Object 1002H: Manufacturer Status Register (Ds301) - Kollmorgen S300 Interface Manual

CANopen Drive Profile
4.2.1.3

Object 1002h: Manufacturer Status Register (DS301)

The manufacturer status register contains important drive informations.
Index
Name
Object code
Data type
Category
Access
PDO mapping
Value range
Default value
The following table shows the bit assignment for the status register:
28
Bit Description
0 1 = Movement (positioning, homing) active
1 1 = reference point set
2 1 = reference switch high (home-position)
3 1 = In Position
4 1 = Position latch at input 2 (positive transition)
5 reserved
6 reserved
7 reserved
8 reserved
9 reserved
10 1 = Initialization phase finished
11 reserved
12 1 = Motor stand still message (threshold VEL0)
13 1 = Safety relay selected (AS-option)
14 1 = Power stage enabled
15 1 = Error state
16 1 = Homing move active
17 1 = Jog move active
18 1 = position latch at input 2 (negative transition)
19 1 = Emergency stop active
20 1 = Position latch at input 1 (positive transition)
21 1 = Position latch at input 1 (negative transition)
22 1 = Feed forward off
23 1 = Homing move finished
24 1 = one of the actual errors will lead to a coldstart of the drive, if resetted
25 1 = digital input 1 set
26 1 = digital input 2 set
27 1 = digital input 3 set
28 1 = digital input 4 set
29 1 = digital input hardware enable set
30 reserved
31 reserved
11/2018
1002
h
Manufacturer Status Register
VAR
UNSIGNED32
optional
ro
possible
UNSIGNED32
no
Kollmorgen
CANopen for S300/S700