Definition for: error control message
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The CANopen error control messages are mapped to a single 1-byte CAN data frame assigned with a fixed identifier that is derived from the device's CAN open node-ID. It is transmitted as boot-up message before entering the NMT pre operational state after initialization. It is also transmitted periodically by the device (heartbeat) or, if remotely requested (only in Classical CAN implementations) by the NMT master (node guarding).
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