10F1h Error settings

This object contains two subindexes:

Subindex 1: AKD2G supports only local error detection 1. When an error occurs, it disables incoming setpoints and goes to ErrorSafeOp with an AL status code of one of the values 0x1A, 0x32 or 0x34 (see EtherCAT State Machine).

Subindex 2: gives the limit of one of the counters defined by object 1C32h sub 11 (SM event missed) and 13 (Shift time too short).

The SM Event Missed Error Counter increments every time by one when an SM Event was missed. The Shift time too short counter increments the input shift time was too short and the SM2 event happened before the actual data could be sent out.

An internal counter is increased by a value of three in the error case and decremented by 1 in a correct case afterwards. When the Sync error counter limit is exceeded by these internal counters the appropriate AL status code is sent and the drive leaves the OP state and goes to ErrorSafeOp.

Parameter	Index	Sub-Index	Data Type	Float Scale	Units	Access	PDO Mappable	SMM Versions
Highest sub-index supported	10F1h	0	Unsigned8	-	-	Read only	No	All
Local error reaction	10F1h	1	Unsigned32	-	-	Read only	No	All
Sync error counter limit	10F1h	2	Unsigned16	-	-	Read/Write	No	All