TwinCAT NC Error 0x4260 (16992) Controller Enable: what to check first?
I'm getting a TwinCAT NC Error 0x4260 (16992) "Controller enable missing" on my machine. It happens when an axis is actively moving or when I try to start a move. What should I check first?
The TwinCAT NC Error 0x4260 (16992) indicates that the controller enable for an axis or coupled slave axis is not present. This can occur if the controller enable is withdrawn during active positioning or if a move is initiated without the axis being enabled. It's distinct from drive-level errors or safety stops.
Likely causes and checks
1PLC logic removes enable during a move
- Points to it
- The MC_Power Enable signal, controlled by your PLC logic, drops while an axis is actively positioning. This often happens if the enable condition is tied to a state that changes unexpectedly during motion.
- Check
- Use Scope View to trace the MC_Power Enable/Status and the move function block's Busy signal. Look for Enable falling while the axis is still busy.
2Move started before MC_Power reported Status = TRUE
- Points to it
- A motion command or coupling operation is initiated before the MC_Power function block has confirmed that the axis is enabled (Status = TRUE).
- Check
- Review your PLC sequence to ensure there's a wait condition for MC_Power.Status to be TRUE before any moves or couplings are commanded.
3Coupled slave axis not enabled
- Points to it
- If you are working with a master/slave group, one or more of the slave axes might not have its controller enable active, even if the master axis is enabled.
- Check
- Verify that the controller enable is active for every axis within the coupled group, not just the master.
Next check: Start by tracing MC_Power Enable/Status and the move FB Busy in Scope View to see if the enable drops during an active move. This is the most common cause.
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