Printed in the Federal Republic of Germany TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 149 of 153
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A ratio had to be corrected, because it was infinite or 0. Numerator and
denominator may have both changed.
A range had to be corrected, because the upper limit was not larger than the
lower one. The stroke equals 1 + upper limit - lower limit and must have at least 2
increments. Lower and upper limit may have both changed.
Additional modules – generic error
Main disk sensor failed:
too much consecutive read errors -> fatal fault
Gear disk sensors failed:
too much consecutive read errors -> fault if not calibrating
Position sensor failed: absolute and incremental position doesn’t fit.
Possible causes: missing calibration, broken gear -> fault if not calibrating
If the offset of a satellite disk exceeds the adjustment tolerance, an emergency
warning 0x7320+n is sent, where n is the satellite number. This means that the gear
disk calibration should be repeated. But unless there is an emergency 0x7300 or
0x7320, the current position or velocity ramp can be finished safely.
Warning: the gear disks have only been calibrated quickly. Then the function of the
gear can't be guaranteed, because the full measuring range obviously has not been
tested, and exceeding the tolerances is more probably due to the poor
accuracy of the quick calibration.
If not calibrating the gear disks: Bad or missing calibration of the gear disks.
-> fault if not calibrating anything.
During the gear disk calibration: AS5040/45 linearity error due to a magnetic field that
is out of range: missing magnet, magnet too is close or too far away.
-> fault
Actually the emergencies 0x7330+n are sent, where n is the gear disk number from 1
to GEARDISKS_MAX. 0 is the main disk.
If not calibrating the gear disks: Bad or missing calibration of the gear disks.
-> fault if not calibrating anything.
During the gear disk calibration: AS5040/45 linearity error due to a magnetic field that
is out of range: missing magnet, magnet too is close or too far away.
-> fault
Actually the emergencies 0x7330+n are sent, where n is the gear disk number from 1
to GEARDISKS_MAX. 0 is the main disk.
Warning: the gear disks have only been calibrated quickly. Then the function of the
gear can't be guaranteed, because the full measuring range obviously has not been
tested, and exceeding the tolerances is more probably due to the poor
accuracy of the quick calibration.
Monitoring – generic error
Monitoring, communication – generic error
Monitoring, CAN overrun (loss of messages)
Monitoring, CAN switched to error passive
Monitoring, Life-Guard error or Heartbeat error
Monitoring, recovered from bus off
Monitoring, collision of the CAN-ID
Protocol error – generic error
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