Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Functions Communication Profile Area
4 – 32 MITSUBISHI ELECTRIC
4.6.12 EMCY
Emergency objects are triggered by the occurrence of a CANopen device internal error. An emer-
gency object is transmitted only once per "error event." No further emergency objects are transmitted
as long as no new errors occur on a CANopen
device. Zero or more emergency consumers may
receive the emergency object.
The received EMCY Messages will be displayed in Un\G750 to Un\G859 (refer to section 3.5.17). A
transmission of EMCY Messages is possible over the CIF (command interface, refer to section 3.5.18).
eec: Emergency error code (2 Byte) (Refer to section 3.5.17)
er: Error register (1 Byte) (refer to object 1001
H
in section 4.6.2)
msef: Manufacturer-specific error code (5 Byte)
Object 1014
H
: COB-ID EMCY
For the resulting COB-ID, refer to section 4.6.1.
Object 1015
H
: Inhibit time EMCY
This object configures the minimum time between two EMCY messages. The unit of the 16 bit value
is 100 μs. The value 0 disables the inhibit time.
The ME3CAN1-L counting resolution is 1ms, values smaller than 1 ms will set internally to 1ms, values
starting from 1ms will be divided by 1000.
Fig. 4-22: EMCY Message
Fig. 4-23:
Bit allocation for object 1014
H
: COB-ID EMCY
Bit/Item Description Tab. 4-24:
Description for object 1014
H
: COB-ID EMCY
Valid
Bit = 0: EMCY producing is valid
Bit = 1: EMCY producing is invalid
11-bit CAN-ID
11-bit CAN-ID of the CAN base frame.
Refer to section 4.6.1.
NOTE The setting of the CAN-ID is fixed in the ME3CAN1-L and cannot be changed.
EMCY producer
Request
EMCY consumers
Indication
0 ... 1
Indication
Indication
Inhibit time
Request
2 3 ... 7
eec
er msef
Bit 31
11-bit CAN-ID
Bit 30 ... Bit 11 Bit 10 ... Bit 0
0
H
Valid