ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 62)

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
ƒ 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
ƒ
ƒ Object description:
Index 1014h
Name COB-ID emergency message
Object code VAR
Data type UNSIGNED32
Category Mandatory
ƒ 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