CAN-组态模块的基本CAN ID 用于同步报文无效
The CAN ID for the SYNC telegram in the CAN-CFG-Module is invalid
32122: 在CAN-组态模块的基本CAN ID 用于广播报文无效
The CAN ID for the braodcast command in the CAN-CFG-Module is invalid
32123: 定义读COB 对WR2 写请求错误（特殊模式）
Error at definition of Read COB for WR2 Request (special mode)
Info(UDINT): CAN
-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and LB)
32124: 定义读COB 对WR2 写响应错误（特殊模式）
Error at definition of Read COB for WR2 Response (special mode)
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32125: 定义读COB 对RD2 读请求错误（特殊模式）
Error at definition of Read COB for RD2 Request (special mode)
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32126: 定义读COB 对RD2 读响应错误（特殊模式）
Error at definition of Read COB for RD2 Response (special mode)
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32127: 用于广播命令检测写COB 时错误（特殊模式）
Error at deletion of Write COB for Broadcast Command (special mode)
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_deleteCOB() (in MLB and
LB)
32128: 用于广播命令检测读COB 时错误（特殊模式）
Error at definition of Read COB for Broadcast Command (special mode)
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32129: 从驱动器对于循环用户数据读COB 出错（特殊模式）
Error at Read COB Def. for cyclic user data from the drive (special mode)
Info(UDINT): CAN-ID (in HB und MHB) and Status of CAN_defineCOB() (in MLB and
LB)
32130: 具体仅允许一个CAN 接口This special mode is only allowed with one CAN interface
Info(UINT): Count of used CAN interfaces
32131: 具体数据模块不存在The specified NC data module does not exist
32132: 具体不在NC 数据模块中The specified module is no NC data module
32133: 具体NC 数据模块的NC 模块类型无效NC module type of the specified NC data module is
invalid
Info(UINT): Requested type (in HB) and type of NC data module (in LB)
32134: 具体NC 数据模块的NC 模块类型不可读
The NC module type of the specified NC data module cannot be read
Info(UINT): Status of function MO_read()
32135: 具体NC 数据模块的数据地址不可读
The data address of the specified NC data module cannot be read
Info(UINT): Status of function MO_read()
32136: 具体NC 数据模块的数据空The Data section of the specified NC data module is empty
Info(UINT): Number of data section
32137: 用于数据块操作的结构数据地址为零Data address of structure for a data block operation is
zero
32138: 数据地址为零（用户数据块操作）Data address zero (user data for data block operation)
32139: 数据长度零（用户数据块操作）Data length zero (user data for data block operation)
32140: 数据块操作：数据模块名称或地址必须为零）
Data block operation: Data module name or data address must be zero
32141: 在参数步骤中无效的数据格式Invalid data format in a parameter sequence
32142: 参数的ID 或类型无效在参数步骤文本
格式
ID or type of a parameter invalid in parameter sequence with text format
Info(UDINT): Index of this parameter in the parameter sequence
32143: 参数数据在参数步骤大于4 个字节
Data of a parameter in a parameter sequence longer than 4 bytes
Info(UDINT): Index of this parameter in the parameter sequence
32200: 调用plAcycWrite() 错误Error at call of plAcycWrite()
Info(UINT): Status of plAcycWrite()
32201: 调用plAcycWrite() 错误Error at call of plAcycWrite()
Info(UINT): Status of plAcycWrite()
32202: 调用plAcycRead() 错误Error at call of plAcycRead()
Info(UINT): Status of plAcycRead()
32203: 调用plAcycRead() 错误Error at call of plAcycRead()
Info(UINT): Status of plAcycRead()
32204: 通过循环通道读参数超时（驱动器存在于网络？）
Timeout for parameter read via acyclic channel (exists drive in network ?)
32205: 通过循环通道写参数超时（驱动器存在于网络？）
Timeout for parameter write via acyclic channel (exists drive in network ?)
32206: 循环通道1：不管写反应读请求Cyclic channel: Read Request in spite of Wait for Response
32207: 循环通道1：不管写反应写请求Cyclic channel: Write Request in spite of Wait for Response
32500: FIFO 信息已存在The Message FIFO is already existing
32501: 创建FIFO 信息错误Error at creation of Message FIFO
Info(UINT): Status of RtkCreateFifo()
32502: 命令标志已存在The Command Semaphore is already existing
32503: 创建命令标志错误Error at creation of Command Semaphore
Info(UINT): Status of RtkCreateSemaphore()
32504: NC 管理器空闲任务已存在The NC Manager Idle Task is already existing
32505: 创建NC 管理器空闲任务错误Error at creation of Nc Manager Idle Task
Info(UINT): Status of RtkCreateTask()
32506: 读任务级别循环时间错误Error reading Taskclass Cycle Time
Info(UINT): Status of GetTaskclassCycleTime()
32507: 读任务级别容忍错误Error reading Taskclass Tolerance
Info(UINT): Status of GetTaskclassMaxCycleTime()
32508: 在发送一个空闲时间命令对NC 管理器任务错误
Error at sending a idle time command to the NC Manager Task
Info(UINT): Status of RtkWriteFifo()
33000: 主循环时间不是通信循环时间的整数倍
Master cycle time is not a multiple of communication cycle time
36001: 参数限定在有效范围Parameter limited to valid range
36002: 位置环控制的整个时间限定在规定时间
Total time for the position loop controller limited to prediction time
37101: 从轴上补偿距离计算限定在最大值
Calculated compensation distance on slave axis limited to maximum
37102: 从轴上补偿距离计算限定在最小值
Calculated compensation distance on slave axis limited to minimum
37103: 从触发超出窗口Slave trigger out of window
37104: 从触发丢失Slave trigger missing
37105: 主补偿触发超出
窗口Master compensation trigger out of window
37106: 主补偿触发丢失Master compensation trigger missing
37107: 不可替换实际/ 设定位置到更高在控制器开时
Displacement actual-/setposition to high during 'controller switch on'
37108: 主轴上补偿距离计算限定在最小值
Calculated compensation distance of master axis limited to minimum
37109: 从触发超出窗口Master trigger out of window
37110: 主位置在启始高于触发1 位置Masterposition at start higher than 1. triggerposition
37111: 凸轮曲线数据：在幂数据Y （X）和从周期不同
Cam profile data: Difference between polynomial value y(xn) and slave period
Info(REAL): Difference
37112: 凸轮曲线数据幂超过限定值
Polynomial within cam profile data exceeds limit value
Info(UINT): Detail
38000: 电流控制器：计算电流偏差不可能Current controller: Calculation of current offset not
possible
38001: 电流元件限定超过最大变频电流
Current quadrature component limited to maximal inverter current
Info(REAL): Maximal inverter current
39001: Endat 编码器：位置修正激活Endat encoder: Position correction active
Info(USINT): Slot
39002: 旋变：速度限定在14 位分辨率超出Resolver: Speed limit for 14 bit resolution exceeded
Info(USINT): Slot
39003: Endat 编码器：报警置位Endat encoder: Alarm bit is set
Info(USINT): Slot
39004: Endat 编码器：报警位-亮失败Endat encoder: Alarm bit - Lighting failure
Info(USINT): Slot
39005: Endat 编码器：报警位-信号放大太小Endat encoder: Alarm bit - Signal amplitude too small
Info(USINT): Slot
39006: Endat 编码器：报警位-检测位置值Endat encoder: Alarm bit - Defective position value
Info(USINT): Slot
39007: Endat 编码器：报警位-过压Endat encoder: Alarm bit - Overvoltage
Info(USINT): Slot
39008: Endat 编码器：报警位-低压Endat encoder: Alarm bit - Undervoltage
Info(USINT): Slot
39009: Endat 编码器：报警位-过流Endat encoder: Alarm bit - Overcurrent
Info(USINT): Slot
39010: Endat 编码器：报警位-需要更换电池Endat encoder: Alarm bit - Battery change required
Info(USINT): Slot
39011: Endat 编码器：警告位：频率太大Endat encoder: Warning bit - Frequency too large
Info(USINT): Slot
39012: Endat 编码器：警告位：温度太大Endat encoder: Warning bit - Temperature too large
Info(USINT): Slot
39013: Endat 编码器：警告位：保留灯到达Endat encoder: Warning bit - Lighting reserve reached
Info(USINT): Slot
39014: Endat 编码器：警告位：电池充电太小Endat encoder: Warning bit - Battery charge too small
Info(USINT): Slot
39015: Endat 编码器：警告位：参考位未到达Endat encoder: Warning bit - Reference point not
reached
Info(USINT): Slot
39016: 增量编码器评估：频率太大Incremental encoder emulation: Freqency too large
Info(UINT): Slo
t
39017: Endat 编码器：读位置CRC 校验错Endat encoder: CRC error while reading position
Info(USINT): Slot
39200: DC 连接电路：单相功率线或缺相DC link circuit: Single phase power line or less line
voltage
Info(REAL): Nominal dc bus voltage
39300: 数字量IO：通道1 不能设置为输入Digital IO: Channel can not be set. Configurated as
input.
Info(UINT): Slot
39301: 数字量IO：24V 电源故障Digital IO: 24V power supply fail
Info(UINT): Slot
39302: 数字量IO：1-4 诊断位激活（IO 电流，24V 供电）
Digital IO 1-4: Diagnose bit active (IO current, 24V supply)
Info(UINT): Slot
39303: 数字量IO：5-8 诊断位激活（IO 电流，24V 供电）
Digital IO 5-8: Diagnose bit active (IO current, 24V supply)
Info(UINT): Slot
39304: 数字量IO：9 诊断位激活（IO 电流，24V 供电）
Digital IO 9: Diagnose bit active (IO current, 24V supply)
Info(UINT): Slot
39305: 数字量IO：10 诊断位激活（IO 电流，24V 供电）
Digital IO 10: Diagnose bit active (IO current, 24V supply)
Info(UINT): Slot
39306: 数字量IO：9-10 过流Digital IO 9-10: Overcurrent
Info(UINT): Slot
41001: IGBT 表面温度超温Heatsink overtemperature
Info(REAL): Heatsink temperatur
41011: 电机超温Motor overtemperature
Info(REAL): Motor temperatur
41031: IGBT PN 结超温Junction overtemperature
Info(REAL): Junction temperatur
41041: 制动系统超温Bleeder overtemperature
Info(REAL): Bleeder temperatur
41051: 峰值电流过载Peak current overload (i2t)
Info(REAL): Peak current load [%]
41061: 持续电流过载Continuous current overload (i2t)
Info(REAL): Continuous current load [%]
41070: 电机超温（温度模型）Motor overtemperature (temperature model)
Info(REAL): Calculated motor temperatur
41300: 电流控制器：IGBT 功率过流Current controller: Overcurrent IGBT (current not
measurable)
Info(REAL): Modulo of the current phasor
41301: 电流控制器：IGBT 功率过流停止
Current controller: Stop due to overcurrent IGBT (current not measurable)
Info(REAL): Modulo of the current phasor
64001: ncalloc 小于在NC 管理器定义的任务级别
ncalloc in slower task class than defined for NC Manager Task
64003 :POWERLINK 插线错误，
64500: 正向速度限定激活Positive speed limiter active
64501: 负向速度限定激活Negative speed limiter active
64502: 正向加速力矩限定激活Positive direction acceleration torque limiter active
64503: 负向加速力矩限定激活Negative direction acceleration torque limiter active
64504: 正向减速力矩限定激活Positive direction deceleration torque limiter active
64505: 负向减速力矩限定激活Negative direction deceleration torque limiter active
64506: 再生电源限定激活（减速到高）Regenerativ power limiter active (deceleration to high)
65535: 反应错误Response Error
注意：根据ACP10 SW
版本不同，以上ACOPOS 出错代码表会有所不同，具体信息请查阅AS 在线帮助。
