0X1014/0 Cob-Id Emergency Message - BONFIGLIOLI Vectron Active Cube User Manual

12.2.13 0x1014/0 COB-ID Emergency Message

Index Sub-index
0x1014 0
The identifier and thus the definition of the priority for the emergency message can
be set with object 0x1014/0.
The default value of the identifier is 128 + Node ID (valid).
Bit 31
valid
Bit 31:
Bit 29:
Bit 0 ... 10:
The emergency message is transmitted with the emergency message COB-ID and
comprises eight bytes. This object is generated in individual cases and the fault
acknowledgement signaled by an emergency message with the data contents equal to
zero. The contents are coded according to the following table:
Byte
0 Low-byte error code
1 High-byte error code
2 Error register
3 0
4 0
0
5
6 Low-byte, internal error code
7 High-byte, internal error code
Bytes 0, 1 and 2 have a fixed definition within the emergency object. Bytes 6 and 7
are used product-specifically on the basis of the specification.
Example:
Read Request
Reply
Write Access
Reply
CB: Control byte
04/13
Meaning
COB-ID Emergency Message
Bit 30 Bit 29
0
frame
0 = EMCY existent / valid
1 = EMCY non-existent / not valid
0 = 11 Bit ID
1 = 29 Bit ID NOT ALLOWED
11 bit CAN-ID
Emergency Message
Contents
(0x603F)
(0x603F)
(0x1001)
COB ID CB
601 40
581 43
601 23
581 60
SI: Sub Index All values in hexadecimal without leading 0x
CM-CAN ACU
Data type
Unsigned32
Object 0x1014/0
Bit 11 ... 28
0
Index SI Data
14 10 00 00 00 00 00
14 10 00 81 00 00 00
14 10 00 81 00 00 00
14 10 00 00 00 00 00
Access Map Def.-Val
r/w No See text
Bit 0 ... 10
11 bit CAN-ID
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