CANopen Manager / Slave Manual - esd electronics, Inc.

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CANopen Manager Life_Time_Factor Optional UCHAR 0x1F81, Sub Node_Id, Byte1 0-255 0 LIFE This parameter determines the factor the guard RTR is resend before the NMT master will create a guard error event. Guarding will be performed only if Guard_Time and Retry_Factor are both different from 0. NMT_Check_Nodestate Optional BOOL 0x1F81, Sub Node_Id, Bit 4 TRUE, FALSE FALSE If set to FALSE the slave node may be reset with ‘NMT Reset Communication’ command independent of its state. Hence, no checking of its state has to be executed prior to ‘NMT Reset Communication’ command. If set to TRUE the NMT Master must not send ‘NMT Reset Communication’ for this node if it notices the slave to be in ‘Operational’ state. This is controlled either waiting for the heartbeat message or waiting for the reply of a RTR requested node guard message. NMT_Verify_Software Optional BOOL 0x1F81, Sub Node_Id, Bit 5 TRUE, FALSE FALSE If set to FALSE the application software version verification for this node is not required. If set to TRUE application software version verification for this node is required. NMT_Allow_Software_Update Optional BOOL 0x1F81, Sub Node_Id, Bit 6 TRUE, FALSE FALSE If set to FALSE the automatic application software update (download) is not allowed. If set to TRUE the automatic application software update (download) is allowed. Consumer_Heartbeat_Time Optional USHORT 0x1016, Sub Node_Id, Byte 0-1 65535 0 Defines the consumer heartbeat time in ms. If within this interval no heartbeat message is received from the remote slave the NMT master will create a error monitoring event. The consumer heartbeat time in ms configured for the NMT master should be configured to a higher value than the producer heartbeat time configured for the remote slave by the configuration manager to prevent frequent error monitoring events. If heartbeat monitoring is configured for this remote node all configuration for guarding is ignored. Page 16 of 47 Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Manager
Device_Type_Identification Optional ULONG 0x1F84, Sub Node_Id 0x0..0xFFFFFFFF 0 CANopen Manager This element allows to enter values for expected device types. On Boot-Up the Master reads object 0x1000 of each assigned slave. If this value is 0, this read access only gives information about the principle existence of a device with this Node-ID. If the value is not 0, it is compared against the value read from the device and the boot-up for that device is only continued on exact equality. Vendor_Identification Optional ULONG 0x1F85, Sub Node_Id 0x0..0xFFFFFFFF 0 This element allows to enter values for expected vendor id. If Vendor_Identification is not 0 the master will read object 0x1018, subindex 1 of the remote node and will compare this value against the value read from the device. The boot-up for that device is only continued on exact equality. Product_Code Optional ULONG 0x1F86, Sub Node_Id 0x0..0xFFFFFFFF 0 This element allows to enter values for expected vendor id. If Product_Code is not 0 the master will read object 0x1018, subindex 2 of the remote node and will compare this value against the value read from the device. The boot-up for that device is only continued on exact equality. Revision_Number Optional ULONG 0x1F87, Sub Node_Id 0x0..0xFFFFFFFF 0 This element allows to enter values for expected vendor id. If Revision_Number is not 0 the master will read object 0x1018, subindex 3 of the remote node and will compare this value against the value read from the device. The boot-up for that device is only continued on exact equality. Serial_Number Optional ULONG 0x1F88, Sub Node_Id 0x0..0xFFFFFFFF 0 This element allows to enter values for expected vendor id. If Serial_Number is not 0 the master will read object 0x1018, subindex 4 of the remote node and will compare this value against the value read from the device. The boot-up for that device is only continued on exact equality. CANopen Manager Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 17 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 and 12: Boot_Time Optional USHORT 0x1F89 10
Page 13 and 14: Preset_Emergency_Consumer Optional
Page 15: 3.2.4 Elements of Node_Id Madatory
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
Page 87 and 88:
CANopen-Slave 4.4 Error Situations
Page 89 and 90:
CANopen-Slave The Sticky Bits indic
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
CANopen-Slave 4.6 Event handler The
Page 97 and 98:
CANopen-Slave ulEvent ulArg1 ulArg2
Page 99 and 100:
CANopen-Slave DICTIONARY_ENTRY(Inde
Page 101 and 102:
CANopen-Slave PDO Tables The follow
Page 103 and 104:
CANopen-Slave The following example
Page 105 and 106:
CANopen-Slave SCANOPEN_WRONG_SUBIND
Page 107 and 108:
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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