CANopen Message Tutorials
CANopen - How to Read Drive Fault Codes
When a fault code occurs the drive will send out a CAN message with the COB-ID 081h which will contain the fault code in it's message.
All emergency messages will show the fault code value in the telegram which can then be matched against the fault code table to give the active fault code. The fault code table containing the fault code numbers can be found in the topic Troubleshooting - Fault Messages.
An example message when the drive trips is: 081 8 39 10 01 39 00 00 00 00.
Lets decode this message to find out what it means:
Part of Message | Description | Value in Hex (Decimal) | Drive Description |
|---|---|---|---|
081 | COB-ID | 0x81 (129) | Value is 80h + Drive Address in this case 80+1 = 81h |
8 | Length | 0x08 (8) | Message Length |
39 10 | Emergency Error Code | 0x1039 (0) | First 2 bytes (0 & 1) make up the EEC (Emergency Error Code) The first byte gives the type of error. In this case it is a generic error 1000h |
01 | CANopen Error Register | 0x01 (1) | CANopen Error Register |
39 00 00 00 00 | Fault Code | 0x39 (57) | Manufacture specific error code. The last 5 bytes is the part of the message that gives the error code. In this message the value is 39h which is 57 in decimal indicating the fault code is F-ty A full list of fault code numbers can be found in the topic Troubleshooting - Fault Messages |
This is the standard message format when using CANopen for all fault codes.
Note
When the drive trips the error message is only sent once.