ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 39)

The following table lists the supported CAN emergencies. The Emergency error code for
all messages in the table is 0xFF00, and the error register is 0x81.
Error
Code
(Hex)
Symbolic Name
Reason
Data Field
0x56 PVT_QUEUE_LOW Number of valid PVT data
rows has dropped below
value stated in MP[5]. Field 1: Write pointer
Field 2: Read pointer
0x5B BAD_HEAD_POINTER Write pointer out of physical
range [1…64] of PVT table.
MP[6] setting may be wrong. Value of MP[6]
0x34 PVT_QUEUE_FULL Attempt made to program
more PVT points than
supported by queue. Field 1: Index of PVT
table entry that could
not be programmed
0x7 BAD_MODE_INIT_DATA Cannot initialize motion due
to bad setup data. Write
pointer is outside range
specified by start pointer and
end pointer.
0x8 MOTION_TERMINATED Mode terminated and motor
automatically stopped (in
MO=1). Field 1: Write pointer
Field 2:
1: End of trajectory in
non-cyclic mode
2: Zero or negative
time specified for
motional interval
3: Read pointer
reached write pointer
0xA6 OUT_OF_MODOLU The position is more than 2
Modolu.
Table 6-1: Emergency Codes (PVT/PT Motion)
For more details, refer to object 0x2F21.
CANopen DS 301 Implementation Guide Emergency (EMCY)
MAN-CAN301IG (Ver. 2.1)
6-2