CANopen Manager / Slave Manual - esd electronics, Inc.

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Manual File: Date of Print: 2008-06-05 Described Software: CANopen-Slave Revision: 2.2.x I:\Texte\Doku\MANUALS\PROGRAM\CAN\CAL-COPN\CANOPEN\Coslv221.wpd Order Number: CANopen-Slave: C.1405.88 Changes in the chapters The changes in the user's manual listed below affect changes in the software, as well as changes in the description of the facts only. Alterations in the appendix versus previous revisions Alterations in software Alterations in documentation Extended documentation of SYNC and NMT error control objects. x x Documentation of new entry canOpenCreateNetworkEx(). x x Documentation of SYNC generation. x x Revised canOpenExtendDictionary() and canOpenInitDictionary() x Documentation of new entry canOpenInitDictionaryTs() x x Documentation of the entry canOpenSetParameter() x Documentation of the new entry canOpenGetParameter() x x Documentation of object handler with timestamps. x x Documentation of EV_BOOTUP for the node’s event handler x x Documentation of new macros BEGIN_DICTIONARY_TABLE_TS and END_DICTIONARY_TABLE_TS CANopen Slave Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 3 of 65 x
Contents Page 1. Reference ................................................................... 6 2. Introduction ................................................................. 7 3. CANopen Slave ............................................................... 8 3.1 Overview .......................................................... 8 3.2 Object Dictionary. .................................................. 11 3.3 NMT state machine.................................................. 11 3.4 Heartbeat, Node Guarding and Life Guarding............................. 11 3.5 Synchronization (SYNC) Object ....................................... 12 3.6 Emergency (EMCY) Object .......................................... 12 4. Program Interface ........................................................... 15 4.1 Management Services ............................................... 15 canOpenCreateNetwork() ............................................ 15 canOpenCreateNetworkEx() .......................................... 15 canOpenRemoveNetwork() ........................................... 17 canOpenCreateNode() ............................................... 17 canOpenCreateNodeEx() ............................................. 20 canOpenDeleteNode() ............................................... 25 canOpenActivateNode() ............................................. 25 canOpenGetNodeInfo() .............................................. 26 canOpenResetNode() ................................................ 26 canOpenWaitForNodeState().......................................... 27 4.2 Local Object Directory .............................................. 28 canOpenExtendDictionary() .......................................... 28 canOpenInitDictionary() ............................................. 30 canOpenInitDictionaryTS() ........................................... 31 canOpenReadDictionary() ............................................ 32 canOpenWriteDictionary() ........................................... 33 canOpenGetDictionaryHnd().......................................... 34 canOpenReadDictionaryHnd() ........................................ 35 canOpenWriteDictionaryHnd() ........................................ 35 4.3 PDO Services...................................................... 36 canOpenDefinePDO() ............................................... 36 canOpenWritePDO() ................................................ 38 canOpenReadPDO() ................................................ 39 canOpenRequestPDO() .............................................. 39 4.4 Error Situations and Emergency (EMCY) Objects ......................... 40 canOpenSetError() .................................................. 43 canOpenResetError() ................................................ 44 4.5 Assistant Functions ................................................. 45 canOpenGetVersions()............................................... 45 canOpenSetParameter() .............................................. 46 canOpenGetParameter().............................................. 47 4.6 Event handler ...................................................... 48 Object Eventhandler without timestamps ................................ 48 Object Eventhandler with timestamps ................................... 48 Page 4 of 65 Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Slave
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 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: Page 2 of 65 N O T E The informatio
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 75 and 76: CANopen-Slave 4.2 Local Object Dire
Page 79 and 80: CANopen-Slave Page 32 of 65 these v
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 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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