Output Description

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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

NODE_FLAGS

Data_Type Default_Value Range Unit
CANOM_NODE_FLAGS_TYPE - - -

Output NODE_FLAGS provides diagnosis flags of the specified device.

DIAG_INFO

Data_Type Default_Value Range Unit
DWORD 0 - -

Output DIAG_INFO provides the last diagnosis info of the specific device.

The output can have the following values:

Value Description
16#40420053 State of Node was not handled
16#C042004B Connection to Node is lost
16#C042004D Error of heartbeat protocol
16#C042004C Error of guarding protocol
16#C042004A Node is in an unexpected state
16#4042004E Heartbeat protocol was started for the node
16#C0420027 Timeout exceeded during SDO transfer
16#C0420028 Error occurred during SDO transfer
16#C0420054 The device type of node is not equal to configured value
16#C042004F Unexpected bootup message from the node was received
16#40420055 Emergency message from node was received

ADD_INFO

Data_Type Default_Value Range Unit
DWORD 0 - -

Output ADD_INFO provides additional information.

DEV_TYPE

Data_Type Default_Value Range Unit
DWORD 0 - -

Output DEV_TYPE provides the device type according to the CiA specification from the object 16#1000.

NMT_STATE

Data_Type Default_Value Range Unit
DWORD 0 - -

Output NMT_STATE provides the current NMT state of the specified CANOPEN device. The output can have the following values:

Value Constant Description
16#00000000 CANOM_NODE_NMT_STATE_UNKNOWN Node NMT State is unknown
16#00000001 CANOM_NODE_NMT_STATE_INITIALISING Node NMT State INITIALISING
16#00000002 CANOM_NODE_NMT_STATE_STOPPED Node NMT State STOPPED
16#00000003 CANOM_NODE_NMT_STATE_OPERATIONAL Node NMT State OPERATIONAL
16#00000004 CANOM_NODE_NMT_STATE_PRE_OPERATIONAL Node NMT State PRE_OPERATIONAL
16#00000005 CANOM_NODE_NMT_STATE_RESET_APPLICATION Node NMT State RESET_APPLICATION
16#00000006 CANOM_NODE_NMT_STATE_RESET_COMM Node NMT State RESET_COMM

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.