Applied Motion ST10-C-CE - Manual (Page 22)

22 920-0025 Rev K
3/5/2015
CANopen User Manual
0x1002 –Manufacturer status register (not yet implemented)
This object is a common status register for manufacturer specific purposes.
Object Type Data Type Access Type PDO Mapping COS Default value
Var UNSIGNED32 ro optional no 0
0x1003 - Pre-defined error field
The object at index 1003h holds the errors that have occurred on the device and have
been signaled via the Emergency Object. In doing so it provides an error history.
1. The entry at sub-index 0 contains the number of actual errors that are recorded in the
array starting at sub-index 1.
2. Every new error is stored at sub-index 1, the older ones move down the list.
3. Writing a “0” to sub-index 0 deletes the entire error history (empties the array). Values
higher than 0 are not allowed. This would lead to an abort message (error code: 0609 0030h).
4. The error numbers are of type UNSIGNED32 and are composed of a 16 bit error code
and a 16 bit additional error information field which is manufacturer specific. The error code is
contained in the lower 2 bytes (LSB) and the additional information is included in the upper 2
bytes (MSB). If this object is supported it must consist of two entries at least. The length entry
on sub-index 0h and at least one error entry at sub-index 1H.
Object Type Sub Number Data Type
Access
Type
PDO
Mapping
COS
Default
value
Array 9 UNSIGNED32 ro optional no 0
Subindex Name Default value
00 Number of errors 0
01 Standard error field 0
02 Standard error field 0
03 Standard error field 0
04 Standard error field 0
05 Standard error field 0
06 Standard error field 0
07 Standard error field 0
08 Standard error field 0
Number of Errors (subindex = 0) :
bit 0-7: Zero can be written to erase error history
Standard Error Field (subindex = 1~ 8) :
bit 0-15: Error code as transmited in the Emergency object
bit 16-31: Manufacturer specific additional information