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 | - | - | - |
Output STATE_BITS indicates a typical communication states of the CANOPEN master. STATE_BITS is only valid if EN = TRUE and ERR = FALSE.
CANOM_STATE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| BYTE | - | - | - |
CANOM_STATE outputs the general communication state of the CANOPEN master in CI506. CANOM_STATE is only valid, if EN = TRUE and ERR = FALSE. 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 master performs an initialization. After the initialization phase is completed, the CANOPEN master changes to STOP state.
CANOM_STATE = STOP
If CANOM_STATE has the value STOP, the CANOPEN master is completely initialized. In this state the CANOPEN master is ready to receive configuration data. There is no data exchange with the slaves. CANOM_STATE = CLEAR
If a CANOPEN network configuration is received the CANOPEN master changes from STOP to CLEAR and starts to establish the connections defined during configuration. When the setup has been completed successfully, the CANOPEN master moves to OPERATE state. If an error occurs during parameterization, the CANOPEN master changes back to STOP state.
CANOM_STATE = OPERATE
If CANOM_STATE has the value OPERATE, the master exchanges I/O data with the slaves.
COM_ERR
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| CANOM_COM_ERR_TYPE | - | - | - |
Not used in CI506.
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_OFF
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | - | - | - |
BUS_OFF is incremented if the CAN interface reports that it detaches itself from CAN bus due to exceeded internal bus error counters and must be reinitialized. BUS_OFF is only valid if EN = TRUE and ERR = FALSE.
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.
PNIO_STATUS
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | - | - |
Output PNIO_STATUS contains the PNIO ErrorCode and ErrorDecode.
PNIO_ADD_VAL1
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | 1 | - | - |
Output PNIO_ADD_VAL1 contains the PNIO ErrorCode1.
PNIO_ADD_VAL2
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| WORD | 2 | - | - |
PNIO_ADD_VAL2 contains the PNIO ErrorCode2.