94 • CANopen
Network
Communication
WAGO-I/O-SYSTEM
750
CANopen
4.3.1.3.1 SYNC Protocol
Sync Producer
Sync Protokoll
COB-ID = 128
L = 0
Sync Consumer(s)
request
indication(s)
Fig. 4-9: SYNC Protocol
g012413x
4.3.1.4 Emergency Object (EMCY)
Emergency objects are triggered by an internal error situation such as i.e. a
module is removed during operation, or a module signals an error. The bus
coupler then sends an emergency object to all connected devices (Broadcast),
to broadcast the error occurred. The informed bus subscribers can then react
accordingly by suitable error correction measures.
4.3.1.4.1 EMCY Protocol
EMCY Producer
EMCY Protokoll
EMCY Consumer(s)
request
indication(s)
MER
EEC
ER
0
2
3
8
Fig. 4-10: EMCY Protocol
g012414x
More Information
A detailed description to the Emergency messages, please refer to chapter
4.3.9 "Error Message (Emergency)".
