turck BL20 - Page 132

BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-60
Object 1014
hex
- Emcy COB-ID
Object 1014
hex
contains the Identifier for the emergency messages.
MSB LSB
Bits 31 30 29 28 to 11 10 to 0
11-bit ID
0/1 0 0 00 0000 0000 0000 0000 11-bit identifier
29-bit ID
0/1 0 1 29-bit identifier
Table 24:
Description of the
Emcy COB-ID
entry
Bit
number
Value Description
31 (MSB) 0
1
EMCY exists/ is valid
EMCY does not exist/ is not valid
30 0 reserved (always 0)
29 0
1
11-bit ID (CAN 2.0A) → for BL20
29-bit ID (CAN 2.0B)
28 to 11 0
X
if bit 29=0
if bit 29=1: bits 28 to 11 of 29-bit-COB-ID
10 to 0
(LSB)
X Bit 10 to 0 of COB-ID
Note
Bit 30 is static, i.e. cannot be changed.
Table 25:
Object 1014
hex
Object description
INDEX 1014
hex
Name Emcy COB-ID
Object code VAR
Data Type Unsigned32