CAN-8x23 user’s manual (Revision 3.20, Ma r/08/2012) ------
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5.3.2 EMCY Communication
The EMCY message is triggered when some internal error occurs. After
the transmission of one EMCY message, the object with index 0x1003 will
record this EMCY event. Therefore, users can track
the error’s occurrences.
The CAN-8x23 supports the maximum of 5 records stored in the index 0x1003
object. The sub-index 1 of this object will store the last EMCY event, and
sub-index 5 will record the most previous EMCY event. The EMCY
communication set is given below.
COB-ID
: the EMCY COB-ID
The EMCY COB-ID can be defined by users. This situation is
similar to the PDO COB-ID. The default value is 4-bit function
code “0001” with 7-bit node ID.
EMCY-msg
: record the type or the class of the occurrence error
The data format of the emergency object data complies with the structure
bellows.
Byte
0
1
2
3
4
5
6
7
Cont ent
Emergency Error Code Error register
Manufacturer specific Error Field
Each bit on the error register is defined as follows. Only the CAN-8x23
supports bit 0, bit 4 and bit 7.