In case of a hardware error one or more modules may trigger a 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:

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 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 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. Contact support for more information.