CANopen Programmer's Manual - Maccon.de

2: Network Management CANopen Programmer’s Manual
EMCY Message Copley-Specific Error Conditions
The bit mask in bytes 4 and 5 of the EMCY message maps 1 bit for each error condition active on
the amplifier. The mapped bits have the following meanings:
Bit Description
0 Output short circuit
1 Amplifier over temperature
2 Amplifier over voltage
3 Amplifier under voltage
4 Motor over temperature input active
5 Encoder power error (indicates the 5V encoder supply over current)
6 Motor phasing error
7 Output current limited
8 Output voltage limited
9 Positive limit switch
10 Negative limit switch
11 Tracking error
12 Position input wrapped around +/- 2 31 bits
13 Amplifier internal hardware error (contact Copley Controls customer support)
14 Node guarding error
44 Copley Controls