Operational ¶ Methods called in Operational state.
3S CANopenSlaveStack Library Documentation ¶ Company 3S - Smart Software Solutions GmbH Title 3S CANopenSlaveStack Version 3.5.16.0 Categories Intern|CANbus; Docs|Fieldbus|CAN Namespace _3SCSS Author 3S - Smart Software Solutions GmbH Placeholder 3S CANopenSlave Description 1 ¶ 3S CANopenSlave Stack: Implementation of a CANopen Slave device with full object dictionary capabilities. Contents: ¶ CANopen Help Functions EMCY Heartbeat PDO SYNC CANopenDevice (FunctionBlock) Diagnostics NMT ObjectDictionary (Property) ConfigurationParams (ParamList) Debugging CANDiagnosis (FunctionBlock) Diagnosis CANopenDevice_Diag (FunctionBlock) Enums ABORT_CODE (Enum) CANOPEN_STATE (Enum) DATA_TYPE (Enum) ERROR (Enum) Interfaces ObjectDictionary Library Information GetLibVersion (Function) GetLibVersionNumber (Function) IsLibReleased (Function) ObjectDictionary Iterators Range Types NODEID (Alias) Structs ACCESSTYPES (Struct) CANOPEN_DIAGNOSIS_INFO (Struct) Indices and tables ¶ 1 Based on _3SCANopenSlaveStack.library, last modified 27.04.2020, 15:48:23. LibDoc 4.4.0.0-b.27 The content file _3SCANopenSlaveStack.clean.json was generated with CODESYS V3.5 SP16 on 27.04.2020, 15:48:29.
CANopen Help Functions ¶ Help function for decoding and encoding CANopen specific object values (e.g. EMCY, Heartbeat, Sync, PDO object). EMCY DecodeEmcyCOBID (Function) EncodeEmcyCOBID (Function) Heartbeat DecodeHeartbeatConsumerSettings (Function) EncodeHeartbeatConsumerSettings (Function) PDO DecodePDOCOBID (Function) DecodePDOMappingEntry (Function) EncodePDOCOBID (Function) EncodePDOMappingEntry (Function) SYNC DecodeSyncCOBID (Function) EncodeSyncCOBID (Function)
EMCY ¶ DecodeEmcyCOBID (Function) EncodeEmcyCOBID (Function)
DecodeEmcyCOBID (FUN) ¶ FUNCTION DecodeEmcyCOBID Helps to decode the content of the EMCY COBID (Object 16#1014) InOut: Scope Name Type Comment Input dwValue DWORD value of object 16#1014 Output xEnabled BOOL true : EMCY enabled; false : EMCY disabled xExtendedID BOOL true : 29bit EMCY COBID; false : 11bit EMCY COBID dwCOBID DWORD EMCY COBID
CANopenDevice_Diag.GetDeviceInfo (METH) ¶ METHOD GetDeviceInfo : DED.ERROR Returns device information about the CANopen slave. Interpretation of DED.DEVICE_INFO is as follows: Component Interpretation eType DED.DEVICE_TYPE.FIELDBUS_SLAVE idSystem Node ID idInstance Instance number in I/O configuration (starting by 0) InOut: Scope Name Type Comment Return GetDeviceInfo DED.ERROR DED.ERROR.NO_ERROR if no error occurred while getting information. Inout deiInfo DED.DEVICE_INFO Device information struct
CANopenDevice_Diag.GetDeviceState (METH) ¶ METHOD GetDeviceState : DED.DEVICE_STATE Returns the state of the CANopen slave. Following table defines the mapping between CAA Device Diagnosis DED.DEVICE_STATE and CANOPEN_STATE . CAA Device Diagnosis CANopen state DED.DEVICE_STATE.UNKNOWN - DED.DEVICE_STATE.STOPPED CANOPEN_STATE.STOPPED DED.DEVICE_STATE.RUNNING CANOPEN_STATE.OPERATIONAL DED.DEVICE_STATE.ERROR bus error pending DED.DEVICE_STATE.DISABLED Device is disabled in I/O configuration. DED.DEVICE_STATE.NOT_CONFIGURED CANOPEN_STATE.INIT DED.DEVICE_STATE.CONFIGURED CANOPEN_STATE.PREOPERATIONAL DED.DEVICE_STATE.NOT_FOUND - InOut: Scope Name Type Comment Return GetDeviceState DED.DEVICE_STATE current device state Output xDiagnosisInfoAvailable BOOL TRUE , if red exclamation mark in device tree eError DED.ERROR
CANopenDevice_Diag.SetCommunicationState (METH) ¶ METHOD SetCommunicationState : DED.ERROR Starts, stops or resets the device. Following table defines the mapping between CAA Device Diagnosis DED.DEVICE_TRANSITION_STATE and CANopen NMT command: CAA Device Diagnosis CANopen NMT command DED.DEVICE_TRANSITION_STATE.START NMT Start ( CANopenDevice.SwitchToOp ) DED.DEVICE_TRANSITION_STATE.STOP NMT Stop ( CANopenDevice.SwitchToStopped ) DED.DEVICE_TRANSITION_STATE.RESET If current state is CANOPEN_STATE.POWERDOWN : CANopenDevice.PowerUp else NMT Reset ( CANopenDevice.Reset ) Note Use CANopenDevice_Diag.CheckCurrentSupportedCommunicationState to check which transitions are possible in the current state! InOut: Scope Name Type Comment Return SetCommunicationState DED.ERROR DED.ERROR.NO_ERROR if device transition was successful. Input eRequestedState DED.DEVICE_TRANSITION_STATE desired transition
INode ¶ Methods for traversing the device tree. ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property)
CANopenDevice_Diag.ChildNodeCount (PROP) ¶ PROPERTY ChildNodeCount : CAA.COUNT Returns the number of childs below the current node
