CANopen
• 111
Network Communication
WAGO-I/O-SYSTEM 750
CANopen
Sequence:
replace configuration once by default configuration
-> load (Index 0x1011, sub-index 4)
-> Reset
-> default values
(re-use of the load (index 0x1011, sub-index 4) command is not permitted in this status!)
-> Reset
-> stored configuration
4.3.4.2.13
Object 0x1014, COB-ID Emergency Object
Idx
S-Idx
Name
Type
Attribute
Default Value
0x1014
0
COB ID EMCY
Unsigned32
RW
0x80+Module-ID
The object defines the COB ID for the EMCY message.
Design:
Bit31 Bit
30
Bit11
Bit10
Bit0
0/1
valid/invalid
reserved
(always 0)
COB-ID
If a new COB ID is to be entered, set bit 31 to 1 first, because standard DS301
does not allow to change a valid COB ID (Bit31=0).
4.3.4.2.14
Object 0x1015, Inhibit Time Emergency Object
Idx
S-Idx
Name
Type
Attribute
Default Value
0x1015
0
Inhibit Time EMCY
Unsigned16
RW
0
This object indicates the time in minutes which must be allowed to elapse
prior to another Emergency to be sent.
An entry of zero deactivates the delayed transmission.
Due to the fact that with delayed transmission the entries are entered in a
queue, the max. number of Emergencies in quick succession is limited to the
queue size (20 entries). If this number is exceeded, an Emergency is sent im-
mediately indicating the overflow.
One time unit is 100µs.
Example:
Minimum time interval between two EMCY’s 30ms
Index 0x1015 = 300 = 0x12C
