CANopenDevice_Diag.CheckCurrentSupportedCommunicationState (METH) ¶ METHOD CheckCurrentSupportedCommunicationState : BOOL This method checks if a specific DED.DEVICE_TRANSITION_STATE can be processed in the current state. For more details on interpretation of DED.DEVICE_TRANSITION_STATE for CANopen see CANopenDevice_Diag.SetCommunicationState . Note Use CANopenDevice_Diag.CheckSupportedCommunicationState to check which DED.DEVICE_TRANSITION_STATE is supported in general. InOut: Scope Name Type Comment Return CheckCurrentSupportedCommunicationState BOOL TRUE if node supports the requested DED.DEVICE_TRANSITION_STATE in the current state. Input eRequestedState DED.DEVICE_TRANSITION_STATE The communication state to be checked.
CANopenDevice_Diag.CheckSupportedCommunicationState (METH) ¶ METHOD CheckSupportedCommunicationState : BOOL This method checks if a specific DED.DEVICE_TRANSITION_STATE is supported by the node in general. For more details on interpretation of DED.DEVICE_TRANSITION_STATE for CANopen see CANopenDevice_Diag.SetCommunicationState . Note Use CANopenDevice_Diag.CheckCurrentSupportedCommunicationState to check which DED.DEVICE_TRANSITION_STATE is possible in the current state. InOut: Scope Name Type Comment Return CheckSupportedCommunicationState BOOL TRUE if node supports the requested DED.DEVICE_TRANSITION_STATE in general. Input eRequestedState DED.DEVICE_TRANSITION_STATE The communication state to be checked.
CANopenDevice_Diag.GetDeviceInfo (METH) ¶ METHOD GetDeviceInfo : DED.ERROR Returns device information about the CANopen slave. Interpretation of DED.DEVICE_INFO is as follows: Component Interpretation eType DED.DEVICE_TYPE.FIELDBUS_SLAVE idSystem Node ID idInstance Instance number in I/O configuration (starting by 0) InOut: Scope Name Type Comment Return GetDeviceInfo DED.ERROR DED.ERROR.NO_ERROR if no error occurred while getting information. Inout deiInfo DED.DEVICE_INFO Device information struct
CANopenDevice_Diag.GetDeviceState (METH) ¶ METHOD GetDeviceState : DED.DEVICE_STATE Returns the state of the CANopen slave. Following table defines the mapping between CAA Device Diagnosis DED.DEVICE_STATE and CANOPEN_STATE . CAA Device Diagnosis CANopen state DED.DEVICE_STATE.UNKNOWN - DED.DEVICE_STATE.STOPPED CANOPEN_STATE.STOPPED DED.DEVICE_STATE.RUNNING CANOPEN_STATE.OPERATIONAL DED.DEVICE_STATE.ERROR bus error pending DED.DEVICE_STATE.DISABLED Device is disabled in I/O configuration. DED.DEVICE_STATE.NOT_CONFIGURED CANOPEN_STATE.INIT DED.DEVICE_STATE.CONFIGURED CANOPEN_STATE.PREOPERATIONAL DED.DEVICE_STATE.NOT_FOUND - InOut: Scope Name Type Comment Return GetDeviceState DED.DEVICE_STATE current device state Output xDiagnosisInfoAvailable BOOL TRUE , if red exclamation mark in device tree eError DED.ERROR
CANopenDevice_Diag.NextSiblingNode (PROP) ¶ PROPERTY NextSiblingNode : DED.INode returns the next sibling node at the same level used for step through all nodes
CANopenDevice_Diag.ParentNode (PROP) ¶ PROPERTY ParentNode : DED.INode Returns the parent node or zero if the root node is already reached.
CANopenDevice_Diag.SiblingNodeCount (PROP) ¶ PROPERTY SiblingNodeCount : CAA.COUNT Returns the number of sibling (same level) nodes
Enums ¶ ABORT_CODE (Enum) CANOPEN_STATE (Enum) DATA_TYPE (Enum) ERROR (Enum)
ABORT_CODE (ENUM) ¶ TYPE ABORT_CODE : SDO abort codes as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment SUCCESSFUL 16#0 No abort. Operation successful CRC_ERROR 16#5040004 OUT_OF_MEMORY 16#5040005 UNSUPPORTED_ACCESS_TO_OBJECT 16#6010000 READ_NOT_ALLOWED 16#6010001 WRITE_NOT_ALLOWED 16#6010002 NO_SUCH_OBJECT 16#6020000 NOT_MAPPABLE 16#6040041 GENERAL_PARAM_INCOMPATIBILITY 16#6040043 GENERAL_INCOMPATIBILTY 16#6040047 LENGTH_DATA_INVALID 16#6070010 NO_SUCH_SUBINDEX 16#6090011 VALUE_RANGE_EXCEEDED 16#6090030 VALUE_TOO_HIGH 16#6090031 VALUE_TOO_LOW 16#6090032 GENERAL_ERROR 16#8000000 LOCAL_CTRL_ERROR 16#8000021 Data cannot be transferred or stored to the application because of local control. DEVICE_STATE_ERROR 16#8000022 Data cannot be transferred or stored to the application because of the present device state. NO_DATA_AVAILABLE 16#8000024 No data available
CANOPEN_STATE (ENUM) ¶ TYPE CANOPEN_STATE : CANopen states as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment POWERDOWN -1 no CANopen services INIT 0 CANopen Service (see CiA-301): Bootup Object STOPPED 16#4 CANopen Service (see CiA-301): NMT OPERATIONAL 16#5 CANopen Service (see CiA-301): PDO (I/Os), SDO, SYNC, TIME, EMCY, NMT PREOPERATIONAL 16#7F CANopen Service (see CiA-301): SDO, SYNC, TIME, EMCY, NMT
