TMCM-351 CANopen Firmware Manual - Trinamic

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TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 84 OBJECT DESCRIPTION Index Name Object Code Data Type 270E h Device Analog Inputs Variable UNSIGNED32 ENTRY DESCRIPTION Sub-Index Access PDO Mapping Value Range Default Value 00 h ro no Highest sub-index 8 01 h ro no 0..1023 0 02 h ro no 0..1023 0 03 h ro no 0..1023 0 04 h ro no 0..1023 0 05 h ro no 0..1023 0 06 h ro no 0..1023 0 07 h ro no 0.1023 0 08 h ro no 0..1023 0 Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
TMCM-341/342/343/351 CANopen Firmware Manual (V1.04 / 2011-AUG-01) 85 9 Emergency messages The module sends an emergency message if an error occurs. The message contains information about the error type. The module can map internal errors and object 1001 h (error register) is part of every emergency object. Please note, that the additional byte 2 shows which motor is affected. ERROR CODES FOR TMCM-341/342/343 AND TMCM-351: Error code Add. byte 1 2 3 4 5 0x0000 0 0/1/2 0 0 0 0x1000 1 0/1/2 0 0 0 0x1000 2 0/1/2 0 0 0 0x2310 0 0/1/2 0 0 0 0x2311 0 0/1/2 0 0 0 0x2312 0 0/1/2 0 0 0 0x3230 0 0/1/2 0 0 0 0x4310 1 0/1/2 0 0 0 0x4310 2 0/1/2 0 0 0 0x5441 0 255 0 0 0 0x6320 0 255 0 0 0 0x8110 1 255 0 0 0 0x81110 2 255 0 0 0 0x81110 3 255 0 0 0 0x8120 0 255 0 0 0 0x8140 0 255 0 0 0 0x8611 0 0/1/2 0 0 0 Description Fault reset The fault reset command has been executed. Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG Generic error: open load bridge A The motor driver indicates open load on bridge A. It is possible that the motor cable is broken or that there is an error in the power amplifier itself. Generic error: open load bridge B The motor driver indicates open load on bridge B. It is possible that the motor cable is broken or that there is an error in the power amplifier itself. Overcurrent high side The motor driver indicates an overcurrent on the high side. This can be caused by a short circuit in the driver stage. Overcurrent bridge B The motor driver indicates that there is overcurrent on bridge B. This can be caused by a short circuit in the motor itself or in the motor driver stage. Overcurrent bridge A The motor driver indicates that there is overcurrent on bridge A. This can be caused by a short circuit in the motor itself or in the motor driver stage. stallGuard error The actual load value exceeds the StallGuard limit. Overtemperature pre-warning The temperature in the motor driver exceeds the pre-warning limit. Overtemperature error The motor driver has been switched off because the temperature limit has been exceeded. Shutdown switch active The enable signal is missing (due to the shutdown switch) and the motor driver has been switched off. Parameter error The data in the received PDO is either wrong or cannot be accepted due to the internal state of the drive. CAN controller overflow The receive message buffer of the CAN controller hardware is full and some CAN messages are lost. CAN Tx buffer overflow The software CAN transmit buffer is full and thus some CAN messages are lost. CAN Rx buffer overflow The software CAN receive buffer is full and so some CAN messages are lost. CAN error passive The CAN controller has detected communication errors and has entered the CAN Error passive state. CAN controller recovered from bus-off state The CAN controller had detected too many errors and had changed into the bus-off state. The drive has been stopped and disabled. This message is sent after the CAN controller has recovered from bus-off state and is bus-on again. Following error The deviation between motor position counter and encoder position counter has exceeded the following error window. 0xff00 0 0/1/2 0 0 0 Undervoltage The supply voltage is too low to drive a motor.
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TMCM-351 CANopen Firmware Manual - Trinamic

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