A08760 — CAN: maximum size of the IF PZD exceeded

The drive raises A08760 when more process data have been mapped in a CAN PDO than the maximum size of the IF PZD (IF = interface) allows. The alarm signals a configuration problem: it triggers no drive reaction and stays in the alarm buffer until it is deleted. The alarm value the drive stores in r2124 tells you in which direction the limit was hit.

• The maximum size of the IF PZD was exceeded — too many process data are mapped in the PDO.

1. Map fewer process data in the PDO so the maximum size of the IF PZD is no longer exceeded.
2. Then delete the alarm with one of the following options: POWER ON (switch-off/switch-on), a warm restart (p0009 = 30, p0976 = 2), the CANopen NMT command reset node, a change of the CANopen NMT state, or deleting the alarm buffer [0...7] with p2111 = 0.

The drive stores the alarm value in r2124; the manual says to interpret it as a decimal number:

• 1: error for IF PZD receive
• 2: error for IF PZD send

• r2124 — read the stored alarm value as a decimal number to see whether the IF PZD error occurred on the receive side (1) or the send side (2).
• p0009 — set to 30 as part of the warm restart that deletes this alarm.
• p0976 — set to 2, together with p0009 = 30, to carry out that warm restart.
• p2111 — set to 0 to delete the alarms in alarm buffer [0...7] and clear A08760.

No acknowledgement is required. Once the PDO mapping has been reduced, the alarm is removed by a POWER ON (switch-off/switch-on), a warm restart (p0009 = 30, p0976 = 2), the CANopen NMT command reset node, a change of the CANopen NMT state, or by setting p2111 = 0 to delete alarm buffer [0...7]. The manuals for all families describe the same procedure for this code.