NMT (FB) ¶ FUNCTION_BLOCK NMT EXTENDS CiA405Base This function block provides NMT services. The NMT request will be sent to the NodeID specified in input DEVICE . If NMT request should be addressed to all devices (including NMT master and sending device) set DEVICE to 0 . If all devices but not NMT master and sending device should be addressed use the additional flag TRANSITION_STATE.ALL_EXCEPT_NMT_AND_SENDER . InOut: Scope Name Type Initial Comment Inherited from Input NETWORK USINT 1 CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 NETWORK is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, … CiA405Base ENABLE BOOL FALSE Enables the function block on rising edge. Aborts operation on falling edge. CiA405Base TIMEOUT UDINT 0 Timeout in ms; 0 means no timeout CiA405Base Output CONFIRM BOOL FALSE TRUE : function block finished without error CiA405Base ERROR CANOPEN_KERNEL_ERROR CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR Error code: see CANOPEN_KERNEL_ERROR for further details CiA405Base Input DEVICE DEVICE 0 NodeID of destination device (local or remote). 0 means all devices. STATE TRANSITION_STATE 0 The NMT transition which should be performed.
RECV_EMCY (FB) ¶ FUNCTION_BLOCK RECV_EMCY EXTENDS CiA405Base Function block checks if an emergency object has been received from any DEVICE . If the function block has finished its action without any error, output CONFIRM is changed to TRUE and ERROR to 0. If DEVICE is 0 all devices are error free. If an EMCY is pending or an EMCY error reset was received output DEVICE contains the NodeID of the corresponding device and ERRORINFO contains the EMCY information. Note An EMCY will be returned as long as it is pending. An EMCY error reset (Variable EMCY_ERROR_CODE of EMCY_ERROR is zero) is returned only once. If an error occurred while checking for an emergency, CONFIRM is set to FALSE and ERROR is set to the corresponding error value. InOut: Scope Name Type Initial Comment Inherited from Input NETWORK USINT 1 CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 NETWORK is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, … CiA405Base ENABLE BOOL FALSE Enables the function block on rising edge. Aborts operation on falling edge. CiA405Base TIMEOUT UDINT 0 Timeout in ms; 0 means no timeout CiA405Base Output CONFIRM BOOL FALSE TRUE : function block finished without error CiA405Base ERROR CANOPEN_KERNEL_ERROR CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR Error code: see CANOPEN_KERNEL_ERROR for further details CiA405Base DEVICE DEVICE 0 EMCY received: DEVICE contains the NODEID of the sending device; no EMCY received: value is 0 ERRORINFO EMCY_ERROR EMCY information
RECV_EMCY_DEV (FB) ¶ FUNCTION_BLOCK RECV_EMCY_DEV EXTENDS CiA405Base Function block checks if an emergency object has been received from NodeID specified by input DEVICE . If the function block has finished its action without any error, output CONFIRM is changed to TRUE and ERROR to 0. Member EMCY_ERROR_CODE of output ERRORINFO is unequal zero if an EMCY is pending. If EMCY_ERROR_CODE equals zero no EMCY is currently pending. Note A received emergency is not cleared and it is delivered with each call of the function block until the device sends an emergency reset. If an error occurred while checking for an emergency, CONFIRM is set to FALSE and ERROR is set to the corresponding error value. InOut: Scope Name Type Initial Comment Inherited from Input NETWORK USINT 1 CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 NETWORK is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, … CiA405Base ENABLE BOOL FALSE Enables the function block on rising edge. Aborts operation on falling edge. CiA405Base TIMEOUT UDINT 0 Timeout in ms; 0 means no timeout CiA405Base Output CONFIRM BOOL FALSE TRUE : function block finished without error CiA405Base ERROR CANOPEN_KERNEL_ERROR CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR Error code: see CANOPEN_KERNEL_ERROR for further details CiA405Base Input DEVICE DEVICE 0 NodeID of device Output ERRORINFO EMCY_ERROR EMCY information; if member EMCY_ERROR_CODE is zero, no EMCY is pending.
CAA CANopen Stack ¶ Enums BUSSTATE (Enum) CANOPEN_KERNEL_ERROR (Enum) DEVICE_STATE (Enum) ERROR (Enum) PROC_CMD (Enum) PROC_STATE (Enum) SDO_MODE (Enum) STK_NODES (Enum) STK_SPEC (Enum) STK_STATE (Enum) GlobalConstants ObjectDictionary (GVL) Interfaces ICanOpenStack (Interface) SDO-Handling SdoAbort (Method) SdoRead (Method) SdoWrite (Method) Stack-Handling StkClose (Method) StkGetInfo (Method) StkOpen (Method) Structs EMCY_DATA (Struct) EMCY_ERROR (Struct) NET_INFO (Struct) SDO_ABORT (Struct) SDO_READ (Struct) SDO_WRITE (Struct) STK_INFO (Struct)
Enums ¶ BUSSTATE (Enum) CANOPEN_KERNEL_ERROR (Enum) DEVICE_STATE (Enum) ERROR (Enum) PROC_CMD (Enum) PROC_STATE (Enum) SDO_MODE (Enum) STK_NODES (Enum) STK_SPEC (Enum) STK_STATE (Enum)
BUSSTATE (ENUM) ¶ TYPE BUSSTATE : imported from CAA_CanL2 Attributes: qualified_only InOut: Name UNKNOWN ERR_FREE ACTIVE WARNING PASSIVE BUSOFF
CANOPEN_KERNEL_ERROR (ENUM) ¶ TYPE CANOPEN_KERNEL_ERROR : Error codes for output ERROR of CiA405 function blocks Attributes: qualified_only InOut: Name Initial Comment CANOPEN_KERNEL_NO_ERROR 16#0 CANOPEN_KERNEL_OTHER_ERROR 16#1 CANOPEN_KERNEL_DATA_OVERFLOW 16#2 CANOPEN_KERNEL_TIMEOUT 16#3 16#0004 to 16#000F is reserved for further SDO errors CANOPEN_KERNEL_CANBUS_OFF 16#10 CANOPEN_KERNEL_CAN_ERROR_PASSIVE 16#11 16#0012 to 16#001F is reserved for further internal Kernel errors, 16#0021 to 16#00FF is Manufacturer specific CANOPEN_INTERNAL_FB_ERROR 16#21 CANOPEN_NO_MORE_MEMORY 16#22 CANOPEN_WRONG_PARAMETER 16#23 CANOPEN_NODEID_UNKNOWN 16#24 CANOPEN_NETID_UNKNOWN 16#25 CANOPEN_REQUEST_ERROR 16#26 CANOPEN_SDOCHANNEL_UNKNOWN 16#27 CANOPEN_NO_DRIVER 16#28 CANOPEN_CONFIGURATION_ERROR 16#29 CANOPEN_GUARDING_ERROR 16#2A 16#0100 to 16#FFFF is reserved by CiA.
DEVICE_STATE (ENUM) ¶ TYPE DEVICE_STATE : imported from CAA_CiA405 Attributes: qualified_only InOut: Name INIT RESET_COMM RESET_APP PRE_OPERATIONAL STOPPED OPERATIONAL UNKNOWN NOT_AVAIL
ERROR (ENUM) ¶ TYPE ERROR : Attributes: qualified_only InOut: Name Initial NO_ERROR 0 FIRST_ERROR 10400 TIME_OUT 10401 NOT_OPEN 10404 ALREADY_OPEN 10405 ALREADY_CLOSE 10406 REQUEST_ERROR 10407 WRONG_PARAMETER 10408 NODEID_UNKNOWN 10409 SDOCHANNEL_UNKNOWN 10410 INTERNAL_ERROR 10411 NOT_ENOUGH_MEMORY 10412 ABORT_BY_SERVER 10413 INVALID_SEQUENCE_NUMBER 10414 INVALID_BLOCKSIZE 10415 CRC_ERROR 10416 FIRST_MF 10450 LAST_ERROR 10499
BACnetServer.RegisterCallback (METH) ¶ METHOD RegisterCallback : CmpBACnet.IEC_BACNET_STATUS Registers a FB implementing IBACnetEventConsumer (itfEvent) to a BACnet-Stack-Callback of type eCallbackType. Since a callback may have a release event, too (occuring after the returned information of the first call has been processed; at the moment only supported by BACNET_CALLBACK_READ), another FB implementing IBACnetEventConsumer (itfReleaseEvent) may be registered also. The method of the IBACnetEventConsumer interface gets called whenever the specified callback occurs after registration. Note For callbacks to occur for a specific BACnet-Object-Property call “SetPropertyCallbackAttachment” of the specific object in order to activate the callback for the specific BACnet-Object-Property. Without activation no callbacks will occur (assuming the predefined settings are used). InOut: Scope Name Type Initial Comment Return RegisterCallback CmpBACnet.IEC_BACNET_STATUS Input eCallbackType CmpBACnet.IEC_BACNET_CALLBACK_TYPE The callback type to register for. itfEvent IBACnetEventConsumer The event consumer to register to the callback event. itfReleaseEvent IBACnetEventConsumer 0 The event consumer to register to the release callback event.