CANopen Basics Instruction Manual pdf - Kuhnke

Kuhnke Control Units
6.2 KUBES Modules for CANopen
6.2.1 Read Emergency Messages (CO_EMY_R)
Puts all incoming emergency messages on the error
stack. The error stack stores the 128 most recent
emergency objects in a ring buffer.
KUBES module CO_EMY_R allows you to retrieve the error
messages from the ring buffer for analysis.
Name: ............................................................CO_EMY_R
Controller .......................................................ProfiControl 680V
CanControl 691
Function .........................................................Read emergency messages
Program code:
Parameters:
Input
JPK CO_EMY_R ,
BUS -|¯¯¯¯¯|- DEVICEID
| |- KERN_ERR
|_____|- EMY_ERR
Function Symbol Type
Par00 Selection of bus BUS B1
Output
Range of values
0 � Bus2
1 � Bus1
Function Symbol Type
Range of values
Par01 Station address DEVICEID B8 [1...127]
Par02 Kernel error KERN_ERR B16 See device data
Par03 Emergency error EMY_ERR BX See device data
74 E 615 GB
06.02.2008