Epec Programming and Libraries Manual
Click here to see this page in full context

Supported platforms: CODESYS 2.3, CODESYS 3.5

 

CANopenEMCYs

Description

EMCY protocol is used to inform other network participants about device-internal errors.

 

CODESYS 2.3CODESYS 2.3

This program maintains the pre-defined error field (1003h) and error register (1001h).

Actions

Action name

Description

CreateErrorReg

Generates an ErrorRegister value for index 16#1001

Creates an error register (1001h) value from the errors in the predefined error field.

Init

The action initializes the EMCY protocol.

 

The action creates  type definition indexes  0005h, 0006h and 0007h and indexes 1001h(error register), 1003h(EMCY codes),  1014h(EMCY COB-ID) and 1015h (inhibit time).

 

The action sets the EMCY COB-ID to 80h if it is zero.

SDO1003h

SDO handler of index 1003h (EMCY codes).

Provides the EMCY code for SDO reply.

Send

Sends EMCY messages.

Update

The update action of EMCY protocol.

Update1003h

Updates the amount of active EMCYs in the index 1003h (EMCY codes).

 

CODESYS 3.5CODESYS 3.5

This function block implements the CANopen.ICANopenProtocol interface. The function block maintains the pre-defined error field (1003h) and error register (1001h).

 

Methods

 

Method name

Description

Init

The method initializes the EMCY protocol.

 

The method creates type definition indexes 0005h, 0006h and 0007h and indexes 1001h (error register), 1003h (EMCY codes), 1014h (EMCY COB-ID) and 1015h (inhibit time).

 

The method sets the EMCY COB-ID to 80h + node-ID if it is zero.

Update

The update method of EMCY protocol.

 

 

Example code

EMCY protocol is up and running.

 

CODESYS 2.3

 

CODESYS 3.5

 

Definitions:

 

VAR

    CANopenDeviceEmcyCodes:ARRAY [0..1] OF CANopenEMCYObject;   (*Two EMCY objects*)

    Startimer: TON;                                             (*Timer for demonstrating EMCY's*)

    Errorstate:BYTE;                                            (*Variable for demonstrating EMCY's*)

END_VAR

 

 

Init:

 

 

(*Define first EMCY code 6201h with error register mask 81h i.e. when this EMCY is active in index 1001 there is data 81h*)

 

CANopenDeviceEmcyCodes[0].Details:=16#AAAA;

CANopenDeviceEmcyCodes[0].ErrorCode:=16#6201;

CANopenDeviceEmcyCodes[0].ErrorRegisterMask:=16#81;

 

(*Define second EMCY code 6202h with error register mask 41h i.e. when this EMCY is active in index 1001 there is data 41h*)

 

CANopenDeviceEmcyCodes[1].Details:=16#BBBB;

CANopenDeviceEmcyCodes[1].ErrorCode:=16#6202;

CANopenDeviceEmcyCodes[1].ErrorRegisterMask:=16#41;

 

(*Set first EMCY active*)

 

CANopenEMCYActivate(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[0]));

Startimer(IN:=TRUE , PT:=T#2s);                                 (*Wait 2 seconds*)

 

 

Code:

 

CODESYS 2.3CODESYS 2.3

 

Code:

 

Startimer();

IF Startimer.Q AND Errorstate=0 THEN   (*After 2 seconds*)

 Startimer(in:=FALSE);                 (*Clear timer*)

 

 (*Clear first EMCY*)

 CANopenEMCYPassive(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[0]));

 Errorstate:=1;                        (*Next state*)

 Startimer(in:=TRUE);                  (*Start timer 2s*)

END_IF

 

 

IF Startimer.Q AND Errorstate=1 THEN   (*After 2 seconds*)

 Startimer(in:=FALSE);                 (*Clear timer*)

 

 (*Set second EMCY active*)

 CANopenEMCYActivate(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[1]));

 Errorstate:=2;                        (*Next state*)

 Startimer(in:=TRUE);                  (*Start timer 2s*)

END_IF

 

IF Startimer.Q AND Errorstate=2 THEN   (*After 2 seconds*)

 Startimer(in:=FALSE);                 (*Clear timer*)

 

 (*Set first EMCY active*)

 CANopenEMCYActivate(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[0]));

 Errorstate:=3;                        (*Next state*)

 Startimer(in:=TRUE);                  (*Start timer 2s*)

END_IF

 

IF Startimer.Q AND Errorstate=3 THEN   (*After 2 seconds*)

 Startimer(in:=FALSE);                 (*Clear timer*)

 

 (*Clear first EMCY*)

 CANopenEMCYPassive(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[0]));

 Errorstate:=4;                        (*Next state*)

 Startimer(in:=TRUE);                  (*Start timer 2s*)

END_IF

 

 

 

CODESYS 3.5CODESYS 3.5

 

Code:

 

Startimer();

IF Startimer.Q AND Errorstate=0 THEN   (*After 2 seconds*)

 Startimer(in:=FALSE);                 (*Clear timer*)

 

 (*Clear first EMCY*)

 CANopenEMCYDeactivate(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[0]));

 Errorstate:=1;                        (*Next state*)

 Startimer(in:=TRUE);                  (*Start timer 2s*)

END_IF

 

 

IF Startimer.Q AND Errorstate=1 THEN   (*After 2 seconds*)

 Startimer(in:=FALSE);                 (*Clear timer*)

 

 (*Set second EMCY active*)

 CANopenEMCYActivate(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[1]));

 Errorstate:=2;                        (*Next state*)

 Startimer(in:=TRUE);                  (*Start timer 2s*)

END_IF

 

IF Startimer.Q AND Errorstate=2 THEN   (*After 2 seconds*)

 Startimer(in:=FALSE);                 (*Clear timer*)

 

 (*Set first EMCY active*)

 CANopenEMCYActivate(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[0]));

 Errorstate:=3;                        (*Next state*)

 Startimer(in:=TRUE);                  (*Start timer 2s*)

END_IF

 

IF Startimer.Q AND Errorstate=3 THEN   (*After 2 seconds*)

 Startimer(in:=FALSE);                 (*Clear timer*)

 

 (*Clear first EMCY*)

 CANopenEMCYDeactivate(i_Device:=ADR(CANopenDevice), i_EmcyObject:=ADR(CANopenDeviceEmcyCodes[0]));

 Errorstate:=4;                        (*Next state*)

 Startimer(in:=TRUE);                  (*Start timer 2s*)

END_IF

 

 

 

See also

 

Source file Topic000188.htm

Last updated 4-Sep-2025