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Select your Device Type

The model number will indicate what kind of device you have. Find the label on the side of the device, where "Model No:" is indicated.

Select your Fieldbus

The model number will indicate what kind of fieldbus you have. Find the label on the side of the device, where "Model No:" is indicated.

Select your Functional Safety Version

The model number will indicate what kind of function safety you have. Find the label on the side of the device, where "Model No:" is indicated.

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Faults and Warning Messages

A warning is generally a notification to the user which is not critical and does not require the machine to immediately shut off. A fault is generally a notification of a critical system failure which will stop machine operation. Depending on the severity of the fault will depend on which system-stop mechanism is used.

Faults and warnings follow the same pattern and are identified by a four digit code:

G G X X

where GG is a two digit group code, and XX is a two digit ID. All faults and warnings are grouped together to easily identify what part of the system is having trouble.

Group Group #
10 System
11 File
15 Hardware
20 Power
25 Temperature
30 Software
4# Feedback (# indicates feedback number)
50 Motor
55 Wake and Shake
60 Motion
70 Fieldbus
90 Safety

Retrieving Fault and Warning Information

Users can retrieve faults on a per-axis basis with: AXIS#.FAULTS, where # is the axis number. Similarly, users can retrieve per-axis warnings with AXIS#.WARNINGS.

DRV.FAULTS returns faults across all axes, with the format X-#### where X is the axis number and #### is the four digit fault code. DRV.WARNING provides warnings across all axes with a similar format.

Feedback faults are reported with axis faults if the feedback is configured as a feedback source for the axis (e.g. AXIS#.IL.FBSOURCE, AXIS#.VL.FBSOURCE, AXIS#.PL.FBSOURCE). If a feedback is not a feedback source for an axis, its faults can be read with FB#.FAULTS where # is the feedback number.

Clearing Faults and Warnings

Once fault conditions have been corrected, users can clear faults on an axis using AXIS#.CLRFAULTS. To clear faults on all axes with a single command, DRV.CLRFAULTS can be used.

The action table can also be used to clear faults. Action task 12: Clear Faults can be configured to trigger on edge conditions of the action sources. The action task ID selects the axis on which to clear faults.

The hardware enable input can also be used to clear faults. If AXIS#.HWEN.MODE is 0, faults for the axis are cleared on the rising edge of the hardware enable signal.

Fault History

Faults are logged to flash memory for convenience and debugging. To retrieve the last 50 faults with timestamps, use the keyword DRV.FAULTHIST.

To retrieve a more extensive history of faults, use DRV.FAULTHIST/all.

Fault Reaction

The drive’s reaction to a fault is determined by the nature and severity of the fault and the ability of the drive to control motion to zero speed. There are three supported fault reactions:

  • Perform a controlled stop to decelerate to zero speed, using the controlled stop configuration for the axis. See Controlled Stop.
  • Perform dynamic braking to decelerate the axis to zero speed. See Dynamic Breaking.
  • Disable the power stage for the axis, which allows the connected motor to coast to zero speed.

Fault Table

A list of all possible faults and warnings can be found by using DRV.FAULTLIST.

Fault Description Cause Remedy Reaction
F1000 Firmware and FPGA versions are not compatible. The FPGA version does not match the firmware FPGA version constants. Load the FPGA version that is compatible with the firmware. Disable power stage
F1001 Power Board type mismatch detected. Power board image does not match what operational firmware expected. Contact Customer Support to update the drive. Disable power stage
F1002 Power Board Communication fault Communications with the Power Board failed. AXIS#.CLRFAULTS . If issue persists, contact Technical Support. Disable power stage
F1003 Power Board FPGA not configured. Communications with the Power Board failed. AXIS#.CLRFAULTS . If issue persists, contact Technical Support. Disable power stage
F1004 Failed to initialize the system. Failure in primary module during software start-up. Contact Customer Support. Disable power stage
F1005 Unrecognized FPGA fault

Failure within the FPGA Module.

FPGA reported unrecognized fault.

Issue AXIS#.CLRFAULTS . If problem persists, contact Customer Support. Disable power stage
F1006 FPGA cyclic read fault Detected a timing issue between the firmware and FPGA. Power cycle the drive. If the fault occurs again, contact Customer Support. Disable power stage
F1007 A Factory MechaWare model failed to load. Failed to read the control loop model from flash. Power cycle the drive. If the fault occurs again, contact Customer Support. Disable power stage

F1008

A User MechaWare model failed to load. Failed to read the user control loop model file from flash. Power cycle the drive. If the fault occurs again, contact Customer Support. Disable power stage
F1009 Axis internal The firmware detected it was in an unexpected condition. Issue AXIS#.CLRFAULTS . If problem persists, contact Customer Support. Disable power stage
F1010 Controlled stop failed The deceleration ramp of a controlled stop could not be started. The axis imediatly disabled instead. Issue AXIS#.CLRFAULTS . If problem persists, contact Customer Support. Disable power stage
F1100 NV Memory Data (might occur when downloading firmware) Non-volatile memory data is corrupted or invalid. When this fault occurs after a firmware download, it is not an indication of a problem (clear the fault and perform a “save” to the drive). Reset the drive to default memory values using Parameter Load in WorkBench. Disable power stage
F1101 Flash directory error File system in unexpected state. Download latest firmware. If problems persist, contact Customer Support Disable power stage
F1102 Identity Read failed EDS information on the drive is not in expected format. Contact Customer Support Disable power stage
F1103 Invalid MAC Address The MAC Address stored in the EDS on the drive is invalid. Contact Customer Support Disable power stage
F1104 Power Board factory settings file read failed. Power Board settings unable to be retrieved. Contact Customer Support Disable power stage
F1105 Power Board update settings file read failed. Power Board settings unable to be loaded. Contact Customer Support Disable power stage
F1106 Failure reading Control Board FPGA EDS file. Control Board configuration settings unable to be loaded. Contact Customer Support Disable power stage
F1107 Power Board Resident FPGA not valid. Power Board Resident FPGA not valid. Update to latest firmware. If problem persists, contact Customer Support. Disable power stage
F1108 Power Board Operational FPGA not valid. Power Board Operational FPGA not valid. Download latest firmware. If problem persists, contact Customer Support. Disable power stage
F1109 Failure reading Power Board FPGA EDS. Failure reading Power Board FPGA EDS. Contact Customer Support. Disable power stage
F2000 Vbus read is out of thresholds. Hardware problem in bus measurement. Troubleshoot and repair hardware problem. Disable power stage
F2001 Drive Foldback Maximum drive power has been exceeded. The power has been limited to protect the drive. Motion requires too much power. Change profile to reduce load. Controlled stop
F2002 Output over current Current exceeds drive peak. Check for short or feedback faults. Disable power stage
F2003 Current sensor short circuit 1. Current sensor short circuit.
2. Motor cable plugged in upside down.
1. Restart drive. If issue persists, contact Technical Support.
2. Plug in cable right-side up.
Disable power stage
F2004 Iu current offset fault Hardware failure detected. Restart drive. If issue persists, contact Technical Support. Disable power stage
F2005 Iv current offset fault Hardware failure detected. Restart drive. If issue persists, contact Technical Support. Disable power stage
F2006 Bus over voltage Bus voltage too high. Usually this problem is load related. Reduce load or change motion profile. Check system regen capacity and add capacity, if needed. Check mains voltage. Disable power stage
F2007 Bus under voltage. Warning issued prior to fault. Bus voltage below VBUS.UVFTHRESH and the axis was enabled, or bus voltage was below VBUS.INRUSHOFF and the axis was enabled. Check mains voltage. Controlled stop
F2008 Bus capacitor overloaded Single phase AC input on a drive only rated for three-phase input or excessive single-phase power load. Check mains voltage. Disable power stage
F2009 Regen near capacity, could not prevent over voltage. An F501 Bus Over Voltage has occurred while the regen resistor was at or above 75% of its dissipation capacity. Increase the size of regen resistor to be able to dissipate more power. Disable power stage
F2010 Regen over power Too much power stored in regen resistor. Get a larger regen resistor or use DC bus sharing to dissipate power. Disable power stage
F2011 Voltage exceeds motor's rating. Drive bus voltage exceeds the motor’s defined voltage rating. Make sure that the motor fits the driving rating. Disable power stage
F2012 Power Stage fault Power Stage fault Clear faults. If problem persists, contact Customer Support. Disable power stage
F2013 Regen short circuit Regen resistor short circuit. Regen IGBT short circuit. Contact Technical Support. Disable power stage
F2014 AC input phase loss Phase loss is detected (for three phase AC mains) or power loss is detected (for single phase AC mains).

Check mains input. If using three phase AC mains, set VBUS.THREEPHASE to 1.

If using single phase AC mains, set VBUS.THREEPHASE to 0.

If using DC mains, set VBUS.DCOPERATION to 1.

Disable power stage
F2015 Bus over voltage FPGA. Bus over voltage hard fault. Check mains voltage and check system brake capacity. Disable power stage
F2016 Gate supply under voltage.

Gate Supply under voltage.

Check wiring. If problems persist, contact Customer Support. Disable power stage

F2017

Motor Foldback Maximum motor power has been exceeded; the power has been limited to protect the motor. Motion is requiring too much power. Change move profile to reduce load on motor. Check for load jamming or sticking. Check that current limits are set correctly. Controlled stop
F2018 Broken wire connection to motor. At least one of the motor phases are not connected to the drive. For this fault detection to properly work, motor parameters must be set correctly. Fix wire connections to the motor. If motor parameters are not set automatically, check motor parameters. Disable power stage
F2500 Control over temperature sensor High temperature limit reached. Check cabinet ventilation system. Disable power stage
F2501 Power board over temperature High temperature limit reached. Check cabinet ventilation system. Disable power stage
F2502 Control under temperature sensor Low temperature limit reached. Check cabinet ventilation system. Disable power stage
F2503 Power board under temperature Low temperature limit reached. Check cabinet ventilation system. Disable power stage
F3000 Issued command timed out. Processing a command took longer than the command timeout (10-60 sec depending on the command). Try reducing the CPU load of the drive by deactivating unused features or changing the fieldbus cycle time. Controlled stop
F3001 Failed to default parameters. Drive parameters could not be reset to default because an axis was enabled. Disable all axes. Disable power stage
F3002 Assert check failed. Internal firmware error. Contact Customer Support Disable power stage
F3003 External fault This fault is user generated and is caused by user settings. Users can configure a digital input to trigger this fault (DINx.MODE = 10). The fault occurs according to this input setting. Clear the input to clear the fault. Disable power stage
F3004 Operation in Position Mode with Halls Only feedback not allowed. Operation in Position Mode with Halls Only feedback not allowed. Set your drive’s mode of operation to velocity or torque when using a Halls Only feedback. Dynamic braking
F3005 Thread watchdog Unresponsive firmware thread. Clear faults. If problem persists, contact Customer Support. Disable power stage
F3006 Action Table fault This fault is triggered by an action in the action table (when Task = “24 – Fault Axis”). Investigate condition that caused fault to trigger. To disable, deactivate the action task that is set to trigger this fault. Disable power stage
F3100 MechaWare Model failed to connect Analog Input. A MechaWare model contains an Analog Input block with an invalid Analog Input number. Fix Analog Input blocks to have valid Analog Input numbers. Disable power stage
F3101 MechaWare Model failed to connect Analog Output. A MechaWare model contains an Analog Output block with an invalid Analog Output number. Fix Analog Output blocks to have valid Analog Output numbers. Disable power stage
F3102 MechaWare Models are missing Motor Torque block. Across all active MechaWare models, there is no Torque Output for all axes.

1. Verify models are turned on.

2. If using User Models, check that models contain a Motor Torque block and the axis number is correct.

Disable power stage
F4000 Feedback Parity fault Feedback Parity fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4001 Feedback Overrun fault Feedback Overrun fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4002 Feedback Framing fault Feedback Framing fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4003 Feedback CRC fault Feedback CRC fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4004 Feedback Communication Timeout fault Feedback Communication Timeout fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4005 Feedback Initialization Sequence fault Feedback Initialization Sequence fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4006 Feedback Temperature fault Feedback Temperature fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4007 Feedback Battery fault Feedback battery fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4008 Feedback Sensor fault Feedback Sensor fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4009 Feedback Device-Unique Fault 0 Feedback Device-Unique Fault 0 Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4010 Feedback Device-Unique Fault 1 Feedback Device-Unique Fault 1 Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4011 Feedback Analog Signal fault Feedback Analog Signal fault Check feedback settings. If problem persists, Contact Customer Support. Dynamic braking
F4012 Feedback Broken Wire fault Feedback broken wire Check feedback wiring. Dynamic braking
F4013 Feedback Power Supply fault Feedback power supply fault Check feedback wiring. Dynamic braking
F4014 Feedback, Illegal Hall State (111 or 000) Feedback, Illegal Hall State (111 or 000) Check Hall wiring. Dynamic braking
F4015 Failed to set feedback type. Failed to set feedback type. Check feedback settings and wiring. Dynamic braking
F4016 Failed to read motor parameters from feedback device. Motor does not have motor feedback memory or the motor feedback memory is not programmed properly so the parameters cannot be read. Try to read parameters again by clicking the Disable and Clear Faults button or by issuing the AXIS#.CLRFAULTS command. If this is not successful, then set AXIS#.MOTOR.AUTOSET to 0 (off) and program the parameters using the setup wizard or manually set up the parameters. If the motor has motor memory (BiSS Analog, EnDat, and SFD motors have motor memory), return the motor to have the memory programmed. Dynamic braking
F4017 SFA communication fault Communication error between the SFA and the drive. Check cabling between the SFA and the drive. Dynamic braking
F4018 SFA over current Feedback power supply over current. Check for short-circuit in the cable between the SFA and the drive. Dynamic braking
F4019 SFA under voltage High wire resistance or short on cable between SFA and drive. Check for loose wiring between the SFA and the drive. Dynamic braking
F4020 Feedback: safety fault Feedback safety system has faulted. Check for damaged encoder. Replace if problem persists. Dynamic braking
F4021 Feedback: Watchdog fault Feedback subsystem stopped responding. Internal system fault. Report failure to Kollmorgen. Dynamic braking
F4022 Unrecognized feedback fault. FPGA reported unrecognized fault. Issue AXIS#.CLRFAULTS. If problem persists, contact Customer Support. Dynamic braking
F4023 SFA Resident FPGA not valid. Check if FPGA file on SFA failed. Restart drive and reselect SFA feedback type. Update to latest SFA firmware. If problem persists, contact Customer Support. Disable power stage
F4024 SFA Operational FPGA not valid. Check if FPGA file on SFA failed. Restart drive and reselect SFA feedback type. Update to latest SFA firmware. If problem persists, contact Customer Support. Disable power stage
F4025 SFA FPGA file read failed. FPGA file on SFA could not be read due to communication issue. Restart drive and reselect SFA feedback type. Update to latest SFA firmware. If problem persists, contact Customer Support. Disable power stage
F4026 SFA Factory file read failed. Configuration file on SFA could not be read due to communication issue. Restart drive and reselect SFA feedback type. If problem persists, contact Customer Support. Disable power stage
F5000 Motor overheated. Motor overheated. Check ambient temperature. Check motor mounting heat sink capability. Disable power stage
F5001 Brake 1 current out of range. Brake 1 current out of range detected on drive with pass-thru hardware. Brake 1 current measurement error on drive with SMM hardware. Check brake wiring. Dynamic braking
F5002 Brake 2 current out of range. Brake 2 current out of range detected on drive with pass-thru hardware. Brake 2 current measurement error on drive with SMM hardware. Check brake wiring. Dynamic braking
F5003 Brake applied when it should be released. Motor brake closed unexpectedly. Check cabling and general functionality. Dynamic braking
F5004 Brake released when it should be applied. Brake disengaged unexpectedly. Check cabling and general functionality. Controlled stop
F5005 Drive motor parameters setup incomplete. Before a motor can be enabled, you must configure a minimum set of parameters. These parameters have not been configured.

Issue the command AXIS#.SETUPREQLIST to display the list of the parameters you must configure. Configure these parameters manually or automatically. You can manually configure these parameters in three ways:

1. Set each parameter individually.

2. Use the setup wizard to select the motor.

3. Select the motor type from the motor data base in the Motor window.AXIS#.MOTOR.AUTOSET must be set to 0 [off]). If you use the Motor window, you must first select the feedback type. If the motor has BiSS Analog, EnDat, or SFD feedback (feedback with memory), then these parameters are set automatically when AXIS#.MOTOR.AUTOSET is set to 1 (on).

Disable power stage
F5006 Temperature sensor detected open circuit. Motor thermal sensor measurement indicates expected sensor is not connected. Check temperature sensor connection. Verify thermal sensor type (AXIS#.MOTOR.RTYPE) is correct. Disable power stage

F5011

Brake 1 under current. Brake 1 current too low on drive with SMM hardware. Check brake wiring. Dynamic braking

F5012

Brake 2 under current. Brake 2 current too low on drive with SMM hardware. Check brake wiring. Dynamic braking

F5013

Brake 1 over current. Brake 1 current too high on drive with SMM hardware. Check brake wiring. Dynamic braking
F5014 Brake 2 over current. Brake 2 current too high on drive with SMM hardware. Check brake wiring. Dynamic braking
F5100 AXIS#.IL.FBSOURCE has unidentified feedback selected. The type of the feedback referenced by AXIS#.IL.FBSOURCE was not identified successfully. Check the connection for the feedback referenced by AXIS#.IL.FBSOURCE. Check FB#.SELECT is correct for the feedback. Disable power stage
F5101 AXIS#.VL.FBSOURCE has unidentified feedback selected. The type of the feedback referenced by AXIS#.VL.FBSOURCE was not identified successfully. Check the connection for the feedback referenced by AXIS#.VL.FBSOURCE. Check FB#.SELECT is correct for the feedback. Disable power stage
F5102 AXIS#.PL.FBSOURCE has unidentified feedback selected. The type of the feedback referenced by AXIS#.PL.FBSOURCE was not identified successfully.

Check the connection for the feedback referenced by AXIS#.PL.FBSOURCE. Check FB#.SELECT is correct for the feedback.

Disable power stage
F5500 Wake and Shake - Insufficient movement There was less movement than defined by AXIS#.WS.DISTMIN Increase AXIS#.WS.IMAX and/or AXIS#.WS.T . Or try using AXIS#.WS.MODE 1 or 2. Disable power stage
F5501 Wake and Shake - Excess movement AXIS#.WS.DISTMAX has been exceeded in AXIS#.WS.MODE 0. Or more than 360 degrees was traveled in AXIS#.WS.MODE 2. Increase AXIS#.WS.DISTMAX value or reduce AXIS#.WS.IMAX or AXIS#.WS.T . Wake and Shake is not supported for vertical/overhung loads. Disable power stage
F5502 Wake and Shake - Fine-Coarse delta too large The angle difference between the coarse and fine calculation was larger than 72 deg. Modify AXIS#.WS.IMAX or AXIS#.WS.T and try again. Disable power stage
F5503 Wake and Shake - Over speed AXIS#.WS.VTHRESH was exceeded. Increase AXIS#.WS.VTHRESH value or reduce AXIS#.WS.IMAX or AXIS#.WS.T . Disable power stage
F5504 Wake and Shake - Loop angle delta too large The angle between complete loops was larger than 72 deg. Modify AXIS#.WS.IMAX or AXIS#.WS.T and try again. Disable power stage
F5505 Wake and Shake - Commutation not initialized The motor requires the commutation initialization (there are no encoder commutation tracks, Hall sensors, etc.) and no successful Wake and Shake sequence has been performed. Clear any faults, activate the Wake and Shake procedure (AXIS#.WS.ARM ), and enable the drive. Disable power stage
F5506 Wake and Shake - Motor U phase missing No current was detected in the motor's U phase during Wake and Shake initialization (Mode 0 only). Check the motor connections and AXIS#.WS.IMAX (very low current may produce this error). Disable power stage
F5507 Wake and Shake - Motor V phase missing No current was detected in the motor's V phase during Wake and Shake initialization (Mode 0 only). Check the motor connections and AXIS#.WS.IMAX (very low current may produce this error). Disable power stage
F5508 Wake and Shake - Motor W phase missing No current was detected in the motor's W phase during Wake and Shake initialization (Mode 0 only). Check the motor connections and AXIS#.WS.IMAX (very low current may produce this error). Disable power stage
F5509 Wake and Shake - validating positive movement failed After applying a positive current, motor moved in the wrong direction. Check motor phase wiring and motor encoder wiring is correct. Disable power stage
F5510 Wake and Shake - validating negative movement failed After applying a negative current, motor moved in the wrong direction. Check motor phase wiring and motor encoder wiring is correct. Disable power stage
F5511 Wake and Shake - validating comm. angle timed out During one of the Wake and Shake validation stages, the drive stopped responding to commands. Contact Customer Support. Disable power stage
F5512 Wake and Shake - validating comm. angle moved too far - bad comm angle After applying a current, the motor moved too far (>15 electrical degrees). This indicates a poor motor phase angle was found by Wake and Shake. Revise Wake and Shake parameters and re-run Wake and Shake. Disable power stage
F5513 Wake and Shake - validating comm. angle required more than AXIS#.MOTOR.ICONT A current larger than AXIS#.MOTOR.ICONT was used to excite the motor.

This indicates one of the following:

  • Phase angle is incorrect due to a bad wake and shake.
  • Motor has very high friction requiring high current to break free.
  • Motor power cable is disconnected or improperly wired.
Disable power stage
F5514 Wake and Shake - limit switch hit A digital input configured as a limit switch through the action table has triggered or the position feedback is outside software position limits. Move the load away from the limits. Disable power stage
F5515 Wake and Shake is not compatible with Gantry configurations. Wake and Shake was started with an axis configured as a Gantry. Make sure no axis has Gantry as its Command Source. Disable power stage
F5516 Wake and Shake is not supported when AXIS#.IL.OFFSET is non-zero Wake and Shake was started with AXIS#.IL.OFFSET set to a non-zero value. Set AXIS#.IL.OFFSET to zero until commutation has been established. Disable power stage
F6000 Over speed Motor exceeded AXIS#.VL.THRESH Increase AXIS#.VL.THRESH or lower velocity command. Dynamic braking
F6001 Following error magnitude fault Motor did not follow command values. Motor exceeded maximum allowed position following error (user). Check feedback commutation setup and tuning parameters. See FAULT6001.ACTION
F6002 Invalid commutation detected - motor accelerating in the wrong direction. Motor phase may be incorrect. The velocity of the motor exceeded AXIS#.WS.CHECKV and the sign of the current was not equal to the sign of motor acceleration or the sign of motor velocity for a period of time larger than AXIS#.WS.CHECKT.
  1. Check motor phase wiring.
  2. Re-configure Wake and Shake (if Mode 0 or 1 is used).
  3. Re-run Wake and Shake to determine correct commutation angle.
Dynamic braking
F6003 Instability during autotune Drive current (AXIS#.IL.CMD ) or velocity feedback (AXIS#.VL.FB ) exceeds allowable limit (AXIS#.BODE.IFLIMIT or AXIS#.BODE.VFLIMIT). This fault only occurs in AXIS#.BODE.MODE 5. This fault often occurs when complex mechanics, belts, and compliant loads are present. Change AXIS#.BODE.MODE if appropriate. If AXIS#.BODE.MODE 5 is appropriate and the fault occurs at the end of an Autotuning, then the motor is not robustly stable. You can manually adjust Autotuner settings. Manual tuning may be required to make the motor stable. Controlled stop
F6004 Target position was overshot due to invalid motion task activation. The drive cannot decelerate from its current speed to reach the end point of the second motion task without moving past it. Increase the deceleration rate in the move or trigger the move earlier. Change Motion task profile and clear fault with AXIS#.CLRFAULTS . Or change the value of AXIS#.FAULT6004.ACTION = 1 to ignore this condition. Disable power stage
F6005 Emergency timeout occurred. Motor did not stop in the timeout defined in AXIS#.DISTO . Change timeout value, change stop parameters and improve tuning. Disable power stage
F6006 Current home mode requires AXIS#.HOME.IPEAK to be set. Some homing modes require AXIS#.HOME.IPEAK to be a non-zero value. Set AXIS#.HOME.IPEAK to a non-zero value or use a different homing mode (AXIS#.HOME.MODE). Disable power stage
F6007 Gantry master faulted. The master axis of the gantry has faulted causing the slave to fault. DRV.CLRFAULTS to clear both axes’ faults. None
F6008 Gantry slave faulted. The slave axis of the gantry has faulted causing the master to fault. DRV.CLRFAULTS to clear both axes’ faults. None
F6028 Gearing feedback source is invalid. The feedback selected as the gearing source is uninitialized or assigned to the same feedback being used as the commutation, velocity, or position feedback source. Verify AXIS#.GEAR.FBSOURCE is not 0 and does not match the feedback being used for AXIS#.IL/VL/PL.FBSOURCE Disable power stage
F6029 Gantry position error fault GANTRY.PL.ERR exceeded GANTRY.PL.ERRWTHRESH. Increase warning threshold, fix mechanical linkage, improve tuning or remove disturbances. Disable power stage
F7000 Fieldbus communication lost. All fieldbus communication was lost. Check fieldbus connections, settings, and control unit. Controlled stop
F7001 Fieldbus sync frames lost. The fieldbus lost synchronization. Check fieldbus connection or the settings of your EtherCAT or CANopen master. Controlled stop
F7002 Fieldbus Heartbeat lost Heartbeat lost. Check CANopen cabling. Reduce bus load or increase the heartbeat update time. Controlled stop
F7003 PLL failed to lock. Fieldbus PLL failed to lock. Check fieldbus wiring and settings. Controlled stop
F7004 PLL lost lock. Fieldbus PLL lost lock. Check fieldbus wiring and settings Controlled stop
F7005 Fieldbus cyclic setpoints missing. Fieldbus communication interrupted. Check fieldbus wiring and settings Controlled stop
F7006 Fieldbus initialization failed. CAN-wiring might be wrong or internal failure. Check CAN-wiring and termination or contact Customer Support. Controlled stop
F7007 Sign of life error counter exceeded threshold. PROFINET synchronization issues. The PLC sign of life counter is not increasing by 1 each cycle, indicating missed samples. Check Ethernet cables, PLC load, network issues. Controlled stop
F9000 Safe torque off. Safe torque off function has been triggered. Reapply supply voltage to STO if safe to do so. Disable power stage
F9002 SMM communication failed. Safe Motion Module not communicating as expected. Contact Customer Support. Disable power stage
F9003 Incorrect safety card detected. Physical SMM module does not match the expected module. Contact Customer Support. Disable power stage
F9004 Safe torque off digital and analog lines don't match. Hardware fault on the power board .

Contact Customer Support.

Disable power stage
F9005 Simultaneity fault: Safe torque off lines don't match each other. Simultaneity fault: Safe torque off lines don't match each other Contact Customer Support. Disable power stage
F9006 SMM in failed state. SMM detected a safety I/O failure and faulted. This can be caused by: digital I/O pulse failed, STO pulse failed, encoder position failure, or serial communication failed. Determine cause and replace necessary hardware if issue reoccurs. Disable power stage
F9007 Safe brake parameters inconsistent. The safe parameter, AXIS#.SAFE.SBC.BRAKE#ATTACHED, indicate a brake is attached, but non-safe brake keywords, AXIS#.MOTOR.BRAKE, AXIS#.BRAKE, do not and drive was enabled.

From the safety parameter screen in WorkBench under safe brake control (SBC), verify the SBC Brake parameters agree with the drive related parameters that a brake is configured or not.

 

The keywords AXIS#.MOTOR.BRAKE, AXIS#.BRAKE, and safe brake control configuration (SBC) all must agree with each other. For example, if no brake is present AXIS#.MOTOR.BRAKE should be 0 and safe parameters for SBC should indicate ‘Not Configured’. If brake is present, AXIS#.MOTOR.BRAKE should be 1, BRAKE#.AXIS should be assigned to proper axis, and safe parameters for SBC should be set to ‘Configured…’.

 

AXIS#.SAFE.SBC.BRAKE1ATTACHED and AXIS#.SAFE.SBC.BRAKE2ATTACHED can be verified for the currently active safe parameters.

Disable power stage

Warning Table

A list of all possible warnings can be found by using DRV.WARNINGLIST.

Warning Description Cause Remedy
W1000 Fan stalled. Fan speed is too slow. Power Cycle drive. If problem persists, contact Customer Support.
W1001 Sync timer PLL FPGA Synchronization is off. Update to latest firmware. If problem persists, contact Customer Support.
W2001 Drive foldback imminent! Reduce Load. Current command is high enough to trip Drive Foldback threshold. Decrease current command by softening tuning gains or a less aggressive motion trajectory. If problem persists, application may require a drive with larger power rating.
W2002 Motor foldback imminent! Reduce Load. Current command is high enough to trip Motor Foldback threshold. Decrease current command by softening tuning gains or a less aggressive motion trajectory. If problem persists, application may require a motor with larger power rating.
W2003 Motor I2t load! Reduce load. Current command is high enough to trip Motor I²t threshold. Decrease current command by softening tuning gains or a less aggressive motion trajectory. If problem persists, application may require a motor with larger power rating.
W2006 Bus over voltage Line voltage spiked above VBUS.OVWTHRESH, or motor back emf generated voltage above VBUS.OVWTHRESH. Clear faults. If problem persists, determine source of voltage spike. If problem is power related, power conditioning may be required. If voltage spike is due to motor back-emf, a regen resistor may be required for the application.
W2007 Bus under voltage Bus voltage dipped below VBUS.UVWTHRESH Check supply voltage.
W2008 Bus capacitor overloaded Internal voltage spiked above VBUS.OVWTHRESH or motor back emf generated voltage above VBUS.OVWTHRESH. Clear faults. If problem persists, determine source of voltage spike. If problem is power related, power conditioning may be required. If voltage spike is due to motor back emf, a regen resistor may be required for the application.
W2010 Regen energy critical Regen resistor is reaching its capacity. Decrease aggressiveness of motion profile or use larger size regen resistor.
W2011 No Power on IO 24V rail

24 volts was not detected on x21 connector.


  • Digital outputs will not be functional without 24V.
Connect +24V to B3 (24V_I/O) on x21 and GND to B4 (GND_I/O) on x21 and verify wire integrity.
W2012 Inconsistent mains voltage AC mains voltage is consistent with VBUS.ACNOMINAL. Adjust VBUS.ACINOMINAL or ac main voltage.
W2500 Control Over Temp Sensor 1 Internal control board temperature is overheating. Increase air circulation around drive box and check fan operation. If problem persists, contact Customer Support.
W2501 Power board over temperature Internal power board temperature is overheating. Increase air circulation around drive box and check fan operation. If problem persists, contact Customer Support.
W2502 Control Under Temp Sensor 1 Internal control board is getting below specified operating temperature. Check environment the drive is operating in.
W2503 Power board under temperature. Internal power board is getting below specified operating temperature. Check environment the drive is operating in.
W3001 Ethernet interface throttled. Packets are arriving at Ethernet interface faster than the drive can process. Check devices that could be sending packets to the drive. If possible, move the drive to a different or dedicated LAN.
W3100 An axis has a duplicate Actual Position Feedback block. Across all active MechaWare models, there is more than one Actual Position Feedback block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3101 An axis has a duplicate PL.CMD block. Across all active MechaWare models, there is more than one PL.CMD block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3102 An axis has a duplicate PL.ERR block. Across all active MechaWare models, there is more than one PL.ERR block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3103 An axis has a duplicate Position Int Out block. Across all active MechaWare models, there is more than one Position Int Out block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3104 An axis has a duplicate VL.CMD block. Across all active MechaWare models, there is more than one VL.CMD block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3105 An axis has a duplicate VL.FB block. Across all active MechaWare models, there is more than one VL.FB block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3106 An axis has a duplicate VL.ERR block. Across all active MechaWare models, there is more than one VL.ERR block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3107 An axis has a duplicate Trajectory VCmd block. Across all active MechaWare models, there is more than one Trajectory VCmd block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3108 An axis has a duplicate IL.FF block. Across all active MechaWare models, there is more than one IL.FF block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3109 An axis has a duplicate OpenLoopFeedback block. Across all active MechaWare models, there is more than one OpenLoopFeedback block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3110 An axis has a duplicate VelocityPIOut block. Across all active MechaWare models, there is more than one VelocityPIOut block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3111 An axis has a duplicate PreBodeExcite block. Across all active MechaWare models, there is more than one PreBodeExcite block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3112 An axis has a duplicate Motor Torque block. Across all active MechaWare models, there is more than one Motor Torque block for an axis.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3113 A duplicate AnalogOut block exists. Across all active MechaWare models, there is more than one Analog Out block with the same output number.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3114 A duplicate DigitalOut block exists. Across all active MechaWare models, there is more than one Digital Out block with the same output number.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3115 A duplicate UserBuffer block exists. Across all active MechaWare models, there is more than one UserBuffer block with the same output number.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3116 A duplicate Simulated Feedback block exists. Across all active MechaWare models, there is more than one Simulated Feedback block with the same output number.

1. Verify correct models are active.

2. Modify user models and remove extra blocks.

W3117 An axis is missing its PL.CMD block. Across all active MechaWare models, an axis is missing its PL.CMD block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3118 An axis is missing its PL.ERR block. Across all active MechaWare models, an axis is missing its PL.ERR block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3119 An axis is missing its Position Int Out block. Across all active MechaWare models, an axis is missing its Position Int Out block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3120 An axis is missing its VL.CMD block. Across all active MechaWare models, an axis is missing its VL.CMD block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3121 An axis is missing its VL.FB block. Across all active MechaWare models, an axis is missing its VL.FB block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3122 An axis is missing its VL.ERR block. Across all active MechaWare models, an axis is missing its VL.ERR block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3123 An axis is missing its Trajectory VCmd block. Across all active MechaWare models, an axis is missing its Trajectory VCmd block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3124 An axis is missing its IL.FF block. Across all active MechaWare models, an axis is missing its IL.FF block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3125 An axis is missing its OpenLoopFeedback block. Across all active MechaWare models, an axis is missing its OpenLoopFeedback block.

1. Verify correct models are active

2. Modify user models and add required block for each axis

W3126 An axis is missing its VelocityPIOut block. Across all active MechaWare models, an axis is missing its VelocityPIOut block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3127 An axis is missing its PreBodeExcite block. Across all active MechaWare models, an axis is missing its PreBodeExcite block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3128 An axis is missing its Motor Torque block. Across all active MechaWare models, an axis is missing its Motor Torque block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3129 An axis is missing its Position Command block. Across all active MechaWare models, an axis is missing its Position Command block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3130 An axis is missing its Position Feedback block. Across all active MechaWare models, an axis is missing its Position Feedback block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3131 An axis is missing its Velocity Command block. Across all active MechaWare models, an axis is missing its Velocity Command block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3132 An axis is missing its Bode Torque block. Across all of the active MechaWare models, an axis is missing its Bode Torque block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W3133 An axis is missing its Bode Velocity block. Across all active MechaWare models, an axis is missing its Bode Velocity block.

1. Verify correct models are active.

2. Modify user models and add required block for each axis.

W4000 Feedback Parity warning Feedback Parity warning Check feedback settings. If problem persists, contact Customer Support.
W4001 Feedback Overrun warning Feedback Overrun warning Check feedback settings. If problem persists, contact Customer Support.
W4002 Feedback Framing warning Feedback Framing warning Check feedback settings. If problem persists, contact Customer Support.
W4003 Feedback CRC warning Feedback CRC warning Check feedback settings. If problem persists, contact Customer Support.
W4004 Feedback Communication Timeout warning Feedback Communication Timeout warning Check feedback settings. If problem persists, contact Customer Support.
W4005 Feedback Initialization Sequence warning Feedback Initialization Sequence warning Check feedback settings. If problem persists, contact Customer Support.
W4006 Feedback Temperature warning Feedback Temperature warning Check feedback settings. If problem persists, contact Customer Support.
W4007 Feedback battery warning Feedback battery warning Check feedback settings. If problem persists, contact Customer Support.
W4008 Feedback Sensor warning Feedback Sensor warning Check feedback settings. If problem persists, contact Customer Support.
W4009 Feedback Device-Unique Warning 0 Feedback Device-Unique Warning 0 Check feedback settings. If problem persists, contact Customer Support.
W4010 Feedback Device-Unique Warning 1 Feedback Device-Unique Warning 1 Check feedback settings. If problem persists, contact Customer Support.
W4011 Warning: Gearing feedback source fault Fault condition was detected on position feedback device referenced by AXIS#.GEAR.FBSOURCE. Verify AXIS#.GEAR.FBSOURCE is set correctly. Fix fault condition on feedback specified by AXIS#.GEAR.FBSOURCE, and clear faults.
W5000 Motor overheated Motor overheated Check ambient temperature and motor mounting heat sink capability.
W5007 Brake override active, but no brake configured. Brake override is active on an axis that has no brake configured. The parameter AXIS#.MOTOR.BRAKECONTROL overrides actual brake control of the drive.
W5008 Brake override active Brake override active The parameter AXIS#.MOTOR.BRAKECONTROL overrides actual brake control of the drive.
W5500 Wake and Shake - Over speed AXIS#.WS.VTHRESH was exceeded. Increase AXIS#.WS.VTHRESH value or reduce AXIS#.WS.IMAX or AXIS#.WS.T .
W5515 Wake and Shake is not compatible with Gantry configurations. Wake and Shake was armed with an axis configured as a Gantry. Make sure no axis has Gantry as its Command.
W5516 Wake and Shake is not supported when AXIS#.IL.OFFSET is non-zero. Wake and Shake was started with AXIS#.IL.OFFSET set to a non-zero value. Set AXIS#.IL.OFFSET to zero until commutation has been established.
W6000 Velocity limit violation exceeding max limit. A new target velocity calculated internally due to an exception and is being limited due to user velocity limit. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning. Check motion task target velocity settings and parameters to make sure the values entered will not exceed the AXIS#.VL.LIMITP and AXIS#.VL.LIMITN setting.
W6001 Following error magnitude fault. Motor did not follow command values. Motor exceeded maximum allowed position following error AXIS#.PL.ERRWTHRESH . Check feedback commutation setup and tuning parameters.
W6002 Fault on FB2 is preventing remote commutation for FB1. Attempt to issue motion task before the axis is homed. Axis must be homed before motion task can start. Change opmode or home axis.
W6003 OPMODE incompatible with CMDSOURCE This warning is generated when the drive is enabled and the gearing command source is selected at the same time as torque or velocity opmode. Select a different AXIS#.OPMODE and AXIS#.CMDSOURCE combination.
W6004 Zero velocity when using induction sensorless feedback type in torque mode. Zero velocity when using induction sensorless feedback type in torque mode. Check motor wiring and tuning parameters. If problem persists, contact Customer Support.
W6005 Velocity has been limited commutation speed to less than 600Hz to meet ECCN 3A225 requirements. Motor Velocity has exceeded the allowed commutation speed (599Hz). Refer to ECCN 3A225 Limitations for Induction Motors.
W6006 Positive limit switch triggered A digital input is configured as positive limit switch (DINx.MODE 18) and its state is “off” or a positive software position limit is configured (AXIS#.SWLS.EN) and the actual position AXIS#.PL.FB is greater than the configured limit (see also AXIS#.SWLS.LIMIT#). Move the load away from the limits.
W6007 Negative limit switch triggered A digital input is configured as negative limit switch (DINx.MODE 19) and its state is “off” or a negative software position limit is configured (AXIS#.SWLS.EN) and the actual position AXIS#.PL.FB is less than the configured limit (see also AXIS#.SWLS.LIMIT#). Move the load away from the limits.
W6008 Using derivative of position when using sensorless feedback type in position mode. Using derivative of position when using sensorless feedback type in position mode. Sensorless operation is not allowed for Position Mode - change AXIS#.OPMODE to Velocity Mode.
W6009 Following motion failed, check motion parameters. Activation of the following motion task failed due to incompatible parameters or motion task does not exist. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning. Check following motion task settings and parameters to make sure the values entered will produce a valid motion task.
W6010 Target position crossed due to stop command. The motion task crosses the target position after triggering an AXIS#.STOP command. This can happen when processing a change-on-the-fly motion task and triggering an AXIS#.STOP command close to the target position of the currently running motion task. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning.
W6011 Homing index pulse not found. A homing mode with index detection is activated and index pulse is not detected while moving across the range determined by the hardware limit switches. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning.
W6012 Homing reference switch not found. A homing mode with reference switch detection is activated and the reference switch is not detected while moving across the range determined by the hardware limit switches. Activation of any new motion or use ofAXIS#.CLRFAULTS clears the warning.
W6014 Motion task activation failed. Activation of the motion task failed due to incompatible parameters or motion task does not exist. This warning can appear upon an AXIS#.MT.MOVE command. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning. Check motion task settings and parameters to make sure that the values entered will produce a valid motion task.
W6015 Homing procedure failed. Homing error observed during the operation of homing procedure. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning.
W6017 Motion task target position is out. This warning appears with W6014. This warning is triggered when you try to trigger a motion task with an absolute target position outside of the selected modulo range (see also AXIS#.MT.CNTL). Move the absolute target position of the motion task within the modulo range. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning.
W6018 Motion task target position is out of software limits. Motion Task position has passed a software limit switch. Review software limit switch configuration and motion task configurations, and remove incompatibilities.
W6019 Invalid bit combination in the motion task controword. This warning appears with W6014. This warning is triggered when you try to trigger a motion task with an invalid bit combination in the motion task controword (see also AXIS#.MT.CNTL). Correct the AXIS#.MT.CNTL setting for the specific motion task. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning.
W6020 1:1 profile cannot be triggered on the fly. This warning appears with W6014. This warning is triggered when you try to trigger a 1:1 profile table motion task while another motion task is currently running. 1:1 profile table motion tasks should be started from velocity 0. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning.
W6021 Customer profile table is not initialized. This warning appears with W6014. This warning is triggered when you try to trigger a motion task that uses a customer profile table for generating the velocity profile and when the selected profile table is empty (see AXIS#.MT.CNTL and MT.TNUM). Change the MT.TNUM parameter for this specific motion task to use an initialized profile table. Activation of any new motion or use of AXIS#.CLRFAULTS clears the warning.
W6022 Motion task activation is currently pending. A motion task tried to execute before the previous task was able to execute. Review application timing and allow for adequate time for each motion task to activate before requesting a subsequent motion.
W6023 Homing maximum distance exceeded. Homing maximum distance exceeded. Review tuning and parameter AXIS#.HOME.MAXDIST.
W6024 Motion task is not initialized. This warning appears with W6014. This warning is triggered when you try to trigger a non-initialized motion task. Initialize the motion task before starting the task. Activation of any new motion or use of DRV.CLRFAULTS clears the warning.
W6025 Homing and feedback mismatch A homing mode is selected which cannot work with the current feedback. For example, homing modes 3, 6, 10 and 11 require the feedback to provide a Z/index pulse and not all feedbacks provide this signal. If the homing move is started then it may run continuously because it is missing a signal from the feedback. Select a different homing mode or change the feedback being used.
W6026 Current homing mode requires AXIS#.HOME.IPEAK to be set by user. The homing mode selected requires that AXIS#.HOME.IPEAK be set to non-zero. Set AXIS#.HOME.IPEAK to a value non-zero.
W6027 Current command saturated. AXIS#.IL.CMD has exceeded AXIS#.IL.LIMITP or AXIS#.IL.LIMITN . Increase current limits (AXIS#.IL.LIMITP or AXIS#.IL.LIMITN) or reduce load by decreasing trajectory acceleration/velocity.
W6028 Gear feedback source is invalid. The feedback selected as the gearing source is uninitialized or assigned to the same feedback being used as the commutation, velocity, or position feedback source. Verify AXIS#.GEAR.FBSOURCE is not 0 and does not match the feedback being used for AXIS#.IL/VL/PL.FBSOURCE.
W6029 Gantry Position error higher than warning threshold. GANTRY.PL.ERR exceeded GANTRY.PL.ERRWTHRESH. Increase warning threshold, fix mechanical linkage, improve tuning or remove disturbances.
W7000 Fieldbus communication lost. All fieldbus communication was lost. Check fieldbus connections (X11/X12), settings and control unit.
W7001 Fieldbus sync frames lost. The fieldbus lost synchronization. Check fieldbus connection or the settings of your fieldbus master.
W9000 Warning: Safe torque off Safe torque off function has been triggered. Reapply supply voltage to STO if safe to do so.
W9007 Safe brake parameters inconsistent. The safe parameters, AXIS#.SAFE.SBC.BRAKE#ATTACHED, indicate a brake is attached, but non-safe brake keywords, AXIS#.MOTOR.BRAKE, AXIS#.BRAKE, do not and drive was enabled.

From the safety parameter screen in WorkBench under safe brake control (SBC), verify that the SBC Brake parameters agree with the drive related parameters that a brake is configured or not.

 

The keywords AXIS#.MOTOR.BRAKE, AXIS#.BRAKE, and safe brake control configuration (SBC) all must agree with each other. For example, if no brake is present AXIS#.MOTOR.BRAKE should be 0 and safe parameters for SBC should indicate ‘Not Configured’. If brake is present, AXIS#.MOTOR.BRAKE should be 1, BRAKE#.AXIS should be assigned to proper axis, and safe parameters for SBC should be set to ‘Configured…’

 

AXIS#.SAFE.SBC.BRAKE1ATTACHED and AXIS#.SAFE.SBC.BRAKE2ATTACHED can be verified for the currently active safe parameters.

W9008 Warning: Brake Test Time Overflow A safe brake test has not been executed within the configured time limit. Extend safe brake test time limit or execute a safe brake test.
W9009 Warning: SMM Over Temperature Safe motion module is over temperature. Replace hardware.
W9010 Warning: SMM State not operational Safe motion module is not ready to enable. Verify safe id and safe parameters are validated and correct. Check for other faults on the safe motion monitor.
W9011 SMM I/O failure detected. SMM I/O failure detected. Update to latest firmware. If problems persist, contact Customer Support.

 


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