# ID 70221

Drive is not ready for interpolation.
Description | The CANopen-drive is to be moved, although it is not in the "Operation enabled" state (see documentation of the drive manufacturer). Therefore, it cannot therefore follow the specified setpoints. Possible solutions: Check if the drive releases in the PLC were set

Possibly the CANopen state must be gone through again after a drive error (Remove drive releases and set them again)

Check whether the drive releases were set in the correct sequence ("Drive On" -> "Torque Permission" -> "Release Feedhold", see [HLI//Control commands of an axis]). Perhaps the releases were set too fast one after the other.

Check the hardware release at the drive amplifier.

Response | Class | 5 | Immediate stop of the concerned axis
Solution | Class | 6 | Possible solutions:

- Check if the drive releases in the PLC were set
- Possibly the CANopen state must be gone through again after a drive error (Remove drive releases and set them again)
- Check whether the drive releases have been set in the correct order ("Drive On" ->"Torque Permission" -> "Release Feedhold", [ HLI//Section: Control commands of an axis]). Perhaps the releases were set too fast one after the other.
- Check the hardware release at the drive amplifier.

Parameter | %1: | Logical axis number [-]
Logical axis number P-AXIS-00016 of concerned axis.
%2: | Drive type [-]
Drive type P-AXIS-00020 of the affected axis
%3: | Current value [-]
Status word of the drive
%4: | Block number [-]
Block number of the NC program, in which the error occurred
Error type | 11, Error message from position controller.