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Comment: updated error code.

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0xFF01

0x603F

Error Code

0x1001

Error Register

0x6041 Fault

(Bit 3)

Description

0x00000x000No error
0x73200x811Position Error overflow
0x73100x811Over speed error
0x23100x031Continuous over current error (torque overload)
0x000Motor disabled by command10x43100x091Drive over temperature
0x45020x000No mode selected (0x6060=0)1
0x73100x811Over speed error
0x73200xFF040x811Emergency stop activePosition Error overflow
0x75000x111Motor communication error
0x86110x000

Motor no currently following commanded position 1,2

0xFF010x000Motor disabled by command1
0xFF040x811Emergency stop active
0xFF050x110/13

24V drive power no present

  1. No an error state
  2. The motor is not following because for example the FSM state is not in Operation Enabled.
  3. If the FSM is in Operation Enabled the loss of 24V power will generate a fault on the statusword
    otherwise the fault bit will not show an error.

0x6040: Controlword

Sub-index

Description

Type

Access

PDO Mapping

0x00Used to control the drive's state machineUINTrw

Yes

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