Device Diagnosis ¶ This folder contains all functionblocks implementing Device Diagnosis functionality. The function blocks will be implicitly instantiated by CODESYS. CANRemoteDevice_Diag (FunctionBlock) 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) CANRemoteModule_Diag (FunctionBlock) IDevice CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) INode ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property) CANopenManager_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)

CANRemoteDevice_Diag (FB) ¶ FUNCTION_BLOCK CANRemoteDevice_Diag EXTENDS CANRemoteDevice IMPLEMENTS DED.IDevice2 CANRemoteDevice function block for Device Diagnosis. Note Do not instantiate this function block. It will be instantiated implicitly. Properties: BootupTimeout , inherited from CANRemoteDevice CANopenState , inherited from CANRemoteDevice ChildNodeCount ConfigurationErrors , inherited from CANRemoteDevice Connector Enable ErrorControlActivated , inherited from CANRemoteDevice FirstChildNode GuardTime , inherited from CANRemoteDevice GuardWatchdogTime , inherited from CANRemoteDevice GuardingType , inherited from CANRemoteDevice Index IsRootNode NMTErrorBehaviour , inherited from CANRemoteDevice NextSiblingNode NodeID , inherited from CANRemoteDevice ParentNode SiblingNodeCount pCANopenManager , inherited from CANRemoteDevice Methods: CheckCurrentSupportedCommunicationState CheckSupportedCommunicationState GetDeviceInfo GetDeviceState SetCommunicationState Structure: 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)

IDevice ¶ CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method)

CANRemoteDevice.GuardTime (PROP) ¶ PROPERTY GuardTime : UDINT Returns the Heartbeat Producing Time or Nodeguarding Time in milliseconds.

CANRemoteDevice.GuardWatchdogTime (PROP) ¶ PROPERTY GuardWatchdogTime : UDINT Monitoring time in milliseconds. Heartbeat protocol: Heartbeat consuming time used by the manager for the related slave (default: 1.5 * GuardTime). Nodeguarding protocol: Life Time used by the manager for the related slave (default: GuardTime * Life Time Factor). Sync PDO Guarding: Monitoring time for cyclic synchronous PDOs.

CANRemoteDevice.GuardingType (PROP) ¶ PROPERTY GuardingType : GUARDING_TYPE Returns the current enabled guarding type.

CANRemoteDevice.NMTErrorBehaviour (PROP) ¶ PROPERTY FINAL NMTErrorBehaviour : NMT_ERROR_BEHAVIOUR Gets or sets the NMT error behaviour algorithm. For further information see NMT_ERROR_BEHAVIOUR .

CANRemoteDevice.NodeID (PROP) ¶ PROPERTY FINAL NodeID : BYTE Gets the NodeID of the slave.

CANRemoteDevice.pCANopenManager (PROP) ¶ PROPERTY FINAL pCANopenManager : POINTER TO CANopenManager Gets the pointer to the associated CANopenManager instance.

CANopenManager (FB) ¶ FUNCTION_BLOCK CANopenManager EXTENDS IoDrvBase IMPLEMENTS ICmpIoDrvParameter, CS.ICanOpenStack This function block implements the CANopenManager state machine. Note Do not instantiate this function block. It will be instantiated implicitly. Properties: KernelState MandatorySlavesBooted OptionalSlavesBooted NMTInhibitTime Methods: GetSlaveByNodeID RegisterEventHandler UnregisterEventHandler Structure: Events RegisterEventHandler (Method) UnregisterEventHandler (Method) Helper GetSlaveByNodeID (Method) KernelState (Property) MandatorySlavesBooted (Property) NMT NMTInhibitTime (Property) OptionalSlavesBooted (Property)