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85201A_RK5C_User Manual_02-2017_ENG
1014h – COB-ID EMCY
This object indicates the configured COB-ID of the EMCY write service.
The structure of this object is specified in the following figure.
31
30
29
28
11 10
0
valid
res.
frame
Reserved (0 0000h)
11-bit CAN-ID
Figure 36 - Structure of EMCY COB-ID
The value definition is given in the following table.
Field name
Value
Description
valid
0
EMCY exists / is valid
1
EMCY does not exists / is not valid
reserved
0
Reserved (always 0)
frame
0
11-bit CAN-ID valid (CAN base frame)
11 bit CAN-ID
80h + Node-ID (default)
or user defined
11-bit CAN-ID of the CAN base frame
Table 5 - COB-ID EMCY message fields
The user can change the default COB-ID EMCY value in the range of the allowed values, ensuring that no conflicts
with other COB-IDs are generated.
The value is also automatically changed in accordance with the “default scheme” when changing the Node-ID value.
By setting bit 31 (valid) of the EMCY COB-ID to 1 the user can disable the EMCY service.
Object description
Index
Name
1014h
COB-ID EMCY
Entry description
SUB Index Name
Access
Data Type
Value Range
Default
0
COB-ID EMCY
RW
Unsigned32
Unsigned32(*)
000
Node-ID
(*) The 11-bit CAN-ID of the COB-ID must be compliant to the restricted CAN-ID definitions (see Restricted
CAN-ID section). A restricted CAN-ID cannot be used.