# Fault Diagnosis

This chapter explains when and how to use Fault Diagnosis. It collects fault-related diagnostic data and is not an automatic repair feature.

## Before You Begin

Item | What to Check
--- | ---
Communication connection | First confirm that the main window shows the correct current connection ID. Status Monitor data is not valid diagnostic evidence if disconnected or connected to the wrong device.
Device state | Place the mechanism in a safe state before troubleshooting. If current, temperature, voltage, or position changes abnormally, stop motion and disable the drive first.
Record information | Before handling the issue, record the current connection ID, enable state, fault message, troubleshooting recommendation, error history, and field symptoms for traceability.
Scope | This chapter covers client-visible status and fault entry points. See the Fault Appendix for complete fault-code, warning-code, and error-bit information.

Do not repeatedly enable the drive or send motion commands while a fault remains or before confirming that the mechanism is safe.

## Current Faults and Recommendations

The status page matches the current fault value to error-bit information and displays a fault message and troubleshooting recommendations. These suggestions provide direction but do not replace field inspection.

State | What You See | Recommended Action
--- | --- | ---
No current fault | Shows the current state, such as Disabled or Enabled, with no troubleshooting recommendation or no significant message. | Continue monitoring the status bar, position, speed, current, temperature, and bus voltage.
Current fault present | Shows a fault message and troubleshooting direction in the recommendation area. | Stop motion and disable the drive, then record the fault and recommendation. Check power, load, cables, encoder, and recent parameter changes in that order.
Special display rule | The client hides some encoder-related faults or warnings. | This does not mean that all encoder warnings are hidden. See the Fault Appendix for the exact display rules.

## Error History

Click Error History in Status Monitor to open Error and Warning History, read WarnCode and ErrCode, and save troubleshooting records.

Operation | Displayed Information | Notes
--- | --- | ---
Read warning and error history | Shows historical error blocks with error type, bit, fault value, message, cause, and recommendations. If empty, it reports no warning or error. | History traces past issues and does not necessarily mean a fault is still active.
Save | Saves the upper part of the error-history text as TXT; the default file name is “Error History Information.” | Record the device, time, operating condition, and most recent parameter change with the saved file.
Clear | Clears the content currently displayed in the window. | Clearing the display does not mean the issue has disappeared. Make the necessary records first.

## WarnCode and ErrCode

Item | Display | Notes
--- | --- | ---
Read WarnCode | Reads the warning code and displays its resource text. An unknown value is shown as an unknown error plus the numeric value. | For an unknown value, record the raw value and field state, then see the Fault Appendix or contact technical support.
Read ErrCode | Shows the raw `ErrorCode: n`. | Save the raw number with the error history and current fault message. See the Fault Appendix for complete code descriptions.
ErrorBit | Error history and current-fault recommendations mainly use the messages, causes, and recommendations in the error-bit resources. | See the Fault Appendix for error-bit meanings and display rules.

## Fault Diagnosis Entry Point

Use Fault Diagnosis in the main window to collect fault-related diagnostic data. Use it under the guidance of technical support and place the mechanism in a safe state before collection.

Item | Description
--- | ---
When to use | Use when Status Monitor, error history, and field inspection cannot locate the current fault and technical support needs collected data.
Collected data | The diagnosis process collects relevant data and generates diagnostic records.
Important note | Do not treat Fault Diagnosis as an automatic repair feature. Make the mechanism safe first and retain the generated data as requested by technical support.

## Troubleshooting

Symptom | Recommended Action
--- | ---
Status bar shows Disconnected | Check the communication cable, drive power, CAN ID, and connection settings. Do not continue using status-window values for diagnosis.
Status values do not refresh | Check whether monitoring is stopped. Close and reopen the status window; disconnect and reconnect if necessary.
A current-fault message appears | Stop motion and disable the drive, record the fault and recommendation, then check power, load, cables, encoder, and recent parameter changes.
Error history contains records | Save the TXT record and use its time and field operating condition to determine whether it relates to the current issue.
WarnCode shows Unknown Error | Record the raw value and field state, then see the Fault Appendix or contact technical support.
ErrCode shows only a raw number | Save the raw `ErrorCode` with the error history and current fault message. Do not invent an interpretation.
Current, temperature, bus voltage, or position is abnormal | Place the device in a safe state, then check power, braking, load, mechanical limits, cables, and parameter settings.