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HARSFEN0602
The following CAN emergencies are supported, all as manufacturer specific:
Error
code
(Hex)
Error
code
(Dec)
Reason Data field
0x56 86 The queue is low: The number of yet
unexecuted PVT table rows dropped below
the value stated in MP[4]
Field 1: Write pointer
Field 2: Read pointer
0x5b 91 The write pointer is out of the physical
[1,64] range of the PVT table. The reason
may be a bad setting of MP[6].
The value of MP[6]
0x5c 92 The PDO 0x3xx is not mapped
0x34 52 Ann attempt has been made to program
more PVT points then there is place in the
queue.
Field 1:
The index of the PVT table
entry that could not be
programmed.
0x7 7 Cannot initialize motion due to bad setup
data. Reasons:
- The write pointer is outside the range
specified by the start pointer and the end
pointer.
0x8 8 Mode terminated, and the motor has been
automatically stopped (In MO=1).
Data field 1:
Write pointer
Data field 2:
1 for End of trajectory in non
cyclic mode
2 for A zero or negative time
specified for a motion interval
3 for Read pointer reached
write pointer
0x9 9 A CAN message has been lost. .
Table 12-9 – PVT CAN Emergency Messages