Output Description¶
DONE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | TRUE / FALSE | - |
Output DONE indicates the state of execution.
It has the value TRUE when the execution is finished and the outputs are valid. When DONE becomes FALSE other outputs are not valid any more.
ERR
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BOOL | - | TRUE / FALSE | - |
Output ERR indicates whether an error occurred during Function Block execution.
It is only valid when DONE is TRUE. The kind of occurred error is specified by the error identifier at output ERNO.
ERNO
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | 0 … 65535 | - |
At output ERNO the identifier of an occurred error is provided. It is only valid when DONE and ERR is TRUE (see, error messages): Error Messages of the Function Block Libraries
STATE_BITS
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| CANOM_STATE_BITS_TYPE | - | - | - |
The Output STATE_BITS provides error or diagnosis flags of the CANOPEN Communication Module.
Some of them can be reset using the Function Block CANOM_RES_ERR CANOM_RES_ERR.
CANOM_STATE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BYTE | - | - | - |
CANOM_STATE outputs the general communication state of the CANOPEN master. The following states are defined:
| State | Meaning | |
|---|---|---|
| Dec | Hex | |
| 0 | 00 | OFFLINE |
| 64 | 40 | STOP |
| 128 | 80 | CLEAR |
| 192 | C0 | OPERATE |
CANOM_STATE = OFFLINE
If CANOM_STATE is set to OFFLINE, the CANOPEN Communication Module performs an initialization. After the initialization phase is completed, the Communication Module changes to STOP state.
CANOM_STATE = STOP
If CANOM_STATE has the value STOP, the Communication Module is completely initialized. In this state the Communication Module is ready to receive configuration data. There is no data exchange with the slaves. The Communication Module has this state if no user program is running.
CANOM_STATE = CLEAR
If the user program is started, the Communication Module changes from STOP to CLEAR and starts to establish the connections defined during configuration. When the setup has been completed successfully, the Communication Module moves to OPERATE state. If an error occurs during parameterization, the Communication Module changes back to STOP state.
CANOM_STATE = OPERATE
Normally, the Communication Module is in OPERATE state while a user program is running. In this state the master exchanges I/O data with the slaves. If an error occurs during this process and if ‘Auto Clear Mode’ has been selected during configuration, the Communication Module changes back to CLEAR state and tries to establish the connections again. If ‘Auto Clear Mode’ has not been selected during configuration, the Communication Module remains in OPERATE state in case of an error. If the user program is stopped, the Communication Module also changes back to STOP state.
CANOM_STATE is only valid, if EN = TRUE and ERR = FALSE.
COM_ERR
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| CANOM_COM_ERR_TYPE | - | - | - |
The Output COM_ERR provides detailed information to the corresponding output STATE_BITS.
The element Address contains the node address of the faulty device and the element Event the error code.
If several errors occur simultaneously, the output contains the error of the device with the lowest address.
COM_ERR can be reset using the Function Block CANOM_RES_ERR CANOM_RES_ERR.
BUS_ERR
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
BUS_ERR outputs the number of occurred bus failures. A bus failure occurs if the internal error frame counter exceeds a specific value. BUS_ERR is only valid if EN = TRUE and ERR = FALSE.
BUS_ERR can be reset using the Function Block CANOM_RES_ERR CANOM_RES_ERR.
BUS_OFF
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
BUS_OFF outputs how often the Communication Module has been excluded from bus activities. An exclusion from the bus activities is performed, if an overflow of the internal error frame counter occurs. The Communication Module is automatically re-initialized after each overflow. BUS_OFF is only valid, if EN = TRUE and ERR = FALSE.
BUS_OFF can be reset using the Function Block CANOM_RES_ERR CANOM_RES_ERR.
TOUT_ERR
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
TOUT_ERR outputs the number of telegrams that could not be transmitted successfully. The transmission of a telegram is considered as failed, if it could not be transmitted within 20 ms, for instance because the communication partner could not be contacted via the bus. TOUT_ERR is only valid, if EN = TRUE and ERR = FALSE.
TOUT_ERR can be reset using the Function Block CANOM_RES_ERR.
LOST_REC
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
LOST_REC outputs the number of received telegrams that were rejected because they could not be processed successfully due to a CAN chip overload. LOST_REC is only valid, if EN = TRUE and ERR = FALSE.
LOST_REC can be reset using the Function Block CANOM_RES_ERR CANOM_RES_ERR.