Kollmorgen AKD User Manual

7.2.1.4 Object 1003h: Predefined Error Field (DS301)
The object 1003h provides an error history with a maximum size of 10 entries.
Subindex 0 contains the number of errors which have occured since the last reset of the error history, either by
startup of the drive or resetting the error history by writing 0 to subindex 0.
A new Emergency-message is written into subindex 1 shifting the old entries one subindex higher. The old con-
tent of subindex 8 is lost.
The UNSIGNED32-information written to the subindizes is defined in the field Error Code in the description of the
Emergency Messages (=> p. 42).
Index 1003h
Name pre-defined Error Field
Object code ARRAY
Data type UNSIGNED32
Category optional
Subindex 0
Description Number of entries
Data type UNSIGNED8
Category mandatory
Access R/W
PDO mapping not possible
Value range 0 to 10
Default value 0
Subindex 1 to 10
Description Standard error field (=> p. 42)
Category optional
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value no
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 49

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing