CIA405.GET_CANOPEN_KERNEL_STATE (FB)

CIA405.GET_CANOPEN_KERNEL_STATE (FB)

(CAA_CiA405.Library)

Function block CIA405.GET_CANOPEN_KERNEL_STATE returns the current state of the CANopen Kernel.

Extends CIA405.CIA405BASE.

Input:

NETWORK	USINT	see CIA405.CIA405BASE
ENABLE	BOOL	see CIA405.CIA405BASE
TIMEOUT	UDINT	see CIA405.CIA405BASE

Output:

CONFIRM	BOOL	see CIA405.CIA405BASE
ERROR	CIA405.CANOPEN_ KERNEL_ERROR	see CIA405.CIA405BASE
STATE	CIA405.CANOPEN_ KERNEL_ERROR	Kernel state range: 0000 … FFFF initial: 0
DEVICE	CIA405.DEVICE	Additional device information connected to STATE; 0 means local device range: 0 … 127 initial: 0

REquest/Reponse diagram

Data output STATE is valid only if CONFIRM is TRUE. If CONFIRM is FALSE, the data output is invalid and may contain any value.

The request for data is initiated only once with the rising edge at ENABLE. Another request is initiated not before the next rising edge at ENABLE is recognized.

For behavior of ENABLE and CONFIRM see chapter Control mechanism.

For inputs NETWORK and TIMEOUT and output DEVICE see chapter Additional parameters .

In case of an error during execution of the function block it is defined to deliver DEVICE = 0 ( local device ) with STATE <> 0 and ERROR = 0.

The function block reports any error except a) SDO-Abort-indications created by an SDO-Client and b) EMCY messages received from a CAN device. SDO-Abort indications are handled by the function blocks CIA405.SDO_READ and CIA405.SDO_WRITE. EMCY messages are handled by the function blocks CIA405.RECV_EMCY and CIA405.RECV_EMCY_DEV.

As soon as the STATE is reported, it is acknowledged to the lower level error handling. That means for example to clear the error message in the memory in order to enable the entry of another error message which will be reported on the next request for data.