Error
Code
Fault/Warning
Code
Description
0x86A1 F158 Homing Reference Switch not found
0x86A2 F159 Failed to set motion task parameters
0x86A3 F160 Motion Task Activation Failed
0x86A4 F161 Homing Procedure Failed
0x86A5 F139 Target Position Over Short due to invalid Motion task activation.
0x86A6 n163 Warning: MT.NUM exceeds limit.
0x86A7 n164 Warning: Motion task is not initialized.
0x86A8 n165 Warning: Motion task target position is out.
0x86A9 n167 Warning:
0x86AA n168 Warning: Invalid bit combination in the motion task control word.
0x86AB n169 Warning: 1:1 profile cannot be triggered on the fly.
0x86AC n170 Warning: Customer profile table is not initialized.
0x86AD n171 Warning:
0x86AE n172 Warning:
0x86B0 F438 Following error (numeric)
0x8780 F125 Fieldbus synchronization lost
0x8781 n125 Warning: Fieldbus PLL unlocked.
0x8AF0 n137 Warning: Homing and feedback mismatch
0x8AF1 n140 Warning: VBUS.HALFVOLT has changed.
0xFF01 F702 Fieldbus communication lost
0xFF02 F529 Iu offset limit exceeded
0xFF03 F530 Iv offset limit exceeded
0xFF04 F521 Stored energy reached critical point
0xFF05 F527 Iu detection stuck
0xFF06 F528 Iv detection stuck
0xFF07 F525 Control output over current
0xFF08 F526 Current sensor short circuit
0xFF09 F128 Axis dpoles
0xFF0A F531 Power stage fault
0xFF0B F602 Safe torque off
0xFF0C F131 Emulated encoder line break.
0xFF0D F130 Secondary feedback supply over current.
0xFF0E F134 Secondary feedback illegal state.
0xFF0F F245 External fault.
0xFF10 F136 Firmware and FPGA versions are not compatible
0xFF11 F101 Not compatible Firmware
0xFF12 n439 Warning: Following error (user)
0xFF13 n438 Warning: Following error (numeric)
0xFF14 n102 Warning: Operational FPGA is not a default FPGA.
0xFF15 n101 Warning: The FPGA is a laboratory FPGA
0xFF16 n602 Warning: Safe torque off.
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 45
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