Lenze 9400 - Manual (Page 338)

9 "CAN on board" system bus
9.9 Monitoring
338
Lenze · Servo-Inverter 9400 HighLine · Reference manual · DMS 10.0 EN · 11/2013 · TD05/06
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
9.9.3 Emergency telegram
If the error status changes because an internal device error occurs or has been eliminated, the NMT
master receives an emergency telegram once with the following structure:
Example

Tip!
A detalied description can be found in CAN specification DS301, V4.02.
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Emergency error code Error register Manufacturer-specific error message
LOW byte HIGH byte I-1001 0x00
(reserved)
LOW word HIGH word
LOW byte HIGH byte LOW byte HIGH byte
See table below • With emergency error code 0x1000: Lenze error number
(displayed value in C00168 )
• All other emergency error codes have a value of "0" here.
Emergency error code Error register Cause
0x0000 0xXX One of several errors eliminated
0x00 One error has been eliminated (error-free status afterwards)
0x1000 0x01 Generic error
• In the standard device, an error has occurred with the error
response "Fault", "Trouble", "Quick stop by trouble", "Warning",
"Warning locked" or "System fault".
• Error message is the Lenze error number ( C00168 ).
• For error cause see fault error description ( C00166 ).
0x3100 0x01 Supply voltage of standard device faulty or failed
0x8100 0x11 Communication error (warning)
0x8130 0x11 Life guarding error or heartbeat error
0x8150 0x11 Collision of identifiers (COB-IDs): An identifier parameterised for
reception is also used for transmission.
0x8210 0x11 PDO length shorter than expected
0x8220 0x11 PDO length greater than expected
0x8700 0x11 Monitoring of the sync telegram
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Emergency error code Error register Manufacturer-specific error message
0x00 0x10 0x01 0x00
(reserved)
0x1B 0x00 0x7B 0x00
Generic error Lenze error message 0x007b001b: Encoder wire
breakage.  Error messages of the operating system
Corresponding error-free message: Value
"0x00000000"