GetProperty (FUN) ¶ FUNCTION GetProperty : UDINT InOut: Scope Name Type Return GetProperty UDINT Input uiProperty UINT

SdoAbort (FUN) ¶ FUNCTION SdoAbort : CS.PROC_STATE Abort all actual running actions of SDO’s InOut: Scope Name Type Input eCmd CS.PROC_CMD usiNetId USINT pParam POINTER TO CS.SDO_ABORT Return SdoAbort CS.PROC_STATE Output eError CS.ERROR

SdoRead (FUN) ¶ FUNCTION SdoRead : CS.PROC_STATE The SDO upload protocol InOut: Scope Name Type Input eCmd CS.PROC_CMD usiNetId USINT pParam POINTER TO CS.SDO_READ Return SdoRead CS.PROC_STATE Output eError CS.ERROR

SdoWrite (FUN) ¶ FUNCTION SdoWrite : CS.PROC_STATE The SDO download protocol InOut: Scope Name Type Input eCmd CS.PROC_CMD usiNetId USINT pParam POINTER TO CS.SDO_WRITE Return SdoWrite CS.PROC_STATE Output eError CS.ERROR

Services for CANopen Stack ¶ StkRegister (Function) StkUnregister (Function)

StkRegister (FUN) ¶ FUNCTION StkRegister : CAA.HANDLE first call of a CANopen Stack to initialize all resources InOut: Scope Name Type Comment Input usiNetId USINT number of CAN channel [0..255] IStack CS.ICanOpenStack Return StkRegister CAA.HANDLE Output eError ERROR

StkUnregister (FUN) ¶ FUNCTION StkUnregister : ERROR last call of a can mini driver for disposing all resources InOut: Scope Name Type Return StkUnregister ERROR Input hStack CAA.HANDLE

StkClose (FUN) ¶ FUNCTION StkClose : CS.PROC_STATE InOut: Scope Name Type Input eCmd CS.PROC_CMD usiNetId USINT Return StkClose CS.PROC_STATE Output eError CS.ERROR

StkGetInfo (FUN) ¶ FUNCTION StkGetInfo : CS.PROC_STATE InOut: Scope Name Type Input eCmd CS.PROC_CMD usiNetId USINT pStkInfo POINTER TO CS.STK_INFO pNetInfo POINTER TO CS.NET_INFO Return StkGetInfo CS.PROC_STATE Output eError CS.ERROR

StkOpen (FUN) ¶ FUNCTION StkOpen : CS.PROC_STATE InOut: Scope Name Type Comment Input eCmd CS.PROC_CMD usiNetId USINT local NetId usiNodeId USINT local NodeId uiBaudrate UINT eSpec CS.STK_SPEC Return StkOpen CS.PROC_STATE Output eError CS.ERROR