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CANopen does not provide for two identical EMCY objects to be sent
consecutively
12.2 Object directory CR204x
Obligatory objects (index 0x1000...0x1FFF):
Index
S-idx
Designation
0x1000
Device type
0x1001
Error register
0x1018
0x00
Device
identification
Number of
entries
0x01
Vendor-ID
0x02
Product code
0x03
Revision
number
0x04
Serial
number
0x1003
0x00
Predefined
error field
Number of
entries
0x01
Error history
0x02
Error history
0x03
Error history
0x04
Error history
0x05
Error history
Data type
Default
ro
UDINT
0x000F0191
ro
USINT
0
ro
USINT
0x04
ro
UDINT
0x0069666D
ro
STRING
0
ro
UDINT
0
ro
UDINT
0
rw
UDINT
0
ro
UDINT
0
ro
UDINT
0
ro
UDINT
0
ro
UDINT
0
ro
UDINT
0
Details
Device type
Error register bitcoded to profile
301
Permissible values:
0b0000 0000 = no error
0b0000 0001 = generic error
0b0001 0000 = communication
error
0b1000 0000 = manufacturer
specific
Device identification
Vendor ID oft he device according
to CiA specifikation
Product code of the device
Revision number of the device
Serial number of the device
An error list with 4 entries is
supported
Error occured, coded according to
EMCY list
The last error is indicated in the
sub-index 1
Error occured, coded according to
EMCY list
Error occured, coded according to
EMCY list
Error occured, coded according to
EMCY list
Error occured, coded according to
EMCY list
ioControl
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