User`s manual

DS2100 User’s Manual SECTION 7: CANOPEN DRIVE PROFILE: DS402

PAGE 7-6 C27750-001

7.7 Emergency Messages

Error messages are triggered by internal errors in the Drive. An Error Code field within an error message defines the

cause of the error. DS402 extends the list of error codes listed in DS301 to more specific drive related errors. The

following Emergency messages will be sent, when drive faults, corresponding to F1..F15 occur.

Emer. Msg ErrReg DS402 Meaning Description

0x2340 0x03 Current on output side: Short Circuit Power Stage Short Circuit Fault

0x3210 0x05 Voltage: DC Link Over-voltage DC Bus Over Voltage Fault

0x2310 0x03 Device Hardware: Power Section Regen. Fault

0x4110 0x09 Temperature: Excess Ambient Temp. Ambient Over temperature Fault

0x4210 0x09 Temperature: Excess Temp. Device Bridge Over temperature Fault

0x4310 0x09 Temperature: Excess Temp. Drive Motor Over temperature Fault

0x7305 0x01 Add Modules: Sensor: Incremental sensor 1 fault. Encoder Fault

0x7303 0x01 Add Modules: Sensor: Resolver 1 Fault Resolver Fault

0x5100 0x01 Device Hardware: Supply Logic/Analog Supply Fault

0x5530 0x01 Device Hardware: Non-volatile data memory Database / NVM Fault

0x8100 0x11 Monitoring : Communication CAN Fault

0x3200 0x05 Voltage: DC link voltage DC Bus Fault

0x6100 0x01 Device Software: internal software Program Fault

0x2300 0x03 Current on device output side Current Loop Fault

0x5200 0x01 Device Hardware: Control Board Fault

Table 7.1 List of 402 Emergency Messages

7.8 Predefined Objects

Some default values for communication objects that are not listed in the communication profile [1] are defined by

DS402 [2]. The mandatory mappings of the Control Word into the Receive PDO, and the Status Word into the

Transmit PDO have been implemented. In addition since 4 RPDO and 4 TPDO are implemented, the mappings for

this Objects are also implemented, however only the first RPDO and TPDO are not inhibited, the other PDO’s are

inhibited by default. The following table lists the predefined object parameters that are implemented :-