_Is29BitIdMessage (FUN) ¶ FUNCTION _Is29BitIdMessage : BOOL Unmanaged implementation of Is29BitIdMessage InOut: Scope Name Type Comment Return _Is29BitIdMessage BOOL TRUE if messages is a 29 bit CAN message. Input hMessage CAA.HANDLE handle of message peError POINTER TO ERROR optional pointer to error enum

_IsRTRMessage (FUN) ¶ FUNCTION _IsRTRMessage : BOOL Unmanaged implementation of IsRTRMessage InOut: Scope Name Type Comment Return _IsRTRMessage BOOL TRUE if messages is a RTR CAN message. Input hMessage CAA.HANDLE handle of message peError POINTER TO ERROR optional pointer to error enum

_IsTransmitMessage (FUN) ¶ FUNCTION _IsTransmitMessage : BOOL Unmanaged implementation of IsTransmitMessage InOut: Scope Name Type Comment Return _IsTransmitMessage BOOL TRUE if messages is a Transmit CAN message. Input hMessage CAA.HANDLE handle of message peError POINTER TO ERROR optional pointer to error enum

_LostMessages (FUN) ¶ FUNCTION _LostMessages : UINT Unmanaged implementation of LostMessages InOut: Scope Name Type Comment Return _LostMessages UINT Counter, which is incremented with every lost message of hReceiverId Input hReceiverId CAA.HANDLE handle of registered Ids peError POINTER TO ERROR optional pointer to error enum

SDO_MODE (ENUM) ¶ TYPE SDO_MODE : Defines the different SDO transmission modes. Attributes: qualified_only InOut: Name Initial Comment AUTO ANYNUM_TO_INT(CS.SDO_MODE.AUTO) The client selects the mode automatically EXPEDITED ANYNUM_TO_INT(CS.SDO_MODE.EXPEDITED) The client uses the expedited protocol SEGMENTED ANYNUM_TO_INT(CS.SDO_MODE.SEGMENTED) The client uses segmented transfer protocol BLOCK ANYNUM_TO_INT(CS.SDO_MODE.BLOCK) The client uses block transfer protocol

TRANSITION_STATE (ENUM) ¶ TYPE TRANSITION_STATE : Describes the NMT state transitions for function block GET_STATE . Attributes: qualified_only InOut: Name Initial Comment START_REMOTE_NODE 16#5 Enter DEVICE_STATE.OPERATIONAL STOP_REMOTE_NODE 16#4 Enter DEVICE_STATE.STOPPED ENTER_PRE_OPERATIONAL 16#7F Enter DEVICE_STATE.PRE_OPERATIONAL RESET_NODE 16#6 Reset node RESET_COMMUNICATION 16#7 Reset communication ALL_EXCEPT_NMT_AND_SENDER 16#800 A flag for using in combination with another TRANSITION_STATE (logical OR). Must be used if NMT command should be addressed to all devices ( `` DEVICE``=0) but not to the NMT sender and NMT master (= CANopenManager).

Function Blocks ¶ Network management NMT (FunctionBlock) RECV_EMCY (FunctionBlock) RECV_EMCY_DEV (FunctionBlock) Own node id GET_LOCAL_NODE_ID (FunctionBlock) Query state GET_CANOPEN_KERNEL_STATE (FunctionBlock) GET_STATE (FunctionBlock) SDO access SDO_READ4 (FunctionBlock) SDO_READ_DATA (FunctionBlock) SDO_WRITE4 (FunctionBlock) SDO_WRITE_DATA (FunctionBlock) obsolete (only for compatibility) SDO_READ (FunctionBlock) SDO_WRITE (FunctionBlock)

Network management ¶ NMT (FunctionBlock) RECV_EMCY (FunctionBlock) RECV_EMCY_DEV (FunctionBlock)

NMT (FB) ¶ FUNCTION_BLOCK NMT EXTENDS CiA405Base This function block provides NMT services. The NMT request will be sent to the NodeID specified in input DEVICE . If NMT request should be addressed to all devices (including NMT master and sending device) set DEVICE to 0 . If all devices but not NMT master and sending device should be addressed use the additional flag TRANSITION_STATE.ALL_EXCEPT_NMT_AND_SENDER . InOut: Scope Name Type Initial Comment Inherited from Input NETWORK USINT 1 CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 NETWORK is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, … CiA405Base ENABLE BOOL FALSE Enables the function block on rising edge. Aborts operation on falling edge. CiA405Base TIMEOUT UDINT 0 Timeout in ms; 0 means no timeout CiA405Base Output CONFIRM BOOL FALSE TRUE : function block finished without error CiA405Base ERROR CANOPEN_KERNEL_ERROR CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR Error code: see CANOPEN_KERNEL_ERROR for further details CiA405Base Input DEVICE DEVICE 0 NodeID of destination device (local or remote). 0 means all devices. STATE TRANSITION_STATE 0 The NMT transition which should be performed.

GetMsgCount (FUN) ¶ FUNCTION GetMsgCount : CAA.COUNT Returns the number of messages in the receive queue of a given receiver. InOut: Scope Name Type Comment Return GetMsgCount CAA.COUNT number of messages in receive queue of hReceiverId . Input hReceiverId CAA.HANDLE receiver handle peError POINTER TO ERROR optional pointer to error enum