User Guide

9.5 Error Codes
The board provides two means of error indications, via the inner LED and via the
CAN bus.
9.5.1 Red LED
Off: No error
One fast blink every second: Restart after brown-out reset. Supply voltage
dropped below minimum value. Increase stability
of supply.
Two fast blinks every second: Restart after watch-dog reset. Microcontroller
got stuck. Get in contract with Commonplace
Robotics.
Three fast blinks every second: CAN error has occurred
9.5.2 CAN-bus
Error
Bit in
error byte
Meaning
Possible action
Brown Out
or Watch
Dog
Bit 1
Microcontroller restarted
after a brown out. Supply
voltage was too low or µC got
stuck.
Increase stability of supply
voltage. Reset errors.
Velocity Lag
Bit 2
Velocity changes too fast
Reset errors, enable again. Slower
acceleration.
Motor not
enabled
Bit 3
Not an error. Motor needs to
be enabled by explicit
command
Enable motor when appropriate.
Comm
Watch
Dog
Bit 4
Interval without command
was too long
Provide the position or velocity
commands in a reliable and short
enough time interval. Increase
maxMissedCom.
Position
Lag
Bit 5
Position is too far away from
the setpoint position
Provide setpoint positions
reachable to the current motor