Canopen Drive Profile; Emergency Messages - Kollmorgen S300 Manual

5 CANopen Drive Profile

5.1 Emergency Messages

Emergency messages are triggered by internal equipment errors. They have a high ID-priority, to
ensure quick access to the bus. An Emergency message contains an error field with pre-defined
error numbers (2 bytes), an error register (1byte), the error category (1 byte) and additional inform-
ation (➜ # 15). The higher-value byte of the error number describes the error category, and the
lower-value byte provides the error number in this category. Error numbers from 0000h to 7FFFh
are defined in the communication or drive profile. Error numbers from FF00h to FFFFh have man-
ufacturer specific definitions. The error category can be used to classify the significance of any
errors that occur. Defined error categories are:
1. Errors that can only be cleared by a reset (COLDSTART command, or Bit 7 in the control
word (➜ # 58). If you reset the amplifier in case of a cat.1 error, the servo amplifier will be
restarted by a coldstart.
2. Errors that can be cleared by Bit 7 in the control word (➜ # 58).
3. Error messages that may appear when a PDO is processed.
4. Errors, that cannot be cleared by the user.
5. Operating errors/warnings.
The cat. 1 and 2 errors are indicated by blinking of the LED display in the front panel.
Error Code
0000h
1000h
1080h
2330h
2380h
3100h
3110h
3120h
3130h
4110h
4210h
4310h
5111h
5380h
5400h
5420h
5441h
5530h
6320h
7111h
7122h
7181h
7303h
7305h
8182h
8331h
8480h
8611h
8681h
FF01h
FF02h
FF04h
FF05h
FF06h
FF07h
FF08h
FF11h
Category Error number Description
— — Error reset or no error (mandatory)
— — Generic error (mandatory)
5 — No BTB/RTO (status not ready for operation)
2 F22 Error in ground connection
1 F12 Error in motor connection (phase fault)
2 F16 No mains/line-BTB
2 F02 Overvoltage in DC-bus/DC-link
2 F05 Undervoltage in DC-bus/DC-link
2 F19 Supply line phase missing (with PMODE = 2)
2 F13 Ambient temperature too high
1 F01 Heat sink temperature too high
1 F06 Motor temperature too high
1 F07 Fault in ±15V auxiliary voltage
1 F17 Fault in A/D converter
1 F14 Fault in output stage
1 F18 Ballast (chopper)
1 F27 Operating error for AS-option
1 F09 Serial EEPROM
3 — Parameter error
1 F11 Braking error/fault
1 F25 Commutation error
5 — Could not enable servo amplifier
1 F04 Feedback device error
1 F10 Signal failure digital encoder input
1 F23 CAN bus off
I 2 t (torque fault)
2 F15
2 F08 Overspeed
2 n03/F03 Lag/following error
5 — Invalid motion task number
1 F32 Serious exception error
3 — Error in PDO elements
1 F20 Slot error
1 1 Handling error
2 F24 Warning display as error
2 F26 Homing error (drove onto HW limit switch)
2 F29 Sercos error
2 F30 Emergency timeout failure
Kollmorgen | kdn.kollmorgen.com | December 2019
S300-S700 CANopen | 5 CANopen Drive Profile
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