CANopen Manager / Slave Manual - esd electronics, Inc.

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CANopen-Slave It is possible to to connect a callback function by means of EventHandlers. If an event occurs, the code of this handler is executed. A detailed description of the callback handler can be taken from section 4.6. If the returned value of the call is 0, the handle with which it is possible to access the node at further API calls is in HNode. If initialization was successful the node enters state NodeOffline. Return: 0 or an error code described in the appendix. CANopen Slave Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 19 of 65
CANopen-Slave Page 20 of 65 canOpenCreateNodeEx() Name: canOpenCreateNodeEx() - Extended initialization of a CANopen node. Synopsis: int canOpenCreateNodeEx ( int iNetNo, /* Number of logical CAN network */ int iModID, /* Module number of node */ int (* EventHandler)(SLAVE_EVENT *pEvent), /* Application event handler */ SLAVE_NODE_INFO *pSlaveInfo, /* Ptr to node configuration */ HNDO * HNode /* handle of this CANopen node */ ) Description: This API call initializes a CANopen node with the Node-ID iModID for the logical CAN net iNetNo. The caller determines the extend of “Communication Profile Area” objects /1/ and their default values with the pointer pSlaveInfo to an initialized structure of the type SLAVE_NODE_INFO which is described below. One member of this structure affects the kind of node events which are handled in the node event handler EventHandlers. A detailed description of the node events can be found in section 4.6. If the API call returned without errors the node handle which is the argument for further API calls is stored at the memory location given by Hnode. After successful initialization the node enters the node state NodeOffline. The structure SLAVE_NODE_INFO comprises all crucial information to describe extend and default values of the “Communication Profile Area” and other node specific configuration values. The complete structure should be filled with zeros before it is initialized..The basic idea of this structure is that the ulOptions member is a bitmask that defines which other members of the structure have to be initialized with proper values or can be left set to 0. The following table should provide an overview which flag in ulOptions causes which entry in the object dictionary to be created, which entries are created implicitly as CANopen /1/ defines them as mandatory and which other member variables in the SLAVE_NODE_INFO structure must be initialized. An index that is not listed in this table is either not supported or is reserved in /1/. Index Name Flag in ulOptions Member to initialize 0x1000 Device Type Created implicitly ulDeviceType 0x1001 Error Register Created implicitly - 0x1002 Manufacturer Status STATE_REGISTER - 0x1003 Pre-defined error field 0x1005 to 0x1007 COB-ID SYNC, Comm. cycle period, Sync. Window length ERROR_REGISTER ucMaxErrors SYNCHRON_PDOS SYNC_GENERATION ulSyncCobID ulCyclePeriod 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 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: CANopen-Slave Page 18 of 65 DevType
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 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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