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7.1.2.
Object 1002
h
Manufacturer status register
This object defines the manufacturer error codes. Each bit represents a specific type of error. When an error is
detected, the bit will be set to 1. This is a part of the EMCY message.
Value
Error
00000000
h
No error
00000001
h
Inclination X-axis (longitudinal) cross-tilt error
00000002
h
Inclination Y-axis (lateral) cross-tilt error
00000004
h
Inclination X-axis (longitudinal) out of range indication
00000008
h
Inclination Y-axis (lateral) out of range indication
00000010
h
Temperature Under operational limit (e.g. T < -40°C, specified in the datasheet.)
00000020
h
Temperature Over operational limit (e.g. T > +85°C, specified in the datasheet.)
00000040
h
Actual power error (e.g. supply voltage too low)
00000080
h
Power eError since last reset (memorized)
00000100
h
EEPROM Error
00000200
h
Flash Error
00000400
h
Sensor element Error
00000800
h
Watchdog Error
00001000
h
Error handler activated Error
00002000
h
-
80000000
h
Unused Error bits
Table 18 - Manufacturer error code
The error code can be mapped into the TPDO message via Object 301F
h
.
7.1.3.
Object 1003
h
Predefined error field
This object provides an error history of the device. The error codes are saved in the subindex starting with 01
h
.
The most recent error is always shown on the top. These error codes are transmitted with the emergency object.
•
Subindex 00
h
indicates the number of existing errors that are recorded in the array starting at
subindex 01
h
.
•
If an error is detected, the error code will be stored in subindex 01
h
and higher. Same error code will
also be sent via the emergency object. In doing so it provides an error history.
Subindex
Description
Value
00
h
Number of errors detected
No error: 00
h
01
h
The latest error code
See 5.8
02
h …
10
h
Oldest error - highest subindex
A maximum of 16 errors (emergency messages)
are stored.
Writing 00
h
to subindex 00
h
will delete the entire error history.
7.1.4.
Object 1005h COB-ID SYNC message
The structure of the COB-ID of SYNC object is specified as below:
The devices are configured with a default COB-ID of 00000080
h
, which means:
▪
11-bit CAN-ID is valid by default
▪
CAN-ID of SYNC is 080
h
