Cause

Emergency from drive

<axis>

Axis number (1-32)

<name>

Device type name (TWn or AXM)

<code>

Guarsto code (TWn)

•0x5530 = Flash parameters error

•0x6100 = Internal software failure

•0x6200 = SYNC PDO processing overtime

•0x6320 = Parameter Error on object 6060h.0h

•0x6321 = Parameter Error on object 6086h.0h

•0x7121 = Motor blocked / following error overlimit

•0x8401 = Over-speed

Fault Code (AXM):

•0x5531 = The Syslog flash sector is damaged

•0x5532 = Flash parameters error

•0x5533 = The hardware configuration flash sector is damaged

•0x6011 = An internal error occurred in the regulation and control firmware.

•0x6012 = Maximum update period expired

•0x6013 = Maximum update period expired

•0x6014 = Watchdog control mechanism failure

•0x6015 = CRC checksum calculation failed

•0x6016 = Fpga locked then the power section will be locked

•0x6017 = PLL detected loss of clock

•0x6100 = Internal software failure

•0x6200 = Sync PDO processing overtime

•0x6201 = The run time of Slow task is greater than its activation period (1-32 msec)

•0x6202 = The run time of Fast task is greater than its programmed activation period 125 µsec

•0x6320 = Parameter error: wrong configuration

•0x7389 = Auxiliary encoder channel: endat encoder in alarm condition

•0x738A = Auxiliary encoder channel: Error in Endat communication

•0x738B = Auxiliary encoder channel: Error in Endat communication

•0x73A8 = Auxiliary encoder channel: the drive has detected an incorrect index position

•0x73A9 = Auxiliary encoder channel: the voltage ripple of the encoder analog channels was higher than the maximum limit set by the parameter

•0x73AA = Auxiliary encoder channel: the drive has detected an error on encoder input stage

Output condition

Effect

Power drop

What to do

Check the status of the drive

Alarm mask

am[<axis>].9

Alarm par prominent

No

Alarm type

ExtDev

Notes

As of RTE v34.13.8, emergency messages related to PHASE drives TWn and AXM are handled as alarms.

Alarm related to PHASE drives connected on field bus.

Refer to the drive manual for more information.

Performance is enabled by indicating in RTE design configuration (axes, transducer/actuator) drives of the TWn or AXM family