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12.2.13 0x1014/0 COB-ID Emergency Message
Index Sub-index Meaning Data type Access Map Def.-Val
0x1014 0 COB-ID Emergency Message Unsigned32 r/w No See text
The identifier and thus the definition of the priority for the emergency message can
be set with object 0x1014/0.
The default value of the identifier is 128 + Node ID (valid).
Object 0x1014/0
Bit 31 Bit 30 Bit 29 Bit 11 ... 28 Bit 0 … 10
valid 0 frame 0 11 bit CAN-ID
Bit 31: 0 = EMCY existent / valid
1 = EMCY non-existent / not valid
Bit 29: 0 = 11 Bit ID
1 = 29 Bit ID NOT ALLOWED
Bit 0 … 10: 11 bit CAN-ID
The emergency message is transmitted with the emergency message COB-ID and
comprises eight bytes. This object is generated in individual cases and the fault
acknowledgement signaled by an emergency message with the data contents equal to
zero. The contents are coded according to the following table:
Emergency Message
Byte Contents
0 Low-byte error code ( 0x603F )
1 High-byte error code ( 0x603F )
2 Error register ( 0x1001 )
3 0
4 0
5 0
6 Low-byte, internal error code
7 High-byte, internal error code
Bytes 0, 1 and 2 have a fixed definition within the emergency object. Bytes 6 and 7
are used product-specifically on the basis of the specification.
Example:
COB ID CB Index SI Data
Read Request 601 40 14 10 00 00 00 00 00
Reply 581 43 14 10 00 81 00 00 00
Write Access 601 23 14 10 00 81 00 00 00
Reply 581 60 14 10 00 00 00 00 00
CB: Control byte SI: Sub Index All values in hexadecimal without leading 0x
04/13
CM-CAN ACU
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