CANopenDevice (FB) ¶ FUNCTION_BLOCK CANopenDevice EXTENDS IoDrvBase IMPLEMENTS ICmpIoDrvParameter, IODCallback Implements the CANopen Slave stack. Note This function block is not intended for being instantiated by applications. Instances will be created implicitly. Properties: ObjectDictionary NodeID State Methods: AddLogMessage PowerDown PowerUp Reset ResetCommunication SetNodeID SwitchToOp SwitchToPreop SwitchToStopped Structure: Diagnostics AddLogMessage (Method) NMT API NodeID (Property) PowerDown (Method) PowerUp (Method) Reset (Method) ResetCommunication (Method) SetNodeID (Method) State (Property) SwitchToOp (Method) SwitchToPreop (Method) SwitchToStopped (Method) ObjectDictionary (Property)

Diagnostics ¶ AddLogMessage (Method)

CANopenDevice.AddLogMessage (METH) ¶ METHOD PUBLIC AddLogMessage InOut: Scope Name Type Input eLogID LOGSTRING_ID pContext POINTER TO BYTE

NMT ¶ API NodeID (Property) PowerDown (Method) PowerUp (Method) Reset (Method) ResetCommunication (Method) SetNodeID (Method) State (Property) SwitchToOp (Method) SwitchToPreop (Method) SwitchToStopped (Method)

API ¶ NodeID (Property) PowerDown (Method) PowerUp (Method) Reset (Method) ResetCommunication (Method) SetNodeID (Method) State (Property) SwitchToOp (Method) SwitchToPreop (Method) SwitchToStopped (Method)

CANopenDevice.NodeID (PROP) ¶ PROPERTY NodeID : NODEID Returns the current NodeID. Range: 1..127

CANopenDevice.PowerDown (METH) ¶ METHOD PowerDown : BOOL Deactivates the CANopenDevice. This state transition is possible in all states. The device can be activated again by calling CANopenDevice.PowerUp . Note PowerDown and CANopenDevice.PowerUp can result in higher bus cycle times because ObjectDictionary must be reintialized. InOut: Scope Name Type Comment Return PowerDown BOOL TRUE if state transition was possible

CANopenDevice.PowerUp (METH) ¶ METHOD PowerUp : BOOL Only possible in CANOPEN_STATE.POWERDOWN . Boots the slave. A NMT bootup message is sent if slave enters CANOPEN_STATE.PREOPERATIONAL state again. Note CANopenDevice.PowerDown and PowerUp can result in higher bus cycle times because ObjectDictionary must be reintialized. InOut: Scope Name Type Comment Return PowerUp BOOL TRUE if state transition was possible

CANopenDevice.Reset (METH) ¶ METHOD Reset : BOOL Complete reset of the slave. All objects will be set back to default values. A NMT bootup message is sended if slave enters CANOPEN_STATE.PREOPERATIONAL again. Note A reset can result in higher bus cycle times because ObjectDictionary must be intialized agaín. InOut: Scope Name Type Comment Return Reset BOOL TRUE if state transition was possible

CANopenDevice.ResetCommunication (METH) ¶ METHOD ResetCommunication : BOOL Reset communication of the slave. As defined by CiA-301 only communication objects (Index <16#2000) will be set back to default values. A NMT bootup message is sended if slave enters CANOPEN_STATE.PREOPERATIONAL again. Note A reset can result in higher bus cycle times because ObjectDictionary must be intialized agaín. InOut: Scope Name Type Comment Return ResetCommunication BOOL TRUE if state transition was possible