SDO Handling ¶ SdoAbort (Method) SdoRead (Method) SdoWrite (Method)
Stack Handling ¶ StkClose (Method) StkGetInfo (Method) StkOpen (Method)
Structs ¶ EMCY_DATA (Struct) EMCY_ERROR (Struct) NET_INFO (Struct) SDO_ABORT (Struct) SDO_READ (Struct) SDO_WRITE (Struct) STK_INFO (Struct)
EMCY_DATA (STRUCT) ¶ TYPE EMCY_DATA EXTENDS EMCY_ERROR : STRUCT InOut: Name Type Comment Inherited from EMCY_ERROR_CODE WORD prefix: emcy EMCY_ERROR ERROR_REGISTER BYTE EMCY_ERROR ERROR_FIELD ARRAY [1..5] OF BYTE EMCY_ERROR DEVICE USINT
EMCY_ERROR (STRUCT) ¶ TYPE EMCY_ERROR : STRUCT imported from CAA_CiA405 InOut: Name Type Comment EMCY_ERROR_CODE WORD prefix: emcy ERROR_REGISTER BYTE ERROR_FIELD ARRAY [1..5] OF BYTE
NET_INFO (STRUCT) ¶ TYPE NET_INFO : STRUCT CANOpen Channel Information InOut: Name Type usiNetId USINT uiBaudrate UINT eState BUSSTATE
SDO_ABORT (STRUCT) ¶ TYPE SDO_ABORT EXTENDS SDO_WRITE : STRUCT InOut: Name Type Comment Inherited from usiNodeId USINT SDO_WRITE usiChannel USINT SDO_WRITE uiIndex UINT SDO_WRITE usiSubIndex USINT SDO_WRITE xUseSpecificTimeout BOOL TRUE: ctTimeout will be used; ELSE: default timeout SDO_WRITE eMode SDO_MODE SDO_WRITE uiState UINT SDO_WRITE xLegacyCRC BOOL FALSE: Use default CANopen CRC for block transfer; TRUE: Use legacy CRC (used before 3.5 SP10). SDO_WRITE xDummy BOOL SDO_WRITE udiSize UDINT SDO_WRITE pData CAA.PVOID SDO_WRITE udiAbortCode UDINT SDO_WRITE ctTimeout CAA.COUNT Timeout in us SDO_WRITE
SDO_READ (STRUCT) ¶ TYPE SDO_READ : STRUCT Structure is only compatible with 3.5 SP7 runtime or newer InOut: Name Type Comment usiNodeId USINT usiChannel USINT uiIndex UINT usiSubIndex USINT xUseSpecificTimeout BOOL TRUE: ctTimeout will be used; ELSE: default timeout xBlockTransfer BOOL usiPST USINT Protocol Switch Threshold in bytes (only for block transfer) uiState UINT xLegacyCRC BOOL FALSE: Use default CANopen CRC for block transfer; TRUE: Use legacy CRC (used before 3.5 SP10). xDummy BOOL udiSize UDINT pData CAA.PVOID udiAbortCode UDINT ctTimeout CAA.COUNT Timeout in us
DTSplit (FUN) ¶ FUNCTION DTSplit : ERROR The function provides year, month, hour, minute and second from the IEC 6-1131-3 format DATE_AND_TIME . InOut: Scope Name Type Comment Return DTSplit ERROR Input dtDateAndTime DT puiYear POINTER TO UINT 1970 .. 2099 puiMonth POINTER TO UINT 1 .. 12 puiDay POINTER TO UINT 1 .. 31 puiHour POINTER TO UINT 0 .. 23 puiMinute POINTER TO UINT 0 .. 59 puiSecond POINTER TO UINT 0 .. 59
DateConcat (FUN) ¶ FUNCTION DateConcat : DATE This function converts year, month and day to the IEC 6-1131-3 format DATE . In case of invalid entries D#1970-01-01 will be returned. InOut: Scope Name Type Comment Return DateConcat DATE Input uiYear UINT 1970 .. 2099 uiMonth UINT 1 .. 12 uiDay UINT 1 .. 31 peError POINTER TO ERROR
