Lenze 931M-931W - Manual (Page 49)

CANopen communication
Emergency telegram
Telegram structure
5

49 KHB 13.0003-EN 2.0
5.6 Emergency telegram
The controller monitors the functioning of its main components, e. g. voltage supply and
power stage. In addition, the motor (temperature, phase-angle encoder) and the limit
switches are checked continuously. Incorrect parameter settings can also lead to error
messages (division by zero, etc.).
5.6.1 Telegram structure
11 bits 4 bits Error code 1001
h
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Identifier
Data
length
E0 E1 R0 00 00 00 00 00
The drive controller sends an emergency telegram if an error occurs. The identifier of this
message is composed of the identifier 80
h
and the node address of the drive controller
concerned.
The emergency telegram consists of eight bytes. The first and second byte contain the
error_code. In the third byte there is an additional error code (object 1001
h
). The fourth to
eighth byte are always set to zero.
The following error codes may appear:
Error cause Display 2nd byte 1st byte 3rd byte 4th ... 8th
byte
E1 E0 R0
Stack overflow E01 0 61 80 00 ... 00
DC-bus undervoltage E02 0 32 20 00 ... 00
Motor overtemperature E03 0 43 10 00 ... 00
Power electronics overtemperature E04 0 42 10 00 ... 00
DC-bus overtemperature E04 1 42 80 00 ... 00
Failure of internal voltage 1 E05 0 51 14 00 ... 00
Failure of internal voltage 2 E05 1 51 15 00 ... 00
Driver supply failure E05 2 51 16 00 ... 00
Digital I/O undervoltage E05 3 54 10 00 ... 00
Digital I/O overcurrent E05 4 54 10 00 ... 00
Short circuit in power stage E06 0 21 10 00 ... 00
Overvoltage E07 0 32 10 00 ... 00
Resolver phase-angle encoder error E08 0 73 80 00 ... 00
Incremental encoder track signal (Z0) error E08 2 73 82 00 ... 00
Incremental encoder track signal (Z1) error E08 3 73 83 00 ... 00
Digital incremental encoder track signal error E08 4 73 84 00 ... 00
Incremental encoder track signal Hall encoder signal
error
E08 5 73 85 00 ... 00
Homing: Start error E11 0 8A 80 00 ... 00
Homing error E11 1 8A 81 00 ... 00
Homing: Zero-pulse error E11 2 8A 82 00 ... 00
CAN bus: Double node number E12 0 81 80 00 ... 00
CAN communication error: BUS OFF E12 1 81 20 00 ... 00
CAN communication error during sending E12 2 81 81 00 ... 00