Error Handling

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Introduction

CANopen devices compliant to this application profile shall support the Emergency service and the Emergency protocol as specified in /CiA301/.

Emergency messages are triggered by internal errors in the device. They are structured as specified in /CiA301/. The manufacturer-specific error field (msef) shall be reserved for future use. The structure of the Emergency message is specified in /CiA301/ and shown in Figure 1.

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