CANopenDevice_Diag.GetQoS (METH) ¶ METHOD GetQoS : DED.ERROR Returns quality of service information for the CANbus. Interpretation of DED.QOS_INFO is as follows: Component Interpretation ctError Total sum of TxErrorCounter, RxErrorCounter and LostCounter. usiBusload Current busload in percent (if supported by CAN driver, else always 0) InOut: Scope Name Type Comment Return GetQoS DED.ERROR DED.ERROR.NO_ERROR if no error occurred while getting information. Inout QualityInfo DED.QOS_INFO

IDevice ¶ Functions for getting device information. CheckCurrentSupportedCommunicationState (Method) CheckSupportedCommunicationState (Method) GetDeviceInfo (Method) GetDeviceState (Method) SetCommunicationState (Method)

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)