Parker PHD28, User Manual, Page: 153 / 157

75
Instruction book, PHD API Reference
CANopen channel events
Appendix B
cos.rx_emcy
Event
cos.rx_emcy
Event Data
Keys Values Description
error_code
<0..65535> Error code
error_reg
<0..255> Error register
count
<0..255> Occurrence count
value
<0..65535> Data for the EMCY message.
Direction
input
Channel
cos
Notes
EMCY Receive Event.
This event is published by cos when an EMCY message is received from the VSM
using COB-ID 0x083.
The example below assumes the Storyboard application is set up to call Lua function
canopen_rx_emcy when the
cos.rx_emcy
event is received.
Lua Example function canopen_rx_emcy ( mapargs )
local ev = mapargs .context_event_data
local code = ev [" error_code "]
local reg = ev [" error_reg "]
local count = ev [" count "]
local value = ev [" value "]
print (" Received EMCY message." )
print (" __ Error code: ". . code )
print (" Error register: ". . reg )
print (" Occurrences: ". . count )
print (" __.___ Value: ". . value )
end