Lets leave geo thermal out of this and talk air-source heat pump only. As you said there is a difference in auxiliary heat and emergency heat even though they both use the same heating strips.
In auxiliary heat mode the compressor comes on and tries to heat the home. Threw things like setback thermostats; target time settings; indoor temp drops settings; and even optional outdoor temperature sensors the heat pump decides if it needs auxiliary backup to help it heat the home. If it does the auxiliary heat will kick in; the heat strips will come on and help the heat pump recover. My heat pump is set for a 2 degree indoor temperature drop. If I have the thermostat set on 70. The heat pump compressor comes on to try and hold 70. If the thermostat ever reads 68 (2 degree difference) the auxiliary heat kicks in the help. If I raise the thermostat from 70 to 72 to warm the house up the thermostat still reads this 2 degree difference and turns on the auxiliary heat strips. Same thing with the target time. If the heat pump is running; not losing ground; but not gaining ground; it would just run and run so the auxiliary heat kicks in. This all happens automatically with the thermostat and circuit board in the indoor unit. My unit also changes the fan speed to compensate for some of this.
Now in emergency mode things work a little different. You control this with your thermostat. This mode is used if your compressor is broken (Freon leak; compressor shorted out); the outside unit is iced over due to a snow drift or other weather conditions that prevent you from using your heat pump. Hence the word emergency. By switching to emergency mode you are basically turning off the heat pump and using your heating strips as a electric heater. If I switch my unit to emergency it locks out the outside unit and prevents the compressor from coming on. The heat strips come on; and the inside fan blows giving me a heat source till I can get it fixed. Now if only they could invent a emergency A/C mode I would be set.
My heat pump works great but then again we very seldom see water pipe freezing temperatures.
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