Exception management in CANopen systems
Common misunderstanding in the industry is that emergency (EMCY) protocol is the main exception management service in CANopen systems. On the contrary, there are exception management features as part of each communication service, and standardized design process and files provide a systematic approach to reduce design errors. The first section of this article describes briefly, how physical layer appearances can be indirectly monitored with the application layer services and which are the main constraints. Next section presents, how status of any device can be presented without project configuration information. System membership and connection monitoring principles are presented in last two sections before discussion.
