BECKHOFF AX2000 CANopen communication profile - Manual (Page 30)

4.2.1.3 Object 1002h: Manufacturer Status Register (DS301)
This Object contains the manufacturer-specific status register, which also contains AX2xxx war-
nings (see also ASCII Object DRVSTAT).
Index 1002 h
Name Manufacturer Status Register
Object code VAR
Data type UNSIGNED8
Category M
Access ro
PDO mapping not possible
Value range UNSIGNED8
Default value no
The following table shows the bit assignment for the status register:
Bit Description
0 Warning 1: I²t-threshold exceeded
1 Warning 2: full regen power reached
2 Warning 3: lag/following error
3 Warning 4: response monitoring activated
4 Warning 5: power supply phase missing
5 Warning 6: software limit-switch 1 has been activated
6 Warning 7: software limit-switch 2 has been activated
7 Warning 8: faulty motion task started
8 Warning 9: no reference point set at start of motion task
9 Warning 10: PSTOP activated
10 Warning 11: NSTOP activated
11 Warning 12: motor default values were loaded
12 Warning 13: expansion board not functioning correctly
13 Warning 14: motor phase
14 Warning 15: erroneous VCT entry selected
15 Warning 16: reserve
16 motion task active
17 reference point set
18 actual position = home position
19 In Position
20 position latch made (positive edge)
21 reached Position 0
22 reached Position 1
23 reached Position 2
24 reached Position 3
25 reached Position 4
26 finished initialization
27 reached Position 5
28 speed = 0
29 safety relay has been activated
30 output stage enabled
31 error present
30 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF