Error Report Object

This object specifies occurring errors.

The Description sub-object 0x203F:1 is an 8-character string that provides further information about an error and displays short hexadecimal codes.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Description 0x203F:1 STRING(8) 64 0 readonly (default) Transmit or Receive PDO
Error Code Description Explanation / Remedy
NoFault No fault is to be reported. This is the default value of the object.

Protection faults of user-defined parameters

Note

These error codes concern the user-defined parameters. If no user value was configured, the default values are taken instead!

Error Code Description Explanation / Remedy
PuOcA A current was detected in phase A that exceeds the current limit set by the user. Reset your Drive and find the reason for the over-current.

Reasons for over-current may include (but are not limited to):

  • Low supply voltage. The gate drivers will not work properly if the DC-Link voltage is below 12 V.
  • Short-circuited conductors due to permanent damage to inverter FETs.
  • Excess voltage (high values of DC-link voltage can increase the current measurement noise, and reaction to measurement noise can lead to current spikes)
  • The torque, velocity or position controller is too sharp.
  • Faulty encoder feedback. In most cases, an error regarding the encoder will be thrown.
PuOcB A current was detected in phase B that exceeds the current limit set by the user.
PuOcC A current was detected in phase C that exceeds the current limit set by the user.
PuOt The measured temperature* exceeds the limit. Make sure your drive is having a proper heat dissipation. The heatsink should always be connected by proper thermal paste to a to an adequate heat dissipating structure. Install an operational fan if necessary.
PuUv The measured voltage fell below the under-voltage limit set by the user. Make sure the power consumption of your Drive is not higher than the output power limit of DC power supply
PuOv The measured voltage exceeds the over-voltage limit set by the user. In Regenerative mode: ensure that the power supply accepts DC current.

* Temperature values can't be configured! Default values are taken instead!

Note

These errors can also cause subsequent faults or be caused by other faults.

Hardware Protection Faults

Error Code Description Explanation / Remedy
PhUdef Undefined in CIA 402 standard

Hardware Protection fault.

An Error occurred that is not defined in CiA 402.

Hardware protection has an unknown state or does not work properly.

PhFault Hardware Protection generic fault. Any of the parameters that are checked is faulty.
PhWtdg Watchdog ticks fault. Watchdog ticks are used to ensure that the main loop of your microcontroller is executed correctly. When the watchdog ticks are not toggled in time this could indicate that slaves aren't responding.
PhDeadTA Deadtime fault in phase A. Deadtime is needed to prevent a short circuit. If the deadtime is not respected, this will trigger an error which is detected by hardware protection.
PhDeadTB Deadtime fault in phase B.
PhDeadTC Deadtime fault in phase C.
PhDeadTD Deadtime fault in phase D.
PhOvUvOt Either Over-voltage, under-voltage or over-temperature was triggered. These values are measured by the same circuit. It can't be specified which parameter triggered the error.
PhOc Hardware Protection of Over-current was triggered. Reset your Drive and find the reason for the over-current.

Reasons for over-current may include (but are not limited to):

  • Low supply voltage. The gate drivers will not work properly if the DC-Link voltage is below 12 V.
  • Short-circuited conductors due to permanent damage to inverter FETs.
  • Excess voltage (high values of DC-link voltage can increase the current measurement noise, and reaction to measurement noise can lead to current spikes)
  • The torque, velocity or position controller is too sharp.
  • Faulty encoder feedback. In most cases, an error regarding the encoder will be thrown.

BiSS Sensor Faults

Error Code Description Explanation / Remedy
BisErBit BiSS protocol error bit received. This error code is part of the BiSS Protocol, check your Sensor datasheet.
BisWnBit BiSS protocol warning bit received. This error code is part of the BiSS Protocol, check your Sensor datasheet.
BisAcBit Acknowledge bit not received. The slave does not respond correctly. The slave does not respond correctly.
BisSrtBt Start bit not received.
BisSloLo SLO line is low (Slave not ready).
BisFrame BiSS frame configuration issue. The size of the frame is higher than the configured frame.
BisCrc Wrong CRC received. Communication error.

SSI Sensor Faults

Error Code Description Explanation / Remedy
SsiFrame SSI frame configuration issue. The size of the frame is higher than the configured frame.
SsiDtaLo Data line is low (Slave not ready). The slave does not respond correctly.
SsiChksm Wrong parity received. Communication error. (Parity is a 1-bit CRC)

REM16MT Sensor Faults

Error Code Description
R16WkMgF Weak magnetic field
R16Cont Multiturn counter error
R16CorDc Singleturn CORDIC error
R16SpdOv Multiturn speed overflow
R16FtCfg Filter configuration error
R16FtSOF Filter speed overflow error
R16UnCmd Unknown command
R16Chksm Checksum error

 

REM14 Sensor Faults

Error Code Description
R14Chksm Checksum error

QEI Sensor Faults

Error Code Description Explanation / Remedy
QeiLsTck Unexpected number of ticks in two successive index detections. This can happen with high-resolution encoders in high-speed applications. There is a threshold of 1% of the sensor's resolution. Check the encoder resolution
QeiNoIdx The QEI index that is used for commutation was not found.
  • Check your Sensor cable.
  • Is the Sensor blocked?
  • Is the motor turning?

Hall Sensor Faults

Error Code Description Explanation / Remedy
HallSeq Wrong hall outputs sequence. Check if all pins are properly connected.
HallFlt Hall output has a constant value. At offset detection, a function is performed that checks if the sensor receives plausible data when the motor is turned.

Generic Sensor Faults

Error Code Description Explanation / Remedy
SnsrAngl Wrong commutation angle
  • At Offset detection, all possible angles are checked during one turn
  • Can also be triggered if the angle is out of range, for example [0, 4095]
SnsrCfg Sensor configuration issue This error can happen if the configuration is known to be faulty. (For example: Resolution = 0)

Brake Faults

Error Code Description Explanation / Remedy
BrkNtRls Brake release failed Try to increase
  • The amplitude of applied torque
  • brake pull voltage.
  • Pull time
BkHiPull Pull brake voltage higher than measured DC bus voltage. This is a warning after brake parameter configuration. The voltage will be set to max DC Bus voltage
BkHiHold Hold brake voltage higher than measured DC bus voltage.

Open Terminal Faults

Error Code Description Explanation / Remedy
OpnTermA Drive terminal A opened Terminal A is disconnected from the motor. Please check if the motor is properly connected to the Drive, and re-trigger the Drive again.
OpnTermB Drive terminal B opened Terminal B is disconnected from the motor. Please check if the motor is properly connected to the Drive, and re-trigger the Drive again.
OpnTermC Drive terminal C opened Terminal C is disconnected from the motor. Please check if the motor is properly connected to the Drive, and re-trigger the Drive again.

Open FET Faults

Error Code Description Explanation / Remedy
OpnFetAH Drive FET A (high side) opened Permanent fault in a Drive FET. Please change the inverter.
OpnFetBH Drive FET B (high side) opened
OpnFetCH Drive FET C (high side) opened
OpnFetAL Drive FET A (low side) opened
OpnFetBL Drive FET B (low side) opened
OpnFetCL Drive FET C (low side) opened

Parameter Faults

Error Code Description Explanation / Remedy
IvldOfst Commutation offset is not valid Run offset detection again.
IvldOpmd Requested opmode is not supported Check the  opmodes supported by SOMANET
ZeroMxI User limit on "max current" is 0 Max current is given in per thousandth of rated current.
ZeroMxT User limit on "max torque " is 0 Max torque is given in per thousandth of rated torque.
ZeroMxMS User limit on "max motor speed" is 0  Max motor speed is given in rotations per minute (rpm).

 

Communication Faults

Error Code Description Explanation / Remedy
CyclicHb PDO message heartbeat (implying drop of a cyclic action). PDO messages are used for the cyclic heartbeat. There is an issue with EtherCAT communication.

I2t Protection Errors

Error Code Description Explanation / Remedy
I2tActv I2t protection is active. Due to overheating of the motor, the output current is limited to equal or less the nominal current.

For details see I2T