TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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10
Emergency Messages (EMCY)
The module sends an emergency message if an error occurs. The message contains information about
the error type. The module can map internal errors and object 1001
h
(error register) is part of every
emergency object.
Emergency Messages (EMCY) of the TMCM-1160
Error code
Additional byte
Description
1
2
3
4
5
0000
h
0
0
0
0
0
Fault reset
The fault reset command has been executed.
1000
h
1
0
0
0
0
Generic error: open load bridge A
The motor driver indicates open load on bridge A. It is possible
that the motor cable is broken or that there is an error in the
power amplifier itself.
1000
h
2
0
0
0
0
Generic error: open load bridge B
The motor driver indicates open load on bridge B. It is possible
that the motor cable is broken or that there is an error in the
power amplifier itself.
2310
h
0
0
0
0
0
Overcurrent high side
The motor driver indicates an overcurrent on the high side.
This can be caused by a short circuit in the driver stage.
2311
h
0
0
0
0
0
Overcurrent bridge B
The motor driver indicates that there is overcurrent on bridge
B. This can be caused by a short circuit in the motor itself or in
the motor driver stage.
2312
h
0
0
0
0
0
Overcurrent bridge A
The motor driver indicates that there is overcurrent on bridge
A. This can be caused by a short circuit in the motor itself or in
the motor driver stage.
3230
h
0
0
0
0
0
stallGuard2 error
The actual load value exceeds the stallGuard2 limit.
4310
h
1
0
0
0
0
Overtemperature pre-warning
The temperature in the motor driver exceeds the pre-warning
limit.
4310
h
2
0
0
0
0
Overtemperature error
The motor driver has been switched off because the tempera-
ture limit has been exceeded.
5441
h
0
255
0
0
0
Shutdown switch active
The enable signal is missing (due to the shutdown switch) and
the motor driver has been switched off.
6320
h
0
255
0
0
0
Parameter error
The data in the received PDO is either wrong or cannot be
accepted due to the internal state of the drive.
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