ElmoMC CANopen DS 301 Implementation Guide User Manual
Page 39
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The following table lists the supported CAN emergencies. The Emergency error code for
all messages in the table is 0xFF00, and the error register is 0x81.
Error
Code
(Hex)
Symbolic Name
Reason
Data Field
0x56
PVT_QUEUE_LOW
Number of valid PVT data
rows has dropped below
value stated in MP[5].
Field 1: Write pointer
Field 2: Read pointer
0x5B
BAD_HEAD_POINTER
Write pointer out of physical
range [1…64] of PVT table.
MP[6] setting may be wrong.
Value of MP[6]
0x34
PVT_QUEUE_FULL
Attempt made to program
more PVT points than
supported by queue.
Field 1: Index of PVT
table entry that could
not be programmed
0x7
BAD_MODE_INIT_DATA
Cannot initialize motion due
to bad setup data. Write
pointer is outside range
specified by start pointer and
end pointer.
0x8
MOTION_TERMINATED
Mode terminated and motor
automatically stopped (in
MO=1).
Field 1: Write pointer
Field 2:
1: End of trajectory in
non-cyclic mode
2: Zero or negative
time specified for
motional interval
3: Read pointer
reached write pointer
0xA6
OUT_OF_MODOLU
The position is more than 2
Modolu.
Table 6-1: Emergency Codes (PVT/PT Motion)
For more details, refer to
CANopen DS 301 Implementation Guide
Emergency (EMCY)
MAN-CAN301IG (Ver. 2.1)
6-2