CANopenDevice_Diag.Connector (PROP) ¶ PROPERTY Connector : POINTER TO IoStandard.IoConfigConnector

CANopenDevice_Diag.Enable (PROP) ¶ PROPERTY Enable : BOOL Set: This property is used for enabling/disabling a node. Note Changes will take effect after reconfiguring (see DED.Reconfigure ). Get: Returns the current value

CANopenDevice_Diag.FirstChildNode (PROP) ¶ PROPERTY FirstChildNode : DED.INode Returns the first child node below the current one

CANopenDevice_Diag.Index (PROP) ¶ PROPERTY Index : UDINT

CANopenDevice_Diag.IsRootNode (PROP) ¶ PROPERTY IsRootNode : BOOL returns TRUE , if the current node is the root (plc) node, otherwise FALSE

CANopenDevice.ResetCommunication (METH) ¶ METHOD ResetCommunication : BOOL Reset communication of the slave. As defined by CiA-301 only communication objects (Index <16#2000) will be set back to default values. A NMT bootup message is sended if slave enters CANOPEN_STATE.PREOPERATIONAL again. Note A reset can result in higher bus cycle times because ObjectDictionary must be intialized agaín. InOut: Scope Name Type Comment Return ResetCommunication BOOL TRUE if state transition was possible

CANopenDevice.SetNodeID (METH) ¶ METHOD SetNodeID : ERROR Method to set the NodeID of the CANopen Slave. If called in first cycle of the buscycle task NodeID will be changed before the CANopen Slave state machine starts. Else, a call to this method will reboot the slave with the new NodeID. Calling this method will lead to higher bus cycle times because Object Dictionary must be initialized. InOut: Scope Name Type Initial Comment Input usiNodeID NODEID new NodeID (1..127) Return SetNodeID ERROR ERROR.NO_ERROR TRUE : NodeID was set successful.

CANopenDevice.State (PROP) ¶ PROPERTY State : CANOPEN_STATE Returns the current CANOPEN_STATE .

CANopenDevice.SwitchToOp (METH) ¶ METHOD SwitchToOp : BOOL Switches the slave to CANOPEN_STATE.OPERATIONAL . As defined by CiA-301 following services will be performed in this state: PDO (I/Os) SDO SYNC TIME EMCY NMT State transition is only possible in CANOPEN_STATE.PREOPERATIONAL or CANOPEN_STATE.STOPPED state. InOut: Scope Name Type Comment Return SwitchToOp BOOL TRUE if state transition was possible

CANopenDevice.SwitchToPreop (METH) ¶ METHOD SwitchToPreop : BOOL Switches the slave to CANOPEN_STATE.PREOPERATIONAL . As defined by CiA-301 following services will be performed in this state: SDO SYNC TIME EMCY NMT State transition is only possible in CANOPEN_STATE.STOPPED or CANOPEN_STATE.OPERATIONAL . InOut: Scope Name Type Comment Return SwitchToPreop BOOL TRUE if state transition was possible