1003h Pre-defined Error Field Function This object contains an error stack with up to eight entries. Object description Index 1003h Object name Pre-defined Error Field Object Code ARRAY Data type UNSIGNED32 Savable no Firmware version FIR-v1426 Change history Value description Subindex 00h Name Number Of Errors Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 01h Name 1st Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 02h Name 2nd Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 03h Name 3th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 04h Name 4th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 05h Name 5th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 06h Name 6th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 07h Name 7th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 08h Name 8th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Description General function If a new error occurs, it is entered in subindex 1. The already existing entries in subindices 1 to 7 are moved back one position. The error in subindex 7 is thereby removed. The number of errors that have already occurred can be read from the object with subindex 0. If no error is currently entered in the error stack, it is not possible to read one of the eight subindices 1–8 and an error (abort code = 08000024h) is sent in response. If a "0" is written in subindex 0, counting starts again from the beginning. Bit description Error Number [8] This can be used to pinpoint the cause of the error. The meaning of the number can be found in the following table. Error number Description 0 Watchdog-Reset 1 Input voltage (+Ub) too high 2 Output current too high 3 Input voltage (+Ub) too low 4 Error at fieldbus 6 CANopen only: NMT master takes too long to send Nodeguarding request 7 Sensor 1 (see 3204h): Error through electrical fault or defective hardware 8 Sensor 2 (see 3204h): Error through electrical fault or defective hardware 9 Sensor 3 (see 3204h): Error through electrical fault or defective hardware 10 Warning: Positive limit switch exceeded 11 Warning: Negative limit switch exceeded 12 Overtemperature error 13 The values of object 6065h (Following Error Window) and object 6066h (Following Error Time Out) were exceeded; a fault was triggered. 14 Warning: Nonvolatile memory full. The current save process could not be completed; parts of the data of the save process are lost. Controller must be restarted for cleanup work. 15 Motor blocked 16 Warning: Nonvolatile memory damaged; controller must be restarted for cleanup work (all saved objects are reset to default). 17 CANopen only: Slave took too long to send PDO messages. 18 Sensor n (see 3204h), where n is greater than 3: Error through electrical fault or defective hardware 19 CANopen only: PDO not processed due to a length error 20 CANopen only: PDO length exceeded 21 Warning: Restart the controller to avoid future errors when saving (nonvolatile memory full/corrupt). 22 Rated current must be set (203Bh:01h/6075h) 23 Encoder resolution, number of pole pairs and some other values are incorrect. 24 Motor current is too high, adjust the PI parameters. 25 Internal software error, generic 26 Current too high at digital output 27 CANopen only: Unexpected sync length 30 Error in speed monitoring: slippage error too large 32 Internal error: Correction factor for reference voltage missing in the OTP 35 STO Fault: STO was requested but not via both STO inputs. 36 STO Changeover: STO was requested but not via both STO inputs. If this state lasts longer than 100 ms, the controller switches to the STO Fault state. 37 STO Active: STO is active, it generates no torque or holding torque. 38 STO Self-Test: Error during self-test of the firmware. Contact Nanotec. 40 Warning: Ballast resistor thermally overloaded 41 Only EtherCAT: Sync Manager Watchdog: The controller has not received any PDO data for an excessively long period of time; check the software and hardware connections. 43 Input voltage (+Ub Logic) too high 44 Input voltage (+Ub Logic) too low 46 Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs) 48 Only CANopen: NMT status has been set to stopped Error Class[8] This byte is identical to object 1001h Error Code[16] Refer to the following table for the meaning of the bytes. Error Code Description 1000h General error 2300h Current at the controller output too large 3100h Overvoltage/undervoltage at controller input 4200h Temperature error within the controller 5440h Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs) 6010h Software reset (watchdog) 6100h Internal software error, generic 6320h Rated current must be set (203Bh:01h/6075h) 7113h Warning: Ballast resistor thermally overloaded 7121h Motor blocked 7200h Internal error: Correction factor for reference voltage missing in the OTP 7305h Sensor 1 (see 3204h) faulty 7306h Sensor 2 (see 3204h) faulty 7307h Sensor n (see 3204h), where n is greater than 2 7600h Warning: Nonvolatile memory full or corrupt; restart the controller for cleanup work 8100h Error during fieldbus monitoring 8130h CANopen only: "Life Guard" error or "Heartbeat" error 8200h CANopen only: Slave took too long to send PDO messages. 8210h CANopen only: PDO was not processed due to a length error 8220h CANopen only: PDO length exceeded 8240h CANopen only: unexpected sync length 8400h Error in speed monitoring: slippage error too large 8611h Position monitoring error: Following error too large 8612h Position monitoring error: Limit switch exceeded
1003h Pre-defined Error Field Function This object contains an error stack with up to eight entries. Object description Index 1003h Object name Pre-defined Error Field Object Code ARRAY Data type UNSIGNED32 Savable no Firmware version FIR-v1426 Change history Value description Subindex 00h Name Number Of Errors Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 01h Name 1st Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 02h Name 2nd Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 03h Name 3th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 04h Name 4th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 05h Name 5th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 06h Name 6th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 07h Name 7th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 08h Name 8th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Description General function If a new error occurs, it is entered in subindex 1. The already existing entries in subindices 1 to 7 are moved back one position. The error in subindex 7 is thereby removed. The number of errors that have already occurred can be read from the object with subindex 0. If no error is currently entered in the error stack, it is not possible to read one of the eight subindices 1–8 and an error (abort code = 08000024h) is sent in response. If a "0" is written in subindex 0, counting starts again from the beginning. Bit description Error Number [8] This can be used to pinpoint the cause of the error. The meaning of the number can be found in the following table. Error number Description 0 Watchdog-Reset 1 Input voltage (+Ub) too high 2 Output current too high 3 Input voltage (+Ub) too low 4 Error at fieldbus 6 CANopen only: NMT master takes too long to send Nodeguarding request 7 Sensor 1 (see 3204h): Error through electrical fault or defective hardware 8 Sensor 2 (see 3204h): Error through electrical fault or defective hardware 9 Sensor 3 (see 3204h): Error through electrical fault or defective hardware 10 Warning: Positive limit switch exceeded 11 Warning: Negative limit switch exceeded 12 Overtemperature error 13 The values of object 6065h (Following Error Window) and object 6066h (Following Error Time Out) were exceeded; a fault was triggered. 14 Warning: Nonvolatile memory full. The current save process could not be completed; parts of the data of the save process are lost. Controller must be restarted for cleanup work. 15 Motor blocked 16 Warning: Nonvolatile memory damaged; controller must be restarted for cleanup work (all saved objects are reset to default). 17 CANopen only: Slave took too long to send PDO messages. 18 Sensor n (see 3204h), where n is greater than 3: Error through electrical fault or defective hardware 19 CANopen only: PDO not processed due to a length error 20 CANopen only: PDO length exceeded 21 Warning: Restart the controller to avoid future errors when saving (nonvolatile memory full/corrupt). 22 Rated current must be set (203Bh:01h/6075h) 23 Encoder resolution, number of pole pairs and some other values are incorrect. 24 Motor current is too high, adjust the PI parameters. 25 Internal software error, generic 26 Current too high at digital output 27 CANopen only: Unexpected sync length 30 Error in speed monitoring: slippage error too large 32 Internal error: Correction factor for reference voltage missing in the OTP 35 STO Fault: STO was requested but not via both STO inputs. 36 STO Changeover: STO was requested but not via both STO inputs. If this state lasts longer than 100 ms, the controller switches to the STO Fault state. 37 STO Active: STO is active, it generates no torque or holding torque. 38 STO Self-Test: Error during self-test of the firmware. Contact Nanotec. 40 Warning: Ballast resistor thermally overloaded 41 Only EtherCAT: Sync Manager Watchdog: The controller has not received any PDO data for an excessively long period of time; check the software and hardware connections. 43 Input voltage (+Ub Logic) too high 44 Input voltage (+Ub Logic) too low 46 Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs) 48 Only CANopen: NMT status has been set to stopped Error Class[8] This byte is identical to object 1001h Error Code[16] Refer to the following table for the meaning of the bytes. Error Code Description 1000h General error 2300h Current at the controller output too large 3100h Overvoltage/undervoltage at controller input 4200h Temperature error within the controller 5440h Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs) 6010h Software reset (watchdog) 6100h Internal software error, generic 6320h Rated current must be set (203Bh:01h/6075h) 7113h Warning: Ballast resistor thermally overloaded 7121h Motor blocked 7200h Internal error: Correction factor for reference voltage missing in the OTP 7305h Sensor 1 (see 3204h) faulty 7306h Sensor 2 (see 3204h) faulty 7307h Sensor n (see 3204h), where n is greater than 2 7600h Warning: Nonvolatile memory full or corrupt; restart the controller for cleanup work 8100h Error during fieldbus monitoring 8130h CANopen only: "Life Guard" error or "Heartbeat" error 8200h CANopen only: Slave took too long to send PDO messages. 8210h CANopen only: PDO was not processed due to a length error 8220h CANopen only: PDO length exceeded 8240h CANopen only: unexpected sync length 8400h Error in speed monitoring: slippage error too large 8611h Position monitoring error: Following error too large 8612h Position monitoring error: Limit switch exceeded
Object description Index 1003h Object name Pre-defined Error Field Object Code ARRAY Data type UNSIGNED32 Savable no Firmware version FIR-v1426 Change history
Value description Subindex 00h Name Number Of Errors Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 01h Name 1st Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 02h Name 2nd Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 03h Name 3th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 04h Name 4th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 05h Name 5th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 06h Name 6th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 07h Name 7th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value Subindex 08h Name 8th Standard Error Field Data type UNSIGNED32 Access read only PDO mapping no Allowed values Preset value
Description General function If a new error occurs, it is entered in subindex 1. The already existing entries in subindices 1 to 7 are moved back one position. The error in subindex 7 is thereby removed. The number of errors that have already occurred can be read from the object with subindex 0. If no error is currently entered in the error stack, it is not possible to read one of the eight subindices 1–8 and an error (abort code = 08000024h) is sent in response. If a "0" is written in subindex 0, counting starts again from the beginning. Bit description Error Number [8] This can be used to pinpoint the cause of the error. The meaning of the number can be found in the following table. Error number Description 0 Watchdog-Reset 1 Input voltage (+Ub) too high 2 Output current too high 3 Input voltage (+Ub) too low 4 Error at fieldbus 6 CANopen only: NMT master takes too long to send Nodeguarding request 7 Sensor 1 (see 3204h): Error through electrical fault or defective hardware 8 Sensor 2 (see 3204h): Error through electrical fault or defective hardware 9 Sensor 3 (see 3204h): Error through electrical fault or defective hardware 10 Warning: Positive limit switch exceeded 11 Warning: Negative limit switch exceeded 12 Overtemperature error 13 The values of object 6065h (Following Error Window) and object 6066h (Following Error Time Out) were exceeded; a fault was triggered. 14 Warning: Nonvolatile memory full. The current save process could not be completed; parts of the data of the save process are lost. Controller must be restarted for cleanup work. 15 Motor blocked 16 Warning: Nonvolatile memory damaged; controller must be restarted for cleanup work (all saved objects are reset to default). 17 CANopen only: Slave took too long to send PDO messages. 18 Sensor n (see 3204h), where n is greater than 3: Error through electrical fault or defective hardware 19 CANopen only: PDO not processed due to a length error 20 CANopen only: PDO length exceeded 21 Warning: Restart the controller to avoid future errors when saving (nonvolatile memory full/corrupt). 22 Rated current must be set (203Bh:01h/6075h) 23 Encoder resolution, number of pole pairs and some other values are incorrect. 24 Motor current is too high, adjust the PI parameters. 25 Internal software error, generic 26 Current too high at digital output 27 CANopen only: Unexpected sync length 30 Error in speed monitoring: slippage error too large 32 Internal error: Correction factor for reference voltage missing in the OTP 35 STO Fault: STO was requested but not via both STO inputs. 36 STO Changeover: STO was requested but not via both STO inputs. If this state lasts longer than 100 ms, the controller switches to the STO Fault state. 37 STO Active: STO is active, it generates no torque or holding torque. 38 STO Self-Test: Error during self-test of the firmware. Contact Nanotec. 40 Warning: Ballast resistor thermally overloaded 41 Only EtherCAT: Sync Manager Watchdog: The controller has not received any PDO data for an excessively long period of time; check the software and hardware connections. 43 Input voltage (+Ub Logic) too high 44 Input voltage (+Ub Logic) too low 46 Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs) 48 Only CANopen: NMT status has been set to stopped Error Class[8] This byte is identical to object 1001h Error Code[16] Refer to the following table for the meaning of the bytes. Error Code Description 1000h General error 2300h Current at the controller output too large 3100h Overvoltage/undervoltage at controller input 4200h Temperature error within the controller 5440h Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs) 6010h Software reset (watchdog) 6100h Internal software error, generic 6320h Rated current must be set (203Bh:01h/6075h) 7113h Warning: Ballast resistor thermally overloaded 7121h Motor blocked 7200h Internal error: Correction factor for reference voltage missing in the OTP 7305h Sensor 1 (see 3204h) faulty 7306h Sensor 2 (see 3204h) faulty 7307h Sensor n (see 3204h), where n is greater than 2 7600h Warning: Nonvolatile memory full or corrupt; restart the controller for cleanup work 8100h Error during fieldbus monitoring 8130h CANopen only: "Life Guard" error or "Heartbeat" error 8200h CANopen only: Slave took too long to send PDO messages. 8210h CANopen only: PDO was not processed due to a length error 8220h CANopen only: PDO length exceeded 8240h CANopen only: unexpected sync length 8400h Error in speed monitoring: slippage error too large 8611h Position monitoring error: Following error too large 8612h Position monitoring error: Limit switch exceeded
General function If a new error occurs, it is entered in subindex 1. The already existing entries in subindices 1 to 7 are moved back one position. The error in subindex 7 is thereby removed. The number of errors that have already occurred can be read from the object with subindex 0. If no error is currently entered in the error stack, it is not possible to read one of the eight subindices 1–8 and an error (abort code = 08000024h) is sent in response. If a "0" is written in subindex 0, counting starts again from the beginning.
Bit description Error Number [8] This can be used to pinpoint the cause of the error. The meaning of the number can be found in the following table. Error number Description 0 Watchdog-Reset 1 Input voltage (+Ub) too high 2 Output current too high 3 Input voltage (+Ub) too low 4 Error at fieldbus 6 CANopen only: NMT master takes too long to send Nodeguarding request 7 Sensor 1 (see 3204h): Error through electrical fault or defective hardware 8 Sensor 2 (see 3204h): Error through electrical fault or defective hardware 9 Sensor 3 (see 3204h): Error through electrical fault or defective hardware 10 Warning: Positive limit switch exceeded 11 Warning: Negative limit switch exceeded 12 Overtemperature error 13 The values of object 6065h (Following Error Window) and object 6066h (Following Error Time Out) were exceeded; a fault was triggered. 14 Warning: Nonvolatile memory full. The current save process could not be completed; parts of the data of the save process are lost. Controller must be restarted for cleanup work. 15 Motor blocked 16 Warning: Nonvolatile memory damaged; controller must be restarted for cleanup work (all saved objects are reset to default). 17 CANopen only: Slave took too long to send PDO messages. 18 Sensor n (see 3204h), where n is greater than 3: Error through electrical fault or defective hardware 19 CANopen only: PDO not processed due to a length error 20 CANopen only: PDO length exceeded 21 Warning: Restart the controller to avoid future errors when saving (nonvolatile memory full/corrupt). 22 Rated current must be set (203Bh:01h/6075h) 23 Encoder resolution, number of pole pairs and some other values are incorrect. 24 Motor current is too high, adjust the PI parameters. 25 Internal software error, generic 26 Current too high at digital output 27 CANopen only: Unexpected sync length 30 Error in speed monitoring: slippage error too large 32 Internal error: Correction factor for reference voltage missing in the OTP 35 STO Fault: STO was requested but not via both STO inputs. 36 STO Changeover: STO was requested but not via both STO inputs. If this state lasts longer than 100 ms, the controller switches to the STO Fault state. 37 STO Active: STO is active, it generates no torque or holding torque. 38 STO Self-Test: Error during self-test of the firmware. Contact Nanotec. 40 Warning: Ballast resistor thermally overloaded 41 Only EtherCAT: Sync Manager Watchdog: The controller has not received any PDO data for an excessively long period of time; check the software and hardware connections. 43 Input voltage (+Ub Logic) too high 44 Input voltage (+Ub Logic) too low 46 Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs) 48 Only CANopen: NMT status has been set to stopped Error Class[8] This byte is identical to object 1001h Error Code[16] Refer to the following table for the meaning of the bytes. Error Code Description 1000h General error 2300h Current at the controller output too large 3100h Overvoltage/undervoltage at controller input 4200h Temperature error within the controller 5440h Interlock error: Bit 3 in 60FDh is set to "0", the motor may not start (see the section Interlock function in the chapter Digital inputs) 6010h Software reset (watchdog) 6100h Internal software error, generic 6320h Rated current must be set (203Bh:01h/6075h) 7113h Warning: Ballast resistor thermally overloaded 7121h Motor blocked 7200h Internal error: Correction factor for reference voltage missing in the OTP 7305h Sensor 1 (see 3204h) faulty 7306h Sensor 2 (see 3204h) faulty 7307h Sensor n (see 3204h), where n is greater than 2 7600h Warning: Nonvolatile memory full or corrupt; restart the controller for cleanup work 8100h Error during fieldbus monitoring 8130h CANopen only: "Life Guard" error or "Heartbeat" error 8200h CANopen only: Slave took too long to send PDO messages. 8210h CANopen only: PDO was not processed due to a length error 8220h CANopen only: PDO length exceeded 8240h CANopen only: unexpected sync length 8400h Error in speed monitoring: slippage error too large 8611h Position monitoring error: Following error too large 8612h Position monitoring error: Limit switch exceeded
