100-Software over-current-solutions: 1_check whether UVW phase sequence is lack of phase, 2_P10.01 is set too small and increase the value, 3_gain setting is unreasonable, 4_reduce P00.24 motor peak current percentage, 5_replace a motor with higher power, 6_reduce torque limit value (motor output current is greater than motor peak current)
101-Hardware over-current-solutions: 1_Incorrect initial phase of magnetic pole, re-learn encoder FN005(synchronization); 2_Abnormal connection of UVW power line of motor; 3_Too low motor power; 4_Unbalanced resistance between UVW of motor; 5_Too small or short circuit of braking resistance; 6_Driver fault; 7_Unreasonable gain setting; 8_Too short acceleration and deceleration time; 9_Capacitive load of UVW line of motor; 10_Too large mechanical clearance 
102-Overvoltage-solutions: 1_driver rated voltage setting error, 2_bus voltage calibration coefficient setting error, 3_driver RST power supply instability, 4_DC bus voltage is too high, 5_braking resistance abnormal operation, 6_braking resistance parameter setting unreasonable, 7_system is a large inertia load and acceleration/deceleration time is too short, 8_gain setting unreasonable 
103-Under-voltage-solutions: 1_driver RST power supply is inconsistent with the rated voltage P01.07,2_acceleration time is too short, 3_grid voltage is too low, 4_other heavy-load equipment is started, 5_charging circuit fault, 6_braking resistor PRb is short-circuited to ground, 7_overload, 8_main power RST three-phase current is unbalanced, 9_RST wire cross-sectional area is too small 
104-Current sensor failure-Solution: 1_Current sensor failure (replace the drive) 
105-Encoder fault-solution: 1_encoder wire is in poor contact; 2_encoder wire is disconnected; 3_electromagnetic interference; 4_wrong selection of motor encoder type; re-confirm whether P00.08 motor encoder type is selected correctly
106-EEPROM failure-Workaround:1_EEPROM read data error (replace drive)
107-Phase sampling fault-solution:1_The phase obtained by HALL switch and the phase obtained by encoder are too different (can be masked by setting BIT2 of P10.33 to 1) 
108-FPGA and ARM communication failure-solution:1-ARM write and read FPGA value inconsistent (replace the driver) 
109-Large current changes-solution: 1_two sampling to the current difference of 50%(through P10.33 BIT3 to 1 for shielding) 110-magnetic encoder fault-solution: 1_encoder signal is abnormal
110-Magnetic encoder fault-solution:1_encoder signal is abnormal 
111-Abnormal motor winding-solution:1_self-learning motor winding direction current change direction error (correctly connect the UVW motor wire) 
112-Output open-phase-solution:1_detect whether the motor UVW poor contact 
113-The encoder Z point cannot be detected-solution: 1_encoder wire is in poor contact, 2_encoder signal is abnormal 
114-Z point offset error-Solution: 1_The detected Z point signal is greater than the encoder resolution (replace the encoder)
115-HALL encoding value error-solution: 1_encoder signal is abnormal, when self-learning encoder, HALL encoder is 0 or 1 at the same time 
116-Large speed change-solution:1_increase the acceleration and deceleration time, 2_reduce the amplitude of speed change 
117-Overheating-solution: 1_driver overheating, fan does not work, 2_ambient temperature is too high, 3_motor running for a long time with low frequency and high current 
118-Error of HALL encoder value of line-saving encoder during power-on-solution: 1_Abnormal encoder signal 
119-Encoder type mismatch-solution: 1_modify P00.08 motor encoder type, 2_replace FPGA program 
120-Software is not licensed-Workaround: 1_Reauthorize 
121-RST input open phase-Solution: 1_Check RST line 
122-Usage Timeout-Workaround: 1_None 
130-STO alarm-Solution: 1_function bit STO trigger
200-Zero return home switch is not assigned-solution: 1_DI configuration home switch input signal INFn.34 
201-Duplicate DI assignment-Workaround: 1_The same function bit is assigned to two different DI or VDI 
202-Overspeed-solution: 1_Overspeed percentage P10.05 is set too small, 2_Gain is too large, 3_HALL switch detection error (re-self-learning), 4_Z point offset P00.71 error 
203-Excessive position error-solution: 1_Position command filter parameters P03.06 and P03.07 are too large, 2_Gain is too small (adjust gain), 3_Position command speed is too large, 4_Position error threshold P03.19 is too small, 5_Mechanical jamming
204-No interrupt fixed-length trigger signal assigned-Workaround:1_DI Unassigned interrupt fixed-length trigger INFn.40 
205-Zero reset is not performed before triggering the absolute position multi-step position-Solution: 1_Zero reset is not performed before triggering the multi-step position 
206-Overload-solution: 1_motor current is greater than the rated current for a certain time, 2_motor power is not enough 
207-Software limit-solution: 1_After enabling software limit through P03.73, when the actual user position is less than the lower limit value of position and the speed is negative, the software limit is reported. When the actual user position is greater than the upper limit of position and the speed is positive, the software limit is reported. 
208-Hardware limit-Solution: 1_After enabling hardware limit through P03.73, when the reverse position limit switch is valid and the speed is negative, the hardware limit is reported. When the forward position limit switch is valid and the speed is positive, the hardware limit is reported. 2_Improper parameter setting (modify P03.73) ,3_Adjust the installation position of limit switch
209-4 Power position curve planning failed-Solution: 1_Reset reasonable speed and position planning
210- Excessive tension-Solution:1_Check whether the source of tension is too large
211-Material break fault-Solution: None 
212-XY pulse output fault-Workaround: 1_None 
213-Full closed-loop position error is too large-solutions:1_prevent material from slipping, 2_the threshold value P03.36 of full closed-loop position error is too small, 3_the number of cycles for clearing full closed-loop position error P03.40 is not set, 4_the polarity of encoder in full closed-loop mode is set incorrectly 
214-Prohibition of positive and negative rotation-solution:1_P02.03 Prohibition of positive and negative rotation is set, but actually positive and negative rotation command is input
216-Z point signal is instable-solution: 1_encoder wire contact is poor, 2_encoder signal is abnormal 
217-SYNC signal timeout-Solution: 1_The received SYNC signal exceeds the actual synchronization period (check whether the bus communication line is connected properly) 
219-Stalled rotor-solution: 1_driver current percentage P09.31 is greater than P10.03, and the speed is close to zero, and it lasts for P10.04. 
220-Braking resistor overload-solution: 1_braking resistor power is too small, 2_braking resistor related parameters are set improperly
221-Forward travel limit switch is not assigned-Workaround:1_DI function assignment Forward travel limit switch INFn.43 
222-Reverse travel limit switch is not assigned-Workaround:1_DI function assignment Forward travel limit switch INFn.44 
223-Failed to find the origin-Solution: 1_The origin switch is not found during the zeroing process 
224-CAN bus state switching failure-Workaround: 1_CAN bus state machine switched to pre-operation mode during enabling 
225-CANopen bus operation mode not supported-Workaround: 1_Current CAN bus operation mode cannot be operated 
226-Absolute encoder turns overflow in absolute mode-Workaround: 1_Reset driver 227-Battery failure of absolute encoder in absolute mode-Workaround: 1_Replace battery
227-Battery failure of absolute encoder in absolute mode-Solution: 1_Replace the battery 
228-Inertia learning failure-Solutions: 1_When self-learning habit quantity, friction power is too large, self-learning current P02.36 is too small (increase self-learning current) ,2_System inertia is too large, acceleration and deceleration time P07.33 of learning inertia is too small (increase P07.33) ,3_Gain setting is unreasonable 
229-Full closed-loop parameter learning failed-Solution: 1_The second encoder slips (position value changes too little) 
232-The second absolute value encoder battery fault-solution: 1_replace the second absolute value encoder battery 
233-Fast command change-Solution: 1_None 
234-Continuous vibration-Solution: 1_Reduce gain, 2_Fix motor 
237-Overrun fault-solution: 1_none
600-Motor overheating-solution: 1_the load is too large, and the motor heats up seriously (replace the motor with a larger capacity); 2_the ambient temperature is too high (reduce the site temperature and increase the fan heat dissipation) 
601-DI function code not assigned-Solution: 1_Properly configure DI (the corresponding function is used but the corresponding function bit INFn.xx is not assigned) 
602-AI zero drift is too large-solution: 1_correct zero drift (P06.79 setting parameter) 
603-Zero reset timeout-solution: 1_origin signal is not connected normally 
604-Motor rotation direction error during self-learning-solution: 1_Motor rotation direction error during self-learning, 2_Wrong connection of UVW phase sequence of motor 
605-Absolute value encoder battery alarm-solution: 1_Absolute encoder works in absolute value mode, battery voltage is too low. If the battery is not used, change the value of P00.41 to 3 to shield the fault. 
606-Battery alarm of the second absolute value encoder-solution: 1_none 
607-Torque is not enough when inertia learning-solution: 1_increase the gain appropriately, 2_relax the torque limit, 3_increase the maximum current of motor 
608-USB operation failed-Workaround: 1_None 
609-Driver parameters not found when factory reset-solution: 1_no servo driver parameters with corresponding ID inside the program
610- No motor parameters found when restoring factory values-solution: 1_No motor parameters with corresponding ID inside the program
611-EEPROM verification error during factory reset-Workaround: None 
701-Bus Error-Workaround: None 
702-EtherCat bus drop protection-Workaround: None