The hardware drive is not enabled.

Cause:

The servo hardware is not enabled.

Troubleshooting:

1. Check whether the emergency stop will be pressed, meaning whether the controller safety circuit is open; the safety circuit symbol in the teach pendant status bar has an exclamation mark in its center.
2. Check whether there is a wiring problem in the control cabinet.
3. Check whether the hardware configuration in the codesys project matches the configuration order in the cabinet.
4. Check whether the number of axes in the robot configuration file matches the number configured in codesys.
5. Check whether the software version is continuous.

Solution:

The handling corresponding to the troubleshooting methods is as follows:

1. If emergency stop has been pressed, pull it out.
2. Modify the wiring in the cabinet to ensure correct wiring.
3. Modify the hardware configuration sequence in the codesys project to match the Ethercat wiring sequence in the cabinet.
4. Modify the axis counts in the configuration file and codesys to ensure they are consistent.
5. Reflash the software version.

Case sharing:

None.