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 A Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design
|
| 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 edgeA rising edge is the transition of a digital signal from low to high. It is also called positive 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"Field-Programmable Gate Array"
FPGA is a semiconductor device that can be configured by the customer or designer after manufacturing; hence the name "field-programmable" 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 |
| 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-volatileinformation is stored in a specific memory to remain accessible even when the application has been powered off 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 sensorA sensor is a type of transducer that converts one type of energy into another for various purposes including measurement or information transfer 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 torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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 TorqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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"Cyclic redundancy check"
A CRC is a type of function that takes as input a data stream of any length and produces as output a value of a certain fixed size. The term CRC is often used to denote either the function or the function's output. A CRC can be used as a checksum to detect accidental alteration of data during transmission or storage 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 SensorA sensor is a type of transducer that converts one type of energy into another for various purposes including measurement or information transfer fault |
Feedback Sensor fault | Check feedback settings. If problem persists, Contact Customer Support. | Dynamic braking |
| F4009 | Feedback DeviceA process whereby some proportion of the output signal of a system is passed (fed back) to the input.
In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position-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 deviceA process whereby some proportion of the output signal of a system is passed (fed back) to the input.
In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position. |
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"Bi-directional Serial Synchronous interface"
An open-source communication protocol for feedback devices. With BiSS, all of the computation for interpolation in regard to position occurs on the ASIC directly in the encoder 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 |
| 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:
|
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. |
|
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 EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs 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"Controller area network"
CAN is a broadcast, differential serial bus standard developed for connecting electronic control units. Each node is able to send and receive messages, but not simultaneously-wiring might be wrong or internal failure. |
Check CAN-wiring and termination or contact Customer Support. | 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.
|
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. |
| 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 | HomingThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position 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. |
