CSMD_SVC_ERROR_CODES (ENUM) ¶ TYPE CSMD_SVC_ERROR_CODES : Error codes from COSEMA runtime component InOut: Name Initial Comment CSMD_SVC_NO_ERR 0 No error in the service channel CSMD_SVC_NOT_OPEN 1 Service channel not open CSMD_SVC_GRIP_ELEM0 16#9 9 Invalid access to closing the service channel CSMD_SVC_ID_NOT_THERE 16#1001 1001 No valid IDN CSMD_SVC_GRIP_ELEM1 16#1009 1009 Invalid access to element 1 CSMD_SVC_NO_NAME 16#2001 2001 No Name CSMD_SVC_NAME_TOO_SHORT 2002 Name transmission too short CSMD_SVC_NAME_TOO_LONG 2003 Name transmission too long CSMD_SVC_WRITE_NAME 2004 Name cannot be changed (read only) CSMD_SVC_JUST_NO_NAME 2005 Name is write-protected at this time CSMD_SVC_ATTR_TOO_SHORT 16#3002 3002 Attribute transmission too short CSMD_SVC_ATTR_TOO_LONG 3003 Attribute transmission too long CSMD_SVC_WRITE_ATTR 3004 Attribute cannot be changed (read only) CSMD_SVC_JUST_NO_ATTR 3005 Attribute is write-protected at this time CSMD_SVC_NO_UNIT 16#4001 4001 No units CSMD_SVC_UNIT_TOO_SHORT 4002 Unit transmission too short CSMD_SVC_UNIT_TOO_LONG 4003 Unit transmission too long CSMD_SVC_WRITE_UNIT 4004 Unit cannot be changed (read only) CSMD_SVC_JUST_NO_UNIT 4005 Unit is write-protected at this time CSMD_SVC_NO_MIN 16#5001 5001 No minimum input value CSMD_SVC_MIN_TOO_SHORT 5002 Minimum input value transmission too short CSMD_SVC_MIN_TOO_LONG 5003 Minimum input value transmission too long CSMD_SVC_WRITE_MIN 5004 Minimum input value cannot be changed (read only) CSMD_SVC_JUST_NO_MIN 5005 Minimum input value is write-protected at this time CSMD_SVC_NO_MAX 16#6001 6001 No maximum input value CSMD_SVC_MAX_TOO_SHORT 6002 Maximum input value transmission too short CSMD_SVC_MAX_TOO_LONG 6003 Maximum input value transmission too long CSMD_SVC_WRITE_MAX 6004 Maximum input value cannot be changed (read only) CSMD_SVC_JUST_NO_MAX 6005 Maximum input value is write-protected at this time CSMD_SVC_DATA_TOO_SHORT 16#7002 7002 Operation data transmission too short CSMD_SVC_DATA_TOO_LONG 7003 Operation data transmission too long CSMD_SVC_WRITE_DATA 7004 Operation data cannot be changed (read only) CSMD_SVC_JUST_NO_DATA 7005 Operation data is write-protected at this time CSMD_SVC_DATA_TOO_SMALL 7006 Operation data is smaller than the minimum input value CSMD_SVC_DATA_TOO_LARGE 7007 Operation data is greater than the maximum input value CSMD_SVC_DATA_NOT_CORRECT 7008 Invalid operation data. Configured IDN will not be supported. CSMD_SVC_WRITE_DATA_PASS 7009 Operation data write protected by a password CSMD_SVC_NO_WRITE_DATA_NOW 700A Operation data is write protected, it is configured cyclically. CSMD_SVC_ADR_NOT_KORREKT 700B Invalid indirect addressing: (e.g., data container, list handling) CSMD_SVC_PROTECTED_BY_OTHERS 700C Operation data is write protected due to other settings. CSMD_SVC_INVALID_FLOAT 700D Invalid floating point number CSMD_SVC_NO_WRITE_DATA_PL 700E Operation data is write protected at parameterization level CSMD_SVC_NO_WRITE_DATA_OL 700F Operation data is write protected at operating level CSMD_SVC_COM_ACTIVE_NOW 7010 Procedure command already active CSMD_SVC_COM_CANT_BREAK 7011 Procedure command not interruptible CSMD_SVC_COM_CANT_ACTIVE_NOW 7012 Procedure command at this time not executable CSMD_SVC_COM_PARA_FALSE 7013 Procedure command not executable (invalid or false parameters) CSMD_SVC_SEG_IDN_NOT_VALID 16#7101 7101 IDN in S-0-0394 not valid CSMD_SVC_SEG_WRITE_EMPTY_LIST 7102 Empty list in S-0-0397 not allowed for write access CSMD_SVC_SEG_MAX_LEN_EXCEEDED 7103 Maximum length of the list in S -0-0394 is exceeded CSMD_SVC_SEG_READ_ONLY 7104 Read access only: The length of the list segment as of the CSMD_SVC_SEG_WRITE_PROTECTED 7105 IDN in S-0-0394 is write protected CSMD_SVC_SEG_DATA_TOO_SMALL 7106 Operation data in list segment is smaller than the minimum input value CSMD_SVC_SEG_DATA_TOO_LARGE 7107 Operation data in list segment is greater than the maximum input value CSMD_SVC_SEG_INVALID_LIST_IDX 7108 Invalid list index in S-0-0395 CSMD_SVC_SEG_IDN_NO_LIST 7109 Parameter in IDN S-0-0394 does not have variable length CSMD_SVC_SEG_IDN_NOT_PERMITTED 710A IDN S-0-0397 not permitted as data in S-0-0394

Diagnosis ¶ IoDrvSercos3_Diag (FunctionBlock) GetBusDiagnosisInfo (Method) GetBusErrorAsync (Method) GetBusInfo (Method) GetBusState (Method) GetDeviceInfo (Method) GetDeviceState (Method) GetLogger (Method) GetQoS (Method) GetSpecificBusState (Method) INode ChildNodeCount (Property) Enable (Property) FirstChildNode (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property) SetCommunicationState (Method) Sercos3Slave_Diag (FunctionBlock) GetDeviceInfo (Method) GetDeviceState (Method) INode ChildNodeCount (Property) Enable (Property) FirstChildNode (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property) SetCommunicationState (Method)

IoDrvSercos3_Diag.GetBusDiagnosisInfo (METH) ¶ METHOD GetBusDiagnosisInfo : DED.ERROR Returns a DiagnosisInfo if xDiagnosisInfoAvailable of |IBus.GetBusState| was true. Note The interpretation of pData is fieldbus dependent and will be specified by the associated fieldbus driver. InOut: Scope Name Type Comment Return GetBusDiagnosisInfo DED.ERROR Input pData CAA.PVOID Pointer to memory szSize CAA.SIZE Size of memory in bytes where pData is pointing to Output szCount CAA.SIZE Number of Bytes written to pData

IoDrvSercos3_Diag (FB) ¶ FUNCTION_BLOCK IoDrvSercos3_Diag EXTENDS IoDrvSercos3 IMPLEMENTS IBus, IStack InOut: Scope Name Type Comment Inherited from Input xRestart BOOL A rising edge at this input will restart the master. All configuration data will be reloaded. IoDrvSercos3 wRequiredTopology SERCOS_TOPOLOGY The required topology (Ring, L1, L2 etc) IoDrvSercos3 xRecoverRingTopology BOOL If a ring topology is required and a ring break was detected then it is possible to recover the ring topology with this input. IoDrvSercos3 Output xConfigFinished BOOL If the output is TRUE, the transmission of all configuration data has been executed properly. The communication on the bus is in process. IoDrvSercos3 wState WORD The parameter wState has a value between 0 and 100 telling about the state of the initialization phase; the greater the value, the more the initialization process is advanced. IoDrvSercos3 wTopology SERCOS_TOPOLOGY The current topology of the Sercos III bus. IoDrvSercos3 xTopologyError BOOL IF wRequiredTopologiy is not equal to wTopology there is an error. IoDrvSercos3 xBusError BOOL If the bus is not working then this output is set to true IoDrvSercos3 Properties: AutoRestartMaster , inherited from IoDrvSercos3 ChildNodeCount Enable FirstChildNode FirstSlave , inherited from IoDrvSercos3 IsRootNode LastInstance , inherited from IoDrvSercos3 NextInstance , inherited from IoDrvSercos3 NextSiblingNode ParentNode SiblingNodeCount Methods: GetBusDiagnosisInfo GetBusErrorAsync GetBusInfo GetBusState GetDeviceInfo GetDeviceState GetLogger GetQoS GetSpecificBusState SetCommunicationState Structure: GetBusDiagnosisInfo (Method) GetBusErrorAsync (Method) GetBusInfo (Method) GetBusState (Method) GetDeviceInfo (Method) GetDeviceState (Method) GetLogger (Method) GetQoS (Method) GetSpecificBusState (Method) INode ChildNodeCount (Property) Enable (Property) FirstChildNode (Property) IsRootNode (Property) NextSiblingNode (Property) ParentNode (Property) SiblingNodeCount (Property) SetCommunicationState (Method)

IoDrvSercos3_Diag.GetBusErrorAsync (METH) ¶ METHOD GetBusErrorAsync : PROC_STATE Returns the bus error of the current node. Note This is an asynchronous method. For easier handling use function block |GetBusError| . InOut: Scope Name Type Comment Return GetBusErrorAsync PROC_STATE Input eCmd PROC_CMD Inout eriBusError ERROR_INFO error information Output eError DED.ERROR

IoDrvSercos3_Diag.GetBusInfo (METH) ¶ METHOD GetBusInfo : DED.ERROR Returns the bus information of the current node. InOut: Scope Name Type Comment Return GetBusInfo DED.ERROR Inout buiInfo BUS_INFO bus information

IoDrvSercos3_Diag.GetBusState (METH) ¶ METHOD GetBusState : BUS_STATE Returns the bus state of the current node; if method returns |BUS_STATE.ERROR| further information can be read by |GetBusError| . InOut: Scope Name Type Comment Return GetBusState BUS_STATE current bus state Output xDiagnosisInfoAvailable BOOL if true, diagnosis info can be read by calling |IBus.GetBusDiagnosisInfo| (if supported) eError DED.ERROR

IoDrvSercos3_Diag.GetDeviceInfo (METH) ¶ METHOD GetDeviceInfo : DED.ERROR Returns the device information of the current node InOut: Scope Name Type Comment Return GetDeviceInfo DED.ERROR Inout deiInfo DEVICE_INFO device information

IoDrvSercos3_Diag.GetDeviceState (METH) ¶ METHOD GetDeviceState : DEVICE_STATE Returns the state of the device. InOut: Scope Name Type Comment Return GetDeviceState DEVICE_STATE current device state Output xDiagnosisInfoAvailable BOOL if true: diagnostic info is available. eError DED.ERROR

IoDrvSercos3_Diag.GetLogger (METH) ¶ METHOD GetLogger : ILogger Returns a logger instance (if supported). InOut: Scope Name Type Return GetLogger ILogger Output eError DED.ERROR