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_1
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| CANOM_NODESTATUS_1_TYPE | - | - | - |
The output STATE_1 provides diagnosis flags of the specified device.
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 | 0 | 0 … 5 | - |
NUM_EMCY provides the number of emergency messages contained in EMCY_DATA.
EMCY_DATA
| Data_Type | Default_Value | Range | Unit |
|---|---|---|---|
| ARRAY OF CANOM_EMCY_TYPE | - | 1 … 5 | - |
EMCY_DATA outputs the up to 5 buffered emergency messages of the slave. The number of valid messages is output by NUM_EMCY.
EMCY_DATA is only valid if DONE = TRUE and ERR = FALSE.
The structure of the type CANOM_EMCY_TYPE is defined in the CANOPEN library.