Diagnostics

The drive reports problems through three layers. The manufacturer status registers in 0x2022 hold the detail, the CiA 402 objects 0x1001 and 0x603F summarise it, and an emergency message announces one specific failure.

Status registers

0x2022 exposes the same status words the MD Protocol uses. Each is a 32-bit field with error flags in the low 16 bits and warnings in the high 16 bits. The bit meanings are documented once, in Status, and are identical here.

Sub-index	Register	Bit meanings
1	Quick Status	Quick Status, 16 bit
2	Main Encoder Status	Encoder errors
3	Auxiliary Encoder Status	Encoder errors
4	Calibration Status	Calibration errors
5	Bridge Status	Bridge errors
6	Hardware Status	Hardware errors
7	Communication Status	Communication errors
8	Motion Status	Motion status
9	Misc Status	see below
10	Config Status	see below

Every sub-index is read-only and PDO mappable, so you can stream whichever ones matter to your application in a transmit PDO.

Quick Status is the one to poll first. It carries one summary bit per category plus, in bit 15, the target reached flag. It is mapped into TPDO1 by default alongside the statusword.

Two bits are worth calling out because they affect commissioning:

• Misc Status bit 30, routine in progress. Set while a calibration or test routine from 0x2023 is running. Wait for it to clear before issuing further commands.

• Config Status bit 28, saving required. Set when the configuration in RAM differs from what is in flash. Run Save Config 0x2023:1 to clear it.

Error register

0x1001 Error Register is the CiA 301 one byte summary. It is PDO mappable and is included in every emergency message.

Bit	Meaning
0	Generic error, set whenever any other bit is set
1	Current
2	Voltage
3	Temperature
4	Communication
5	Device profile specific
6	Reserved
7	Manufacturer specific

Error codes

0x603F Error Code holds a CiA 402 code for the most recent fault. The drive derives both this object and the error register from the status registers, according to the table below.

Condition	Error register bit	0x603F
Output over current	Current	0x2110
Internal current sensing fault	Current	0x2120
DC link over voltage	Voltage	0x3210
DC link under voltage	Voltage	0x3220
Power stage over temperature	Temperature	0x4210
Motor over temperature	Temperature	0x4310
Velocity limit exceeded	Device profile	0x8400
Position limit exceeded	Device profile	0x8500
Calibration failure	Manufacturer	0x6100
Configuration error	Manufacturer	0x6200
Main encoder error	Manufacturer	0x7200
Auxiliary encoder error	Manufacturer	0x7300
Heartbeat consumer timeout	Communication	not set

Important

0x1001 and 0x603F latch. Clearing the fault with Clear Errors 0x2023:10 clears the status registers in 0x2022, but the error register and the error code keep their values until the drive is reset.

Treat 0x2022 as the live state of the drive and 0x1001 together with 0x603F as a record of what went wrong since power on.

Emergency messages

The drive transmits an emergency message on COB-ID 0x080 + node ID.

Byte	Content
0-1	Emergency error code, always 0x1000
2	Error register, the value of 0x1001
3-4	Quick Status, the value of 0x2022:1
5-7	Zero

Two limitations are worth knowing before you build alarm handling on this:

• The emergency error code field is fixed at 0x1000, generic error. The specific cause is in the Quick Status bytes, and in 0x603F over SDO.

• An emergency message is produced by exactly one condition, a heartbeat consumer timeout. Faults such as over current or an encoder failure change the status registers, the error register and the state machine, but do not generate an emergency message.

For fault detection, monitor the statusword and Quick Status through a transmit PDO rather than waiting for an emergency message. A drive entering Fault reports statusword 0x0008.

Commands

0x2023 holds the manufacturer command objects. Trigger one by writing the value 1. Any other value is rejected with abort code 0x06090030.

Sub-index	Command	Effect
1	Save Config	Write the configuration to flash, then reboot
2	Test Main Encoder	Run the main encoder test routine
3	Test Auxiliary Encoder	Run the auxiliary encoder test routine
4	Run Calibration	Calibrate the motor and main encoder
5	Run Auxiliary Encoder Calibration	Calibrate the auxiliary encoder
6	Calibrate Current PI Gains	Recompute current loop gains from resistance and inductance
7	Revert Factory Settings	Restore defaults, save and reboot
8	Reset Controller	Reboot
9	Clear Warnings	Clear warning bits in 0x2022
10	Clear Errors	Clear error bits in 0x2022
11	Blink LEDs	Flash the onboard LEDs to identify the drive
12	Set Zero	Make the present shaft position the new zero
13	Reinitialise CAN	Restart the CAN peripheral
14	Zero Torque Sensor	Re-zero the external torque sensor

Important

Save Config, Revert Factory Settings and Reset Controller all reboot the drive. It stops answering on the bus for the duration of the restart, and any SDO in flight is lost. The calibration and test routines save automatically when they succeed, so they reboot as well.

Standard save and restore

Saving and restoring defaults are also reachable through their CiA 301 objects, which is what a generic CANopen master or configuration tool will use. Both take a four byte signature rather than the value 1.

Object	Name	Signature	ASCII	Equivalent to
0x1010:1	Save all Parameters	0x65766173	save	0x2023:1
0x1011:4	Restore manufacturer defined default Parameters	0x64616F6C	load	0x2023:7

Writing any other value aborts with 0x08000020, data cannot be transferred or stored, which is the CiA 301 response to a wrong signature. Both objects are write only, so reading them aborts with 0x05040001.

Only sub-index 1 of 0x1010 and sub-index 4 of 0x1011 are implemented, even though both report a highest sub-index of 4. Restoring defaults therefore always restores everything; there is no way to reset one parameter group on its own.