Error Control Services; Bootup Service; Emergency Object (Emcy) - WIKA MH-4-CAN Special Documentation

3. CANopen communication
CS: NMT command specifier
NMT services are unconfirmed.
CS
01h Start Remote Node
02h Stop Remote Node
80h Enter Pre-Operational
81h Reset Node
82h Reset Communication

3.5.2 Error Control Services

Through Error control services the NMT detects failures in a CAN-based.
The heartbeat mechanism for a device is established through cyclically transmitting a
message by a heartbeat producer. One or more devices in the network are aware of
this heartbeat message. If the heartbeat cycle fails for the heartbeat producer the local
application on the heartbeat consumer will be informed about that event.
(see 4.1.12 (object heartbeat producer)).

3.5.3 Bootup Service

Through this service, the NMT slave indicates that a local state transition occurred from
the state 'INITIALISING' to the state 'PRE-OPERATIONAL'. The protocol uses the same
identifier as the error control protocols.
ID
700h + Node-ID

3.6 Emergency object (EMCY)

In case of an EMCY the sensor sends an EMCY object:
Sensor transmits:
ID DLC Byte0 Byte1 Byte2
80h + 8 LSB
Node-ID
Emergency
Error Code
For detailed error behaviour description and supported error codes please refer to
chapter 5.
WIKA special documentation, model MH-4-CAN
DLC Byte0
1 00h
MSB Error
register
(1001h)
Byte3 Byte4 Byte5 Byte6 Byte7
Subindex Manufacturer specific error field
EN
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