Moog ACV with CANopen bus interface
8 Diagnostics
Fault reaction
B99224-DV018-D-211, Rev. A, October 2018
274
8.1.5 Fault status
The bit coded fault status indicates which faults are currently reported for the device. Each bit of the fault sta-
tus array (4 words with 32 bit, built with the sub-indexes 1…4 of the fault status) stands for a fault code. The
corresponding fault code is equal to the bit position in the 128 bit field (4x32 bit).
8.1.5.1 Object 0x2831: Fault status
Actual reported faults in bit coded form.
101
8244
RPD04 data
106, 117
8245
TPD01 data
107
8246
TPD02 data
108
8247
TPD03 data
109
8248
TPD04 data
74
8251
Local RPD01 time out
75
8252
Local RPD02 time out
76
8253
Local RPD03 time out
77
8254
Local RPD04 time out
82
8255
Local TPD01 time out
83
8256
Local TPD02 time out
84
8257
Local TPD03 time out
85
8258
Local TPD04 time out
78
8261
Local RPD01 data
79
8262
Local RPD02 data
80
8263
Local RPD03 data
81
8264
Local RPD04data
86
8265
Local TPD01 data
87
8266
Local TPD02 data
88
8267
Local TPD03 data
89
8268
Local TPD04 data
67
8301
Position control monitoring
65
8302
Pressure control monitoring
61
8303
Position control monitoring
62
8304
Velocity control monitoring
63
8305
Force control monitoring
64
8306
Flow control monitoring
66
8307
Current control monitoring
68
8308
Trajectory generation
Fault code
Error code
defined in Device Profile Fluid Power
Error description
Table 114: Possible error codes depending on fault codes (part 3 of 3)
FaultReaction
Index
Sub-index
Parameter name
Data type
Access
Persistence
Value range
Default
0x2831
1
FaultStatus (fault code 1…31)
UINT32
ro
-
UINT32
None
0x2831
2
FaultStatus (fault code 32…63)
UINT32
ro
-
UINT32
None
0x2831
3
FaultStatus (fault code 64…95)
UINT32
ro
-
UINT32
None
0x2831
4
FaultStatus (fault code 96…128)
UINT32
ro
-
UINT32
None
