When a fault occurs on an A6 series servo driver, the driver's LED display shows a specific fault code (e.g., Er.xxx). This code identifies the fault type and its cause.
For A6-RS series drivers, this fault code can also be retrieved via Modbus RTU communication using the following method:
Within the driver's U41 parameter group (Status Monitoring), a dedicated parameter tracks the current fault status: U41.01.
The value of U41.01 corresponds directly to specific fault information. The mapping is as follows:
For example, if the driver's LED display currently shows Er.010, the value of U41.01 is 10. To read U41.01 via Modbus RTU, use register address 0x4101 (derived from the parameter number). The read command is:
01 03 41 01 00 01 [CRC] [CRC]
The data returned from register address 0x4101 would be 00 10 (hexadecimal, big-endian byte order), which corresponds to decimal 16. According to the driver's fault mapping table, this value indicates fault code Er.010.