Emergency objects are triggered by the occurrence of a CANopen device internal error situation and are transmitted from an emergency producer (normally a node) on the CANopen device. An emergency object is sent only once per error event. Zero or more emergency consumers may receive the emergency object.
The data content of the emergency message uses the following structure:
|
COB-ID (hex) |
Byte number: |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
|---|---|---|---|---|---|---|---|---|---|
|
080 + Node ID |
|
Reserved (zero values) |
|||||||
Emcl error codes can be found in this link.