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CANopen Mode

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ASDA-A3

12

Object 1014h: COB-ID emergency message

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

1014h

COB-ID emergency message

VAR

UNSIGNED32

RO

No

UNSIGNED32

80h + Node-ID

Object function:

Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit

Bit 0 - Bit 10

Bit 11 - Bit 30

Bit 31

Function

COB-ID

Reserved

Emergency (EMCY) function

Description

80h + Node-ID. The data size is 11-bit.

-

0: the emergency (EMCY) function is enabled

(servo drive sends the EMCY command).

1: the emergency (EMCY) function is disabled

(servo drive does not send the EMCY

command).

The COB-ID setting format is as follows:

Communication object

Function code

Bit 10 9 8 7

EMCY object

0001

Node ID

Bit 6 5 4 3 2 1 0

1

2

…

127

COB-ID

DEC (HEX)

129 (81h)

130 (82h)

…

255 (FFh)

12-40

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