Diagnostics

The drive reports problems through three layers. The manufacturer status registers in 0x2022 hold the detail, the CiA 301 and CiA 402 objects 0x1001 and 0x603F summarise it, and an emergency message announces every new error as it is raised.

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, the drive disabled flag in bit 14 and, 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 the CiA code of the most recently raised error that is still active. The drive derives both this object and the error register from the status registers and the CANopen communication errors, according to the table below.

Condition	Source	Error register bit	Error code
Over current	Hardware Status 0x2022:6	Current	0x2310
Current sensing offset fault	Hardware Status 0x2022:6	Current	0x2120
DC link over voltage	Hardware Status 0x2022:6	Voltage	0x3210
DC link under voltage	Hardware Status 0x2022:6	Voltage	0x3220
Power stage over temperature	Hardware Status 0x2022:6	Temperature	0x4210
Motor over temperature	Hardware Status 0x2022:6	Temperature	0x4310
Position limit exceeded	Motion Status 0x2022:8	Device profile	0x8612
Velocity limit exceeded	Motion Status 0x2022:8	Device profile	0x8400
Main encoder error	Main Encoder Status 0x2022:2	Manufacturer	0x7305
Auxiliary encoder error	Aux Encoder Status 0x2022:3	Manufacturer	0x7306
Calibration error	Calibration Status 0x2022:4	Manufacturer	0x6100
Configuration error	Config Status 0x2022:10	Manufacturer	0x6200
Heartbeat consumer timeout	NMT	Communication	0x8130
CAN receive overrun, frames dropped	CANopen stack	Communication	0x8110

0x1001 and 0x603F are live. They are rebuilt from the active errors, so they clear by themselves once the condition is gone and the error bits are cleared with Clear Errors 0x2023:10. When several errors are active and the newest one clears, 0x603F reports one of the others.

Two event errors are reported only through an emergency message and 0x1003, without setting 0x1001 or 0x603F:

Event	Error code
Receive PDO shorter than its mapping, ignored	0x8210
SYNC frame with data bytes, ignored	0x8240

Error history

0x1003 Pre-defined Error Field keeps the last 8 error codes, newest in sub-index 1. Sub-index 0 gives the number of stored entries. Each entry carries the error code in bits 0-15 and, for errors from the status registers, the active error flags of that register in bits 16-31. Write 0 to sub-index 0 to clear the history. Reading a sub-index above the number of entries aborts with 0x08000024.

Emergency messages

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

• once for every newly raised error in the error codes table above, with that error’s code,

• once for each event error,

• once with code 0x0000, error reset, when the last active error clears.

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

An error that stays active produces one message, not one per cycle. Up to 8 messages are queued when several errors are raised at once; if the queue is full, newer ones are dropped and only recorded in 0x1003. In NMT Stopped no emergency messages are sent, and those raised meanwhile are dropped.

Statusword and Quick Status mapped into a transmit PDO remain the most direct way to watch the drive. A drive entering Fault reports statusword 0x0208, 0x0008 after masking with 0x006F.

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
0x1011:1	Restore all Default Parameters	0x64616F6C	load	0x2023:7
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. Reading 0x1010:1, 0x1011:1 or 0x1011:4 returns 1, meaning the drive saves or restores on command.

0x1011:1 and 0x1011:4 behave identically. Restoring defaults always restores everything; there is no way to reset one parameter group on its own.