CANopen Manager / Slave Manual - esd electronics, Inc.

More documents

Recommendations

Info

canOpenWaitForNodeState() CANopen-Slave Name: canOpenWaitForNodeState() - Block until transistion in given node state Synopsis: int canOpenWaitForNodeState ( HNODE HNode, /* handle of the CANopen node */ unsigned short StateMask /* state mask */ ) Description: The application is blocked until the node is in a determined state. It is possible to wait for one or more state. StateMask is the logical OR combination of the following constants describing the node states to wait for. Valid parameters are: WFNS_INIT WFNS_STOPPED WFNS_PRE_OPERATIONAL WFNS_OPERATIONAL Return: Current node status or an error code described in the appendix. CANopen Slave Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 27 of 65
CANopen-Slave 4.2 Local Object Directory Services The services described in this section are used to extend the node’s object dictionary by custom object entries as well as to provide read and write access to the local object dictionary. Extending the object dictionary is only possible in the Manufacturer Specific Area (Index 0x2000 to 0x5FFF) and the Standardized Device Profile Area (Index 0x6000 - 0x9FFF). The application has full control about the object type, data type, access rights, default values, etc. The objects may be mapped into PDOs as described in the following chapter. The subindex 0xFF, which describes the structure of the object dictionary entry, is created automatically. An event handler can be assigned to every object. External read access to the object dictionary entries by the CANopen manager or another slave on the CAN bus with an SDO service is processed asynchronously to the running application by the SDO server. External write access to the object dictionary entries by the CANopen manager or another slave on the CAN bus with an SDO service is indicated to the application with the object event handler. The application can validate the data and prevent an update. Page 28 of 65 canOpenExtendDictionary() Name: canOpenExtendDictionary() - Extending the local Object Dictionary Synopsis: int canOpenExtendDictionary ( HNODE HNode, /* Handle of the CANopen node */ unsigned short Index, /* Index in object directory */ unsigned short Subentries, /* Number of subentries */ unsigned short ObjectType, /* Object type of entry */ const char * DataType /* Data type description */ ) Description: Extends the local object dictionary of the CANopen node with the node handle HNode in the Manufacturer Specific Area or the Standardized Device Profile Area. This function fails if called in another node state but NodeOffline. Index is the index in the object directory in the range from 0x2000 to 0x9FFF and Subentries has to be set to the number of subentries of this entry in the range from 0-254. ObjectType is either the simple data type OBJ_VAR or one of the complex data types OBJ_ARRAY or OBJ_RECORD. Simple data types only support sub-index 0. DataType is a zero terminated descriptor array with only one entry for the data types OBJ_VAR and OBJ_ARRAY. For entries of the data type OBJ_RECORD the descriptor array contains the data type of every sub-index . 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 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: CANopen-Slave Page 26 of 65 canOpen
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
show all

CANopen Manager / Slave Manual - esd electronics, Inc.

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?