MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD
Servo
Drive -
Device
Help
27
6
11 Alarm & warnings
Error
No.
Error location
Error handling
Emergency
code
CiA 402
(17)
Safety-system run-up
with illegal firmware!
(18)
Firmware-update of
safety-system failed!
(19)
FPGA firmware and
non-safe firmware
mismatch
(20)
Safety production
data invalid (no data
or CRC failure).
(21)
CRC failure of non-
safe ROM
(22)
No support of
software part or
hardware option in
this software version
(23)
Functional safety, fatal
error on system A.
(24)
Functional safety, fatal
error on system B.
20
Hardware limit
switches
Unknown limit switch
error
(0)
Table 11.8: Error list (continue)
Error
No.
Error location
Error handling
Emergency
code
CiA 402
(1)
HardwareLimitSwitch_
Interchanged
Limit switches
interchanged
0x8612
(2)
HardwareLimitSwitch_
LCW
Positive limit switch
0x8612
(3)
HardwareLimitSwitch_
LCCW
Negative limit switch
0x8612
21
Encoder initialization
General encoder
initialization (locations
which cannot be
assigned to a
channel)
(0)
Unknown initialization
error
(1) EncoderInit_CON_
ICOM_EpsDelta
Encoder general
initialization: Auto
commutation:
excessive motion
0x7300
(2) EncoderInit_CON_
ICOM_Tolerance
Encoder general
initialization: Auto
commutation:
excessive tolerance
0x7300