CANopen Manager / Slave Manual - esd electronics, Inc.

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CANopen Manager Page 24 of 47 mcanOpenGetVersion() Name: mcanOpenGetVersion() - Return the software-version number Call: int mcanOpenGetVersion ( unsigned short *version ); Description: In parameter *version the current software-version number is returned. Value range: Bit 12...15 : level Bit 8..11 : revision Bit 0..7 : change Return: Success or error code described in the appendix. Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Manager
4.3 Optional node control functions CANopen Manager The following functions are optional node control functions that can be called by an application to monitor the state of the remote nodes. mcanOpenEvent() Name: mcanOpenEvent() - Receive events from the manager Call: int mcanOpenEvent ( EVENT_T *event, int wait ); Description: This functions has to be called by the application to receive errors, warnings and indications from the manager daemons. The application can either block until the manager indicates an event to the application by setting parameter wait to 1 which is typically done with a separate task or can poll for events by setting parameter wait to 0. In the structure EVENT_T which is initialized by the manager the event type and additional parameter is stored: typedef struct { long event; int net; int node; union { char c; unsigned char uc; short s; unsigned short us; int i; unsigned int ui; long l; unsigned long ul; struct { unsigned short index; unsigned short subindex; ERROR_T err; } write; char str[64]; } para; } EVENT_T; CANopen Manager Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 25 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 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: mcanOpenConfig() Name: mcanOpenConf
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: CANopen-Slave Page 26 of 65 canOpen
Page 75 and 76:
CANopen-Slave 4.2 Local Object Dire
Page 77 and 78:
CANopen-Slave Page 30 of 65 canOpen
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
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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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