PROC_CMD (ENUM) ¶ TYPE PROC_CMD : This enumeration is used when working with asynchronous methods. The current state is issued with the data structure PROC_STATE Attributes: qualified_only InOut: Name Initial Comment NONE 0 Operation is not started and stays in IDLE mode. The operation is returned to its initial state. EXECUTE Operation is started upon a rising edge and executed as long as the input remains on EXECUTE. The operation is done as soon as the output is assigned the value PROC_STATE.DONE . ABORT Operation is aborted. The abort is done if the state is assigned the value PROC_STATE.ABORTED .
PROC_STATE (ENUM) ¶ TYPE PROC_STATE : This enumeration is used to issue the current operation state of asynchronous methods. Attributes: qualified_only InOut: Name Initial Comment DORMAND 0 The operation is in IDLE state. BUSY The operation is busy. DONE The operation is done. ABORTED The operation has been aborted. ERROR An error occured.
Function Blocks ¶ Bus GetBusError (FunctionBlock) Device GetDeviceError (FunctionBlock) GetSpecificDeviceError (FunctionBlock) Reconfigure Reconfigure (FunctionBlock) Stack GetBusScan (FunctionBlock) Utility GetIDeviceInstByIoAddr (FunctionBlock)
Structs ¶ EMCY_DATA (Struct) EMCY_ERROR (Struct) NET_INFO (Struct) SDO_ABORT (Struct) SDO_READ (Struct) SDO_WRITE (Struct) STK_INFO (Struct)
EMCY_DATA (STRUCT) ¶ TYPE EMCY_DATA EXTENDS EMCY_ERROR : STRUCT InOut: Name Type Comment Inherited from EMCY_ERROR_CODE WORD prefix: emcy EMCY_ERROR ERROR_REGISTER BYTE EMCY_ERROR ERROR_FIELD ARRAY [1..5] OF BYTE EMCY_ERROR DEVICE USINT
EMCY_ERROR (STRUCT) ¶ TYPE EMCY_ERROR : STRUCT imported from CAA_CiA405 InOut: Name Type Comment EMCY_ERROR_CODE WORD prefix: emcy ERROR_REGISTER BYTE ERROR_FIELD ARRAY [1..5] OF BYTE
NET_INFO (STRUCT) ¶ TYPE NET_INFO : STRUCT CANOpen Channel Information InOut: Name Type usiNetId USINT uiBaudrate UINT eState BUSSTATE
SDO_ABORT (STRUCT) ¶ TYPE SDO_ABORT EXTENDS SDO_WRITE : STRUCT InOut: Name Type Comment Inherited from usiNodeId USINT SDO_WRITE usiChannel USINT SDO_WRITE uiIndex UINT SDO_WRITE usiSubIndex USINT SDO_WRITE xUseSpecificTimeout BOOL TRUE: ctTimeout will be used; ELSE: default timeout SDO_WRITE eMode SDO_MODE SDO_WRITE uiState UINT SDO_WRITE xLegacyCRC BOOL FALSE: Use default CANopen CRC for block transfer; TRUE: Use legacy CRC (used before 3.5 SP10). SDO_WRITE xDummy BOOL SDO_WRITE udiSize UDINT SDO_WRITE pData CAA.PVOID SDO_WRITE udiAbortCode UDINT SDO_WRITE ctTimeout CAA.COUNT Timeout in us SDO_WRITE
SDO_READ (STRUCT) ¶ TYPE SDO_READ : STRUCT Structure is only compatible with 3.5 SP7 runtime or newer InOut: Name Type Comment usiNodeId USINT usiChannel USINT uiIndex UINT usiSubIndex USINT xUseSpecificTimeout BOOL TRUE: ctTimeout will be used; ELSE: default timeout xBlockTransfer BOOL usiPST USINT Protocol Switch Threshold in bytes (only for block transfer) uiState UINT xLegacyCRC BOOL FALSE: Use default CANopen CRC for block transfer; TRUE: Use legacy CRC (used before 3.5 SP10). xDummy BOOL udiSize UDINT pData CAA.PVOID udiAbortCode UDINT ctTimeout CAA.COUNT Timeout in us
SDO_WRITE (STRUCT) ¶ TYPE SDO_WRITE : STRUCT Structure is only compatible with 3.5 SP7 runtime or newer InOut: Name Type Comment usiNodeId USINT usiChannel USINT uiIndex UINT usiSubIndex USINT xUseSpecificTimeout BOOL TRUE: ctTimeout will be used; ELSE: default timeout eMode SDO_MODE uiState UINT xLegacyCRC BOOL FALSE: Use default CANopen CRC for block transfer; TRUE: Use legacy CRC (used before 3.5 SP10). xDummy BOOL udiSize UDINT pData CAA.PVOID udiAbortCode UDINT ctTimeout CAA.COUNT Timeout in us
