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Access Diagnostics > Machine Data > Motor/Axis Parameters in the NCK menu. Locate $AA_ESR_ENABLE[axis_number] for the affected axis.

Verify the current value: if = 1, axis replacement is disabled. Check the PLC program logic (typically OB1 or axis control logic) to confirm whether this flag was intentionally set by the safety system.

If axis replacement is required, set $AA_ESR_ENABLE[axis_number] = 0 via HMI or part program only after confirming no emergency conditions exist and the machine is in a safe state.

Changing this parameter during active motion or emergency stop conditions may cause machine safety violations.

After parameter modification, perform an NC RESET and verify the axis is operational before resuming production.

Check the emergency stop status via Diagnostics > Signals > Safety Signals in the HMI. Verify that DB21.DBX (emergency stop inputs) shows no active fault conditions.

Review PLC source code (e.g., OB1 axis control logic or a dedicated axis_replacement function block) to identify the condition that triggers the $AA_ESR_ENABLE[Achse] = 1 assignment.

Confirm the machine safety status matches the PLC's expectation: verify servo enable signals, drive readiness, and absence of active NC alarms (check Diagnostics > Alarm Buffer for masked or secondary faults).

Do not bypass safety logic; resolve the underlying condition instead.

Press the Delete key to clear the alarm display, then perform a full NC RESET (Ctrl+Shift+Del or via HMI Reset button) to reinitialize all axis parameters and clear residual ESR flags.

Check Diagnostics > System Status > Axis State for each axis; confirm all show 'Ready' or 'Idle' state, not 'Replacement Pending' or 'Error'.

If the axis is to be replaced, ensure the replacement sequence follows the documented procedure: disable servo, call axis replacement function block with correct parameters, then re-enable servo after PLC confirms $AA_ESR_ENABLE = 0.