7 Diagnostics and troubleshooting
| Diagnostic data
41
Manual Stepper motor module UR20-1SM-50W-6DI2DO-P
2575290000/03/03.2020
7.1 Diagnostic data
Diagnostic alarms can be activated with the „Diagnostic
alarm“ parameter.
Diagnostic data UR20-1SM-50W-6DI2DO-P
Name
Bytes Bit Description
Default
Error indicator
0
0
Module error
0
1
Internal error
0
2
External error
0
3
Channel error
0
4
Error
0
5
Power supply fault
0
6
Reserved
0
7
Parameter error
0
Module type
1
0
Module Type 0x08
1
1
1
2
1
3
0
4
Reserved
1
5
Reserved
0
6
Reserved
0
7
Reserved
0
Error byte 2
2
0 ... 7 Reserved
0
Error byte 3
3
0 ... 2 Reserved
0
3
Reserved
0
4
Communication fault
0
5
Reserved
0
5
Vin error
0
7
Vout error
0
Channel type
4
0
Channel type 0x7D
1
1
0
2
1
3
1
4
1
5
1
6
1
7
Reserved
0
Diagnostic bits
per channel
5
Number of diagnostic bit
per channel
8
Number of
channels
6
10
Channel error
7
0 ... 7 Reserved
0
8
0
Error at channel 8
1
Error at channel 9
2 ... 7 Reserved
0
9 ... 10
Reserved
0
Channel 0 error
to
Channel 7 error
11
...
18
0 ... 7 Reserved
0
Diagnostic data UR20-1SM-50W-6DI2DO-P
Name
Bytes Bit Description
Default
Channel 8 error
19
0
Overtemp shutdown
0
1
Overcurrent Ch A
0
2
Overcurrent Ch B
0
3
Undervoltage Lockout
0
4
Acceleration exceeded
0
5
Velocity exceeded
0
6
Contouring error exceeded
0
7
Traversing range exceeded
0
Channel 9 error
20
0
Vext error
0
1 ... 7 Reserved
0
Channel 10 error
to
Channel 31 error
21
...
42
0 ... 7 Reserved
0
Time stamp
43-46
time stamp [µs] (32bit)
7 Diagnostics and troubleshooting
