ABORT_CODE (ENUM) ¶ TYPE ABORT_CODE : SDO abort codes as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment SUCCESSFUL 16#0 No abort. Operation successful CRC_ERROR 16#5040004 OUT_OF_MEMORY 16#5040005 UNSUPPORTED_ACCESS_TO_OBJECT 16#6010000 READ_NOT_ALLOWED 16#6010001 WRITE_NOT_ALLOWED 16#6010002 NO_SUCH_OBJECT 16#6020000 NOT_MAPPABLE 16#6040041 GENERAL_PARAM_INCOMPATIBILITY 16#6040043 GENERAL_INCOMPATIBILTY 16#6040047 LENGTH_DATA_INVALID 16#6070010 NO_SUCH_SUBINDEX 16#6090011 VALUE_RANGE_EXCEEDED 16#6090030 VALUE_TOO_HIGH 16#6090031 VALUE_TOO_LOW 16#6090032 GENERAL_ERROR 16#8000000 LOCAL_CTRL_ERROR 16#8000021 Data cannot be transferred or stored to the application because of local control. DEVICE_STATE_ERROR 16#8000022 Data cannot be transferred or stored to the application because of the present device state. NO_DATA_AVAILABLE 16#8000024 No data available

CANOPEN_STATE (ENUM) ¶ TYPE CANOPEN_STATE : CANopen states as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment POWERDOWN -1 no CANopen services INIT 0 CANopen Service (see CiA-301): Bootup Object STOPPED 16#4 CANopen Service (see CiA-301): NMT OPERATIONAL 16#5 CANopen Service (see CiA-301): PDO (I/Os), SDO, SYNC, TIME, EMCY, NMT PREOPERATIONAL 16#7F CANopen Service (see CiA-301): SDO, SYNC, TIME, EMCY, NMT

DATA_TYPE (ENUM) ¶ TYPE DATA_TYPE : CANopen data types as defined by CiA-301 Attributes: qualified_only InOut: Name Initial Comment BOOLEAN 16#1 INT8 16#2 INT16 16#3 INT32 16#4 UINT8 16#5 UINT16 16#6 UINT32 16#7 REAL32 16#8 VISIBLE_STRING 16#9 INT24 16#10 OCTET_STRING := 16#0A, UNICODE_STRING := 16#0B, TIMEOFDAY := 16#0C, TIME_DIFFERENCE := 16#0D, DOMAIN := 16#0F, REAL64 16#11 INT40 16#12 INT48 16#13 INT56 16#14 INT64 16#15 UINT24 16#16 UINT40 16#18 UINT48 16#19 UINT56 16#1A UINT64 16#1B PDO_COMMUNICATION_PARAMETER := 16#20, PDO_MAPPING := 16#21, SDO_PARAMETER := 16#22, IDENTITY := 16#23

SYNC ¶ DecodeSyncCOBID (Function) EncodeSyncCOBID (Function)

DecodeSyncCOBID (FUN) ¶ FUNCTION DecodeSyncCOBID Helps to decode the content of the SYNC COBID Object (Object 16#1005). InOut: Scope Name Type Comment Input dwValue DWORD value of SYNC COBID object Output xSyncProducer BOOL true : device is Sync Producer; false : device is Sync Consumer xExtendedID BOOL true : 29bit SYNC COBID; false : 11bit SYNC COBID dwCOBID DWORD SYNC COBID

EncodeSyncCOBID (FUN) ¶ FUNCTION EncodeSyncCOBID Helps to encode the content of the SYNC COBID Object (Object 16#1005). InOut: Scope Name Type Comment Input xSyncProducer BOOL true : device is Sync Producer; false : device is Sync Consumer xExtendedID BOOL true : 29bit SYNC COBID; false : 11bit SYNC COBID dwCOBID DWORD SYNC COBID Output dwValue DWORD value of SYNC COBID object

CANopenDevice (FB) ¶ FUNCTION_BLOCK CANopenDevice EXTENDS IoDrvBase IMPLEMENTS ICmpIoDrvParameter, IODCallback Implements the CANopen Slave stack. Note This function block is not intended for being instantiated by applications. Instances will be created implicitly. Properties: ObjectDictionary NodeID State Methods: AddLogMessage PowerDown PowerUp Reset ResetCommunication SetNodeID SwitchToOp SwitchToPreop SwitchToStopped Structure: Diagnostics AddLogMessage (Method) NMT API NodeID (Property) PowerDown (Method) PowerUp (Method) Reset (Method) ResetCommunication (Method) SetNodeID (Method) State (Property) SwitchToOp (Method) SwitchToPreop (Method) SwitchToStopped (Method) ObjectDictionary (Property)

Diagnostics ¶ AddLogMessage (Method)

CANopenDevice.AddLogMessage (METH) ¶ METHOD PUBLIC AddLogMessage InOut: Scope Name Type Input eLogID LOGSTRING_ID pContext POINTER TO BYTE

NMT ¶ API NodeID (Property) PowerDown (Method) PowerUp (Method) Reset (Method) ResetCommunication (Method) SetNodeID (Method) State (Property) SwitchToOp (Method) SwitchToPreop (Method) SwitchToStopped (Method)