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The following CAN emergencies are supported in PVT/PT modes:

Error

Code

(Hex)

Error

Code

(Dec)

Reason

Data Field

0x56 86 Queue is low. Number of yet unexecuted

PVT table rows has dropped below the

value stated in MP[4].

Field 1: Write pointer

Field 2: Read pointer

0x5b 91 Write pointer is out of physical range

([1…64]) of PVT table. Reason may be an

improper setting of MP[6].

Value of MP[6]

0x5c 92 PDO 0x3xx is not mapped.

0x34 52 An attempt has been made to program

more PVT points than are available in

queue.

Field 1: Index of PVT table

entry that could not be

programmed

0x7 7 Cannot initialize motion due to bad setup

data. The write pointer is outside the range

specified by the start and end pointers.

0x8 8 Mode terminated and motor has been

automatically stopped (in MO=1).

Data field 1: Write pointer

Data field 2:

1: End of trajectory in non-

cyclical mode

2: A zero or negative time

specified for a motion interval

3: Read pointer reached write

pointer

0x9 9 A CAN message has been lost.

Table 13-4: PVT CAN Emergency Messages

Note: Setting a new value for object 0x2F21 deletes all emergency events queued

for transmission.

 Object description:

Index 2F21h

Name Emergency events

Object code VAR

Data type UNSIGNED16