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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
0b1010000010100000_00000001Idle160Observer parameters are invalid
0b1100000011000000_00000001Idle192Motor model parameters are invalidCheck the motor parameters and perform the motor identification procedure.
0b1000000010000000_00000001Idle128Some other parameters are invalid
0b0000001000000010_00000001Idle2Hardware Test FailedCheck if the motor is connected to the controller

0b00000011_00000001

0b00000001test 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 Faultfault

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.

0b0000000100000001_01000001Beep1Hardware Faultfault
0b0000000100000001_01100001Run1Too many Stalls stalls The rotor has stalled motor could not be started. Check if the rotor of the motor is blocked. If not, check the motor spinup parameters.
0b0000001000000010_01100001Run2Hardware FaultfaultRefer to the Hardware Fault in fault of the Idle Tasktask.

0b0000011000000110_01100001

0b0000010000000100_01100001

Run

6

4

DC Voltage voltage is out of Rangerange

Check safe limits of the the power supply voltage for your device. Check if the voltage is in within the allowable allowed range.

0b0000000100000001_10000001Hardware Test1Hardware FaultfaultRefer to the Hardware Fault in fault of the Idle Tasktask. This bit is usually set together with other bits. Check the other failures listed below.
0b0000001000000010_10000001Hardware Test2DC Voltage Errorvoltage errorThis error is similar to `the "DC Voltage voltage is out of Range` Error in Run Task0b00000011range" error of the Run task.
00000011_10000001Hardware Test3Phase Current Zero Bias Error A0b00000100current zero bias error AThe current measurement circuits of the phase A are malfunctioning.
00000100_10000001Hardware Test4Phase Current Zero Bias Error B 0b00000101current zero bias error B The current measurement circuits of the phase B are malfunctioning.
00000101_10000001Hardware Test5Phase Current Error current error APhase A of the motor is disconnected or broken, or smth is damaged in current measurement circuit on the device.0b00000110is malfunctioning.
00000110_10000001Hardware Test6Phase Current Error current error BPhase B of the motor is disconnected or broken, or smth is damaged in current measurement circuit on the device. 0b00000111is malfunctioning.
00000111_10000001Hardware Test7Phase Current Error CThis error appears together with one of two errors above. 0b00001000current error CPhase C is malfunctioning.
00001000_10000001Hardware Test8Phase Voltage Error voltage error AThe voltage measurement circuit is brokenPhase A is malfunctioning.
0b0000100100001001_10000001Hardware Test9Phase Voltage Error voltage error BThe voltage measurement circuit is brokenPhase B is malfunctioning.
0b0000101000001010_10000001Hardware Test10Phase Voltage Error voltage error CThe voltage measurement circuit is brokenPhase C is malfunctioning.
0b1111111111111111_10100001Motor Identification255Invalid Parametersparameters
0b1111111011111110_10100001Motor Identification254Invalid SequenceInvalid sequence of Motor Identification Subtasks.
0b1111110111111101_10100001Motor Identification253Hardware Test Failed0b11111100test failedThe last run of the Hardware Test task has been unsuccessful. Rerun the test to resolve.
11111100_10100001Motor Identification252Sequence Not Applicablenot applicableCheck if motor_resistanse and motor_inductance parameters are valid0b11111011the parameters m.resistance, m.induct_quad, and m.induct_direct are valid.
11111011_10100001Motor Identification251Hardware Faultfault
0b1111101011111010_10100001Motor Identification250Hardware OverloadMotor current overload during motor identification
0b1111100111111001_10100001Motor Identification249LVPS Malfunction0b11111000malfunctionLow-voltage power supply malfunction during motor identification
11111000_10100001Motor Identification248DC Voltage voltage is out of Rangerange
0b1111111111111111_11000001Low Level Manipulation255LVPS Malfunction0b11111110malfunctionLow-voltage power supply malfunction
11111110_11000001Low Level Manipulation254Hardware FaultfaultRefer to the Hardware Fault in fault of the Idle Tasktask.
0b1111110111111101_11000001Low Level Manipulation253Invalid SubTasksub-task