Kollmorgen S300

4 CANopen Drive Profile
4.1 Emergency Messages
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 (Þ chapter 3). The higher-value byte of the error number describes the error category,
and the lower-value byte provides the error number in this category.
Error numbers from 0000
h
to 7FFF
h
are defined in the communication or drive profile. Error num
-
bers from FF00
h
to FFFF
h
have manufacturer-specific definitions. The error category can be used
to classify the significance of any errors that occur. The following error categories are defined:
1: Errors that can only be cleared by a reset (COLDSTART command, or Bit 7 in the
control word Þ p.58). If you reset the amplifier in case of a cat.1 error, the servo amplifier
will be restarted by a coldstart.
2: Errors that can be cleared by Bit 7 in the control word (Þ p.58).
3: Error messages that may appear when a PDO is processed.
4: Faults, that cannot be cleared by the user.
5: Operating errors/warnings.
The cat. 1 and 2 errors are indicated by blinking of the LED display in the front panel. (Fxx, xx =
error number). The following table describes the various Error Codes:
Error Code Category Description
0000
h
— Error reset or no error (mandatory)
1000
h
— Generic error (mandatory)
1080
h
5 No BTB/RTO (status not ready for operation)
2330h 2 Error in ground connection (F22)
2380h 1 Error in motor connection (phase fault) (F12)
3100
h
2 No mains/line-BTB (F16)
3110
h
2 Overvoltage in DC-bus/DC-link (F02)
3120
h
2 Undervoltage in DC-bus/DC-link (F05)
3130
h
2 Supply line phase missing (with PMODE = 2) (F19)
4110
h
2 Ambient temperature too high (F13)
4210
h
1 Heat sink temperature too high (F01)
4310
h
1 Motor temperature too high (F06)
5111
h
1
Fault in ±15V auxiliary voltage (F07)
5380
h
1 Fault in A/D converter (F17)
5400
h
1 Fault in output stage (F14)
5420
h
1 Ballast (chopper) (F18)
5441
h
1 Operating error for AS-option (F27)
5530
h
1 Serial EEPROM (F09)
6320
h
3 Parameter error
7111
h
1 Braking error/fault (F11)
7122
h
1 Commutation error (F25)
7181
h
5 Could not enable S300/S700
7303
h
1 Feedback device error (F04)
7305h 1 Signal failure digital encoder input (F10)
8182
h
1 CAN bus off (F23)
8331
h
2I
2
t (torque fault, F15)
8480
h
2 Overspeed (F08)
8611
h
2 Lag/following error (n03/F03)
8681
h
5 Invalid motion task number
FF01
h
1 Serious exception error (F32)
FF02
h
3 Error in PDO elements
FF04
h
1 Slot error (F20)
FF05
h
1 Handling error (F21)
FF06
h
2 Warning display as error (F24)
FF07
h
2 Homing error (drove onto HW limit switch) (F26)
FF08
h
2 Sercos error (F29)
FF11
h
2 Emergency timeout failure(F30)
26 CANopen for S300/S700
CANopen Drive Profile 11/2018 Kollmorgen