GUARDING_TYPE (ENUM) ¶ TYPE GUARDING_TYPE : Attributes: qualified_only InOut: Name Comment NONE HEARTBEAT Heartbeat Producing according to CiA 301 NODEGUARDING Nodeguarding according to CiA 301 SYNC_PDO_GUARDING If cyclic synchronous PDOs are activated they are used for life guarding.
NMT_ERROR_BEHAVIOUR (ENUM) ¶ TYPE NMT_ERROR_BEHAVIOUR : Defines the error behaviour algorithm used by a CANopenManager . Attributes: qualified_only InOut: Name Comment RESTART_SLAVE Restart slave if an error control event occurrs. STOP_SLAVE Stop slave if an error control event occurs. The application may start the slave afterwards by Cia405 NMT function block.
Interfaces ¶ ICANopenEventHandler (Interface) EventCallback (Method)
CANRemoteModule_Diag.ParentNode (PROP) ¶ PROPERTY ParentNode : DED.INode Returns the parent node or zero if the root node is already reached.
CANRemoteModule_Diag.SiblingNodeCount (PROP) ¶ PROPERTY SiblingNodeCount : CAA.COUNT Returns the number of sibling (same level) nodes
CANopenManager_Diag (FB) ¶ FUNCTION_BLOCK CANopenManager_Diag EXTENDS CANopenManager IMPLEMENTS DED.IStack, DED.IDevice2, DED.IBus, DED.IReconfigureProvider CANopenManager function block for Device Diagnosis. Note Do not instantiate this function block. It will be instantiated implicitly. Properties: ChildNodeCount Connector Enable FirstChildNode Index IsRootNode KernelState , inherited from CANopenManager MandatorySlavesBooted , inherited from CANopenManager NMTInhibitTime , inherited from CANopenManager NextSiblingNode OptionalSlavesBooted , inherited from CANopenManager ParentNode SiblingNodeCount Methods: CheckCurrentSupportedCommunicationState CheckSupportedCommunicationState GetBusInfo GetBusState GetDeviceInfo GetDeviceState GetQoS GetSlaveByNodeID , inherited from CANopenManager RegisterEventHandler , inherited from CANopenManager SetCommunicationState UnregisterEventHandler , inherited from CANopenManager Structure: 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)
IBus ¶ GetBusInfo (Method) GetBusState (Method) GetQoS (Method)
CANopenManager_Diag.GetBusInfo (METH) ¶ METHOD GetBusInfo : DED.ERROR Returns information about the associated CANbus. Interpretation of DED.BUS_INFO is as follows: Component Interpretation eType DED.BUS_TYPE.CANOPEN idSystem Network ID idInstance Instance number in I/O configuration (starting by 0) InOut: Scope Name Type Comment Return GetBusInfo DED.ERROR DED.ERROR.NO_ERROR if no error occurred while getting information. Inout buiInfo DED.BUS_INFO bus information
CANopenManager_Diag.GetBusState (METH) ¶ METHOD GetBusState : DED.BUS_STATE Returns the bus state of the associated CANBus. Following table defines the mapping between CAA Device Diagnosis DED.BUS_STATE and CL2.BUSSTATE . CAA Device Diagnosis CANbus state DED.BUS_STATE.RUNNING CL2.BUSSTATE.ERR_FREE , CL2.BUSSTATE.ACTIVE , CL2.BUSSTATE.WARNING DED.BUS_STATE.ERROR no driver found, CL2.BUSSTATE.BUSOFF , CL2.BUSSTATE.PASSIVE DED.BUS_STATE.UNKNOWN CL2.BUSSTATE.UNKNOWN InOut: Scope Name Type Comment Return GetBusState DED.BUS_STATE current bus state. Output xDiagnosisInfoAvailable BOOL TRUE , if red exclamation mark in device tree eError DED.ERROR DED.ERROR.NO_ERROR if bus state was retrieved wihout error.
CANopenManager_Diag.GetQoS (METH) ¶ METHOD GetQoS : DED.ERROR QualityInfo contains following information: usiBusload: Current Busload (if supported by CAN driver, else always 0) ctError: Total Sum of TxErrorCounter, RxErrorCounter and LostCounter. 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
