JVL MAC050 User Manual page 209

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
5.6.37 Object 2011h – Subindex 10h UserReg32RcvData (U32)
Reserved for future use.
5.6.38 Object 2011h – Subindex 11h (U16)
A new sub-index 11h was added to object 0x2011. This is a 16-bit unsigned value, intend-
ed for a set of error bits that are set when CAN bus errors are detected. So far, we only
use bit 0 to indicate missing heartbeat from at least one monitored node.
As long as at least one bit is set in this register, the selected error action is performed
repeatedly every few ms (either setting the motor in Passive mode or setting the
V_SOLL to zero).
The user must then zero this 2011h-subindex 11h register via SDO write to continue op-
erating the motor. He must also set the motor back into an active mode or set V_SOLL
to a non-zero value – this is not done / restored automatically.
This condition can only be reset over CAN – not from the built-in motor program or
MacTalk. After power on, or software/hardware reset, the errors will also be cleared.
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 205