Moog ACV Series - Page 17

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 xv
8 Diagnostics............................................................................................266
8.1 Fault reaction ........................................................................................................................... 266
8.1.1 Fault reaction flow chart ............................................................................................. 267
8.1.2 Possible fault codes ................................................................................................... 268
8.1.3 Fault reaction type...................................................................................................... 271
8.1.3.1 Object 0x2830: Fault reaction type........................................................ 271
8.1.4 Error codes depending on fault codes........................................................................ 272
8.1.5 Fault status................................................................................................................. 274
8.1.5.1 Object 0x2831: Fault status................................................................... 274
8.1.5.2 Object 0x2834: Fault retain status......................................................... 275
8.1.6 Error register .............................................................................................................. 275
8.1.6.1 Object 0x1001: Error register ................................................................ 275
8.1.7 Last eight fault codes and error codes ....................................................................... 276
8.1.7.1 Object 0x1003: Predefined error field.................................................... 276
8.1.8 Last eight error message descriptions ....................................................................... 277
8.1.8.1 Object 0x2832: Fault reaction description ............................................. 277
8.1.8.2 Object 0x2833: Fault history number .................................................... 277
8.1.9 Emergency message.................................................................................................. 277
8.1.10 Fault disappears......................................................................................................... 278
8.1.11 Fault acknowledgment ............................................................................................... 278
8.2 Internal errors .......................................................................................................................... 278
8.2.1 Object 0x2822: Internal error code............................................................................. 278
8.2.2 Object 0x2823: Internal error time.............................................................................. 279
8.3 Abort SDO Transfer Protocol ................................................................................................. 279
8.4 Troubleshooting ...................................................................................................................... 280
8.4.1 Fault code descriptions .............................................................................................. 280
8.4.1.1 Not implemented fault ........................................................................... 280
8.4.1.2 0x02: Error during startup...................................................................... 280
8.4.1.3 0x03: Error DSP program download ..................................................... 280
8.4.1.4 0x04: Error DSP realtime data transmission ......................................... 280
8.4.1.5 0x05: Power supply voltage too low ...................................................... 280
8.4.1.6 0x06: Power supply voltage too high..................................................... 281
8.4.1.7 0x07: Internal supply voltage too low .................................................... 281
8.4.1.8 0x08: Internal supply voltage too high................................................... 281
8.4.1.9 0x0D: Electronics temperature too low (< –20 °C) ................................ 281
8.4.1.10 0x0E: Electronics temperature too high (> 85 °C)................................. 281
8.4.1.11 0x0F: Electronics temperature exceeded (> 105 °C) ............................ 282
8.4.1.12 0x11: Pilot/single stage LVDT cable break............................................ 282
8.4.1.13 0x14: Main stage LVDT cable break ..................................................... 282
8.4.1.14 0x1C: Analog input 2 supply cable break/short circuit........................... 282
8.4.1.15 0x1D: Analog input 3 supply cable break/short circuit........................... 283
8.4.1.16 0x1E: Analog input 4 supply cable break/short circuit........................... 283
8.4.1.17 0x1F…0x23: Analog input 0…4 current too low (4…20 mA) / ADC
overflow (voltage) .................................................................................. 283
8.4.1.18 0x29: Encoder channel a cable break ................................................... 283
8.4.1.19 0x2A: Encoder channel b cable break................................................... 284
8.4.1.20 0x2B: Encoder channel z cable break................................................... 284
8.4.1.21 0x2C: SSI error...................................................................................... 284
8.4.1.22 0x30: Internal nonvolatile memory initialization error ............................ 284
8.4.1.23 0x32: Software coding........................................................................... 285
8.4.1.24 0x33: Software reset (watchdog) occurred............................................ 285