T-Series/Commands/Error/A-MCA

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Instruction Name	Error
Applies to	A-Series controllers
Firmware Version	6.xx
Command Number	255
Command Type	Reply
Command Data	n/a
Reply Data	Error Code
Safe to retry?	Yes
Returns Current Position?	No
Persistence	n/a
Summary	Indicates to the user that an error has occurred.

This reply indicates that an error has occurred. The error code returned in the data indicates the type of error. The device may send an error code as a reply to an invalid instruction, or it may autonomously send an error code as a triggered reply (i.e. not in response to an instruction). The error code is typically the command number of the instruction that caused the error, but not always.

Error Codes

Code	Name	Description
1	Cannot Home	Home - Device has traveled a long distance without triggering the home sensor. Device may be stalling or slipping.
2	Device Number Invalid	Renumbering data out of range. Data (Device number) must be between 1 and 254 inclusive.
5	Address Invalid	Read Register - Register address invalid.
14	Voltage Low	Power supply voltage too low.
15	Voltage High	Power supply voltage too high.
18	Stored Position Invalid	The position stored in the requested register is no longer valid. This is probably because the maximum range was reduced.
20	Absolute Position Invalid	Move Absolute - Target position out of range.
21	Relative Position Invalid	Move Relative - Target position out of range.
22	Velocity Invalid	Constant velocity move. Velocity out of range.
36	Peripheral Id Invalid	Restore Settings - Data must be 0 to restore settings.
37	Resolution Invalid	Invalid microstep resolution. See command 37 for allowable values.
38	Run Current Invalid	Run current out of range. Valid range is 0 to 100.
39	Hold Current Invalid	Hold current out of range. Valid range is 0 to 100.
40	Mode Invalid	Set Device Mode - one or more of the mode bits is invalid.
41	Home Speed Invalid	Home speed out of range. The range of home speed is determined by the resolution.
42	Speed Invalid	Target speed out of range. The range of target speed is determined by the resolution.
43	Acceleration Invalid	Target acceleration out of range. Valid range is 0 to 32767.
44	Maximum Position Invalid	Maximum position out of range. Valid range is -1000000000 to 1000000000.
45	Current Position Invalid	Current position out of range. Valid range is -1000000000 to 1000000000.
47	Offset Invalid	Home offset out of range. Home offset must be between 0 and maximum position.
48	Alias Invalid	Alias out of range. Alias must be between 0 and 254 inclusive.
50	Device Id Unknown	The device id is not included in the firmware's list.
53	Setting Invalid	Return Setting - data entered is not a valid setting command number. Valid data are the command numbers of any "Set..." or "Return..." instructions.
64	Command Invalid	Command number not valid in this firmware version.
65	Park State Invalid	Set Park State - State must be 0 or 1, or device cannot park because it is in motion.
67	Temperature High	High temperature is detected inside device. Device may be overheating.
101	Auto Reply Disabled Mode Invalid	Mode must be 0 or 1.
102	Message Id Mode Invalid	Mode must be 0 or 1.
103	Home Status Invalid	Status must be 0 or 1.
104	Home Sensor Type Invalid	Type must be 0 or 1.
105	Auto-Home Disabled Mode Invalid	Mode must be 0 or 1.
106	Minimum Position Invalid	Minimum position out of range.
107	Knob Disabled Mode Invalid	Mode must be 0 or 1.
108	Knob Direction Invalid	Direction must be 0 or 1.
109	Knob Movement Mode Invalid	Mode must be 0 or 1.
111	Knob Velocity Scale Invalid	Maximum knob speed out of range. The range of valid speed is determined by the resolution.
112	Knob Velocity Profile Invalid	Profile must be 1 (Linear), 2 (Quadratic), or 3 (Cubic).
113	Acceleration Only Invalid	Acceleration out of range.
114	Deceleration Only Invalid	Deceleration out of range.
115	Move Tracking Mode Invalid	Mode must be 0 or 1.
116	Manual Move Tracking Disabled Mode Invalid	Mode must be 0 or 1.
117	Move Tracking Period Invalid	Valid range is 10 - 65535.
118	Closed-Loop Mode Invalid	Valid modes are 0-6.
119	Slip Tracking Period Invalid	Valid range is 0(Off), 10 - 65535.
120	Stall Timeout Invalid	Valid range is 0 - 65535.
121	Device Direction Invalid	Direction must be 0 or 1.
255	Busy	Another command is executing and cannot be pre-empted. Either stop the previous command or wait until it finishes before trying again.
701	Register Address Invalid	Write Register - Register address invalid.
702	Register Value Invalid	Write Register - Value out of range.
1600	Save Position Invalid	Save Current Position register out of range (must be 0-15).
1601	Save Position Not Homed	Save Current Position is not allowed unless the device has been homed.
1700	Return Position Invalid	Return Stored Position register out of range (must be 0-15).
1800	Move Position Invalid	Move to Stored Position register out of range (must be 0-15).
1801	Move Position Not Homed	Move to Stored Position is not allowed unless the device has been homed.
4001	Bit 1 Invalid	Set Device Mode - bit 1 is reserved in this device and must be 0.
4002	Bit 2 Invalid	Set Device Mode - bit 2 is reserved in this device and must be 0.
4010	Bit 10 Invalid	Set Device Mode - bit 10 is reserved in this device and must be 0.
4011	Bit 11 Invalid	Set Device Mode - bit 11 is reserved in this device and must be 0.
4013	Bit 13 Invalid	Set Device Mode - bit 13 is reserved in this device and must be 0.
4014	Bit 14 Invalid	Set Device Mode - bit 14 is reserved in this device and must be 0.
4015	Bit 15 Invalid	Set Device Mode - bit 15 is reserved in this device and must be 0.
6501	Device Parked	Device is currently parked. Use Set Park State or Home to unpark device before requesting a move.