EN
User manual DRCS - CanOpen
7
3.2.3 1002h Manufacturer status register
This object contains the device status, it is manufacturer-specific.
3.2.4 1003h Pre-defined error field
This object contains errors that have occurred on the device and have been reported by emergency messages.
It provides an error history.
Sub-index 0 contains the number of errors that are currently saved from sub-index 1 to sub-index 8.
When there are no errors it contains the value zero. Each new error is saved to index 1 and former ones are moved to
higher indices.
Entering zero into sub-index 0 deletes the error history , resetting all saved errors.
Each error consists of a 16-bit field with the error code, defined by the CanOpen, and another 16-bit field with additional
manufacturer information.
3.2.6 1006h Communication cycle period
This object contains the cyclic communication period for SYNC messages in milliseconds, when its value is zero the device
does not send synchronism messages.
3.2.7 1007h Syncronous Window Length
This object contains the synchronous window length for PDO messages i.e. the time from the synchronism message within
which the synchronous PDOs must arrive in order to be valid.
If the value is set to zero, the synchronization window is disabled.
3.2.8 1008h Manufacturer hardware name
This object contains the device name given by the manufacturer.
3.2.9 1009h Manufacturer hardware version
This object contains the hardware version of the device.
3.2.10 100Ah Manufacturer software version
This object contains the firmware version of the device.
3.2.11 100Ch Guard time
This object, together with the next 100Dh, represent the configuration of the “life guarding “ protocol. The Guard time
contains the period in which the “guarding” message is sent , it is expressed in ms, if set to zero the “life guarding” protocol
is disabled.
3.2.12 100Dh Life time factor
This object contains the number of “guarding“ messages that can be lost. This value multiplied by the “Guard time” is
the maximum amount of time within which the guarding messages must arrive in order to avoid an error and reset the
communication.
3.2.13 1010h Store parameter field
This object stores the parameters in eprom.
Sub- index 1 refers to saving all objects supported by the device.
To avoid unintentionally saving data, saving is only performed if the “save” signature is written in the object:
3.2.5 1005h COB-ID sync
This object contains the COB-ID configuration of the synchronization message (SYNC), indicating whether or not the device
generates the message.
Manufacturer info
Error type
0x2310
Overcurrent error
0x3120
Power voltage absent/too low error
0x4210
Temperature too high error
0x7305
Position, step loss (if external encoder present) error
0x8613
Homing procedure timeout error
0x6320
Motor configuration error
0x7320
Positioning out of software limits error
0xFF13
Operation without reset
0x5530
Flash data lost
MSB
LSB
Character
e
v
a
s
Hex
65h
76h
61h
73h
Bit
Value
Description
31(MSB)
X
Not used
30
0
1
Device not generating SYNC message
Device generating SYNC message
29
0
1
11-bit CAN-ID
29-bit CAN-ID
28-0
X
29 bit extended address
11-0
X
11 bit standard address
