CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
CANopen Programmer's Manual - Maccon.de
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<strong>CANopen</strong> Programmer’s <strong>Manual</strong> 3: Device Control, Configuration, and Status<br />
MOTOR ENCODER STATUS INDEX 0X2224<br />
Type Access Units Range Map PDO Memory<br />
Unsigned 32 RO - - YES R*<br />
Description<br />
Motor enco<strong>de</strong>r status. This parameter gives additional status information for the enco<strong>de</strong>r. Bits set<br />
in the status word are latched and cleared when the status value is read. The format of this status<br />
word is <strong>de</strong>pen<strong>de</strong>nt on the enco<strong>de</strong>r type. Many error bits are taken directly from enco<strong>de</strong>r data<br />
stream. For a full <strong>de</strong>scription of what these error bits mean, please consult the enco<strong>de</strong>r<br />
manufacturer.<br />
BiSS<br />
Bits Description<br />
0 CRC error on data received from enco<strong>de</strong>r<br />
1 Enco<strong>de</strong>r failed to transmit data to amp<br />
2 Error bit on enco<strong>de</strong>r stream is active<br />
3 Warning bit on enco<strong>de</strong>r stream is active<br />
4 Enco<strong>de</strong>r transmission <strong>de</strong>lay is too long<br />
EnDAT<br />
Bits Description<br />
0 CRC error on data received from enco<strong>de</strong>r<br />
1 Failed to <strong>de</strong>tect enco<strong>de</strong>r connected to amplifier<br />
2 Error bit on enco<strong>de</strong>r stream is active<br />
3 Enco<strong>de</strong>r failed to respond to request for position<br />
Tamagawa & Panasonic<br />
Bits Description<br />
0 Over speed error reported by enco<strong>de</strong>r<br />
1 Absolute position error reported by enco<strong>de</strong>r<br />
2 Counting error reported by enco<strong>de</strong>r<br />
3 Counter overflow reported by enco<strong>de</strong>r<br />
5 Multi-turn error reported by enco<strong>de</strong>r<br />
6 Battery error reported by enco<strong>de</strong>r<br />
7 Battery warning reported by enco<strong>de</strong>r<br />
8 Error bit 0 reported by enco<strong>de</strong>r<br />
9 Error bit 1 reported by enco<strong>de</strong>r<br />
10 Comm error 0<br />
11 Comm error 1<br />
15 CRC error on data received from enco<strong>de</strong>r<br />
Sanyo Denki & Harmonic Drives (enco<strong>de</strong>r type 14)<br />
Bits Description<br />
0 Battery warning reported by enco<strong>de</strong>r<br />
1 Battery error reported by enco<strong>de</strong>r<br />
3 Over speed reported by enco<strong>de</strong>r<br />
4 Memory error reported by enco<strong>de</strong>r<br />
5 STERR reported by enco<strong>de</strong>r<br />
6 PSERR reported by enco<strong>de</strong>r<br />
7 Busy error reported by enco<strong>de</strong>r<br />
Copley Controls 107