ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 54)

Object 0x1002: Manufacturer status register
This object is a common status register for manufacturer-specific purposes. It returns the
status similar to the SR command.
ƒ Object description:
Index 1002h
Name Manufacturer status register
Object code VAR
Data type UNSIGNED32
Category Optional
ƒ Entry description:
Access Read only
PDO mapping Yes
Value range UNSIGNED32
Default value
Object 0x1003: Pre-defined error field
This object holds the errors that have occurred in the device and have been signaled via
the Emergency object. In doing so, it provides an error history. The entry at sub-index 0
contains the number of actual errors recorded in the array, starting at sub-index 1. It can
read 0 if no error is registered, or 1 if an error is registered. The present version of SimplIQ
digital servo drives store one error at the most.
Writing a 0 to sub-index 0 empties the array. Values higher than 0 are not allowed, in
order to prevent an Abort message (error code: 0609 0030h).
The error numbers are of type Unsigned32 and are composed of a 16-bit error code, an
8-bit error register and an 8-bit additional error information field, which is manufacturer-
specific. The error code is contained in the lower two bytes (LSB) and the additional
information is included in the upper two bytes (MSB). The pre-defined error field has the
following structure:
MSB LSB
Bits 24…31 Bits 16…23 Bits 0…15
Manufacturer-specific
error code Error register Error code
For error code and error register values, see object 0x2F21 .
CANopen DS 301 Implementation Guide Device-specific Objects
MAN-CAN301IG (Ver. 2.1)
12-3