Code 231-8AE0: Drive enabling missing in axis %1 (signal: %4)

[Cause of error] - The switch-on procedure was canceled due to an existing error condition: 1 = Signal -ES.A (emergency stop MC) is active during switch-on (emergency stop might have been pressed during switchon) 2 = Signal -ES.A.HW (emergency stop MC, handwheel) is active during switch-on (emergency stop might have been pressed during switchon) 3 = Signal -ES.B (emergency stop CC) is active during switch-on (emergency stop might have been pressed during switchon) 4 = Signal -ES.B.HW (emergency stop CC, handwheel) is active during switch-on (emergency stop might have been pressed during switchon) 5 = Switch-on procedure not allowed because of a unacknowledged error 6 = Internal software error: addressed axis module/gate array does not exist 7 = Internal error signal -STO.B.CC.WD active during switchon 8 = Internal error signal -N0 active during switch-on 9 = Internal error signal PWM error active during switch-on [Error correction] - Check the emergency-stop wiring - Inform your service agency