ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 103)

Motor Fault Description Motor Fault
Value (MF
Command)
Error
Code
Error
Register
Resolver or Analog Encoder feedback failed 1 0x7300 0x81
Reserved 1 0x7305 0x21
Reserved 2 0x7306 0x21
Feedback loss: no match between encoder and
Hall locations. Available in encoder + Hall
feedback systems 4 0x7380 0x81
Peak current has been exceeded due to:
ƒ Drive malfunction
ƒ Badly-tuned current controller
8 0x8311 0x21
Disabled by Limit switch 0x10 0x5441 0x21
ECAM table problem 0x20 0x5280 0x81
Two digital Hall sensors changed at once; only
one sensor can be changed at a time. 0x40 0x7381 0x81
Speed tracking error DV[2]-VX (for UM=2, 4 or 5)
exceeded speed error limit ER[2], due to:
ƒ Bad tuning of speed controller
ƒ Too tight a speed-error tolerance
ƒ Inability of motor to accelerate to required
speed because line voltage is too low, or
motor is not powerful enough
0x80 0x8480 0x81
Position tracking error DV[3]-PX (UM5) or
DV[3]-PY (UM=4) exceeded position error limit
ER[3], due to:
ƒ Bad tuning of position or speed controller
ƒ Too tight a position error tolerance
ƒ Abnormal motor load, a mechanical limit
reached
0x100 0x8611 0x21
Cannot start due to inconsistent database. This
type of database inconsistency is reflected in
status SR report and in CD CPU dump report. 0x200 0x6320 0x21
Too large a difference in ECAM table entries. 0x400 0x5280 0x81
Heartbeat failure, occurring only if drive is set to
“Abort under heartbeat failure” in a CANopen
network (object 0x6007 in CAN object dictionary
set to 1, malfunction). 0x800 0x8130 0x11
Cannot find electrical zero of motor when
attempting to start motor with an incremental
encoder and no digital Hall sensors. Applied
motor current may not suffice for moving motor
from its place. 0x10000 0x8380 0x81
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-26