STK_NODES (ENUM) ¶ TYPE STK_NODES : Symbolic NodeId’s of a CANopen Network Attributes: qualified_only InOut: Name Initial Comment UNKNOWN 16#FF LOCAL 16#0 The local NodeId of this stack NMT_MASTER 16#F0 The NMT Master of this network CFG_MANAGER 16#F1 The Configuration Manager of this network SYNC_PRODUCER 16#F2 The SYNC Producer of this network TIME_PRODUCER 16#F3 The TIME Producer of this network

STK_SPEC (ENUM) ¶ TYPE STK_SPEC : Attributes: qualified_only InOut: Name Initial Comment UNDEFINED 16#0 No Spec NMT_SLAVE 16#1 NMT_Slave NMT_MASTER 16#2 NMT Master NMT_FLYMST 16#4 Flying Master SDO_MANAGER 16#8 SDO Manager CFG_MANAGER 16#10 Configuration Manager SYNC_CONSUMER 16#20 SYNC Consumer SYNC_PRODUCER 16#40 SYNC Producer TIME_PRODUCER 16#80 TIME Producer TIME_CONSUMER 16#100 TIME Consumer

STK_STATE (ENUM) ¶ TYPE STK_STATE : Attributes: qualified_only InOut: Name NO_STATE INITALISATION RESET_APPLICATION RESET_COMMUNICATION PRE_OPERATIONAL OPERATIONAL STOPPED

GlobalConstants ¶ ObjectDictionary (GVL)

ObjectDictionary (GVL) ¶ Object Dictionary InOut: Scope Name Type Initial Comment Constant gc_uiSTATE_IDX UINT 16#1F82 Size: 1 Byte gc_uiCANOPEN_KERNEL_STATE_IDX UINT 16#2001 gc_usiCANOPEN_KERNEL_STATE_SUBIDX USINT 1 Size: 2 Byte gc_uiEMCY_DEV_IDX UINT 16#2002 gc_uiEMCY_IDX UINT 16#2003 gc_uiEMCY_SUBIDX USINT 1 Subindex 0 holds the number of subentries Subindex 1 holds the EMCY-Object being read by RECV_EMCY gc_uiPERMITSDOTRANSMISSION_IDX UINT 16#2004 gc_uiSDOCHANNELLIMIT_IDX UINT 16#2005 gc_uiBLOCKFDTACCESS_IDX UINT 16#2006

Interfaces ¶ ICanOpenStack (Interface) SDO-Handling SdoAbort (Method) SdoRead (Method) SdoWrite (Method) Stack-Handling StkClose (Method) StkGetInfo (Method) StkOpen (Method)

ICanOpenStack (ITF) ¶ INTERFACE ICanOpenStack Methods: SdoAbort SdoRead SdoWrite StkClose StkGetInfo StkOpen Structure: SDO-Handling SdoAbort (Method) SdoRead (Method) SdoWrite (Method) Stack-Handling StkClose (Method) StkGetInfo (Method) StkOpen (Method)

SDO Handling ¶ SdoAbort (Method) SdoRead (Method) SdoWrite (Method)

Device ¶ Function blocks working on IDevice nodes. GetDeviceError (FunctionBlock) GetSpecificDeviceError (FunctionBlock)

GetDeviceError (FB) ¶ FUNCTION_BLOCK GetDeviceError EXTENDS CBM.ETrigA If IDevice.GetDeviceState returns DEVICE_STATE.ERROR this function block returns the associated device error code. The error codes are fieldbus specific and will be defined by the associated communication stack. Note This feature may not be supported by all fieldbus drivers. eError will return ERROR.NOT_SUPPORTED if not supported. InOut: Scope Name Type Comment Input itfNode INode device node Output eError ERROR operation error code einDeviceError ERROR_INFO device error code