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In case of a hardware error one or more modules may trigger a [[Error Codes|hardware error]] which prevents motion until the situation is resolved and the error is reset by the user or a PLC. In some cases the modules send further error information (called "extended error messages"), which can be found in the robot control's log file. If you got the iRC PC software connected while the issue occured check the newest lines in the robot control log section below the 3D view for a line labelled ERROR and starting with "CPRCANv2:...".

Originally these error codes were intended for internal development and debugging, therefore they may appear cryptic. You should still be able to get some useful hints.

= How to read the logged error =
The extended error log lines generally got the following format:
CPRCANv2: Low voltage on ID 0x10 (axis 1)! actSupplyVoltage: 0 - VoltageMin: 24000

* "CPRCANv2" is the hardware protocol that is used to communicate with the modules
* "Low voltage" is the error description
* "ID 0x10 (axis 1)" is the CAN ID of the axis (as set by the yellow selector at the module) and the axis number for convenience (which however may not be accurate)
* "actSupplyVoltage: 0" is the first parameter, this depends on the error type and usually is the measured actual value
* "VoltageMin: 24000" is the second parameter, this depends on the error type and usually is the configured limit value which triggers the error if exceeded

= Extended Control Errors =
The following extended errors can be found:

{| class="wikitable" style="margin:auto"
|-
! Message !! Module Type !! Explanation
|-
| Overtemperature board (0x71) || BLDC || Motor control electronics reached temperature limit; improve cooling or decrease currents
|-
| Overtemperature board (0x73) || Stepper || Motor control electronics reached temperature limit; improve cooling or decrease currents
|-
| Overtemperature stepper controller || Stepper || Stepper controller chip reached temperature limit; improve cooling or decrease currents
|-
| TempMotor || BLDC || Motor reached temperature limit; decrease currents or lower the motor's duty cycle
|-
| Low voltage || Stepper || Low or no motor voltage; check e-stop, fuses, wiring...
|-
| Supply voltage error || BLDC || Low or no motor voltage; check e-stop, fuses, wiring...
|-
| No current (EStop?) || BLDC || No motor current; check e-stop, fuses, wiring,...
|-
| Overcurrent event || BLDC || Motor current reached limit; check for blocked axis, resistance, misaligned linear rails
|-
| Communication watch dog timer event || Any || Module did not receive any message from the robot control in time
|-
| Position lag || Any || Actual position is lagging behind target position; decrease speed, check for resistance; no error if it occurs after referencing
|-
| Encoder error || Any || The actual position of the encoder did not change as expected or is lagging behind the target position. Follow the [[Encoder Error|encoder error]] troubleshooting guide.
|-
| Encoder stall || Stepper || See encoder error
|-
| No free rotation || BLDC || Axis could not rotate during alignment; Check for a blocked axis, resistance, misaligned linear rails, heavy load, motor current settings,...
|-
| Collision during free rotation check || BLDC || See "No free rotation"
|-
| Velocity error || BLDC || Axis was commanded to move faster than possible by the motor controller; Check the axis configuration, especially the [[Gear Scale|gear scale]] value.
|-
| Driver low align || BLDC || Too many failed attempts while aligning; see "No free rotation", check e-stop, fuses, wiring,...
|-
| Alignment failed || BLDC || Check e-stop, missing current, low current settings, blocked axis, resistance, misaligned linear rails,...
|-
| Alignment failed [...] due to missing current or current sensors not init'd || BLDC || Try re-enabling the motors; see "Alignment failed"
|-
| Not ready in InitReferencing || Any || Try to wait longer between enabling the motors and starting the referencing
|-
| Referencing aborted || Any || May hint to another error or may be okay
|-
| Base low voltage error bits changed || [[ReBeL]] base || The voltage measurement of the base changed its error state, check the "Base stats:..." log message
|-
| Base over current error bits changed || [[ReBeL]] base || The current measurement of the base changed its error state, check the "Base stats:..." log message
|-
| unknown error message || Any || Any error that is not understood by the software yet, this may occur with new features. [[Support Routes|Contact support]] for more information.
|}

[[Category:Support]][[Category:TinyCtrl]]

Extended Error Information - Revision history

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