ConfigurationParams (PARAMS) ¶ InOut: Scope Name Type Initial Comment Constant gc_udiMaxODCallbacks UDINT 3 Maximal number of callbacks that can registered to the Object Dictionary of a slave. One callback will be always used by the CANopen Slave Stack.

Debugging ¶ CANDiagnosis (FunctionBlock)

CANDiagnosis (FB) ¶ FUNCTION_BLOCK CANDiagnosis This function block helps getting CAN bus diagnostic information for a given CANopenDevice. It is intended for debugging purpose. InOut: Scope Name Type Comment Inout Slave CANopenDevice Slave instance used for retrieving diagnostic information. DiagnosisInfo CANOPEN_DIAGNOSIS_INFO Structure containing the diagnostic information.

Diagnosis ¶ CANopenDevice_Diag (FunctionBlock) IBus GetBusInfo (Method) GetBusState (Method) GetQoS (Method) IDevice CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method) INode ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property)

CANopenDevice_Diag (FB) ¶ FUNCTION_BLOCK CANopenDevice_Diag EXTENDS CANopenDevice IMPLEMENTS DED.IStack, DED.IDevice2, DED.IBus, DED.IReconfigureProvider This function block implements a CANopen Slave stack with CAA Device Diagnosis support. Note Do not instantiate this function block! An implicit instance will be created for each CANopen Slave in the device tree. Properties: ChildNodeCount Connector Enable FirstChildNode Index IsRootNode NextSiblingNode NodeID , inherited from CANopenDevice ObjectDictionary , inherited from CANopenDevice ParentNode SiblingNodeCount State , inherited from CANopenDevice Methods: AddLogMessage , inherited from CANopenDevice CheckCurrentSupportedCommunicationState CheckSupportedCommunicationState GetBusInfo GetBusState GetDeviceInfo GetDeviceState GetQoS PowerDown , inherited from CANopenDevice PowerUp , inherited from CANopenDevice Reset , inherited from CANopenDevice ResetCommunication , inherited from CANopenDevice SetCommunicationState SetNodeID , inherited from CANopenDevice SwitchToOp , inherited from CANopenDevice SwitchToPreop , inherited from CANopenDevice SwitchToStopped , inherited from CANopenDevice Structure: IBus GetBusInfo (Method) GetBusState (Method) GetQoS (Method) IDevice CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method) INode ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property)

IBus ¶ Functions for getting bus information. GetBusInfo (Method) GetBusState (Method) GetQoS (Method)

CANopenDevice_Diag.GetBusInfo (METH) ¶ METHOD GetBusInfo : DED.ERROR Returns information about the associated CANbus. Interpretation of DED.BUS_INFO is as follows: Component Interpretation eType DED.BUS_TYPE.CANOPEN idSystem Network ID idInstance Instance number in I/O configuration (starting by 0) InOut: Scope Name Type Comment Return GetBusInfo DED.ERROR DED.ERROR.NO_ERROR if no error occurred while getting information. Inout buiInfo DED.BUS_INFO Bus information struct

CANopenDevice_Diag.GetBusState (METH) ¶ METHOD GetBusState : DED.BUS_STATE Returns the bus state of the associated CANBus. Following table defines the mapping between CAA Device Diagnosis DED.BUS_STATE and CL2.BUSSTATE . CAA Device Diagnosis CANbus state DED.BUS_STATE.RUNNING CL2.BUSSTATE.ERR_FREE , CL2.BUSSTATE.ACTIVE , CL2.BUSSTATE.WARNING DED.BUS_STATE.ERROR no driver found, CL2.BUSSTATE.BUSOFF , CL2.BUSSTATE.PASSIVE DED.BUS_STATE.UNKNOWN CL2.BUSSTATE.UNKNOWN InOut: Scope Name Type Comment Return GetBusState DED.BUS_STATE current bus state. Output xDiagnosisInfoAvailable BOOL TRUE , if red exclamation mark in device tree eError DED.ERROR DED.ERROR.NO_ERROR if bus state was retrieved wihout error.

CANopenDevice_Diag.GetQoS (METH) ¶ METHOD GetQoS : DED.ERROR Returns quality of service information for the CANbus. Interpretation of DED.QOS_INFO is as follows: Component Interpretation ctError Total sum of TxErrorCounter, RxErrorCounter and LostCounter. usiBusload Current busload in percent (if supported by CAN driver, else always 0) InOut: Scope Name Type Comment Return GetQoS DED.ERROR DED.ERROR.NO_ERROR if no error occurred while getting information. Inout QualityInfo DED.QOS_INFO

IDevice ¶ Functions for getting device information. CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method)