Siko IKM360M, User Manual

Page: 33 / 58

Communication via CAN bus (CANopen and CANopen Safety)
IKM360M
Date: 21.01.2021 Art. No. 90444 Mod. status 222/20 Page 33 of 58
3001h: Class C1, Default PDO mapping, CANopen Safety (Default SRDO mapping)
5.8.2.2 1001h: Error Register
Object 1001h indicates the error state of the device.
Sub-index 00h
Description pending error status
Access ro
PDO mapping no
Data type UNSIGNED 8
Default 0h
EEPROM no
Data content Bit Meaning
0 set bit indicates the occurrence of any error condition
1 … 6 not used
5.8.2.3 1002h: Manufacturer Status Register
Object 1002h outputs the counter readings of the "Receive Error Counter" and "Transmit Error
Counter" registers. The contents of these registers provide information on the transmit faults
present at the mounting site of the encoder.
Sub-index 00h
Description Transmit Error Counter and Receive Error Counter
Access ro
PDO mapping no
Data type UNSIGNED 32
Default 0h
EEPROM no
Data content Byte 0 Byte 1 Byte 2 Byte 3
Receive Error
Counter Transmit Error
Counter 01h 00h
5.8.2.4 1003h: Pre-defined Error Field
In object 1003h, the 8 latest error states are archived.

The entry under sub-index 0 indicates the number of errors saved.

The latest error status is always stored in sub-index 01h. Previous error messages "slip
onwards" in their position by one sub-index.

The whole error list is deleted by writing the value 0 in sub-index 00h.

The entries in the error list have the format described in chapter 5.6.1 .