ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 101)

Sub-index 4
Description Events for PDO4 trigger
Entry category Optional
Access Read/Write
PDO mapping No
Value range 0…0x4FFFFFFF
Default value 0
Object 0x2F21: Emergency events
This object selects events as the cause for transmitting emergency objects (see
Chapter 6 ).
The driving event definition for an emergency is a bit field, as follows:
Bit Event Error Code Error Register
0 CAN message lost (corrupted or overrun) 0x8110 0x11
1 Protocol error (unrecognized NMT request) 0x8200 0x11
2 Attempt to access an unconfigured RPDO 0x8210 0x21
3 Heartbeat event 0x8130 0x11
4 Fatal CPU error: stack overflow 0x6180 0x81
5 User program aborted by an error 0x6200 0x81
6 Request by user program “emit” function 0xFF01 0x81
7 Motor shut down by fault See Table 13-3 See Table 13-3
8 Object mapped to an RPDO returned an
error during interpretation or a referenced
motion failed to be performed. 0x6300 0x01
9 DS 402 IP Underflow 0xFF02 0x21
Note: This object does not control certain emergency messages, such as PVT motion
errors. Some of the uncontrolled emergency objects include manufacturer-specific
information.
The manufacturer error field for all controlled emergency messages is zero, except the
user program EMCY() command, in which the program code determines the value of the
field. The argument of the EMCY() function is written as an Unsigned32 number, into
bytes 4 to 7 of the emergency message.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-24