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5.5.1. EMCY COB_ID Parameter
The EMCY COB-ID is similar to the PDO COB-ID. It can be a default value or be defined by users via
SDO communication methods. This COB-ID is stored in the object 0x1014, and the data format is
shown in the following table. Before using the EMCY mechanism, bit 31 of the EMCY COB-ID needs
to be confirmed.
Bit Number
31(MSB)
30
29
28 – 11
10 – 0(LSB)
Value
0
1
EMCY does not exist(EMCY is not valid)
0
0
1
0
X
the bits value from 28 to 11 bits in 29-bit COB-ID is ...
X
The bits value from 10 to 0 bits in COB-ID
Meaning
EMCY exist(EMCY is valid)
Reserved (always 0)
11-bit ID (CAN 2.0A)
29-bit ID (CAN 2.0B)
If bit 29 is 0
If bit 29 is 1,
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