CANopen Emergency Messages and Error Codes
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/fault numbers (2 bytes), an error register (1byte), the error category (1 byte), and additional information. Error numbers 0000h to 7FFFh are defined in the communication or drive profile. Error numbers FF00h to FFFFh have manufacturer-specific definitions.
Starting with firmware version 1-18-03-000 the keyword CANOPEN.ADDMANUEMCYCODE can be set to 1 to enable adding manufacturer specific information to the additional information field. When enabled, the additional information will contain the warning or fault number as ASCII characters.
|
Error Code |
Fault/ |
Description |
|---|---|---|
| 0x0000 | 0 | Emergency error free. |
| 0x1080 | - | General Warning. |
| 0x1081 | - | General Error. |
| 0x3110 | F523 | DC Bus link over voltage FPGA. |
| 0x3120 | F247 | DC Bus link voltage exceed allowed thresholds. |
| 0x3130 | F503 | DC Bus link capacitor overload. |
| 0x3180 | n503 | Warning: DC Bus link capacitor overload. |
| 0x3210 | F501 | DC Bus link over-voltage. |
| 0x3220 | F502 | DC Bus Link under-voltage. |
| 0x3280 | n502 | Warning: DC Bus Link under-voltage. |
| 0x3281 | n521 | Warning: Dynamic Braking I²T. |
| 0x3282 | F519 | Regen short circuit. |
| 0x3283 | n501 | Warning: DC Bus link over-voltage. |
| 0x4210 | F234 | Excessive temperature, device (control board). |
| 0x4310 | F235 | Excessive temperature, drive (heat sink). |
| 0x4380 | F236 | Power temperature sensor 2 high. |
| 0x4381 | F237 | Power temperature sensor 3 high. |
| 0x4382 | F535 | Power board overtemperature. |
| 0x4390 | n234 | Warning: Control temperature sensor 1 high. |
| 0x4391 | n235 | Warning: Power temperature sensor 1 high. |
| 0x4392 | n236 | Warning: Power temperature sensor 2 high. |
| 0x4393 | n237 | Warning: Power temperature sensor 3 high. |
| 0x4394 | n240 | Warning: Control temperature sensor 1 low. |
| 0x4395 | n241 | Warning: Power temperature sensor 1 low. |
| 0x4396 | n242 | Warning: Power temperature sensor 2 low. |
| 0x4397 | n243 | Warning: Control temperature sensor 1 low. |
| 0x4398 | F240 | Control temperature sensor 1 low. |
| 0x4399 | F241 | Power temperature sensor 1 low. |
| 0x439A | F242 | Power temperature sensor 2 low. |
| 0x439B | F243 | Power temperature sensor 3 low. |
| 0x43A1 | n258 | Warning: Fan not spinning. |
| 0x5113 | F512 | 5V0 under voltage. |
| 0x5114 | F505 | 1V2 under voltage. |
| 0x5115 | F507 | 2V5 under voltage. |
| 0x5116 | F509 | 3V3 under voltage. |
| 0x5117 | F514 | +12V0 under voltage. |
| 0x5118 | F516 | -12V0 under voltage. |
| 0x5119 | F518 | Analog 3V3 under voltage. |
| 0x5180 | F504 | 1V2 over voltage. |
| 0x5181 | F506 | 2V5 over voltage. |
| 0x5182 | F508 | 3V3 over voltage. |
| 0x5183 | F510 | 5V0 over voltage. |
| 0x5184 | F513 | +12V0 over voltage. |
| 0x5185 | F515 | -12V0 over voltage. |
| 0x5186 | F517 | Analog 3V3 over voltage. |
| 0x5530 | F105 | Hardware memory, non-volatile memory stamp invalid. |
| 0x5580 | F106 | Hardware memory, non-volatile memory data. |
| 0x5589 | F124 | Cogging compensation non volatile memory data error (CRC). |
| 0x5590 | F204 | Control board EEPROM read failed. |
| 0x5591 | F205 | Control board EEPROM corrupted serial num stamp. |
| 0x5592 | F206 | Control board EEPROM corrupted serial num data. |
| 0x5593 | F207 | Control board EEPROM corrupted parameter stamp. |
| 0x5594 | F208 | Control board EEPROM corrupted parameter data. |
| 0x5595 | F219 | Control board EEPROM write failed. |
| 0x55A0 | F209 | Power board EEPROM read failed. |
| 0x55A1 | F210 | Power board EEPROM corrupted serial num stamp. |
| 0x55A2 | F212 | Power board EEPROM corrupted serial num data. |
| 0x55A3 | F213 | Power board EEPROM corrupted parameter stamp. |
| 0x55A4 | F214 | Power board EEPROM corrupted parameter data. |
| 0x55A5 | F230 | Power board EEPROM write failed. |
| 0x55A6 | F232 | Power board EEPROM invalid data. |
| 0x55B0 | F248 | Option board EEPROM corrupted. |
| 0x55B1 | F249 | Option board upstream checksum. |
| 0x55B2 | F250 | Option board upstream checksum. |
| 0x55B3 | F251 | Option board watchdog. |
| 0x55B8 | F252 | Firmware and option board FPGA types are not compatible. |
| 0x55B9 | F253 | Firmware and option board FPGA versions are not compatible. |
| 0x55C0 | F621 | Control Board CRC fault. |
| 0x55C1 | F623 | Power Board CRC fault. |
| 0x55C2 | F624 | Power Board Watchdog fault. |
| 0x55C3 | F625 | Power Board Communication fault. |
| 0x55C4 | F626 | Power Board FPGA not configured. |
| 0x55C5 | F627 | Control Board Watchdog fault. |
| 0x55C6 | n103 | Warning: Resident FPGA . |
| 0x55C7 | n104 | Warning: Operational FPGA . |
| 0x6080 | F631 | Issue command timed out |
| 0x6380 | F532 | Drive motor parameters setup incomplete. |
| 0x6381 | F120 | Failed to set default parameters. |
| 0x7180 | F301 | Motor overheat. |
| 0x7182 | F305 | Motor Brake open circuit. |
| 0x7183 | F306 | Motor Brake short circuit. |
| 0x7184 | F307 | Motor Brake applied during enable state. |
| 0x7185 | F436 | EnDAT overheated. |
| 0x7186 | n301 | Warning: Motor overheated. |
| 0x7187 | F308 | Voltage exceeds motor rating. |
| 0x7188 | F560 | Regen near capacity, could not prevent over voltage. |
| 0x7189 | F312 | Brake released when it should be applied. |
| 0x7305 | F417 | Broken wire in primary feedback. |
| 0x7380 | F402 | Feedback 1 Analog signal amplitudefault. |
| 0x7381 | F403 | Feedback 1 EnDat communication fault. |
| 0x7382 | F404 | Feedback 1 illegal hall state. |
| 0x7383 | F405 | Feedback 1 BiSS watchdog. |
| 0x7384 | F406 | Feedback 1 BiSS multi cycle. |
| 0x7385 | F407 | Feedback 1 BiSS sensor. |
| 0x7386 | F408 | Feedback 1 SFD configuration. |
| 0x7387 | F409 | Feedback 1 SFD UART overrun. |
| 0x7388 | F410 | Feedback 1 SFD UART frame. |
| 0x7389 | F412 | Feedback 1 SFD UART parity. |
| 0x738A | F413 | Feedback 1 SFD transfer timeout. |
| 0x738C | F415 | Feedback 1 SFD mult. corrupt position. |
| 0x738D | F416 | Feedback 1 SFD Transfer incomplete. |
| 0x738E | F418 | Feedback 1 power supply fault. |
| 0x738F | F401 | Feedback 1 failed to set feedback. |
| 0x7390 | n414 | Warning: SFD single corrupted position. |
| 0x7391 | F419 | Encoder init procedure failed. |
| 0x7392 | F534 | Failed to read motor parameters from feedback device. |
| 0x7393 | F421 | SFD position sensor fault. |
| 0x7394 | F463 | Tamagawa encoder: overheat. |
| 0x7395 | n451 | Warning: Tamagawa encoder battery. |
| 0x7396 | n423 | Warning: Non volatile memory error, multiturn overflow. |
| 0x7397 | F471 | Operation in Position Mode with Halls Only feedback not allowed |
| 0x7398 | F135 | Homing is needed. |
| 0x7399 | F468 | FB2.Source not set. |
| 0x739A | F469 | FB1.ENCRES is not power of two. |
| 0x739B | F423 | Non volatile memory error, multiturn overflow. |
| 0x739C | F467 | Hiperface DSL fault. |
| 0x739D | F452 | Multiturn overflow not supported with this feedback. |
| 0x739E | F465 | Excessive shock detected by feedback device. |
| 0x73A0 | F453 | Tamagawa encoder: communication timeout. |
| 0x73A1 | F454 | Tamagawa encoder: communication transfer incomplete. |
| 0x73A2 | F456 | Tamagawa encoder: communication CRC. |
| 0x73A3 | F457 | Tamagawa encoder: communication start timeout. |
| 0x73A4 | F458 | Tamagawa encoder: communication UART overrun. |
| 0x73A5 | F459 | Tamagawa encoder: communication UART framing. |
| 0x73A6 | F460 | Tamagawa encoder: over speed. |
| 0x73A7 | F461 | Tamagawa encoder: contouring error. |
| 0x73A8 | F462 | Tamagawa encoder: counting overflow. |
| 0x73A9 | F464 | Tamagawa encoder: multiturn error. |
| 0x73AA | F451 | Tamagawa encoder: battery. |
| 0x73B0 | F486 | Motor velocity exceeds emulated encoder maximum speed. |
| 0x73B8 | F420 | FB3 EnDat communication fault. |
| 0x73C0 | F473 | Wake and Shake. Insufficient movement. |
| 0x73C1 | F475 | Wake and Shake. Excessive movement. |
| 0x73C2 | F476 | Wake and Shake. Fine-coarse delta too large. |
| 0x73C3 | F478 | Wake and Shake. Overspeed. |
| 0x73C4 | F479 | Wake and Shake. Loop angle delta too large. |
| 0x73C5 | F482 | Commutation not initialized. |
| 0x73C6 | F483 | Motor U phase missing. |
| 0x73C7 | F484 | Motor V phase missing. |
| 0x73C8 | F485 | Motor W phase missing. |
| 0x73C9 | n478 | Warning: Wake and Shake. Overspeed. |
| 0x73D0 | F487 | Wake and Shake. Validating positive movement failed. |
| 0x73D1 | F489 | Wake and Shake. Validating negative movement failed. |
| 0x73D2 | F490 | Wake and Shake. Validating commutation angle time out. |
| 0x73D3 | F491 | Wake and Shake. Validating commutation angle moved too far. |
| 0x73D4 | F492 | Wake and Shake. Validating commutation angle required more than MOTOR.ICONT. |
| 0x73D5 | F493 | Invalid commutation detected, motor accelerates in wrong direction. |
| 0x8130 | F129 | Life Guard Error or Heartbeat Error. |
| 0x8180 | n702 | Warning: Fieldbus communication lost. |
| 0x8280 | n601 | Warning: Modbus data rate is too high. |
| 0x8311 | F304 | Motor foldback. |
| 0x8331 | F524 | Drive foldback. |
| 0x8380 | n524 | Warning: Drive foldback. |
| 0x8381 | n304 | Warning: Motor foldback. |
| 0x8382 | n309 | Warning: Motor I²t load. |
| 0x8383 | n580 | Warning: Using derivate of position when using sensorless feedback type in position mode. |
| 0x8384 | n581 | Warning: Zero velocity when using induction sensorless feedback type in position mode. |
| 0x8385 | n495 | Warning: Failed to process recorder cogging compensation table. |
| 0x8480 | F302 | Over speed. |
| 0x8481 | F703 | Emergency timeout occurred while axis should disable. |
| 0x8482 | F480 | Fieldbus command velocity too high. |
| 0x8483 | F481 | Fieldbus command velocity too low. |
| 0x8582 | n107 | Warning: Positive software position limit is exceeded. |
| 0x8583 | n108 | Warning: Negative software position limit is exceeded. |
| 0x8611 | F439 | Following error (user). |
| 0x8685 | F138 | Instability during autotune. |
| 0x8686 | n151 | Warning: Not enough distance to move; Motion Exception. |
| 0x8687 | n152 | Warning: Not enough distance to move; Following Motion Exception. |
| 0x8688 | n153 | Warning: Velocity Limit Violation, Exceeding Max Limit. |
| 0x8689 | n154 | Warning: Following Motion Failed; Check Motion Parameters. |
| 0x868A | n156 | Warning: Target Position crossed due to Stop command. |
| 0x86A0 | n157 | Warning: Homing Index pulse not found. |
| 0x86A1 | n158 | Warning: Homing Reference Switch not found. |
| 0x86A2 | n159 | Warning: Failed to set motion task parameters. |
| 0x86A3 | n160 | Warning: Motion Task Activation Failed. |
| 0x86A4 | n161 | Warning: Homing Procedure Failed. |
| 0x86A5 | F139 | Target Position Over Short due to invalid Motion task activation. |
| 0x86A6 | n163 | Warning: MT.NUM exceeds limit. |
| 0x86A7 | n164 | Warning: Motion task is not initialized. |
| 0x86A8 | n165 | Warning: Motion task target position is out. |
| 0x86A9 | n167 | Warning: Software limit switch traversed. |
| 0x86AA | n168 | Warning: Invalid bit combination in the motion task control word. |
| 0x86AB | n169 | Warning: 1:1 profile cannot be triggered on the fly. |
| 0x86AC | n170 | Warning: Customer profile table is not initialized. |
| 0x86AD | n171 | Warning: Motion task activation is currently pending |
| 0x86AE | n135 | Warning: Homing is needed. |
| 0x86AF | n174 | Warning: Homing maximum distance exceeded |
| 0x86B0 | F438 | Following error (numeric). |
| 0x86B6 | n179 | Teaching of Cogging compensation stopped before finishing |
| 0x86B7 | n180 | Cogging compensation not active. Axis needs to be homed first. |
| 0x8780 | F125 | Fieldbus synchronization lost. |
| 0x8781 | n125 | Warning: Fieldbus synchronization lost. |
| 0x8AF0 | n137 | Warning: Homing and feedback mismatch. |
| 0xFF00 | F701 | Fieldbus runtime. |
| 0xFF01 | F702 | Fieldbus communication lost. |
| 0xFF02 | F529 | Iu current offset limit exceeded. |
| 0xFF03 | F530 | Iv current offset limit exceeded. |
| 0xFF04 | F521 | Regen over power. |
| 0xFF07 | F525 | Output over current. |
| 0xFF08 | F526 | Current sensor short circuit. |
| 0xFF09 | F128 | MPOLES/FPOLES not an integer. |
| 0xFF0A | F531 | Power stage fault. |
| 0xFF0B | F602 | Safe torque off. |
| 0xFF0C | F131 | Secondary feedback A/B line break. |
| 0xFF0D | F130 | Secondary feedback supply over current. |
| 0xFF0E | F134 | Secondary feedback illegal state. |
| 0xFF0F | F245 | External fault. |
| 0xFF10 | F136 | Firmware and FPGA versions are not compatible. |
| 0xFF11 | F101 | Firmware type mismatch. |
| 0xFF12 | n439 | Warning: Following error (user). |
| 0xFF13 | n438 | Warning: Following error (numeric). |
| 0xFF14 | n102 | Warning: Operational FPGA is not a default FPGA. |
| 0xFF15 | n101 | Warning: The FPGA is a laboratory FPGA. |
| 0xFF16 | n602 | Warning: Safe torque off. |
| 0xFF17 | F132 | Secondary feedback Z line break. |
| 0xFF18 | n603 | Warning: OPMODE incompatible with CMDSOURCE. |
| 0xFF19 | n604 | Warning: EMUEMODE incompatible with DRV.HANDWHEELSRC. |
