ICP DAS USA iKAN Series User Manual page 144

5.5.2. EMCY Communication
The EMCY message is triggered when some internal error occurs. After the transmission of one
EMCY message, the object with index 0x1003 will record this EMCY event. Therefore, the users can
check this object to understand the history of the error's occurrences. The iKAN-XXX-CPS supports
a max of 5 records stored in the different sub-indexes of the index 0x1003 object. The sub-index 1
of this object stores the last EMCY event, and sub-index 5 records the oldest EMCY event.
EMCY Producer
Request
COB-ID : The EMCY COB-ID. User can define the EMCY COB-ID. This situation is similar to the PDO
COB-ID. The COB-ID value consists of 4-bit function code "0001" and 7-bit node ID.
EMCY-msg : Record the type or class of the occurrence error.
The message format of the EMCY object data is shown as below:
Byte 0
Content
Emergency Error Code
Each bit on the error register is defined as below. The iKAN-XXX-CPS only supports bit 0, bit 4 and
bit 7.
The emergency error codes
specified in the following
Emergency Object Protocol
1 2
Error register
Bit Meaning
0 Generic error
1 Current
2 Voltage
3 Temperature
4 Communication error
(overrun, error state)
5 Device profile specific
6 Reserved (always 0)
EMCY Consumer
Indication
3 4 5
Manufacturer specific Error Field
and the error register are
table.
Indication
Indication
6 7