CANopenDevice.SetNodeID (METH) ¶ METHOD SetNodeID : ERROR Method to set the NodeID of the CANopen Slave. If called in first cycle of the buscycle task NodeID will be changed before the CANopen Slave state machine starts. Else, a call to this method will reboot the slave with the new NodeID. Calling this method will lead to higher bus cycle times because Object Dictionary must be initialized. InOut: Scope Name Type Initial Comment Input usiNodeID NODEID new NodeID (1..127) Return SetNodeID ERROR ERROR.NO_ERROR TRUE : NodeID was set successful.

CANopenDevice.State (PROP) ¶ PROPERTY State : CANOPEN_STATE Returns the current CANOPEN_STATE .

CANopenDevice.SwitchToOp (METH) ¶ METHOD SwitchToOp : BOOL Switches the slave to CANOPEN_STATE.OPERATIONAL . As defined by CiA-301 following services will be performed in this state: PDO (I/Os) SDO SYNC TIME EMCY NMT State transition is only possible in CANOPEN_STATE.PREOPERATIONAL or CANOPEN_STATE.STOPPED state. InOut: Scope Name Type Comment Return SwitchToOp BOOL TRUE if state transition was possible

CANopenDevice.SwitchToPreop (METH) ¶ METHOD SwitchToPreop : BOOL Switches the slave to CANOPEN_STATE.PREOPERATIONAL . As defined by CiA-301 following services will be performed in this state: SDO SYNC TIME EMCY NMT State transition is only possible in CANOPEN_STATE.STOPPED or CANOPEN_STATE.OPERATIONAL . InOut: Scope Name Type Comment Return SwitchToPreop BOOL TRUE if state transition was possible

Enums ¶ ABORT_CODE (Enum) CANOPEN_STATE (Enum) DATA_TYPE (Enum) ERROR (Enum)

Library Reference ¶ This is a dictionary of all referenced libraries and their name spaces. 3SLicense ¶ Library Identification ¶ Placeholder: 3SLicense Default Resolution: 3SLicense, * (3S - Smart Software Solutions GmbH) Namespace: _3S_LICENSE Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: 3SLicense Base Interfaces ¶ Library Identification ¶ Name: Base Interfaces Version: newest Company: System Namespace: IBaseLibrary Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Base Interfaces, * (System) CAA Callback Extern ¶ Library Identification ¶ Placeholder: CAA Callback Default Resolution: CAA Callback Extern, * (CAA Technical Workgroup) Namespace: CB Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA Callback CAA Can Low Level Extern ¶ Library Identification ¶ Placeholder: CAA CanL2 Default Resolution: CAA Can Low Level Extern, * (CAA Technical Workgroup) Namespace: CL2 Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA CanL2 CAA Can Low Level Imp Extern ¶ Library Identification ¶ Placeholder: CAA CanL2I Default Resolution: CAA Can Low Level Imp Extern, * (CAA Technical Workgroup) Namespace: CL2I Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA CanL2I CAA Device Diagnosis ¶ Library Identification ¶ Placeholder: CAA Device Diagnosis Default Resolution: CAA Device Diagnosis, * (CAA Technical Workgroup) Namespace: DED Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA Device Diagnosis CAA Memory Block Manager Extern ¶ Library Identification ¶ Placeholder: CAA MemBlockMan Default Resolution: CAA Memory Block Manager Extern, * (CAA Technical Workgroup) Namespace: MBM Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA MemBlockMan CAA Types Extern ¶ Library Identification ¶ Placeholder: CAA Types Default Resolution: CAA Types Extern, * (CAA Technical Workgroup) Namespace: CAA Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CAA Types CANbusDevice ¶ Library Identification ¶ Placeholder: CANbusDevice Default Resolution: CANbusDevice, * (3S - Smart Software Solutions GmbH) Namespace: CANbusDevice Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: CANbusDevice CmpAsyncMgr ¶ Library Identification ¶ Placeholder: CmpAsyncMgr Default Resolution: CmpAsyncMgr, * (System) Namespace: CmpAsyncMgr Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpAsyncMgr CmpErrors2 Interfaces ¶ Library Identification ¶ Name: CmpErrors2 Interfaces Version: newest Company: System Namespace: CmpErrors Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpErrors2 Interfaces, * (System) CmpIecTask ¶ Library Identification ¶ Placeholder: CmpIecTask Default Resolution: CmpIecTask, * (System) Namespace: CmpIecTask Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpIecTask CmpLog ¶ Library Identification ¶ Placeholder: CmpLog Default Resolution: CmpLog, * (System) Namespace: CmpLog Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: CmpLog Component Manager ¶ Library Identification ¶ Placeholder: Component Manager Default Resolution: Component Manager, * (System) Namespace: Component_Manager Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Component Manager IoDriver Interfaces ¶ Library Identification ¶ Name: IoDriver Interfaces Version: newest Company: System Namespace: IoDriver_Interfaces Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoDriver Interfaces, * (System) IoDriver Parameter Interfaces ¶ Library Identification ¶ Name: IoDriver Parameter Interfaces Version: newest Company: System Namespace: IIoDrvParameter Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoDriver Parameter Interfaces, * (System) IoDrvBase ¶ Library Identification ¶ Placeholder: IoDrvBase Default Resolution: IoDrvBase, * (System) Namespace: IoDrvBase Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoDrvBase IoDrvUtility ¶ Library Identification ¶ Placeholder: IoDriver Utility Default Resolution: IoDrvUtility, * (3S - Smart Software Solutions GmbH) Namespace: IoDrvUtility Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: True SystemLibrary: False Key: IoDriver Utility IoStandard ¶ Library Identification ¶ Placeholder: IoStandard Default Resolution: IoStandard, * (System) Namespace: IoStandard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: IoStandard SDO Server ¶ Library Identification ¶ Placeholder: SDO Server Default Resolution: SDO Server, * (3S - Smart Software Solutions GmbH) Namespace: CSS Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SDO Server Standard ¶ Library Identification ¶ Placeholder: Standard Default Resolution: Standard, * (System) Namespace: Standard Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: Standard StringUtils ¶ Library Identification ¶ Placeholder: StringUtils Default Resolution: StringUtils, * (System) Namespace: Stu Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: StringUtils SysCpuHandling ¶ Library Identification ¶ Placeholder: SysCpuHandling Default Resolution: SysCpuHandling, * (System) Namespace: SysCpuHandling Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysCpuHandling SysMem ¶ Library Identification ¶ Placeholder: SysMem Default Resolution: SysMem, * (System) Namespace: SysMem Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysMem SysTarget ¶ Library Identification ¶ Placeholder: SysTarget Default Resolution: SysTarget, * (System) Namespace: SysTarget Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTarget SysTimeCore ¶ Library Identification ¶ Placeholder: SysTimeCore Default Resolution: SysTimeCore, * (System) Namespace: SysTimeCore Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTimeCore SysTypes2 Interfaces ¶ Library Identification ¶ Name: SysTypes2 Interfaces Version: newest Company: System Namespace: SysTypes Library Properties ¶ LinkAllContent: False Optional: False QualifiedOnly: False SystemLibrary: False Key: SysTypes2 Interfaces, * (System)

IObjectDictionary.RegisterCallback (METH) ¶ METHOD RegisterCallback : BOOL Registers a callback to control object changes and get changed events. Returns TRUE if callback was successfully registered. Note Maximal number of registered IODCallback instances is defined by library parameter ConfigurationParams.gc_udiMaxODCallbacks . InOut: Scope Name Type Comment Return RegisterCallback BOOL TRUE if callback was successfully registered. Input itfODCallback IODCallback object implementing the IODCallback interface which should be registered

IObjectDictionary.UnregisterCallback (METH) ¶ METHOD UnregisterCallback : BOOL Unregister ObjectDictionary callback. Returns TRUE if unregistering was successful. InOut: Scope Name Type Comment Return UnregisterCallback BOOL TRUE if unregistering was successful. Input itfODCallback IODCallback interface which should be unregistered

IObjectDictionary.RaiseObjectChanged (METH) ¶ METHOD RaiseObjectChanged Used to trigger an object changed event. Must be called if object is modified manually by writing to the object memory. All IODCallback instances (also associated CANopen stack) will be informed. InOut: Scope Name Type Comment Input itfObject IODObject Object where object change happened itfSubObject IODSubObject Subobject where value has changed.

IObjectDictionary.RaiseReadObject (METH) ¶ METHOD RaiseReadObject : ABORT_CODE Used to raise a read object event. All IODCallback instances (also associated CANopen stack) will be informed. Returns ABORT_CODE.SUCCESSFUL if reading is permitted else error reason. InOut: Scope Name Type Comment Return RaiseReadObject ABORT_CODE ABORT_CODE.SUCCESSFUL if reading is permitted; other ABORT_CODE if reading is not permitted Input itfObject IODObject Object which should be read itfSubObject IODSubObject Subobject which should be read.