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The following example demonstrates the detection of an emergency event APP.EMCY_2 within the application of the CANopen node AppNode. The specific user information data for this event is: 0x1234567890.
| Code Block | ||
|---|---|---|
| ||
CO_EMCY_USR usr;
:
usr.Emcy[0] = 0x12;
usr.Emcy[1] = 0x34;
usr.Emcy[2] = 0x56;
usr.Emcy[3] = 0x78;
usr.Emcy[4] = 0x90;
COEmcySet (&(AppNode.Emcy), APP_EMCY_2, &usr);
: |
Note: The specific user information data field is optional. If not used, the last parameter during calling COEmcySet() can be 0 (zero). The emergency identifier APP_EMCY.2 must be defined within the application specific configuration. See CANopen Config Manual for details.