Error commands

CMD ERROR (0x88)

Code: 0x88
Example:

	D-Len	Cmd	Param
S->M	0x02	0x88	0xDA	A towing error occurred. (,,ERROR TOW'')

Description: A serious error requiring operator intervention has occurred. Such errors must be acknowledged with ,,CMD ACK''. The module is not ready for operation. The motor is shut down. Such error messages are sent at regular intervals from the module to the control system (every 15 seconds). See error codes.

• RS232: the first byte of the message is changed to ,,0x03''
• CAN: the first three bits of the identifier are changed to ,,0x3''
• Profibus: an extended diagnosis is generated.
  

Risk of injury! Modules that are not equipped with a brake might drop, as the motor is switched off by the emergency stop command!

CMD WARNING (0x89)

Code: 0x89
Example:

	D-Len	Cmd	Param
S->M	0x02	0x89	0xD6	Module is at the upper software limit (,,ERROR SOFT HIGH'')

Description: A serious error has been acknowledged but persists. User intervention is required. After the cause of the error is eliminated, it is automatically acknowledged. Such error messages are sent at regular intervals from the module to the control system (every 30 seconds). See error codes.

• RS232 the first byte of the message is changed to ,,0x03''
• CAN the first three bits of the identifier are changed to ,,3''
• Profibus an extended diagnosis is generated.
  

Note: A warning is issued when the software limits are exceeded. In this case, an emergency stop is triggered and must be acknowledged. Subsequently the module is ready for operation with certain restrictions (movement away from the software limit range is possible). As soon as the module is moved away from the software limit range, the warning is automatically deactivated.

CMD INFO (0x8A)

See ,,CMD INFO''

CMD ACK (0x8B)

Code: 0x8B
Description: Acknowledgement of a pending error message
Parameters (master -> slave): none
Response (slave -> master): ,,OK'' (0x4F4B)
Example:

	D-Len	Cmd	Param
M->S	0x01	0x8B
S->M	0x03	0x8B	0x4F 0x4B

Note: If all errors could be acknowledged, ,,OK'' (0x4F4B) is sent followed by the ,,INFO NO ERROR'' information message.

GET DETAILED ERROR INFO (0x96)

Code: 0x96
Description: Read detailed information about the active error on the module. The shown value can be interpreted by the SCHUNK Service.
Parameters (master -> slave): none
Response (slave -> master): Command (1 byte), error code (1 byte), data (float)
Example:

	D-Len	Cmd	Param
M->S	0x01	0x96
S->M	0x07	0x96	0x88 0xD9 0x00 0x00 0x00 0x00

Note: If no error is active, or no detailed information is available, the command is replied with ,,INFO FAILED''.