Details of drive faults and warnings can be viewed via the object
1002h.0h Manufacturer Status Register
can be displayed. To read out the current value, you can enter it via the web interface in the Parameters area:
RefGo Command OR1002, 0
or use the Object Editor in Kickdrive:
MovingCap status register 1002h - Error
The following states are error states. When these errors occur, the drive switches to the CiA 402 Fault state, generates a CANopen Emergency Message and the Fault bit in the statusword is set (e.g. statusword 6041h = 0008h).
Bit no. (0-15) |
Hex value |
Decimal value |
Hex value Decimal value Description |
0 |
0001h |
1 |
Error over volt (Uzk) |
1 |
0002h |
2 |
Error under volt (Uzk) |
2 |
0004h |
4 |
Error Ack |
3 |
0008h |
8 |
Error over temp |
4 |
0010h |
16 |
Error I2T / Derating |
5 |
0020h |
32 |
Abort connection |
6 |
0040h |
64 |
Error stroke |
7 |
0080h |
128 |
Error communication |
8 |
0100h |
256 |
Error sensor |
9 |
0200h |
512 |
Error Hardware / Software Enable |
10 |
0400h |
1024 |
- reserved - |
11 |
0800h |
2048 |
Error over current |
12 |
1000h |
4096 |
Error External Force / Torque |
13 |
2000h |
8192 |
Error Needs Voltage Reset |
MovingCap status register 1002h - Warnings
Bit values from bit16 / 10000h / 65536 dec. are warning states. They do not lead to a drive error, the current operating mode is retained and movement commands continue to be executed.
Bit no. (16-31) |
Hex value |
Decimal value |
Description |
16 |
10000h |
65536 |
Warning sensor *1) |
*1) E.g. warning status of a multiturn encoder system: Position determination is still possible, but a warning such as "Battery Low" is pending. MovingCap multiturn absolute encoders have a lifetime battery buffer for >10 years - only in the event of an error/defect can a sensor warning be triggered after a short operating time.
