ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 104)

Motor Fault Description Motor Fault
Value (MF
Command)
Error
Code
Error
Register
Speed limit exceeded: VX < LL[2] or VX > HL[2] 0x20000 0x8481 0x81
Stack overflow: fatal exception. May occur if CPU
cannot handle a real-time load due to too low a
sampling time. 0x40000 0x6180 0x81
CPU exception: fatal exception. 0x8000 0x6181 0x81
Timing Error 0x100000 0x5281 0x81
Motor stuck: motor powered but not moving
according to definition of CL[2] and CL[3]. 0x200000 0x7121 0x21
Position limit exceeded: PX < LL[3] or PX > HL[3]
(UM=5), or PY < LL[3] or PY > HL[3] (UM=4). 0x400000 0x8680 0x81
Reserved 0x8000000 0x1000 0x81
Cannot tune current offsets 0x10000000 0x8381 0x81
Cannot start motor 0x20000000 0xFF10 0x81
Reserved 0x800000 0x8680 0x81
Reserved 0x1000000 0x8312 0x3
Cannot start motor 0x20000000 0x5400 0x21
Under-voltage: power supply is shut down or it
has too high an output impedance. 0x3000 0x3120 0x5
Over-voltage: power-supply voltage is too high
or servo drive could not absorb kinetic energy
while braking a load. A shunt resistor may be
required. 0x5000 0x3310 0x5
Reserved 0x7000 0x3100 0x5
Reserved 0x9000 0x2311 0x3
Short circuit: motor or its wiring may be
defective, or drive is faulty. 0xb000 0x2340 0x3
Temperature: drive overheating. The
environment is too hot or heat removal is not
efficient. Could be due to large thermal resistance
between drive and its mounting. 0xd000 0x4310 0x9
Reserved 0xf000 0x5282 0x81
Table 13-3: Motor Shut Down by Fault Emergency Error Codes
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-27