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Fault location

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Fault location (a.k.a error codes) ID 1 & 2 that are displayed on Granity Testing tab Device state section. Fault locations are detailed numeric codes giving a hint what was the precise reason causing a fault state. The following table lists fault location numbers and their reasons.

List of Fault location values[edit | edit source]

Fault location ID 1 or 2 Reason Solution
120 Short circuit protection triggered (very high & fast current rise detected) Check wiring for shorts, ensure that motor inductance is sufficient (especially ironless & pancake motors), perform Tuning position controller, adjust Over current toleranceFOC.
600 Overcurrent protection triggered (slower reaction but lower current level than short circuit protection) Check wiring for shorts, ensure that motor inductance is sufficient (especially ironless & pancake motors), perform Tuning position controller, adjust Over current toleranceFOC.
610 Current limit parameters Peak current limitMMC and/or Continuous current limitMCC has been set above the supported current range for given Motor typeMT Reduce current limits to stay within drive's specifications.
3001 Hall sensors are enabled but no valid signals present (all hall inputs 0's or 1's which is illegal state) Check wiring and settings
5500 Motor type Motor typeMT not selected Choose Motor typeMT
5501 Unsupported motor type Motor typeMT not selected Choose Motor typeMT
6601 Phasing a.k.a. phase search failed Check motor settings, wiring and supply voltage. Also happens if drive is disabled or hit limit switch during initialization. 6601 is caused by "Run" status becoming false by any reason in the middle of phasing.
6602 Phasing a.k.a. phase search failed due to both limit switches being open Check limit switch settings and switch operation
6603, 6604, 440501, 440502 Phasing a.k.a. phase search failed. During phasing drive could not reach the desired motor winding current even at maximum output voltage (the same voltage that is fed to HV DC bus).
  • This error means that supply voltage was not high enough to drive motor peak current Peak current limitMMC to motor coils (check HV DC bus supply and motor connection or try lower MMC value).
  • In other words, fault means that it was impossible to induce such current to the load (motor coil) resistance with given supply voltage (I=U/R a.k.a. Ohm's law). I.e. if motor resistance would be 5 ohms and you have supply voltage of 48V, then theoretical maximum current would be 48/5=9.6A, and in practice little bit less than that. In such case any MMC parameter value near or above 9.6A would cause this fault.
  • Check that HV supply voltage is not dropping during power on and motor is properly wired to drive. If still occurs, reduce motor peak and/or continuous current limits or increase supply voltage.
7001 Selected Limit switch functionLFS is not supported in the selected Control modeCM Choose another Limit switch functionLFS
480301 Extracting payload from SMV2 packet failed Check SMV2 communication
480501 SMV2 buffer overflow SMV2 application error
480502 SMV2 command corrupted because it has overflown payload buffer size SMV2 application error
480503 SMV2 return data buffer overflow SMV2 application error
480601 Invalid SMV2 command SMV2 application error
481201, 481202, 481203 SMV2 communication timeout SMV2 application error
480801 Invalid SMV2 SMP packet type SMV2 application error
480901, 480902 SMV2 packet CRC error Communication error
481001 SMV2 watchdog timeout Communication error
100201 Unsupported feedback device selected as position feedback device Feedback deviceFBD
100202 Unsupported feedback device selected as velocity feedback device FB2D
890101 Resolver feedback device detected loss of input (input signal level less than 0.1V) Check resolver wiring
140401 Position tracing error exceeded the tolerance specified by parameter Position tracking error thresholdFPT Increase Position tracking error thresholdFPT or re-tune motor to achieve lower tracking error, or use lower motion speeds if motor is being driven above the maximum achievable speed or acceleration
140402 Velocity tracing error exceeded the tolerance specified by parameter Velocity tracking error thresholdFVT Increase Velocity tracking error thresholdFVT or re-tune motor to achieve lower tracking error, or use lower motion speeds if motor is being driven above the maximum achievable speed or acceleration
140403 Velocity exceeded the limit defined by Over speed faultFEV Increase Over speed faultFEV or avoid running motor too fast
140404 Overvoltage. HV DC bus exceeded the limit defined by Over voltage fault thresholdFOV Increase Over voltage fault thresholdFOV or reduce supply voltage
140405 Undervoltage. HV DC bus was under the limit defined by Under voltage fault thresholdFUV Decrease Under voltage fault thresholdFUV or increase supply voltage and ensure that PSU is capable of supplying demanded current surges without droop. In some drives you may also configure Maximum peak powerMPP to set maximum power that drive is allowed to draw from PSU to avoid this issue.
140406 Overtemperature Enhance drive cooling or reduce drive current limits
140407 STO has been activated, but can be be caused by a drop in logic supply voltage Provide stable logic supply to drive and to STO inputs
140301 Limit switch is open while drive is set-up to fault when limit switch is hit Prevent driving to limit switch or change Limit switch functionLFS parameter
140415 In pulse/direction setpoint mode, excessive toggle rate detected on direction input pin Check if HSIN1&2 wiring is correct. Typically occurs when pulse (a.k.a. step) pin is mistakenly wired into direction input.
140801, 801 Drive has operated significant amount of time near or above the overvoltage limit (Over voltage fault thresholdFOV parameter) which may cause regenerative resistor overheating. Fault occurred to protect indicate the problem and prevent regenerative resistor burn. Increase Over voltage fault thresholdFOV at least 10% above the average supply voltage or reduce supply voltage. See also Configuring drive voltage limits FUV and FOV.
100201, 100202, 105001, 105201 Unsupported feedback device has been selected Choose another feedback device from Granity
101103, 101101, 101102 Reading device address setting failed Check address setting resistor values and connection
197777 Unsupported drive configuration present. Some OEM drive models or firmware releases have limited support for different motor types or other motor parameters. This fault location is activated if unsupported config has been detected. This fault location never appears on standard firmware releases. Try a standard firmware if possible, or ensure that motor settings are the ones that are listed as supported for the custom firmware.
250101 Motor initialization failed due to motor has rotated during initialization process (drive has timeouted when waiting motor current to stabilize near zero while motor phases were short circuited to GND by drive)
  • Ensure that motor is standing still before initialization starts
  • Ensure proper cabling (shielded cable on motor and connected to drive)
  • If necessary, add ferrite core filter on motor phases

For wiring guide, see product wiring manuals.

190601 Motor initialization failed Check settings and wirings, and that enable & STO signals stay stable during initialization
440205 Power stage forced off due to one or more of following reasons: over voltage, over temperature, over current, STO or short circuit active
440219 In DC motor mode, parallel wired outputs are not sharing current properly Check that outputs are wired parallel as instructed
441801 Failed measurement of motor resistance & inductance due to one or multiple reasons: 1) because measurement was unable to reach the desired current level in motor 2) Motor was not standing still during test If you wish to use the measurement function: try to reduce current limit parameter values MCC & MMC (and click Apply, and then Measure) OR increase HV supply voltage. Also ensure that motor is not being disturbed during the measure (all motor load unmounted).
441802 Failed measurement of motor resistance & inductance due to result values being off the sanity check limits If motor has unusually low or high inductance/resistance (below 0.1mH, over 100mH, below 0.1 ohm or above 100 ohm), set them manually instead of using automatic measure
442001 Actual torque exceeded target torque indicating that torque controller might have became unstable. Check parameters MR and ML which may cause instability or overshooting of torque. If unsure whether they are correct, see Tuning torque controller. If no help, then increase Over current toleranceFOC. Ultimately try setting FOC to Maximum.

Abnormal operation fault codes[edit | edit source]

Drives are monitoring the internal functionality and the following faults indicate a problem that should not normally occur. These may originate from hardware problem (EMI, supply voltage, bad hardware problem) or can be also a firmware bug.

Fault location ID 1 or 2 Reason Solution
1-2 Current sensing range exceeded See solutions of 120 and 600.
2050 Error originated from I/O side See Fault location ID 2 for details
100,110,200,220,2100-2126 Loading or saving settings in drive memory failed Programming error, contact developers
2050 Error originated from I/O side See Fault location ID 2 for details
2320,2321,2330,2340 Communication error between GraniteCore processors Contact Granite Devices if problem repeats
3060 Power stage fault signal active (possible overtemperature, logic circuit undervoltage, Safe torque off Contact Granite Devices if problem repeats
3070 Power stage fault signal 2 active (possible overtemperature, logic circuit undervoltage, Safe torque off Contact Granite Devices if problem repeats
9996-9999 Internal range check of internal variable failed Programming error, contact developers
100202 GraniteCore status update failed Programming error, contact developers
600101-600106 GraniteCore connection failed Programming error, contact developers
710301 Command queue to GraniteCore full Programming error, contact developers
200101-200801 I/O side CPU error interrupt triggered Programming error or hardware issue (supply voltage? EMI?)
100101 Reading init state from GraniteCore failed Programming error, contact developers
101201, 101202 Firmware checksum mismatch Device may have damaged hardware
101201, 101202 Firmware checksum mismatch Device may have damaged hardware
193201, 193202 Firmware watchdog reset Firmware took too long time to execute certain function. Please report this bug by contacting support.
193203 CPU reset occurred due to logic supply under voltage Check logic voltage stability
38xxxx Writing/reading configuration parameters failed Device may have damaged hardware or firmware bug
250102 Current sensor ADC offset is above the self-test threshold Check if PCB has visible damage, contact support if issue repeats
200901 Drive detected undervoltage at logic supply Check logic voltage supply stability and voltage reading

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