Emergency (EMCY) objects are triggered by the occurrence of a device internal error situation and are transmitted from an emergency producer on the device. Emergency objects are suitable for interrupt type error alerts. An emergency object is transmitted only once per 'error event'. As long as no new errors occur on a device no further emergency objects must be transmitted. The emergency object may be received by zero or more emergency consumers. The reaction on the emergency consumer(s) is not specified.
◆ ComEmcyConsEnable()
| ComStatus_tv ComEmcyConsEnable |
( |
uint8_t |
ubNetV, |
|
|
uint8_t |
ubNodeIdV, |
|
|
uint8_t |
ubEnableV |
|
) |
| |
- Parameters
-
| [in] | ubNetV | - CANopen Network channel |
| [in] | ubNodeIdV | - Node-ID value of CANopen device |
| [in] | ubEnableV | - Enable/Disable EMCY service |
- Returns
- eCOM_ERR_NONE on success, negative ComErr_e value on failure
This function enables (ubEnableV = 1) or disables (ubEnableV = 0) the EMCY consumer service for a Node ID given by ubNodeIdV.
◆ ComEmcyConsEventReceive()
| void ComEmcyConsEventReceive |
( |
uint8_t |
ubNetV, |
|
|
uint8_t |
ubNodeIdV |
|
) |
| |
- Parameters
-
| [in] | ubNetV | - CANopen Network channel |
| [in] | ubNodeIdV | - Node-ID value of CANopen device |
- Returns
- eCOM_ERR_NONE on success, negative ComErr_e value on failure
The function is called by the CANopen Master stack upon reception of an Emergency message (EMCY). The Emergency message has to be configured by ComEmcyConsEnable() in advance.
◆ ComEmcyConsGetData()
| ComStatus_tv ComEmcyConsGetData |
( |
uint8_t |
ubNetV, |
|
|
uint8_t |
ubNodeIdV, |
|
|
uint8_t * |
pubDataV |
|
) |
| |
- Parameters
-
| [in] | ubNetV | - CANopen Network channel |
| [in] | ubNodeIdV | - Node-ID value of CANopen device |
| [in] | pubDataV | - Pointer to data |
- Returns
- eCOM_ERR_NONE on success, negative ComErr_e value on failure
The functions reads the data of the EMCY message from a CANopen device using the Node-ID value ubNodeIdV. The size of the data buffer is 8 bytes.
◆ ComEmcyEnable()
| ComStatus_tv ComEmcyEnable |
( |
uint8_t |
ubNetV, |
|
|
uint8_t |
ubEnableV |
|
) |
| |
- Parameters
-
| [in] | ubNetV | - CANopen Network channel |
| [in] | ubEnableV | - Enable/Disable EMCY service |
- Returns
- eCOM_ERR_NONE on success, negative ComErr_e value on failure
This function enables (ubEnableV = 1) or disables (ubEnableV = 0) the EMCY service of the CANopen Master. The EMCY service is enabled by default.
◆ ComEmcyGetId()
| ComStatus_tv ComEmcyGetId |
( |
uint8_t |
ubNetV, |
|
|
uint32_t * |
pulIdV |
|
) |
| |
- Parameters
-
| [in] | ubNetV | - CANopen Network channel |
| [out] | pulIdV | - Pointer to identifier value |
- Returns
- eCOM_ERR_NONE on success, negative ComErr_e value on failure
- See also
- ComEmcySetId()
This function reads the identifier value used by the EMCY service.
◆ ComEmcyGetInhibit()
| ComStatus_tv ComEmcyGetInhibit |
( |
uint8_t |
ubNetV, |
|
|
uint32_t * |
pulTimeV |
|
) |
| |
- Parameters
-
| [in] | ubNetV | - CANopen Network channel |
| [out] | pulTimeV | - Pointer to EMCY inhibit time |
- Returns
- eCOM_ERR_NONE on success, negative ComErr_e value on failure
- See also
- ComEmcySetInhibit()
This function retrieves the inhibit time between two subsequent EMCY messages. The pointer pulTimeV points to a variable that holds the time value in multiples of one microsecond.
