Object directory of the encoder
ATM60-Cxx 03/2007 21
9.1.1.2 Object 1001 hex: error register
Description
In this register, the encoder indicates errors. For a more detailed error analysis, object 1003
hex
(predefined
error field) must be used.
Explanation
Bit 0 => general error, 0 = no error occurred, 1 = error occurred
Bit 1..7 => are not supported
9.1.1.3 Object 1003 hex: predefined error field
Description
If the encoder detects errors in the sequence, these are entered into the predefined error field. The error field
comprises a maximum of four error entries. Each new error is entered under sub-index 1, all the other errors
in the error field are shifted back by one sub-index. The last entry under sub-index 4 is lost in this event.
Explanation
· Sub-index 0: number of errors that have occurred
· Sub-index 1: first entry in the effort field
· Sub-index 2: second entry in the error field
· Sub-index 3: third entry in the error field
· Sub-index 4: fourth entry in the error field.
All entries in the error field are deleted by writing a 0 to sub-index 0.
The meanings of the error messages are described in the communications profile of CANopen (DS 301).
9.1.1.4 Object 1005 hex: COB-ID for SYNC messages
Description
This object defines the COB-ID for SYNC messages.
Explanation
Bit number Value Meaning
31 (MSB) 1 Device is receiving SYNC messages
30 0 Device not generating any SYNC messages
29 0 11-bit ID (CAN 2.0A)
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