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Error management - Axis operation errors


Error IdDefault severity and reactionReaction configurableDescriptionMeaning
0x00000000NoneNoNo errorDrive is working correctly
0x00001001Fault - Power stage shutdownYesCommunications watchdog errorNo valid frames have been received during the configured communications watchdog window time
0x00002280Fault - Power stage shutdownNoOver-current detected (internal drive limit)

It indicates that a current value higher than the maximum absolute one allowed by the drive has been detected. There are several sources that produce this error:

  • Short-circuit (See product manual for further information about detectable short-circuits)
  • Control loops instabilities, over-shoots
0x00002281Fault - Power stage shutdownNoFaulty gate driver

A failure has been detected in gate driver. The cause of the failure could be

  • Mismatch of gate driver configuration and expected configuration
  • Hardware failure signal
0x00002282Fault - Power stage shutdownNoCurrent A sensing reached upper saturation limitCurrent A ADC counts have reached upper ADC saturation limit
0x00002283Fault - Power stage shutdownNoCurrent A sensing reached lower saturation limitCurrent A ADC counts have reached lower ADC saturation limit
0x00002284Fault - Power stage shutdownNoCurrent B sensing reached upper saturation limitCurrent B ADC counts have reached upper ADC saturation limit
0x00002285Fault - Power stage shutdownNoCurrent B sensing reached lower saturation limitCurrent B ADC counts have reached lower ADC saturation limit
0x00002286Fault - Power stage shutdownNoCurrent C sensing reached upper saturation limitCurrent C ADC counts have reached upper ADC saturation limit
0x00002287Fault - Power stage shutdownNoCurrent C sensing reached lower saturation limitCurrent C ADC counts have reached lower ADC saturation limit
0x00002288Fault - Power stage shutdownYesUser I2T limit detected without current control

The I2T algorithm is always enabled and generates a fault if the current loop is disabled when the user I2T limit is overcome

0x00002289Fault - Power stage shutdownYesOver-current detected (user limit) without current controlIndicates that a current reading higher than the configured max. current has been reached
0x0000228AFault - Power stage shutdownNoSystem I2T detectedThe system I2T limit is reached (maximum drive limits)
0x0000228BFault - Power stage shutdownNoDerating without current controlIndicates that driver has started derating ramp without current control
0x0000228CFault - Power stage shutdownNoCurrent sensor calibration errorIndicates that the current sensor calibration offset is out of tolerance (abnormal situation during calibration).
0x00002301Fault - Power stage shutdownNoBrake over-currentThe current in the brake is higher than the limit set by the user
0x00002302Fault - Power stage shutdownNoBrake tracking errorThe brake current cannot follow the value set by the user
0x00003210Fault - Power stage shutdownNoOver-voltage detected (internal drive limit)Maximum allowed voltage by the drive is overcome
0x00003211Fault - Power stage shutdownNoOver-voltage detected (redundant internal drive limit)Maximum allowed voltage by the drive is overcome
0x00003221Fault - Power stage shutdownNoUnder-voltage detected (internal drive limit)Minimum allowed voltage by the drive is overcome
0x00003231Fault - Power stage shutdownYesOver-voltage detected (user limit)User maximum voltage limit is overcome
0x00003241Fault - Power stage shutdownYesUnder-voltage detected (user limit)User minimum voltage limit is overcome
0x00003280Fault - Power stage shutdownYesSTO is enabledSTO is active and could have disabled the power stage disabled
0x00003281Fault - Power stage shutdownNoSTO supply faultSTO supply fault. Unit could be damaged
0x00003282Critical - Power stage shutdownNoSTO abnormal faultSTO abnormal fault. STO1 and STO2 inputs differed more than latching time
0x00003283Fault - Power stage shutdownNoSTO active in operation enabledSTO is active in operation enabled and has disabled the power stage
0x00003290Fault - Power stage shutdownNoInput stage problemIt indicates that the bus voltage is not being loaded correctly
0x00004300Fault - Power stage shutdownNo

Over-Temperature detected (internal drive limit)

Maximum allowed drive temperature is overcome
0x00004301Fault - Power stage shutdownNoUnder-Temperature detected (internal drive limit)Minimum allowed drive temperature is overcome
0x00004303Fault - Power stage shutdownYesOver-temperature detected (user limit)User maximum drive temperature is overcome
0x00004304Fault - Power stage shutdownYesUnder-temperature detected (user limit)User minimum drive temperature is overcome
0x00004305Fault - Power stage shutdownYesWrong ADC measurements detectionADC module is not working as expected and cannot be trusted
0x00004400Fault - Power stage shutdownYesMotor Over Temperature detectedMaximum temperature allowed by the actuator is overcome
0x00004500Fault - Power stage shutdownYesExternal fault

An external element has set to "high level" the external fault input.

This error is only present in Everest family products (EVE) or CORE versions.

The reaction of the device to this signal is configurable by means of the External fault option code and External error signal reaction registers.

When External fault option code register is set to Fault, register External error signal reaction will decide what to do.


In products as the Everest family (EVE), this fault is generated internally if certain errors are detected in subnode 0 to allow stopping safely the drive. Current implementation generates this error if:

  • EtherCAT firmware: EtherCAT communication errors
  • CAN firmware: Lifeguard error is detected
0x00007370Fault - Power stage shutdownYesHalls sequence errorTwo of the 3 digital Halls signals have changed value simultaneously, leading to an unsupported sequence
0x00007371Fault - Power stage shutdownNoHalls combination errorIndicates that the read halls value combination is not possible (000 or 111)
0x00007372Fault - Power stage shutdownNoFeedback runaway errorFeedback reading over a mechanical cycle does not match with the specified encoder resolution. Review encoder resolution or encoder cabling
0x0000737EFault - Power stage shutdownNoAbsolute encoder 1 disconnection or frame overlapAbsolute encoder 1 disconnection when using BiSS-C protocol, or frame overlap
0x0000737FFault - Power stage shutdownNoAbsolute encoder 2 disconnection or frame overlapAbsolute encoder 2 disconnection when using BiSS-C protocol, or frame overlap
0x00007380Fault - Power stage shutdownNoToo many incorrect invalid position flags detected in SSI / BiSS - C readingsIt indicates that the number of invalid frames is higher than the configured
0x00007381WarningNoBiSS-C warning bit activeIndicates that the warning bit of the BiSS-C encoder is active
0x00007382Fault - Power stage shutdownNoToo many incorrect CRC checks in SSI / BiSS-C readingsIt indicates that the number of CRC errors detected is higher than the configured
0x00007384WarningNoAbsolute encoder error bit active without exceeding error toleranceIndicates that the error bit of the absolute encoder is active but the amount of occurrences has not exceeded the error tolerance parameter
0x00007385Fault - Power stage shutdownYesPosition out of limits out of position modesIndicates that position readings are out of the configured software limits when the position loop is not enabled

0x00007386

Fault - Power stage shutdownYesVelocity out of limits out of velocity or position modesIt indicates that velocity readings are higher than the configured max. velocity when the velocity loop is not enabled
0x00007387Fault - Power stage shutdownYesIn a position mode, following error overcomes the position following error windowThe position demand can't be followed properly by the drive. Review controller, limits, and acceleration/velocities
0x00007388Fault - Power stage shutdownYesIn a velocity mode, following error overcomes the velocity following error windowThe velocity demand can't be followed properly by the drive. Review controller, limits, and acceleration/velocities
0x0000738CFault - Power stage shutdownNoPosition out of limits in position modeThe drive is outside its position limits when being enabled in position mode
0x00007390Fault - Power stage shutdownNoInterpolation time is too small when PVT is enabled.PVT movement has an interpolation time smaller than the drive loop update time
0x00007391Fault - Power stage shutdownNoProfiler parameters not valid. They should all have positive values.Profiler parameters such as max. velocity, max. acceleration or max. deceleration has unsupported values that can cause undesired trajectories
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