Joint Error Codes

Head and Waist Joint Error Codes

Applicable Joints

The following error codes apply to all head and waist joints:

• idx01_body_joint1
• idx02_body_joint2
• idx03_body_joint3
• idx04_body_joint4
• idx05_body_joint5
• idx11_head_joint1
• idx12_head_joint2
• idx13_head_joint3

Error Code List

Fault Code (Hex)	Fault Code (Decimal)	Meaning	Cause
0x00000001	1	FOC Error	-
0x00000002	2	Overvoltage	Bus voltage exceeds the set threshold
0x00000004	4	Undervoltage	Bus voltage exceeds the set threshold
0x00000008	8	Overtemperature	Temperature sensor reads coil temperature >110°
0x00000010	16	Startup Failure	-
0x00000020	32	Encoder Error	Absolute encoder data abnormal
0x00000040	64	Overcurrent/Overload	-
0x00000080	128	Software Error	-
0x00000100	256	Temperature Sensor Error	-
0x00000200	512	Position Limit Error	Motor's current angle exceeds the set positive/negative limits
0x00000400	1024	Invalid Joint ID	-
0x00000800	2048	Position Tracking Error	-
0x00001000	4096	Current Detection Error	-
0x00002000	8192	Brake Release Failure	-
0x00004000	16384	Position Command Step Warning	The difference between the previous target command and the current target command exceeds 100cnt
0x00008000	32768	Multi-Turn Joint Lost Turn Count	-
0x0000F000	61440	Communication Frame Loss	1. Slave actuator CANFD signal transmission timed out 5 times 2. Hardware error interrupts exceeded 5 times
0x00010000	65536	Stall	1. Actual speed less than 20RPM 2. Actual current sustained at the set peak current for 2s
0x00020000	131072	Overspeed	-
0x00040000	262144	Host Lost (Heartbeat Disconnected)	-
0x00080000	524288	Speed Error Too Large	-

Arm Joint Error Codes

Applicable Joints

The following error codes apply to all arm joints:

• idx21_arm_l_joint1
• idx22_arm_l_joint2
• idx23_arm_l_joint3
• idx24_arm_l_joint4
• idx25_arm_l_joint5
• idx26_arm_l_joint6
• idx27_arm_l_joint7
• idx61_arm_r_joint1
• idx62_arm_r_joint2
• idx63_arm_r_joint3
• idx64_arm_r_joint4
• idx65_arm_r_joint5
• idx66_arm_r_joint6
• idx67_arm_r_joint7

Error Code List

Fault Code (Hex)	Fault Code (Decimal)	Meaning	Cause
0x2250	8784	Driver Short Circuit	1. Short circuit or ground fault in the driver's UVW output cables 2. Short circuit or ground fault in the motor's UVW 3. Internal short circuit or ground fault in the driver 4. Driver interference causing a false report of this fault
0x2310	8976	U-Phase Output Current Too Large	1. Improper current loop regulator parameter settings causing current control oscillation 2. Incorrect motor parameter settings 3. Abnormal internal current sampling circuit in the driver
0x2311	8977	V-Phase Output Current Too Large	1. Improper current loop regulator parameter settings causing current control oscillation 2. Incorrect motor parameter settings 3. Abnormal internal current sampling circuit in the driver
0x2312	8978	W-Phase Output Current Too Large	1. Improper current loop regulator parameter settings causing current control oscillation 2. Incorrect motor parameter settings 3. Abnormal internal current sampling circuit in the driver
0x2320	8992	Driver Hardware Overcurrent	1. Motor load too large, or motor acceleration/deceleration set too high with acceleration/deceleration time set too short 2. Deviation in the magnetic pole phase angle setting, while not meeting the magnetic pole positioning error detection condition 3. Abnormal jump in encoder feedback 4. Improper current loop regulator parameter settings causing current control oscillation 5. Incorrect motor parameter settings (line resistance, line inductance, back EMF, rotor inertia, etc.) 6. Abnormal internal current detection circuit in the driver, or damaged driver brake circuit with no 24V output 7. Damaged motor brake 8. Improper torque offset value or static balance compensation value setting
0x2330	9008	Driver Output Ground Fault	1. Ground fault in the driver's UVW output cables 2. Ground fault in the motor's UVW 3. Internal short circuit or ground fault in the driver
0x3130	12592	Main Power Input Abnormal	1. Poor wiring of the driver's power input 2. Driver power circuit set to three-phase input, but the actual power input is single-phase 3. Electronic transformer used upstream, with abnormal electronic transformer harmonics
0x3210	12816	DC Bus Overvoltage	1. Driver power input voltage too high 2. Excessive dynamic braking energy when the motor stops quickly 3. Dynamic braking resistor not connected or wired incorrectly 4. Dynamic braking resistor value too large 5. Internal driver abnormality
0x3220	12832	DC Bus Undervoltage	1. Driver power input voltage too low 2. Abnormal internal voltage sampling circuit in the driver 3. Incorrect driver power circuit setting, 220V supply set as 380V supply 4. Driver power input line disconnected
0x4210	16912	Power Module Overheating	1. Motor load too large 2. Abnormal internal temperature sampling circuit in the driver 3. Driver operating environment temperature exceeds the allowed working range
0x6010	24592	CPU1 Watchdog Overflow	Internal driver abnormality
0x6011	24593	CPU2 Watchdog Overflow	Internal driver abnormality
0x7112	28946	Dynamic Braking Resistor Overload	1. Frequent quick-stop operations of the motor causing excessive dynamic braking energy 2. Dynamic braking resistor power setting inconsistent with the actual resistor
0x8311	33553	Continuous Motor Overload	1. Motor load too large 2. Motor acceleration/deceleration time set too short 3. Incorrect motor parameter settings 4. Abnormal brake release action 5. Incorrect motor selection, power too low (e.g., a high-power driver paired with a low-power motor running at full load and high speed for a long time) 6. Abnormal internal current sampling circuit in the driver
0x8611	34321	Position Following Error Too Large	1. Motor load too large 2. Unsuitable control parameters 3. Abnormal brake release action 4. Position following error threshold or judgment time setting too small
0x8612	34322	Forward Software Limit	Position feedback value exceeds (forward software limit value + positioning completion threshold)
0x8613	34323	Reverse Software Limit	Position feedback value exceeds (reverse software limit value - positioning completion threshold)
0x8800	34816	First Encoder Data Overflow	In position mode, when unlimited position control is not enabled, the encoder's multi-turn value exceeds the actual encoder's multi-turn bit count.
0x8801	34817	Second Encoder Data Overflow	In position mode, when unlimited position control is not enabled, the encoder's multi-turn value exceeds the actual encoder's multi-turn bit count.
0xFF00	65280	CPU1 Operation Abnormal	1. Abnormal driver firmware execution 2. Internal driver abnormality
0xFF01	65281	CPU2 Operation Abnormal	1. Abnormal driver firmware execution 2. Internal driver abnormality
0xFF02	65282	CPU1 Memory Abnormal	1. Abnormal driver firmware execution 2. Internal driver abnormality
0xFF03	65283	CPU2 Memory Abnormal	1. Abnormal driver firmware execution 2. Internal driver abnormality
0xFF04	65284	CPU Memory Conflict	1. Abnormal driver firmware execution 2. Internal driver abnormality
0xFF05	65285	Magnetic Pole Positioning Error	1. Motor magnetic pole phase angle set value inconsistent with the detected value 2. Magnetic pole positioning fault detection sensitivity set too low 3. Static balance torque compensation value inconsistent with the actual load. 4. Motor wiring error causing a change in the magnetic pole phase angle. 5. Motor abnormality causing a change in the magnetic pole phase angle. 6. Gravity load causing the motor to rotate at the instant of servo enable, with speed exceeding the magnetic pole positioning fault detection sensitivity threshold
0xFF06	65286	First Encoder Data Abnormal	1. Abnormal data from the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF07	65287	First Encoder Communication Abnormal	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF08	65288	First Encoder Communication Timeout	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF09	65289	First Encoder Internal Abnormality 1	Abnormal internal encoder state
0xFF10	65296	Second Encoder Data Abnormal	1. Abnormal data from the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF11	65297	Second Encoder Communication Abnormal	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF12	65298	Second Encoder Communication Timeout	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF13	65299	Second Encoder Internal Abnormality 1	Abnormal internal encoder state
0xFF14	65300	Control Encoder Overspeed	1. The change in the encoder position feedback value within one position sampling period is too large, exceeding 1.3 times the motor's maximum speed. 2. Encoder abnormality 3. Abnormal encoder data due to noise interference
0xFF15	65301	Continuous Driver Overload	1. Motor load too large or acceleration/deceleration time set too short 2. Actual mechanical load too large or jamming present 3. Motor brake not released 4. Motor or motor brake abnormality 5. Internal driver abnormality
0xFF16	65302	Instantaneous Driver Overload	1. Excessive instantaneous motor load 2. Abnormal internal temperature sampling circuit in the driver 3. Driver operating environment temperature exceeds the allowed working range 4. Abnormal power module temperature sampling due to noise interference
0xFF17	65303	Driver Output Phase Loss	1. Broken wire or poor connection in the driver's U, V, W output 2. Motor impedance too large 3. Abnormal internal current sampling circuit in the driver
0xFF18	65304	Motor Stall	1. Improper driver regulator parameter settings causing excessive speed tracking overshoot 2. Abnormal change in encoder data due to electromagnetic noise interference 3. Abnormal change in encoder data due to encoder damage 4. Internal driver circuit abnormality
0xFF19	65305	Coprocessor Communication Abnormal	1. Incorrect encoder cable wiring sequence or poor contact 2. Abnormal encoder data due to noise interference
0xFF20	65312	Encoder AB Signal Change Abnormal	1. Incorrect encoder cable wiring sequence or poor contact 2. Abnormal encoder data due to noise interference
0xFF21	65313	Current Following Error Too Large	1. Improper driver regulator parameter settings causing excessive speed tracking overshoot 2. Abnormal change in encoder data due to electromagnetic noise interference 3. Abnormal change in current feedback due to motor damage 4. Internal driver circuit abnormality
0xFF22	65314	Position Target Value Abnormal	1. In CSP mode, at the instant of servo enable, the difference between the position target value and the actual position value exceeds the position-following-error-too-large threshold 2. In CSP mode, during motor operation, the target trajectory acceleration exceeds the maximum acceleration parameter threshold, and the difference between the position target value and the actual position value exceeds the position-following-error-too-large threshold
0xFF23	65315	First Encoder Power-On Data Overflow	At driver power-on, the feedback position value exceeds the maximum range allowed by the encoder
0xFF24	65316	Position Target Value Overflow	In position mode, when unlimited position control is disabled, the position target value exceeds the allowed maximum range
0xFF25	65317	Motor Brake Abnormal	1. Abnormality in the motor brake itself, unable to brake normally. 2. Servo suddenly turned OFF while the motor is running at high speed, braking time too long. 3. Motor brake braking time setting value is less than the actual brake action time. 4. Rotor positioning fault detection sensitivity set too low
0xFF26	65318	Control Power Undervoltage	1. Abnormal 24V control power 2. Incorrect 24V control power wiring, or poor contact 3. 24V control power load too large 4. Internal driver circuit abnormality
0xFF27	65319	STO1 Triggered	STO1 triggered or poor wiring
0xFF28	65320	STO2 Triggered	STO2 triggered or poor wiring
0xFF29	65321	Forward Hard Limit Switch Triggered	Running in a single direction to the mechanical limit, triggering the hardware limit
0xFF30	65328	Reverse Hard Limit Switch Triggered	Running in a single direction to the mechanical limit, triggering the hardware limit
0xFF31	65329	Motor Overspeed	1. Actual motor speed feedback value exceeds 1.1 times the motor's maximum speed. 2. Encoder abnormality
0xFF32	65330	Emergency Stop Input Switch Triggered	Emergency stop input switch triggered or poor wiring
0xFF33	65331	Torque Monitoring Saturation Fault	1. Motor load too large, exceeding the torque monitoring warning threshold 2. Torque saturation monitoring threshold set too low
0xFF34	65332	Speed Following Error Too Large	1. Motor load too large 2. Unsuitable control parameters 3. Abnormal brake release action 4. Speed following error threshold or judgment time setting too small
0xFF35	65333	Full Closed-Loop Position Deviation Too Large	1. Motor load too large 2. Unsuitable control parameters 3. Abnormal brake release action 4. Full closed-loop position following error threshold set too low
0xFF36	65334	Homing Failed	1. Improper homing parameter settings 2. At the start of homing, the motor is already in a limit switch triggered state 3. Switched to a non-HM mode during homing
0xFF37	65335	EtherCAT Process Data Error	PDO set value exceeds the object's allowed range
0xFF38	65336	EtherCAT Bus Command Illegal	Timing mismatch between the EtherCAT communication state machine and the control word
0xFF39	65337	EtherCAT Communication Cycle Error	1. EtherCAT communication cycle shorter than the servo control cycle 2. EtherCAT communication cycle is not set to an integer power-of-2 multiple of 250us
0xFF40	65344	Position Planning Operation Error	1. Under EtherCAT control, when running in PP mode, the position target value buffer exceeds its limit 2. Internal driver abnormality
0xFF41	65345	EtherCAT Illegal Sync Mode	1. Incorrect EtherCAT communication DC mode configuration 2. EtherCAT communication DC mode not activated
0xFF42	65346	Position Target Value Out of Set Range	In modulo unlimited position control mode or disabled unlimited position control mode, the position target value exceeds the allowed set range
0xFF43	65347	Rectifier Module Overheating	1. Abnormal internal temperature sampling circuit in the driver 2. Driver operating environment temperature exceeds the allowed working range
0xFF44	65348	Heat Sink Overheating	1. Abnormal internal temperature sampling circuit in the driver 2. Driver operating environment temperature exceeds the allowed working range
0xFF45	65349	Motor U-Phase Instantaneous Overload	1. Motor load too large 2. Motor acceleration/deceleration time set too short 3. Incorrect motor parameter settings 4. Abnormal brake release action 5. Incorrect motor selection, power too low (e.g., a high-power driver paired with a low-power motor running at full load and high speed for a long time) 6. Abnormal internal current sampling circuit in the driver 7. Motor fast overload protection threshold and protection time set too low
0xFF46	65350	Motor V-Phase Instantaneous Overload	1. Motor load too large 2. Motor acceleration/deceleration time set too short 3. Incorrect motor parameter settings 4. Abnormal brake release action 5. Incorrect motor selection, power too low (e.g., a high-power driver paired with a low-power motor running at full load and high speed for a long time) 6. Abnormal internal current sampling circuit in the driver 7. Motor fast overload protection threshold and protection time set too low
0xFF47	65351	Motor W-Phase Instantaneous Overload	1. Motor load too large 2. Motor acceleration/deceleration time set too short 3. Incorrect motor parameter settings 4. Abnormal brake release action 5. Incorrect motor selection, power too low (e.g., a high-power driver paired with a low-power motor running at full load and high speed for a long time) 6. Abnormal internal current sampling circuit in the driver 7. Motor fast overload protection threshold and protection time set too low
0xFF48	65352	Dynamic Braking Overload	While the motor is running, the interval between two consecutive dynamic braking stops is too short
0xFF49	65353	Internal Driver Abnormality	Internal driver abnormality
0xFF50	65360	Limit Switch Abnormal	Limit switch triggered or poor wiring
0xFF51	65361	EtherCAT Bus Communication Abnormal	1. EtherCAT communication interference 2. EtherCAT network cable disconnected or poor contact 3. Insufficient real-time performance of the host computer 4. Mismatch between the host computer's EtherCAT master's underlying DC sync mechanism and the driver's requirements 5. Internal driver abnormality
0xFF52	65362	Interface Encoder Resolution Changed	The interface encoder resolution was changed
0xFF53	65363	First Encoder Overheating	1. Actual encoder temperature too high 2. Encoder abnormality
0xFF54	65364	First Encoder Battery Undervoltage Fault	1. Encoder battery voltage too low 2. Poor encoder battery wiring contact
0xFF55	65365	Second Encoder Overheating	1. Actual encoder temperature too high 2. Encoder abnormality
0xFF56	65366	Second Encoder Battery Undervoltage Fault	1. Encoder battery voltage too low 2. Poor encoder battery wiring contact
0xFF57	65367	Control Mode Setting Error	When servo is ON, the control mode is set to a mode not supported by the driver, such as NM, VL, or IP, or when under EtherCAT control, the control mode is set to PV or PT
0xFF58	65368	Power-On Position Deviation Too Large	At driver power-on, the position is inconsistent with the position saved at the last power-down, exceeding the set threshold
0xFF59	65369	First Encoder Acceleration Abnormal Fault	1. Abnormal data from the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF60	65376	Motor Stall	1. Jamming or stalling in the mechanical load 2. Motor brake not released
0xFF61	65377	Motor Overheating	1. Motor load too large 2. Motor operating environment temperature too high, exceeding the allowed range 3. Incorrect motor overheat protection thermocouple resistance value setting 4. Motor temperature sensor abnormality 5. Internal driver abnormality
0xFF62	65378	Incremental Encoder Z Signal Abnormal	1. Abnormal data from the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF63	65379	EEPROM Write Data Abnormal	Internal driver abnormality
0xFF64	65380	EEPROM Read Data Abnormal	Internal driver abnormality
0xFF65	65381	Dynamic Braking Circuit Abnormal	The dynamic braking selection set in the servo parameters is inconsistent with the actual dynamic braking resistor wiring
0xFF66	65382	Brake Control Circuit Abnormal	1. Short circuit or poor contact in the motor brake wiring 2. Internal short circuit or poor contact in the motor brake 3. Internal driver abnormality
0xFF67	65383	CPU Overheating	1. Abnormal internal temperature sampling circuit in the driver 2. Driver operating environment temperature exceeds the allowed working range
0xFF68	65384	CPU1 Overload	1. Driver operation subject to noise interference 2. Debug software data collection too large 3. Internal driver circuit abnormality
0xFF69	65385	CPU2 Overload	1. Driver operation subject to noise interference 2. Debug software data collection too large 3. Internal driver circuit abnormality
0xFF70	65392	CPU1 Handshake Failure	1. Abnormal driver firmware execution 2. Internal driver abnormality
0xFF71	65393	DriveMaster Communication Timeout	1. Driver debug cable disconnected or poor contact 2. Driver debug serial communication subject to interference
0xFF72	65394	Bluetooth Communication Abnormal	Internal driver abnormality
0xFF73	65395	High-Speed Sync Communication Abnormal	1. Incorrect wiring or poor contact of the high-speed gantry sync communication line 2. Abnormal high-speed gantry communication due to noise interference 3. Internal driver abnormality
0xFF74	65396	TF Card Abnormal	Internal driver abnormality
0xFF75	65397	TF Card Communication Abnormal	Internal driver abnormality
0xFF76	65398	ESC Internal Access Error	Internal driver abnormality
0xFF77	65399	Servo Enable Not Ready	1. When servo is ON, the driver is in actual-motor-with-virtual-encoder mode 2. When servo is ON, encoder communication is disconnected 3. When servo is ON, motor speed is higher than 30rpm 4. When servo is ON, STO state has not been released 5. When servo is ON, DC bus voltage too low, charging relay not engaged 6. When servo is ON, dynamic braking state has not been released 7. Internal driver abnormality
0xFF78	65400	CPU2 Handshake Failure	1. Abnormal driver firmware execution 2. Internal driver abnormality
0xFF79	65401	CPU1 Main Task Timeout	1. Driver operation subject to noise interference 2. Debug software data collection too large 3. Internal driver circuit abnormality
0xFF80	65408	Main Power Loss	1. Power supply loss occurred while the driver's servo is ON 2. Abnormal main power loss detection due to noise interference 3. Servo parameter main power loss detection time set too short
0xFF81	65409	DC Bus Charging Relay Abnormal	Abnormality in the driver's internal charging relay
0xFF82	65410	CPU Internal Error	1. Abnormal driver firmware execution 2. Internal driver abnormality
0xFF83	65411	Actual Position Value Overflow	In position mode, when unlimited position control is disabled, the actual position value exceeds the allowed maximum range
0xFF84	65412	Second Encoder Power-On Data Overflow	At driver power-on, the feedback position value exceeds the maximum range allowed by the encoder
0xFF85	65413	First Encoder Internal Abnormality 2	Abnormal internal encoder state
0xFF86	65414	Second Encoder Internal Abnormality 2	Abnormal internal encoder state
0xFF87	65415	First Encoder Internal Abnormality 3	Abnormal internal encoder state
0xFF88	65416	Second Encoder Internal Abnormality 3	Abnormal internal encoder state
0xFF89	65417	Second Encoder Acceleration Abnormal Fault	1. Abnormal data from the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xFF8A	65418	STO1 Circuit Diagnosis Abnormal	1. STO1 triggered or poor wiring 2. Internal driver abnormality
0xFF8B	65419	STO2 Circuit Diagnosis Abnormal	1. STO2 triggered or poor wiring 2. Internal driver abnormality
0xFF8C	65420	Hall Signal Abnormal	1. Abnormal signal from the Hall sensor itself 2. Incorrect Hall sensor wiring sequence or poor contact 3. Abnormal Hall signal due to noise interference
0xFF8D	65421	Encoder Hall-AB Signal Phase Loss Abnormal	1. Abnormal signal from the Hall sensor or AB encoder itself 2. Incorrect Hall sensor or AB encoder wiring sequence or poor contact 3. Abnormal Hall or AB encoder signal due to noise interference
0xFF8E	65422	Second Position Following Error Too Large	1. Motor load too large 2. Unsuitable control parameters 3. Abnormal brake release action 4. Second position following error threshold or judgment time setting too small
0xFF8F	65423	STO Wiring Abnormal	STO1 or STO2 triggered or poor wiring
0xFF90	65424	Gantry Position Following Error Too Large	1. Excessive load difference between the gantry master and slave axes, causing the position error between them to exceed the set threshold 2. Inconsistent specifications between the gantry master and slave axis servo drivers or servo motors
0xFF91	65425	Gantry Communication Abnormal	1. Incorrect wiring or poor contact of the high-speed gantry sync communication line 2. Abnormal high-speed gantry communication due to noise interference 3. Internal driver abnormality
0xFF92	65426	Gantry Control Abnormal	1. Incorrect wiring or poor contact of the high-speed gantry sync communication line 2. Abnormal high-speed gantry communication due to noise interference 3. Internal driver abnormality
0xFF93	65427	Second Speed Following Error Too Large	1. Motor load too large 2. Unsuitable control parameters 3. Abnormal brake release action 4. Second speed following error threshold or judgment time setting too small
0xE000	57344	Control Power Undervoltage Warning	1. Abnormal 24V control power 2. Incorrect 24V control power wiring, or poor contact 3. 24V control power load too large 4. Internal driver circuit abnormality
0xE001	57345	Ambient Temperature Too High	1. Driver operating environment temperature exceeds the allowed working range 2. Abnormal internal temperature sampling circuit in the driver
0xE002	57346	STO Triggered	STO1 or STO2 triggered or poor wiring
0xE003	57347	Torque Monitoring Saturation Warning	1. Motor load too large, exceeding the torque monitoring warning threshold 2. Torque saturation monitoring threshold set too low
0xE004	57348	CPU1 Overload Warning	1. Driver operation subject to noise interference 2. Debug software data collection too large 3. Internal driver circuit abnormality
0xE005	57349	CPU2 Overload Warning	1. Driver operation subject to noise interference 2. Debug software data collection too large 3. Internal driver circuit abnormality
0xE006	57350	Power-Cycle-Effective Parameter Changed	A parameter that takes effect after re-power-on was changed
0xE007	57351	Emergency Stop Switch Triggered	Emergency stop input switch triggered or poor wiring
0xE008	57352	Mechanical Origin Not Calibrated	The mechanical origin has not been calibrated
0xE009	57353	Motor Overload Warning	1. Motor load too large 2. Motor acceleration/deceleration time set too short 3. Incorrect motor parameter settings 4. Abnormal brake release action 5. Incorrect motor selection, power too low (e.g., a high-power driver paired with a low-power motor running at full load and high speed for a long time) 6. Abnormal internal current sampling circuit in the driver
0xE010	57360	Speed Limit Warning	Motor speed is limited due to the driver's input power voltage being too low
0xE011	57361	DC Bus Undervoltage Warning	1. Driver power input voltage too low 2. Abnormal internal voltage sampling circuit in the driver 3. Incorrect driver power circuit setting, 220V supply set as 380V supply 4. Driver power input line disconnected
0xE012	57362	Fault History Record Abnormal	1. Abnormal fault history record 2. Internal driver abnormality
0xE013	57363	AD Calibration Coefficient Invalid	1. Internal driver abnormality 2. Incorrect AD calibration coefficient
0xE014	57364	CoE Communication Parameter Abnormal	Internal driver abnormality
0xE015	57365	Servo Parameters Restored to Default	Servo parameters have been restored to their default values
0xE016	57366	Unsupported Control Mode Setting	When servo is OFF, the control mode is set to an unsupported mode such as NM, VL, or IP
0xE017	57367	First Encoder Battery Undervoltage Warning	1. Encoder battery voltage too low 2. Poor encoder battery wiring contact
0xE018	57368	Second Encoder Battery Undervoltage Warning	1. Encoder battery voltage too low 2. Poor encoder battery wiring contact
0xE019	57369	Internal Driver Warning	Internal driver abnormality
0xE020	57376	First Encoder Communication Abnormal Warning	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xE021	57377	Second Encoder Communication Abnormal Warning	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xE022	57378	First Encoder Communication Timeout Warning	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xE023	57379	Second Encoder Communication Timeout Warning	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xE024	57380	First Encoder Data Abnormal Warning	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xE025	57381	Second Encoder Data Abnormal Warning	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xE026	57382	Position Limit Warning	Running in a single direction to the mechanical limit, triggering the hardware limit
0xE027	57383	Position Planning Parameter Abnormal Warning	1. Planned speed, planned acceleration, or planned deceleration set to 0 2. Planned deceleration too small, causing the deceleration time at the motor's maximum speed to exceed the specified allowed controlled-stop time
0xE028	57384	SDO Write Failure Warning	SDO object write failed because the set value exceeds the object's allowed range
0xE029	57385	Homing Configuration Error	1. Homing parameter settings do not match the actual encoder type 2. No DI signal configured to match the set homing method 3. Homing method set to a value not specified by the CiA402 standard
0xE030	57392	Internal Encoder Warning	1. Abnormality in the encoder itself 2. Incorrect encoder cable wiring sequence or poor contact 3. Abnormal encoder data due to noise interference
0xE031	57393	Dynamic Braking Resistor Overload Warning	1. Frequent quick-stop operations of the motor causing excessive dynamic braking energy 2. Dynamic braking resistor power setting inconsistent with the actual resistor
0xE032	57394	Dynamic Braking Stop Timeout Warning	During a dynamic braking stop, the time for the motor speed to decelerate to the controlled-stop-completion speed threshold is too long, exceeding the allowed controlled-stop delay time.
0xE033	57395	SD Card Load Abnormal	Internal driver abnormality
0xFFFF	65535	EtherCAT Communication Lost	The SoC cannot identify the robotic arm slave station