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.SetCommunicationState (METH) ¶ METHOD SetCommunicationState : DED.ERROR Starts, stops or resets the device. Following table defines the mapping between CAA Device Diagnosis DED.DEVICE_TRANSITION_STATE and CANopen NMT command: CAA Device Diagnosis CANopen NMT command DED.DEVICE_TRANSITION_STATE.START NMT Start ( CANopenDevice.SwitchToOp ) DED.DEVICE_TRANSITION_STATE.STOP NMT Stop ( CANopenDevice.SwitchToStopped ) DED.DEVICE_TRANSITION_STATE.RESET If current state is CANOPEN_STATE.POWERDOWN : CANopenDevice.PowerUp else NMT Reset ( CANopenDevice.Reset ) Note Use CANopenDevice_Diag.CheckCurrentSupportedCommunicationState to check which transitions are possible in the current state! InOut: Scope Name Type Comment Return SetCommunicationState DED.ERROR DED.ERROR.NO_ERROR if device transition was successful. Input eRequestedState DED.DEVICE_TRANSITION_STATE desired transition

INode ¶ Methods for traversing the device tree. ChildNodeCount (Property) Connector (Property) Enable (Property) FirstChildNode (Property) Index (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property)

CANopenDevice_Diag.ChildNodeCount (PROP) ¶ PROPERTY ChildNodeCount : CAA.COUNT Returns the number of childs below the current node

CANopenDevice_Diag.Connector (PROP) ¶ PROPERTY Connector : POINTER TO IoStandard.IoConfigConnector

CANopenDevice.ResetCommunication (METH) ¶ METHOD ResetCommunication : BOOL Reset communication of the slave. As defined by CiA-301 only communication objects (Index <16#2000) 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 ResetCommunication BOOL TRUE if state transition was possible

CANopenDevice.SetNodeID (METH) ¶ METHOD SetNodeID : ERROR Method to set the NodeID of the CANopen Slave. If called in first cycle of the buscycle task NodeID will be changed before the CANopen Slave state machine starts. Else, a call to this method will reboot the slave with the new NodeID. Calling this method will lead to higher bus cycle times because Object Dictionary must be initialized. InOut: Scope Name Type Initial Comment Input usiNodeID NODEID new NodeID (1..127) Return SetNodeID ERROR ERROR.NO_ERROR TRUE : NodeID was set successful.