Rexroth Indramat DDS DKR Diax03 Drives


Indramat Rexroth DIAX03 DDS02.2/03.2 Drive Controller Type Code

DDS X 2 Type Code

Indramat Rexroth DIAX03 DKR02, DKR03 and DKR04 Drive Controllers Type Code

DKR Type Code

Diax03 DDS and DKR Fault Codes

Indramat DDS DKR Fault Codes









Diagnostic messages for basic initialization and other fatal System errors

-0 -The writable data storage of the drive controller is tested for its functional


-1 -The hardware of the amplifier is beig initialized.

-2 -The control supply voltage of the encoder is missing.

-3 -Initializing the parameters from the non volatile memory and calculating

     the respective data depending from the parameter contents.

-4 -Initializing and checking the command communication.

-5 -Initializing the system control.

-6 -Starting the system.

(2 dots) -1. Programming mode

  1. The processor does not run at all because of hardware fault.

E1-Processor fault, caused by static discharge, program error or hardware

      fault. More information is available via a terminal connected to the RS-232


E2 -Test of the RAM on the programming module has shown an error. RAM

      defective or not plugged properly.

E3 -Caused by a hardware fault or by a static discharge, the 1st watchdog of

       the amplifier has triggered.

E4 -Caused by a hardware fault or by a static discharge, the 2nd watchdog of

       the amplifier has triggered.

E5 -Test of the dual-port-RAM for command communication failed. Maybe

       the hardware for command communication is not plugged on properly.

Operation Status 

bb –“Ready for operation”

Ab –“Drive is ready”

AC –“Drive Automatic Check”

AE –“Drive Error Reaction”

AF –“Drive enable”

AH –“Drive Halt”

Jb –“Jog backward”

JF –“Jog Forward”

P0 –“Phase 0” (only with SERCOS communication)

P1 –“Phase 1”

P2 –“Phase 2”

P3 –“Phase 3”

PL –“Basic Parameter Load”

UL –“Basic Load”

Status diagnostic messages 

A000 Communication phase 0

A001 Communication phase 1

A002 Communication phase 2

A003 Communication phase 3

A010 Drive HALT

A012 Control and power sections ready for operation

A013 Ready for power on

A100 Drive in TORQUE control

A101 Drive in VELOCITY control

A102 Position mode with encoder 1

A103 Position mode with encoder 2

A104 Position mode lagless, encoder 1

A105 Position control lagless, feedback 2

A106 Drive controlled interpolation, encoder 1

A107 Drive controlled interpolation, encoder 2

A108 Drive controlled interpolation, lagless, encoder 1

A109 Drive controlled interpolation, lagless, encoder 2

A146 Relative drive controlled interpolation, encoder 1

A147 Relative drive controlled interpolation, encoder 2

A148 Relative drive contr. interpolation, enc. 1, lagless

A149 Relative drive contr. interpolation, enc. 2, lagless

A203 Stepper position mode

A204 Stepper position mode, lagless

A206 Process block mode, encoder 1

A207 Process block mode lagless, encoder 1

A208 JOG mode positive

A210 Process block mode, encoder 2

A211 Process block mode lagless, encoder 2

A218 JOG mode negative

A400 Automatic drive check and adjustment

A401 Drive deceleration to standstill

A800 Unknown operation mode

Command Diagnostic Messages 

B000 Pulse wire/Resolver offset detection

B001 Motor does not have resolver feedback

B002 Drive active at command start

B003 Power supply is off

B004 S pulse not found within travel range

B005 Error writing to feedback EEPROM

B006 Error in feedback processor, SDAI does not show 1

B008 Drive must be in operation mode (phase 4)

B009 Drive does not control in secondary operation mode 1

B010 5 pulses found, but min. distance to move not reached

B011 SDAI goes immeadiately back to 0, old PIC version

B012 Master password required

B013 Shaft does not turn as expected

B100 Command Release motor holding brake

B101 Command not enabled

B200 Brake check command

B201 Brake check only with drive enable

B202 Error during bedding in the brake

B203 Brake torque too low

C100 Communication phase 3 transition check

C101 Invalid communication parameter (S-0-0021)

C102 Limit error communication parameter (S-0-0021)

C104 Config. IDN for MDT not configurable

C105 Configurated length > max. length for MDT

C106 Config. IDN for AT not configurable

C107 Configurated length > max. length for AT

C108 Time slot parameter > Sercos cycle time

C109 Position of data record in MDT (S-0-0009) even

C110 Length of MDT (S-0-0010) odd

C111 ID9 + Record length – 1 > length MDT (S-0-0010)

C112 TNcyc (S-0-0001) or TScyc (S-0-0002) error

C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error

C114 T4 > TScyc (S-0-0002) – T4min (S-0-0005)

C115 T2 too small

C118 Order of MDT configuration wrong

C200 Communication phase 4 transition check

C201 Invalid parameter(s) (->S-0-0022)

C202 Parameter limit error (->S-0-0022)

C203 Parameter calculation error (->S-0-0022)

C204 Motor type P-0-4014 incorrect

C210 Feedback 2 required (->S-0-0022)

C211 Invalid feedback data (->S-0-0022)

C212 Invalid amplifier data (->S-0-0022)

C213 Position data scaling error

C214 Velocity data scaling error

C215 Acceleration data scaling error

C216 Torque/force data scaling error

C217 Feedback1 data reading error

C218 Feedback 2 data reading error

C220 Feedback 1 initializing error

C221 Feedback 2 initializing error

C223 Input value for max. range too high

C227 Modulo range error

C234 Encoder combination not possible

C235 Load-side motor encoder with inductance motor only

C236 Feedback 1 required (P-0-0074)

C238 Wrong function of encoder 2

C300 Command Set absolute measuring

C302 Absolute measuring system not installed

C400 Switching to parameter mode

C401 Drive active, switching not allowed

C402 Only allowed without master

C500 Reset class 1 diagnostic, error reset

C600 Drive controlled homing procedure command

C601 Homing only possible with drive enable

C602 Distance home switch – reference mark erroneous

C604 Homing of absolute encoder not possible

C606 Reference mark not detected

C700 Basic load

C702 Default parameters not available

C703 Default parameters invalid

C704 Parameters not copyable

C800 Default parameter load

C801 Parameter default value erroneous (-> S-0-0021)

C802 Locked with password

C900 Position spindle command

C902 Spindle positioning requires drive enable

C905 Positioning with non-init. absolute encoder impossible

C906 Error during search for zero pulse

D300 Command adjust commutation

D301 Drive not ready for commutation command

D302 Torque/Force too small to move

D303 Drive in control at start of command

D306 Power is off

D307 Drive does not move

D308 No adjustment with asynchronous motor

D309 Proceed to phase 4

D310 Input master password

D311 Commutation offset could not be determined

D312 Motion range exceeded during commutation

D400 Positive stop drive procedure command

D401 ZKL1-Error at command start

D500 Command Get mark position

D501 Incremental encoder required

D600 Cancel reference point procedure command

D700 Parking axis command

D701 Parking axis only while drive is disabled

D900 Command automatic loop tuning

D901 Start requires drive enable

D902 Motor feedback data not valid

D903 Inertia detection failed

D904 Gain adjustment failed

D905 Travel range invalid, P-0-0166 & P-0-0167

D906 Travel range exceeded

Warning diagnostic messages

E221 Warning Motor temp. surveillance defective

E225 Motor overload

E226 Undervoltage in power section

E247 Interpolation velocity = 0

E248 Interpolation acceleration = 0

E249 Positioning velocity >= S-0-0091

E250 Drive overtemp. prewarning

E251 Motor overtemp. prewarning

E252 Bleeder overload prewarning

E253 Target position out of travel range

E254 Not homed

E255 Feedrate-override S-0-0108 = 0

E256 Torque limit = 0

E257 Continuous current limit active

E258 Selected process block is not programmed

E259 Command velocity limit active

E260 Command Current limit active

E261 Continuous current limit prewarning

E263 Velocity command value > limit S-0-0091

E264 Target position out of num. range

E269 Brake torque too low

E281 Mains fault

E386 No ready signal from supply module

E408 Invalid addressing of MDT-data container A

E409 Invalid addressing of AT-data container A

E410 Slave not scanned or address 0

E825 Overvoltage in power stage

E826 Undervoltage in power section

E829 Positive position limit exceeded

E830 Negative position limit exceeded

E831 Position limit reached during jog

E834 Emergency-Stop

E843 Positive limit switch activated

E844 Negative limit switch activated

E881 Mains fault

E886 No ready signal from supply module

Error diagnostic messages

F207 Switching to uninitialized operation mode

F208 UL The motor type has changed

F209 PL Load parameter default values

F218 Amplifier overtemp. shutdown

F219 Motor overtemp. shutdown

F220 Bleeder overload shutdown

F221 Motor temp. surveillance defective

F223 Error during initialisation of the parking axis

F224 Maximum braking time exceeded

F226 Undervoltage in power section

F228 Excessive deviation

F229 Encoder 1 failure: quadrant error

F230 Max. signal frequency of encoder 1 exceeded

F236 Excessive position feedback difference

F237 Excessive position command difference

F242 Encoder 2 failure: signal amplitude wrong

F245 Encoder 2 failure: quadrant error

F246 Max signal frequency of encoder 2 exceeded

F248 Low battery voltage

F253 Incr. encoder emulator: pulse frequency too high

F260 Command current limit shutoff

F262 External short at status outputs

F267 Erroneous internal hardware synchronization

F269 Error during release of the motor holding brake

F276 Absolute encoder out of allowed window

F277 Current measurement trim wrong

F281 Mains fault

F386 No ready signal from supply module

F401 Double MST failure shutdown

F402 Double MDT failure shutdown

F403 Invalid communication phase shutdown

F404 Error during phase progression

F405 Error during phase regression

F406 Phase switching without ready signal

F434 Emergency-Stop

F629 Positive travel limit exceeded

F630 Negative travel limit exceeded

F634 Emergency-Stop

F643 Positive travel limit switch detected

F644 Negative travel limit switch detected

F811 Commutation offset could not be determined

F812 Motion range exceeded during commutation

F822 Encoder 1 failure: signal amplitude wrong

F860 Overcurrent: short in power stage

F870 +24Volt DC error

F873 Power supply driver stages fault

F878 Velocity loop error

F879 Velocity limit S-0-0091 exceeded

DDS02.2-A100-B     DDS02.2-A100-BE12-01-FW     DDS02.2-A100-BE23-01-FW

DDS02.2-A100-BE37-01-FW     DDS02.2-A100-BE45-01-FW     DDS02.2-A200-B

DDS02.2-A200-BE09-01-FW    DDS02.2-A200-BE12-01-FW     DDS02.2-A200-BE30-01-FW

DDS02.2-A200-BE76-01-FW     DDS02.2-W015-B     DDS02.2-W015-BE12-01-FW

DDS02.2-W015-BE23-01-FW     DDS02.2-W015-BE45-01-FW     DDS02.2-W050-B

DDS02.2-W050-BA01-01-FW     DDS02.2-W050-BE09-01-FW    DDS02.2-W050-BE12-01-FW

DDS02.2-W050-BE23-01-FW     DDS02.2-W050-BE31-01-FW     DDS02.2-W050-BE32-01-FW

DDS02.2-W050-BE33-01-FW    DDS02.2-W050-BE45-01-FW     DDS02.2-W050-BE84-01-FW

DDS02.2-W100-B     DDS02.2-W100-BA01-01-FW     DDS02.2-W100-BE06-01-FW

DDS02.2-W100-BE09-01-FW     DDS02.2-W100-BE12-01-FW     DDS02.2-W100-BE23-01-FW

DDS02.2-W100-BE31-01-FW     DDS02.2-W100-BE32-01-FW     DDS02.2-W100-BE33-01-FW

DDS02.2-W100-BE45-01-FW     DDS02.2-W100-BE76-01-FW     DDS02.2-W200-B

DDS02.2-W200-BA01-01-FW     DDS02.2-W200-BE06-01-FW    DDS02.2-W200-BE09-01-FW

DDS02.2-W200-BE12-01-FW     DDS02.2-W200-BE13-01-FW     DDS02.2-W200-BE15-01-FW

DDS02.2-W200-BE23-01-FW     DDS02.2-W200-BE30-01-FW     DDS02.2-W200-BE31-01-FW

DDS02.2-W200-BE32-01-FW     DDS02.2-W200-BE37-01-FW     DDS02.2-W200-BE45-01-FW

DDS02.2-W200-BE56-01-FW      DDS02.2-W200-BE78-00-FW    DDS02.2-W200-BE95-02-FW


DDS03.2-W015-BE12-01-FW     DDS03.2-W030-B     DDS03.2-W030-BE09-01-FW

DDS03.2-W030-BE12-01-FW     DDS03.2-W030-BE23-01-FW     DDS03.2-W030-BE32-01-FW

DDS03.2-W050-B     DDS03.2-W050-BE09-01-FW     DDS03.2-W050-BE12-01-FW


DKR02.1-W200B-BE12-01-FW     DKR02.1-W200B-BE79-01-FW     DKR02.1-W200N-BA01-01-FW

DKR02.1-W200N-BA03-01-FW     DKR02.1-W200N-BA05-01-FW     DKR02.1-W200N-BE12-01-FW

DKR02.1-W200N-BE23-01-FW     DKR02.1-W200N-BE37-01-FW     DKR02.1-W300B-BE12-01-FW

DKR02.1-W300B-BE23-01-FW     DKR02.1-W300B-BE37-01-FW     DKR02.1-W300B-BE56-01-FW

DKR02.1-W300B-BE79-01-FW     DKR02.1-W300B-BE84-01-FW     DKR02.1-W300N-BA01-01-FW

DKR02.1-W300N-BA03-01-FW     DKR02.1-W300N-BA36-01-FW     DKR02.1-W300N-BA53-01-FW

DKR02.1-W300N-BE09-01-FW     DKR02.1-W300N-BE12-01-FW     DKR02.1-W300N-BE23-01-FW

DKR02.1-W300N-BE32-01-FW     DKR02.1-W300N-BE37-01-FW     DKR02.1-W300N-BE56-01-FW

DKR02.1-W300N-BE74-02-FW     DKR02.1-W300N-BE79-01-FW     DKR02.1-W300N-BT26-01-FW

DKR03.1-W100B-BA03-01-FW     DKR03.1-W100B-BE23-01-FW     DKR03.1-W100N-BA01-01-FW

DKR03.1-W100N-BA03-01-FW     DKR03.1-W100N-BA32-01-FW     DKR03.1-W100N-BE12-01-FW

DKR03.1-W100N-BE23-01-FW     DKR03.1-W100N-BE67-01-FW     DKR03.1-W100N-BT04-01-FW

DKR03.1-W100Z-BE23-01-FW     DKR03.1-W200B-BA01-01-FW     DKR03.1-W200B-BE12-01-FW

DKR03.1-W200B-BE23-01-FW     DKR03.1-W200B-BE30-01-FW     DKR03.1-W200B-BE37-01-FW

DKR03.1-W200B-BE45-01-FW     DKR03.1-W200B-BE74-02-FW     DKR03.1-W200N-BA01-01-FW

DKR03.1-W200N-BA03-01-FW     DKR03.1-W200N-BA04-01-FW     DKR03.1-W200N-BA08-01-FW

DKR03.1-W200N-BA12-01-FW     DKR03.1-W200N-BA34-01-FW     DKR03.1-W200N-BE12-01-FW

DKR03.1-W200N-BE23-01-FW     DKR03.1-W200N-BE31-01-FW     DKR03.1-W200N-BE37-01-FW

DKR03.1-W200N-BE48-01-FW     DKR03.1-W200N-BE79-01-FW     DKR03.1-W200N-BT26-01-FW