Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur télécharger pdf (Page 62)

Object 0x1014: COB-ID emergency object

This object defines the COB-ID of the Emergency object (EMCY). The structure of the

object is as follows:

MSB LSB

Bits 31 30 29 28 - 11

10 - 0

11-bit ID 0/1 0 0

000000000000000000 11-bit identifier

29-bit ID 0/1 0 1

29-bit identifier

 Description of EMCY COB-ID entry:

Bit Number Value Meaning

31 (MSB) 0

EMCY exists / is valid

EMCY does not exist / is invalid

30 0 Reserved (always 0)

29 0

11-bit ID (CAN 2.0A)

29-bit ID (CAN 2.0B)

28 - 11 0

If bit 29 = 0

If bit 29 = 1: bits 28 - 11 of 29-bit EMCY COB-ID

10 - 0 (LSB) X Bits 10 - 0 of EMCY COB-ID



 Object description:

Index 1014h

Name COB-ID emergency message

Object code VAR

Data type UNSIGNED32

Category Mandatory

 Entry description:

Access Read only

PDO mapping No

Value range 0x81…0xFFFFFFFF

Default value 0x81

CANopen DS 301 Implementation Guide Device-specific Objects

MAN-CAN301IG (Ver. 2.1)

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Elmomc CANopen DS 301 Implementation Guide Manuel d'utilisateur Page 62