DecodeEmcyCOBID (FUN) ¶ FUNCTION DecodeEmcyCOBID Helps to decode the content of the EMCY COBID (Object 16#1014) InOut: Scope Name Type Comment Input dwValue DWORD value of object 16#1014 Output xEnabled BOOL true : EMCY enabled; false : EMCY disabled xExtendedID BOOL true : 29bit EMCY COBID; false : 11bit EMCY COBID dwCOBID DWORD EMCY COBID

EncodeEmcyCOBID (FUN) ¶ FUNCTION EncodeEmcyCOBID Helps to encode the content of the EMCY COBID (Object 16#1014) InOut: Scope Name Type Comment Input xEnabled BOOL true : EMCY enabled; false : EMCY disabled xExtendedID BOOL true : 29bit EMCY COBID; false : 11bit EMCY COBID dwCOBID DWORD EMCY COBID Output dwValue DWORD value of object 16#1014

Heartbeat ¶ DecodeHeartbeatConsumerSettings (Function) EncodeHeartbeatConsumerSettings (Function)

PDO ¶ DecodePDOCOBID (Function) DecodePDOMappingEntry (Function) EncodePDOCOBID (Function) EncodePDOMappingEntry (Function)

ConfigurationParams (PARAMS) ¶ InOut: Scope Name Type Initial Comment Constant gc_udiMaxODCallbacks UDINT 3 Maximal number of callbacks that can registered to the Object Dictionary of a slave. One callback will be always used by the CANopen Slave Stack.

Debugging ¶ CANDiagnosis (FunctionBlock)

CANDiagnosis (FB) ¶ FUNCTION_BLOCK CANDiagnosis This function block helps getting CAN bus diagnostic information for a given CANopenDevice. It is intended for debugging purpose. InOut: Scope Name Type Comment Inout Slave CANopenDevice Slave instance used for retrieving diagnostic information. DiagnosisInfo CANOPEN_DIAGNOSIS_INFO Structure containing the diagnostic information.

Diagnosis ¶ CANopenDevice_Diag (FunctionBlock) IBus GetBusInfo (Method) GetBusState (Method) GetQoS (Method) IDevice CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method) INode ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property)

CANopenDevice_Diag (FB) ¶ FUNCTION_BLOCK CANopenDevice_Diag EXTENDS CANopenDevice IMPLEMENTS DED.IStack, DED.IDevice2, DED.IBus, DED.IReconfigureProvider This function block implements a CANopen Slave stack with CAA Device Diagnosis support. Note Do not instantiate this function block! An implicit instance will be created for each CANopen Slave in the device tree. Properties: ChildNodeCount Connector Enable FirstChildNode Index IsRootNode NextSiblingNode NodeID , inherited from CANopenDevice ObjectDictionary , inherited from CANopenDevice ParentNode SiblingNodeCount State , inherited from CANopenDevice Methods: AddLogMessage , inherited from CANopenDevice CheckCurrentSupportedCommunicationState CheckSupportedCommunicationState GetBusInfo GetBusState GetDeviceInfo GetDeviceState GetQoS PowerDown , inherited from CANopenDevice PowerUp , inherited from CANopenDevice Reset , inherited from CANopenDevice ResetCommunication , inherited from CANopenDevice SetCommunicationState SetNodeID , inherited from CANopenDevice SwitchToOp , inherited from CANopenDevice SwitchToPreop , inherited from CANopenDevice SwitchToStopped , inherited from CANopenDevice Structure: IBus GetBusInfo (Method) GetBusState (Method) GetQoS (Method) IDevice CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method) INode ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property)

IBus ¶ Functions for getting bus information. GetBusInfo (Method) GetBusState (Method) GetQoS (Method)