RECV_EMCY (FB)¶

FUNCTION_BLOCK RECV_EMCY EXTENDS CiA405Base

Function block checks if an emergency object has been received from any DEVICE. If the function block has finished its action without any error, output CONFIRM is changed to TRUE and ERROR to 0. If DEVICE is 0 all devices are error free. If an EMCY is pending or an EMCY error reset was received output DEVICE contains the NodeID of the corresponding device and ERRORINFO contains the EMCY information.

Note

An EMCY will be returned as long as it is pending.

An EMCY error reset (Variable EMCY_ERROR_CODE of EMCY_ERROR is zero) is returned only once.

If an error occurred while checking for an emergency, CONFIRM is set to FALSE and ERROR is set to the corresponding error value.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	`NETWORK`	`USINT`	1	CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 `NETWORK` is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, …	CiA405Base
	`ENABLE`	`BOOL`	FALSE	Enables the function block on rising edge. Aborts operation on falling edge.	CiA405Base
	`TIMEOUT`	`UDINT`	0	Timeout in ms; 0 means no timeout	CiA405Base
Output	`CONFIRM`	`BOOL`	FALSE	`TRUE`: function block finished without error	CiA405Base
	`ERROR`	CANOPEN_KERNEL_ERROR	CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR	Error code: see CANOPEN_KERNEL_ERROR for further details	CiA405Base
	`DEVICE`	DEVICE	0	EMCY received: DEVICE contains the NODEID of the sending device; no EMCY received: value is 0
	`ERRORINFO`	EMCY_ERROR		EMCY information