DATA_TYPE (ENUM) ¶ TYPE DATA_TYPE : CANopen data types as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment BOOLEAN 16#1 INT8 16#2 INT16 16#3 INT32 16#4 UINT8 16#5 UINT16 16#6 UINT32 16#7 REAL32 16#8 VISIBLE_STRING 16#9 INT24 16#10 OCTET_STRING := 16#0A, UNICODE_STRING := 16#0B, TIMEOFDAY := 16#0C, TIME_DIFFERENCE := 16#0D, DOMAIN := 16#0F, REAL64 16#11 INT40 16#12 INT48 16#13 INT56 16#14 INT64 16#15 UINT24 16#16 UINT40 16#18 UINT48 16#19 UINT56 16#1A UINT64 16#1B PDO_COMMUNICATION_PARAMETER := 16#20, PDO_MAPPING := 16#21, SDO_PARAMETER := 16#22, IDENTITY := 16#23

ERROR (ENUM) ¶ TYPE ERROR : Errors returned by CANopen Slave API functions Attributes: qualified_only InOut: Name Initial NO_ERROR 0 FIRST_ERROR 10600 WRONG_PARAM 10601 NODEID_ALREADY_SET 10602 LAST_ERROR 10699

Interfaces ¶ ObjectDictionary IODCallback (Interface) OnObjectChanged (Method) OnReadObject (Method) OnWriteObject (Method) IODObject (Interface) GetSubObject (Method) Index (Property) SubCount (Property) IODSubObject (Interface) AccessType (Property) DataType (Property) Formula (Property) RefuseSDOAccess (Property) Size (Property) SubIndex (Property) pData (Property) pDefault (Property) IObjectDictionary (Interface) Callback RegisterCallback (Method) UnregisterCallback (Method) Events RaiseObjectChanged (Method) RaiseReadObject (Method) RaiseWriteObject (Method) Read ReadObject (Method) ReadObjectByAddress (Method) Search GetObject (Method) GetObjectToWrite (Method) Write WriteObject (Method) WriteObjectByAddress (Method)

ObjectDictionary ¶ IODCallback (Interface) OnObjectChanged (Method) OnReadObject (Method) OnWriteObject (Method) IODObject (Interface) GetSubObject (Method) Index (Property) SubCount (Property) IODSubObject (Interface) AccessType (Property) DataType (Property) Formula (Property) RefuseSDOAccess (Property) Size (Property) SubIndex (Property) pData (Property) pDefault (Property) IObjectDictionary (Interface) Callback RegisterCallback (Method) UnregisterCallback (Method) Events RaiseObjectChanged (Method) RaiseReadObject (Method) RaiseWriteObject (Method) Read ReadObject (Method) ReadObjectByAddress (Method) Search GetObject (Method) GetObjectToWrite (Method) Write WriteObject (Method) WriteObjectByAddress (Method)

IODCallback (ITF) ¶ INTERFACE IODCallback EXTENDS __SYSTEM.IQueryInterface This interface must be implemented if someone wants to register an ObjectDictionary callback for read and write operations via the IObjectDictionary.RegisterCallback method of IObjectDictionary . All write and read operations on objects can be monitored and aborted by returning an appropriate abort code. Methods: OnObjectChanged OnReadObject OnWriteObject Structure: OnObjectChanged (Method) OnReadObject (Method) OnWriteObject (Method)

IODCallback.OnObjectChanged (METH) ¶ METHOD OnObjectChanged Will be called after a write operation was performed on an object. If all IODCallback instances registered to the Object Dictionary return ABORT_CODE.SUCCESSFUL write operation will be executed. Vice versa: If any instance returns an error write operation will be aborted and the reader will be informed. InOut: Scope Name Type Comment Input itfObject IODObject Corresponding object itfSubObject IODSubObject Corresponding subobject

IODCallback.OnReadObject (METH) ¶ METHOD OnReadObject : ABORT_CODE Will be called before a read operation is performed on an object. If all IODCallback instances registered to the Object Dictionary return ABORT_CODE.SUCCESSFUL read operation will be executed. Vice versa: If any instance returns an error read operation will be aborted and the reader will be informed. InOut: Scope Name Type Comment Return OnReadObject ABORT_CODE ABORT_CODE.SUCCESSFUL if reading is permitted, else corresponding abort code Input itfObject IODObject Object to be read itfSubObject IODSubObject Subobject to be read

IODCallback.OnWriteObject (METH) ¶ METHOD OnWriteObject : ABORT_CODE Will be called before a write operation is performed on an object. If all IODCallback instances registered to the Object Dictionary return ABORT_CODE.SUCCESSFUL write operation will be executed and an IODCallback.OnObjectChanged event will be raised. Vice versa: If any instance returns an error write operation will be aborted and the writer will be informed. InOut: Scope Name Type Comment Return OnWriteObject ABORT_CODE ABORT_CODE.SUCCESSFUL if writing is permitted, else corresponding abort code Input itfObject IODObject itfSubObject IODSubObject pbyData POINTER TO BYTE udiSize UDINT

IODObject (ITF) ¶ INTERFACE IODObject EXTENDS __SYSTEM.IQueryInterface Defines an object dictionary entry. Each entry has subobjects which hold the object values. Properties: Index SubCount Methods: GetSubObject Structure: GetSubObject (Method) Index (Property) SubCount (Property)

IODObject.GetSubObject (METH) ¶ METHOD GetSubObject : IODSubObject Get subobject InOut: Scope Name Type Comment Return GetSubObject IODSubObject Subobject with given SubIndex, else 0 if no such subobject Input bySubIndex BYTE Subindex of requested subobject