Motion iWMC Series - Page 54

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When a fatal error occurs inside the device, an emergency message is triggered and sent by the applicaon device to other
devices with the highest priority. An emergency message consists of 8 bytes.
Table 7-21 Emergency message format
COB-ID
Byte 0-1
Byte2
Byte4-5
Byte6-7
Emergency
message staon
number 0x101400
Conngency
error code
0x603F00
Error register (0x100100)
Error status
0x260100
Error status
0x260200
Table 7-22 Emergency error code0x603F00
Alarm content
Emergency error codes
(Hex)
Alarm content
Emergency error codes
(Hex)
The communicaon encoder is not
connected
0x7331
Current sensor failure
0x5210
Communicaon encoder multurn
error
0x7320
Soware watchdog
reset
0x6010
Communicaon encoder
vericaon error
0x7330
Abnormal interrupon
0x6011
The drive temperature is too high
0x4210
MCU failure
0x7400
The driver bus voltage is too high
0x3210
The motor model is
miscongured
0x6320
The driver bus voltage is too low
0x3220
The motor power line
is out of phase
0x6321
The drive power secon is short-
circuited, or the motor is short-
circuited
0x2320
Pre-enable alarm
0x5443
Current sampling saturaon
0x2321
The posive limit bit is
reported as an error
0x5442
The drive brake resistance is
abnormal
0x7110
Negave limit bit error
reported
0x5441
The actual following error exceeds
the allowable error
0x8611
SPI failure
0x6012
Low logic voltage
0x5112
Bus communicaon
error
0x8100
The motor or drive is overloaded
0x2350
Bus communicaon
med out
0x81FF
The input pulse frequency is too
high
0x8A80
Full closed-loop check
for errors
0x8A81
The motor temperature is too high
0x4310
Main encoder ABZ
failure
0x7382
The communicaon encoder did
not respond
0x7331
The primary encoder
count is incorrect
0x7306
EEPROM data error
0x6310
Table7-23 Error register