Error management

Emergency object transmission is triggered by the occurrence of an internal error on a device connected to a CANopen network, and they are transmitted from an emergency producer (generally a node) to one or more emergency object consumers (generally the master, but other nodes could also interpret this object value, or it could even be ignored by them all). An emergency object is sent only once per error event.

The data content of the emergency message uses the following structure:

COB-ID (hex)

Byte number:

1

2

3

4

5

6

7

8

80 + Node ID


Emergency error codes
(Object 0x603F)

Error registers
(Object 0x1001)

Reserved (zero values)

Example 1

COB-ID (hex)

Number of Bytes

Data field (hex)

Description

89

8

06 73 80 00 00 00 00 00

Node 9 sends a differential encoder broken wire error (0x7306) emergency message.

Emergency error codes

A list of emergency error codes, presented in hexadecimal format, is shown in the following table:

Error code

Description

0x0000

No error

0x2280

Over-current peak has been detected in phase or DC-Bus line (HW system protection).
It could indicate a short circuit between phase and ground.
This is a generic error without information of the phases involved in the error.

0x2290

Over-current peak has been detected in phase (FW system protection).
It could indicate a short circuit between two phases or between a phase and DC-Bus input. This is a generic error without information of the phases involved in the error.

0x2291

Over-current peak has been detected in phase A (FW system protection).
It could indicate a short circuit between phase A and another phase or DC-Bus input.

0x2292

Over-current peak has been detected in phase B (FW system protection).
It could indicate a short circuit between phase B and another phase or DC-Bus input.

0x2293

Over-current peak has been detected in phase C (FW system protection).
It could indicate a short circuit between phase C and another phase or DC-Bus input.

0x22A0

Initial current reading out of range (FW system protection).
This error indicates a Hardware malfunction, please contact Ingenia or your local vendor.

0x22A1

Initial current reading of Phase A out of range (FW system protection).
This error indicates a Hardware malfunction, please contact Ingenia or your local vendor.

0x22A2

Initial current reading of Phase B out of range (FW system protection).
This error indicates a Hardware malfunction, please contact Ingenia or your local vendor.

0x22A3

Initial current reading of Phase C out of range (FW system protection).
This error indicates a Hardware malfunction, please contact Ingenia or your local vendor.

0x2350

An I2T over-current has been detected (FW system protection).
The maximum phase peak current (Overload capacity) allowed by the controller has been reached.

0x2380

Saturation of current measurement system has been detected.
In system with VGA it could indicate a selected measurement range too narrow.

0x2381

Saturation of current measurement system has been detected in phase A.
In system with VGA it could indicate a selected measurement range too narrow.

0x2382

Saturation of current measurement system has been detected in phase B.
In system with VGA it could indicate a selected measurement range too narrow.

0x2383

Saturation of current measurement system has been detected in phase C.
In system with VGA it could indicate a selected measurement range too narrow.

0x3210

System over voltage detected.
Indicates that maximum absolute voltage of the controller has been exceeded. This error could be the consequence of a regenerative movement when working on power supplies with low capacitance or negative current protection. In such case use an external shunt to dissipate the excess of energy generated by the load.

0x3211

User over voltage detected.
Indicates that the maximum voltage indicated by the user has been over passed. This error is only generated in systems without shunt resistor.

0x3220

System under voltage detected.
Indicates that minimum absolute voltage of the controller is not reached.

0x3221

User under voltage detected.
Indicates that the minimum voltage indicated by the user has not been reached.

0x4300

User temperature out of range detected.
Indicates that the temperature of the controller is out of the range specified by the user.

0x4310

System over temperature detected (FW system protection).
Indicates that the maximum allowed temperature of the controller has been exceeded.

0x4320

System under temperature detected (FW system protection).
Indicates that the minimum allowed temperature of the controller is not reached.

0x5210

Internal VGA communication problem detected.
This error indicates a Hardware malfunction, please contact Ingenia or your local vendor.

0x5400

Output power section problem detected (system protection).
This error indicates a Hardware malfunction, please contact Ingenia or your local vendor.

0x5430

Input stage problem detected. Voltage not stable or not available (system protection).
This error indicates a Hardware malfunction, please contact Ingenia or your local vendor.

0x5530

Internal NVM communication problem detected.
This error indicates a Hardware malfunction, please contact Ingenia or your local vendor.

0x6185

Internal EEPROM full error.
This error indicates that size of object dictionary data is higher than the space available in EEPROM.

0x6186

Internal EEPROM full error (Communication Dictionary).
This error indicates that size of Communication object dictionary is higher than assigned space in EEPROM.

0x6187

Internal EEPROM full error (Manufacturer Dictionary).
This error indicates that size of Manufacturer object dictionary is higher than assigned space in EEPROM.

0x6188

Internal EEPROM full error (Device Dictionary).
This error indicates that size of Device object dictionary is higher than assigned space in EEPROM.

0x7121

Motor blocked.

This error indicates that the motor has been blocked. Only applies to stepper with encoder position feedback.

0x7124

Motor not detected.

This error indicates that the motor has not been detected. Only applies to stepper motors when entering in Operation Enable state.

0x7303

Error in resolver signals detected.
This error indicates a loss or degradation of resolver signals.

0x7306

Differential encoder broken wire detected.
Indicates that one of the differential signals of the quadrature incremental encoder is not detected probably due to the breakage of the line.

0x7307

Encoder index pulse integrity check error.
Indicates that there is a mismatch between the detected counts per revolution on the digital encoder 1 index pulse against the theoretical digital encoder 1 resolution.

0x7380

SSI encoder error.

Indicates that an error occurs during the decodification of a SSI frame. Usually it means that an error flag in the SSI frame is enabled.

0x7381

SinCos encoder error.

Indicates that an error occurs during the SinCos signal reading. Usually it means that the SinCos signals are too noisy for a proper operation.

0x7387

Position following error.

Indicates that position following error has exceeded the allowed value. 

0x7388

Velocity following error.

Indicates that velocity following error has exceeded the allowed value. 

0x8110

CAN bus over-run.
Indicates that one or more CAN message has been lost.

0x8120

CAN error in passive mode.
Indicates that have been detected more than 127 reception errors, or more than 127 but less than 255 transmission errors.

0x8130

Lifeguard error.
It indicates that the node has not received a Node Guard message within its Lifetime.

0x8140

Recovered from CAN bus off.
Indicates that the controller has been recovered from a previous CAN bus off situation.

0x8141

CAN Bus off occurred.
Indicates that has been detected more than 255 errors during transmission of messages.

0x8210

PDO not processed due to length error.
This error indicates that a CAN RPDO has not been processed because the received data length does not match the expected one.

0x8280

Error decoding serial message.

This error indicates that the serial message sent to the driver is incorrect. Further information about the serial message format can be found in this link .

0x8613

Homing timeout detected.
Indicates that the homing has not been able to finish the process within the maximum allowed time.

0xFF02

Not allowed digital hall combination detected.
Indicates that a not allowed combination of digital halls feedback has been detected
(i.e all zero or all ones).

0xFF03

Not allowed sequence of digital halls has been detected.
Indicates that a not allowed sequence of digital halls combination has been detected.

0xFF04

Angular error in forced alignment method is out of tolerance.
Indicates that the result of forced alignment method during initial angle determination process for brushless motor has been out of specified tolerance during all retries.

0xFF05

Interpolated position mode buffer full.
Indicates that the interpolation data input buffer has reached its limit.

0xFF06

Error in Analog hall signals detected.
Indicates that one of the analog signals has been disconnected or it is out of allowed range.

0xFF10

A stand-alone divide by zero instruction detected.
Indicates that a division instruction has been executed with a zero divisor.

0xFF20

RS232 reception overflow.
Indicates that some of the RS232 characters have been lost.

0xFF30

Executing a non-existing macro or instruction address.
Indicates that a macro or instruction higher than the allowed 64 has been executed.

0xFF31

Macro stack full.
Indicates that the macro calling stack is full due to an excess of nested execution.

0xFF33

Detected interrupt without associated macro function.
Indicates that an interrupt has been activated and generated but it does not have an associated macro function.

0xFF34

Saving or restoring out of learned position space.
Indicates that an access to a not existing learned position table has been done.

0xFF40

EtherCAT synchronization error.

Indicates that a synchronization error has occurred using EtherCAT in DC mode.

0xFF41

EtherCAT plugin board disconnected.

Indicates that the Ingenia drive with the EtherCAT firmware has been powered up without the EtherCAT plugin board

0xFF42

EtherCAT cable has been disconnected.

Indicates that EtherCAT communication with master has been lost, normally due to a cable disconnection.

0xFF50

Incorrect object access.

This error appears if the application tries to access to a nonexistent object, write in a read-only object or read a write-only object. Other incorrect access situations are signaled with this error.

0xFF60

Safe torque off activated.

Indicates that the power stage has been deactivated due to the STO mechanism

0xFF61

Too many CRC errors in Panasonic encoder

Indicates that at least 50% of the messages received from the encoder are corrupted

0xFF62

Generic Panasonic encoder error

Indicates that an error in the Panasonic encoder has occurred. Check the error register of the encoder.

0xFF63

Communication with Panasonic encoder lost

Indicates that the encoder has not replied to at least 50% of the position requests sent by the drive. Review the encoder's connection

0xFF64

Panasonic encoder power loss

Indicates that the encoder has lost power and the PS signal has been set to 1.

Related objects

0x1001 - Error register

0x1003 - Pre-defined error field

0x603F - Error code