Emergency Object - Beckhoff CX1500-M510 Manual

Product overview
dec hex Telegram
type
873 369 RxPDO7*,
Nd.41
2.3.7

Emergency Object

In order to be able to inform other participating devices on the CANopen bus about internal device errors or
CAN bus errors, CANopen Bus Couplers can make use of the emergency object. It has a high priority, and
provides valuable information about the state of the device and of the network.
Warning It is strongly recommended that emergency objects are evaluated - they provide a valuable source
of information.
Structure of the emergency message
The emergency object is always 8 bytes long; it contains first the 2-byte error code, then the 1-byte error
register, and finally the additional code of 5 bytes. This is divided into a 2-byte bit field and a 3-byte
parameter field:
11 bit 8 bytes of user data
identifier
0x80 EC0 EC1
(=128dec)
+ node-ID
88
dec hex Telegram
type
1429 595 SDO Tx
Nd.21
NOTE
EReg Bit field 0: Bit field 1:
Comm DevErr
Version: 1.0
dec hex Telegram
type
EMCY Info 0 Info 1
Trigger
CX1500-M510, CX1500-B510