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E01
Motor power cables short is detected. Please check if motor power cable is damaged or connector is connected correctly. Current sensor error detected.

E02
DC bus voltage exceeds limit. Please check whether AC main power voltage is within the range of specification. Please also check whether moving mass or moment of interia is too big. 
If this error occurred during deceleration, consider adding regen resistors.
     
E03
Position error exceeds the set maximum position error window. Please check whether common gain is properly set or the error window is set too small.

E04
Position feedback signal is incorrect or the encoder reports error via its corresponding connection pin. Please check encoder is installed well or the encoder model is set correctly.

E05
Overcurrent protection. Please check if motor overloaded. Check whether acceleration is set too high, whether obstacles on the moving way, whether proper greasing to guideway or screws was done regularly.

E06
Motor cable is not connected or improper connection. Please check motor power cable is connected to drive correctly. Please check control power voltage is enough.

E07
Drive exceeds maximum operating temperature. Please check if the environment is with good ventilation. Please add heat sink for operations with high current and duty cycle.

E08
Motor over temperature sensor activated. Please check if sensor is connected well and set correctly. Please also check whether grounding is performed well, as poor grounding will cause false signals.

E09
The input voltage of AC main power is too low. Please check if AC power is supplied and the voltage is also within specification.

E10
False 5V dc power to encoder. Please power off and reconnect encoder connector to the drive. Please check whether encoder cable is good.

E11
Motor phase initialization error. Please check the settings of encoder and motor parameters are correct and encoder signal is normal. Please also check if payload is too high, friction is too high and whether obstacles on the way.

E12
Serial encoder communication error, please check encoder is installed well.

E13
Hall sensor error or Hall signal of wire-saving encoder fails. Please check if hall sensor cable and encoder cable are installed well, or the encoder cable model is correct.

E14
When using digital hall sensor to double check electrical angle, there is phase mismatch. Please check the sensor cable connection.

E15
Please check whether motor model is set correctly, the gain of the current loop (Kp) is properly set, the CG is properly set, and the encoder wire is installed well.

E16

E17
Under dual loop control architecture, hybrid deviation exceeds the threshold. Please check whether linear encoder parameter is correct, the directions of the linear and the rotary encoder are matching, or the linear encoder has noise problems. Please check if the coupling and the gear are installed well, or the pitch tolerance and the backlash of the screw are small enough.

E18
STO function had been activated. Please make sure all the dangerous event had been resolved. After that please reconnect the 24V power for STO and then short the DSF+ and DSF- for 1s to release the error.

E19
The drive fault signals are inconsistent. Please check the grounding.

E20
Phase initialization is not completed. Please re-do all steps in the Auto Phase center.

E21
Motor model and drive are incompatible. Please check motor model.

E22
DC bus voltage abnormal. Please check input power.

E23
EtherCAT interface is not detected.

E24
Error occurred during proceeding CiA-402 homing procedure.

E25
The fan system work abnormally.

E26
The motor was operating over rated current for longer than sustainable duration.

E27
Encoder module error.

E28
Resolver signal fault, please check the installation of the encoder conector.

W01
Motor reached left software limit position and is prohibited to move further toward left direction.

W02
Motor reached right software limit position and is prohibited to move further toward right direction.

W03
Left hardware limit switch is triggered and motor is prohibited to move further toward left direction. Please check if limit switch is really triggered. Also check connection and whether activation logic is correct.

W04
Right hardware limit switch is triggered and motor is prohibited to move further toward right direction. Please check if limit switch is really triggered. Also check connection and whether activation logic is correct.   

W05
Motor speed approximates the limit above which servo voltage is insufficient. Possible reasons are: the voltage of input main power is too small, the motor cable is faulty, moving mass or moment of interia is too big.

W06
Position error exceeds the set position error warning window. Please check if common gain is properly tuned or the warning window is not set too small.

W07
Velocity error exceeds the set velocity error warning window. Please check if common gain is properly tuned or the warning window is not set too small.

W08
Command current reaches the limit. Output current is limited to the current limitation. Possible reason: Acceleration was set too high or motor hits obstacles on the way.

W09
Under velocity mode, reference acceleration reaches the limit set in motion protection. Motor acceleration remains at the protection value.

W10
Under velocity mode, reference velocity reaches the limit set in motion protection. Motor velocity remains at the protection value.

W11
Both left and right hardware limit switch signals are activated. If neither limit switch is triggered, please check the connection or whether activation logic is correct.

W12
This warning indicates that linear motor or torque motor output has reached soft-thermal threshold, and servo drive will force the output current to reduce to safe range in order to protect from motor overheating. In the mean time, motor thrust force or torque will not reach the command received from host controller. Please check whether payload is too big, whether motor hits obstacles or wrong model name was set in the drive.

W13
Homing fails. Please check if left and right limit sensors, near home sensor, and index signal are installed correctly. Also, check if values of time out and search end stop current are set well.

W14
Under position mode, the command conflict occurs when the drive is simultaneously receiving pulse command and homing. Please do not send pulse command and start the built-in homing feature at the same time.

W15
The absolute encoder battery voltage is too low. Please replace the battery.

W16
The absolute position is wrong from the encoder. Please reset the home position.

