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ifm
Programming Manual BasicController relay CR0431 v03.03.00
05 / 2018
ifm function elements
ifm libraries for the device CR0431
>
5.1.4
Library ifm_CANopen_NT_Vxxyyzz.LIB
14914
This
ifm
library contains the following function blocks:
Function element
Short description
CANOPEN_ENABLE
(→ p.
Initialises the indicated CANopen master interface
Configures the CAN baud rate
CANOPEN_GETBUFFERFLAGS
(→ p.
= CANopen get buffer flags
Provides information on the buffer flags
The flags can be reset via the optional inputs.
CANOPEN_GETEMCYMESSAGES
(→ p.
= Get CANopen emergency messages
Lists all emergency messages that have been received by the controller from other nodes in the
network since the last deletion of messages
The list can be reset by setting the according input.
CANOPEN_GETERRORREGISTER
(→ p.
= Get CANopen error register
Reads the error registers 0x1001 and 0x1003 from the controller
The registers can be reset by setting the respective inputs.
CANOPEN_GETGUARDHBERRLIST
(→ p.
= get CANopen guard and heartbeat error list
Lists all nodes in an array for which the master has detected an error:
guarding error, heartbeat error
The list can be reset by setting the according input.
CANOPEN_GETGUARDHBSTATSLV
(→ p.
= CANopen slave get guard and heartbeat state
Signals the following states to the controller in slave operation:
node guarding monitoring, heartbeat monitoring
The signalled errors can be reset by setting the respective input.
CANOPEN_GETNMTSTATESLAVE
(→ p.
= CANopen slave get network management state
Signals the network operating status of the node
CANOPEN_GETODCHANGEDFLAG
(→ p.
= Get object directory changed flag
Reports any change of value for a particular object directory entry
CANOPEN_GETSTATE
(→ p.
= CANopen set state
Request the parameters of the master, a slave device or a specific node in the network
CANOPEN_GETSYNCSTATE
(→ p.
= CANopen get SYNC state
• Reads the setting of the SYNC functionality (active / not active),
• reads the error state of the SYNC functionality (SyncError)
CANOPEN_NMTSERVICES
(→ p.
= CANopen network management services
Updates the internal node status
and, depending on the NMT command entries:
• triggers an NMT command or
• triggers the initialisation of a node
CANOPEN_READOBJECTDICT
(→ p.
= CANopen read object directory
Reads configuration data from the object directory of the device
CANOPEN_SDOREAD
(→ p.
= CANopen read SDO
Reads an "Expedited SDO" = Expedited Service Data Object
CANOPEN_SDOREADBLOCK
(→ p.
= CANopen read SDO block
Reads the indicated entry in the object directory of a node in the network via SDO block transfer
CANOPEN_SDOREADMULTI
(→ p.
= CANopen read SDO multi
Reads the indicated entry in the object directory of a node in the network
CANOPEN_SDOWRITE
(→ p.
= SDO write
Writes an "Expedited SDO" = Expedited Service Data Object
CANOPEN_SDOWRITEBLOCK
(→ p.
= CANopen write SDO block
Writes in the indicated entry in the object directory of a node in the network via SDO block
transfer
CANOPEN_SDOWRITEMULTI
(→ p.
= CANopen write SDO multi
Writes in the indicated entry in the object directory of a node in the network
CANOPEN_SENDEMCYMESSAGE
(→ p.
= CANopen send emergency message
Sends an EMCY message. The message is assembled from the according parameters and
entered in register 0x1003
Summary of Contents for BasicController CR0431
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