Object 0x1014: cob-id emergency object, Object 0x1014: cob-id emergency object -11 – ElmoMC CANopen DS 301 Implementation Guide User Manual
Page 62
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Object 0x1014: COB-ID emergency object
This object defines the COB-ID of the Emergency object (EMCY). The structure of the
object is as follows:
MSB
LSB
Bits
31 30 29 28
-
11
10 - 0
11-bit ID
0/1
0
0
000000000000000000 11-bit
identifier
29-bit ID
0/1
0
1
29-bit identifier
Description of EMCY COB-ID entry:
Bit Number
Value
Meaning
31 (MSB)
0
1
EMCY exists / is valid
EMCY does not exist / is invalid
30 0
Reserved
(always
0)
29 0
1
11-bit ID (CAN 2.0A)
29-bit ID (CAN 2.0B)
28 - 11
0
X
If bit 29 = 0
If bit 29 = 1: bits 28 - 11 of 29-bit EMCY COB-ID
10 - 0 (LSB)
X
Bits 10 - 0 of EMCY COB-ID
Object description:
Index 1014h
Name COB-ID
emergency
message
Object code
VAR
Data type
UNSIGNED32
Category Mandatory
Entry description:
Access Read
only
PDO mapping
No
Value range
0x81…0xFFFFFFFF
Default value
0x81
CANopen DS 301 Implementation Guide
Device-specific Objects
MAN-CAN301IG (Ver. 2.1)
12-11