CANopen Manager / Slave Manual - esd electronics, Inc.

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CANopen Manager NMT_Action_On_Error Optional ENUM 0x1F80, Bit 4/6 Page 12 of 47 RESET_SLAVE This parameter defines the way the NMT master handles error control events. If this parameter is set to RESET_SLAVE on Error Control Event of a mandatory the slave is treated individually. If this parameter is set to RESET_ALL on Error Control Event of a mandatory slave the NMT master performs a 'NMT Reset all Nodes' command (including self). If this parameter is set to STOP_ALL on Error Control Event of a mandatory slave the NMT master performs a 'Stop all Nodes' command (including self). Boot_Delay Optional USHORT 0 - 65535 200 This parameter defines the delay in ms the manager waits after the initial ‘NMT Reset Communication ’before continuing with the ‘Start Boot Slave Process’. You might adjust this parameter to be sure that all slaves finished their initialisation. See also the node specific parameter Boot_Delay in the next chapter. Wait_For_Startup Optional BOOL TRUE, FALSE FALSE This parameter defines the behaviour of mcanOpenStart() that initiates the ‘Start Boot Slave’ process, which is performed in parallel for each managed slave node. If this parameter is set to FALSE the call will return immediately after the parallel processes are started. If this parameter is set to TRUE the call won’t return before every process hasn’t created at least the signal for the Boot Slave try. NMT_Reset_All Optional BOOL TRUE, FALSE FALSE This parameter defines, if the initial NMT command to reset the CANopen network at the beginning of the bootup procedure is the NMT Reset Communication (as defined as only mechanism in the DS-302) or the NMT Reset Node. This parameter is only evaluated if no node is configured with NMT_Check_Nodestate set to TRUE. This possible change from the standard behaviour should only be enabled if a bootup with NMT Reset Communication causes problems with any of the CANopen slaves connected to this network. Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Manager
Preset_Emergency_Consumer Optional BOOL TRUE, FALSE FALSE CANopen Manager This parameter defines the behaviour of the CANopen manager es emergency consumer. If this parameter is set to FALSE only emergency messages of remote slaves that are defined in this configuration file are received. If this parameter is set to TRUE the manager is configured to receive emergency messages of all remote nodes according to the default connection set even if they are not defined in this configuration file. Sync_Interval Optional ULONG 0x1005, 0x1006 N/A N/A This parameter configures the CANopen manager as SYNC producer. If this entry is present, the object dictionary entries COB-ID SYNC message (0x1005) and Communication Cycle Period (0x1006) are created. The parameter defines the SYNC interval in us. If set to 0 the object dictionary entries are created but the SYNC object isn’t generated. If set to another value SYNC generation starts immediately with the configured value. Note: To archive minimal jitter the SYNC object is generated with the help of the scheduling mode /4/ of the NTCAN-API. For this reason this service is not available on all CAN hardware and/or operating systems which are supported by the CANopen stack. Sync_Cob_Id Optional ULONG 0x1005 N/A 0x80 COB-ID of the SYNC object. To configure SYNC generation you also have to define the Sync_Interval described above. Manager_Thread_Priorities Optional INT16 N/A N/A Priorities of the manager threads as three INT16 values separated by colons. The 1 st priority value is used for the manager main control daemon, the 2 nd priority value for the NMT error control daemon and the 3 rd priority for the slave node bootup daemons. The priority is either a PSYS priority or a OS specific native priority if Native_Thread_Priorities described below is set to TRUE. CANopen Manager Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 13 of 47
Page 1 and 2: CANopen Manager CANopen Manager Sof
Page 3 and 4: Manual File: Date of Print: 2008-06
Page 5 and 6: 1. Reference CANopen Manager /1/: C
Page 7 and 8: 2.3 Features of the CANopen manager
Page 9 and 10: 3.2.2 Element description CANopen M
Page 11: Boot_Time Optional USHORT 0x1F89 10
Page 15 and 16: 3.2.4 Elements of Node_Id Madatory
Page 17 and 18: Device_Type_Identification Optional
Page 19 and 20: NMT_Reset_Node Optional BOOL TRUE,
Page 21 and 22: 4. Manager API 4.1 Overview The API
Page 23 and 24: mcanOpenConfig() Name: mcanOpenConf
Page 25 and 26: 4.3 Optional node control functions
Page 27 and 28: mcanOpenGetNodeState() CANopen Mana
Page 29 and 30: mcanOpenWriteSDO() Name: mcanOpenWr
Page 31 and 32: mcanOpenNodeControl() CANopen Manag
Page 33 and 34: mcanOpenStopNode() Name: mcanOpenSt
Page 35 and 36: 6. Appendix 6.1 Error Codes CANopen
Page 37 and 38: MCAL_CAN_CONTR_OFF_BUS Error in CAN
Page 39 and 40: CANOPEN_DCF_WRONG_NODE_ID Error dur
Page 41 and 42: CANOPEN_DCF_OUT_OF_LIMITS Error dur
Page 43 and 44: Severity Error MCAL_NO_NET Net numb
Page 45 and 46: MCAL_TOGGLE_ERROR Protocol error Se
Page 47 and 48: MCAL_NODE_NOT_FREE Getting node con
Page 49 and 50: Page 2 of 65 N O T E The informatio
Page 51 and 52: Contents Page 1. Reference ........
Page 53 and 54: CANopen-Slave 1. Reference /1/: CiA
Page 55 and 56: CANopen-Slave 3. CANopen Slave Base
Page 57 and 58: CANopen-Slave canOpenCreateNetwork
Page 59 and 60: CANopen-Slave 3.5 Synchronization (
Page 61 and 62: CANopen-Slave The Sticky Bits indic
Page 63 and 64:
CANopen-Slave Page 16 of 65 followi
Page 65 and 66:
CANopen-Slave Page 18 of 65 DevType
Page 67 and 68:
CANopen-Slave Page 20 of 65 canOpen
Page 69 and 70:
CANopen-Slave Page 22 of 65 ucMaxEr
Page 71 and 72:
CANopen-Slave Page 24 of 65 ucError
Page 73 and 74:
Page 75 and 76:
CANopen-Slave 4.2 Local Object Dire
Page 77 and 78:
Page 79 and 80:
CANopen-Slave Page 32 of 65 these v
Page 81 and 82:
Page 83 and 84:
CANopen-Slave 4.3 PDO Services Foll
Page 85 and 86:
CANopen-Slave Page 38 of 65 A value
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CANopen-Slave 4.4 Error Situations
Page 89 and 90:
CANopen-Slave The Sticky Bits indic
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Page 93 and 94:
Page 95 and 96:
CANopen-Slave 4.6 Event handler The
Page 97 and 98:
CANopen-Slave ulEvent ulArg1 ulArg2
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CANopen-Slave DICTIONARY_ENTRY(Inde
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CANopen-Slave PDO Tables The follow
Page 103 and 104:
CANopen-Slave The following example
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CANopen-Slave SCANOPEN_WRONG_SUBIND
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CANopen-Slave SCANOPEN_VALUE_TOO_LO
Page 109 and 110:
CANopen-Slave SCANOPEN_TOO_MANY_OBJ
Page 111 and 112:
CANopen-Slave SCANOPEN_INVALID_HAND
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CANopen Manager / Slave Manual - esd electronics, Inc.

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