This parameter error occurs when a Set Position/Pressure command is issued with the Monitor Pressure mode bit set, and the axis cannot enter pressure control. There are several reasons why this may occur:
The axis this command is issued to may not have a pressure axis assigned to it. Ensure that you have set the Pressure Axis bits in the CONFIG word. If you have done so, ensure that you have issued a Set Parameters command since the Pressure Axis bits have been set.
The axis assigned to the pressure/force axis may not be initialized. Issue a Set Parameters command to the pressure/force axis.
The current pressure on the analog pressure axis cannot be below the Pressure Set B command value for the axis. This prevents the axis from immediately falling out of pressure.
However, it is acceptable that the current pressure be below Pressure Set A (which otherwise controls the pressure required to enter pressure control).
For more details on controlling pressure, refer to Controlling Pressure or Force.
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