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

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

CANopenDevice.ObjectDictionary (PROP) ¶ PROPERTY ObjectDictionary : IObjectDictionary Returns the Object Dictionary of a slave. See IObjectDictionary for further information.

DecodePDOCOBID (FUN) ¶ FUNCTION DecodePDOCOBID Helps to decode the content of a PDO COBID Object (Object 16#1400-16#15FFsub1 or 16#1800-16#19FFsub1). InOut: Scope Name Type Comment Input dwValue DWORD value of PDO COBID object Output xEnabled BOOL true : PDO enabled; false : PDO disabled xExtendedID BOOL true : 29bit COBID, false : 11bit COBID xRTR BOOL true : RTR enabled; false : RTR disabled dwCOBID DWORD PDO COBID

DecodePDOMappingEntry (FUN) ¶ FUNCTION DecodePDOMappingEntry Helps to decode the content of a PDO Mapping Object (Object 16#1600-16#17FF or 16#1A00-16#1BFF). InOut: Scope Name Type Comment Input dwValue DWORD value of PDO Mapping object Output wIndex WORD Object index of mapped object bySubIndex BYTE SubIndex of mapped object byLength BYTE Bit length of mapped object

EncodePDOCOBID (FUN) ¶ FUNCTION EncodePDOCOBID Helps to encode the content of a PDO COBID Object (Object 16#1400-16#15FFsub1 or 16#1800-16#19FFsub1). InOut: Scope Name Type Comment Input xEnabled BOOL true : PDO enabled; false : PDO disabled xExtendedID BOOL true : 29bit COBID, false : 11bit COBID xRTR BOOL true : RTR enabled; false : RTR disabled dwCOBID DWORD PDO COBID Output dwValue DWORD value of PDO COBID object

EncodePDOMappingEntry (FUN) ¶ FUNCTION EncodePDOMappingEntry Helps to encode the content of a PDO Mapping Object (Object 16#1600-16#17FF or 16#1A00-16#1BFF). InOut: Scope Name Type Comment Input wIndex WORD Object index of mapped object bySubIndex BYTE SubIndex of mapped object byLength BYTE Bit length of mapped object Output dwValue DWORD value of PDO Mapping object