CANopenDevice_Diag.IsRootNode (PROP) ¶ PROPERTY IsRootNode : BOOL returns TRUE , if the current node is the root (plc) node, otherwise FALSE

CANopenDevice_Diag.NextSiblingNode (PROP) ¶ PROPERTY NextSiblingNode : DED.INode returns the next sibling node at the same level used for step through all nodes

CANopenDevice_Diag.ParentNode (PROP) ¶ PROPERTY ParentNode : DED.INode Returns the parent node or zero if the root node is already reached.

CANopenDevice_Diag.SiblingNodeCount (PROP) ¶ PROPERTY SiblingNodeCount : CAA.COUNT Returns the number of sibling (same level) nodes

EncodeEmcyCOBID (FUN) ¶ FUNCTION EncodeEmcyCOBID Helps to encode the content of the EMCY COBID (Object 16#1014) InOut: Scope Name Type Comment Input xEnabled BOOL true : EMCY enabled; false : EMCY disabled xExtendedID BOOL true : 29bit EMCY COBID; false : 11bit EMCY COBID dwCOBID DWORD EMCY COBID Output dwValue DWORD value of object 16#1014

Heartbeat ¶ DecodeHeartbeatConsumerSettings (Function) EncodeHeartbeatConsumerSettings (Function)

DecodeHeartbeatConsumerSettings (FUN) ¶ FUNCTION DecodeHeartbeatConsumerSettings Helps to decode the content of a Heartbeat Consumer Object (Object 16#1016sub1-254). If uiHeartbeatTime > 0 AND byNodeID <> 0 ==> Heartbeat consuming enabled InOut: Scope Name Type Comment Input dwValue DWORD value of object 16#1016sub1-254 Output uiHeartbeatTime UINT Heartbeat Consumer Time byNodeID BYTE NodeID of the CANopen device which should be monitored

EncodeHeartbeatConsumerSettings (FUN) ¶ FUNCTION EncodeHeartbeatConsumerSettings Helps to encode the content of a Heartbeat Consumer Object (Object 16#1016sub1-254). If uiHeartbeatTime > 0 AND byNodeID <> 0 ==> Heartbeat consuming enabled InOut: Scope Name Type Comment Input uiHeartbeatTime UINT Heartbeat Consumer Time byNodeID BYTE NodeID of the CANopen device which should be monitored Output dwValue DWORD value of object 16#1016sub1-254

PDO ¶ DecodePDOCOBID (Function) DecodePDOMappingEntry (Function) EncodePDOCOBID (Function) EncodePDOMappingEntry (Function)

DecodePDOCOBID (FUN) ¶ FUNCTION DecodePDOCOBID Helps to decode the content of a PDO COBID Object (Object 16#1400-16#15FFsub1 or 16#1800-16#19FFsub1). InOut: Scope Name Type Comment Input dwValue DWORD value of PDO COBID object Output xEnabled BOOL true : PDO enabled; false : PDO disabled xExtendedID BOOL true : 29bit COBID, false : 11bit COBID xRTR BOOL true : RTR enabled; false : RTR disabled dwCOBID DWORD PDO COBID