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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 taskExit code (decimal)DescriptionComments
10100000_00000001Idle160Observer parameters are invalid
11000000_00000001Idle192Motor model parameters are invalidCheck the motor parameters and perform the motor identification procedure.
10000000_00000001Idle128Some other parameters are invalid
00000010_00000001Idle2Hardware test failedThe 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:

  • overcurrent;
  • overheating of the power stage;
  • low-voltage power supply (LVPS) failure.

Send a zero setpoint to reset the error.

00000001_01000001Beep1Hardware fault
00000001_01100001Run1Too many stalls The motor could not be started. Check if the rotor is blocked. If not, check the motor spinup parameters.
00000010_01100001Run2Hardware faultRefer 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_10000001Hardware Test1Hardware faultRefer to the Hardware fault of the Idle task. This bit is usually set together with other bits. Check the other failures listed below.
00000010_10000001Hardware Test2DC voltage errorThis error is similar to the "DC voltage is out of range" error of the Run task.
00000011_10000001Hardware Test3Phase current zero bias error AThe current measurement circuits of the phase A are malfunctioning.
00000100_10000001Hardware Test4Phase current zero bias error B The current measurement circuits of the phase B are malfunctioning.
00000101_10000001Hardware Test5Phase current error APhase A is malfunctioning.
00000110_10000001Hardware Test6Phase current error BPhase B is malfunctioning.
00000111_10000001Hardware Test7Phase current error CPhase C is malfunctioning.
00001000_10000001Hardware Test8Phase voltage error APhase A is malfunctioning.
00001001_10000001Hardware Test9Phase voltage error BPhase B is malfunctioning.
00001010_10000001Hardware Test10Phase voltage error CPhase C is malfunctioning.
00000001_10100001Motor Identification1

Resistance subtask failed in R_L or R_L_Flux identification procedure

or

Flux linkage subtask failed in Flux identification procedure


00000101_10100001Motor Identification3Inductance subtask failed
00000101_10100001Motor Identification5Flux linkage subtask failed
11111111_10100001Motor Identification255Invalid parameters
11111110_10100001Motor Identification254Invalid sequence
11111101_10100001Motor Identification253Hardware test failedThe last run of the Hardware Test task has been unsuccessful. Rerun the test to resolve.
11111100_10100001Motor Identification252Sequence not applicableCheck if the parameters m.resistance, m.induct_quad, and m.induct_direct are valid.
11111011_10100001Motor Identification251Hardware fault
11111010_10100001Motor Identification250Hardware overload
11111001_10100001Motor Identification249LVPS malfunctionLow-voltage power supply malfunction during motor identification
11111000_10100001Motor Identification248DC voltage is out of range
11111111_11000001Low Level Manipulation255LVPS malfunctionLow-voltage power supply malfunction
11111110_11000001Low Level Manipulation254Hardware faultRefer to the Hardware fault of the Idle task.
11111101_11000001Low Level Manipulation253Invalid sub-task


Alert codes

The following are possible alerts that may appear during normal Telega operation.

UAVCAN VSSC (binary)TaskDescriptionComments
00110000_00000011RunHardware 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_00000001RunLVPS malfunction
00110000_00000010RunPhase current measurement malfunctionCheck the motor terminal's connection.
00110000_00000011RunHardware test failedThe last run of the task "Hardware Test" has been unsuccessful. Rerun the test to resolve.
00110000_00010000RunMCU overheatingCheck 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_00110000RunPower stage PCB overheating
00110000_01010000RunMotor overheating
00110000_10000000RunDC link overvoltageIt can appear during braking if the power supply does not allow energy recovery. Use a battery or other bi-directional power source.
00110001_00000000RunDC link undervoltageIt 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.
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