https://forge.codesys.com/forge/talk/Engineering/thread/433dd22fcd/2021-04-28T10:24:56.442000ZRecent posts to Acknowledge a CanOpen node2021-04-28T10:24:56.442000Z2021-04-28T10:24:56.442000Zlarusohttps://forge.codesys.com/u/laruso/https://forge.codesys.com3577db6dc0cfe75e5983a8769d40006f10f8f962

<div class="markdown_content"><p>To change the pending EMCY error the master detected, the device have to send an "emergency reset". Please see the doku for this function block. <br/> The EMCY error you get from CiA405.RECV_EMCY_DEV seems to be the recording at the master, NOT the still pending error at the device.</p> <p>My device only sends out an EMCY over COB-ID 81 (for node-id 1) once, if there is a rising edge of an error. Nevertheless if the errors is still pending or not. So only one message on CAN bus. </p> <p>This results in not being the right way to want to check/ack the devices EMCY like you want to do.</p></div>

2020-02-27T14:07:39.389000Z2020-02-27T14:07:39.389000Zbellshttps://forge.codesys.com/u/bells/https://forge.codesys.comfe1a8edc729da991790e28bda688bc7117c0a45e

<div class="markdown_content"><p>Thanks for your contribution TimvH.<br/> Concerning the acknowledge of the CanOpen nodes , the support now gave me the same answer as you. <br/> I have to check again but i've seen that until i didn't ack the node, the EMCY function memorize the last emergency code/node in error. Therefore, view from the plc application, i still have a node in error ...this is my problem, i would like either akc the node or ack the Emcy function from the plc app.</p> <p>About my experience, in my current project, i have 11 nodes and i use heartbeat function instead of node guard (it's better but, of course, it has to be supported by the devices). My heatbeat producer time is 200ms and consumer time 300ms. I don't have problem with this function </p> <p>Best regards</p></div>

2020-02-27T14:07:39.094000Z2020-02-27T14:07:39.094000Ztimvhhttps://forge.codesys.com/u/timvh/https://forge.codesys.comd95a4c8badc4e01730a0f91eafb87cc1aa0a691b

<div class="markdown_content"><p>I had the same question and got the following answer from 3S-Software Support:<br/> Emergencies cannot be acknowledged by the application. You can only check which Emergencies are pending. For this, use the CiA405 RECV_EMCY and RECV_EMCY_DEV functionblock.</p> <p>PS, I also asked about the CANOpen manager buttons in the status window to start/stop/reset/... a node, because this didn't work. Here the answer:<br/> The buttons are only for the CANopenManagerFDT and will be deactivate in future versions, if FDT is not activated.</p> <p>By the way, I had a project with 18 nodes and had to set the guard time of all nodes pretty high (5000ms) to get it to work correctly, but I don't know if it is CoDeSys related or Slave related. What is your experience?</p></div>

2020-02-27T14:07:38.795000Z2020-02-27T14:07:38.795000Zbellshttps://forge.codesys.com/u/bells/https://forge.codesys.com6e5d8636ec5576e515d2bcc551793f2261dec274

<div class="markdown_content"><p>When an EMCYmessage is detected on a CanOpen node, it is possible, in on-line mode, to see the Emcy code and to acknowledge the node by the button acknowledge located in the device tab "status". </p> <p>It's possible to read the Emcy Code with the function RECV_EMCY of the CAA CIA 405 library but Is anyone know how to ack a node directly from the PlcApplication ? </p> <p>Thanks </p></div>