Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 104)

Motor Fault Description

Motor Fault

Value (MF

Command)

Error

Code

Error

Speed limit exceeded: VX < LL[2] or VX > HL[2] 0x20000 0x8481 0x81

Stack overflow: fatal exception. May occur if CPU

cannot handle a real-time load due to too low a

sampling time.

0x40000 0x6180 0x81

CPU exception: fatal exception. 0x8000 0x6181 0x81

Timing Error 0x100000 0x5281 0x81

Motor stuck: motor powered but not moving

according to definition of CL[2] and CL[3].

0x200000 0x7121 0x21

Position limit exceeded: PX < LL[3] or PX > HL[3]

(UM=5), or PY < LL[3] or PY > HL[3] (UM=4).

0x400000 0x8680 0x81

Reserved 0x8000000 0x1000 0x81

Cannot tune current offsets 0x10000000 0x8381 0x81

Cannot start motor 0x20000000 0xFF10 0x81

Reserved 0x800000 0x8680 0x81

Reserved 0x1000000 0x8312 0x3

Cannot start motor 0x20000000 0x5400 0x21

Under-voltage: power supply is shut down or it

has too high an output impedance.

0x3000 0x3120 0x5

Over-voltage: power-supply voltage is too high

or servo drive could not absorb kinetic energy

while braking a load. A shunt resistor may be

required.

0x5000 0x3310 0x5

Reserved 0x7000 0x3100 0x5

Reserved 0x9000 0x2311 0x3

Short circuit: motor or its wiring may be

defective, or drive is faulty.

0xb000 0x2340 0x3

Temperature: drive overheating. The

environment is too hot or heat removal is not

efficient. Could be due to large thermal resistance

between drive and its mounting.

0xd000 0x4310 0x9

Reserved 0xf000 0x5282 0x81

Table 13-3: Motor Shut Down by Fault Emergency Error Codes

CANopen DS 301 Implementation Guide Manufacturer-specific Objects

MAN-CAN301IG (Ver. 2.1)

13-27

1 2 ... 99 100 101 102 103 104 105 106 107 108 109 ... 117 118

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 104

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