Code                   ; Kurztext                                                    ; Beschreibung
---------------------- ;------------------------------------------------------------ ;--------------------------------------------------------------
NoError                ; No error                                                   ; Axis is enabled and ready for operation
STOP / TEMP            ; Emergency stop pressed / temperature limit exceeded        ; Check the fan at the axis modules, lower the motor current. Check e-stop.
ESTOP / LOWV           ; Emergency stop pressed / low voltage                       ; Low or no motor voltage at the axis modules. Check the e-stop, the fuse, plugs and wires
MNE                    ; Motor not enabled                                          ; The motor is not enabled. If there are no other codes the motor is ready to be enabled.
COM                    ; Communication watchdog                                     ; Module missed some messages; expected state after startup or after accessing amp parameters, may hint to an issue in other cases.
LAG                    ; Position lag                                               ; Axis could not follow target: too fast, load too heavy, current too low
ENC                    ; Encoder error                                              ; Defective encoder or cable, emergency stop pressed, motor blocked, moving too fast, load too heavy, current too low
OC                     ; Over current                                               ; Current limit exceeded, possibly due to a blocked or overloaded axis, trying to move too fast,...
DRV / GEN              ; Driver / general error                                     ; Check whether the axis is blocked or free and easy to move; check whether the brake releases; check the extended error information
BUS                    ; Bus dead                                                   ; CAN bus issue, no responses received; check CAN bus wiring and module power
DEAD                   ; Module dead                                                ; A module did not respond; check CAN ID at the module and configuration, too many modules configured (I/O, external axes)?
NOTREADY               ; Joint not ready                                            ; This error should disappear shortly after enabling once the joints are aligned. Alignment may be prevented when the motor current is missing, e.g. when the estop is pushed.
ERR                    ; unknown error                                              ; This error may appear if the hardware issues an error that is not known to the software. Update the software of the embedded robot control.
not inited             ; hardware is not initialized yet                            ; this should not occur
startup                ; axis is starting up                                       ; this should not occur
not_ready_to_switch_on ; see CANopen state machine                                 ; initializing or error if stuck
switch_on_disabled     ; see CANopen state machine                                 ; initialized, motors not powered yet
ready_to_switch_on     ; see CANopen state machine                                 ; initialized, motors not powered yet
switched_on            ; see CANopen state machine                                 ; motors are powered but motion is not yet enabled
operation_enabled      ; see CANopen state machine                                 ; motors are enabled and ready for operation
quick_stop_active      ; see CANopen state machine                                 ; an error occured
fault_reaction_active  ; see CANopen state machine                                 ; an error occured
fault                  ; see CANopen state machine                                 ; an error occured
homing                 ; axis is in homing / referencing mode                      ; wait until referencing is done or do a reset to return to operation mode