Moog ACV with CANopen bus interface
8 Diagnostics
Internal errors
B99224-DV018-D-211, Rev. A, October 2018
278
Example
In the example below a simple reproducible fault is described. The fault code 0x05 (power supply voltage too
low) will occur if the power supply voltage is less than 17 V. The corresponding error code is 0x3412 and the
<ErrorRegister> (0x1001) is set to 0x4. The time since power on of the servo valve until the fault occurred is
1000 or in hex 0x03E8 minutes.
8.1.10 Fault disappears
If all faults has disappeared the <ErrorRegister> (0x1001) and the <FaultStatus> (0x2831) are set to zero. To
confirm that no faults are present, the error code 0x00 (Error reset or no error) will be sent via an emergency
message to the field bus master. If the device state machine (DSM) is in the state 'FAULT_HOLD', 'FAULT_-
DISABLED' or 'NOT_READY', the DSM must be set to 'ACTIVE' again. This can be done by the
#ControlWord# or the enable signal (digital input 0).
Chapter "8.1.11 Fault acknowledgment", page 278
8.1.11 Fault acknowledgment
Depending on the configured fault reaction, the servo valve sends out an emergency message and changes
the device state machine to the corresponding fault state.
Chapter "8.1.3 Fault reaction type", page 271
In order to get out of the fault state the fault must be acknowledged. This can be achieved by
• Sending the #ControlWord# to the servo valve with the bit 3 (fault reset) is set.
• Toggling the enable signal (digital input 0).
Chapter "5.1 Local mode", page 43
Chapter "5.2 Device state machine (DSM)", page 46
Chapter "6.8.2 Object 0x5E41: Digital output configuration", page 101
8.2 Internal errors
The following parameters store information which could assist to debug software malfunctions. The user may
be asked to pass these values to our service personal in order to identify software malfunctions.
8.2.1 Object 0x2822: Internal error code
This object contains the first five occurred internal error codes since the firmware reset.
Byte
7
6
5
4
3
2
1
0
Description
Moog-specific error code
Error
register
Emergency error code
Power on time in minutes
Fault code
Content
0x00
0x00
0x03
0xE8
0x05
0x04
0x34
0x12
Result
0x000003E805043412
If the fault is not fixed or other faults are still present, the servo valve will fall back into the DSM
state defined by the fault reaction type <FaultReactionType> (0x2830).
ErrorHandler
Index
Sub-index
Parameter name
Data type
Access
Persistence
Value range
Default
0x2822
1…5
InternalErrorCode
UINT32
ro
-
UINT32
0
