Code: |
AS + 754 |
Symbolic: |
bccCanEmcyRead |
This command will read a CANopen EMCY (emergency) message. Request has the following parameters:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: 0x00000001 Enable text |
4 |
U16 |
WSID |
Workstation ID (#1) |
(#1) Workstation ID is also know (or defined) as Robox ID.
On success, a bccAck is received with the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U16 |
ERRCOD |
Error code |
2 |
U8 |
ERRREG |
Error register |
3 |
U8[5] |
MSDATA |
Manufacturer specific data |
8 |
STRZ |
TEXT |
Emergency text (if enabled) |
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackIllegalArgs |
Illegal parameters |
U16 Param ID 1 = Bad flags 2 = Bad workstation ID |
