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Where can I find more details about fault codes displayed in the QUASAR MRI4D software?

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Question

Where can I find more details about fault codes displayed in the QUASAR MRI4D software?

Answer

Respiratory Motion Software (4.1.14 and above) reports a fault code when connecting to an MRI4D 2.0 Controller.  The fault code is a 32-bit integer.  The fault code is the bitwise OR of all the faults detected by the MRI4D controller, primary and secondary fault codes.

The primary fault codes are stored in the lower 16 bits of the fault code. The secondary fault codes are stored in the upper 16 bits of the fault code.  Currently, the only primary fault code that needs further via the secondary fault code is the MotorDidNotHome**

If a user is presented with an error message that says the Motor did not find home, then the error code presented describes the secondary fault code.

All other error codes provided to the user refer to the primary fault code.

Primary Fault Codes

The individual primary fault codes are as follows (stored in the lower 16 bits):

Name Fault Code Description
NoError 0 No fault detected.
MotorNotConnected 1

The drive unit is not connected to the control box.

Possible causes of faults include:

  1. Loose cable connection somewhere between control box and drive unit.
  2. Faulty MRI4D blue cable.
  3. Loose/disconnected cable inside control box.
  4. Loose wire inside drive unit.
MotorDidNotHome** 2 The drive unit did not home on power up.  See below in the secondary fault codes for more details on the drive unit failing to home.
AB5Fault 4

The AB5 driver inside the control box is reporting a fault.

Possible causes of faults include:

  1. Drive unit driven too hard for too long.  Allow 5 mins for drive unit to cool, then cycle power on the control box.
  2. Loose connection or connecting/disconnecting the MRI4D blue cable while the control box is powered on.
AB5Warning 8

The AB5 driver inside the control box is reporting a warning.

Possible causes of faults include:

  1. Drive unit driven hard for some time, but not long enough yet to cause a fault.
OverCurrent 16

The AB5 driver inside the control box is drawing too much current.

Possible causes of faults include:

  1. MRI4D blue cable is connected through a filtered connector.
  2. Wire short on a motor wire in either the drive unit, MRI4D blue cable, or control box.

 

Secondary Fault Codes (Homing Failure)

The secondary fault codes will exist if the MotorDidNotHome primary fault code exists.  These secondary fault codes provide more details on why the motor did not home.

The individual secondary fault codes are as follows (stored in the upper 16 bits):

Name Fault Code Description
HomingSuccess 0 No fault detected in the homing routine.
HomingNotStarted 1

The homing routine has not completed.

Possible causes of fault include:

  1. MRI4D blue cable not connected.
  2. Software connected before homing routine was completed, interrupting the homing routine.
HomingFaultCondition 2 A fault condition was detected during the homing routine.  See above for primary fault codes.
HomingTimeout 4

The homing routine timed out.  If the homing routine takes more than ~15 seconds to complete, it will time out.

Possible causes of fault include:

  1. ?
HomingEncoderError 8

During the homing routine, the microcontroller encoder module detected erroneous signals.

Possible causes of fault include:

  1. Loose/disconnected encoder wires in either the drive unit, MRI4D blue cable, or control box.
  2. Encoder optical grating / read head misalignment or damage.
HomingNoIndex 16

No index pulse detected during the homing routine.

Possible causes of fault include:

  1. Loose/disconnected encoder index wire in either the drive unit, MRI4D blue cable, or control box.
  2. Encoder optical grating / read head misalignment or damage.
HomingControllerOverload 32

Control signal overload during the homing routine.  Occurs when more than ~4 seconds of full control voltage is applied in order to home the device.

Possible causes of fault include:

  1. MRI4D blue cable not connected on Rev B PCB or below.
  2. Connected load too difficult to move or is jamming.
  3. The linear stage / rotation mechanism on the drive unit is jamming.
  4. Encoder is not working properly, and control loop becomes unstable.  Drive unit would appear to be running at maximum speed.