User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Error code Additional byte Description
1 2 3 4 5
8110
h
1 255 0 0 0 CAN controller overflow
The receive message buffer of the CAN controller hardware is
full and some CAN messages are lost.
8110
h
2 255 0 0 0 CAN Tx buffer overflow
The software CAN transmit buffer is full and thus some CAN
messages are lost.
8110
h
3 255 0 0 0 CAN Rx buffer overflow
The software CAN receive buffer is full and so some CAN mes-
sages are lost.
8120
h
0 255 0 0 0 CAN error passive
The CAN controller has detected communication errors and
has entered the CAN Error passive state.
8140
h
0 255 0 0 0 CAN controller recovered from bus-off state
The CAN controller has detected too many errors and has
changed into the bus-off state. The drive has been stopped
and disabled. This message is sent after the CAN controller
has recovered from bus-off state and is bus-on again.
8611
h
0 0 0 0 0 Following error
The deviation between motor position counter and encoder
position counter has exceeded the following error window.
ff00
h
0 0 0 0 0 Undervoltage
The supply voltage is too low to drive a motor.
ff01
h
1 0 0 0 0 Positive software limit
The actual position is outside the range defined by object
607d
h
.
ff01
h
2 0 0 0 0 Negative software limit
The actual position is outside the range defined by object
607d
h
.
ff01
h
3 0 0 0 0 Positive limit switch
The positive limit switch has been touched outside of the hom-
ing function.
ff01
h
4 0 0 0 0 Negative limit switch
The negative limit switch has been touched outside of the
homing function.
Table 322: Emergency Messages (EMCY)
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