| 31001 | Configuration Parameter Error of EtherCAT Master | Mismatched EtherCAT configuration files | Re-import the configuration files, and restart the control system |
| 31002 | Failed to read the EtherCAT authorization file correctly, please check | The authorization file does not exist or the read and write permissions are incorrect | Re-import the authorization file |
| 31003 | Failed to authorize EtherCAT. Please check whether the authorization code is correct. The robot can only operate for one hour without authorization | EtherCAT not Authorized | Please check the EtherCAT authorization code and try to reauthorize it on the EtherCAT authorization interface. After the authorization is successful, restart the robot to take effect |
| 31004 | Failed to configure the EtherCAT master. Please check whether the configuration files match | The master configuration fails due to mismatched EtherCAT configuration files | Re-import the configuration files, and restart the control system |
| 31005 | EtherCAT fails to configure DC. Please check whether the configuration files match | The configuration fails due to mismatched EtherCAT configuration files | Re-import the configuration files, and restart the control system |
| 31006 | EtherCAT fails to configure DCM. Please check whether the configuration files match | The configuration fails due to mismatched EtherCAT configuration files | Re-import the configuration files, and restart the control system |
| 31007 | Failed to scan the bus. Please check whether the configuration files match | The configuration fails due to mismatched EtherCAT configuration files | Re-import the configuration files, and restart the control system |
| 31008 | The controller fails to start as a result of the number of configured slaves does not match that of scanned slaves () | 1. The configuration fails due to inconsistency between the EtherCAT configuration and the actual network topology; 2. Hardware failure in the EtherCAT network from the slave equipment | 1. Re-import the configuration files, and restart the control system; 2. Contact the manufacturer's technical support |
| 31009 | Failed to enable the EtherCAT bus, EtherCAT status of each slave station | Due to errors in EtherCAT bus startup process, some slaves cannot switch to OP mode correctly, resulting in bus failure | Try to restart the control system; contact the manufacturer's technical support |
| 31010 | Initialization of internal axis servo drive failed, with the axis No. of [] | The drive malfunctions internally | Check whether the servo drives are disconnected from each other |
| 31011 | Failed to initialize IO slave, please check the hardware connection | 1. The IPC and general IO modules are disconnected from each other; 2. General IO modules and safety IO modules are disconnected from each other | Restart the control system after reconfiguring the IO signal according to the failure reason |
| 31012 | Tailboard Slave Initialization Failure | The IPC and the general tailboard slave module is disconnected from each other, or the tailboard slave hardware fails | Check the hardware connection, or replace the tailboard slave hardware |
| 31013 | Failed to initiate the safety board slave | The IPC and the safety board slave modules are disconnected from each other | Check hardware connections |
| 31014 | Abnormal Communication with Slave Devices | 1. The communication between IPC and slave module is interrupted; 2. The slave device malfunctions | 1. Confirm whether the EtherCAT debug cable is unplugged from the robot side; 2. Check the hardware connections and restart the control system; 3. Please contact the technical support |
| 31015 | Servo alarm occurs, and the error code reported by servo is | The servo drive sends an alarm, and the specific reason for the alarm needs to find the corresponding drive manual according to the error code reported by the servo | 1. Find the corresponding drive manual according to the error code, and handle it according to the manual guidance; 2. Contact the technical support |
| 31017 | Ethercat is not Authorized, and the Trial Period Ends | Ethercat is not authorized and can only be used for one hour | Please contact the technical support to ask for the Ethercat authorization code and authorize on the EtherCAT authorization interface. After the authorization is successful, restart the robot to take effect |
| 31018 | Abnormal connection between slave device () and controller | 1. The cable between the slave device and the controller malfunctions; 2. The slave malfunctions | 1. Please check whether the cables between the slave devices fail; 2. Please contact the technical support |
| 31019 | Failed to Initialize the CClink Gateway Slave | The hardware connection is abnormal or the hardware malfunctions | Check hardware connections |
| 31020 | The Ethercat IO slave module that has not been adapted is used | The Ethercat IO slave module that has not been adapted is used, therefore the controller has no information about the current IO slave. Users need to ensure that the IO module is configured and used correctly | Since the PDO setting of the IO module that has not been adapted is unknown, there is a certain risk in direct use. Please use it with caution. Generally, digital IO modules with less than 64 channels can be used directly; however, the analog IO module is not recommended to be used directly because the controller is unknown to its analog quantity type, range and accuracy parameters, and the PDO settings of various equipment manufacturers may also be different. Please contact the technical support for adaptation before using it |
| 31021 | Safety Board Slave Initialization Failure | The safety board firmware version configured by the eni file is inconsistent with the actual firmware version | Check whether the safety board firmware version of the eni file is consistent with the actual firmware version |
| 31022 | Tailboard slave Input Current Signal Overload | When the tailboard slave channel AI is set to current mode, make sure that the actual input is current and does not exceed the limit parameter, otherwise the hardware may be damaged | Please disconnect the input signal of the corresponding channel and enter the xpanel configuration interface to set as Voltage Mode |
| 31024 | xPanel terminal slave station hardware test failed,test error code() | xPanel terminal slave station hardware test process is incorrect,hardware connection is incorrect or hardware is faulty | Please confirm the xPanel test process is correct. If the fault persists,contact R&D for troubleshooting |
| 31025 | Safety Board Type Configuration Error | The safety board type of the configuration is inconsistent with the actual safety board type | Check whether the safety board type of the configuration is inconsistent with the actual safety board type |
| 31026 | Initialization of internal axis servo drive failed, the server drive version in the ENI file of the master configuration is inconsistent with the server drive configuration scanned, with the axis No. of [] | The server drive version in the ENI file of the master configuration is inconsistent with the server drive configuration scanned | Replace the main site ENI file to confirm that the correct ENI file is used. |
| 31027 | Unable to read the master station ENI file correctly. Please check the master station ENI file. | The master ENI file was not found in the system | Re upgrade the ENI file corresponding to the current model |
| 31028 | EtherCAT failed to scan the bus, and the scan slave information does not match the slave information in the configuration ENI file | The configuration of slave information or topology in the ENI file of the master station is inconsistent with the scanned EtherCAT slave station | Replace and upgrade the correct ENI file |
| 31029 | EtherCAT scan bus failed with cross wiring from the slave station | EtherCAT slave station wiring error | Please check whether the wiring of EtherCAT slave station is correct |
| 31030 | Initialization of external axis servo drive failed, with the axis No. of [] | 1. An unconnected external axis, such as a guide rail, was mistakenly opened 2.The drive malfunctions internally | According to the cause of the error, close the external axis that was opened incorrectly or check if the connection with the external axis is interrupted |
| 31031 | Initialization of external axis servo drive failed, the server drive version in the ENI file of the master configuration is inconsistent with the server drive configuration scanned, with the axis No. of [] | The server drive version in the ENI file of the master configuration is inconsistent with the server drive configuration scanned | Replace the main site ENI file to confirm that the correct ENI file is used. |
| 31032 | The ESI file and controller version of the safety board RSC do not match | The controller version is 3.0, and the ESI file of the safety board RSC does not match the controller version. Some of RSC's safety functions will not function properly. | We need to upgrade the ESI file of the RSC security board and the ENI file of the main control |
| 31033 | The firmware version of the safety board (RSC) does not support the current model. | The firmware version of the safety board (RSC) does not support the current model. Please upgrade the RSC firmware version | Upgrade the RSC firmware version |
| 32001 | Power-on failed. Specific reason | Servo faults, STO circuit open, power-on aborted, etc. | 1. Confirm operation procedure; 2. Check servo status; 3. Clear servo alarms before power-on retry |
| 32002 | Power-on Failed, STO not Connected | | |
| 32003 | The communication thread between master and slave device is blocked, and the communication with slave device is abnormal | The communication between the controller and the slave device is abnormal due to software reasons | 1. Soft restart of controller; 2. Contact the technical support |
| 32004 | EtherCAT Thread Blocked, Scheduling Timeout | Internal system error | Restart control system |
| 32005 | The EtherCAT Thread was Blocked and Timed Out over 5000 Times in a Row | Internal system error | Restart control system |
| 32006 | The position command to be sent to the servo has a big jump and the position command is rejected | The position command to be sent to the servo has a big jump, and the generated speed exceeds the maximum speed of the motor, which may cause danger. To be safe, perform the power-off operation | Re-power on to operate |
| 32007 | Ethercat Thread Event Execution Timeout | Internal alarm | Internal state record, which can be ignored |
| 32008 | Error while writing Servo Zero | Only support CR joints, confirm whether it is a CR robot and whether the firmware is correct | |
| 32010 | Axis () Encoder Battery Voltage Low Warning | Encoder Battery Voltage Insufficient | Please replace encoder battery in time |
| 35001 | Axis ()Short circuit of the drive | Output to output, output to ground, internal PWM bridge error | Troubleshoot circuit problems and eliminate short circuit |
| 35002 | Axis ()Over-temperature of the drive | The internal temperature of the drive reaches the set value | Reduce the drive temperature below the set value |
| 35003 | Axis ()Over-voltage of the drive | The bus voltage exceeds specified voltage limit | The bus voltage is restored within the specified voltage range |
| 35004 | Axis ()Under-voltage of the drive | The bus voltage is below the specified voltage | The bus voltage is restored within the specified voltage range |
| 35005 | Axis ()Over-temperature of the motor | The motor over-temperature switch shows the over-temperature error | Restore the temperature switch to normal state |
| 35006 | Axis ()Error of the encoder feedback | 1. 5V output inside the drive is over-current; 2. The resolver or analog encoder is not wired; 3. The level exceeds the error range; 4. The incremental encoder differential signal is not wired | 1. The encoder power supply is restored to the specified voltage range; 2. The feedback signal is restored to the specified level range; 3. The differential signal is connected well |
| 35007 | Axis ()Error of the drive phase | The phase angle based on the encoder fails to match with the switch state of the HALL. This error occurs only when the brushless motor is configured to be sinusoidal. This error does not occur during the resolver feedback or when the HALL correction function is stopped. | The phase angle based on the encoder is consistent with the switching state of the HALL |
| 35008 | Axis () Drive reached the current limit | Motor overload or abnormal circuit | 1. Check whether the motor is overloaded; 2. Check the circuit; 3. Contact the technical support |
| 35009 | Axis () Drive reached the voltage limit | 1. The set speed is too high; 2. The motor is abnormal | 1. Check whether the set speed is abnormal; 2. Check whether the motor is abnormal; 3. Contact the technical support |
| 35010 | Axis ()Power-on of the drive at positive limit | The drive is over positive limit | Restore the drive limit |
| 35011 | Axis ()Power-on of the drive at negative limit | The drive is over negative limit | Restore the drive limit |
| 35012 | Axis () Drive following error out of tolerance | Beyond the following error set by the user | Check whether the upper instruction fails and check the robot state |
| 35013 | Axis () Position counter in place | Internal error of drive | Try to restart. If the problem is not solved, please contact the technical support |
| 35014 | Axis () Suitable for fault without other emergencies | Internal error of drive | Try to restart. If the problem is not solved, please contact the technical support |
| 35015 | Axis () Node error | Internal error of drive | Try to restart. If the problem is not solved, please contact the technical support |
| 35016 | Command Error of Drive | 1. This error is not accurate and can be ignored; 2. There is no PWM or other command signals | Recover to input signal |
| 35100 | Axis ()Under-voltage of the drive DC bus (0x3220) | The servo detects that the bus voltage is less than the set under-voltage protection threshold in real time possibly due to insufficient bus supply voltage | 1. Check whether the power supply voltage of the robot is normal; 2. Check whether the drive capacitance is normal; 3. Replace the servo drive |
| 35101 | Axis ()Over-voltage of the drive DC bus (0x3210) | The servo detects that the bus voltage is higher than the set over-voltage protection threshold in real time, possibly because: 1. The bus power supply voltage is too high; 2. The robot decelerates too quickly; 3. The handling of base power supply is abnormal | 1. Check the power supply voltage of the robot; 2. Check the deceleration of the robot; 3. Check the robot power management loop |
| 35102 | Axis ()Over-current of the drive (0xFF80) | The amplitude of servo real-time detection current vector is larger than the set safety protection threshold, possibly because the current is raised up due to the sudden stop of the motor during operation | 1. Check whether the three-phase line and 48V power line of the motor are connected correctly; 2. Check whether the motor deflection angle is correct |
| 35103 | Axis ()Over-load of the drive (0xFF81) | The joint motor continuously exceeds the rated torque protection threshold range, possibly because of the servo closed-loop control. If the actual position of the motor cannot track the given position, the torque current will be too large, and the error will be reported when the duration reaches a certain degree | 1. Check whether the three-phase line and band-type brake cable of the motor are connected correctly; 2. Check whether the motor deflection angle is correct |
| 35104 | Axis () Drive motor magnetic over limit (0xFF82) | Determine whether the excitation current amplitude is less than the set value, otherwise, an error will be reported. For field weakening control, it is necessary to change the excitation current to reach a higher speed. At present, the bus voltage of the motor adapted by low-voltage servo is enough, without requiring field weakening, so this error report has been blocked | Update the servo drive to the latest firmware version and update the servo drive to the latest parameter version |
| 35105 | Axis ()Stall alarm of the drive (0xFF90) | If the joint speed tracking error is greater than the set threshold and lasts for more than 1s, an error will be reported. Stall is reported in the start-up stage, and the motor needs to find the deflection angle again for normal operation. When stall is reported during motor operation, it is necessary to check hardware configuration, software version and parameters | 1. Check whether the three-phase line and band-type brake cable of the motor are connected correctly; 2. Check whether the motor deflection angle is correct; 3. Check the hardware configuration; 4. Check the servo software version |
| 35106 | Axis ()Out of tolerance of the drive position (0x8611) | The joint position tracking error exceeds the set threshold, so it is necessary to check whether the hardware and software are configured correctly with suitable version | 1. Check whether the wiring harness is connected correctly; 2. Check whether the joint encoder is normal; 3. Replace joint hardware, motor, reducer and drive; 4. Confirm whether the instructions issued by the master station are reasonable |
| 35107 | Axis () Drive zero current alarm (0xFFA0) | The zero current value needs to exceed the set threshold, and the current is abnormal when it is not enabled | Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive |
| 35108 | Axis ()Phase A over-current of the drive (0x2310) | 1. The phase A current of the motor exceeds the sampling range of the drive current; 2. The locked rotor for motor; 3. The load is too large or the speed is too fast; 4. The resistance of joint mechanism is large | 1. First check whether the harness is connected correctly; 2. Check whether the motor deflection angle is correct; 3. Check whether the band-type brake is opened correctly when enabling; 4. When the load is too much, reduce the speed and check whether the fault disappears; 5. Observe whether the fault joint during operation makes abnormal noise due to excessive resistance |
| 35109 | Axis ()Phase B over-current of the drive (0x2311) | 1. The phase B current of the motor exceeds the sampling range of the drive current; 2. The locked rotor for motor; 3. The load is too much or the speed is too fast; 4. The resistance of joint mechanism is high | 1. First check whether the harness is connected correctly; 2. Check whether the motor deflection angle is correct; 3. Check whether the band-type brake is opened correctly when enabling; 4. When the load is too much, reduce the speed and check whether the fault disappears; 5. Observe whether the fault joint during operation makes abnormal noise due to excessive resistance |
| 35110 | Axis ()Phase C over-current of the drive (0x2312) | 1. The phase C current of the motor exceeds the sampling range of the drive current; 2. The locked rotor for motor; 3. The load is too much or the speed is too fast; 4. The resistance of joint mechanism is high | 1. First check whether the harness is connected correctly; 2. Check whether the motor deflection angle is correct; 3. Check whether the band-type brake is opened correctly when enabling; 4. When the load is too much, reduce the speed and check whether the fault disappears; 5. Observe whether the fault joint during operation makes abnormal noise due to excessive resistance |
| 35111 | Axis ()IGBT over-current of the drive (0xFFA1) | 1. The motor current exceeds the set threshold; 2. The locked rotor for motor; 3. The load is too much or the speed is too fast; 4. The resistance of joint mechanism is high | 1. First check whether the harness is connected correctly; 2. Check whether the motor deflection angle is correct; 3. Check whether the band-type brake is opened correctly when enabling; 4. When the load is too much, reduce the speed and check whether the fault disappears; 5. Observe whether the fault joint during operation makes abnormal noise due to excessive resistance |
| 35112 | Axis ()Object overflow of the drive (0xFF01) | | |
| 35113 | Axis ()Image overflow of the drive (0xFF02) | | |
| 35114 | Axis ()Thread H timeout of the drive (0xFF03) | | |
| 35115 | Axis ()Thread M timeout of the drive (0xFF04) | The servo software scheduling is abnormal, and the program has not been completed within the specified time, possibly because the firmware version or parameter version is not the latest one | Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive |
| 35116 | Axis ()Thread L timeout of the drive (0xFF05) | | |
| 35117 | Axis ()Thread C timeout of the drive (0xFF06) | | |
| 35118 | Axis ()Interrupt and crash of the drive (0xFF07) | The servo software scheduling is abnormal, and the program has not been completed within the specified time, possibly because the firmware version or parameter version is not the latest one | Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive |
| 35119 | Axis ()Main task crash of the drive (0xFF08) | | |
| 35120 | Axis ()Illegal hardware of the drive (0xFF09) | | |
| 35121 | Axis ()Timeout in debug version of the drive (0xFF0A) | | |
| 35122 | Axis ()Object ID timeout of the drive (0xFF11) | | |
| 35123 | Axis ()Thread ID error of the drive (0xFF12) | | |
| 35124 | Axis ()PV variable ID error of the drive (0xFF13) | | |
| 35125 | Axis ()VV variable ID error of the drive (0xFF14) | | |
| 35126 | Axis ()VU variable ID error of the drive (0xFF15) | | |
| 35127 | Axis ()Data type error of the drive (0xFF16) | | |
| 35128 | Axis ()Existence of data object of the drive (0xFF17) | | |
| 35129 | Axis ()Non existence of data queue of the drive (0xFF21) | | |
| 35130 | Axis ()Full data queue of the drive (0xFF22) | | |
| 35131 | Axis ()Empty data queue of the drive (0xFF23) | | |
| 35132 | Axis ()Application version error of the drive (0xFF30) | | |
| 35133 | Axis ()Parameter verification error of the drive (0xFF31) | | |
| 35134 | Axis ()Parameter number error of the drive (0xFF32) | | |
| 35135 | Axis ()PN parameter ID error of the drive (0xFF33) | | |
| 35136 | Axis ()UN parameter ID error of the drive (0xFF34) | | |
| 35137 | Axis ()FN parameter ID error of the drive (0xFF35) | | |
| 35138 | Axis ()SPI communication error of the drive (0xFF40) | The communication between DSP and parameter memory is abnormal, possibly due to the firmware version or the parameter version is not the latest one; or the servo drive hardware is abnormal | Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive |
| 35139 | Axis ()E2P overflow of the drive (0xFF41) | Too many parameters are read by the parameter memory, possibly due to the firmware version or the parameter version is not the latest one; or the servo drive hardware is abnormal | Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive |
| 35140 | Axis ()Empty dynamic memory of the drive (0xFF50) | Logic error occurs in the servo software operation, possibly due to the firmware version or the parameter version is not the latest one | Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive |
| 35141 | Axis ()Instruction code error of the drive (0xFF51) | Logic error occurs in the servo software operation, possibly due to the firmware version or the parameter version is not the latest one | Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive |
| 35142 | Axis ()Instruction length error of the drive (0xFF52) | Logic error occurs in the servo software operation, possibly due to the firmware version or the parameter version is not the latest one | Update the servo drive to the latest firmware version, update the servo drive to the latest parameter version and replace the servo drive |
| 35143 | Axis ()Meter channel number error of the drive (0xFF53) | | |
| 35144 | Axis ()OSCI channel number error of the drive (0xFF54) | | |
| 35145 | Axis ()Static mode error of the drive (0xFF60) | Error occurs in the servo operation mode, possibly due to the servo firmware and parameters are not the latest version; or the servo parameters are not successfully written | Update the servo drive to the latest firmware version and replace the servo drive |
| 35146 | Axis ()Dynamic mode error of the drive (0xFF61) | Error occurs in the servo operation mode, possibly due to the servo firmware and parameters are not the latest version; or the servo parameters are not successfully written | Update the servo drive to the latest firmware version and replace the servo drive |
| 35147 | Axis ()Mode change error of the drive (0xFF62) | Error occurs in the servo operation mode, possibly due to the servo firmware and parameters are not the latest version; or the servo parameters are not successfully written | Update the servo drive to the latest firmware version and replace the servo drive |
| 35148 | Axis ()IPM alarm of the drive (0xFF70) | It is possibly because the servo firmware and parameters are not the latest version | Update the servo drive to the latest firmware version and replace the servo drive |
| 35149 | Axis ()Module overheating alarm of the drive (0x4310) | The joint temperature exceeds the temperature range for safe and reliable operation | Carry out corresponding cooling treatment |
| 35150 | Axis ()Disconnection of the STO switch of the drive (0x3181) | The servo has been detecting the STO signal level, which is inconsistent with the setting logic, so an error is reported, possibly due to the robot enabling handle is not effective | 1. Press the manual enabling handle; 2. Re-plug the STO cable; 3. Replace the STO cable and the servo drive |
| 35151 | Axis () Encoder error (0x7371) | The QEP encoder reports an error and the ABZ cable is disconnected, possibly due to the servo has not been upgraded to the latest firmware and parameter version | Update the servo drive to the latest firmware version and update the servo drive to the latest parameter version |
| 35152 | Axis () Encoder error (0x7372) | | |
| 35153 | Axis () Encoder error (0x7373) | | |
| 35154 | Axis () Encoder error (0x7374) | | |
| 35155 | Axis () Encoder error (0x7375) | | |
| 35156 | Axis () Encoder error (0x7376) | | |
| 35157 | Axis () Encoder error (0x7377) | | |
| 35158 | Axis () Encoder error (0x7378) | Encoder chip reports an error: Biss2 communication abnormal | 1. Check the joint encoder cable; 2. Replace the encoder; 3. Replace the encoder cable; 4. Replace the servo drive |
| 35159 | Axis ()Encoder error (0x7379) | Encoder chip reports an error: Biss1 communication is abnormal, and the encoder decoding chip cannot be found | 1. Check the encoder cable at the joint motor side; 2. Replace the encoder; 3. Replace the encoder cable; 4. Replace the servo drive |
| 35160 | Axis ()Encoder error (0x737A) | 1. CRC error of encoder communication; 2. Encoder communication is abnormal | 1. Re-plug the encoder cable; 2. Replace the encoder; 3. Replace the encoder cable; 4. Replace the servo drive |
| 35161 | Axis ()Encoder error (0x737B) | The encoder communication is abnormal: CRC verification of encoder passed, but encoder chip reported an error | 1. Re-plug the encoder cable; 2. Replace the encoder; 3. Replace the encoder cable; 4. Replace the servo drive |
| 35162 | Axis ()Encoder error (0x737C) | 1. Single encoder hardware fault; 2. The encoder battery is exhausted. | 1. If a single encoder reports an error and cannot be recovered after restart, it is necessary to contact after-sale maintenance. 2. All axes report errors at the same time. Contact the after-sale maintenance to replace the encoder battery. |
| 35163 | Axis ()TZ trigger (0xFF71) | | |
| 35164 | Axis ()Internal error (0xFF91) | | |
| 35165 | Axis ()The upper enabling current loop is set as 0 (0xFFA2) | | |
| 35166 | Unable to Track the Master Station Position Command (0x8612) | | |
| 35201 | Axis ()The power supply on the 5v secondary encoder has exceeded the preset current limit of the power supply provided by the drive. This fault disables the drive. | | CDHD can provide a maximum current of 250 mA to the secondary encoder. Check whether the encoder is short-circuited, and whether the encoder drawing exceeds the current limit |
| 35202 | Axis () Over-current is detected from the drive output. | 1. Drive or motor fault; 2. The robot load exceeds the limit; 3. Send collision, etc. | Check whether the motor connection is short-circuited and whether there is overshoot in the current circuit |
| 35203 | Axis ()Motor is overloaded. | 1. Drive or motor fault; 2. The robot load exceeds the limit; 3. Send collision, etc. | Check the specifications of the drive-motor. This fault may occur if the capacity (power) of the motor is too small. |
| 35204 | Axis () Drive is overloaded. | | Check the specification of the drive-motor. This alarm may occur if the capacity (power) of the drive is too small. Check whether the commutation angle is correct (i.e., whether the rectification is balanced) |
| 35205 | Axis ()The offset or compensation amount of the current sensor is out of range. This fault disables the drive. | The drive malfunctions | Restart. If the fault still exists, the driver may need to be repaired. Please contact the technical support |
| 35206 | Axis ()One of the motor phase is disconnected. The current command is greater than 100, but the motor current of one phase is actually 0, and continuously exceeds 160 of electrical angle. | The drive malfunctions | Check the wiring of the motor phase |
| 35207 | Axis () Over-current is detected on a digital output. This fault disables the drive. | The drive malfunctions | Verify the correct wiring of the digital output and ensure that the output circuit is not shorted. |
| 35208 | Axis ()The bus voltage exceeds the maximum value. This fault disables the drive. | | Check whether regenerative resistance is required |
| 35209 | Axis ()The bus voltage is lower than the minimum value. If the value of the variable UVMODE is 1 or 2, an under-voltage warning is issued when the drive is enabled. | | Check whether the main AC voltage power supply is connected to the drive and turned on. The under-voltage limit can be read by the UVTHRESH command |
| 35210 | Axis ()The preset current limit of the regenerative current has been exceeded. This fault disables the drive. | | Increase the regenerative resistance |
| 35211 | Axis ()When used as a drive, the STO signal is not connected. This fault disables the drive. | | Check whether the STO connector (P1) is correctly connected |
| 35212 | Axis ()The circuit for measuring the bus voltage failed. The drive cannot be used at this time. | | Restart. If the fault still exists, the driver may need to be repaired. Please contact the technical support |
| 35213 | Axis ()At least one of the main power supplies powered by the bus is not connected. | | Please check the wiring or contact the technical support |
| 35214 | Axis ()The regenerative resistance of exceeds its permissible power. This fault disables the drive. | | Check whether regenerative resistance characteristics are suitable for this application |
| 35215 | Axis ()The temperature inside the integrated power module exceeds the preset limit. This state makes the drive unusable. | | Check whether the ambient temperature exceeds the drive specification. Otherwise contact the technical support. |
| 35216 | Axis ()The temperature of the control panel exceeds the preset limit. This state makes the drive unusable. | | Check whether the ambient temperature exceeds the drive specification. Otherwise contact the technical support. |
| 35217 | Axis ()Temperature sensor fault. This state makes the drive unusable. | | Restart the power supply. If the problem persists, please contact the technical support |
| 35218 | Axis ()The temperature of the power panel exceeds the preset limit. This state makes the drive unusable. | | Check whether the ambient temperature exceeds the drive specification. Otherwise contact the technical support. |
| 35219 | Axis ()The motor is overheating or the motor temperature sensor is not set correctly. This fault disables the drive. | | Check whether the drive is properly configured (using THERMODE,THERMTYPE,THERMTHRESH and THERMTIME), and if necessary, check whether the motor temperature sensor is properly connected to the drive. If the drive is correctly configured and wired, check whether the motor specification is too small. |
| 35220 | Axis () The internal power supply is out of range. This fault disables the drive. | | The drive may need to be repaired. Please contact the technical support |
| 35221 | Axis ()5v is too low or the power is off. This fault disables the drive. | | It may happen during power failure. In other cases, please contact the technical support. |
| 35222 | Axis ()Power panel EEPROM fault. The drive cannot be used at this time. | | Contact technical support. |
| 35223 | Axis ()Control panel EEPROM fault. The drive cannot be used at this time. | | Contact technical support. |
| 35224 | Axis ()CAN bus core voltage supply fault. This fault makes the driver unusable. | | The driver may need to be repaired, please contact the technical support. |
| 35225 | Axis ()Self-test failed and the driver cannot be used at this time. | | Contact technical support. |
| 35226 | Axis ()Parameter memory verification failed, possibly due to the save operation is not completed when the power is off. | | Reconfigure the drive, or download the parameter set and save the parameters. If the problem persists, please contact the technical support. |
| 35227 | Axis ()Failed to write memory. There is an internal problem in accessing the flash memory. At this time, the drive cannot be used. | | Contact technical support. |
| 35228 | Axis ()The target position command of one controller is rejected because it may cause the motor to exceed its speed limit. This fault disables the drive. | | Enable the drive and send a valid position command |
| 35229 | Axis ()The drive needs configuration. Any determined parameters need to be configured after modification. The determined parameters still need to be configured after being transmitted to the driver, even if the parameters have not been changed. | | Execute CONFIG after setting drive parameters |
| 35230 | Axis (): FPGA configuration failed. The code for the FPGA did not load. Drive cannot be enabled. | | Contact technical support. |
| 35231 | Axis (): Motor Setup procedure failed. MOTORSETUPST will show the cause. This fault disables the drive. | | Check phase and motor wiring. Make sure the correct feedback type is selected. Check MOTORSETUPST for hints. |
| 35232 | Axis (): Commutation initialization has failed. This fault occurs in systems that do not have commutation information (e.g., Hall signals) in the motor feedback device. This fault disables the drive. | | Check whether the motor feedback type and the phase-finding parameters are set correctly for the application. |
| 35233 | Axis (): FPGA version does not match the hardware version. This fault disables the drive. | | Update either FPGA version or driver version. |
| 35234 | Axis (): Input defined as Emergency Stop indicator has been activated. This fault disables the drive. | | Turn off the input. |
| 35235 | Axis (): EtherCAT - the Microblaze version does not match the version specified by drive. This fault disables the drive. | | Make sure the correct version has been downloaded to the drive. |
| 35236 | Axis (): EtherCAT - the ESI version does not match the version specified by drive. This fault disables the drive. | | Make sure the correct version has been downloaded to the drive. |
| 35237 | Axis (): Internal error of BiSS-C encoder. | | Refer to BiSS-C Encoder User Manual. |
| 35238 | Axis (): HIPERFACE encoder data error. | | Enter the command HSAVE 1 using the drive software. |
| 35239 | Axis (): ESI manufacturer mismatched. The drive may be equipped with other different motors. This fault disables the drive. | | Make sure the correct manufacturer data has been downloaded to the drive. |
| 35240 | Axis (): Encoder index line is not connected. This fault disables the drive. | | Check whether the drive is configured for working with the index signal (using MENCTYPE), and check if the index signal is connected. |
| 35241 | Axis (): Power brake load is open. | | |
| 35242 | Axis (): Short circuit of the power brake. | | |
| 35243 | Axis (): A stall condition occurs when [I > MICONT] and [I > 0.9×ILIM] and [V < STALLVEL]. A stall fault occurs whenever a stall condition persists for a duration greater than STALLTIME. This fault disables the drive. | | Remove the stall condition, and take care to prevent stall conditions. |
| 35244 | Axis (): Secondary encoder index line not connected. This fault disables the drive. | | Check whether the drive is configured for working with the index signal on the secondary encoder, and check if the index signal is connected. |
| 35245 | Axis (): One of the secondary feedback signals is not connected. This fault disables the drive. | | Check whether all signals from the secondary encoder are properly connected to the drive. |
| 35246 | Axis (): One of the Pulse & Direction signals is not connected. This fault disables the drive. | | Check whether all signals to the P&D inputs are properly connected to the drive. |
| 35247 | Axis (): A fault occurred on the power brake. This fault disables the drive. | | Replace the motor brake. |
| 35248 | Axis (): The motor moves in negative direction although the commanded current is positive. Commutation is incorrect. (Algebraic signs of actual current, acceleration and velocity do not match). This fault disables the drive. | | Correct MPHASE setting. Activate and improve the phase find process. |
| 35249 | Axis (): Communication between the drive and the motor encoder did not initialize correctly. | 1. The circuit connection between the robot body and the control cabinet is poor. 2. The encoder or drive may be faulty | Check whether the feedback device is wired correctly. Check whether the correct encoder type (MENCTYPE) is selected. |
| 35250 | Axis (): Communication with the Nikon feedback device did not initialize correctly. This fault disables the drive. | | Check whether the feedback device is wired correctly. Check whether the correct encoder type (MENCTYPE) is selected. |
| 35251 | Axis (): The initialization process with the Tamagawa feedback device has failed. This fault disables the drive. | | Check whether the wiring to the encoder is correct. |
| 35252 | Axis (): One of the primary feedback signals is not connected. This fault occurs in incremental encoder, resolver, and sine encoder feedback types. This fault disables the drive. | | Refer to the section Sine Encoder and Resolver Diagnostics. Check whether all signals from the primary feedback device are properly connected to the drive. |
| 35253 | Axis (): The drive has detected either 000 or 111 state on the Hall feedback signals. This fault disables the drive. | | Check whether the Hall signals are all properly connected. While turning the motor, read the Halls state (using HALLS) to see which signal is not connected. If the feedback type is Tamagawa, check whether the feedback wiring is correct. |
| 35254 | Axis (): The encoder battery voltage is low, please replace the battery. | The battery is a consumable that must be replaced regularly. To purchase, please contact the manufacturer. | Replace the battery and then reset the drive. If the battery is replaced while the drive is on, the position information is retained. |
| 35255 | Axis (): Controller synchronization signal is missing or not stable. The fault is detected only when synchronization is enabled by SYNCSOURCE command. | | Check for controller synchronization signal. Check the cable connection and wiring. |
| 35256 | Axis (): The computed equivalent encoder output frequency exceeds the upper limit for this signal, which is 4 MHz. This fault disables the drive. | | Check the parameters used for setting up the equivalent encoder output. If using a sine encoder, check the ENCOUTRES parameter settings. |
| 35257 | Axis (): Several faults are indicated by the feedback device and include one or more of the following: battery low/error, over-speed, counting error, multiturn error. This fault disables the drive. | | Check the battery voltage and feedback wiring. Make sure the motor did not move at a high velocity during encoder initialization. |
| 35258 | Axis (): Several possible issues are indicated by this feedback device fault: battery low or error; over-speed; counting error; multiturn error. This fault disables the drive. | | Check the battery voltage and feedback wiring. Make sure the motor did not move at a high velocity during encoder initialization. |
| 35259 | Axis (): Line break in differential Hall sensors. This fault disables the drive. | | Make sure HALLSTYPE matches the Hall sensors in use (single-ended or differential). Check whether all signals from the differential Hall sensors are properly connected to the sensor. |
| 35260 | Axis (): In normal incremental encoder operation, quadrature inputs A and B are 90 degrees out of phase. The phase error occurs when edge transition is detected simultaneously on the A and B signals. This fault disables the drive. | | Set MENCAQBFILT to 0 to remove the filter on A and B signals. If problem persists, it may be due to a faulty encoder. |
| 35261 | Axis (): Loss of commutation/encoder counts for AqB encoder. The index signal serves as a reference position for detecting loss of commutation/pulses. The AqB encoder counter is compared at different index positions. Between index position captures the count must be exactly MENCRESx4 (or 0 counts if moved back to same index position). This fault disables the drive. | | If a fault occurs shortly after motion begins, check MENCRES settings. If a fault occurs after some time it is likely due to EMI noise. Improve the installation. Make sure ground is connected. Make sure shield is connected on feedback and motor cables. |
| 35262 | Axis (): The drive has detected an internal fault on the SensAR encoder through communication. This fault disables the drive. | | Use command SRVSNSINFO to identify the fault. |
| 35263 | Axis (): Communication problem between the drive and the EnDat encoder. This fault disables the drive. | | Check whether the data and clock signals to the EnDat encoder are connected properly. The cable must be shielded. |
| 35264 | Axis (): Feedback analog signal is out of range. This fault is related to resolver and sine encoder feedback. The drive checks whether the amplitudes of the sine and cosine signals are correct, based on the calculation sin2 + cos2 = 1. This fault disables the drive. | | Refer to the section Sine Encoder and Resolver Diagnostics. Check the amplitudes of the sine and cosine signals. |
| 35265 | Axis (): One or more faults are indicated by the feedback device, including: battery low or error, over-speed, counting error, multiturn error. This fault disables the drive. | | Check the battery voltage and feedback wiring. Make sure the motor did not move at a high velocity during encoder initialization. |
| 35266 | Axis (): Mismatch between calculated and actual encoder quadrature information. This fault disables the drive. | | Check the feedback device wiring. Make sure the correct encoder type (MENCTYPE) is selected. |
| 35267 | Axis (): The sine/cosine calibration parameters are out of range. This fault is related to resolver and sine encoder feedback. This fault disables the drive. | | Re-execute the sine/cosine calibration process. |
| 35268 | Axis (): The current supplied by the drive on the 5V primary encoder supply has exceeded the preset current limit. The drive allows this fault to occur up to 3 times in succession. After 3 faults, the drive forces a delay of 1 minute before it can be reenabled. | | The CDHD can source a maximum current of 250 mA to the primary encoder. Check for short-circuit at the encoder. Check if the encoder is drawing more than the current limit. |
| 35269 | Axis (): The drive could not detect the proper gain setting or sampling point for the sine/cosine signals. This fault disables the drive. | | Check resolver wiring and gain value. |
| 35270 | Axis (): CRC error occurred while drive was communicating with EnDat encoder. Also caused by EnDat encoder setting Alarm bit/s to indicate an encoder problem. This fault disables the drive. | | Reset the encoder including encoder power off. |
| 35271 | Axis (): The connection between controller and drive was removed. This fault disables the drive. | | Reestablish the connection between controller and drive. |
| 35272 | Axis (): The fieldbus controller has not sent a target command in 3 instances. This fault disables the drive. | | Clear the fault and allow the controller to send new commands. |
| 35273 | Axis (): Drive detected disconnection between CAN master and drive. This fault disables the drive. | | Reconnect master and slave, and power cycle the drive. |
| 35274 | Axis (): Security code and key do not match. Drive cannot be enabled. | | Contact technical support. |
| 35275 | Axis (): EtherCAT packets have been lost. This fault disables the drive. | | Make sure the EtherCAT master (controller) sends the packets within the time defined (by the master). |
| 35276 | Axis (): Torque feedback out of limit. | | |
| 35277 | Axis () An unexpected high current overshoot has been detected. This fault disables the drive. | | Check and modify current controller settings. |
| 35278 | Axis (): Actual velocity exceeded 1.2 times the velocity limit. The velocity limit is set using VLIM. This fault disables the drive. | | Check whether VLIM is set to match the application requirements. Using velocity loop tuning, check for excessive overshoot. |
| 35279 | Axis (): The velocity error (VE) has exceeded the velocity error limit (VEMAX). This fault disables the drive. | | Change drive tuning to improve velocity tracking, or increase VEMAX to allow a greater velocity error. |
| 35280 | Axis (): The position error (PE) has exceeded the position error limit (PEMAX). This fault disables the drive. | | Change drive tuning to improve position tracking, or increase PEMAX to allow a greater position error. |
| 35281 | Axis (): Position deviation between motor and load is too great. This fault disables the drive. | | Increase SFBPETHRESH, STBPETIME.SFBPEMAX, or improve position tuning. |
| 35282 | Axis (): The position error (PE) has reached the software numerical limit. This fault disables the drive. | | Check tuning. |
| 35283 | Axis (): Drive was enabled and in an operational state upon receiving a command to move to a lower state of communication. This fault disables the drive. | | Make sure the controller does not switch to a lower state of communication while the drive is disabled. |
| 35284 | Axis (): Internal error due to an endless while loop or a numerical issue. This fault disables the drive. | | Contact technical support. |
| 35285 | Axis (): Motor type nameplate data cannot be read. This fault disables the drive. | | Reconnect the feedback device. Make sure the motor type nameplate data is present. |
| 35286 | Axis (): Parameter was changed, and requires SAVE and power cycle to take effect. This fault disables the drive. | | SAVE and then cycle power to the drive. |
| 35287 | Axis (): CPU has exceeded its computational limit. Realtime execution takes longer than 31.25 µs. This fault disables the drive. | | Contact technical support. |
| 35288 | Axis (): The calculated checksum of the PFB backup data does not match the expected checksum. This fault disables the drive. | | If required by the application, home the machine. |
| 35289 | Axis (): Multiturn data of the PFB cannot be restored due to axis movement. This fault disables the drive. | | If required by the application, home the machine. |
| 35290 | Axis (): PFB backup memory is empty. This fault disables the drive. | | If required by the application, home the machine. |
| 35291 | Axis (): The external pulse train frequency has exceeded the maximum specified input frequency. This fault disables the drive. | | Reduce the frequency of the gearing pulses commanded from the controller. |
| 35301 | Axis (): Short circuit of the drive | i. The U, V, and W outputs of the drive are short-circuited; ii. The drive is disturbed, which causes the DI signal to be abnormal. This is a false alarm; 1. The ground wire is not connected well; 2. The parameter setting of the current loop regulator is not suitable, causing current oscillation and interference; iii. The drive is damaged (such as IGBT short circuit, abnormity in detecting circuit by the current). | i. Check the U, V, and W wiring of the drive (for example, after disconnecting the motor power cable, observe whether the drive still reports a short-circuit fault. It must be done under the premise that the motor's band-type brake is disconnected to ensure mechanical safety); ii. Check the drive IGBT with a multimeter to confirm whether it is short-circuited; iii. Standardize the wiring, especially ground wire; iv. Adjust the parameters of the current loop; v. Replace the drive. |
| 35302 | Axis (): Drive output short circuited to ground | i. The U, V, and W outputs of the drive are short circuited to ground; ii. The drive is damaged (such as abnormity in detecting circuit by the current). | i. Check the U, V, and W wiring of the drive; ii. Replace the drive. |
| 35303 | Axis (): Abnormal encoder data | i. Hiperface encoder fault; ii. Encoder wiring error; iii. The internal AD calibration parameters of the drive are abnormal. | i. Replace the encoder; ii. Check the encoder wiring and ensure that it is correct; iii. Replace the drive. |
| 35304 | Axis (): Rotor positioning error | i. The setting of position loop, velocity loop, and current loop regulator parameters is unreasonable; ii. The motor parameters are set incorrectly; iii. The parameter 0x20D2 is set too small; iv. The parameter 0x2003 is set incorrectly; v. The peripheral wiring of the drive is incorrect (such as the motor power cable and the motor encoder cable); vi. The internal circuit of the drive is abnormal; vii. The parameter 0x2207 static balance torque compensation value is not set properly. | i. Check the peripheral wiring of the drive and ensure that it is correct. ii. Adjust the parameters of the position loop, velocity loop, and current loop regulator parameters of the drive, and ensure that the motor parameters are set correctly; iii. Re-detect the rotor position compensation angle; iv. Increase the setting value of parameter 0x20D2; v. Replace the drive; vi. Reduce the setting value of parameter 0x2207 static balance torque compensation value. |
| 35305 | Axis (): Abnormal motor's band-type brake | i. The motor's band-type brake itself is abnormal; ii. When the motor is operating at high velocity, the servo suddenly turns OFF; iii. The servo parameters 0x2233 and 0x20D2 are set too small; iv. A short circuit occurs in the motor's band-type brake circuit. | i. Replace the motor's band-type brake; ii. Increase parameters 0x2233 and 0x20D2; iii. Check the motor's band-type brake circuit. |
| 35306 | Axis (): EtherCAT PDO configuration error | i. PDO is configured incorrectly. | i. Correct the EtherCAT PDO configuration. |
| 35307 | Axis (): Abnormal encoder internal communication | a. A fault occurs in the encoder; b. The motor encoder wiring is abnormal (such as line break, the shielded twisted pair cable is not used, and it is coupled with the motor power cable); c. The ground wire of the drive is not reliably connected; d. Strong interference sources exist around the drive. | a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Replace the motor encoder; e. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; f. Add a line filter to the input power supply of the drive. |
| 35308 | Axis (): Encoder type change | i. The encoder type has been changed. | i. Re-power on or soft reset the drive. |
| 35309 | Axis (): Drive phase U over-current | i. The parameter setting of the current loop regulator is unreasonable, leading to the current control oscillation; ii. The motor parameters are set incorrectly; iii. The internal current sampling circuit of the drive is abnormal. | i. Adjust the parameters of the current loop regulator; ii. Set motor parameters correctly; iii. Replace the drive. |
| 35310 | Axis (): Drive phase V over-current | i. The parameter setting of the current loop regulator is unreasonable, leading to the current control oscillation; ii. The motor parameters are set incorrectly; iii. The internal current sampling circuit of the drive is abnormal. | i. Adjust the parameters of the current loop regulator; ii. Set motor parameters correctly; iii. Replace the drive. |
| 35311 | Axis (): Drive phase W over-current | i. The parameter setting of the current loop regulator is unreasonable, leading to the current control oscillation; ii. The motor parameters are set incorrectly; iii. The internal current sampling circuit of the drive is abnormal. | i. Adjust the parameters of the current loop regulator; ii. Set motor parameters correctly; iii. Replace the drive. |
| 35312 | Axis (): DC bus over-voltage | i. The input power supply voltage of the drive is too high; ii. The dynamic braking energy is excessive when the motor stops quickly; 1. The deceleration is excessive when the motor stops; 2. The wiring of the dynamic braking resistor is incorrect; 3. The value of the dynamic braking resistance is too high; iii. The internal voltage sampling circuit of the drive is abnormal; iv. The internal dynamic braking circuit of the drive is abnormal. | i. Adjust the input power supply of the drive to the permissible range; ii. Reduce the motor deceleration when stopping; iii. Check the wiring of the dynamic braking resistor and ensure that it is correct; iv. Properly reduce the resistance of the dynamic braking resistor (the resistance shall not be lower than the minimum allowable value), and increase the power of the dynamic braking resistor. |
| 35313 | Axis (): Control power supply under-voltage | i. The 24V control power supply is abnormal; ii. The wiring of the 24V control power supply is incorrect, such as poor wiring; iii. The load of the 24V control power supply is excessive; iv. The internal circuit of the drive is abnormal. | i. Check the wiring of the 24V control power supply and ensure that it is reliable; ii. Check the load of the 24V control power supply and ensure that the capacity of the 24V control power supply can meet the load consumption under all working conditions. iii. Replace the 24V control power supply; iv. Replace the drive. |
| 35314 | Axis (): Drive continuous overload | i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. There is jamming in the mechanical load; 3. The motor's band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. The internal current sampling circuit of the drive is abnormal; iv. The band-type brake circuit of the drive is abnormal. | i. Reduce the actual mechanical load of the motor; ii. Increase the motor acceleration and deceleration time; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other abnormal phenomena; iv. Check the wiring of the motor's band-type brake to ensure reliable wiring; v. Replace the motor; vi. Replace the drive. |
| 35315 | Axis (): Encoder wiring error | i. For CDA8 V1 products, pin 8 and pin 15 of the encoder terminal connector are not short-circuited; ii. For CDA8 V2 products and CDR series products, pin 6 and pin 8 of the encoder terminal connector are not short-circuited; iii. The encoder cable is poorly wired. | i. For CDA8 V1 products, pin 8 and pin 15 of the encoder terminal connector are short-circuited; for CDA8 V2 products and CDR series products, pin 6 and pin 8 of the encoder terminal connector are short-circuited, and reliable encoder cable wiring shall be ensured. |
| 35316 | CPU Overload | i. The drive operation is disturbed; ii. The internal circuit of the drive is abnormal; iii. The data collection of DriveStarter is excessive. | i. Standardize the peripheral wiring of the drive and add anti-interference measures; ii. Replace the drive; iii. Close some DriveStarter data collection channels. |
| 35317 | Axis (): Drive output phase loss | i. Line break and poor wiring occur in the U, V, and W outputs of the drive; ii. The motor impedance is excessive; iii. The internal current sampling circuit of the drive is abnormal. | i. Check the U, V, and W wiring of the motor and ensure that it is reliable; ii. Replace the motor (or disable drive output phase loss detection); iii. Replace the drive. |
| 35318 | Axis (): Instantaneous overload of the drive | i. The motor load is excessive; ii. The internal temperature sampling circuit of the drive is abnormal; iii. The operating environment temperature of the drive exceeds the permissible operating range; iv. The drive operation is disturbed (such as out of sync); v. The motor acceleration and deceleration are set too large, and the acceleration and deceleration time are set too short. | i. Reduce the actual mechanical load of the motor; ii. Standardize the peripheral wiring of the drive and add anti-interference measures; iii. Reduce the ambient temperature, such as improving the cooling conditions of the cabinet; iv. Replace the drive. |
| 35319 | Axis (): Abnormal external communication transmission of the encoder | a. The motor encoder wiring is abnormal (such as line break, the shielded twisted pair cable is not used, and it is coupled with the motor power cable); b. The ground wire of the drive is not reliably connected; d. Strong interference sources exist around the drive. | a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; e. Add a line filter to the input power supply of the drive. |
| 35320 | Axis (): Abnormal external communication reception of the encoder | a. The motor encoder wiring is abnormal (such as line break, the shielded twisted pair cable is not used, and it is coupled with the motor power cable); b. The ground wire of the drive is not reliably connected; d. Strong interference sources exist around the drive. | a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; e. Add a line filter to the input power supply of the drive. |
| 35321 | Axis (): Drive hardware over-current | i. There is jamming or locking in the mechanical load; ii. The rotor compensation angle is set incorrectly; iii. Encoder wiring error; iv. The current loop regulator parameters are set unreasonably, resulting in current control oscillation; v. Motor parameter setting error (wire resistance, wire inductance, counter electromotive force, etc.); vi. The internal current detection circuit of the drive is abnormal; vii. The drive's band-type brake circuit is damaged, without 24V output; viii. The motor's band-type brake is damaged; ix. The motor load is too large, or the motor acceleration and deceleration are set too large, and the acceleration and deceleration time are set too short; x. The setting of 0x60B2 torque compensation value or 0x2207 static balance torque compensation value is unreasonable. | i. Check the transmission mode of mechanical load to ensure that there is no jamming or other abnormal phenomena; ii. Re-detect the rotor compensation angle; iii. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; iv. Adjust the parameters of the current loop regulator; v. Set motor parameters correctly; vi. Replace the drive; vii. Replace the motor; vii. Check the transmission mode of mechanical load to ensure that there is no jamming or other abnormal phenomena; viii. Confirm whether the mechanical design is reasonable; optimize motor acceleration and deceleration, and extend the acceleration and deceleration time; ix. Optimize the dynamics model of the upper controller and the torque compensation value of the given 0x60B2; or reasonably reset the 0x2207 static balance torque compensation value. |
| 35322 | Axis (): Abnormal band-type brake circuit of the drive | i. The drive's band-type brake output is short circuited; ii. Excessive band-type brake output current of the drive causes over-temperature; iii. The drive's band-type brake output is open circuit; iv. The internal detection circuit of the drive is abnormal. | i. Check the wiring of the drive's band-type brake output and ensure it is correct and reliable; ii. Replace the drive. |
| 35323 | Axis (): Abnormal resolver circuit of the drive | i. The internal resolver circuit of the drive is abnormal; ii. The resolver parameter setting of the drive does not match the actual resolver. | i. Correctly set the resolver parameters of the drive; ii. Replace the drive. |
| 35324 | Axis (): Control mode setting error | i. When the servo is enabled, the controller sets the control mode that the drive does not support (see the object dictionary 0x6502 for the control mode supported by each product). | i. Before enabling the servo, set the controller to the correct control mode. |
| 35325 | Axis (): Input phase loss fault | i. The input power supply of the drive is poorly wired; ii. The drive servo parameter "power circuit setting" is set to three-phase input, but the actual power supply input is single-phase; iii. The front end uses an electronic transformer, which has abnormal harmonics and cannot be identified by the servo. | i. Check the input power wiring of the drive and ensure that it is reliable; ii. Set the servo parameter "power circuit setting" correctly; iii. Add a filter to the front end of the servo drive. |
| 35326 | Axis (): DC bus under-voltage | i. The input power supply voltage of the drive is too low; ii. The internal voltage sampling circuit of the drive is abnormal; iii. Servo parameter 0x202C is set incorrectly, 220V power supply is set as 380V power supply; iv. The input power cord of the drive is disconnected. | i. Adjust the input power supply of the drive to the permissible range; ii. Replace the drive; iii. Set 0x202C drive parameters correctly; iv. Check the input power cord wiring of the drive. |
| 35327 | Axis (): Inverter power module over-temperature | i. The motor load is excessive; ii. The internal temperature sampling circuit of the drive is abnormal; iii. The operating environment temperature of the drive exceeds the permissible operating range. | i. Reduce the actual mechanical load of the motor; ii. Reduce the ambient temperature, such as improving the cooling conditions of the cabinet; iii. Replace the drive. |
| 35328 | Axis (): Dynamic braking overload | i. The motor performs frequent quick stop operations, resulting in excessive dynamic braking energy; ii. The servo parameters "resistance of the dynamic braking resistor" and "power of the dynamic braking resistor" are set incorrectly. | i. Correctly set the servo parameters "resistance of the dynamic braking resistor" and "power of the dynamic braking resistor"; ii. Change the operating conditions of the motor to avoid frequent quick stop operations of the motor, such as extending the stop time of the motor. |
| 35329 | Axis (): Continuous motor overload | i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. There is jamming in the mechanical load; 3. The motor's band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. Motor parameters are set incorrectly; iv. The internal current sampling circuit of the drive is abnormal; v. The band-type brake circuit of the drive is abnormal; vi. The selected motor type is not suitable and the power is too small (for example, high-power drives with small-power motors, which operate at high velocity with full load for a long time). | i. Reduce the actual mechanical load of the motor; ii. Increase the acceleration and deceleration time when the motor is running; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other abnormal phenomena; iv. Check the wiring of the motor's band-type brake to ensure reliable wiring; v. Check the motor parameters to ensure that they are set correctly (such as the rated current and thermal time constant of the motor); vi. Replace with a high-capacity motor; vii. Replace the drive. |
| 35330 | Axis(): Rectifier power module over-temperature | i. The motor load is excessive; ii. The internal temperature sampling circuit of the drive is abnormal; iii. The operating environment temperature of the drive exceeds the permissible operating range | i. Reduce the actual mechanical load of the motor; ii. Reduce the ambient temperature, e.g. improve the heat dissipation conditions of the cabinet; iii. Replace the drive. |
| 35331 | Axis (): Motor U–phase instantaneous overload | i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. The mechanical load leads to jamming or locking; 3. The motor's band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. The rotor offset angle is set incorrectly; iv. The motor parameter is set incorrectly. v. The internal current sampling circuit of the drive is abnormal; vi. The drive's band-type brake circuit is abnormal; vii. Inadequate capacity of the motor model selected; viii. Poor or detached contact of one phase of the motor power line. | i. Reduce the actual mechanical load of the motor; ii. Increase the acceleration and deceleration time durations during motor operation; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; iv. Re-check the rotor offset angle; v. Check the wiring of the motor's band-type brake to ensure reliable wiring; vi. Check the motor parameters to ensure that they are set correctly (such as the rated current, fast overload protection threshold, and fast overload protection time duration of the motor); vii. Change to a high–capacity motor; viii. Replace the drive; ix. Check whether the wiring of motor power line is reliable. |
| 35332 | Axis (): Motor V–phase instantaneous overload | i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. The mechanical load leads to jamming or locking; 3. The motor's band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. The rotor offset angle is set incorrectly; iv. The motor parameter is set incorrectly. v. The internal current sampling circuit of the drive is abnormal; vi. The drive's band-type brake circuit is abnormal; vii. Inadequate capacity of the motor model selected; viii. Poor or detached contact of one phase of the motor power line. | i. Reduce the actual mechanical load of the motor; ii. Increase the acceleration and deceleration time durations during motor operation; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; iv. Re-check the rotor offset angle; v. Check the wiring of the motor's band-type brake to ensure reliable wiring; vi. Check the motor parameters to ensure that they are set correctly (such as the rated current, fast overload protection threshold, and fast overload protection time duration of the motor); vii. Change to a high–capacity motor; viii. Replace the drive; ix. Check whether the wiring of motor power line is reliable. |
| 35333 | Axis (): Motor W–phase instantaneous overload | i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. The mechanical load leads to jamming or locking; 3. The motor's band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. The rotor offset angle is set incorrectly; iv. The motor parameter is set incorrectly. v. The internal current sampling circuit of the drive is abnormal; vi. The drive's band-type brake circuit is abnormal; vii. Inadequate capacity of the motor model selected; viii. Poor or detached contact of one phase of the motor power line. | i. Reduce the actual mechanical load of the motor; ii. Increase the acceleration and deceleration time durations during motor operation; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; iv. Re-check the rotor offset angle; v. Check the wiring of the motor's band-type brake to ensure reliable wiring; vi. Check the motor parameters to ensure that they are set correctly (such as the rated current, fast overload protection threshold, and fast overload protection time duration of the motor); vii. Change to a high–capacity motor; viii. Replace the drive; ix. Check whether the wiring of motor power line is reliable. |
| 35334 | Axis (): Abnormal communication of the power supply unit module | i. Poor connection of the control cable between the power supply unit module and the motor module; ii. The control port between the power supply module and the motor module is burnt due to short circuit of the motor's band-type brake cable or external 24V (STO) to ground. | i. Check the control cable connection between the power supply unit module and the motor module and ensure the wiring is reliable; ii Check for short circuit to ground on the motor's band-type brake cable or external 24V (STO); iii. Replace the drive. |
| 35335 | Axis (): Hardware STO1 triggered | i. STO1 is triggered or is poorly wired. | i. Check STO1 wiring and make sure the wiring is reliable; ii. Verify that the STO1 circuit (e.g. emergency stop switch) is not triggered. |
| 35336 | Axis (): Hardware STO2 triggered | i. STO2 is triggered or is poorly wired. | i. Check the STO2 wiring and make sure the wiring is reliable; ii. Verify that the STO2 circuit (e.g. emergency stop switch) is not triggered. |
| 35337 | Axis (): Abnormal STO wiring | i. STO1/STO2 is poorly wired. | i. Check STO1/STO2 wiring and make sure the wiring is reliable. |
| 35338 | Axis (): Drive external fault | i. Fault of other axes. ii. Abnormal internal circuit of the drive. | i. Check other axes and make sure they are free of fault; ii. Such fault can be disabled by modifying the servo parameter "Fault operation switch"; iii. Replace the drive. |
| 35339 | Axis (): Excessive position tracking error | i. The mechanical load of the motor leads to jamming or locking, so that the motor cannot operate; ii. The planned acceleration for the target position value of the host computer is too high; iii. The servo parameters 0x6065 and 0x6066 are too small; iv. Unreasonable setting of the drive regulator parameters leads to unsatisfactory position tracking performance; v. The internal circuit of the drive is abnormal. | i. Check the transmission mode of mechanical load to ensure that there is no jamming or other issue; ii. Appropriately reduce the planned acceleration for the target position value of the host computer; iii. Appropriately increase the setting value of the servo parameters 0x6065 and 0x6066; iv. Optimize regulator parameters to improve position tracking performance; v. Replace the drive. |
| 35340 | Axis (): Position control overflow | i. The actual or target value of the position exceeds the maximum permissible range. | i. Execute the "encoder multi-turn zeroing" command and ensure that the motor operating range does not exceed the maximum permissible range; ii. If it is necessary to operate the motor in a large range, the unlimited position control mode can be enabled through the servo parameter "position control switch". |
| 35341 | Axis (): Excessive velocity tracking error | i. The mechanical load of the motor leads to jamming or locking, so that the motor cannot operate; ii. The setting values of the servo parameters 0x20A3 and 0x20A4 are too small; iii. Unreasonable setting of the drive regulator parameters leads to unsatisfactory velocity tracking performance; iv. The internal circuit of the drive is abnormal. | i. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; ii. Appropriately increase the setting values of the servo parameters 0x20A3 and 0x20A4; iii. Optimize the regulator parameters to improve velocity tracking performance; iv. Replace the drive. |
| 35342 | Axis (): Control cycle parameter setting error | i. Unreasonable setting of the EtherCAT communication cycle, position control cycle and velocity control cycle. | i. Set the EtherCAT communication cycle, position control cycle and velocity control cycle correctly. |
| 35343 | Axis (): EEPROM writing failed | i. The internal circuit of the drive is abnormal; ii. The drive is interfered | i. Replace the drive; ii. Re-power on the drive and improve the anti-interference measures of the drive. |
| 35344 | Axis (): Origin searching failed | i. Unreasonable parameter setting of origin searching (objects 0x6098, 0x6099, 0x609A); ii. The motor is already in the limit switch trigger state when the origin searching is activated; iii. Switch to non-HM mode during origin searching. | i. Set the origin searching parameters correctly (objects 0x6098, 0x6099, 0x609A); ii. Ensure that the motor is not in the limit switch trigger state when the origin searching is activated. |
| 35345 | Axis (): Illegal EtherCAT bus instruction | i. The EtherCAT communication state machine is incorrectly matched with the control word time sequence. | i. The host computer correctly handles the EtherCAT communication state computer and control word time sequence. |
| 35346 | Axis (): Abnormal DriveStarter communication | i. The drive commissioning cable is disconnected or is poorly contacted. ii. The communication of the drive commissioning serial port is interfered. | i. Check the wiring of the drive commissioning cable and ensure reliable connection; ii. Replace isolated serial port commissioning cable; iii. Strengthen anti-interference measures for the commissioning cable, such as adding magnetic rings, reliable grounding of commissioning computer, and provide power supply for the debugging computer and the drive separately. |
| 35347 | Axis (): Abnormal communication of the EtherCAT bus | i. The EtherCAT communication is interfered; ii. Disconnection or poor contact of EtherCAT network cables; iii. Insufficient real-time performance of the host computer; iv. Mismatch between the underlying DC synchronization mechanism of the EtherCAT master of the host computer and the drive requirements; v. The internal circuit of the drive is abnormal. | i. Optimize EtherCAT communication wiring and strengthen anti-interference measures, such as using Category 5E shielded twisted pair network cables and ensuring reliable grounding of the controller; ii. Check the connection of EtherCAT network cables to ensure reliable connection; iii. Change to the host computer with stronger real-time performance, or extend the EtherCAT communication cycle; iv. Appropriately increase the servo parameter 0x20D3 setting value; v. Modify the underlying DC synchronization mechanism of the EtherCAT master of the host computer to ensure that the RxPDO data sent by the host computer is at least 130 μs ahead of the DC synchronization signal; vi. Replace the drive. |
| 35348 | Axis (): The position exceeds the hardware limitation | i. Limit switch input triggered. | i. Check the state of the limit switch and ensure that it is not triggered. |
| 35349 | Axis (): Positive software limitation | i. The actual position value exceeds the threshold set by the servo parameters 0x2004 and 0x2005. | i. Appropriately increase the setting value of the servo parameters 0x2004 and 0x2005; ii. Operate the motor within the range specified by the servo parameters 0x2004 and 0x2005; iii. If users do not want to use this function, they can disable the software limitation detection function through the servo parameter "Position control switch". |
| 35350 | Axis (): Negative software limitation | i. The actual position value exceeds the threshold set by the servo parameters 0x2004 and 0x2005. | i. Appropriately increase the setting value of the servo parameters 0x2004 and 0x2005; ii. Operate the motor within the range specified by the servo parameters 0x2004 and 0x2005; iii. If users do not want to use this function, they can disable the software limitation detection function through the servo parameter "Position control switch". |
| 35351 | Axis (): Excessive deviation of the power-on position | i. After the drive is powered off, the motor position is shifted; ii. For motor encoders with batteries, the external battery is unavailable or the battery is under-voltage. | i. For motor encoders with batteries, ensure the battery is connected and the battery voltage is normal; ii. If users don't want to use this function, they can set the servo parameter 0x200E to 0, and disable the detection function of excessive power-on position deviation. |
| 35352 | Axis (): Power-on position control overflow | i. For motor encoders with batteries, the external battery is unavailable or the battery is under-voltage; ii. The drive is powered off in any of the following control mode: the unlimited position control mode, velocity mode, or torque mode, and the position has exceeded the permissible range. | i. Re-power on the drive after the encoder multi-turn zeroing command is executed; ii. In the unlimited position control mode, if users do not want to use this function, they can modify the servo parameter "Position control switch" to disable the power-on position control overflow detection function. |
| 35353 | Axis ():Encoder battery under-voltage fault | i. The encoder is not connected with an external battery or the battery is poorly wired; ii. The encoder battery is under-voltage. | i. Check the battery wiring of the encoder to ensure reliable wiring; ii. Replace the battery; iii. If a Panasonic or Tamagawa encoder is connected, the encoder multi-turn zeroing command needs to be executed for individual versions; iv. If users do not want to use this function, they can modify the servo parameter 0x2009 to disable the encoder battery under-voltage detection function. |
| 35354 | Axis (): The Motor exceeds the velocity limit | i. Unreasonable setting of drive regulator parameters leads to large speed tracking overshoot; ii. Poor wiring of the encoder; iii. The encoder data transmission is interfered; iv. The encoder is damaged; v. The internal circuit of the drive is abnormal. | i. Optimize regulator parameters to improve speed tracking performance; ii. Check the encoder cable connection to ensure reliable wiring; iii. Strengthen the anti-interference measures of encoder cables, such as adding magnetic rings, using shielded twisted pair cables, and realizing reliable grounding; iv. Replace the encoder; v. Replace the drive. |
| 35355 | Axis (): Excessive voltage limit position tracking error | i. The mechanical load of the motor is jammed so that the motor cannot operate; ii. The planned acceleration of the host computer's target position value is too high; iii. The servo parameters 0x6065 and 0x6066 are too small. iv. Unreasonable setting of drive regulator parameters leads to unsatisfactory position tracking performance; v. The input power supply voltage of the drive is too low; vi. The internal circuit of the drive is abnormal. | i. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; ii. Appropriately reduce the planned acceleration of the host computer's target position value; iii. Appropriately increase the setting value of the servo parameters 0x6065 and 0x6066; iv. Optimize regulator parameters to improve position tracking performance; v. Ensure that the input power supply voltage of the drive is within the specified range; vi. Replace the drive. |
| 35356 | Axis (): Encoder over-speed fault | i. Unreasonable setting of drive regulator parameters leads to large speed tracking overshoot; ii. Poor wiring of the encoder; iii. The encoder data transmission is interfered; iv. The encoder is damaged; v. The internal circuit of the drive is abnormal; vi. When the servo motor is enabled, an external force rotates the motor shaft. | i. Optimize regulator parameters to improve speed tracking performance; ii. Check the encoder cable connection to ensure reliable wiring; iii. Strengthen the anti-interference measures of encoder cables, such as adding magnetic rings, using shielded twisted pair cables, and realizing reliable grounding; iv. Replace the encoder; v. Replace the drive; vi. Check the mechanical load at the end of the motor shaft to ensure that the motor shaft is not subjected to gravity or external mechanical forces. |
| 35357 | Axis (): Operation error of position planning | i. Unreasonable setting of position planning parameters, such as the target position value and the planned target deceleration (0x6084). | i. Set position planning parameters correctly. |
| 35358 | Axis (): Multi-axis synchronization exception | i. The internal circuit of the drive is abnormal. | ii. Replace the drive. |
| 35359 | Axis (): EtherCAT bus synchronization exception | i. Unreasonable setting of the servo parameter 0x20D3; ii. The EtherCAT master synchronization mode is incorrectly configured. | i. Set the servo parameter 0x20D3 correctly; ii. Correctly configure the synchronization mode of the EtherCAT master. |
| 35360 | Axis (): EEPROM version change | i. The drive firmware is upgraded. | i. Re-power on the drive. |
| 35361 | Axis (): Motor overload alarm | i. The motor load is excessive; 1. The actual mechanical load is excessive; 2. The mechanical load leads to jamming; 3. The motor's band-type brake is not released; ii. The motor acceleration and deceleration time is too short; iii. The motor parameter is set incorrectly; iv. The internal current sampling circuit of the drive is abnormal; v. The drive’s band-type brake circuit is abnormal. | i. Reduce the actual mechanical load of the motor; ii. Prolong the acceleration and deceleration time durations during motor operation; iii. Check the transmission mode of mechanical load to ensure that there is no jamming or other phenomena; iv. Check the wiring of the motor's band-type brake to ensure reliable wiring; v. Check the motor parameters to ensure that they are set correctly (such as the rated current and thermal time constant of the motor); vi. Change to a high-capacity motor. Vii. Replace the drive. |
| 35362 | Axis (): Speed limit alarm | i. In the speed mode, the target speed exceeds the maximum speed of the motor; ii. In the position mode, the planned speed exceeds the maximum speed of the motor; iii. Servo parameter setting is unreasonable. | i. Reduce the target or planned speed; ii. Change to a motor with higher maximum speed; iii. Reset the maximum planned speed of the parameter 0x607F according to the actual situation. |
| 35363 | Axis (): DC bus under-voltage alarm | i. The input power supply voltage of the drive is too low; ii. The internal voltage sampling circuit of the drive is abnormal. | i. Adjust the input power supply of the drive to the permissible range; ii. Replace the drive. |
| 35364 | Axis (): Control mode setting unsupported | i. (Delete when the servo motor is enabled) The controller sets the control mode that the drive does not support (see the object dictionary 0x6060 and 0x6502 for the control mode supported by each product); ii. The control mode is not specified after the communication between the controller and the servo motor is established. | i. Before enabling the servo, set the controller to the correct control mode. |
| 35365 | Axis (): Effective parameters for re-power-on changed | i. Servo parameters for re-power-on modified | i. Re-power on the drive |
| 35366 | Axis (): Encoder battery under-voltage alarm | i. The encoder is not connected with an external battery or the battery is poorly wired; ii. The encoder battery is under-voltage; iii. The encoder battery cables are wired reversely or short circuited to ground due to the damaged sheath. | i. Check the battery wiring of the encoder to ensure reliable wiring; ii. Replace the battery; iii. If a Panasonic or Tamagawa encoder is connected, the encoder multiturn zeroing command needs to be executed for individual versions; iv. If users do not want to use this function, they can modify the servo parameter 0x2009 to disable the encoder battery under-voltage detection function. |
| 35367 | Axis (): Drive internal alarm | i. The internal circuit of the drive is abnormal. | i. Replace the drive; ii. Contact the after-sales for technical support. |
| 35368 | Axis (): Mechanical zero uncalibrated | i. The encoder battery failed due to under-voltage, and the servo parameter 0x2009.Byte3 is set to "Encoder battery under-voltage fault is detected and zero uncalibrated is informed"; ii. There is a fault of excessive deviation of the power-on position and the user determined that the mechanical zero is lost; iii. The motor features a single-turn absolute encoder and the driver failed to execute the origin searching instruction. | i. Zero the drive. |
| 35369 | Axis (): Encoder receiving external communication alarm | a. The motor encoder wiring is abnormal (such as line break, the shielded twisted pair cable is not used, and it is coupled with the motor power cable); b. The ground wire of the drive is not reliably connected; d. Strong interference sources exist around the drive. | Encoder receiving external communication alarm |
| 35370 | Axis (): Encoder sending external communication alarm | a. The motor encoder wiring is abnormal (such as line break, the shielded twisted pair cable is not used, and it is coupled with the motor power cable); b. The ground wire of the drive is not reliably connected; d. Strong interference sources exist around the drive. | a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; e. Add a line filter to the input power supply of the drive. |
| 35371 | Axis (): Encoder internal communication alarm | Encoder internal communication alarm | a. Check the wiring of the motor encoder and ensure that the wiring is standard and correct; b. Add magnetic rings to the encoder cable and the motor power cable; c. Reliably connect the ground wire of the drive; d. Replace the motor encoder; e. Remove the strong interference sources around the drive, or independently supply power to the drive and the surrounding strong interference sources; f. Add a line filter to the input power supply of the drive. |
| 35372 | Axis (): Software limitation alarm | i. The actual or target position value exceeds the threshold set by the servo parameters 0x2004 and 0x2005. | i. Appropriately increase the setting value of the servo parameters 0x2004 and 0x2005; ii. Operate the motor within the range specified by the servo parameters 0x2004 and 0x2005; iii. Reduce the target position value so that it falls within the range specified by the servo parameters 0x2004 and 0x2005; iv. If users do not want to use this function, they can disable the software limitation detection function through the servo parameter "Position control switch". |
| 35373 | Axis (): AD correction coefficient invalid alarm | i. The drive is not subjected to AD correction. | i. Reset the drive AD correction coefficient |
| 35374 | Abnormal position planning parameter alarm | i. Unreasonable setting of position planning parameters. | i. Set position planning parameters correctly. |
| 35375 | Excessive power-on position deviation alarm | i. The motor position deviates after the drive is powered off. | i. The drive executes the fault reset command; ii. Re-power on or perform the soft reset of the drive. |
| 35401 | Axis (): Short circuit of the drive | 1. The U/V/W output cable of the drive is short-circuited, or short-circuited to ground; 2. The U/V/W output cable of the motor is short-circuited, or short-circuited to ground; 3. An internal cable of the drive is short-circuited, or short-circuited to ground; 4. False alarm is caused because the drive is interfered | 1. If a short circuit occurs between the cable's UVW phases, or between the cable's U/V/W and grounding, dispose or replace the cable; 2. If a short circuit occurs between the motor's UVW phases, or between the motor's U/V/W cable and grounding, replace the motor; 3. If faults still occur after disconnecting the drive U/V/W output wiring, replace the drive; 4. Improve the electromagnetic environment of the equipment by standardizing wiring and cabling, increasing the cross-sectional area of the grounding wire and adding magnetic rings. |
| 35402 | Axis (): Excessive U-phase output current | 1. The parameter setting of the current loop regulator is unreasonable, leading to the current control oscillation; 2. The motor parameters are set incorrectly; 3. The internal current sampling circuit of the drive is abnormal. | 1. Adjust the parameters of the current loop regulator; 2. Set motor parameters correctly; 3. Replace the drive |
| 35403 | Axis (): Excessive V-phase output current | 1. The parameter setting of the current loop regulator is unreasonable, leading to the current control oscillation; 2. The motor parameters are set incorrectly; 3. The internal current sampling circuit of the drive is abnormal. | 1. Adjust the parameters of the current loop regulator; 2. Set motor parameters correctly; 3. Replace the drive |
| 35404 | Axis (): Excessive W-phase output current | 1. The parameter setting of the current loop regulator is unreasonable, leading to the current control oscillation; 2. The motor parameters are set incorrectly; 3. The internal current sampling circuit of the drive is abnormal. | 1. Adjust the parameters of the current loop regulator; 2. Set motor parameters correctly; 3. Replace the drive |
| 35405 | Axis (): Drive hardware over-current | 1. Excessive motor load or motor acceleration and deceleration setting values, and too short acceleration and deceleration time durations set; 2. The rotor offset angle is set incorrectly, and fails to meet the rotor positioning error detection condition; 3. Abnormal jumps occur in the encoder feedback; 4. The current loop regulator parameters are set unreasonably, resulting in current control oscillation; 5. Motor parameters are incorrectly set (wire resistance, wire inductance, counter electromotive force, rotor inertia, etc.); 6. Current detection circuit inside the drive is abnormal or the drive's band-type brake circuit is damaged, without 24V output; 7. The motor's band-type brake is damaged; 8. The torque offset value or static balance offset value is not set properly. | 1. Check and handle the mechanical load driving to ensure that there is no jamming or other phenomena; 2. Re-detect the rotor offset angle; 3. Check the motor encoder wiring and ensure that it is standard and correct; 4. Adjust current loop regulator parameters; 5. Set motor parameters correctly; 6. Replace the drive; 7. Replace the motor; 8. Optimize the host controller dynamics model, and optimize the given value or set the value according to the actual load. |
| 35406 | Axis (): Drive output short circuited to ground | 1. The drive U/V/W output cable is short-circuited to ground; 2. The motor U/V/W cable is short circuited to ground; 3. There is a short circuit inside the drive or a short circuit to ground. | 1. If a short circuit occurs between the cable's U/V/W and grounding, repair or replace the cable; 2. If a short circuit occurs between the motor's U/V/W cable and grounding, replace the motor; 3. If faults still occur after disconnecting the drive U/V/W output wiring, replace the drive. |
| 35407 | Axis (): DC bus over-voltage | 1. Excessive input power supply voltage of the drive; 2. Excessive dynamic braking energy when the motor stops quickly; 3. The dynamic braking resistor is not connected or wired incorrectly; 4. The over-high resistance value of the dynamic braking resistor; 5. Internal malfunction of the drive. | 1. Adjust the input power supply of the drive to the permissible range; 2. Reduce the motor deceleration when stopping; 3. Correct the wiring of dynamic braking resistor to ensure correct wiring; 4. Reduce the resistance value of the dynamic braking resistor appropriately (the resistance value cannot be lower than the minimum permissible value) and increase the power of the dynamic braking resistor; 5. Replace the drive. |
| 35408 | Axis (): DC bus under-voltage | 1. Excessively low input power supply voltage of the drive; 2. Abnormal voltage sampling circuit inside the drive; 3. The drive power loop is set incorrectly, and the 220 V power supply is set to 380 V power supply; 4. The input power supply cord of the drive is disconnected. | 1. Adjust the input power supply of the drive to the permissible range for normal working; 2. Replace the drive; 3. Set the drive power loop in consistent with the actual power supply; 4. Check and handle the wiring of the input power supply cord of the drive to ensure that the wiring is correct and secure. |
| 35409 | Axis (): Power module over-temperature | 1. The motor load is excessive; 2. The internal temperature sampling circuit of the drive is abnormal; 3. The operating environment temperature of the drive exceeds the permissible range. | 1. Reduce the actual mechanical load of the motor; 2. Replace the drive; 3. Reduce the ambient temperature, such as improving the heat dissipation conditions of the cabinet. |
| 35410 | Axis (): CPU1 watchdog overflow | Internal malfunction of the drive. | Replace the drive. |
| 35411 | Axis (): CPU2 watchdog overflow | Internal malfunction of the drive. | Replace the drive. |
| 35412 | Axis (): Dynamic braking resistor overload | 1. The frequent quick shutdown of the motor leads to excessive dynamic braking energy; 2. The power setting of the dynamic braking resistor is inconsistent with that of the actual resistor. | 1. Change the operating conditions of the motor to avoid frequent quick shutdown of the motor, such as extending the stop time of the motor. Or replace the dynamic braking resistor with one of a higher power; 2. Set the power of dynamic braking resistor correctly, with the value set in consistent with the actual power of the dynamic braking resistor. |
| 35413 | Axis (): Continuous motor overload | 1. Excessive motor load; 2. Over-short acceleration and deceleration time durations of the motor; 3. Incorrect setting of motor parameters; 4. Abnormal release action of the band-type brake; 5. Wrong motor model with a smaller power (such as the high-power drive loaded with the small-power motor runs at full load and high speed for a long time); 6. Abnormal internal current sampling circuit of the drive. | 1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Prolong the acceleration and deceleration time durations during motor operation; 3. Check the motor parameters to ensure that the motor parameters are set correctly (such as the rated current and thermal time constant of the motor); 4. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 5. Change to a high–capacity motor; 6. Replace the drive |
| 35414 | Axis (): Excessive position tracking error | 1. Excessive motor load; 2. Inappropriate control parameters; 3. Abnormal release action of the band-type brake; 4. Too small threshold or time duration for judging excessive position tracking error. | 1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Optimize the control parameters and enhance the corresponding performance of the servo; 3. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 4. Appropriately increase the threshold or time duration for judging excessive position tracking error. |
| 35415 | Axis (): Positive software limitation | Position feedback value exceeds (positive software limitation value + positioning completion threshold). | The range of motion should not exceed the setting value for positive software limitation. If the positive software limitation function is not needed, it can be prohibited by the parameter position control switch. |
| 35416 | Axis (): Negative software limitation | Position feedback value exceeds (negative software limitation value - positioning completion threshold). | The range of motion should not exceed the setting value for negative software limitation. If the negative software limitation function is not needed, it can be prohibited by the parameter position control switch. |
| 35417 | Axis (): Encoder data overflow | In position mode, the encoder multiturn value exceeds the actual encoder multiturn bits when unlimited position control is not enabled. | Perform the encoder multiturn zeroing operation, or enable the unlimited position control mode, or work in a non-position mode (torque mode or speed mode). |
| 35418 | Axis (): CPU1 operation fault | 1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive. | 1. Upgrade the drive firmware; 2. Replace the drive. |
| 35419 | Axis (): CPU2 operation fault | 1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive. | 1. Upgrade the drive firmware; 2. Replace the drive. |
| 35420 | Axis(): CPU1 memory fault | 1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive. | 1. Upgrade the drive firmware; 2. Replace the drive. |
| 35421 | Axis (): CPU2 memory fault | 1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive. | 1. Upgrade the drive firmware; 2. Replace the drive. |
| 35422 | Axis (): CPU memory conflict | 1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive. | 1. Upgrade the drive firmware; 2. Replace the drive. |
| 35423 | Axis (): Magnetic pole positioning error | 1. The setting value of the rotor position compensation angle of the motor is inconsistent with the detected value; 2. The detection sensitivity for rotor positioning fault is too low; 3. The setting of static balance torque compensation value is inconsistent with the actual load; 4. The wrong wiring of the motor leads to the change of rotor phase angle; 5. The motor malfunction leads to the change of rotor phase angle; 6. The gravity load causes rotation of the motor at the instant when the servo is enabled, and the speed exceeds the threshold of rotor positioning fault detection sensitivity. | 1. Re-detect the motor rotor position compensation angle and set it correctly; 2. Appropriately increase the sensitivity setting value of rotor positioning fault detection; 3. Set the static balance torque compensation value correctly according to the actual load; 4. Correct wiring, and re-detect the motor rotor position compensation angle; 5. Replace the motor; 6. Set the static balance torque compensation value correctly according to the actual load. |
| 35424 | Axis (): Abnormal encoder data | 1. Abnormal encoder data; 2. Encoder cable sequence error or poor contact; 3. Abnormal encoder data due to noise interference. | 1. Replace the motor or encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic rings. |
| 35425 | Axis (): Abnormal Encoder communication | 1. Abnormal encoder data; 2. Encoder cable sequence error or poor contact; 3. Abnormal encoder data due to noise interference. | 1. Replace the motor or encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic rings. |
| 35426 | Axis (): Encoder communication timeout | 1. Abnormal encoder data; 2. Encoder cable sequence error or poor contact; 3. Abnormal encoder data due to noise interference. | 1. Replace the motor or encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic rings. |
| 35427 | Axis (): Encoder internal malfunction 1 | Abnormal encoder internal state | Soft reset of the encoder after zeroing or restart the drive |
| 35428 | Axis (): Malfunction of other axes of the drive | 1. Malfunction of other axes; 2. Abnormal internal circuit of the drive | 1. Check other axes and reset those reported fault to ensure that other axes are free of fault, and such fault can be prohibited from detection by the parameter 0x2094; 2. Replace the drive |
| 35429 | Axis (): Control encoder over-speed | 1. The encoder position feedback value variates excessively in a position sampling period, and exceeds 1.3 times of the highest speed of the motor; 2. Encoder malfunction; 3. Abnormal encoder data due to noise interference. | 1. Optimize motor parameters and control parameters. The maximum motor set speed is usually not less than the actual maximum motor speed; 2. Check the encoder settings and wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring. |
| 35430 | Axis (): Drive continuous overload | 1. Excessive motor load or acceleration/deceleration time set is too short; 2. Actual mechanical load is excessive or it's jammed; 3. The motor's band-type brake is not released; 4. An exception in the motor or motor's band-type brake; 5. Internal malfunction of the drive. | 1. Reduce the actual mechanical load or increase the motor acceleration and deceleration time; 2. Check the transmission mode of mechanical load to ensure that there is no jamming; 3. Check the band-type brake wiring and ensure that it is reliable; 4. Replace the motor; 5. Replace the drive. |
| 35431 | Axis (): Drive output phase loss | 1. The line break and poor wiring occur in the U, V and W outputs of the drive; 2. The motor impedance is excessive; 3. The internal current sampling circuit of the drive is abnormal. | 1. Check the wiring of motor U, V and W and ensure that it is reliable; 2. Replace the motor or turn off the drive output phase loss detection function; 3. Replace the drive. |
| 35432 | Axis() Motor stall | 1. Unreasonable setting of drive regulator parameters leads to large speed tracking overshoot; 2. Abnormal encoder data due to electromagnetic and noise interference; 3. Abnormal encoder data due to damaged encoder; 4. Abnormal internal circuit of the drive. | 1. Optimize regulator parameters; 2. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring; 3. Replace the motor or encoder; 4. Replace the drive. |
| 35433 | Axis () Excessive current tracking error | 1. Unreasonable setting of drive regulator parameters leads to large speed tracking overshoot; 2. Abnormal encoder data due to electromagnetic and noise interference; 3. Abnormal encoder data due to damaged motor; 4. Abnormal internal circuit of the drive. | 1. Optimize regulator parameters; 2. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring; 3. Replace the motor; 4. Replace the drive. |
| 35434 | Axis () Abnormal target position value | 1. In CSP mode, the difference between the target position value and the actual position value exceeds the threshold set for the position tracking error when the servo is enabled; 2. In CSP mode, the target trajectory acceleration exceeds the threshold set for the maximum acceleration when the motor is running, and the difference between the target position value and the actual position value exceeds the threshold set for the position tracking error. | 1. Check and confirm that the target position value and the actual position value are normal, so that the difference does not exceed the set threshold for the position tracking error; 2. Check and confirm that the target position value is normal, or appropriately increase the set threshold for maximum acceleration or the position tracking error. |
| 35435 | Axis () Encoder power-on data overflow | The feedback value of the position during drive power-up is beyond the range allowed by the encoder. | Soft reset the encoder after zeroing or restart the drive. |
| 35436 | Axis () Target position value overflow | Target position value exceeds the maximum permissible range when unlimited position control is disabled in the position mode. | Perform the encoder multiturn zeroing operation, or enable the unlimited position control mode, or work in a non-position mode (torque mode or speed mode). |
| 35437 | Axis (): Abnormal motor's band-type brake | 1. There is an exception in the motor band-type brake, and braking fails; 2. The servo is suddenly turned off when the motor is running at high velocity and the braking time is too long; 3. The set braking time for the motor band-type brake is shorter than the actual braking time; 4. The detection sensitivity for rotor positioning fault is too low. | 1. Replace the motor; 2. Optimize the process logic control to avoid sudden servo OFF when running at high speed; 3. The braking time set for the motor band-type brake should be not less than the actual braking time; 4. Properly increase the detection sensitivity for rotor positioning fault. |
| 35438 | Axis (): Control power supply under-voltage | 1. The 24V control power supply is abnormal; 2. The wiring of the 24V control power supply is incorrect or poorly connected; 3. The load of the 24V control power supply is excessive; 4. The internal circuit of the drive is abnormal. | 1. Replace the 24V control power supply; 2. Check the wiring of the 24V control power supply and ensure that it is reliable; 3. Check the load of the 24V control power supply and ensure that the capacity of the 24V control power supply can meet the load consumption under all working conditions; 4. Replace the drive. |
| 35439 | Axis () STO1 triggered | STO1 is triggered or is poorly wired. | Check the STO wiring to ensure that it is reliable and not triggered. |
| 35440 | Axis () STO2 triggered | STO2 is triggered or is poorly wired. | Check the STO wiring to ensure that it is reliable and not triggered. |
| 35441 | Axis () Positive hardware limit switch triggered | One-way motion to the mechanical limit causes hardware limit triggering. | The fault can be cleared directly through motion in the opposite direction until the mechanical limit is restored. Be careful to plan the position so that the hardware limit is not exceeded. |
| 35442 | Axis () Negative hardware limit switch triggered | One-way motion to the mechanical limit causes hardware limit triggering. | The fault can be cleared directly through motion in the opposite direction until the mechanical limit is restored. Be careful to plan the position so that the hardware limit is not exceeded. |
| 35443 | Axis (): The Motor exceeds the velocity limit | 1. The actual motor speed feedback value exceeds 1.1 times the maximum motor speed; 2. The encoder is abnormal. | 1. Optimize motor parameters and control parameters. The maximum motor speed set is usually not less than the actual maximum motor speed; 2. Check the encoder settings and wiring. |
| 35444 | Axis () Emergency stop input switch triggered | Emergency stop input switch is triggered or is poorly wired. | Check the emergency stop input switch wiring to ensure that it is reliable and not triggered. |
| 35445 | Axis () Torque monitoring saturation fault | 1. The motor load is excessive and it exceeds the torque monitoring alarm threshold; 2. The torque saturation monitoring threshold set is too low. | 1. Reduce the actual mechanical load of the motor or increase the motor acceleration and deceleration time; 2. Increase the torque saturation monitoring threshold set. When the threshold is set to 0, the fault will not be detected. |
| 35446 | Axis (): Excessive velocity tracking error | 1. Excessive motor load; 2. Inappropriate control parameters; 3. Abnormal release action of the band-type brake; 4. Too small threshold or time duration for judging excessive velocity tracking error. | 1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Optimize the control parameters and enhance the corresponding performance of the servo; 3. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 4. Appropriately increase the threshold or time duration for judging excessive velocity tracking error. |
| 35447 | Axis () Short circuit of the drive 2 | 1. The U/V/W output cable of the drive is short-circuited, or short-circuited to ground; 2. The U/V/W output cable of the motor is short-circuited, or short-circuited to ground; 3. An internal cable of the drive is short-circuited, or short-circuited to ground; 4. False alarm is caused because the drive is interfered | 1. If a short circuit occurs between the cable's UVW phases, or between the cable's U/V/W and grounding, dispose or replace the cable; 2. If a short circuit occurs between the motor's UVW phases, or between the motor's U/V/W cable and grounding, replace the motor; 3. If faults still occur after disconnecting the drive U/V/W output wiring, replace the drive; 4. Improve the electromagnetic environment of the equipment by standardizing wiring and cabling, increasing the cross-sectional area of the grounding wire and adding magnetic rings. |
| 35448 | Axis (): Origin searching failed | 1. Unreasonable parameter setting of origin searching; 2. The motor is already in the limit switch trigger state when the origin searching is activated; 3. Switch to non-HM mode during origin searching. | 1. Set correct parameters of origin searching; 2. The sure that the motor is not in the limit switch trigger state when the origin searching is activated; 3. Do not switch to non-HM mode during origin searching. |
| 35449 | Axis () EtherCAT process data error | The PDO set value is beyond the target's allowable range. | The PDO set value is within the target's allowable range. |
| 35450 | Axis () Illegal EtherCAT bus instruction | EtherCAT communication state machine is incorrectly matched with the control word time sequence. | The host computer correctly handles the EtherCAT communication state computer and control word time sequence. |
| 35451 | Axis () EtherCAT communication cycle error | 1. EtherCAT communication cycle is shorter than the servo control cycle; 2. EtherCAT communication period is not set to an integer power of 2 for 250 μs. | 1. Adjust the EtherCAT communication cycle or the servo control cycle so that the communication cycle is longer than the servo control cycle; 2. Set the EtherCAT communication cycle to an integer power of 2 for 250 μs. |
| 35452 | Axis (): Operation error of position planning | 1. Target position value cache overrun when running PP mode under EtherCAT control; 2. Internal malfunction of the drive. | 1. Optimize the EtherCAT master control process to reduce the number of target position value caches, typically no more than 4; 2. Replace the drive. |
| 35453 | Axis () Illegal EtherCAT synchronization mode | 1. EtherCAT communication DC mode is incorrectly configured; 2. DC mode is not activated for EtherCAT communication. | 1. Configure EtherCAT communication DC mode correctly; 2. Activate the DC mode for EtherCAT communication. |
| 35454 | Axis () Target position value beyond the set range | The target position value exceeds the set range when the unlimited position control mode is enabled or disabled. | Set the target position value to a value between the lower limit and the upper limit of the position range or use the normal unlimited position mode. |
| 35455 | Axis () Motor U–phase instantaneous overload | 1. Excessive motor load; 2. Over-short acceleration and deceleration time durations of the motor; 3. Incorrect setting of motor parameters; 4. Abnormal release action of the band-type brake; 5. Wrong motor model with a smaller power (such as the high-power drive loaded with the small-power motor runs at full load and high speed for a long time); 6. Abnormal internal current sampling circuit of the drive; 7. The fast motor overload protection threshold and protection time duration set are too small. | 1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Prolong the acceleration and deceleration time durations during motor operation; 3. Check the motor parameters to ensure that the motor parameters are set correctly (such as the rated current and thermal time constant of the motor); 4. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 5. Change to a high–capacity motor; 6. Replace the drive; 7. Increase the fast motor overload protection threshold and protection time duration appropriately. |
| 35456 | Axis () Motor V–phase instantaneous overload | 1. Excessive motor load; 2. Over-short acceleration and deceleration time durations of the motor; 3. Incorrect setting of motor parameters; 4. Abnormal release action of the band-type brake; 5. Wrong motor model with a smaller power (such as the high-power drive loaded with the small-power motor runs at full load and high speed for a long time); 6. Abnormal internal current sampling circuit of the drive; 7. The fast motor overload protection threshold and protection time duration set are too small. | 1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Prolong the acceleration and deceleration time durations during motor operation; 3. Check the motor parameters to ensure that the motor parameters are set correctly (such as the rated current and thermal time constant of the motor); 4. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 5. Change to a high–capacity motor; 6. Replace the drive; 7. Increase the fast motor overload protection threshold and protection time duration appropriately. |
| 35457 | Axis () Motor W–phase instantaneous overload | 1. Excessive motor load; 2. Over-short acceleration and deceleration time durations of the motor; 3. Incorrect setting of motor parameters; 4. Abnormal release action of the band-type brake; 5. Wrong motor model with a smaller power (such as the high-power drive loaded with the small-power motor runs at full load and high speed for a long time); 6. Abnormal internal current sampling circuit of the drive; 7. The fast motor overload protection threshold and protection time duration set are too small. | 1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Prolong the acceleration and deceleration time durations during motor operation; 3. Check the motor parameters to ensure that the motor parameters are set correctly (such as the rated current and thermal time constant of the motor); 4. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 5. Change to a high–capacity motor; 6. Replace the drive; 7. Increase the fast motor overload protection threshold and protection time duration appropriately. |
| 35458 | Axis () Dynamic braking overload | The interval between two adjacent dynamic braking stops is too short when the motor is running. | If there is a dynamic braking stop when the motor is running, the interval must be at least 360*actual speed²/rated speed² (s). |
| 35459 | Axis () Internal malfunction of the drive | Internal malfunction of the drive. | Replace the drive. |
| 35460 | Axis () Abnormal limit switch | The limit switch is triggered or is poorly wired. | Check limit switch wiring to ensure that it is reliable and not triggered. |
| 35461 | Axis () Abnormal communication of the EtherCAT bus | 1. The EtherCAT communication is interfered; 2. Disconnection or poor contact of EtherCAT network cables; 3. Insufficient real-time performance of the host computer; 4. Mismatch between the underlying DC synchronization mechanism of the EtherCAT master of the host computer and the drive requirements; 5. Internal malfunction of the drive. | 1. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring; 2. Check the connection of EtherCAT network cables to ensure reliable connection; 3. Change to the host computer with stronger real-time performance, or extend the EtherCAT communication cycle, or increase the timeout detection sensitivity; 4. Modify the underlying DC synchronization mechanism of the EtherCAT master of the host computer to ensure that the SM2 event of the host computer is at least 125 μs ahead of the DC synchronization signal; 5. Replace the drive. |
| 35462 | Axis () Interface encoder resolution change | Interface encoder resolution is changed. | Re-power on or perform the soft reset of the drive. |
| 35463 | Axis () Encoder overheating | 1. The actual encoder temperature is too high; 2. The encoder is abnormal. | 1. Bring down the encoder operating temperature to within the allowable range; 2. Replace the motor or encoder. |
| 35464 | Axis ():Encoder battery under-voltage fault | 1. Encoder battery voltage too low; 2. The encoder battery is poorly wired. | 1. Replace the encoder battery; 2. Check and handle the battery wiring to ensure that the battery wiring is correct and secure. |
| 35465 | Axis (): Control mode setting error | When the servo is ON, the control mode set is not supported by the drive, such as NM, VL or IP, or the control mode is set to PV or PT under EtherCAT control. | When the servo is ON, set the control mode supported by the drive. |
| 35466 | Axis (): Excessive deviation of the power-on position | When the drive is powered on, the position is different from the last position saved during power-off and it exceeds the set threshold. | Check whether the mechanical position has been changed. Clear the alert after confirming that the mechanical zero point is normal. |
| 35467 | Axis () Abnormal encoder acceleration | 1. Abnormal encoder data; 2. Encoder cable sequence error or poor contact; 3. Abnormal encoder data due to noise interference. | 1. Replace the motor or encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic rings. |
| 35468 | Axis () Motor rotor locked | 1. The mechanical load leads to jamming or locking; 2. The motor's band-type brake is not released. | 1. Check and handle the mechanical load transmission to ensure that there is no jamming or locking; 2. Check and handle the band-type brake circuit to ensure the band-type brake can be released properly. |
| 35469 | Axis () EEPROM data write error | Internal malfunction of the drive. | Replace the drive. |
| 35470 | Axis () EEPROM data read error | Internal malfunction of the drive. | Replace the drive. |
| 35471 | Axis () Band-type brake control circuit error | 1. The motor band-type brake is short circuited or poorly wired; 2. There is a short circuit or poor wiring inside the band-type brake; 3. Internal malfunction of the drive. | 1. Check the wiring of the drive's band-type brake output and ensure it is correct and reliable; 2. Replace the motor; 3. Replace the drive. |
| 35472 | Axis () CPU1 overload | 1. The drive operation is subject to noise interference; 2. Excessive data collected by the commissioning software; 3. The internal circuit of the drive is abnormal. | 1. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring; 2. Close some of the data collection channels of the commissioning software; 3. Replace the drive. |
| 35473 | Axis () CPU2 overload | 1. The drive operation is subject to noise interference; 2. Excessive data collected by the commissioning software; 3. The internal circuit of the drive is abnormal. | 1. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire and adding magnetic ring; 2. Close some of the data collection channels of the commissioning software; 3. Replace the drive. |
| 35474 | Axis () CPU1 handshake failed | 1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive. | 1. Upgrade the drive firmware; 2. Replace the drive. |
| 35475 | Axis () DriveMaster communication timeout | 1. The drive's commissioning cable is disconnected or poorly wired; 2. The drive's commissioning serial communication is interfered. | 1. Check the wiring of the drive commissioning cable and ensure a reliable connection 2. Improve the electromagnetic environment of the equipment by using isolated serial port commissioning cable, standardizing wiring and cabling, increasing the cross-sectional area of the grounding wire, and adding magnetic rings. |
| 35476 | Axis () ESC configuration EEPROM error | Internal malfunction of the drive. | Replace the drive. |
| 35477 | Axis () ESC internal access error | Internal malfunction of the drive. | Replace the drive. |
| 35478 | Axis () Servo enabling not ready | 1. When the servo is ON, the drive is in actual motor and virtual encoder mode; 2. When the servo is ON, the encoder communication is disconnected; 3. When the servo is ON, the motor speed is higher than 30rpm; 4. When the servo is ON, the STO status is not lifted; 5. When the servo is ON, the DC bus voltage is too low and the charging relay is not closed; 6. When the servo is ON, the dynamic braking status is not lifted; 7. Internal error of drive. | 1. Check the drive motor mode to ensure that the drive is in actual motor and actual encoder mode when the servo is ON; 2. Check the encoder communication status to ensure that the encoder communication is normal when the servo is ON; 3. Check the motor operation status to ensure that the motor is still when the servo is ON; 4. Check the STO status to ensure that the STO status ends when the servo is ON; 5. Check the DC bus voltage status to ensure that the DC bus voltage meets the enable threshold when the servo is ON and the charging relay is closed; 6. Check the dynamic braking status to ensure that the dynamic braking status ends when the servo is ON; 7. Replace the drive. |
| 35479 | Axis () CPU2 handshake failed | 1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive. | 1. Upgrade the drive firmware; 2. Replace the drive. |
| 35480 | Axis () CPU1 main task timeout | 1. The drive operation is subject to noise interference; 2. Excessive data collected by the commissioning software; 3. The internal circuit of the drive is abnormal. | 1. Improve the electromagnetic environment of equipment by standardizing wiring and routing, increasing the cross-sectional area of grounding wire, and adding magnetic ring; 2. Close some of the data collection channels of the commissioning software. |
| 35481 | Axis () DC bus charging relay error | Charging relay inside drive malfunctions. | Replace the drive. |
| 35482 | Axis () CPU internal error | 1. Operational malfunction of the drive firmware; 2. Internal malfunction of the drive. | 1. Upgrade the drive firmware; 2. Replace the drive. |
| 35483 | Axis () Actual position value overflow | Actual position value exceeds the maximum permissible range when unlimited position control is disabled in the position mode. | Perform the encoder multiturn zeroing operation, or enable the unlimited position control mode, or work in a non-position mode (torque mode or speed mode). |
| 35484 | Axis () Encoder internal error 2 | Encoder internal status error. | Soft reset the encoder after zeroing or restart the drive. |
| 35485 | Axis () Encoder internal error 3 | Encoder internal status error. | Soft reset the encoder after zeroing or restart the drive. |
| 35486 | Axis () Excessive position 2 following error | 1. Excessive motor load; 2. Inappropriate control parameters; 3. Abnormal release action of the band-type brake; 4. Too small threshold or time duration for judging excessive position 2 following error. | 1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Optimize the control parameters and enhance the corresponding performance of the servo; 3. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 4. Appropriately increase the threshold or time duration for judging excessive position 2 following error. |
| 35487 | Axis () STO wiring error | STO1/STO2 triggered or poorly wired. | Check the STO wiring to ensure that it is reliable and not triggered. |
| 35488 | Axis () Excessive velocity 2 following error | 1. Excessive motor load; 2. Inappropriate control parameters; 3. Abnormal release action of the band-type brake; 4. Too small threshold or time duration for judging excessive velocity 2 following error. | 1. Reduce the actual mechanical load of the motor to ensure that the machinery is not jammed; 2. Optimize the control parameters and enhance the corresponding performance of the servo; 3. Check the line of the band-type brake of the motor to ensure normal action of the band-type brake; 4. Appropriately increase the threshold or time duration for judging excessive velocity 2 following error. |
| 35489 | Axis () Abnormal main power input | 1. The power input power supply of the driver is poorly wired; 2. The driver power circuit is set as three-phase input, but the actual power supply input is single-phase; 3. Electronic transformer is used in the front end, and the harmonic of electronic transformer is abnormal. | 1. Check the power input power wiring of the driver and ensure that the wiring is reliable; 2. Correctly set the driver power circuit, and the set value is consistent with the actual power supply input; 3. Wire according to the transformer manual, and install a filter at the front end of the servo driver if necessary. |
| 35490 | Axis () Motor band brake disconnection | 1. The motor holding brake is not connected or has poor contact; 2. Motor holding brake is abnormal; 3. Drive internal exception. | 1. Check and handle the motor band brake wiring to ensure that the wiring is correct and firm; 2. Replace the motor; 3. Replace the drive. |
| 35491 | Axis () Coprocessor communication exception | 1. Encoder cable sequence error or poor contact; 2. Encoder data is abnormal due to noise interference. | 1. Correct the wiring sequence or reinforce the wiring; 2. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring. |
| 35492 | Axis () Abnormal change of encoder AB signal | 1. Encoder cable sequence error or poor contact; 2. Encoder data is abnormal due to noise interference. | 1. Correct the wiring sequence or reinforce the wiring; 2. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring. |
| 35493 | Axis () Rectifier module overheating | 1. Abnormal temperature sampling circuit inside the driver; 2. Driver operating environment temperature is outside the allowable operating range. | 1. Replace the drive; 2. Decrease the ambient temperature, for example, improve the radiation conditions of cabinets. |
| 35494 | Axis () Radiator overheating | 1. Abnormal temperature sampling circuit inside the driver; 2. Driver operating environment temperature is outside the allowable operating range. | 1. Replace the drive; 2. Decrease the ambient temperature, for example, improve the radiation conditions of cabinets. |
| 35495 | Axis () Motor overheating | 1. The motor load is too large; 2. The operating environment temperature of the motor is too high to be allowed. 3. Error in setting thermocouple resistance value for motor overheat protection; 4. abnormal temperature sensor of the motor; 5. Drive internal exception. | 1. Reduce the actual mechanical load of the motor to ensure that the machine is free from jamming; 2. Enhance the heat dissipation of the motor to ensure that the operating environment temperature is within the allowable range; 3. Correctly set the setting value of thermocouple resistance for motor overheat protection; 4. Replace the motor; 5. Replace the drive. |
| 35496 | Axis () Incremental Encoder Z Signal Exception | 1. The encoder's own data is abnormal; 2. Wrong encoder cable sequence or poor contact; 3. Abnormal encoder data due to noise interference. | 1. Replace the motor or encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of the equipment by standardizing wiring and wiring, increasing cross-section area of grounding wire, and adding magnetic rings.. |
| 35497 | Axis () Abnormal energy consumption brake circuit | Energy consumption brake selection for setting the server parameters is inconsistent with the actual connection of the energy consumption brake resistance. | Correctly set the selected servo parameters for energy consumption braking to match the actual wiring of the energy consumption braking resistance. |
| 35498 | Axis () CPU Overheat | 1. Abnormal temperature sampling circuit inside the driver; 2. Driver operating environment temperature is outside the allowable operating range. | 1. Replace the drive; 2. Decrease the ambient temperature, for example, improve the radiation conditions of cabinets. |
| 35499 | Axis () Power failure of main power supply | 1. When the driver servo is ON, the power supply fails; 2. Abnormal power failure detection of main power supply due to noise interference; 3. The servo parameter main power failure detection time is set too small. | 1. Check the power supply and wiring of the driver to ensure that the power supply is normal and the connection is reliable; 2. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring; 3. Properly increase the setting value of servo parameter main power failure detection time. |
| 35500 | Axis () Abnormal diagnosis of STO1 circuit | 1. STO1 triggering or poor wiring; 2. Driver internal exception. | 1. Check the STO wiring to ensure that it is reliable and not in the triggered state; 2. Replace the drive. |
| 35501 | Axis () Abnormal diagnosis of STO2 circuit | 1. STO2 triggering or poor wiring; 2. Driver internal exception. | 1. Check the STO wiring to ensure that it is reliable and not in the triggered state; 2. Replace the drive. |
| 35502 | Axis () Hall signal is abnormal | 1. Hall sensor signal is abnormal; 2. Hall sensor wiring sequence error or poor contact; 3. Hall signal is abnormal due to noise interference. | 1. Replace the motor or Hall sensor, or prohibit Hall signal detection; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring.. |
| 35503 | Axis () Abnormity of encoder AB signal under phase | 1. Hall sensor or AB encoder signal is abnormal; 2. Hall sensor or AB encoder wiring sequence error or poor contact; 3. Hall or AB encoder signal is abnormal due to noise interference. | 1. Replace the motor or hall sensor and encoder; 2. Correct the wiring sequence or reinforce the wiring; 3. Improve the electromagnetic environment of equipment by standardizing wiring and wiring, increasing the sectional area of grounding wire, and adding magnetic ring. |
| 35504 | Axis () Drive internal exception 2 | Drive internal exception. | Replace driver. |
| 35505 | The robot cfg is incorrect and the robot is not allowed to use it. Please use the correct robot cfg | The robot cfg is incorrect. | Use the correct robot cfg. |
| 35506 | The soft limit exceeds the hard limit. Please modify the correct soft limit and restart the robot | The soft limit exceeds the hard limit. | The soft limit exceeds the hard limit. |
| 35507 | The configuration file has STOP_STO_TIME field and stop1 time greater than 760ms, but the firmware version of the security board is too lower. Please upgrade the firmware of the security board | The configuration file has STOP_STO_TIME field and stop1 time greater than 760ms, but the firmware version of the security board is too lower | Upgrade the firmware of the security board |
| 35508 | Failed to set the value of STOP_TIME to Saftey board | Hardware failure | Check hardware |
| 35509 | Failed to set the value of STOP_TIME！ | The value of STOP_TIME is too large | The value of STOP0_TIME should be < manu STO_TIME-30,The value of STOP1_TIME should be < auto STO_TIME-60. |
| 35600 | Axis () STO Switch Not Activated (0x3181) | Robot enabling handle not effective | Press manual enable handle; Reconnect STO cables; Replace STO lines; Replace servo drive |
| 35601 | Axis () Brake Voltage Overlimit (0x3182) | Hardware brake voltage output exceeds standard | Verify firmware & parameter versions; Replace drive board |
| 35602 | Axis () Drive Module Overheat Alarm (0x4310) | Joint temperature exceeds operational limits | Perform cooldown process; Update firmware; Replace servo drive |
| 35603 | Axis () Encoder 1 Fault (0x737C) | Motor-side encoder malfunction | Firmware validation; Recalibration; Replace joint assembly |
| 35604 | Axis () Encoder 2 Fault (0x737F) | Joint-side encoder anomaly | Firmware verification; Recalibration; Replace joint |
| 35605 | Axis () Encoder Signal Noise (0x7376) | Line noise/drive board failure or EMI interference | Inspect connections; Replace drive board; Verify firmware |
| 35606 | Axis () Phase A Overcurrent (0x2310) | Phase A current exceeding threshold | Check: Cable connections/Motor alignment/Brake status/Load parameters |
| 35607 | Axis () Phase B Overcurrent (0x2311) | Phase B current exceeding threshold | Check: Cable terminations/Position calibration/Brake function/Load profile |
| 35608 | Axis () Phase C Overcurrent (0x2312) | Phase C current surpassing limit | Verify: Wiring integrity/Motor offset/Brake operation/Load conditions |
| 35609 | Axis () IGBT Overcurrent Protection (0xFFA1) | Current exceeding preset threshold | Inspect: Load conditions/Deceleration parameters/Mechanical resistance |
| 35610 | Axis () Motor Overload (0xFF81) | Excessive torque or motor stall | Check: Wiring/Acceleration settings/Winding resistance/Brake condition |
| 35611 | Axis () Zero Current Alert (0xFFA0) | Current detection anomaly in disabled state | Update firmware/parameters; Replace drive unit |
| 35612 | Axis () DC Bus Undervoltage (0x3220) | Insufficient bus voltage supply | Verify power input; Replace drive/power boards |
| 35613 | Axis () DC Bus Overvoltage (0x3210) | Voltage surge/Regenerative deceleration anomaly | Inspect power supply; Adjust deceleration profile |
| 35614 | Axis () Position Deviation Alert (0x8611) | Tracking error exceeding threshold | Verify connections/Hardware integrity/Command rationality |
| 35615 | Axis () Master-Slave Disconnection (0x7500) | EtherCAT communication failure | Check cabling; Validate firmware compatibility |
| 35616 | Axis () Electrical Angle Calibration Error (0x5153) | Wiring/parameter configuration error | Inspect: Cable routing/Firmware version/Calibration parameters |
| 35617 | Axis () High-Side Multi-Turn Error (0x5151) | Firmware mismatch/EEPROM corruption | Upgrade firmware; Replace drive controller |
| 35618 | Axis () Low-Side Multi-Turn Error (0x5152) | Firmware mismatch/EEPROM corruption | Upgrade firmware; Replace drive controller |
| 35619 | RSC firmware version mismatch with the controller version will disable RSC-related safety restriction functions | RSC firmware version is incompatible with the controller version | Check the RSC firmware version and upgrade it to the latest compatible version |
| 35620 | Axis () Motor short-circuit (overcurrent) protection(0x2400) | 1.Excessive current triggers the current protection mechanism | 1.Check for any severe impacts; 2.Inspect for potential phase-to-phase short circuits in the motor |
| 35621 | Axis () Power Board Bus Voltage Too Low(0x6200) | 1. Power cable disconnected or insufficient supply voltage; 2. Power board hardware failure; | 1. Check power connection; 2. Inspect servo driver hardware; |
| 35622 | Axis () Power Board Bus Voltage Too High(0x6201) | 1. Incorrect power cable polarity causing overvoltage; 2. Power board hardware failure; | 1. Verify power input configuration; 2. Inspect power board components; |
| 35623 | Axis () Power Board Main Relay Feedback Error(0x6202) | 1. Power board hardware malfunction; | 1. Check power board circuitry; |
| 35624 | Axis () Power Board Leakage Current Overload(0x6203) | 1. Short circuit in body wiring harness or power cables; 2. Power board hardware failure; | 1. Inspect cable insulation integrity; 2. Test power board functionality; |
| 35625 | Axis () Power Board Brake Overload(0x6205) | 1. Brake circuit open; 2. Brake mechanical failure; 3. Power board or servo driver module defect; | 1. Check wiring continuity; 2. Test brake mechanism; 3. Diagnose driver module; |
| 35626 | Axis () Power Board User Power Overload(0x6206) | 1. External device wiring error or short circuit; 2. Exceeding rated power capacity; | 1. Verify peripheral connections; 2. Confirm device specifications; |
| 35627 | Axis () Power Board EEPROM Write Error(0x6207) | 1. EEPROM component failure; | 1. Replace power board; |
| 35628 | Axis () Power Board EEPROM Read Error(0x6300) | 1. EEPROM component failure; | 1. Replace power board; |
| 35629 | Axis () Power Board Power Relay Error(0x6301) | 1. Power board hardware malfunction; | 1. Inspect relay contacts; |
| 35630 | Axis () Power Board CR35 Heat Exchanger Fault(0x6302) | 1. Heat exchanger wiring short; 2. Power board failure; | 1. Check thermal management system wiring; 2. Test power board; |
| 35631 | Axis () Power Board 48V Undervoltage(0x6306) | 1. Joint resistance abnormally high; 2. Power supply misconfiguration; | 1. Check joint mechanical operation; 2. Verify power input; |
| 35632 | Axis () Power Board 48V Overcurrent(0x6307) | 1. Excessive mechanical load or acceleration; | 1. Optimize motion parameters; |
| 35633 | Axis () Power Board CR35 Bleeder MOS Fault(0x6400) | 1. Power board component failure; | 1. Replace power board; |
| 35634 | Axis () Power Board CR35 Bleeder Overcurrent(0x6401) | 1. Bleeder resistor failure; | 1. Replace bleeder module; |
| 35635 | Axis () Power Board CR35 Bleeder MOS Short(0x6402) | 1. Power board hardware failure; | 1. Replace power board; |
| 35636 | Axis () Power Board Bleeder I2T Fault(0x6403) | 1. Power board thermal overload; | 1. Check cooling system; |
| 35637 | Axis () Power Board Communication Failure(0x6450) | 1. Power board hardware defect; | 1. Replace communication module; |
| 35638 | Axis () FPGA Watchdog Fault(0x3200) | 1. Servo driver control board failure; | 1. Replace control board; |
| 35639 | Axis () FPGA Leakage Current Alert(0x3201) | 1. Ground fault in cabinet wiring; | 1. Perform insulation resistance test; |
| 35640 | Axis () Encoder Interpolation Error(0x7372) | 1. Verify encoder hardware integrity; | |
| 35641 | Axis () Encoder Multi-turn Value Error(0x7373) | 1. Encoder battery disconnection; 2. Low battery voltage; | 1. Check battery connectors; 2. Measure battery voltage; |
| 35642 | Axis () Encoder Data Anomaly(0x7374) | 1. Verify encoder cable routing; 2. Check encoder magnetic gap; | |
| 35643 | Axis () Encoder Communication Failure(0x7375) | 1. Encoder cable disconnection; | 1. Re-seat encoder connectors; |
| 35644 | Axis () High-Speed Encoder Overspeed(0x7376) | 1. Loose encoder connections; 2. Magnetic gap deviation; | 1. Secure cable terminations; 2. Adjust encoder alignment; |
| 35645 | Axis () Sensor CRC Error(0x6500) | 1. Sensor data frame CRC mismatch; | 1. Inspect sensor wiring; |
| 35646 | Axis () Sensor Null Data Frame(0x6501) | 1. All-zero data packets received; | 1. Check sensor power supply; |
| 35647 | Axis () Sensor Speed Exceedance(0x6502) | 1. Significant deviation between calculated and actual joint speed; | 1. Verify sensor installation; 2. Calibrate speed parameters; |
| 35648 | Axis()Sensor Zero Calibration Error(0x6503) | 1. Zero calibration data mismatch; | 1. Recalibrate sensor; |
| 35649 | Axis()Reducer Slippage Error(0x7370) | 1. After startup, slippage was detected in the joint reducer, potentially accompanied by loss of zero reference. | 1. After manually returning to zero, perform the 'One-Key Write Zero' operation again. After powering off and restarting, recalibrate the zero point. |
| 35650 | Axis()Encoder slippage fault(0x7371) | 1. During running, encoder slippage is detected, potentially accompanied by zero-point loss. | 1. After manually returning to zero, perform the 'One-Key Write Zero' operation again. After powering off and restarting, recalibrate the zero point. |
| 35651 | Axis()Low-Speed Encoder Overspeed(0x737E) | 1. During running, abnormal values were detected in the low-speed encoder, with a rate of change far exceeding the motor's maximum set speed. | 1. Secure cable terminations; 2. Adjust encoder alignment; |
| 35652 | Axis()Damping Plate Uncalibrated(0x8001) | 1. Damping Plate Uncalibrated | 1. Please calibrate the vibration-damping plate and try again. |
| 35653 | Axis()Relief Status Fault(0x6605) | 1. Relief status feedback does not match servo release action | 1. Check whether the drive hardware or wiring is correct. |