TMCM-351 CANopen Firmware Manual - Trinamic

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.