CANopen Error Codes

See the Faults and Warning Messages table for more information on possible causes and remedies.

CAN Emergency Code AKD2G Number Message
3110h F2015 Bus over voltage FPGA.
3120h F2000 Vbus read is out of thresholds.
3130h F2008 Bus capacitor overloaded.
3180h W2008 Bus capacitor overloaded.
3181h F2014 AC input phase loss.
3182h F2016 Gate supply under voltage.
3183h W1000 Fan stalled.
3190h F1005 Unrecognized FPGA fault.
3191h F1006 FPGA cyclic read fault.
3210h F2006 Bus over voltage.
3220h F2007 Bus under voltage.
3280h W2007 Bus under voltage.
3281h W2010 Regen energy critical.
3282h F2013 Regen short circuit.
3283h W2006 Bus over voltage.
37ADh F4030 SFA model does not support feedback type
4210h F2500 Control over temperature sensor.
4310h F2501 Power over temperature sensor.
4382h F1001 Power board type mismatch detected.
4390h W2500 Control Over Temp Sensor.
4391h W2501 Power Over Temp Sensor.
4394h W2502 Control Under Temp Sensor.
4395h W2503 Power Under Temp Sensor.
4398h F2502 Control under temperature sensor.
4399h F2503 Power under temperature sensor.
5580h F1100 NV Memory Data (might occur when downloading firmware).
5588h F1101 Flash directory error.
5590h F1102 Identity read failed.
5591h F1103 Invalid MAC Address.
55A1h F1104 Power board factory settings file read failed.
55A2h F1105 Power board updateable settings file read failed.
55B0h F1106 Failure reading Control Board FPGA EDS file.
55B1h F1107 Power Board Resident FPGA not valid.
55B2h F1108 Power Board Operational FPGA not valid.
55B3h F1109 Failure reading Power Board FPGA EDS.
55C4h F1002 Power Board Communication fault.
55C5h F1003 Power Board FPGA not configured.
6080h F3000 Issued command timed out.
6380h F5005 Drive motor parameters setup incomplete.
6381h F3001 Failed to default parameters.
7180h F5000 Motor overheated.
7184h F5003 Brake applied when it should be released.
7186h W5000 Motor Temperature high.
7187h F2011 Voltage exceeds motors rating.
7188h F2009 Regen near capacity, could not prevent over voltage.
7189h F5004 Brake released when it should be applied.
718Ah F2018 Broken Wire Connection to Motor.
7190h F5001 Brake 1 current out of range.
7191h W5001 Brake override active.
7192h F5002 Brake 2 current out of range.
7193h F5006 Temperature sensor detected open circuit.
7194h W5007 Brake override active but no brake configured.
7199h W5006 Motor temperature supervision inactive
7380h F4100 Feedback: Parity fault.
7381h F4101 Feedback: Overrun fault.
7382h F4102 Feedback: Framing fault.
7383h F4103 Feedback: CRC fault.
7384h F4104 Feedback: Communication Timeout fault.
7385h F4105 Feedback: Initialization sequence fault.
7386h F4106 Feedback: Temperature fault.
7387h F4107 Feedback: Battery fault.
7388h F4108 Feedback: Sensor fault.
7389h F4109 Feedback: Device-unique fault 0.
738Ah F4110 Feedback: Device-unique fault 1.
738Bh F4111 Feedback: Analog Signal fault.
738Ch F4112 Feedback: Broken Wire fault.
738Dh F4113 Feedback: Power Supply fault.
738Eh F4114 Feedback: Illegal Hall state (111, 000).
738Fh F4115 Failed to set feedback type.
7392h F4116 Failed to read motor parameters from feedback device.
7393h F4117 SFA communication fault.
7394h F4118 SFA over current.
7395h F4119 SFA under voltage.
7396h F4120 Feedback: Safety fault.
7397h F3004 Operation in Position Mode with Halls Only feedback not allowed.
7398h F4121 Feedback: Watchdog fault.
7399h F4122 Unrecognized feedback fault.
739Ah F4123 SFA Resident FPGA not valid.
739Bh F4124 SFA Operational FPGA not valid.
739Ch F4125 SFA FPGA file read failed.
739Dh F4126 SFA Factory file read failed.
739Eh W4100 Feedback parity.
739Fh W4101 Feedback overrun.
73A0h W4102 Feedback framing.
73A1h W4103 Feedback CRC.
73A2h W4104 Feedback communication timeout.
73A3h W4105 Feedback initialization sequence.
73A4h W4106 Feedback temperature.
73A5h W4107 Feedback battery.
73A6h W4108 Feedback sensor.
73A7h W4109 Feedback device-unique warning 0.
73A8h W4110 Feedback device-unique warning 1.
73A9h W4111 Gearing feedback source fault.
73C0h F5500 Wake and Shake - Insufficient movement
73C1h F5501 Wake and Shake - Excess movement
73C2h F5502 Wake and Shake - Fine-Coarse delta too large.
73C3h F5503 Wake and Shake - Over speed
73C4h F5504 Wake and Shake - Loop angle delta too large.
73C5h F5505 Wake and Shake - Commutation not initialized.
73C6h F5506 Wake and Shake - Motor U phase missing.
73C7h F5507 Wake and Shake - Motor V phase missing.
73C8h F5508 Wake and Shake - Motor W phase missing.
73C9h W5500 Wake & Shake configured or active.
73D0h F5509 Wake and Shake - Validating Positive Movement Failed.
73D1h F5510 Wake and Shake - Validating Negative Movement Failed.
73D2h F5511 Wake and Shake - Validating Comm. angle timed out.
73D3h F5512 Wake and Shake - Validating Comm. angle moved too far - Bad Comm Angle.
73D4h F5513 Wake and Shake - Validating Comm. angle required more than MOTOR.ICONT
73D5h F6002 Invalid commutation detected - motor accelerating in the wrong direction. Motor phase may be incorrect.
8130h F7002 Fieldbus Heartbeat lost.
8180h W7000 Fieldbus Error Passive.
8311h F2017 Motor Foldback.
8331h F2001 Drive Foldback.
8380h W2001 Drive foldback imminent! Reduce Load.
8381h W2002 Motor foldback imminent! Reduce Load.
8382h W2003 Motor I2t load! Reduce load.
8383h W6008 Using derivative of position when using sensorless feedback type in position mode
8384h W6004 Zero velocity when using induction sensorless feedback type in torque mode.
8385h W6027 Current Command Saturated.
8386h F5514 Wake and Shake - Limit Switch Hit
8480h F6000 Over speed.
8481h F6005 Emergency timeout occurred.
8582h W6006 Positive Limit Switch triggered.
8583h W6007 Negative Limit Switch triggered.
8611h F6001 Following error magnitude fault.
8685h F6003 Instability during autotune.
8688h W6000 Velocity Limit Violation, Exceeding Max Limit.
8689h W6009 Following Motion Failed; Check Motion Parameters .
868Ah W6010 Target Position crossed due to Stop command.
86A0h W6011 Homing Index pulse not found.
86A1h W6012 Home switch not found.
86A3h W6014 Motion Task Activation Failed.
86A4h W6015 Homing Failed.
86A5h F6004 Target position was overshot due to invalid motion task activation.
86A8h W6017 Motion task target position is out of modulo-range.
86A9h W6018 Motion task target position is out of software-limits.
86AAh W6019 Invalid bit-combination in the motion-task control-word.
86ABh W6020 1:1 profile can not be triggered on the fly
86ACh W6021 Customer profile table is not initialized.
86ADh W6022 Motion task activation is currently pending.
86AEh W6002 Homing is needed.
86AFh W6023 Homing maximum distance exceeded.
8780h F7001 Fieldbus Sync frames lost.
8781h W7001 PLL unlocked.
8782h F7003 PLL failed to acquire lock.
8783h F7004 PLL lost lock.
8784h F7005 Fieldbus cyclic setpoints missing.
8785h F7006 Only on CAN drives: CAN hardware initialization failed.
878Eh F7011 EtherCAT synchronization error.
878Ch W7011 EtherCAT Rx received before preparing Tx data finished.
FF00h W2011 No Power on IO 24V Rail.
FF01h F7000 Fieldbus Communication lost.
FF02h F2004 Iu current offset limit exceeded.
FF03h F2005 Iv current offset limit exceeded.
FF04h F2010 Regen over power.
FF05h F3100 MechaWare Model failed to connect Analog Input, fix model.
FF06h F3101 MechaWare Model failed to connect Analog Output, fix model.
FF07h F2002 Output over current.
FF08h F2003 Current sensor short circuit.
FF09h F3002 Assert check failed.
FF0Ah F2012 Power stage fault.
FF0Bh F9000 Safe torque off.
FF0Ch W9000 Safe torque off.
FF0Dh F1000 Firmware and FPGA versions are not compatible.
FF0Eh W6001 Exceeding following error magnitude warning level.
FF10h W6003 OPMODE incompatible with CMDSOURCE.
FF11h F1004 Failed to initialize the system.
FF12h F5100 IL.FBSOURCE has unidentified feedback selected.
FF13h F5101 VL.FBSOURCE has unidentified feedback selected.
FF14h F5102 PL.FBSOURCE has unidentified feedback selected.
FF15h F1007 A Factory MechaWare model failed to load.
FF16h F1008 A User MechaWare model failed to load.
FF17h W6028 Gear feedback source is invalid.
FF18h F6028 Gearing feedback source is invalid.
FF19h F6006 Current home mode requires HOME.IPEAK to be set.
FF1Ah W6026 Current homing mode requires HOME.IPEAK to be set by user
FF50h F9002 SMM Communication Failed.
FF51h F9003 Incorrect safety card detected.
FF52h F9004 Safe torque off pulse and standard lines don't match.
FF53h F9005 Simultaneity Fault: Safe torque off lines don't match each other.
FF54h W9011 SMM I/O failure detected
FF55h F9006 SMM in failed state.
FF56h W9008 Brake Test Time Overflow.
FF57h W9009 SMM Over Temperature.
FF58h W9010 SMM State Not Operational.
FF59h W9007 Safe brake parameters inconsistent
FF5Ah F9007 Safe brake parameters inconsistent.