Moog ACV with CANopen bus interface
2 Access over CANopen
CANopen communication protocols
B99224-DV018-D-211, Rev. A, October 2018
17
2.8.1.1 Object 0x1005: SYNC protocol COB-ID configuration
This object defines the COB-ID of the sync object itself.
Value description
2.8.2 Emergency (EMCY) protocol (COB-ID: 0x080+Node-ID)
The emergency protocol is a high priority message triggered by an error event in the device. The error codes
sent with the emergency message are device profile independent and are specified in the CANopen commu-
nication profile CiA 301. They are described in the chapter Diagnostics.
Chapter "8 Diagnostics", page 266
2.8.2.1 Object 0x1014: EMCY protocol COB-ID configuration
This object defines the COB-ID of the emergency object itself.
Value description
CANopen
Index
Sub-index
Parameter name
Data type
Access
Persistence
Value range
Default
0x1005
0
CobIdSyncMessage
UINT32
rw
Y
1…0x000007FF|
0x40000000
0x0080
<CobIdSyncMessage>
Bit
31
30
29…11
10…0
Description
Reserved
0: SYNC client
1: SYNC server (not im-
plemented)
Reserved
11 bit COB-ID
Table 10: Possible values of parameter <CobIdSyncMessage> (0x1005)
CANopen
Index
Sub-index
Parameter name
Data type
Access
Persistence
Value range
Default
0x1014
0
CobIdEmergencyMessage
UINT32
rw
Y
1…0x000007FF
0x0080
+127
<CobIdEmergencyMessage>
Bit
31
30
29…11
10…0
Description
0: EMCY exists
Reserved
Reserved
11 bit COB-ID
Table 11: Possible values of parameter <CobIdEmergencyMessage> (0x1014)
