PD2-C-IP CANopen Online 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 Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 02h
Name Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 03h
Name Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 04h
Name Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 05h
Name Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 06h
Name Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 07h
Name Standard Error Field
Data type UNSIGNED32
Access read only
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 08h
Name 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 too high
2 Output current too high
3 Input voltage too low
4 Error at fieldbus
5 Motor turns – in spite of active block – in the wrong direction
6 CANopen only: NMT master takes too long to send nodeguarding request
7 Encoder error due to electrical fault or defective hardware
8 Encoder error; index not found during the auto setup
9 Error in the AB track
10 Positive limit switch and tolerance zone exceeded
11 Negative limit switch and tolerance zone exceeded
12 Device temperature above 80°C
13 The values of object 6065h (Following Error Window) and object 6066h (Following Error Time Out) were exceeded; a fault was triggered.
14 Nonvolatile memory full; controller must be restarted for cleanup work.
15 Motor blocked
16 Nonvolatile memory damaged; controller must be restarted for cleanup work.
17 CANopen only: Slave took too long to send PDO messages.
18 Hall sensor faulty
19 CANopen only: PDO not processed due to a length error
20 CANopen only: PDO length exceeded
21 Nonvolatile memory full; controller must be restarted for cleanup work.
22 Rated current must be set (203Bh:01h)
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
28 EtherCAT only: The motor was stopped because EtherCAT switched state from OP to either SafeOP or PreOP without first stopping the motor.
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
6010h Software reset (watchdog)
6100h Internal software error, generic
6320h Rated current must be set (203Bh:01h)
7121h Motor blocked
7305h Incremental encoder or Hall sensor faulty
7600h Nonvolatile memory full or corrupt; restart the controller for cleanup work
8000h 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
8611h Position monitoring error: Following error too large
8612h Position monitoring error: Limit switch and tolerance zone exceeded
9000h EtherCAT: Motor running while EtherCAT changes from OP -> SafeOp, PreOP, etc.
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