Elmo HARmonica, HARSFEN0602 software manual 152

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

The following CAN emergencies are supported, all as manufacturer specific:

Error	Error	Reason	Data field
code	code
(Hex)	(Dec)
0x56	86	The queue is low: The number of yet	Field 1: Write pointer
		unexecuted PVT table rows dropped below	Field 2: Read pointer
		the value stated in MP[4]
0x5b	91	The write pointer is out of the physical	The value of MP[6]
		[1,64] range of the PVT table. The reason
		may be a bad setting of MP[6].
0x5c	92	The PDO 0x3xx is not mapped
0x34	52	Ann attempt has been made to program	Field 1:
		more PVT points then there is place in the	The index of the PVT table
		queue.	entry that could not be
			programmed.
0x7	7	Cannot initialize motion due to bad setup
		data. Reasons:
		- The write pointer is outside the range
		specified by the start pointer and the end
		pointer.
0x8	8	Mode terminated, and the motor has been	Data field 1:
		automatically stopped (In MO=1).	Write pointer
			Data field 2:
			1 for End of trajectory in non
			cyclic mode
			2 for A zero or negative time
			specified for a motion interval
			3 for Read pointer reached
			write pointer
0x9	9	A CAN message has been lost.	.

Table 12-9 – PVT CAN Emergency Messages

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