BECKHOFF AX2000 CANopen communication profile - Manual (Page 31)

4.2.1.4 Object 1003h: Pre-Defined Error Field (DS301)
This Object contains the last error event that was reported by an error telegram. Only the most
recent error is displayed.
1. The value in Sub-index 00
h
shows the number of recorded errors.
2. The most recent error is shown in Sub-index 01
h
.
3. If the value 0 is written to Sub-index 02
h
, the error is deleted from the error list
(caution: error will not be acknowledged!).
4. The error number has the data type UNSIGNED32 and is composed of a 16-bit
error number and a manufacturer-specific information field.
The manufacturer-specific information field is not used by AX2000/2500.
The possible error numbers are described in the chapter “Error Message” (
Þ 4.1).
The data field is composed as follows:
MSB LSB
Information field Error number
Index 1003 h
Name Error Field
Object code ARRAY
Data type UNSIGNED32
Category O
Sub-indexes:
Sub-index 00 h
Description Number of errors
Category M
Access rw
PDO mapping not possible
Value range 0 ... 254
Default value no
Sub-index 01 h
Description Standard error field ( Þ 4.1)
Category M
Access ro
PDO mapping not possible
Value range UNSIGNED32
Default value no
CANopen for AX2000/2500 31
BECKHOFF
07/2007
CANopen Drive Profile