Enums ¶ CANOPEN_KERNEL_STATE (Enum) CANopenEvent (Enum) DEVICE_STATE (Enum) GUARDING_TYPE (Enum) NMT_ERROR_BEHAVIOUR (Enum)

CANOPEN_KERNEL_STATE (ENUM) ¶ TYPE CANOPEN_KERNEL_STATE : Describes the current state of the CANopenManager and signals if any error occurred. See also CANopenManager.KernelState . Attributes: qualified_only InOut: Name Initial Comment NO_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR) There is no error. DATA_OVERFLOW ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_DATA_OVERFLOW) Lost counter or Tx/Rx error counter is above 0. CANBUS_OFF ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_CANBUS_OFF) CAN Bus is in BUSOFF or busalarm state. CAN_ERROR_PASSIVE ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_CAN_ERROR_PASSIVE) CAN Bus is in Error Passive state. NO_MORE_MEMORY ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NO_MORE_MEMORY) There is not enough memory. NO_DRIVER ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NO_DRIVER) CAN Driver not found. CONFIGURATION_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_CONFIGURATION_ERROR) At least one SDO abort in configuration phase of a slave. GUARDING_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_GUARDING_ERROR) A guarding error (Heartbeat or Nodeguarding) occured.

CANopenEvent (ENUM) ¶ TYPE CANopenEvent : Defines all CANopen Events which can be retrieved by an ICANopenEventHandler . See also CANopenManager.RegisterEventHandler and CANopenManager.UnregisterEventHandler . Attributes: qualified_only InOut: Name Initial Comment AFTER_SDO_CONFIG 0 Will be fired directly after the sdo configuration phase of one slave (before NMT start).

DEVICE_STATE (ENUM) ¶ TYPE DEVICE_STATE : Decribes all possible states of a CANopen device Attributes: qualified_only InOut: Name Initial Comment INIT ANYNUM_TO_INT(CS.DEVICE_STATE.INIT) Device is in boot up phase RESET_COMM ANYNUM_TO_INT(CS.DEVICE_STATE.RESET_COMM) Device performs a reset communication RESET_APP ANYNUM_TO_INT(CS.DEVICE_STATE.RESET_APP) Device performs a reset application PRE_OPERATIONAL ANYNUM_TO_INT(CS.DEVICE_STATE.PRE_OPERATIONAL) Device is in PREOPERATIONAL state (default state after boot up). STOPPED ANYNUM_TO_INT(CS.DEVICE_STATE.STOPPED) Device is in STOPPED state. OPERATIONAL ANYNUM_TO_INT(CS.DEVICE_STATE.OPERATIONAL) Device is in OPERATIONAL state. I/O messaging is active. UNKNOWN ANYNUM_TO_INT(CS.DEVICE_STATE.UNKNOWN) Device state is unknown. For example if no guarding mechanism is active. NOT_AVAIL ANYNUM_TO_INT(CS.DEVICE_STATE.NOT_AVAIL) Device was not found on bus.

GUARDING_TYPE (ENUM) ¶ TYPE GUARDING_TYPE : Attributes: qualified_only InOut: Name Comment NONE HEARTBEAT Heartbeat Producing according to CiA 301 NODEGUARDING Nodeguarding according to CiA 301 SYNC_PDO_GUARDING If cyclic synchronous PDOs are activated they are used for life guarding.

NMT_ERROR_BEHAVIOUR (ENUM) ¶ TYPE NMT_ERROR_BEHAVIOUR : Defines the error behaviour algorithm used by a CANopenManager . Attributes: qualified_only InOut: Name Comment RESTART_SLAVE Restart slave if an error control event occurrs. STOP_SLAVE Stop slave if an error control event occurs. The application may start the slave afterwards by Cia405 NMT function block.

Interfaces ¶ ICANopenEventHandler (Interface) EventCallback (Method)

ICANopenEventHandler (ITF) ¶ INTERFACE ICANopenEventHandler Interface for CANopen Event Handling. A function block implementing this interface can be registered via CANopenManager.RegisterEventHandler . Afterwards it receives all events defined by CANopenEvent . Methods: EventCallback Structure: EventCallback (Method)

ICANopenEventHandler.EventCallback (METH) ¶ METHOD EventCallback : BOOL Method will be called by CANopenManager in case of a CANopen event. As long as the method returns FALSE the method will be called and the stack state machine is paused. InOut: Scope Name Type Comment Return EventCallback BOOL Returns if event was completely processed by ICANopenEventHandler : FALSE : State machine will be paused and method will be called again. TRUE : State machine continues. Input eEvent CANopenEvent Event Type usiNodeID USINT NodeID associated with the event; 0 if not relevant.

Library Information ¶ GetLibVersion (Function) GetLibVersionNumber (Function) IsLibReleased (Function)