C218 Feedback 2 data reading error
The initializatin of the measuring systems is done in the command S-0-0128, C200 Communication phase 4 transition check. If the measuring system to initialize has an intrinsic data memory, this memory is read.
The error C218 Feedback 2 data reading error is generated, if an additional optional encoder (encoder 2) is present and being evaluated (P-0-0075 Feedback type 2 other than 0) and if an error is discovered while reading the data.
Measuring systems with intrinsic data memory are :
· DSF/HSF/LSF and resolver, as well as
· measuring systems with Endat interface (from Heidenhain)
Cause:
1. Defective measurement system cable
2. Defective measurement system
Remedy:
For 1. Check the measurement system cable.
For 2. Exchange the measurement system.

C220 Feedback 1 initializing error
A number of tests are performed when the motor encoder is initialized. An error was detected during this process.
This error may be:
· Error while reading the angle rectification data
· Error while copying the angle rectification data
· Interruption of communication with the encoder
· Assembly error with the position of an initialization track
· Error while reading the analog signal of an initialization track
· Error in the pointer length of the analog signal of an initialization track
· Invalid offset between the high and low resolution track
· Error in the measuring system micro-controller
Cause:
1. Defective motor feedback cable
2. Defective motor feedback
3. Defective measurement system interface
Remedy:
For 1. Check the motor feedback cable.
For 2. Exchange the motor.
For 3. Exchange the measuring system interface, if it is a module, or the complete drive controller.

C221 Feedback 2 initializing error
Several checks are performed during the initialization of an optional encoder. An error has been detected during this process. This error may be:

· Error while reading the angle rectification data
· Error while copying the angle rectification data
· Interruption of communication with the encoder
· Assembly error with the position of an initialization track
· Error while reading the analog signal of an initialization track
· Error in the pointer length of the analog signal of an initialization track
· Invalid offset between the high and low resolution track
· Error in the measuring system micro-controller
· With DAG 1.2: external 24V set for SSI interface
Cause:
1. External encoder cable defective.
2. Defective feedback.
3. Defective measurement system interface.
Remedy:
For 1. Check the optional feedback cable.
For 2. Exchange feedback.
For 3. Exchange the measuring system interface (module).

C223 Input value for max. range too high
Cause:
An internal position resolution has been selected via the S-0-0278, Maximum travel range parameter that no longer guarantees a correct commutation of the motor.
Remedy:
Select a smaller value for the S-0-0278, Maximum travel range parameter.

C227 Modulo range error
Cause:
The selected modulo value is greater than half the numerical position range of the drive.
Remedy:
Decrease the modulo value.

C228 Controller type S-0-0140 wrong
During the command S-0-0128, C200 Communication phase 4 transition check, the drive checks whether the
data for the thermal heatsink model stored in the resident memory of the drive are valid. If an error is detected there, the drive reacts with the error message C228 Controller type S-0-0140 wrong.
Cause:
Amplifier EEPROM defective.
Remedy:
Exchange/repair the drive controller.

C234 Encoder combination not possible
Cause:
The encoder interface that has been selected in the P-0-0075, Feedback type 2, optional parameter cannot be supported by the drive; it has already been allocated to the motor encoder.
Remedy:
Select another optional encoder.

C235 Load-side motor encoder with inductance motor only
Cause:
The functionality of the optional encoder can be defined in the P-0-0185, Function of encoder 2 parameter. If load-side motor encoder' has been selected as the function of the optional encoder, that function will only be supported for asynchronous motors.
Remedy:
Set the P-0-4014, Motor type parameter according to the
employed motor type.
Check the P-0-0185, Function of encoder 2 parameter.

C236 Feedback 1 required (P-0-0074)
Cause:
A motor encoder is not required (P-0-0074 = 0) if a load-sided motor encoder has been selected via the
P-0-0185, Function of opt. encoder parameter. However, S-0-0147, Homing parameter or the S-0-0032...35,
Mode of Operation parameters contain values that require a motor encoder.
Remedy:
Change S-0-0147, Homing parameter or the S-0-0032...35, Mode of Operation parameters such that they are suitable for using an optional encoder.
Enter a value ¹ 0 in the P-0-0074, Interface feedback 1 parameter to activate the motor encoder.

C300 Set absolute measuring
Command P-0-0012, C300 Command 'Set absolute measurement' was activated by the control system in use.

C301 Setting absolute measuring not allowed, drive enabled
Cause:
The command "C300 Command Setting of Absolute Measurement Emulator" was started with the given drive enable.
Remedy:
End the command and deactivate the control enable.

C302 Absolute measuring system not installed
Command P-0-0012, C300 Command 'Set absolute measurement' was started without an absolute measuring system being present. The command cannot be processed because no absolute measuring system is available.
Cause:
1. The command should not have been activated.
2. The contacted motor or the external measurement system was not executed as an absolute encoder.
Remedy:
For 1. Stop execution of the command.
For 2. Equip the motor or external measurement system with an absolute encoder function.

C400 Command: switch to parameter mode
The command for transition into parameter mode. Before editing parameters that can be edited only in
parameter mode, this command must be processed.

C401 Drive active, switching not allowed
Cause:
The command C400 Command: Switch to parameter mode has been started, although the drive enable is on.
Remedy:
End the command and turn off the drive enable, then the command can be started again.

C402 Only allowed without master
Cause:
The command P-0-4023, C400 Communication phase 2 transition was started via the serial interface.
The command is not executed and terminated with this error message because the active SERCOS interface is of a higher priority and would be disturbed. The command can only be done if the SERCOS interface is inactive (i.e. there are no signals applied to the receiver of the SERCOS interface).
Remedy:
Perform phase selection via SERCOS interface or de-activate SERCOS interface before the command is started.

C500 Reset class 1 diagnostic, error reset
The command for clearing errors, S-0-0099, C500 Reset class 1 diagnostic was activated by the control system in use. All drive internal errors are cleared. But before, the cause of the error must have been cleared.

C600 Drive controlled homing procedure command
Command S-0-0148, C600 Drive controlled homing procedure command has been activated by the control system in use.

C601 Homing only possible with drive enable
Cause:
The controller enabling signal was not active when the program was started. This is not permitted.
Remedy:
1. Switch on the controller enable signal.
2. Start the command again.

C602 Distance home switch - reference mark erroneous
Cause:
The evaluation of the homing switch has been activated. The distance between the positive homing switch edge and the reference mark that shall be interpreted is outside the valid range.
Remedy:
Read the value from the S-0-0298, Reference cam shift by ... parameter and enter it in the S-0-0299, Home switch offset parameter.

C603 Homing not permitted in this operation mode
Cause:
During operation of the drive in torque control or velocity control, the homing command can not be processed.
Remedy:
Clear the homing command.
Set another operating mode.

C604 Homing of absolute encoder not possible
Cause:
If, with absolute encoder, the homing command was called without having done the command P-0-0012, Set absolute measuring before, the homing command is cancelled with this error. If the encoder had been referenced with the "Set absolute measuring", then the homing command would give you a possibility to trigger a positioning move to the reference point.
Remedy:
Home the absolute encoder with the command "Set absolute measuring".

C605 Homing velocity to high
Cause:
Unequivocal allocation of a reference marker to a zero switch is not possible at a high velocity since the zero
switch is only evaluated every 2 ms.
Remedial action:
Reduce the value of S-0-0041, Homing velocity.

C700 Basic load
With motors of the MHD, MKD and MKE series, the controller parameters for the connected motor that are stored in the controller are set to their default values by activating the controller parameters that are stored in the motor feedback. The drive controller issues the C7 message to indicate that the C700 Basic load command has been activated via the command parameter S-0-0262, C700 Command basic load.
Cause:
The command C700 Basic load has been activated.

C701 Basic load not possible if drive is enabled
Cause:
Command S-0-0262, C700 Command basic load cannot be run if the controller enable is set.
Remedy:
1. Disable controller enable.
2. Start the command again.

C702 Default parameters not available
With motors of the MHD, MKD and MKE series, adapting the control loops to the connected digital drive is done by activating the speed controller parameters that are stored in the motor feedback. The drive controller employs the C702 message to signal that the S-0-0262, C700 Command basic load command has been
activated, but that there is no data memory at the connected motor.
Remedy:
Order the parameter sheet of the employed motor from the INDRAMAT Service, and enter the parameters.

C703 Default parameters invalid
Cause:
The default parameters are read from the motor feedback data memory. At least one of these parameters is invalid.
Remedy:
Check the connection to the motor feedback. Exchange the motor if necessary.

C704 Parameters not copyable
Cause:
The default parameters in use are not compatible with this software version.
Remedy:
Please contact Indramat. Explain, which software version, which device and which motor type you have.

C705 Locked with password
The parameter S-0-0267, Password offers the possibility to set a write protection for the drive parameters.
The diagnostic message C705 Locked with password indicates, that the command C700 Basic Load has been started, although the drive parameters are protected with the customer password.

C800 Default parameter load
How to start the command:
This command can be started in 2 ways:
1. When "PL" is displayed on the drive controller (appears after a change in firmware version), by pressing the S1 button beneath the display.
2. By starting the P-0-4094, C800 Command Base-parameter load
What the command does:
All the parameters are cleared and preset with their default (initial) value. Process blocks and control loop settings are overwritten, too.
Default parameters:
Default values are stored in the drive for all parameters which figure in the list S-0-0192, IDN-list of backup
operation data. They define a basic state of the drive that permits the drive to be switched "ready for operation" (display "bb"). Mechanical components like gear and load as well as the control loop settings therefore are not taken into consideration.

C801 Parameter default value erroneous (-> S-0-0021)
Cause:
During the execution of P-0-4094, C800 Command Base-parameter load, a default value that has been stored in the drive was recognized as incorrect. The related parameter is entered in the S-0-0021, IDN-list of invalid op. data for comm. Ph. 2.

C802 Locked with password
The parameter S-0-0267, Password offers the possibility to set a write protection for the drive parameters. The diagnostic message C705 Locked with password indicates, that the command P-0-4094, C800 Command Base-parameter load has been started, although the drive parameters are protected with the customer password.