"Basically, he appears to have suffered from a medical emergency while on the balcony", Lebanon Chief of Police Aaron Lauth told People magazine. He also won a Primetime Creative Arts Emmy Award for his work on HBO's Bessie.
Emswiller was taken to a Pittsburgh hospital, but his condition deteriorated, and he was later pronounced dead.
Witnesses reportedly told the police that Emswiller was alone on the balcony taking a smoke break when the accident occurred.
Film star Tom Hanks, who is playing Rogers in the movie, was at the site and later left.
Per a Friday report from the Associated Press, James Emswiller, a 61-year-old member of the sound production team, fell over a brick wall on a two-story balcony at an apartment building during a break in filming at approximately 7:30 p.m. ET.
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Emswiller was rushed to the University of Pittsburgh Medical Center for treatment but succumbed to his injuries.
Filming was suspended while authorities investigate the incident.
The film is set the explore the relationship between Rogers and a cynical journalist sent to profile him, who finds his life changed as a result.
The image was shared on the studio's Twitter account on Thursday and shows Hanks, 62, dressed in a red sweater, beige slacks and blue sneakers sitting on the steps of his trailer.
Hanks was on the set on the night of October 11 in Mount Lebanon, Pennsylvania, when Emswiller fell, according to the TMZ report.
""Mister Rogers" Neighborhood" began airing in 1968 and captured the hearts and imaginations of children across America.