Implemented CANopen objects
Overview
I−1014: COB−ID emergency object
13
l
104
EDSMF2178IB EN 3.0
13.2.12 I−1014: COB−ID emergency object
Index (hex)
0x1014
Name
COB−ID emergency object
Subindex Default
setting
Value range Access Data type
0 0x80 +
Node ID
0 ... 2
32
− 1 rw U32
When communication errors occur, are reset or when internal errors occur in the
communication module or controller (e.g. TRIP), the CAN bus sends an error message. The
telegram is sent once for every fault. This function can be activated and deactivated with
bit 31.
Data telegram assignment
Byte 8 7th byte Byte 6 Byte 5
MSB U32 LSB
31 30 29 28 ... 11 10 0
0/1 0 0 Bit value: 0 11−bit identifier
Bits Value Description
0 ... 10 0/1 11−bit identifier
11 ... 29 0 The extended identifier is not supported. Any of these bits must be "0".
30 0 Reserved
31
0 Emergency object is valid
1 Emergency object is invalid
) Note!
The COB−ID can only be changed in the "Emergency object invalid" status
(bit 31 = 1).
The emergency telegram sent via the CAN bus is structured as follows:
ƒ Byte 1 + 2: Emergency error code
ƒ Byte 3: Error register object I−1001
ƒ Bytes 4 ... 8: Field for manufacturer−specific error messages
Contents:
– Emergency error code 0x1000: Lenze error number
– All other emergency error codes have the value "0".
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