Table 38: Manufacturer status register (1002h)
Manufacturer status register (1002h)
Bit31...Bit16
Bit15...Bit8
Bit7...Bit0
Not used
Bit field
Communication error
Bit field
Device error
9.7.1.3
Predefined error field (1003h)
Each inclination sensor keeps a list of the five most recent errors that have occurred.
Entry 1003.00h contains the number of error entries in the error field. All other
subindices contain all of the error states that have occurred in chronological order. The
most recent error is always listed under subindex 01h. The oldest error is located in the
highest available subindex (value of 1003.00h). It is removed from the list first when
more than five errors occur. When an error occurs, a new error entry is added to 1003h
and an EMCY message is also sent by way of notification. An error entry is structured as
follows:
Table 39: Error entry in predefined error field (1003h)
Error entry in predefined error field (1003h)
Additional information field (bits 31 to 16)
Error code (bits 15 to 0)
Bits 15 to 0 of the manufacturer-specific regis‐
ter 1002h
(at the time the error occurred)
0x0000 Error reset or no more errors pending
0x5010 Sensor error / sensor error X
0x5020 Sensor error Y
0x8110 Receive / send buffer overflow
0x8120 CAN warning limit exceeded
0x8130 Node guard event
0x8140 Exit busoff status
Bit field
Communication error
Bit field
Device error
To delete the entire content of the error list, write a value of 0 to entry 1003.00h.
9.7.1.4
Saving (1010h) and restoring (1011h) parameters
Changes that are made to parameters in the object directory are applied immediately.
So that the modified parameters remain active even after a reset, they must be saved
in the internal permanent memory. Writing the Save signature (65766173h) to entry
1010.01h transmits all current parameters from the object directory to the permanent
memory.
To reset the object directory to the factory settings, write the Load signature
(64616F6Ch) to entry 1011.01h. This writes the factory parameters to the permanent
memory. The changes are applied after a Reset Application (NMT command) or a Hard‐
ware Reset (if only a Reset Communication (NMT command) is sent, only the factory
settings of the communication parameters are effective initially).
It is possible to save or load only parts of the object directory by writing the signature to
subindex: 02h, 03h, or 04h.
9.7.1.5
Transmit PDO – Transmission type (1800h/1801h)
The entries 1800.02h/1801.02h are used to define how the sending of the PDO is trig‐
gered.
CANOPEN INTERFACE
9
OPERATING INSTRUCTIONS
| TMS/TMM88, TMS/TMM61
35
8019054/14IT/2019-06-27
| SICK
Subject to change without notice
