Siemens simatic et 200s Operating Instructions Manual page 213

Absolute positioning: Causes of Errors for POS_ERR
You must find out the causes of errors with JOB 15 (displays current values).
Error Number
2
3
4
5
7
8
13
ET 200S Positioning
Operating Instructions, 05/2007, A5E00124871-04
Cause
ERR_2L+ is displayed
ERR_ENCODER is displayed
The axis is not synchronized (SYNC=0)
The limit switch that lies in the direction in
which the drive is moved is active
Absolute positioning:
Start with DIR_P and DIR_M = 0 or relevant
control bit DIR_P or DIR_M = 0
Absolute positioning: Destination ≥ encoder
range
Direction of rotation of the drive and the
encoder varies
1PosSSI/Digital
5.6 Functions of the 1PosSSI/Digital
What to Do
Check the load voltage (2L+) at
terminal 15
Check the encoder wiring
Eliminate the encoder error.
Check your switches and the wiring
as well as the DI0 limit switch minus
and DI1 limit switch plus parameters
Check the wiring of the drive and
the encoder as well as the reversal
of the direction of rotation parameter
213