CANbus_Diag.SetBaudrate (METH) ¶ METHOD FINAL SetBaudrate Sets the Baudrate used by underlying communication stacks. Note Baudrate change takes effect after executing a Reconfigure on CANbus node(see CAA Device Diagnosis Reconfigure function block). InOut: Scope Name Type Input wBaudrate WORD

CANbus_Diag.SetNetId (METH) ¶ METHOD FINAL SetNetId Sets the NetID used by underlying communication stacks. Note NetID change takes effect after executing a Reconfigure on CANbus node(see CAA Device Diagnosis Reconfigure function block). InOut: Scope Name Type Input dwNetID DWORD

Library Information ¶ GetLibVersion (Function) GetLibVersionNumber (Function) IsLibReleased (Function)

CANRemoteDevice.NMTErrorBehaviour (PROP) ¶ PROPERTY FINAL NMTErrorBehaviour : NMT_ERROR_BEHAVIOUR Gets or sets the NMT error behaviour algorithm. For further information see NMT_ERROR_BEHAVIOUR .

CANRemoteDevice.NodeID (PROP) ¶ PROPERTY FINAL NodeID : BYTE Gets the NodeID of the slave.

CANRemoteDevice.pCANopenManager (PROP) ¶ PROPERTY FINAL pCANopenManager : POINTER TO CANopenManager Gets the pointer to the associated CANopenManager instance.

CANopenManager (FB) ¶ FUNCTION_BLOCK CANopenManager EXTENDS IoDrvBase IMPLEMENTS ICmpIoDrvParameter, CS.ICanOpenStack This function block implements the CANopenManager state machine. Note Do not instantiate this function block. It will be instantiated implicitly. Properties: KernelState MandatorySlavesBooted OptionalSlavesBooted NMTInhibitTime Methods: GetSlaveByNodeID RegisterEventHandler UnregisterEventHandler Structure: Events RegisterEventHandler (Method) UnregisterEventHandler (Method) Helper GetSlaveByNodeID (Method) KernelState (Property) MandatorySlavesBooted (Property) NMT NMTInhibitTime (Property) OptionalSlavesBooted (Property)

Events ¶ RegisterEventHandler (Method) UnregisterEventHandler (Method)

CANopenManager.RegisterEventHandler (METH) ¶ METHOD FINAL RegisterEventHandler : BOOL With this method an event handler can be registered. An even handler is a function block which implements ICANopenEventHandler . Note There can be only one Event Handler registered. InOut: Scope Name Type Comment Input itfEventHandler ICANopenEventHandler Event Handler to be registered. Return RegisterEventHandler BOOL Returns if event handler was registered successfully.

CANopenManager.UnregisterEventHandler (METH) ¶ METHOD FINAL UnregisterEventHandler : BOOL Unregisters a previous registered event handler. InOut: Scope Name Type Comment Input itfEventHandler ICANopenEventHandler Return UnregisterEventHandler BOOL Returns if event handler was unregistered successfully.