CANopenDevice.PowerUp (METH) ¶ METHOD PowerUp : BOOL Only possible in CANOPEN_STATE.POWERDOWN . Boots the slave. A NMT bootup message is sent if slave enters CANOPEN_STATE.PREOPERATIONAL state again. Note CANopenDevice.PowerDown and PowerUp can result in higher bus cycle times because ObjectDictionary must be reintialized. InOut: Scope Name Type Comment Return PowerUp BOOL TRUE if state transition was possible

CANopenDevice.Reset (METH) ¶ METHOD Reset : BOOL Complete reset of the slave. All objects 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 Reset BOOL TRUE if state transition was possible

CANopen Help Functions ¶ Help function for decoding and encoding CANopen specific object values (e.g. EMCY, Heartbeat, Sync, PDO object). EMCY DecodeEmcyCOBID (Function) EncodeEmcyCOBID (Function) Heartbeat DecodeHeartbeatConsumerSettings (Function) EncodeHeartbeatConsumerSettings (Function) PDO DecodePDOCOBID (Function) DecodePDOMappingEntry (Function) EncodePDOCOBID (Function) EncodePDOMappingEntry (Function) SYNC DecodeSyncCOBID (Function) EncodeSyncCOBID (Function)

EMCY ¶ DecodeEmcyCOBID (Function) EncodeEmcyCOBID (Function)

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)

DecodeHeartbeatConsumerSettings (FUN) ¶ FUNCTION DecodeHeartbeatConsumerSettings Helps to decode the content of a Heartbeat Consumer Object (Object 16#1016sub1-254). If uiHeartbeatTime > 0 AND byNodeID <> 0 ==> Heartbeat consuming enabled InOut: Scope Name Type Comment Input dwValue DWORD value of object 16#1016sub1-254 Output uiHeartbeatTime UINT Heartbeat Consumer Time byNodeID BYTE NodeID of the CANopen device which should be monitored

EncodeHeartbeatConsumerSettings (FUN) ¶ FUNCTION EncodeHeartbeatConsumerSettings Helps to encode the content of a Heartbeat Consumer Object (Object 16#1016sub1-254). If uiHeartbeatTime > 0 AND byNodeID <> 0 ==> Heartbeat consuming enabled InOut: Scope Name Type Comment Input uiHeartbeatTime UINT Heartbeat Consumer Time byNodeID BYTE NodeID of the CANopen device which should be monitored Output dwValue DWORD value of object 16#1016sub1-254

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