D301087 0308 - BL20 CANopen 5-3
Structure of the Emergency Frames
5
Structure of the Emergency Frames
BL20 CANopen supports Emergency Frames (EMCY) as standard-
ized in CiA DS-301.
The COB-IDs for the EMCY telegrams are defined by the Predefined
Master-Slave Connection Set:
COB-ID = 129 - 1 + Node-ID
In the event of a communication error, not only the Emergency Error
Code but also the Error register (see "Object 1001
hex
") and addi-
tional information will be transmitted, so that the error can be more
precisely identified. Only a portion of the 5 bytes is used for the addi-
tional information. The remaining bytes are then 0.
Byte
0 12 3 4 5 6 7
Data
contents
Emergency Error
Code (Table 189:)
Error register
(Table 187:)
Additional information
- only valid for Error Code 8100h-
(Table 188:)
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