Message Information ¶ Functions for getting message information (CAN ID, Data, message length, …) about a given message handle. GetMessageDataPointer (Function) GetMessageId (Function) GetMessageLength (Function) GetMsgCount (Function) GetNetId (Function) GetTimeStamp (Function) Is29BitIdMessage (Function) IsRTRMessage (Function) IsTransmitMessage (Function) LostMessages (Function)

GetReceiveErrorCounter (FUN) ¶ FUNCTION GetReceiveErrorCounter : CAA.COUNT Returns a counter which is incremented with each receive error. Diagnostic Information can be also read by GetDiagnosis . InOut: Scope Name Type Comment Return GetReceiveErrorCounter CAA.COUNT number of receive errors Input hDriver CAA.HANDLE handle of CAN interface peError POINTER TO ERROR optional pointer to error enum

Enums ¶ CANOPEN_KERNEL_ERROR (Enum) DEVICE_STATE (Enum) SDO_MODE (Enum) TRANSITION_STATE (Enum)

CAA CiA 405 ¶ Enums CANOPEN_KERNEL_ERROR (Enum) DEVICE_STATE (Enum) SDO_MODE (Enum) TRANSITION_STATE (Enum) Function Blocks Network management NMT (FunctionBlock) RECV_EMCY (FunctionBlock) RECV_EMCY_DEV (FunctionBlock) Own node id GET_LOCAL_NODE_ID (FunctionBlock) Query state GET_CANOPEN_KERNEL_STATE (FunctionBlock) GET_STATE (FunctionBlock) SDO access SDO_READ4 (FunctionBlock) SDO_READ_DATA (FunctionBlock) SDO_WRITE4 (FunctionBlock) SDO_WRITE_DATA (FunctionBlock) obsolete (only for compatibility) SDO_READ (FunctionBlock) SDO_WRITE (FunctionBlock) Types DEVICE (Alias) SDO_ERROR (Alias)

CANOPEN_KERNEL_ERROR (ENUM) ¶ TYPE CANOPEN_KERNEL_ERROR : Error codes for output ERROR of CiA405 function blocks and return value for GET_CANOPEN_KERNEL_STATE . Attributes: qualified_only InOut: Name Initial Comment CANOPEN_KERNEL_NO_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR) There is no error. CANOPEN_KERNEL_OTHER_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_OTHER_ERROR) More information is provided by output ERRORINFO . CANOPEN_KERNEL_DATA_OVERFLOW ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_DATA_OVERFLOW) Lost counter or Tx/Rx error counter is above 0. CANOPEN_KERNEL_TIMEOUT ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_TIMEOUT) A timeout occurred. CANOPEN_KERNEL_CANBUS_OFF ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_CANBUS_OFF) CAN Bus is in BUSOFF or busalarm state. CANOPEN_KERNEL_CAN_ERROR_PASSIVE ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_CAN_ERROR_PASSIVE) CAN Bus is in Error Passive state. CANOPEN_INTERNAL_FB_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_INTERNAL_FB_ERROR) internal error CANOPEN_NO_MORE_MEMORY ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NO_MORE_MEMORY) There is not enough memory. CANOPEN_WRONG_PARAMETER ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_WRONG_PARAMETER) Wrong parameter passed to the function. CANOPEN_NODEID_UNKNOWN ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NODEID_UNKNOWN) Unknown NodeID. CANOPEN_NETID_UNKNOWN ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NETID_UNKNOWN) Unknown CAN Network ID (not part of I/O config). CANOPEN_REQUEST_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_REQUEST_ERROR) A request error happened. CANOPEN_SDOCHANNEL_UNKNOWN ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_SDOCHANNEL_UNKNOWN) Unknown SDO channel. CANOPEN_NO_DRIVER ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_NO_DRIVER) CAN Driver not found. CANOPEN_CONFIGURATION_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_CONFIGURATION_ERROR) At least one SDO abort in configuration phase of a slave. CANOPEN_GUARDING_ERROR ANYNUM_TO_WORD(CS.CANOPEN_KERNEL_ERROR.CANOPEN_GUARDING_ERROR) A guarding error (Heartbeat or Nodeguarding) occured.

DEVICE_STATE (ENUM) ¶ TYPE DEVICE_STATE : Describes the state of the CANopen network layer, as defined in /DS-301/. The states INIT , RESET_COMM , RESET_APP , PRE_OPERATIONAL , STOPPED , OPERATIONAL correspond to the same states in /DS-301/. The state UNKNOWN is used, if the actual state of the device is not known (for example, if no guarding is performed). The state NOT_AVAIL is used, if it is known, that the device is not available (for example, if guarding is performed and the device does not answer). Attributes: qualified_only InOut: Name INIT RESET_COMM RESET_APP PRE_OPERATIONAL STOPPED OPERATIONAL UNKNOWN NOT_AVAIL

SDO_MODE (ENUM) ¶ TYPE SDO_MODE : Defines the different SDO transmission modes. Attributes: qualified_only InOut: Name Initial Comment AUTO ANYNUM_TO_INT(CS.SDO_MODE.AUTO) The client selects the mode automatically EXPEDITED ANYNUM_TO_INT(CS.SDO_MODE.EXPEDITED) The client uses the expedited protocol SEGMENTED ANYNUM_TO_INT(CS.SDO_MODE.SEGMENTED) The client uses segmented transfer protocol BLOCK ANYNUM_TO_INT(CS.SDO_MODE.BLOCK) The client uses block transfer protocol

TRANSITION_STATE (ENUM) ¶ TYPE TRANSITION_STATE : Describes the NMT state transitions for function block GET_STATE . Attributes: qualified_only InOut: Name Initial Comment START_REMOTE_NODE 16#5 Enter DEVICE_STATE.OPERATIONAL STOP_REMOTE_NODE 16#4 Enter DEVICE_STATE.STOPPED ENTER_PRE_OPERATIONAL 16#7F Enter DEVICE_STATE.PRE_OPERATIONAL RESET_NODE 16#6 Reset node RESET_COMMUNICATION 16#7 Reset communication ALL_EXCEPT_NMT_AND_SENDER 16#800 A flag for using in combination with another TRANSITION_STATE (logical OR). Must be used if NMT command should be addressed to all devices ( `` DEVICE``=0) but not to the NMT sender and NMT master (= CANopenManager).

Function Blocks ¶ Network management NMT (FunctionBlock) RECV_EMCY (FunctionBlock) RECV_EMCY_DEV (FunctionBlock) Own node id GET_LOCAL_NODE_ID (FunctionBlock) Query state GET_CANOPEN_KERNEL_STATE (FunctionBlock) GET_STATE (FunctionBlock) SDO access SDO_READ4 (FunctionBlock) SDO_READ_DATA (FunctionBlock) SDO_WRITE4 (FunctionBlock) SDO_WRITE_DATA (FunctionBlock) obsolete (only for compatibility) SDO_READ (FunctionBlock) SDO_WRITE (FunctionBlock)

Network management ¶ NMT (FunctionBlock) RECV_EMCY (FunctionBlock) RECV_EMCY_DEV (FunctionBlock)