Upon detection of an error, the controller enters the Fault task. The Fault task will remain active until a zero setpoint is received; however, if the underlying cause of the fault is not removed, the controller may re-enter the Fault task immediately again.
| UAVCAN VSSC (binary) | Failed task | Exit code (decimal) | Description | Comments |
|---|---|---|---|---|
| 10100000_00000001 | Idle | 160 | Observer parameters are invalid | |
| 11000000_00000001 | Idle | 192 | Motor model parameters are invalid | Check the motor parameters and perform the motor identification procedure. |
| 10000000_00000001 | Idle | 128 | Some other parameters are invalid | |
| 00000010_00000001 | Idle | 2 | Hardware test failed | The last run of the task "Hardware Test" has been unsuccessful. Rerun the test to resolve. |
00000011_00000001 00000001_00000001 | Idle | 3 1 | Hardware fault | May appear in the following cases:
Send a zero setpoint to reset the error. |
| 00000001_01000001 | Beep | 1 | Hardware fault | |
| 00000001_01100001 | Run | 1 | Too many stalls | The motor could not be started. Check if the rotor is blocked. If not, check the motor spinup parameters. |
| 00000010_01100001 | Run | 2 | Hardware fault | Refer to the Hardware fault of the Idle task. |
00000110_01100001 00000100_01100001 | Run | 6 4 | DC voltage is out of range | Check the the power supply voltage. Check if the voltage is within the allowed range. |
| 00000001_10000001 | Hardware Test | 1 | Hardware fault | Refer to the Hardware fault of the Idle task. This bit is usually set together with other bits. Check the other failures listed below. |
| 00000010_10000001 | Hardware Test | 2 | DC voltage error | This error is similar to the "DC voltage is out of range" error of the Run task. |
| 00000011_10000001 | Hardware Test | 3 | Phase current zero bias error A | The current measurement circuits of the phase A are malfunctioning. |
| 00000100_10000001 | Hardware Test | 4 | Phase current zero bias error B | The current measurement circuits of the phase B are malfunctioning. |
| 00000101_10000001 | Hardware Test | 5 | Phase current error A | Phase A is malfunctioning. |
| 00000110_10000001 | Hardware Test | 6 | Phase current error B | Phase B is malfunctioning. |
| 00000111_10000001 | Hardware Test | 7 | Phase current error C | Phase C is malfunctioning. |
| 00001000_10000001 | Hardware Test | 8 | Phase voltage error A | Phase A is malfunctioning. |
| 00001001_10000001 | Hardware Test | 9 | Phase voltage error B | Phase B is malfunctioning. |
| 00001010_10000001 | Hardware Test | 10 | Phase voltage error C | Phase C is malfunctioning. |
| 00000001_10100001 | Motor Identification | 1 | Resistance subtask failed in R_L or R_L_Flux identification procedure or Flux linkage subtask failed in Flux identification procedure | |
| 00000101_10100001 | Motor Identification | 3 | Inductance subtask failed | |
| 00000101_10100001 | Motor Identification | 5 | Flux linkage subtask failed | |
| 11111111_10100001 | Motor Identification | 255 | Invalid parameters | |
| 11111110_10100001 | Motor Identification | 254 | Invalid sequence | |
| 11111101_10100001 | Motor Identification | 253 | Hardware test failed | The last run of the Hardware Test task has been unsuccessful. Rerun the test to resolve. |
| 11111100_10100001 | Motor Identification | 252 | Sequence not applicable | Check if the parameters m.resistance, m.induct_quad, and m.induct_direct are valid. |
| 11111011_10100001 | Motor Identification | 251 | Hardware fault | |
| 11111010_10100001 | Motor Identification | 250 | Hardware overload | |
| 11111001_10100001 | Motor Identification | 249 | LVPS malfunction | Low-voltage power supply malfunction during motor identification |
| 11111000_10100001 | Motor Identification | 248 | DC voltage is out of range | |
| 11111111_11000001 | Low Level Manipulation | 255 | LVPS malfunction | Low-voltage power supply malfunction |
| 11111110_11000001 | Low Level Manipulation | 254 | Hardware fault | Refer to the Hardware fault of the Idle task. |
| 11111101_11000001 | Low Level Manipulation | 253 | Invalid sub-task |
Alert codes
The following are possible alerts that may appear during normal Telega operation.
| UAVCAN VSSC (binary) | Task | Description | Comments |
|---|---|---|---|
| 00110000_00000011 | Run | Hardware overload flag set (from the VSI driver IC) | If this flag is set below the maximum allowable phase current, the hardware protection operation threshold should be reduced. |
| 00110000_00000001 | Run | LVPS malfunction | |
| 00110000_00000010 | Run | Phase current measurement malfunction | Check the motor terminal's connection. |
| 00110000_00000011 | Run | Hardware test failed | The last run of the task "Hardware Test" has been unsuccessful. Rerun the test to resolve. |
| 00110000_00010000 | Run | MCU overheating | Check the heat sink thermal contact or airflow way. It may set if the ESC is overloaded for a long period of time as well. |
| 00110000_00110000 | Run | Power stage PCB overheating | |
| 00110000_01010000 | Run | Motor overheating | |
| 00110000_10000000 | Run | DC link overvoltage | It can appear during braking if the power supply does not allow energy recovery. Use a battery or other bi-directional power source. |
| 00110001_00000000 | Run | DC link undervoltage | It can appear during acceleration or load increase, if the power of the source is insufficient or the source has a large value of internal resistance. |
| 00001100_00000000 | Run | Motor temperature below nominal |