igus REBEL-6DOF Manual page 18

Error: CPRCANv2
The error code can be a combination of the following. Some codes have alternative names
that may be mentioned in older software versions. The bit code is relevant for CRI and
Modbus users: The error codes are transmitted as bitfields.
Bit Code Description
0x00 NoError No error
Emergency stop pressed /
0x01 ESTOP / TEMP
temperature limit exceeded
Emergency stop pressed /
0x02 ESTOP / LOWV
low voltage
0x04 MNE Motor not enabled
0x08 COM Communication watchdog
0x10 LAG Position lag
0x20 ENC Encoder error
0x40 OC Over current
0x80 DRV / GEN Driver / general error
0x100 BUS Bus dead
0x200 DEAD Module dead
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Hints
Axis is enabled and ready for operation
No error, the motor is ready to be enabled
Module missed some messages; expected
state after startup
Axis could not follow target: too fast, load
too heavy, current too low
Defective encoder or cable, emergency
stop, motor blocked, too fast, load too
heavy, current too low
Current limit exceeded
Contact support
CAN bus issue, no responses received;
check CAN bus wiring and module power
A module did not respond; check CAN ID
at the module and configuration, too many
modules configured (I/O, external axes)?
Error: Kinematic Error Codes
These errors are caused by the kinematic calculation, e.g. when the target position can not
be reached or when a mathematical error ocured.
Code Description Hints
0 No error
13 Joint limit min reached An axis reached it's lower limit
14 Joint limit max reached An axis reached it's upper limit
Robot arm is too close to vertical center axis, change to joint
21 Center singularity
motion
22 Out of reach Cartesian position can not be reached, try joint motion
Wrist joint of 6 axis arm can not be extended completely in
23 Wrist singularity
cartesian mode, change to joint motion
30 Virtual box violated in X+ Reached virtual box max X position
31 Virtual box violated in X- Reached virtual box min X position
32 Virtual box violated in Y+ Reached virtual box max Y position
33 Virtual box violated in Y- Reached virtual box min Y position
34 Virtual box violated in Z+ Reached virtual box max Z position
35 Virtual box violated in Z- Reached virtual box min Z position
50 NAN value in joint position A mathematical error occured, contact support
99 Motion not allowed A hardware error occured
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