Siko MSA501, User Manual

Page: 26 / 51

Communication via
CAN bus (CANopen)
MSA501
Date: 12.10.2018 Art. No. 88734 Mod. status 330/18 Page 26 of 51
0196h (= 406d): CANopen Device Profile for Encoders
0008h: Absoluter Linear-Geber
5.6.2.2 1001h: Error Register
Object 1001h indicates the error state of the device.
Subindex 00h
Description Actually pending error state
Access ro
PDO-Mapping No
Data type UNSIGNED 8
Default 0h
EEPROM No
Data content Bit Bedeutung
0 set bit indicates the occurrence of any error condition
4 set bit indicates communication error on the CAN bus (passive or
bus-off)
7 manufacturer-specific (sensor error)
1-3, 5-6 Not used
Faults and errors are signaled at the time of their occurrence by an emergency message
5.6.2.3 1002h: Manufacturer Status Register
Object 1002h outputs the counter readings of the “Transmit Error Counter” and “Receive Error
Counter” registers. The contents of these registers provide information on the transmit errors
present at the mounting site of the encoder.
Subindex 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