Output Description¶
DONE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
Output DONE indicates the processing state of the Function Block. After completion or abortion of processing (due to an error), DONE is set to TRUE. This output always has to be considered together with output ERR. If ERR is TRUE, an error occurred. In this case, the error number can be read at output ERNO.
ERR
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
Output ERR indicates whether an error occurred during Function Block processing. This output always has to be considered together with output DONE. If DONE is TRUE and ERR is TRUE, an error occurred. In this case, the error number can be read at output ERNO.
ERNO
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
Output ERNO provides an error identifier if an invalid value has been applied to an input or if an error occurred during Function Block processing. ERNO always has to be considered together with the outputs DONE and ERR. The value output at ERNO is only valid if DONE is TRUE and ERR is TRUE. Encoding of the error messages output at ERNO is explained in a separate table Error messages Error Messages of the Function Block Libraries of the Function Block libraries.
STATE_1 CANOM_NODESTATUS_1_TYPE
STATE_1 outputs different bits as a structure of the type CANOM_NODESTATUS_1_TYPE which display error states of the slave. STATE_1 is only valid if DONE = TRUE and ERR = FALSE.
Output STAT_1 of the Function Block CANOM_NODE_DIAG displays different diagnosis bits as a structure of the type CANOM_NODESTATUS_1_TYPE. The structure CANOM_NODESTATUS_1_TYPE is declared as follows in the CANopen® library:
TYPE CANOM_NODESTATUS_1_TYPE:
STRUCT
NO_RESPONSE: BOOL;
EMCY_OVF: BOOL;
PRM_FAULT: BOOL;
GUARD_ACT: BOOL;
reserved1: BOOL;
reserved2: BOOL;
reserved3: BOOL;
DEACTIVATED: BOOL;
END_STRUCT
END_TYPE
NO_RESPONSE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
If this bit is set, the slave with the node number specified at Function Block input NODE does not respond to the master requests. Normally NO_RESPONSE should be set to FALSE.
EMCY_OVF
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
This bit is set by the Communication Module, if more emergency messages were received from the called slave than the buffer can store (refer to Function Block outputs NUM_EMCY and EMCY_DATA).
PRM_FAULT
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
This bit is set, if the nominal slave configuration defined in the master differs from the actual slave configuration.
GUARD_ACT
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
This bit is set by the Communication Module, if the node guarding protocol for this slave is active. This is only a status indication. The active node guarding protocol between the master and the slave is not synonymous with a node guarding error.
reserved1
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
reserved2
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
reserved3
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
DEACTIVATED
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | - | - |
This bit is set to TRUE, if the slave defined in the configuration data of the master is deactivated and not processed.
INFO
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
Output INFO provides additional information according to the CiA specification from the object 16#1000.
PROFILE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
Output PROFILE provides the profile number according to the CiA specification from the object 16#1000.
STATE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BYTE | - | - | - |
Output STATE provides the current operating condition of the relevant slave. STATE is only valid if DONE = TRUE and ERR = FALSE.
The following table describes the possible values of STATE and their meanings as specified in the CANopen® specification.
| STATE | Meaning |
|---|---|
| 1 | Disconnected |
| 2 | Connecting |
| 3 | Preparing |
| 4 | Prepared |
| 5 | Operational |
| 127 | Pre-Operational |
ONL_ERR
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BYTE | - | - | - |
ONL_ERR outputs a value describing possibly existing communication errors between the master Communication Module and the slave. ONL_ERR is only valid if DONE = TRUE and ERR = FALSE.
The error IDs of ONL_ERR correspond to the IDs of output CANOM_ERR.EVENT of the Function Block CANOM_STATE. They are described in the table provided in the CANOM_STATE Function Block description.
NUM_EMCY
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BYTE | - | - | - |
NUM_EMCY outputs the number of valid emergency messages of the slave output at EMCY_DATA according to the CANopen® specification. Up to 5 emergency messages per slave can be buffered in the Communication Module.
NUM_EMCY is only valid if DONE = TRUE and ERR = FALSE.
EMCY_DATA
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| ARRAY OF CANOM_EMCY_TYPE | - | 1 … 5 | - |
EMCY_DATA outputs the up to 5 (refer to NUM_EMCY) emergency messages received last from the slave. EMCY_DATA consists of one ARRAY [1..5] OF CANOM_EMCY_TYPE. The data type CANOM_EMCY_TYPE corresponds to the format of the emergency telegram described in the CANopen® communication profile and is defined as follows in the CANopen® library:
TYPE CANOM_EMCY_TYPE:
STRUCT
ERROR_CODE: WORD;
ERROR_REG: BYTE;
ERROR_DATA: ARRAY[1...5] OF BYTE;
END_STRUCT
END_TYPE
ERROR_CODE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
For the emergency object the emergency error codes described in the following table are defined in the CANopen® communication profile.
| Emergency error code | Meaning / error cause | |
|---|---|---|
| decimal | hexadecimal | |
| 00000…00255 | 0000…00FF | Error on reset or no error |
| 04096…04351 | 1000…10FF | General error |
| 08192…08447 | 2000…20FF | Current error |
| 08448…08703 | 2100…21FF | - error on the device input side |
| 08704…08959 | 2200…22FF | - error inside the device |
| 08960…09215 | 2300…23FF | - error on the device output side |
| 12288…12543 | 3000…30FF | Voltage error |
| 12544…12799 | 3100…31FF | - supply voltage error |
| 12800…13055 | 3200…32FF | - error inside the device |
| 13056…13311 | 3300…33FF | - error on the device output side |
| 16384…16639 | 4000…40FF | Temperature error |
| 16640…16895 | 4100…41FF | - ambient temperature |
| 16896…17151 | 4200…42FF | - temperature inside the device |
| 20480…20735 | 5000…50FF | Hardware error in the device |
| 24576…24831 | 6000…60FF | Software error in the device |
| 24832…25087 | 6100…61FF | - device-internal software |
| 25088…25343 | 6200…62FF | - application software |
| 25344…25599 | 6300…63FF | Data |
| 28672…28927 | 7000…70FF | Error in additional modules |
| 32768…33023 | 8000…80FF | - monitoring |
| 33024…33279 | 8100…81FF | - communication |
| 36864…37119 | 9000…90FF | External error |
| 61440…61695 | F000…F0FF | Error of additional functions |
| 65280…65535 | FF00…FFFF | Device-specific errors |
ERROR_REG
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BYTE | - | - | - |
The variable ERROR_REG displays the error register value (object 1001 hex) of the slave. This value is transmitted by the slave as a part of the emergency message.
ERROR_DATA
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| ARRAY OF BYTE | - | 1 … 5 | - |
If applicable, ERROR_DATA is used to output manufacturer-specific error information transmitted by the slave as part of the emergency message. For detailed information about the meaning of these data please refer to the particular device documentation.