DATA_TYPE (ENUM) ¶ TYPE DATA_TYPE : CANopen data types as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment BOOLEAN 16#1 INT8 16#2 INT16 16#3 INT32 16#4 UINT8 16#5 UINT16 16#6 UINT32 16#7 REAL32 16#8 VISIBLE_STRING 16#9 INT24 16#10 OCTET_STRING := 16#0A, UNICODE_STRING := 16#0B, TIMEOFDAY := 16#0C, TIME_DIFFERENCE := 16#0D, DOMAIN := 16#0F, REAL64 16#11 INT40 16#12 INT48 16#13 INT56 16#14 INT64 16#15 UINT24 16#16 UINT40 16#18 UINT48 16#19 UINT56 16#1A UINT64 16#1B PDO_COMMUNICATION_PARAMETER := 16#20, PDO_MAPPING := 16#21, SDO_PARAMETER := 16#22, IDENTITY := 16#23

CANopenDevice_Diag.SetCommunicationState (METH) ¶ METHOD SetCommunicationState : DED.ERROR Starts, stops or resets the device. Following table defines the mapping between CAA Device Diagnosis DED.DEVICE_TRANSITION_STATE and CANopen NMT command: CAA Device Diagnosis CANopen NMT command DED.DEVICE_TRANSITION_STATE.START NMT Start ( CANopenDevice.SwitchToOp ) DED.DEVICE_TRANSITION_STATE.STOP NMT Stop ( CANopenDevice.SwitchToStopped ) DED.DEVICE_TRANSITION_STATE.RESET If current state is CANOPEN_STATE.POWERDOWN : CANopenDevice.PowerUp else NMT Reset ( CANopenDevice.Reset ) Note Use CANopenDevice_Diag.CheckCurrentSupportedCommunicationState to check which transitions are possible in the current state! InOut: Scope Name Type Comment Return SetCommunicationState DED.ERROR DED.ERROR.NO_ERROR if device transition was successful. Input eRequestedState DED.DEVICE_TRANSITION_STATE desired transition

INode ¶ Methods for traversing the device tree. ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property)

CANopenDevice_Diag.ChildNodeCount (PROP) ¶ PROPERTY ChildNodeCount : CAA.COUNT Returns the number of childs below the current node

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