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:
|80 + Node ID|
Reserved (zero values)
Number of Bytes
Data field (hex)
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:
Over-current peak has been detected in phase or DC-Bus line (HW system protection).
Over-current peak has been detected in phase (FW system protection).
Over-current peak has been detected in phase A (FW system protection).
Over-current peak has been detected in phase B (FW system protection).
Over-current peak has been detected in phase C (FW system protection).
Initial current reading out of range (FW system protection).
Initial current reading of Phase A out of range (FW system protection).
Initial current reading of Phase B out of range (FW system protection).
Initial current reading of Phase C out of range (FW system protection).
An I2T over-current has been detected (FW system protection).
Saturation of current measurement system has been detected.
Saturation of current measurement system has been detected in phase A.
Saturation of current measurement system has been detected in phase B.
Saturation of current measurement system has been detected in phase C.
System over voltage detected.
User over voltage detected.
System under voltage detected.
User under voltage detected.
User temperature out of range detected.
System over temperature detected (FW system protection).
System under temperature detected (FW system protection).
Internal VGA communication problem detected.
Output power section problem detected (system protection).
Input stage problem detected. Voltage not stable or not available (system protection).
Internal NVM communication problem detected.
Internal EEPROM full error.
Internal EEPROM full error (Communication Dictionary).
Internal EEPROM full error (Manufacturer Dictionary).
Internal EEPROM full error (Device Dictionary).
This error indicates that the motor has been blocked. Only applies to stepper with encoder position feedback.
Motor not detected.
This error indicates that the motor has not been detected. Only applies to stepper motors when entering in Operation Enable state.
Error in resolver signals detected.
Differential encoder broken wire detected.
Encoder index pulse integrity check error.
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.
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.
Position following error.
Indicates that position following error has exceeded the allowed value.
Velocity following error.
Indicates that velocity following error has exceeded the allowed value.
CAN bus over-run.
CAN error in passive mode.
Recovered from CAN bus off.
CAN Bus off occurred.
PDO not processed due to length error.
Error decoding serial message.
Homing timeout detected.
Not allowed digital hall combination detected.
Not allowed sequence of digital halls has been detected.
Angular error in forced alignment method is out of tolerance.
Interpolated position mode buffer full.
Error in Analog hall signals detected.
A stand-alone divide by zero instruction detected.
RS232 reception overflow.
Executing a non-existing macro or instruction address.
Macro stack full.
Detected interrupt without associated macro function.
Saving or restoring out of learned position space.
EtherCAT synchronization error.
Indicates that a synchronization error has occurred using EtherCAT in DC mode.
EtherCAT plugin board disconnected.
Indicates that the Ingenia drive with the EtherCAT firmware has been powered up without the EtherCAT plugin board
EtherCAT cable has been disconnected.
Indicates that EtherCAT communication with master has been lost, normally due to a cable disconnection.
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.
Safe torque off activated.
Indicates that the power stage has been deactivated due to the STO mechanism
Too many CRC errors in Panasonic encoder
Indicates that at least 50% of the messages received from the encoder are corrupted
Generic Panasonic encoder error
Indicates that an error in the Panasonic encoder has occurred. Check the error register of the encoder.
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
Panasonic encoder power loss
Indicates that the encoder has lost power and the PS signal has been set to 1.