Fault
Index
Error
Code
Error
Register
Fault Description
39 0x8700 0x01 synchronization_error Internal interrupt frequency irregular
40 0x6102 0x01 interrupt_missing (was
Interrupt_time_exceeded)
Internal interrupt frequency not
detected
41 0x6103 0x01 Task_time_exceeded Execution time of the task exceeded
maximum time
42 0x8400 0x01 velocity_control_monitoring Error - maximum speed exceeded
43 0x8611 0x01 following_error Position tracking error
44 0x8612 0x01 position_reference_limit Not used
45 0x8101 0x10 EtherCAT_link_fault EtherCAT link not detected
46 0x8100 0x10 EtherCAT_communication_
fault
EtherCAT communication generic error
47 0x8231 0x10 EtherCAT_rpdo_time_out
Time out received PDO (EtherCAT)
48 0x8241 0x10 EtherCAT_rpdo_data
Data error received PDO (EtherCAT)
49 0x8235 0x10 EtherCAT_tpdo_time_out
Time out transmitted PDO (EtherCAT)
50 0x8245 0x10 EtherCAT_tpdo_data Data error transmitted PDO (EtherCAT)
51 0x8181 0x10 Internal_comunication_fault Generic Fault internal communication
(double-axis module)
52 0x8182 0x10 Internal_comunication_
heartbeat_error
Fault - internal communication - the
axis 1 (2) does not detect the
presence of axis 2 (1) (dual-axis
module)
53 0x8183 0x10 internal_receive_pdo_time_
out
Fault - internal communication - PDO
reception timeout (double-axis
module)
54 0x8184 0x10 internal_transmit_pdo_time_
out
Fault - internal communication -
timeout PDO transmission (Double-
axis module)
55 0x3100 0x10 Phases_not_ok Not used
56 0x3200 0x04 over_current Overcurrent fault
57 0x8100 0x04 CAN_communication_fault Generic CAN communication fault
58 0x8231 0x10 CAN_rpdo0_time_out Time out - PDO0 reception (CAN)
59 0x8232 0x10 CAN_rpdo1_time_out Time out - PDO1 reception (CAN)
PN: L-MAM2-E-201
Moog Casella DM2020 Installation and Startup Guide
9.3 Alarm Display in Analog Operating Mode
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