ERRD is a register that provides the code value of the last fault according to the CIA402 profile. CIA402 is a general canopen profile for any variable-speed drive. Besides that, ERRD code carries the code of last error that occurred, so even if the drive fault has been reset, the ERRD is still non-zero.
Canopen error codes related to variable speed drives (CIA402) are split into many types, each having a unique code value, though variable speed drives may identify several different faults that are recognized under the same CIA402 type.
For example, 16#7300 in ERRD means a thermal sensor error. On the drive there can be several thermal sensors connected to different inputs, so drive can also point to that input and moreover drive can distinguish  overheat, sensor in short-circuit or sensor in open circuit and all these faults are distinguished by the drive while canonep CIA402 profile groups them under one "thermal sensor error" code.

Summary:
If the non-zero value from ERRD is read, this doesn't mean that the drive is actually at fault. Indeed ERRD is the last error that occurred.
ERRD code is split into several types, common for generic variable speed drives. ERRD should be considered as "there is or was a fault on the canopen node, but for more details look at the drive or read the FLT parameter."
LFT is the register of the last fault code on the Altivar.  This is a “Schneider” parameter and give you more detailed information about the fault.

Both ERRD and LFT register, their addresses and content can be found in associated Altivar document with communication parameters. It is excel sheet. The addresses can be found on "Parameters" sheet and content on "Enumeration" sheet.

How to search for document on Schneider web https://www.se.com?
For ATV930 drives, type into search field: "ATV900 communication parameters"
Likewise for other drives, type : ATV320 communication parameters or ATV340 communication parameters or ATV600 communication parameters, ATS480 communication parameters

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