Full Product Manual

38
5201 Heatsink overtemp
Controller heat sink has
reached critical high
temperature, and has shut
down.
52C1 Encoder Fault
Encoder input wire-off is
detected.
52C2 Motor Overcurrent Fault
Motor current exceeded
controller rated maximum
52C3 Current Control Fault
Motor controller unable to
maintain control of motor
currents
52C4 Motor Overspeed Fault
Motor control tripped due to
motor overspeed
52C5 Encoder Alignment Severe Encoder is not aligned properly.
52C6 di/dt fault (suspected s/c)
Large rate of change of current
detected multiple times.
Suspected MOSFET, motor or
wiring short circuit.
52C7
Vcap Overvotlage (software
overvoltage)
Measured capacitor voltage has
exceeded controller maximum.
5301 CANBUS Fault
CANbus fault condition
detected on multinode system.
5302 Bootup not received
CANopen slave has not
transmitted boot up message at
power up
5303 LPRX queue overrun
CANbus fault condition
detected on multinode system.
5304 LPTX queue overrun
CANbus fault condition
detected on multinode system.
5305 HPRX queue overrun
CANbus fault condition
detected on multinode system.
5306 HPTX queue overrun
CANbus fault condition
detected on multinode system.
5307 CAN overrun
CANbus fault condition
detected on multinode system.
5308 CAN off bus
CANbus fault condition
detected on multinode system.
5309 Nodeguarding Failed Not used
530A Short PDO received
Received RPDO doesn't
contains enough bytes
530B CANopen Heartbeat Failed
Heartbeat not received within
configured time out (0x1016)
530C CANopen slave in wrong state
CANopen slave has changed to
unexpected state
530D CAN ESTAT set Internal CANbus fault
530E SDO HDL Error Internal CANbus fault
530F SDO Timeout Error Internal CANbus fault
5310 SDO Abort Error Internal CANbus fault
5311 SDO State Error Internal CANbus fault
5312 SDO Toggle Error Internal CANbus fault
5313 SDO Rec Error Internal CANbus fault
5314 SDO Len Error Internal CANbus fault
5315 SDO Send Error Internal CANbus fault
5316 SDO unknown event Internal CANbus fault
5317 SDO Bad SRC Internal CANbus fault
5318 SDO bad error number Internal CANbus fault