Cause : Joystick reference check comes when speed reference is greater than +/- 10% of the minimum or maximum scaled value of the used joystick reference, the joystick zero position input (20.214 Joystick zero position) is active, and the delay defined with parameter 20.215 Joystick warning delay has elapsed.

1. Check the wiring of the joystick zero position input.
2. Check the wiring of the analog input reference signal of the joystick.