CL3-E CANopen/USB Technical Manual

1003h Pre-defined Error Field

Function

This object contains an error stack with up to eight entries.

Object description


Index 1003h
Object Name Pre-defined Error Field
Object Code ARRAY
Data type UNSIGNED32
Saveable No
Firmware Version FIR-v1426
Change History

Amount of subentries has changed from 2 to 9


Value description


Sub-index 00h
Name Number Of Errors
Data type UNSIGNED8
Access Read/write
PDO Mapping No
Admissible Values  
Specified Value 00h


Sub-index 01h
Name Standard Error Field
Data type UNSIGNED32
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 02h
Name Standard Error Field
Data type UNSIGNED32
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 03h
Name Standard Error Field
Data type UNSIGNED32
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 04h
Name Standard Error Field
Data type UNSIGNED32
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 05h
Name Standard Error Field
Data type UNSIGNED32
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 06h
Name Standard Error Field
Data type UNSIGNED32
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 07h
Name Standard Error Field
Data type UNSIGNED32
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 00000000h


Sub-index 08h
Name Standard Error Field
Data type UNSIGNED32
Access Read only
PDO Mapping No
Admissible Values  
Specified Value 00000000h

Description

General operation

If a new error occurs, it is entered in sub-index 1. The existing entries in the subindices 1 to 7 are shifted back by one. The error at sub-index 7 is removed.

The number of errors that have occurred can be read from the object with sub-index 0. When a "0" is written into this object, counting starts anew.

Bit description

Error Number [8]

This allows the reason for the error to be fully narrowed down. The meaning of the number can be found in the following table.


Error number Description
1 Input voltage too high
2 Output current too high
3 Input voltage too low
4 Field bus error
5 Motor rotating in wrong direction despite activated block
6 CANopen only: NMT master is taking too long to send Nodeguarding request
7 Encoder error due to electrical fault or faulty hardware
8 Encoder error; index not found during auto setup
9 Error in AB track
10 Positive limit switch and tolerance zone overwritten
11 Negative limit switch and tolerance zone overwritten
12 Device temperature above 80°C
13 The values of object 6065h(Following Error Window) and object 6066h(Following Error Time Out) have been exceeded, and a fault has been output. This fault must be activated with bit 7 in object 3202h.
14 Non-volatile storage full, restart of controller for cleanup necessary
15 Motor blocked
16 Non-volatile storage corruped, restart of controller for cleanup necessary
17 Slave needed too much time for sending PDO-tickets
18 Hall Sensor faulty
19 PDO not processed due to length error
20 PDO length exceeded
21 Non-volatile storage full, restart of controller for cleanup necessary
22 Nominal current must be set (203B:01)

Error Class[8]

This byte is identical to object 1001h

Error Code[16]
The meaning of the two bytes can be seen in the following table.
Error Code Description
1000h General error
2300h Current at output of motor controller too high
3100h Overvoltage/undervoltage at motor controller input
4200h Temperature error in motor controller
6320h Nominal Current must be set.
7121h Motor blocked
7305h Incremental or hall sensor faulty
7600h Flash storage full or corrupted, restart controller for a cleanup.
8000h Field bus error
8130h Only CANopen: Life guard error or heartbeat error
8200h Only CANopen: Slave needed too much time for sending a pdo message
8210h Only CANopen: PDO not processed due to length error
8220h Only CANopen: PDO length exceeded
8611h Position monitoring error: following error
8612h Position monitoring error: Reference switch hit and entered forbidden area

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