|
Index |
Sub Index |
Name |
Data Type |
Acc. |
Pdo Map. |
NVM |
Value range |
Default value |
Units |
|---|---|---|---|---|---|---|---|---|---|
|
0x1014 |
0x00 |
COB-ID emergency message |
UINT32 |
RW |
No |
No |
UINT32 |
0x00000080 + Node ID |
- |
This object indicates the configured COB-ID for the emergency (EMCY) write service.
This object only works in emcl CANopen version.
Data description:
|
Bit number: |
31 |
30 |
29 |
28 |
… |
11 |
10 |
… |
0 |
|---|---|---|---|---|---|---|---|---|---|
|
|
valid |
Reserved always 0 |
frame |
0x00000 |
11-bit CAN-ID |
||||
|
29-bit CAN-ID |
|||||||||
|
Bit |
Value |
Description |
|---|---|---|
|
valid
|
0 |
EMCY exists / is valid |
|
1 |
EMCY does not exist / is not valid |
|
|
frame
|
0 |
11-bit CAN-ID valid (CAN base frame) |
|
1 |
29-bit CAN-ID valid (CAN extended frame) – not supported |
|
|
29-bit CAN-ID |
x |
29-bit CAN-ID of the CAN extended frame – not supported |
|
11-bit CAN-ID |
x |
11-bit CAN-ID of the CAN base frame |