Emergency Telegram (EMCY)
Kollmorgen drives send an Emergency Telegram whenever a software or hardware fault is detected. The drives send an Emergency Telegram at switch on without any data bytes (only COB_ID).
| COB_ID | B0 | B1 | B2 | B3 | B4 | B5 | B6 | B7 |
|---|---|---|---|---|---|---|---|---|
|
80H+NodeID |
603F.0H |
1001.0H |
1002.0H |
|||||
Error Code (603F.0H): standard CiA error code
Error register (1001.0H): standard CiA error register
Manufacturer Specific Error Register (1002.0H)
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- The EtherCAT version of drives supports either EMCY or Diagnostics.
Emergency Codes
| Error Code | Error Register | Manufacturer Specific Error Register | Fault Type | Description | Note |
|---|---|---|---|---|---|
|
FF01h |
81h |
01h |
Non-Fatal |
Division by zero |
(3) (4) |
|
FF08h |
81h |
08h |
Non-Fatal |
Value out of range |
(3) (4) |
|
FF15h |
81h |
15h |
Fatal |
Thermal protection |
(1) (3) |
|
FF16h |
81h |
16h |
Fatal |
Voltage protection |
(1) (3) |
|
FF17h |
81h |
17h |
Fatal |
Current protection |
(1) (2) |
|
FF1Ah |
81h |
1Ah |
Fatal |
Watch dog |
(1) (2) |
|
FF28h |
81h |
28h |
Fatal |
Missing calibration |
(1) (2) |
|
FF33h |
81h |
33h |
Fatal |
Open phase: verify motor connections |
(1) (2) |
|
FF4Ah |
81h |
4Ah |
Fatal |
Internal software |
(1) (2) |
|
FF59h |
81h |
59h |
Fatal |
EEprom fail |
(1) (2) |
|
FF5Bh |
81h |
5Bh |
Fatal |
Motor current regulation out of range |
(1) (3) |
|
FF5Fh |
81h |
5Fh |
Fatal |
Feedback error (closed loop) |
(1) (3) |
|
FF62h |
81h |
62h |
Fatal |
EEprom write overrun |
(1) |
|
FF63h |
81h |
63h |
-- |
Reserved |
-- |
|
FF64h |
81h |
64h |
Non-Fatal |
Sync not received (ip / csp / csv / cst modes) – Abort communication |
(3) (4) (5) |
|
FF65h |
81h |
65h |
Non-Fatal |
Forward limit switch reached |
(3) (4) |
|
FF66h |
81h |
66h |
Non-Fatal |
Backward limit switch reached |
(3) (4) |
|
8130h |
11h |
67h |
Non-Fatal |
Guarding fail |
(3) (4) (5) |
|
FF68 |
81h |
68h |
Fatal |
Missing torque enable |
(1) (3) |
|
FF69 |
81h |
69h |
Fatal |
I2T protection |
(1) (3) |
|
FF6A |
81h |
6Ah |
Non-Fatal |
Heartbeat monitoring fail |
(3) (4) (5) |
|
FF7F |
81h |
7Fh |
Non-Fatal |
Bus off |
(3) (4) (5) |
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-
-
(1) The drive device is no longer able to control the motor, and an immediate switch-off of the motor is necessary.
-
(2) To reset the fault condition, it is necessary to reset the drive with the 'Reset Node command' or switch off the drive. Contact Kollmorgenif you cannot reset the fault condition. Before trying to reset the fault, make sure the condition that caused the fault has been resolved. It is not possible to reset the fault condition with Fault reset transition #15 (See State Machine).
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(3) The fault is reset with ‘Fault' reset transition #15 (See State Machine).
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(4) See Fault_reaction_option_code (605E.0H) object.
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(5) See Abort_connection_option_code (6007.0H) object.
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