NP5 CANopen 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
Savable no
Firmware version FIR-v1426
Change history

Value description

Subindex 00h
Name Number Of Errors
Data type UNSIGNED8
Access read / write
PDO mapping no
Allowed values
Preset value 00h
Subindex 01h
Name 1st Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 02h
Name 2nd Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 03h
Name 3th Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 04h
Name 4th Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 05h
Name 5th Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 06h
Name 6th Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 07h
Name 7th Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 08h
Name 8th Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h

Description

General function

If a new error occurs, it is entered in subindex 1. The already existing entries in subindices 1 to 7 are moved back one position. The error in subindex 7 is thereby removed.

The number of errors that have already occurred can be read from the object with subindex 0. If no error is currently entered in the error stack, it is not possible to read one of the eight subindices 1–8 and an error (abort code = 08000024h) is sent in response. If a "0" is written in subindex 0, counting starts again from the beginning.

Bit description

Error Number [8]

This can be used to pinpoint the cause of the error. The meaning of the number can be found in the following table.

Error number Description
0 Watchdog-Reset
1 Input voltage (+Ub) too high
2 Output current too high
3 Input voltage (+Ub) too low
4 Error at fieldbus
6 CANopen only: NMT master takes too long to send Nodeguarding request
7 Sensor 1 (see 3204h): Error through electrical fault or defective hardware
8 Sensor 2 (see 3204h): Error through electrical fault or defective hardware
9 Sensor 3 (see 3204h): Error through electrical fault or defective hardware
10 Warning: Positive limit switch exceeded
11 Warning: Negative limit switch exceeded
12 Overtemperature error
13 The values of object 6065h (Following Error Window) and object 6066h (Following Error Time Out) were exceeded; a fault was triggered.
14 Warning: Nonvolatile memory full. The current save process could not be completed; parts of the data of the save process are lost. Controller must be restarted for cleanup work.
15 Motor blocked
16 Warning: Nonvolatile memory damaged; controller must be restarted for cleanup work (all saved objects are reset to default).
17 CANopen only: Slave took too long to send PDO messages.
18 Sensor n (see 3204h), where n is greater than 3: Error through electrical fault or defective hardware
19 CANopen only: PDO not processed due to a length error
20 CANopen only: PDO length exceeded
21 Warning: Restart the controller to avoid future errors when saving (nonvolatile memory full/corrupt).
22 Rated current must be set (203Bh:01h/6075h)
23 Encoder resolution, number of pole pairs and some other values are incorrect.
24 Motor current is too high, adjust the PI parameters.
25 Internal software error, generic
26 Current too high at digital output
27 CANopen only: Unexpected sync length
30 Error in speed monitoring: slippage error too large
32 Internal error: Correction factor for reference voltage missing in the OTP
39 Error in the ballast configuration: Invalid/unrealistic parameters entered (see Ballast monitoring)
40 Warning: Ballast resistor thermally overloaded
46 Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs)
Error Class[8]

This byte is identical to object 1001h

Error Code[16]
Refer to the following table for the meaning of the bytes.
Error Code Description
1000h General error
2300h Current at the controller output too large
3100h Overvoltage/undervoltage at controller input
4200h Temperature error within the controller
5540h Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs)
6010h Software reset (watchdog)
6100h Internal software error, generic
6320h Rated current must be set (203Bh:01h/6075h)
7110h Error in the ballast configuration: Invalid/unrealistic parameters entered (see Ballast monitoring)
7113h Warning: Ballast resistor thermally overloaded
7121h Motor blocked
7200h Internal error: Correction factor for reference voltage missing in the OTP
7305h Sensor 1 (see 3204h) faulty
7306h Sensor 2 (see 3204h) faulty
7307h

Sensor n (see 3204h), where n is greater than 2

7600h Warning: Nonvolatile memory full or corrupt; restart the controller for cleanup work
8100h Error during fieldbus monitoring
8130h CANopen only: "Life Guard" error or "Heartbeat" error
8200h CANopen only: Slave took too long to send PDO messages.
8210h CANopen only: PDO was not processed due to a length error
8220h CANopen only: PDO length exceeded
8240h CANopen only: unexpected sync length
8400h Error in speed monitoring: slippage error too large
8611h Position monitoring error: Following error too large
8612h Position monitoring error: Limit switch exceeded
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