Absolute Rotary Encoder
Programmable Parameters
2017-04
65
9.5.69 Object 6503h: Alarms
Additionally to the emergency messages in CiA301, this object shall provide further alarm
messages. An alarm shall be set if a malfunction in the encoder could lead to incorrect position
value. If an alarm occurs, the according bit shall indicate the alarm til the alarm is cleared and
the encoder is able to provide an accurate position value.
Bit structure of the alarms
Code Sequence (CS Bit 0) is hardwired to Code Sequence (CS Bit 0) in object 2100h.
9.5.70 Object 6504h: Supported Alarms
The object shall provide the supported alarms of the device. Please refer to the bit structure
table to find more details about the supported alarms.
The CA-encoder supports the position error alarm.
9.5.71 Object 6505h: Warnings
This object shall provide the warnings. Warnings indicate that tolerance for certain internal
parameters of the encoder have been exceeded. In contrast to alarm and emergency
messages warnings do not imply incorrect position values. All warnings shall be cleared if the
tolerances are again within normal parameters.
Subindex Description Data Type Default Value Access
Restore after
Boot up
0h Alarms Unsigned 16 romap no
Ta b l e 9 . 8 5
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Use MS MS MS MS R R R R R R R R R R CD PE
MS Manufacturer Specific Function (not available)
R Reserved for future use
CD Commissioning diagnostic control (not supported)
PE Position Error (not supported)
CD Commissioning diagnostic control (not available)
CS Code sequence (0 = CW Up, 1 = CCW Up)
Subindex Description Data Type Default Value Access
Restore after
Boot up
0h Supported alarms Unsigned 16 1000h ro no
Ta b l e 9 . 8 6
Subindex Description Data Type Default Value Access
Restore after
Boot up
0h Warnings Unsigned 16 rw yes
Ta b l e 9 . 8 7
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