5 CANopen Drive Profile
5.1 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 numbers (2 bytes), an error register (1byte), the error category (1 byte) and additional inform-
ation (➜ # 15). 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 0000h to 7FFFh
are defined in the communication or drive profile. Error numbers from FF00h to FFFFh have man-
ufacturer specific definitions. The error category can be used to classify the significance of any
errors that occur. Defined error categories are:
1. Errors that can only be cleared by a reset (COLDSTART command, or Bit 7 in the control
word (➜ # 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 (➜ # 58).
3. Error messages that may appear when a PDO is processed.
4. Errors, 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.
Error Code Category Error number Description
0000h — — Error reset or no error (mandatory)
1000h — — Generic error (mandatory)
1080h 5 — No BTB/RTO (status not ready for operation)
2330h 2 F22 Error in ground connection
2380h 1 F12 Error in motor connection (phase fault)
3100h 2 F16 No mains/line-BTB
3110h 2 F02 Overvoltage in DC-bus/DC-link
3120h 2 F05 Undervoltage in DC-bus/DC-link
3130h 2 F19 Supply line phase missing (with PMODE = 2)
4110h 2 F13 Ambient temperature too high
4210h 1 F01 Heat sink temperature too high
4310h 1 F06 Motor temperature too high
5111h 1 F07 Fault in ±15V auxiliary voltage
5380h 1 F17 Fault in A/D converter
5400h 1 F14 Fault in output stage
5420h 1 F18 Ballast (chopper)
5441h 1 F27 Operating error for AS-option
5530h 1 F09 Serial EEPROM
6320h 3 — Parameter error
7111h 1 F11 Braking error/fault
7122h 1 F25 Commutation error
7181h 5 — Could not enable servo amplifier
7303h 1 F04 Feedback device error
7305h 1 F10 Signal failure digital encoder input
8182h 1 F23 CAN bus off
8331h 2 F15 I
2
t (torque fault)
8480h 2 F08 Overspeed
8611h 2 n03/F03 Lag/following error
8681h 5 — Invalid motion task number
FF01h 1 F32 Serious exception error
FF02h 3 — Error in PDO elements
FF04h 1 F20 Slot error
FF05h 1 1 Handling error
FF06h 2 F24 Warning display as error
FF07h 2 F26 Homing error (drove onto HW limit switch)
FF08h 2 F29 Sercos error
FF11h 2 F30 Emergency timeout failure
S300-S700 CANopen | 5 CANopen Drive Profile
Kollmorgen | kdn.kollmorgen.com | December 2019 27
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