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.