CANopenDevice_Diag.CheckCurrentSupportedCommunicationState (METH) ¶ METHOD CheckCurrentSupportedCommunicationState : BOOL This method checks if a specific DED.DEVICE_TRANSITION_STATE can be processed in the current state. For more details on interpretation of DED.DEVICE_TRANSITION_STATE for CANopen see CANopenDevice_Diag.SetCommunicationState . Note Use CANopenDevice_Diag.CheckSupportedCommunicationState to check which DED.DEVICE_TRANSITION_STATE is supported in general. InOut: Scope Name Type Comment Return CheckCurrentSupportedCommunicationState BOOL TRUE if node supports the requested DED.DEVICE_TRANSITION_STATE in the current state. Input eRequestedState DED.DEVICE_TRANSITION_STATE The communication state to be checked.

CANopenDevice_Diag.CheckSupportedCommunicationState (METH) ¶ METHOD CheckSupportedCommunicationState : BOOL This method checks if a specific DED.DEVICE_TRANSITION_STATE is supported by the node in general. For more details on interpretation of DED.DEVICE_TRANSITION_STATE for CANopen see CANopenDevice_Diag.SetCommunicationState . Note Use CANopenDevice_Diag.CheckCurrentSupportedCommunicationState to check which DED.DEVICE_TRANSITION_STATE is possible in the current state. InOut: Scope Name Type Comment Return CheckSupportedCommunicationState BOOL TRUE if node supports the requested DED.DEVICE_TRANSITION_STATE in general. Input eRequestedState DED.DEVICE_TRANSITION_STATE The communication state to be checked.

ABORT_CODE (ENUM) ¶ TYPE ABORT_CODE : SDO abort codes as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment SUCCESSFUL 16#0 No abort. Operation successful CRC_ERROR 16#5040004 OUT_OF_MEMORY 16#5040005 UNSUPPORTED_ACCESS_TO_OBJECT 16#6010000 READ_NOT_ALLOWED 16#6010001 WRITE_NOT_ALLOWED 16#6010002 NO_SUCH_OBJECT 16#6020000 NOT_MAPPABLE 16#6040041 GENERAL_PARAM_INCOMPATIBILITY 16#6040043 GENERAL_INCOMPATIBILTY 16#6040047 LENGTH_DATA_INVALID 16#6070010 NO_SUCH_SUBINDEX 16#6090011 VALUE_RANGE_EXCEEDED 16#6090030 VALUE_TOO_HIGH 16#6090031 VALUE_TOO_LOW 16#6090032 GENERAL_ERROR 16#8000000 LOCAL_CTRL_ERROR 16#8000021 Data cannot be transferred or stored to the application because of local control. DEVICE_STATE_ERROR 16#8000022 Data cannot be transferred or stored to the application because of the present device state. NO_DATA_AVAILABLE 16#8000024 No data available

CANOPEN_STATE (ENUM) ¶ TYPE CANOPEN_STATE : CANopen states as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment POWERDOWN -1 no CANopen services INIT 0 CANopen Service (see CiA-301): Bootup Object STOPPED 16#4 CANopen Service (see CiA-301): NMT OPERATIONAL 16#5 CANopen Service (see CiA-301): PDO (I/Os), SDO, SYNC, TIME, EMCY, NMT PREOPERATIONAL 16#7F CANopen Service (see CiA-301): SDO, SYNC, TIME, EMCY, NMT

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