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User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3
8.1.8.
Object 1014
h
COB-ID EMCY
This object configures the COB-ID for the EMCY write service. The factory default COB-ID of EMCY is 00000081
h
,
which indicates:
•
EMCY exists (bit31=0
)
•
11-bit CAN-ID is valid
•
CAN-ID of EMCY is 81
h
(default: 80
h
+ Node ID 01
h
)
It is not recommended to change the CAN-ID of EMCY to a different value.
8.1.9.
Object 1020
h
verify configuration
This object provides the downloaded configuration date and time. It is used by configuration tools to compare the
current device configuration date with their DCF files and determine whether reconfiguration is necessary.
8.1.10.
Object 1029
h
error behaviour
This object configures the device to enter the selected NMT state when a serious failure is detected. By default,
subindex 01h and 02h are both preconfigured with the default value of 00h, which means the device shall
autonomously enter pre-operational state.
Subindex
Error type
Error behaviour
01h
Communication error
00
h
= Change to NMT state pre-operational (only if
currently in NMT state Operational)
01
h
= No change of the NMT state
02
h
= Change to NMT state Stopped
03
h
… FF
h
= reserved
02h
Profile- or manufacturer-specific
error
Table 23
–
Object 1029
h
error behaviour
Failures include the following communication errors:
•
Bus-off state of the CAN interface
•
Life
guarding event with the state ‘occurred’ and the reason 'time out'
•
Heartbeat event with state ‘occurred’ and the reason 'time out"
•
Device internal failures
