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85201A_RK5C_User Manual_02-2017_ENG
1002h – Manufacturer status register
This object provides a common status register for manufacturer-specific purposes.
The structure of the register is represented in the following figure.
31
24 23
16 15
8 7
0
0
0
0
0
T
E3 E2 E1 E0
S
N
Figure 31 Structure of the Manufacturer status register
Where
N: Status
0 = sensor in error state
1 = normal running state, valid position and velocity data transmitted
S: Working state
0 = normal running state
1 = start up or internal test mode
E0: Magnet error
0 = one magnet detected
1 = no or more than one magnet detected
E1: Range error
0 = no error
1 = the calculated position is out of range when also the position and velocity values
are set to zero
1 = the velocity value may be not correct
E2: Data Flash error
0 = no error
1 = non volatile memory checksum not correct
E3: Controller error
0 = no error
1 = error detected by microcontroller
T: μC temperature state 0 = ok, μC temperature <= 105°C
1 = warning, μC temperature > 105°C
Object description
Index
Name
1002h
Manufacturer status register
Entry description
SUB Index Name
Access
Data Type
Value Range
Default
0
Manufacturer status
register
RO
Unsigned32
00h..7Fh
01h
1005h – COB-ID SYNC
This object indicates the configured COB-ID of the synchronization object (SYNC). It also defines whether the CANopen
device generates the SYNC.
The structure of this object is specified in the following figure.
31
30
29
28
11
10
0
x
gen.
frame
Reserved (0 0000h)
11-bit CAN-ID
Figure 32 - Structure of SYNC COB-ID
The value definition is given in the following table.
Field name
Value
Description
x
0
Do not care
gen
0
Device does not generate SYNC message
frame
0
11-bit CAN-ID valid (CAN base frame)
11 bit CAN-ID
80h (default) or user defined
11-bit CAN-ID of the CAN base frame
Table 4 - COB-ID SYNC message field