Reference 47
*The SM threshold increments by 8 for every error and decrements by 1 for every
successful operation. The threshold value is 15 to guarantee that 2 consecutive
errors trigger the error.
Error detection
If the drive is in error then the fault bit (bit 3) will be set in the status word object
0x6041. The error code object 0x603F can then be queried to identify the cause of
the error. Supported DS 402 error codes and their equivalent Mint/MML error codes
are:
DS 402
error
code
DS 402 description Equivalent
Mint/MML
error code
Mint/MML description
0x2310 Continuous over current 10014 Over current
0x2350 Load level fault (I2t, thermal state) 10011 Drive Overload
0x3110 Mains over voltage 10016 Bus over voltage
0x3120 Mains under voltage 10017 Bus under voltage
0x3130 Phase failure 10029 Supply phase loss
0x4210 Excess temperature device 10019 Motor temperature input
0x4310 Excess temperature drive 30001 Drive over-temperature
0x4320 Too low temperature drive 30029 Drive under-temperature
0x5110 Supply low voltage 30000 Internal power supply loss
0x5114 U4 = manufacturer specific 10023 Encoder supply lost
0x5400 Power section 10012 Power base not ready
0x5410 Output stages 10013 Power module fault
0x5441 Contact 1 - Manufacturer specific 10010 Drive Enable Input Inactive
0x5442 Contact 2 - Manufacturer specific 10001 Forward Hardware Limit
0x5443 Contact 3 - Manufacturer specific 10002 Reverse Hardware Limit
0x5444 Contact 4 - Manufacturer specific 10033 Safe Torque Off is active
0x5445 Contact 5 - Manufacturer specific 10007 Error Input active
0x7303 Manufacturer specific error 10039 Resolver signals lost or incorrect
0x7305 Incremental sensor 1 fault 10022 Encoder signals lost
0x7310 Speed 10015 Over speed
0x7500 Communication 10026 PDO data lost
0x8400 Velocity speed controller 10006 Fatal velocity exceeded
0x8611 Following Error 10005 Following Error
0x8612 Software limits 10003/10004 Soft limit hit
0xFF00 Manufacturer specific error 10020 Phase search failed
0xFF01 Manufacturer specific error 10031 Heatsink too hot to Phase Search
0xFF02 Manufacturer specific error 10028 Encoder not ready
0xFF03 Manufacturer specific error 10018 Motor overload
0xFF04 Manufacturer specific error 30002 Production data invalid
0xFF05 Manufacturer specific error 10000 Abort
0xFF06 Manufacturer specific error 10034 Safe Torque Off hardware fault
0xFF07 Manufacturer specific error 10035 Safe Torque Off input mismatch
0xFF08 Manufacturer specific error 30009 Internal API error
0xFF09 Manufacturer specific error 10036 Encoder reading wrong
0xFF0A Manufacturer specific error 20000 Axis has reached FolErrorWarning
0xFF0B Manufacturer specific error 10038 Encoder battery dead
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