RECV_EMCY_DEV (FB)¶

FUNCTION_BLOCK RECV_EMCY_DEV EXTENDS CiA405Base

Function block checks if an emergency object has been received from NodeID specified by input DEVICE. If the function block has finished its action without any error, output CONFIRM is changed to TRUE and ERROR to 0. Member EMCY_ERROR_CODE of output ERRORINFO is unequal zero if an EMCY is pending. If EMCY_ERROR_CODE equals zero no EMCY is currently pending.

Note

A received emergency is not cleared and it is delivered with each call of the function block until the device sends an emergency reset.

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
Output	`ERROR`	CANOPEN_KERNEL_ERROR	CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR	Error code: see CANOPEN_KERNEL_ERROR for further details	CiA405Base
Input	`DEVICE`	DEVICE	0	NodeID of device
Output	`ERRORINFO`	EMCY_ERROR		EMCY information; if member `EMCY_ERROR_CODE` is zero, no EMCY is pending.