CIA405.lib. Contents. WAGO-I/O-PRO 32 Library

Transcription

1 Appendix A Additional Libraries WAGO-I/O-PRO 32 Library CIA405.lib Contents CIA405_GET_KERNEL_STATUS...3 CIA405_GET_LOCAL_NODE_ID...4 CIA405_RECV_EMY...5 CIA405_RECV_EMY_DEV...6 CIA405_GET_STATE...7 CIA405_SDO_READ CIA405_SDO_READ CIA405_SDO_READ CIA405_SDO_READ CIA405_SDO_WRITE CIA405_SDO_WRITE CIA405_SDO_WRITE CIA405_SDO_WRITE CIA405_VERSION...24 EXCEPTION_HANDLER...25 NMT_ADDNODE...28 NMT_CHANGE_STATE...30 NMT_DELNODE...32 NMT_GUARDING...33 NMT_SLAVE_IN_NW_LIST...35 SEND_CAN_FRAME...36 SYNC_MASTER_SEND_SYNC...38 WAGO-I/O-PRO 32 Version CIA405.lib A-1

2 A-2 CIA405.lib Version WAGO-I/O-PRO 32

3 Appendix A Additional Libraries CIA405_GET_KERNEL_STATUS Category: Function modules for CANopen according to CiA 405 CIA405_GET_KERNEL_STATUS Applicable to: All Programable fieldbus controllers Output parameter: Data type: Comments: STATUS CIA405_ Current status of the CANopen kernel CANOPEN_ currently supported return values KERNEL_ 0 = no error 1 = different error (not specificially listed) 2 = data overflow 16 = CAN Bus off The function module CIA405_GET_KERNEL_STATUS returns the status of the CANopen kernel. WAGO-I/O-PRO 32 Version CIA405.lib A-3

4 CIA405_GET_LOCAL_NODE_ID CIA405_GET_LOCAL_NODE_ID Category: Function modules for CANopen according to CiA 405 CIA405_GET_LOCAL_NODE_ID Applicable to: All programmable fieldbus controllers Output parameter: Data type: Comments: DEVICE CIA405_DEVICE Own module ID The function module CIA405_GET_LOCAL_NODE_ID returns its own module ID. A-4 CIA405.lib Version WAGO-I/O-PRO 32

5 Appendix A Additional Libraries CIA405_RECV_EMY Category: Function modules for CANopen according to CiA 405 CIA405_RECV_EMY Applicable to: All Programable fieldbus controllers Output parameter: Data type: Comments: CONFIRM BOOL TRUE: Emergency received FALSE: No emergency received DEVICE CIA405_DEVICE ID of the module which sent the emergency EMY_ CIA405_ CANOPEN_ KERNEL_ CIA405_EMY_ Error information of the CANopen kernel 0 = no error 33 = Function block is not supported in the firmware Contains the emergency - error information as specified in the standard DS301 The function block CIA405_RECV_EMY checks if an emergency message has been received. If this is the case CONFIRM is set to TRUE and is set to 0. EMY_ then contains the emergency information and DEVICE the module ID of the emergency sender. If no emergency is received CONFIRM is set to FALSE. Only emergency messages are received from modules which have been previously configured with the function block NMT_ADDNODE or from their own module. If more emergencies are received than can be buffered, then these are displayed via the function block EXCEPTION_HANDLER. WAGO-I/O-PRO 32 Version CIA405.lib A-5

6 CIA405_RECV_EMY_DEV CIA405_RECV_EMY_DEV Category: Function modules for CANopen according to CiA 405 CIA405_RECV_EMY_DEV Applicable to: All Programable fieldbus controllers DEVICE CIA405_DEVICE Module ID Output parameter: Data type: Comments: CONFIRM BOOL TRUE: Emergency received from specified module FALSE: No emergency received from specified module EMY_ CIA405_ CANOPEN_ KERNEL_ CIA405_EMY_ Error information of the CANopen kernel 0 = no error 33 = Function block is not supported in the firmware Contains the emergency - error information as specified in the standard DS301. The function block CIA405_RECV_EMY_DEV checks if emergency message is received from the specified module (DEVICE). If this is the case CONFIRM is set to TRUE and is set to 0. EMY_ then contains the emergency information. If no emergency is received then CONFIRM is set to FALSE. Only emergency message is received from modules which have been previously configured with the function block NMT_ADDNODE or from their own module. If more emergencies are received than can be buffered, then these are displayed via the function block EXCEPTION_HANDLER. A-6 CIA405.lib Version WAGO-I/O-PRO 32

7 Appendix A Additional Libraries CIA405_GET_STATE Category: Function modules for CANopen according to CiA 405 CIA405_GET_STATE Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID Output parameter: Data type: Comments: STATUS CIA405_STATUS CANopen network status of the selected module The function module CIA405_GET_STATE returns the CANopen network status of the selected module. Also the own module can be interrogated. WAGO-I/O-PRO 32 Version CIA405.lib A-7

8 CIA405_SDO_READ21 CIA405_SDO_READ21 Category: Function modules for CANopen according to CiA 405 CIA405_SDO_READ21 Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID, module from which data are to be read (1..127) INDEX WORD Index of the object directory SUBINDEX BYTE Sub-index of the object directory ENABLE BOOL Start / abort reading Output parameter: Data type: Comments: DATA ARRAY [1..21] Data received of BYTE DATALENGTH USINT Number of valid data (max.21) CONFIRM BOOL Confirmation of performance INFO CIA405_ CANOPEN_ KERNEL_ CIA405_SDO_ Error information of the CANopen kernel 0 = no error 1 = different error (not specifically listed) 2 = Data overflow 3 = Timeout SDO Error information acc. to DS-301 A-8 CIA405.lib Version WAGO-I/O-PRO 32

9 Appendix A Additional Libraries The function block CIA405_SDO_READ21 returns the value of an object directory entry (max. data size = 21 bytes). The module is selected by the DEVICE parameter (an own module is also possible). Index and Sub-index describe the object directory entry to be read. The result of the function block invocation cannot be available before several cycles later. Once all input parameters have received their valid values, the invoker sets ENABLE to TRUE. This results in sending the SDO. When the CAN software has received the requested data without error, it signals this fact by changing CONFIRM to TRUE. The output parameters DATA and DATALENGTH now have valid values, is set to 0. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function module has regained its basic status. Should an error occur during the SDO transmission (e.g. Timeout, Index not existing, etc.) CONFIRM is also set to TRUE, however, has a value unequal to 0. The parameter INFO contains the reason for the error. After evaluating the error, ENABLE has to be reset to FALSE in order to regain the function module basic status. If the invoker sets the ENABLE parameter to FALSE prior to CONFIRM having changed to TRUE, the transmission is aborted. As such CONFIRM and are automatically set to FALSE. WAGO-I/O-PRO 32 Version CIA405.lib A-9

10 CIA405_SDO_READ210 CIA405_SDO_READ210 Category: Function modules for CANopen according to CiA 405 CIA405_SDO_READ210 Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID, module from which data are to be read (1..127) INDEX WORD Index of the object directory SUBINDEX BYTE Sub-index of the object directory ENABLE BOOL Start / Abort reading Output parameter: Data type: Comments: DATA ARRAY [1..210] Data received of BYTE DATALENGTH USINT Number of valid data (max.210) CONFIRM BOOL Confirmation of performance CIA405_ CANOPEN_ KERNEL_ Error information of the CANopen kernel 0 = no error 1 = different error (not specifically listed) 2 = Data overflow 3 = Timeout INFO CIA405_SDO_ SDO Error information acc. to DS-301 A-10 CIA405.lib Version WAGO-I/O-PRO 32

11 Appendix A Additional Libraries The function block CIA405_SDO_READ210 returns the value of an object directory entry (max. data size = 210 bytes). The module is selected by the DEVICE parameter (an own module is also possible). Index and Sub-index describe the object directory entry to be read. The result of the function block invocation cannot be available before several cycles later. Once all input parameters have received their valid values, the invoker sets ENABLE to TRUE. This results in sending the SDO. When the CAN software has received the requested data without error, it signals this fact by changing CONFIRM to TRUE. The output parameters DATA and DATALENGTH now have valid values, is set to 0. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function module has regained its basic status. Should an error occur during the SDO transmission (e.g. Timeout, Index not existing, etc.) CONFIRM is also set to TRUE, however, has a value unequal to 0. The parameter INFO contains the reason for the error. After evaluating the error, ENABLE has to be reset to FALSE in order to regain the function block basic status. If the invoker sets the ENABLE parameter to FALSE prior to CONFIRM having changed to TRUE, the transmission is aborted. As such CONFIRM and are automatically set to FALSE. WAGO-I/O-PRO 32 Version CIA405.lib A-11

12 CIA405_SDO_READ4 CIA405_SDO_READ4 Category: Function modules for CANopen according to CiA 405 CIA405_SDO_READ4 Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID, module from which data is to be read (1..127) INDEX WORD Index of the object directory SUBINDEX BYTE Sub-index of the object directory ENABLE BOOL Start / Abort reading Output parameter: Data type: Comments: DATA ARRAY [1..4] Data received of BYTE DATALENGTH USINT Number of valid data (max. 4) CONFIRM BOOL Confirmation of performance CIA405_ CANOPEN_ KERNEL_ Error information of the CANopen kernel 0 = no error 1 = different error (not specifically listed) 2 = Data overflow 3 = Timeout INFO CIA405_SDO_ SDO Error information acc. to DS-301 A-12 CIA405.lib Version WAGO-I/O-PRO 32

13 Appendix A Additional Libraries The function block CIA405_SDO_READ4 returns the value of an object directory entry (max. data size = 4 bytes). The module is selected by the DEVICE parameter (an own module is also possible). Index and Sub-index describe the object directory entry to be read. The result of the function block invocation cannot be available before several cycles later. Once all input parameters have received their valid values, the invoker sets ENABLE to TRUE. This results in sending the SDO. When the CAN software has received the requested data without error, it signals this fact by changing CONFIRM to TRUE. The output parameters DATA and DATALENGTH now have valid values, is set to 0. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function block has regained its basic status. Should an error occur during the SDO transmission (e.g. Timeout, Index not existing, etc.) CONFIRM is also set to TRUE, however, has a value unequal to 0. The parameter INFO contains the reason for the error. After evaluating the error, ENABLE has to be reset to FALSE in order to regain the function block basic status. If the invoker sets the ENABLE parameter to FALSE prior to CONFIRM having changed to TRUE, the transmission is aborted. As such CONFIRM and are automatically set to FALSE. WAGO-I/O-PRO 32 Version CIA405.lib A-13

14 CIA405_SDO_READ7 CIA405_SDO_READ7 Category: Function modules for CANopen according to CiA 405 CIA405_SDO_READ7 Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID, module from which data is to be read (1..127) INDEX WORD Index of the object directory SUBINDEX BYTE Sub-index of the object directory ENABLE BOOL Start / Abort reading Output parameter: Data type: Comments: DATA ARRAY [1..7] Data received of BYTE DATALENGTH USINT Number of valid data (max. 7) CONFIRM BOOL Confirmation of performance CIA405_ CANOPEN_ KERNEL_ Error information of the CANopen kernel 0 = no error 1 = different error (not specifically listed) 2 = Data overflow 3 = Timeout INFO CIA405_SDO_ SDO Error information acc. to DS-301 A-14 CIA405.lib Version WAGO-I/O-PRO 32

15 Appendix A Additional Libraries The function block CIA405_SDO_READ7 returns the value of an object directory entry (max. data size = 7 bytes). The module is selected by the DEVICE parameter (an own module is also possible). Index and Sub-index describe the object directory entry to be read. The result of the function block invocation cannot be available before several cycles later. Once all input parameters have received their valid values, the invoker sets ENABLE to TRUE. This results in sending the SDO. When the CAN software has received the requested data without error, it signals this fact by changing CONFIRM to TRUE. The output parameters DATA and DATALENGTH now have valid values, is set to 0. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function block has regained its basic status. Should an error occur during the SDO transmission (e.g. Timeout, Index not existing, etc.) CONFIRM is also set to TRUE, however, has a value unequal to 0. The parameter INFO contains the reason for the error. After evaluating the error, ENABLE has to be reset to FALSE in order to regain the function block basic status. If the invoker sets the ENABLE parameter to FALSE prior to CONFIRM having changed to TRUE, the transmission is aborted. As such CONFIRM and are automatically set to FALSE. WAGO-I/O-PRO 32 Version CIA405.lib A-15

16 CIA405_SDO_WRITE21 CIA405_SDO_WRITE21 Category: Function modules for CANopen according to CiA 405 CIA405_SDO_WRITE21 Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID, module to which data is to be written (1..127) INDEX WORD Index of the object directory SUBINDEX BYTE Sub-index of the object directory ENABLE BOOL Start / Abort writing DATA ARRAY [1..21] of BYTE Data to be written DATALENGTH USINT Number of valid data (max. 21) Output parameter: Data type: Comments: CONFIRM BOOL Confirmation of performance INFO CIA405_ CANOPEN_ KERNEL_ CIA405_SDO_ Error information of the CANopen kernel 0 = no error 1 = different error (not specifically listed) 2 = Data overflow 3 = Timeout SDO Error information acc. to DS-301 A-16 CIA405.lib Version WAGO-I/O-PRO 32

17 Appendix A Additional Libraries The function block CIA405_SDO_WRITE21 writes the specified data into the object directory of a module (max. data size = 21 bytes). The module is selected by the DEVICE parameter (an own module is also possible). Index and Sub-index specify the object directory entry to be described. The result of the function block invocation cannot be available before several cycles later. Once all input parameters have received their valid values, the invoker sets ENABLE to TRUE. This results in sending the SDO. When the CAN software has sent the data to be written without error, it signals this fact by changing CONFIRM to TRUE and the O is 0. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function block has regained its basic status. Should an error occur during the SDO transmission (e.g. Timeout, Index not existing, etc.) CONFIRM is also set to TRUE, however, has a value unequal to 0. The parameter OINFO contains the reason for the error. After evaluating the error, ENABLE has to be reset to FALSE in order to regain the function block basic status. If the invoker sets the ENABLE parameter to FALSE prior to CONFIRM having changed to TRUE, the transmission is aborted if this is still possible. As such CONFIRM and are automatically set to FALSE. WAGO-I/O-PRO 32 Version CIA405.lib A-17

18 CIA405_SDO_WRITE210 CIA405_SDO_WRITE210 Category: Function modules for CANopen according to CiA 405 CIA405_SDO_WRITE210 Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID, module to which data is to be written (1..127) INDEX WORD Index of the object directory SUBINDEX BYTE Sub-index of the object directory ENABLE BOOL Start / Abort writing DATA ARRAY [1..210] of BYTE Data to be written DATALENGTH USINT Number of valid data (max. 210) Output parameter: Data type: Comments: CONFIRM BOOL Confirmation of performance INFO CIA405_ CANOPEN_ KERNEL_ CIA405_SDO_ Error information of the CANopen kernel 0 = no error 1 = different error (not specifically listed) 2 = Data overflow 3 = Timeout SDO Error information acc. to DS-301 A-18 CIA405.lib Version WAGO-I/O-PRO 32

19 Appendix A Additional Libraries The function block CIA405_SDO_WRITE210 writes the specified data into the object directory of a module (max. data size = 210 bytes). The module is selected by the DEVICE parameter (an own module is also possible). Index and Sub-index specify the object directory entry to be described. The result of the function block invocation cannot be available before several cycles later. Once all input parameters have received their valid values, the invoker sets ENABLE to TRUE. This results in sending the SDO. When the CAN software has sent the data to be written without error, it signals this fact by changing CONFIRM to TRUE and the O is 0. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function block has regained its basic status. Should an error occur during the SDO transmission (e.g. Timeout, Index not existing, etc.) CONFIRM is also set to TRUE, however, has a value unequal to 0. The parameter OINFO contains the reason for the error. After evaluating the error, ENABLE has to be reset to FALSE in order to regain the function block basic status. If the invoker sets the ENABLE parameter to FALSE prior to CONFIRM having changed to TRUE, the transmission is aborted if this is still possible. As such CONFIRM and are automatically set to FALSE. WAGO-I/O-PRO 32 Version CIA405.lib A-19

20 CIA405_SDO_WRITE4 CIA405_SDO_WRITE4 Category: Function modules for CANopen according to CiA 405 CIA405_SDO_WRITE4 Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID, module to which data is to be written (1..127) INDEX WORD Index of the object directory SUBINDEX BYTE Sub-index of the object directory ENABLE BOOL Start / Abort writing DATA ARRAY [1..4] of BYTE Data to be written DATALENGTH USINT Number of valid data (max. 4) Output parameter: Data type: Comments: CONFIRM BOOL Confirmation of performance INFO CIA405_ CANOPEN_ KERNEL_ CIA405_SDO_ Error information of the CANopen kernel 0 = no error 1 = different error (not specifically listed) 2 = Data overflow 3 = Timeout SDO Error information acc. to DS-301 A-20 CIA405.lib Version WAGO-I/O-PRO 32

21 Appendix A Additional Libraries The function block CIA405_SDO_WRITE4 writes the specified data into the object directory of a module (max. data size = 4 bytes). The module is selected by the DEVICE parameter (an own module is also possible). Index and Sub-index specify the object directory entry to be described. The result of the function block invocation cannot be available before several cycles later. Once all input parameters have received their valid values, the invoker sets ENABLE to TRUE. This results in sending the SDO. When the CAN software has sent the data to be written without error, it signals this fact by changing CONFIRM to TRUE and the is 0. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function block has regained its basic status. Should an error occur during the SDO transmission (e.g. Timeout, Index not existing, etc.) CONFIRM is also set to TRUE, however, has a value unequal to 0. The parameter INFO contains the reason for the error. After evaluating the error, ENABLE has to be reset to FALSE in order to regain the function block basic status. If the invoker sets the ENABLE parameter to FALSE prior to CONFIRM having changed to TRUE, the transmission is aborted if this is still possible. As such CONFIRM and are automatically set to FALSE. WAGO-I/O-PRO 32 Version CIA405.lib A-21

22 CIA405_SDO_WRITE7 CIA405_SDO_WRITE7 Category: Function modules for CANopen according to CiA 405 CIA405_SDO_WRITE7 Applicable to: All programmable fieldbus controllers DEVICE CIA405_DEVICE Module ID, Module to which data is to be written (1..127) INDEX WORD Index of the object directory SUBINDEX BYTE Sub-index of the object directory ENABLE BOOL Start / Abort writing DATA ARRAY [1..7] of BYTE Data to be written DATALENGTH USINT Number of valid data (max. 7) Output parameter: Data type: Comments: CONFIRM BOOL Confirmation of performance INFO CIA405_ CANOPEN_ KERNEL_ CIA405_SDO_ Error information of the CANopen kernel 0 = no error 1 = different error (not specifically listed) 2 = Data overflow 3 = Timeout SDO Error information acc. to DS-301 A-22 CIA405.lib Version WAGO-I/O-PRO 32

23 Appendix A Additional Libraries The function block CIA405_SDO_WRITE7 writes the specified data into the object directory of a module (max. data size = 7 bytes). The module is selected by the DEVICE parameter (an own module is also possible). Index and Sub-index specify the object directory entry to be described. The result of the function block invocation cannot be available before several cycles later. Once all input parameters have received their valid values, the invoker sets ENABLE to TRUE. This results in sending the SDO. When the CAN software has sent the data to be written without error, it signals this fact by changing CONFIRM to TRUE and the is 0. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function block has regained its basic status. Should an error occur during the SDO transmission (e.g. Timeout, Index not existing, etc.) CONFIRM is also set to TRUE, however, has a value unequal to 0. The parameter INFO contains the reason for the error. After evaluating the error, ENABLE has to be reset to FALSE in order to regain the function block basic status. If the invoker sets the ENABLE parameter to FALSE prior to CONFIRM having changed to TRUE, the transmission is aborted if this is still possible. As such CONFIRM and are automatically set to FALSE. WAGO-I/O-PRO 32 Version CIA405.lib A-23

24 CIA405_VERSION CIA405_VERSION Category: Function modules for CANopen CIA405_VERSION Type: Function X Function block Program Applicable to: All programmable fieldbus controllers EN BOOL TRUE at this input activates this function. Return value: Data type: Comments: CIA405_VERSION WORD Library version The function CIA405_VERSION returns the current library version number. During program development, this function can be used for information purposes. Moreover, version related conflicts can be voided during the running time. Version: Description: 5.0 Compatible with the WAGO-I/O-PRO 32 version 2.2 SR5. The library works with the onlinechange feature. A-24 CIA405.lib Version WAGO-I/O-PRO 32

25 Appendix A Additional Libraries EXCEPTION_HANDLER Category: Function modules for CANopen EXCEPTION_HANDLER Applicable to: All programmable fieldbus controllers Output parameter: Data type: Comments: CONFIRM BOOL TRUE: new error FALSE: no new error has occured ERR_SCR ERR_SCR_TYPE Error source NMT_: Nodeguarding error EMY_: Emergency error SDO_: SDO error ERR_NO ERR_NO_TYPE Error description (see function description) DATA_LENGTH BYTE Number of valid data DATA ARRAY [1..8] of BYTE Additional error information WAGO-I/O-PRO 32 Version CIA405.lib A-25

26 EXCEPTION_HANDLER The function block EXCEPTION_HANDLER feeds back errors encountered. This permits a direct error treatment. If a new error is determined then CONFIRM is set to TRUE and an error is precisely specified on the other outputs. If no error has occurred then CONFIRM is set to FALSE. ERR_SRC: NMT_ ERR_NO Description Data NMT_GUARD_ Node guarding from a module has failed DATA[1]: Module ID of the faulty device NMT_STATE_ Module supplies an unexpected status DATA[1]: Module ID or the error device DATA[2]: Expected master condition DATA[3]: Current module status transmitted NMT_TOGGLE_ The status matches that expected, however, the toggle bit is incorrect DATA[1]: Module ID of faulty device DATA[2]: Expected master condition DATA[3]: Current module status sent ERR_SRC: EMY_ ERR_NO Description Data EMY_NO_DATABYTE An emergency is received with data bytes (e.g. in DS301 V3.0 Bootup message) DATA[1]: Module ID of the unit which has transmitted the emergency EMY_QUEUE_ Maximum queue size between the emergencies buffers has been exceeded DATA[1]: Module ID of the device which has transmitted the emergency and could not be entered in the queue. A-26 CIA405.lib Version WAGO-I/O-PRO 32

27 Appendix A Additional Libraries ERR_NO Description Data SDO_HDL_ Received SDO segment contains an incorrect CAN-ID DATA[1]: Index of the attendant client SDO parameter (e.g. 0 conforms to index 1280h in the object directory, 5 = 1285h, and so on) SDO_STATE_ Received SDO segment contains an invalid command specifier DATA[1]: ]: Invalid command specifier SDO_TOGGLE_ Received SDO segment contains an incorrectly set toggle bit No SDO_LEN_ Received SDO block exceeds the maximum length stated in the function block (e.g. CIA405_SDO_READ4 can receive a max. of 4 bytes) DATA[1]: Received data length SDO_ABORT_ Abort SDO Transfer received from server DATA[1]: Index of the attendant client SDO parameter (e.g. 0 corresponds to index 1280h in object directory, 5 = 1285h, etc.) DATA[2]..DATA[8]: Data bytes 1..7 from abort SDO transfer protocol SDO_TIMEOUT_ No reply from the server within the time out time (500ms) DATA[1]: Index of the attendant client SDO parameter (e.g. 0 corresponds to index 1280h in object directory, 5 = 1285h, etc.) ERR_SRC: SDO_ WAGO-I/O-PRO 32 Version CIA405.lib A-27

28 NMT_ADDNODE NMT_ADDNODE Category: Function modules for CANopen NMT_ADDNODE Applicable to: All programmable fieldbus controllers NODE BYTE Module ID GUARDTIME WORD Guarding Time (ms) LT_FACTOR BYTE Lifetime-Factor ENABLE BOOL Start transmit procedure for a CAN message Return value: Data type: Comments: CONFIRM BOOL Confirmation of performance CAN_FRAME_ Information for execution NO_ : no error INVALID_NODE : Module ID invalid (0 or greater than 127) MEMORY_OVERFLOW : Number of max. administrable modules exceeded A-28 CIA405.lib Version WAGO-I/O-PRO 32

29 Appendix A Additional Libraries The function block NMM_ADDNODE initialises the guarding object for the stated module (NODE) with the guarding time (GUARDTIME) and the lifetime factor (LT_FACTOR). Only after these function blocks have been performed is a guarding monitoring and the receipt of emergency communication with the given module possible. The lifetime factor multiplied by the guarding time gives the time after which an error message (by means of function block EXCEPTION_HANDLER) is generated if no guarding reply is received. The initialising is performed by setting ENABLE to TRUE. After the performance CONFIRM is set to TRUE. The status of the initialisation is displayed on the output parameter. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function module has regained its basic status. WAGO-I/O-PRO 32 Version CIA405.lib A-29

30 NMT_CHANGE_STATE NMT_CHANGE_STATE Category: Function modules for CANopen NMT_CHANGE_STATE Applicable to: All programmable fieldbus controllers NODE BYTE Module ID STATE DEVICE_STATE Action to be performed: RESET_NODE : Reset the module RESET_COMMUNICATION : Reset the communication SET_PRE_OPERATIONAL : Transfer to pre-operational SET_OPERATIONAL : Transfer to operational SET_STOPPED : Transfer to stopped ENABLE BOOL Start status change Return value: Data type: Comments: CONFIRM BOOL Confirmation of performance CHANGE_STATE _ Information to perform CHANGE_OK : No errors CHANGE_SEND_ : Module could not transmit CAN message CHANGE_INVALID_NODE : Invalid module ID (invalid area, not initialised) A-30 CIA405.lib Version WAGO-I/O-PRO 32

31 Appendix A Additional Libraries A condition change of a previously initialised module can be triggered (using the function block NMT_ADDNODE) using the function block NMT_CHANGE_STATE. If a 0 is transferred as a NODE parameter, then all modules are transferred to the new status, except for the module which has triggered the command (NMT Master). If a status change is to be generated then this must be explicitly triggered. The status change is performed by setting ENABLE to TRUE. After performance CONFIRM is set to TRUE. The status of the status change is displayed at the output parameter. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function module has regained its basic status. WAGO-I/O-PRO 32 Version CIA405.lib A-31

32 NMT_DELNODE NMT_DELNODE Category: Function modules for CANopen NMT_DELNODE Applicable to: All programmable fieldbus controllers NODE BYTE Module ID Output parameter: Data type: Comments: CONFIRM BOOL Confirmation of performance FALSE/TRUE Error/OK The function block NMT_DELNODE deletes the stated node from the list for the slaves to be treated. Once the function is successfully performed it is no longer possible for this node to perform a guarding monitoring or to receive emergency messages. A-32 CIA405.lib Version WAGO-I/O-PRO 32

33 Appendix A Additional Libraries NMT_GUARDING Category: Function modules for CANopen NMT_GUARDING Applicable to: All programmable fieldbus controllers NODE BYTE Module ID GUARDING BOOL TRUE : Start Guarding FALSE : Stop Guarding ENABLE BOOL Perform function block Return value: Data type: Comments: CONFIRM BOOL Confirmation of performance GUARD_ Information for performance GUARD_OK : no error GUARD_INVALID_NODE : invalid module ID (invalid area, not initialised) WAGO-I/O-PRO 32 Version CIA405.lib A-33

34 NMT_GUARDING Using the function module NMT_GUARDING the guarding monitoring can be switched on and off. If no or an incorrect reply follows a guarding request then this is displayed using the function block EXCEPTION_HANDLER. If a 0 is transferred as NODE parameter, then all configured modules of the guarding are switched on or off. By setting ENABLE to TRUE the guarding monitoring is activated / deactivated. After performance CONFIRM is set as TRUE. The status is displayed at the output parameter. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function block has regained its basic status. A-34 CIA405.lib Version WAGO-I/O-PRO 32

35 NMT_SLAVE_IN_NW_LIST Appendix A Additional Libraries Category: Function modules for CANopen NMT_SLAVE_IN_NW_LIST Applicable to: All programmable fieldbus controllers NODE BYTE Module ID Output parameter: Data type: Comments: CONFIRM BOOL Confirmation of performance FALSE/TRUE Slave nor present/present The function block NMT_SLAVE_IN_NW_LIST feeds back whether the stated node is in the internal slave list. This means: if the function block sends back the value TRUE, the node was entered in the list with the aid of the function block NMT_ADDNODE. WAGO-I/O-PRO 32 Version CIA405.lib A-35

36 SEND_CAN_FRAME SEND_CAN_FRAME Category: Function modules for CANopen SEND_CAN_FRAME Applicable to: All programmable fieldbus controllers COB_ID WORD COB-ID of the CAN message RTR_FRAME BOOL RTR or data message DATA ARRAY [1..8] of BYTE data to be written DATALENGTH BYTE Number of valid data (max.8) ENABLE BOOL Start transmit sequence of a CAN message Return value: Data type: Comments: CONFIRM BOOL Confirmation of performance CAN_FRAME_ Sends back information about the transmitted CAN message SEND_OK : CAN message communication successfully sent SEND_ : CAN Controller could not transmit CAN message COB_ID_ : Inadmissible COB-ID used DATALENGTH_ : Data length too large A-36 CIA405.lib Version WAGO-I/O-PRO 32

37 Appendix A Additional Libraries The function block SEND_CAN_FRAME transmits the stated data with the specified COB-ID via the CAN bus. (max. data size = 8 bytes). The type of CAN communication is specified using the input parameter RTR_FRAME (RTR_FRAME- TRUE / FALSE = RTR-frame / data-frame). By setting ENABLE to TRUE the CAN message is transmitted. After transmitting CONFIRM is set to TRUE. The status of the transmission is displayed at the output parameter. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function module has regained its basic status. WAGO-I/O-PRO 32 Version CIA405.lib A-37

38 SYNC_MASTER_SEND_SYNC SYNC_MASTER_SEND_SYNC Category: Function modules for CANopen SYNC_MASTER_SEND_SYNC Applicable to: All programmable fieldbus controllers ENABLE BOOL Start transmission procedure of a SYNC message Output parameter: Data type: Comments: CONFIRM BOOL Confirmation of performance SYNC_ Returns an information by means of the SYNC message sent. SYNC_OK : SYNC transmission was successful SYNC_SEND_ : CAN Controller could not send SYNC message SYNC_ID_ : inadmissible SYNC_ID used A-38 CIA405.lib Version WAGO-I/O-PRO 32

39 Appendix A Additional Libraries The function module SYNC_MASTER_SEND_SYNC sends a SYNC message. The COB-ID used in the SYNC message will be taken from the 0x1005 (COB-ID SYNC message) index. If the module is in the operational status, the receipt of a SYNC message is emulated at the same time to be able to edit synchronously configured PDO s. By setting ENABLE to TRUE a SYNC communication is transmitted. After transmission CONFIRM is set to TRUE. The transmission status is displayed at the output parameter. Setting the ENABLE parameter to FALSE (by the invoker) results in automatically setting CONFIRM to FALSE, and the function module has regained its basic status. WAGO-I/O-PRO 32 Version CIA405.lib A-39

40 A-40 CIA405.lib Version WAGO-I/O-PRO 32