CAA CiA 405 ¶ Enums CANOPEN_KERNEL_ERROR (Enum) DEVICE_STATE (Enum) SDO_MODE (Enum) TRANSITION_STATE (Enum) 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) Types DEVICE (Alias) SDO_ERROR (Alias)
Enums ¶ CANOPEN_KERNEL_ERROR (Enum) DEVICE_STATE (Enum) SDO_MODE (Enum) TRANSITION_STATE (Enum)
CANOPEN_KERNEL_ERROR (ENUM) ¶ TYPE CANOPEN_KERNEL_ERROR : Error codes for output ERROR of CiA405 function blocks and return value for GET_CANOPEN_KERNEL_STATE . Attributes: qualified_only InOut: Name Initial Comment CANOPEN_KERNEL_NO_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR) There is no error. CANOPEN_KERNEL_OTHER_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_OTHER_ERROR) More information is provided by output ERRORINFO . CANOPEN_KERNEL_DATA_OVERFLOW ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_DATA_OVERFLOW) Lost counter or Tx/Rx error counter is above 0. CANOPEN_KERNEL_TIMEOUT ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_TIMEOUT) A timeout occurred. CANOPEN_KERNEL_CANBUS_OFF ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_CANBUS_OFF) CAN Bus is in BUSOFF or busalarm state. CANOPEN_KERNEL_CAN_ERROR_PASSIVE ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_CAN_ERROR_PASSIVE) CAN Bus is in Error Passive state. CANOPEN_INTERNAL_FB_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_INTERNAL_FB_ERROR) internal error CANOPEN_NO_MORE_MEMORY ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NO_MORE_MEMORY) There is not enough memory. CANOPEN_WRONG_PARAMETER ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_WRONG_PARAMETER) Wrong parameter passed to the function. CANOPEN_NODEID_UNKNOWN ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NODEID_UNKNOWN) Unknown NodeID. CANOPEN_NETID_UNKNOWN ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NETID_UNKNOWN) Unknown CAN Network ID (not part of I/O config). CANOPEN_REQUEST_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_REQUEST_ERROR) A request error happened. CANOPEN_SDOCHANNEL_UNKNOWN ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_SDOCHANNEL_UNKNOWN) Unknown SDO channel. CANOPEN_NO_DRIVER ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NO_DRIVER) CAN Driver not found. CANOPEN_CONFIGURATION_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_CONFIGURATION_ERROR) At least one SDO abort in configuration phase of a slave. CANOPEN_GUARDING_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_GUARDING_ERROR) A guarding error (Heartbeat or Nodeguarding) occured.
DEVICE_STATE (ENUM) ¶ TYPE DEVICE_STATE : Describes the state of the CANopen network layer, as defined in /DS-301/. The states INIT , RESET_COMM , RESET_APP , PRE_OPERATIONAL , STOPPED , OPERATIONAL correspond to the same states in /DS-301/. The state UNKNOWN is used, if the actual state of the device is not known (for example, if no guarding is performed). The state NOT_AVAIL is used, if it is known, that the device is not available (for example, if guarding is performed and the device does not answer). Attributes: qualified_only InOut: Name INIT RESET_COMM RESET_APP PRE_OPERATIONAL STOPPED OPERATIONAL UNKNOWN NOT_AVAIL
Enums ¶ BUS_STATE (Enum) BUS_TYPE (Enum) DEVICE_STATE (Enum) DEVICE_TRANSITION_STATE (Enum) DEVICE_TYPE (Enum) ERROR (Enum) LOGGER_MODE (Enum) PROC_CMD (Enum) PROC_STATE (Enum)
CAA Device Diagnosis ¶ Enums BUS_STATE (Enum) BUS_TYPE (Enum) DEVICE_STATE (Enum) DEVICE_TRANSITION_STATE (Enum) DEVICE_TYPE (Enum) ERROR (Enum) LOGGER_MODE (Enum) PROC_CMD (Enum) PROC_STATE (Enum) Function Blocks Bus GetBusError (FunctionBlock) Device GetDeviceError (FunctionBlock) GetSpecificDeviceError (FunctionBlock) Reconfigure Reconfigure (FunctionBlock) Stack GetBusScan (FunctionBlock) Utility GetIDeviceInstByIoAddr (FunctionBlock) Functions CanReconfigure (Function) GetNextNode (Function) GetNodeDepth (Function) GetRoot (Function) INode_TO_IBus (Function) INode_TO_IDevice (Function) INode_TO_IDevice2 (Function) INode_TO_IStack (Function) Global Constants ERROR_CODES (GVL) Interfaces IBus (Interface) Fieldbus-dependent-methods GetSpecificBusState (Method) GetBusDiagnosisInfo (Method) GetBusErrorAsync (Method) GetBusInfo (Method) GetBusState (Method) GetQoS (Method) IDevice (Interface) Fieldbus-dependent-methods GetSpecificDeviceErrorAsync (Method) GetSpecificDeviceState (Method) GetDeviceDiagnosisInfo (Method) GetDeviceErrorAsync (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method) IDevice2 (Interface) CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) ILogger (Interface) DisableLogger (Method) EnableLogger (Method) GetLogEntry (Method) INode (Folder) ChildNodeCount (Property) Enable (Property) FirstChildNode (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property) IReconfigureProvider (Folder) ReconfigureActive (Property) ReconfigureAsync (Method) RegisterIRPChild (Method) SiblingIRP (Property) IStack (Interface) GetBusScanAsync (Method) GetLogger (Method) Internal Diag Base CAADiagDeviceDefault (FunctionBlock) GetDeviceInfo (Method) GetDeviceState (Method) CAADiagTreeBase (FunctionBlock) INode ChildNodeCount (Property) Enable (Property) FirstChildNode (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property) CAAReconfigureBase (FunctionBlock) BeginReconfigure (Method) EndReconfigure (Method) IReconfigureProvider ReconfigureActive (Property) ReconfigureAsync (Method) RegisterIRPChild (Method) SiblingIRP (Property) Initialize_Diag (Method) Reconfigure-Implementations ReconfigureChildrenAsync (Method) ReconfigureIoDriverAsync (Method) Structs BUS_INFO (Struct) DEVICE_INFO (Struct) ERROR_INFO (Struct) LOG_ENTRY (Struct) QOS_INFO (Struct)
BUS_STATE (ENUM) ¶ TYPE BUS_STATE : This enumeration lists all possible states of a fieldbus. The mapping to the according fieldbus specific states is defined by the associated fieldbus stack. Attributes: qualified_only InOut: Name Comment UNKNOWN The bus state is unknown. STOPPED The fieldbus is stopped. No I/O transfer can be processed. RUNNING The fieldbus is running. ERROR The fieldbus is in error state. GetBusError supplies the specific error code. DISABLED Bus is disabled in device tree.
BUS_TYPE (ENUM) ¶ TYPE BUS_TYPE : This enumeration lists all available fieldbus types. Attributes: qualified_only InOut: Name Initial Comment UNKNOWN 16#0 unknown fieldbus PROFIBUS_DP 16#1 Profibus DP CAN 16#2 CAN bus CANOPEN 16#3 CANopen DEVICENET 16#4 DeviceNet ETHERCAT 16#5 EtherCAT PROFINET_IO 16#6 ProfiNet I/O ETHERNET_IP 16#7 EtherNet/IP SERCOSII 16#8 Sercos II SERCOSIII 16#9 Sercos III MODBUS_TCP 16#A Modbus TCP MODBUS_RTU 16#B Modbus RTU AS_INTERFACE 16#C AS Interface INTERBUS 16#D Interbus J1939 16#E J1939 LON 16#F LON CC_LINK 16#10 CC Link POWERLINK 16#11 Powerlink ETHERNET 16#12 Ethernet SERIAL_LINE 16#13 serial line VEN_SPEC 16#14 vendor-specific fieldbus FIRST_MF 16#8000 first manufacturer fieldbus LAST 16#FFFF last manufacturer fieldbus
DEVICE_STATE (ENUM) ¶ TYPE DEVICE_STATE : This enumeration lists all possible states of a device. The mapping to the according fieldbus specific states is defined by the associated fieldbus stack. Attributes: qualified_only InOut: Name Comment UNKNOWN The device state is unknown. Example: No supervision mechanism active. STOPPED The device is stopped. RUNNING The device is running. ERROR The device is in error state. GetDeviceError may supply a specific error code. DISABLED The device is disabled in device tree. NOT_CONFIGURED The device has not yet been configured by the stack. Example: Configuration phase not started yet. CONFIGURED The device has been configured by the stack. Example: Configuration phase finished but device is not in running state. NOT_FOUND The device was not found on bus.
DEVICE_TRANSITION_STATE (ENUM) ¶ TYPE DEVICE_TRANSITION_STATE : This enumeration lists all possible commands which can be executed on a device. Attributes: qualified_only InOut: Name Comment START Set device into running mode. STOP Set device into stopped mode. RESET Restarts the device and triggers a new configuration.
