| Error Code |
Description |
Explanation / Remedy |
| NoFault |
No fault is to be reported. |
This is the default value of the object. |
Protection faults of user-defined parameters
Note
These error codes concern the user-defined parameters. If no user value was configured, the default values are taken instead!
| Error Code |
Description |
Explanation / Remedy |
| PuOcA |
A current was detected in phase A that exceeds the current limit set by the user. |
Reset your Drive and find the reason for the over-current.
Reasons for over-current may include (but are not limited to):
- Low supply voltage. The gate drivers will not work properly if the DC-Link voltage is below 12 V.
- Short-circuited conductors due to permanent damage to inverter FETs.
- Excess voltage (high values of DC-link voltage can increase the current measurement noise, and reaction to measurement noise can lead to current spikes)
- The torque, velocity or position controller is too sharp.
- Faulty encoder feedback. In most cases, an error regarding the encoder will be thrown.
|
| PuOcB |
A current was detected in phase B that exceeds the current limit set by the user. |
| PuOcC |
A current was detected in phase C that exceeds the current limit set by the user. |
| PuOt |
The measured temperature* exceeds the limit. |
Make sure your drive is having a proper heat dissipation. The heatsink should always be connected by proper thermal paste to a to an adequate heat dissipating structure. Install an operational fan if necessary. |
| PuUv |
The measured voltage fell below the under-voltage limit set by the user. |
Make sure the power consumption of your Drive is not higher than the output power limit of DC power supply |
| PuOv |
The measured voltage exceeds the over-voltage limit set by the user. |
In Regenerative mode: ensure that the power supply accepts DC current. |
* Temperature values can't be configured! Default values are taken instead!
Note
These errors can also cause subsequent faults or be caused by other faults.
Hardware Protection Faults
| Error Code |
Description |
Explanation / Remedy |
| PhUdef |
Undefined in CIA 402 standard
Hardware Protection fault.
|
An Error occurred that is not defined in CiA 402.
Hardware protection has an unknown state or does not work properly.
|
| PhFault |
Hardware Protection generic fault. |
Any of the parameters that are checked is faulty. |
| PhWtdg |
Watchdog ticks fault. |
Watchdog ticks are used to ensure that the main loop of your microcontroller is executed correctly. When the watchdog ticks are not toggled in time this could indicate that slaves aren't responding. |
| PhDeadTA |
Deadtime fault in phase A. |
Deadtime is needed to prevent a short circuit. If the deadtime is not respected, this will trigger an error which is detected by hardware protection. |
| PhDeadTB |
Deadtime fault in phase B. |
| PhDeadTC |
Deadtime fault in phase C. |
| PhDeadTD |
Deadtime fault in phase D. |
| PhOvUvOt |
Either Over-voltage, under-voltage or over-temperature was triggered. |
These values are measured by the same circuit. It can't be specified which parameter triggered the error. |
| PhOc |
Hardware Protection of Over-current was triggered. |
Reset your Drive and find the reason for the over-current.
Reasons for over-current may include (but are not limited to):
- Low supply voltage. The gate drivers will not work properly if the DC-Link voltage is below 12 V.
- Short-circuited conductors due to permanent damage to inverter FETs.
- Excess voltage (high values of DC-link voltage can increase the current measurement noise, and reaction to measurement noise can lead to current spikes)
- The torque, velocity or position controller is too sharp.
- Faulty encoder feedback. In most cases, an error regarding the encoder will be thrown.
|
BiSS Sensor Faults
| Error Code |
Description |
Explanation / Remedy |
| BisErBit |
BiSS protocol error bit received. |
This error code is part of the BiSS Protocol, check your Sensor datasheet. |
| BisWnBit |
BiSS protocol warning bit received. |
This error code is part of the BiSS Protocol, check your Sensor datasheet. |
| BisAcBit |
Acknowledge bit not received. The slave does not respond correctly. |
The slave does not respond correctly. |
| BisSrtBt |
Start bit not received. |
| BisSloLo |
SLO line is low (Slave not ready). |
| BisFrame |
BiSS frame configuration issue. |
The size of the frame is higher than the configured frame. |
| BisCrc |
Wrong CRC received. |
Communication error. |
SSI Sensor Faults
| Error Code |
Description |
Explanation / Remedy |
| SsiFrame |
SSI frame configuration issue. |
The size of the frame is higher than the configured frame. |
| SsiDtaLo |
Data line is low (Slave not ready). |
The slave does not respond correctly. |
| SsiChksm |
Wrong parity received. |
Communication error. (Parity is a 1-bit CRC) |
REM16MT Sensor Faults
| Error Code |
Description |
| R16WkMgF |
Weak magnetic field |
| R16Cont |
Multiturn counter error |
| R16CorDc |
Singleturn CORDIC error |
| R16SpdOv |
Multiturn speed overflow |
| R16FtCfg |
Filter configuration error |
| R16FtSOF |
Filter speed overflow error |
| R16UnCmd |
Unknown command |
| R16Chksm |
Checksum error |
REM14 Sensor Faults
| Error Code |
Description |
| R14Chksm |
Checksum error |
QEI Sensor Faults
| Error Code |
Description |
Explanation / Remedy |
| QeiLsTck |
Unexpected number of ticks in two successive index detections. |
This can happen with high-resolution encoders in high-speed applications. There is a threshold of 1% of the sensor's resolution. Check the encoder resolution |
| QeiNoIdx |
The QEI index that is used for commutation was not found. |
- Check your Sensor cable.
- Is the Sensor blocked?
- Is the motor turning?
|
Hall Sensor Faults
| Error Code |
Description |
Explanation / Remedy |
| HallSeq |
Wrong hall outputs sequence. |
Check if all pins are properly connected. |
| HallFlt |
Hall output has a constant value. |
At offset detection, a function is performed that checks if the sensor receives plausible data when the motor is turned. |
Generic Sensor Faults
| Error Code |
Description |
Explanation / Remedy |
| SnsrAngl |
Wrong commutation angle |
- At Offset detection, all possible angles are checked during one turn
- Can also be triggered if the angle is out of range, for example [0, 4095]
|
| SnsrCfg |
Sensor configuration issue |
This error can happen if the configuration is known to be faulty. (For example: Resolution = 0) |
Brake Faults
| Error Code |
Description |
Explanation / Remedy |
| BrkNtRls |
Brake release failed |
Try to increase
- The amplitude of applied torque
- brake pull voltage.
- Pull time
|
| BkHiPull |
Pull brake voltage higher than measured DC bus voltage. |
This is a warning after brake parameter configuration. The voltage will be set to max DC Bus voltage |
| BkHiHold |
Hold brake voltage higher than measured DC bus voltage. |
Open Terminal Faults
| Error Code |
Description |
Explanation / Remedy |
| OpnTermA |
Drive terminal A opened |
Terminal A is disconnected from the motor. Please check if the motor is properly connected to the Drive, and re-trigger the Drive again. |
| OpnTermB |
Drive terminal B opened |
Terminal B is disconnected from the motor. Please check if the motor is properly connected to the Drive, and re-trigger the Drive again. |
| OpnTermC |
Drive terminal C opened |
Terminal C is disconnected from the motor. Please check if the motor is properly connected to the Drive, and re-trigger the Drive again. |
Open FET Faults
| Error Code |
Description |
Explanation / Remedy |
| OpnFetAH |
Drive FET A (high side) opened |
Permanent fault in a Drive FET. Please change the inverter. |
| OpnFetBH |
Drive FET B (high side) opened |
| OpnFetCH |
Drive FET C (high side) opened |
| OpnFetAL |
Drive FET A (low side) opened |
| OpnFetBL |
Drive FET B (low side) opened |
| OpnFetCL |
Drive FET C (low side) opened |
Parameter Faults
| Error Code |
Description |
Explanation / Remedy |
| IvldOfst |
Commutation offset is not valid |
Run offset detection again. |
Parameter Faults
| Error Code |
Description |
Explanation / Remedy |
| IvldOfst |
Commutation offset is not valid |
Run offset detection again. |
Communication Faults
| Error Code |
Description |
Explanation / Remedy |
| CyclicHb |
PDO message heartbeat (implying drop of a cyclic action). PDO messages are used for the cyclic heartbeat. |
There is an issue with EtherCAT communication. |
I2t Protection Errors
| Error Code |
Description |
Explanation / Remedy |
| I2tActv |
I2t protection is active. |
Due to overheating of the motor, the output current is limited to equal or less the nominal current.
For details see I2T
|
|
