# 0x203F Error report¶

Provides further information about the error or warning reported by the 0x603F Error code object.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Description 0x203F:1 STRING(8) 64 0 readonly (default) Transmit or Receive PDO

The error report object display information about a fault or warning that has occured.

When a fault on the drive is reported, the drive switches into Fault reaction active state, which issues a quick-stop, brings the drive to a halt, and then disables the power stage. Thus, only one error is reported at a time.

When a warning is reported, the state of the drive remains unchanged. A subsequent fault overwrites an existing warning.

Error Code Description Explanation Remedy
NoFault No fault Default value of the object, which means no fault is to be reported. This error code indicates that there's no error reported, thus the drive is not in fault state.
If the drive is shown in fault state and this error code is reported, this may be caused by a fault in the master/slave communication for example in the VM version OBLAC Drives. Rebooting the VM might solve the problem in this case.
Another reason could be that the fault register could not be read.

Protection faults of user-defined parameters Errors triggered by user-defined thresholds (for more details see object 0x2006: Protection) NOTE: These errors can also cause subsequent faults or be caused by other faults.
PuOcA Protection User-defined Over-current Phase A The current sensor at drive phase A/B/C sensed a current exceeding the user-defined Over-current threshold (0x2006:3 Protection Overcurrent setpoint).
If the user-defined threshold is higher than the hardware protection threshold, this software protection can be considered unfunctional, as long as the hardware protection is available.
As the threshold is user-defined, please first check the object 0x2006:3 Overcurrent setpoint to make sure that the threshold is set appropriately.
Regarding an over-current, please refer to the remedy for over-current.
PuOcB Protection User-defined Over-current Phase B
PuOcC Protection User-defined Over-current Phase C
PuUv Protection User-defined Under-voltage Indicates that the DC bus voltage is measured below the user-defined threshold (0x2006:1 Protection Undervoltage setpoint). As the threshold is user-defined, please first check the object 0x2006:1 Undervoltage setpoint.
Then please refer to the remedy for under-voltage.
PuOv Protection User-defined Over-voltage Indicates that the DC bus voltage is measured exceeding the user-defined threshold (0x2006:2 Protection Overvoltage setpoint). As the threshold is user-defined, please first check the object 0x2006:2 Overvoltage setpoint.
Then please refer to the remedy for over-voltage.

Hardware Protection Faults Errors triggered by hardware built-in protection logic.
PhUdef Protection Hardware Undefined Indicates that the hardware protection reports an error not defined in the CiA 402 standard. Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.
PhFault Protection Hardware Fault A generic hardware fault was detected. Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.
PhWtdg Protection Hardware Watchdog The watchdog is a service that checks periodically with a timer to guarantee that the drive control logic is working in the proper frequency. This error indicates that the watchdog tick is not received on time by the hardware protection, thus the drive is not working properly. Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.
PhDeadTA Protection Hardware Deadtime Phase A Deadtime is a common protection strategy in PWM control for avoiding a bridge shoot-through, a short-circuit accident caused by transistors on both sides being open at the same time. This error indicates that the effective deadtime is detected below the manufacturer-defined threshold. Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.
PhOvUvOt Protection Hardware Over-voltage / Under-voltage / Over-temperature The drive temperature which was measured close to the power MOSFETs and the DC bus voltage are checked by the same hardware protection circuit against manufacturer-defined thresholds. This error indicates that one or more of the three errors is/are triggered. Please refer to the remedy for over-voltage, under-voltage and over-temperature.
PhOc Protection Hardware Overcurrent Indicate that the phase current or the DC bus current measured is exceeding the manufacturer-defined threshold (referring to the hardware document, link), which triggers the hardware protection circuit. Please refer to the remedy for over-current.

Safety Faults
SfeDiIvd Safety Digital Input Invalid Invalid digital input signals received by the safety input, for example one signal of the dual-channel input is read at a different interval than the other signal.
The signals must have the same state within 100 ms.
The cause of the fault usually directs to misuse of the I/Os or faults in signal tansfer. Please refer to the documentation about safety functions of your hardware first, to check the use of the safety I/Os and of the safety functions. Check the measured inputs in 0x2611 Safety digital input diagnostics and locate the signal leading to the fault. Check and fix the wiring accordingly with assistance of tools for example with multimeter measurement.
SfeFault Safety Fault A safety-based hardware fault detected. Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.

BiSS Sensor Faults
BisErBit BiSS Error Bit active. One of the bits in the BiSS frame is used to signal error. This bit is set by the encoder and read by the drive according to user-defined parameter (Status bits active value).
This fault indicate that the drive receives the error bit being active.
Please check the 2 cases often seen:
1. Misconfiguration of Status bits active value. The status bits (error bit and warning bit) are by default read as active low, i.e. the error bit being 0 indicates the error being active. Please check the documentation of the encoder and correctly configure the reading.
2. The encoder is indeed rasing an error/ warning. Please check the documentation of the encoder, consult the encoder manufacturer for further investigation.
BisWnBit BiSS Warning Bit active. One of the bits in the BiSS frame is used to signal warning. This bit is set by the encoder and read by the drive according to user-defined parameter (Status bits active value).

This fault indicate that the drive receives the warning bit being active.
BisAcBit BiSS Acknowledge Bit not received. The BiSS slave is not acknowledging the request to communicate sent by the drive. This usually happens when there is some issue with the power or communication link, e.g. one of the wires is broken or not well connected. Please firstly make sure that the encoder is connected to the port which is being configured.
Then check the wiring accoding to the hardware wiring instructions to make sure that, firstly the signals are transfered to the correct pins, secondly the signal transfer is stable. Assistance of measurement tools such as multimeter and oscilloscope is necessary.
BisSrtBt BiSS Start Bit not received. The BiSS slave acknowledged the request to communicate, but it didn't sent the start bit to start the communication. This usually happens when there is some issue with the power or communication link, e.g. one of the wires is broken or not well connected.
BisSloLo BiSS data (SLO) is permanently Low. The SLO line should be set to high by the BiSS slave when it is ready to establish communication. This error usually happens when there is some issue with the power or communication link, e.g. one of the wires is broken or not well connected.
BisFrame BiSS Frame configuration error. The sensor configuration causes an issue related to the BiSS frame. This error is currently raised only if the BiSS frame size is higher than 64 bits. Please check the sensor configuration according to the documentation of the encoder manufacturer. The most relevant objects to check:
1. Resolution, unit Inc/ Revolution
2. Multiturn resolution, unit number of bits
3. Number of filling bits, unit number of bits
BisCrc BiSS CRC error. The BiSS frame contains a CRC6 of some of the data that is being sent. This error is raised when the CRC sent by the BiSS slave is different than the CRC computed by the drive. This usually means that the drive can't read the frame properly. Regarding a CRC error, there are several causes often seen:
1. Misconfiguration of the sensor reading leading to the bits being read wrong. In this case the fault cannot be reset. Please check the sensor configuration according to the documentation of the encoder manufacturer. Common parameters wrongly configured are the singleturn resolution and multiturn resolution.
2. Misconfiguration of the object CRC polynom, thus the CRC is calculated wrong. In this case the fault cannot be reset. Please check the polynom in the encoder documentation. The value by default: 48 represents x^0 + x^1 + x^6, which usually doesn't need to be modified.
3. Inconsistency in signal transfer. In this case the fault can sometimes be reset, but would occur under certain circumstances. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.

SSI Sensor Faults
SsiFrame SSI Frame configuration error. The sensor configuration causes an issue related to the SSI frame. This error is currently raised only if the SSI frame size is higher than 256 bits. Please check the sensor configuration, especially the object Frame size according to the documentation of the encoder manufacturer.
SsiDtaLo SSI Data is permanently Low. The data line should be set to high by the SSI slave when it is ready to establish communication. This error usually happens when there is some issue with the power or communication link, e.g. one of the wires is broken or not well connected. Please firstly make sure that the encoder is connected to the port which is being configured.

Then check the wiring accoding to the hardware wiring instructions to make sure that, firstly the signals are transfered to the correct pins, secondly the signal transfer is stable. Assistance of measurement tools such as multimeter and oscilloscope is necessary.
SsiChksm SSI Checksum error. Some SSI slaves include a ckecksum of the data in the SSI frame. Currently our drives can be configured to read a parity bit from compatible SSI encoders. This error means the parity bit computed by the firmware is different than the one sent by the SSI slave. Regarding a checksum error, there are several causes often seen:
1. Misconfiguration of the sensor leading to the bits being read wrong or the checksum being calculated wrong. In this case the fault cannot be reset. Please check the sensor configuration according to the documentation of the encoder manufacturer.
2. Inconsistency in signal transfer. In this case the fault can sometimes be reset, but would occur under certain circumstances. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.

REM16MT Sensor Faults
R16WkMgF REM16 Weak Magnetic Field. Weak magnetic field. Mounting may need to be improved.
R16Cont REM16 multiturn Counter error. Multiturn counter error
R16CorDc REM16 singleturn CORDIC error Singleturn CORDIC error
R16SpdOv REM16 multiturn Speed Overflow. Multiturn speed overflow
R16FtCfg REM16 Filter Configuration error. Filter configuration error
R16FtSOF REM16 Filter Speed Overflow error. Filter speed overflow error
R16UnCmd REM16 Unknown Command. Unknown command
R16Chksm REM16 Checksum error. Checksum error

REM14 Sensor Faults
R14Chksm REM14 Checksum error. Checksum error

QEI Sensor Faults
QeiLsTck QEI Lost Ticks. The number of ticks counted in two successive index pulses is different from the sensor resolution configured by user. There are several causes often seen:
1. The configured resolution is wrong. Please check the Resolution configured according to the encoder datasheet, and please pay attention to the conversion between units (Resolution = Cycles per Revolution * 4).
2. There's a loss of pulses in encoder reading, which can be due to:
2a. The encoder being improperly mounted, or the encoder ring is damaged. Please check the mounting instruction of your encoder for proper installation, and consult the encoder manufacturer for advices.
2b. Inconsistency in signal transfer. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.
2c. The pulses are read with an exceeding frequency. This case rarely happens, but can be possible if the encoder resolution and/or the spin speed being unusually high.
QeiNoIdx QEI No Index. For an incremental encoder configured to be with 3 channels (usually known as ABI/ ABZ), the drive is expecting to receive an Index pulse which provides an index for the absolute singleturn position.
This error indicates that the Index pulse couldn't be detected, while the drive moved the motor in order to detect it.
Please first check whether your encoder is indeed with the Index pulse, i.e. is an ABI/ ABZ encoder. If it is an encoder without index, please choose 2-channel (no index) for Number of channels.
Else, most probable causes are:
1. The encoder being improperly mounted, or the encoder ring is damaged. Please check the mounting instruction of your encoder for proper installation, and consult the encoder manufacturer for advices.
2. Inconsistency in signal transfer. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.
QeiOpnWr QEI Open Wire. Indicate that one of the differential A or B lines is disconnected. Only available on hardware that supports it. Please check the wiring with for example the diode mode of a multimeter, making sure that the wires are stably transfering the signals.

Hall Sensor Faults
HallSeq Hall Sequence error. The hall sensor outputs have an invalid value (111 or 000), or the sequence between the current state and the last state is invalid. Please check the wiring and make sure that the signals are transfered with good consistency.
If the HALL sensor is used together with an incremental encoder for commutation, it can be that the HALL sensor A/B/C pins are connected in a wrong order. Please verify the cabling, and verify the order by running offset detection with only the HALL sensor configured for commutation. If the order is correct, the result of the offset detection should be around 0, and 0x2003:5 Motor phases inverted should show 0 (No).

A-Format sensor faults
AftFrame A-Format Frame error. The fixed data in the recieved A-Format frame (like sync code) is wrong. This usually means that the A-Format transmission speed is wrong. Please check the transmission speed configuration according to the encoder datasheet.
AftTmout A-Format Timeout. The A-Format encoder didn't start communication after sending a request. Please check the wiring and make sure that the signals are transfered with good consistency. Use a oscilloscope to monitor the signal transfered for further investigation.
AftCrc A-Format CRC error. The A-Format frame contains a CRC of some of the data that is being sent. This error is raised when the CRC sent by the encoder is different than the CRC computed by the drive. This usually means that the drive can't read the frame properly, which usually happens because of noise in the communication link. Please check the signals received by the drive with an oscilloscope under operation for better investigation. The cause can be that the signal transfer is influenced by external field, or that the signal transfer is unstable for example due to soldering quality or cable aging. Improve the situation by replacing the cables, better arranging the cables, adding shielding, etc., ensuring that the signals can be stably transfered with acceptable noise.
AftBatt A-Format BATT status. The encoder is raising Battery Alarm. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the Battery Alarm. The usual case is that the battery voltage is low, the battery is wrongly wired, or there's no battery connected.
AftMTErr A-Format MTERR status. The encoder is raising MT Error. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the MT Error.
AftOvFlw A-Format OvFlow status. The encoder is raising Over Flow Alarm. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the Over Flow Alarm.
AftOvSpd A-Format OVSPD status. The encoder is raising Over Speed Alarm. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the Over Speed Alarm. The usual case is that the rotation speed exceeds the speed limit of the encoder.
AftMemEr A-Format MEMERR status. The encoder is raising Memory Error. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the Memory Error.
AftSTErr A-Format STERR status. The encoder is raising ST Error. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the ST Error.
AftPSErr A-Format PSERR status. The encoder is raising PS Error. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the PS Error.
AftBusyF A-Format BUSY status. The encoder is raising BUSY Flag. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the BUSY Flag.
AftMemBs A-Format MemBusy status. The encoder is raising MEMBUSY Flag. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the MEMBUSY Flag.
AftOvTmp A-Format OvTemp status. The encoder is raising Temperature Warning. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the Temperature Warning. In case of over-temperature please refer to the remedies for over-temperature.
AftIncEr A-Format IncErr status. The encoder is raising Incremental Signal Error. Check your A-Format encoder datasheet for more information. Please check the encoder documentation for better understanding the meaning of the Incremental Signal Error.

Generic Sensor Faults
SnsrAngl Sensor Angle error. 1. The electrical angle was not completeting a whole revolution during offset detection.
2. The calculated commutation angle is out of bounds. A singleturn related configuration parameter (resolution, singleturn) with a wrong value normally causes this error.
3. The motor is not moving during the QEI index detection.
Please firstly check whether the motor rotates during offset detection. If it doesn't please check its configuration, wiring, and mechanical mounting.
Please check the encoder configuration, and make sure that while rotating the motor for one full turn, the encoder value is correctly responding to the mechanical position. You can manually rotate the motor for investigation. An alternative way is with OBLAC opening another page and ploting the position feedback of the encoder used for commutation while running offset detection.
SnsrCfg Sensor Configuration error. 1. Some encoder parameter was set with an invalid value in the Object dictionary.
2. An action that required a particular encoder function (position, velocity or commutation) was triggered, but there is no encoder configured for that function.
3. There was an issue when trying to initialize or configure an encoder.
Please check the configuration of the sensors, especially the parameters changed lately.
Make sure that all functions required (position, velocity, commutation) are configured with the sensors.
HwRsrcEr Hardware Resource Error. The software configuration is invalid for the hardware. For example, a sensor configured is with a sensor type not supported by that port. Please check the sensor configurations and the digital IO settings, making sure that the setting is supported by your hardware according to the documentation.
IvldGpio Invalid Gpio configuration. The GPIO related configuration chosen is not available. This includes voltage level, direction of the GPIO, or GPIO trigger. Please check the configuration of the GPIO according to the documentation.
SnsrBatt Sensor battery error This error is raised when an encoder battery was expected, but couldn't be detected. This error is raised only by multiturn encoders that need a battery, like Circulo's Internal encoder 1 when it's configured as a multiturn encoder. Please check the documentation to make sure the battery is connected properly and power cycle.
In case there is no battery or if the battery is not needed, select "0" or "No" to the "Multiturn resolution" parameter of this encoder.
SkpCycls Serial encoder service is skipping cycles This error is raised when a serial encoder service is looping slower than 16 kHz, which means that the cycles are taking longer than 62.5 us.
This error should not be confused with the warning of the same name, which just means that an encoder that supports 32 kHz sampling (BiSS or SSI) is looping at 16 kHz instead.
To try to solve either the warning or the error, we should try to spend less time reading the encoder. To do so we can first try to increase the clock frequency, and then try reducing the encoder timeout (check the encoder datasheet to determine which is the minimum value).

SwLimOut Software Limit Out. Target position is outside of the 0x607D: Software position limit defined by the user. Please check object 0x607D: Software position limit and make sure that they are configured as expected. Accordingly send your position target.

Brake Faults
BrkNtRls Brake release failed Brake release procedure for pin brake failed, i.e. the configured displacement threshold (0x2004:8 Minimum displacement (pin brake)) is not reached with the configrued torque (0x2004:9 Maximum torque (pin brake)). Please firstly check whether the motor functions correct, for example by manually releasing the brake and running offset detection. If it doesn't please check its configuration, wiring, and mechanical mounting.
While the motor functions correct, please further tune the two configuration parameters, by increasing the torque or decreasing the minimum displacement, until the brake can be released stably.
BkHiPull Pull brake voltage too high Pull brake voltage (0x2004:1 Pull voltage) higher than measured DC bus voltage (0x6079: DC link circuit voltage). Please measure the main power supply voltage supplied to the drive, and check whether the result is close to 0x6079: DC link circuit voltage. Pay attention that the actual voltage supplied to the drive would be slightly lower than the voltage output by the power supply, because of attenuation.
Check the configuration of the pull/hold voltage, which should be lower than the DC Bus voltage.
BkHiHold Hold brake voltage too high Hold brake voltage (0x2004:2 Hold voltage) higher than measured DC bus voltage (0x6079: DC link circuit voltage).

Open Terminal Faults
OpnTermA Open Terminal A Drive terminal A is opened. This error can happen if motor cable is not connected to terminal A of the Drive. It can also happen if the Drive is damaged internally. Please check the motor wiring, making sure that the motor phase cable is connected to the terminal A/B/C of the Drive.
OpnTermB Open Terminal B Drive terminal B is opened. This error can happen if motor cable is not connected to terminal B of the Drive. It can also happen if the Drive is damaged internally.
OpnTermC Open Terminal C Drive terminal C is opened. This error can happen if motor cable is not connected to terminal C of the Drive. It can also happen if the Drive is damaged internally..

Open FET Faults
OpnFetAH Open high FET at phase A One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg A of the inverter, and it is the high-side FET of this leg. Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.
OpnFetBH Open high FET at phase B One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg B of the inverter, and it is the high-side FET of this leg.
OpnFetCH Open high FET at phase C One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg C of the inverter, and it is the high-side FET of this leg.
OpnFetAL Open low FET at phase A One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg A of the inverter, and it is the low-side FET of this leg.
OpnFetBL Open low FET at phase B One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg B of the inverter, and it is the low-side FET of this leg.
OpnFetCL Open low FET at phase C One of the power electronic switches of Drive is damaged (not conducting). The damaged FET is located in leg C of the inverter, and it is the low-side FET of this leg.

Parameter Faults
IvldOfst Invalid offset The commutation offset in 0x2001: Commutation angle offset is not valid. This error comes directly from reading object 0x2009:1 Commutation offset: State. Please run offset detection before operations. Please pay attention that, the change in some fundamental configuration parameters (sensor configuration, motor configuration) can make the existing offset detection result invalid. Please redo offset detection in that case.
IvldOpmd Invalid operational mode Requested opmode is not supported. Set a valid value in 0x6060: Modes of operation. Please check our documentation for the available operation modes.
Please check 0x6060: Modes of operation, and make sure that the master controller is sending a correct command.
ZeroMxI Max. current is zero or negative User-defined limit on motor max current (0x6073: Max current) is 0. Please configure the 0x6073: Max current to be a value larger than 0, according to your motor datasheet or your application need.
ZeroMxT Max. torque is zero or negative User-defined limit on motor max current (0x6072: Max torque) is 0. Please configure the 0x6072: Max torque to be a value larger than 0, according to your motor datasheet or your application need.
ZeroMxMS Max. motor speed is zero or negative The value of 0x6080: Max motor speed is 0, so no motion is allowed. Pleaes configure 0x6080: Max motor speed to a valid value larger than 0, according to your motor datasheet or your application need.
IvldPara Invalid Parameter The value of a parameter is invalid. Please check the values changed lately according to the documentation.
SiVelPfx Invalid velocity scaling factor The velocity scaling prefix defined by 0x60A9: SI unit velocity is outside of the supported range. Please check OBLAC Drives, which directly provides available options for the configuration of 0x60A9: SI unit velocity, and the documentation for user defined velocity units. Make sure that a valid data is write to the object.
MxPwrLmt Maximum mechanical output power of the motor is reached. This warning appears when the limit has been reached that has been configured in object 0x200B: Max power.
The warning will disappear when the absolute value of reference torque has become less than this limit.
When this waring appears often in your setup and your application does not perform as intended please consider the following remedies:
- set the limit higher if your application allows it
- reconsider the size of your power-supply
- choose a more powerful motor

Communication Faults
CyclicHb Cyclic heartbeat A communication keep-alive heartbeat was dropped. Check that the PDO messages are being sent by the master cyclically, and within 100 ms of each other. If the inactivity of communication is known/ intended, the occurrence of the error is expected. Do [Fault reset] to clear the fault after the communication is reestablished.
Otherwise, the occurrence of the error indicates that there exists unknown issues in the communication chain. Possible causes include:
- communication delay in master program, check the running status of the master machine.
- disturbance in communication signal transfer, make sure that a communication cable with shielding is used or try with the cable provided by Synapticon, check the stability of cabling.
OsCmdCol OS command collision A new OS command was sent, but the OS command response of a previous OS command was not read after it completed. In order to send another OS command, please read the response of the previous OS command in the object 0x1023:3. Whenever the first byte becomes 0, 1, 2 or 3, a new OS command can be sent.

I2t Protection Errors
I2tActv I2t protection is active I2t protection is active, which limits your maximum torque to the nominal rated values of the motor. See 0x200A: I2t for configuration parameters. Please check 0x200A: I2t and see whether it's configured as expected.
Regarding the I2t being triggered, that indicates that the drive is protecting the motor from potential overheating. Please read our documentation of I2t for more information.

Homing errors
HmInvMth Invalid homing method The value of 0x6098: Homing method is invalid or not supported. Please firstly check object 0x6098: Homing method and see whether the object is written as expected.
Please refer to our documentation Homing modes, and check what homing methods are supported.

Internal Errors
Intern01 Internal fault 1 Internal Error Code. Please contact support. Please note down the information regarding the occurence of the error and reach Synapticon technical support for further investigation.
Intern02 Internal fault 2 Internal Error Code. Please contact support.
Intern03 Internal fault 3 Internal Error Code. Please contact support.

Filter cutoff frequency bounds
VeFiFcLo Velocity filter cut-off frequency too low 0x2021:2 Velocity feedback filter Cutoff frequency is lower than the minimum limit. Please check 0x2021:2 Velocity feedback filter: Cutoff frequency, and make sure that the cutoff frequency is configured higher than the limit 5 Hz. Please check the documentation of the object for latest information.
VeFiFcHi Velocity filter cut-off frequency too high 0x2021:2 Velocity feedback filter Cutoff frequency is higher than the maximum limit. Please check 0x2021:2 Velocity feedback filter: Cutoff frequency, and make sure that the cutoff frequency is configured lower than the limit 2000 Hz. Please check the documentation of the object for latest information.
PoFiFcLo Position filter cut-off frequency too low 0x2022:2 Position feedback filter Cutoff frequency is lower than the minimum limit. Please check 0x2022:2 Position feedback filter: Cutoff frequency, and make sure that the cutoff frequency is configured higher than the limit 5 Hz. Please check the documentation of the object for latest information.
PoFiFcHi Position filter cut-off frequency too high 0x2022:2 Position feedback filter Cutoff frequency is higher than the maximum limit. Please check 0x2022:2 Position feedback filter: Cutoff frequency, and make sure that the cutoff frequency is configured lower than the limit 2000 Hz. Please check the documentation of the object for latest information.
VffFcLo Velocity feed forward filter cut-off frequency too low 0x2015:2 Velocity feed forward Cutoff frequency is lower than the minimum limit. Please check 0x2015:2 Velocity feed forward: Cutoff frequency, and make sure that the cutoff frequency is configured higher than the limit 5 Hz. Please check the documentation of the object for latest information.
VffFcHi Velocity feed forward filter cut-off frequency too high 0x2015:2 Velocity feed forward Cutoff frequency is higher than the maximum limit. Please check 0x2015:2 Velocity feed forward: Cutoff frequency, and make sure that the cutoff frequency is configured lower than the limit 2000 Hz. Please check the documentation of the object for latest information.
NhFiFcHi Notch filter center frequency too high 0x2023:2 Notch filter Center frequency is higher than the maximum limit. Please check 0x2023 Notch filter, and make sure that the center frequency is configured lower than the limit 2000 Hz. Please check the documentation of the object for latest information.
NhFiPara Invalid Notch filter parameters Invalid configuration was detected for the notch filter. Please check 0x2023 Notch filter, and make sure that the rejection band is set smaller than the center frequency.

Distributed Clock
SynDifHi Sync difference too high Sync time variance of the EtherCAT distributed clock is too high (value will be ignored).This may happen if the distributed clock is poorly configured or the signal isn't consistent. Please check the distrubuted clock (DC) setting of your EtherCAT master.

Temperature Sensor Faults
TmpCore   This fault is triggered when the temperature of the core becomes too high and crosses the error threshold (> 100 °C). This happens usually because of sustained load on the processor, high operating frequency and even high ambient temperature. High core temperature can lead to equipment damage.
It can also result in irregular clock timing.
Throttling the core is usally the remedy but as this is not possible in the case of real-time critical applications like ours, the solution would be to disable the drive until the reason for the error is resolved or use external cooling.
TmpDrive   This fault is triggered when the temperature of the drive becomes too high and crosses the error threshold (> 100 °C). This happens usually because of sustained load on the processor, current leakage from the on-board componenets, high operating frequency and even ambient temperature. High drive temperature can lead to equipment damage. Disable the drive until the reason for the error is resolved or use external cooling to bring down the over-all temperature.