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
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.
PNIO_CANOM_NODE_DIAG_MESSAGE_TYPE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| - | - | - | - |
The CANOPEN slave node diagnostic can be displayed properly by using the structure PNIO_CANOM_NODE_DIAG_MESSAGE_TYPE which is declared as follows.
TYPE PNIO_CANOM_NODE_DIAG_MESSAGE_TYPE:
STRUCT
NODE_FLAG: DWORD;
LAST_DIAG: DWORD;
DEV_TYPE_VALID: DWORD;
DEV_TYPE: DWORD;
NMT_STATE: DWORD;
EMCY_CNT: DWORD;
EMCY_DATA: ARRAY [1..5] OF CANOM_EMCY_TYPE;
ADD_INFO: DWORD;
RESERVED : ARRAY [1..4] OF DWORD;
END_STRUCT
END_TYPE
NODE_FLAG
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | 0 - 31 | - |
Each bit in this variable describes an occurrence of a certain event for the node. The bit organization is displayed in the following table:
| Bit | Name | Description |
|---|---|---|
| 31 | FLAG_DEACTIVATED | Node is deactivated and not handled by the master. This bit does not generate an entry in the diagnostic list. |
| 30 | FLAG_STATE_NOT_HANDLED | At least one state has been omitted during the initialization sequence of the node. This bit does not generate an entry in the diagnostic list. |
| 13..29 | Reserved | Reserved |
| 12 | FLAG_INVALID_PARAMETER | Parameter set of node is invalid. |
| 11 | FLAG_UNEXPECTED_BOOTUP | Unexpected boot-up message from node received. |
| 10 | FLAG_BOOTUP | Expected boot-up message from node received. |
| 9 | FLAG_EMCY_BUFF_OVER | Emergency buffer overflow |
| 8 | FLAG_EMCY_RECEIVED | Emergency telegram received |
| 7 | FLAG_UNEXPECTED_STATE | Node is in unexpected NMT state |
| 6 | FLAG_HEARTBEAT_ERROR | Error in heartbeat protocol |
| 5 | FLAG_CON_LOST | Node guarding has been lost |
| 4 | FLAG_GUARD_ERROR | A guarding message has been lost. This bit does not generate an entry in the diagnostic list. |
| 3 | FLAG_HEARTBEAT_STARTED | Heartbeat protocol started. This bit does not generate an entry in the diagnostic list. |
| 2 | FLAG_CFG_FAULT | Configuration fault |
| 1 | FLAG_SDO_ERROR | Error during SDO transfer |
| 0 | FLAG_SDO_TIMEOUT | Timeout during SDO transfer |
LAST_DIAG
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | - | - |
Last error code recorded by the CANOPEN master for the slave. See Error Messages of the CI506 CANOPEN Master Error Messages of the CI506-PNIO CANOPEN Master.
DEV_TYPE_VALID
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | - | - |
DEV_TYPE_VALID describes the validity of the device type displayed in the variable DEV_TYPE.
If DEV_TYPE_VALID = 1, the device type is valid.
If DEV_TYPE_VALID = 0, the device type is invalid.
DEV_TYPE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | - | - |
DEV_TYPE describes the device type read from the CANOPEN slaves upon node start-up. The values are predefined in the CANOPEN specification. Example for device type values are:
Device Profile for I/O modules: 401 decimal
Device Profile for Drives: 402 decimal
Device Profile Encoder modules: 406 decimal
NMT_STATE
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | 0 - 6 | - |
NMT_STATE describes the current CANOPEN slave NMT state. The following table describes the possible value of the NMT_STATE.
| NMT State | Value |
|---|---|
| Unknown | 0 |
| Initializing | 1 |
| Stopped | 2 |
| Operational | 3 |
| Pre-operational | 4 |
| Reset application | 5 |
| Reset communication | 6 |
EMCY_CNT
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | - | - |
EMCY_CNT 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 CANOPEN master.
EMCY_DATA
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| ARRAY | - | - | - |
EMCY_DATA outputs up to 5 buffered emergency messages of the slave. The number of valid messages is output by NUM_EMCY. The structure of the type CANOM_EMCY_TYPE is defined in the AC500 CANOPEN library.
ADD_INFO
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | - | - |
Not used.
RESERVED
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| DWORD | - | - | - |
Reserved and not used.