132 / 157 V3.3 11.07.2007 KRC-AD-KRC2ed05-BA en
KR C2 edition05
11.12.13KSD error messages
Valid from Firmware V0.3 onwards
11.13 ESC diagnosis
Overview The ESC diagnosis indicates the current state of the ESC circuit and the active
ESC signals. The current structure of the ESC circuit is determined when the
ESC diagnosis is started. The ESC diagnosis loads the suitable configuration
based on the structure it finds. A separate configuration can be defined for
each structure.
11.13.1 User interface
Procedure Open the menu via Monitor > ESC Diagnosis.
Description The type and number of nodes available depend on the periphery used. The
ESC diagnosis monitors all the robot controllers in a RoboTeam system. The
arrow keys can be used to navigate in the ESC diagnosis tool.
IBS
trip
num
ber
Lecom
error
number
Message
text
Description
0 0 "ok" Device state OK
1 72 "Pr1-Trip" Checksum error in parameter set 1
3 105 "HO5-Trip" Checksum error in the control unit
device set
5 71 "CCr-Trip" Microcontroller crash
6 11 "OC1-Trip" Power unit overcurrent (short-circuit
or ground fault), hardware monitor-
ing
7 12 "OC2-Trip" Ground fault, software monitoring
8 15 "OC5-Trip" I*t overload
10 50 "OH-Trip" Overtemperature, heat sink
11 91 "EEr-Trip" External error, short-circuit braking
requested by the controller
19 32 "LP1-Trip" Motor phase failure
24 79 "Pr5-Trip" Communication error with the EEP-
ROM in the control unit
28 65 "CE4-Trip" Max. permissible number of com-
munication errors with the drive bus
exceeded, or too many toggle bit
errors in succession, causes short-
circuit braking.
43 80 "PR6-Trip" Communication error with the EEP-
ROM in the power unit
44 106 "H06-Trip" Checksum error in the power unit
device set
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