9 Description of the object dictionary
Name
Standard Error Field
Data type
UNSIGNED32
Access
read only
PDO mapping
no
Allowed values
Preset value
00000000
h
Description
General function
If a new error occurs, it is entered in subindex 1. The already existing entries in subindices 1 to 7 are moved
back one position. The error in subindex 7 is thereby removed.
The number of errors that have already occurred can be read from the object with subindex 0. If no error is
currently entered in the error stack, it is not possible to read one of the eight subindices 1–8 and an error
(abort code = 08000024
h
) is sent in response. If a "0" is written in subindex 0, counting starts again from the
beginning.
Bit description
Error Class [8]
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
Error Number [8]
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Error Code [16]
Error Number [8]
This can be used to pinpoint the cause of the error. The meaning of the number can be found in the
following table.
Error number
Description
0
Watchdog-Reset
1
Input voltage too high
2
Output current too high
3
Input voltage too low
4
Error at fieldbus
5
Motor turns – in spite of active block – in the wrong direction
6
CANopen only: NMT master takes too long to send nodeguarding request
7
Encoder error due to electrical fault or defective hardware
8
Encoder error; index not found during the auto setup
9
Error in the AB track
10
Positive limit switch and tolerance zone exceeded
11
Negative limit switch and tolerance zone exceeded
12
Device temperature above 80°C
13
The values of object 6065
(Following Error Window) and object 6066
(Following Error Time Out) were exceeded; a fault was triggered.
14
Nonvolatile memory full; controller must be restarted for cleanup work.
15
Motor blocked
16
Nonvolatile memory damaged; controller must be restarted for cleanup
work.
17
CANopen only: Slave took too long to send PDO messages.
Version: 2.0.1 / FIR-v1650
110
