CANRemoteDevice.NodeID (PROP) ¶ PROPERTY FINAL NodeID : BYTE Gets the NodeID of the slave.

CANRemoteDevice.pCANopenManager (PROP) ¶ PROPERTY FINAL pCANopenManager : POINTER TO CANopenManager Gets the pointer to the associated CANopenManager instance.

CANopenManager (FB) ¶ FUNCTION_BLOCK CANopenManager EXTENDS IoDrvBase IMPLEMENTS ICmpIoDrvParameter, CS.ICanOpenStack This function block implements the CANopenManager state machine. Note Do not instantiate this function block. It will be instantiated implicitly. Properties: KernelState MandatorySlavesBooted OptionalSlavesBooted NMTInhibitTime Methods: GetSlaveByNodeID RegisterEventHandler UnregisterEventHandler Structure: Events RegisterEventHandler (Method) UnregisterEventHandler (Method) Helper GetSlaveByNodeID (Method) KernelState (Property) MandatorySlavesBooted (Property) NMT NMTInhibitTime (Property) OptionalSlavesBooted (Property)

Events ¶ RegisterEventHandler (Method) UnregisterEventHandler (Method)

CANopenManager.RegisterEventHandler (METH) ¶ METHOD FINAL RegisterEventHandler : BOOL With this method an event handler can be registered. An even handler is a function block which implements ICANopenEventHandler . Note There can be only one Event Handler registered. InOut: Scope Name Type Comment Input itfEventHandler ICANopenEventHandler Event Handler to be registered. Return RegisterEventHandler BOOL Returns if event handler was registered successfully.

CANopenManager.UnregisterEventHandler (METH) ¶ METHOD FINAL UnregisterEventHandler : BOOL Unregisters a previous registered event handler. InOut: Scope Name Type Comment Input itfEventHandler ICANopenEventHandler Return UnregisterEventHandler BOOL Returns if event handler was unregistered successfully.

Helper ¶ GetSlaveByNodeID (Method)

CANopenManager.GetSlaveByNodeID (METH) ¶ METHOD FINAL GetSlaveByNodeID : POINTER TO CANRemoteDevice Returns the pointer to a CanRemoteDevice for a specific NodeID. InOut: Scope Name Type Comment Input usiNodeID USINT NodeID of the Remote Device. Return GetSlaveByNodeID POINTER TO CANRemoteDevice Pointer to CanRemoteDevice or 0 if no slave with usiNodeID .

CANopenManager.KernelState (PROP) ¶ PROPERTY FINAL KernelState : CANOPEN_KERNEL_STATE Gets the current state of the CANopen Kernel. As long as CANopen network is CANOPEN_KERNEL_STATE.NO_ERROR is returned. It returns an error in case of bus error, configuration error, guarding error or internal system error (e.g. out of system memory).

CANopenManager.MandatorySlavesBooted (PROP) ¶ PROPERTY FINAL MandatorySlavesBooted : BOOL Returns TRUE if all mandatory slaves are booted.