CANopen State

You can interrogate the state of a local CANopen slave in two different ways in the application:

• <name in device tree>.State property ( 3S CANopenDevice library)

• <name in device tree>.GetDeviceState method ( CAA Device Diagnosis library)

  The method does not return a CANopen state, but the information whether the device is running or not. A mapping table between CANopenState and DEVICE_STATE is found in the library documentation of CANopenSlaveStack.

Moreover, the CANopen status can also be set. The following methods are available for this:

• PowerDown

• PowerUp

• Reset

• ResetCommunication

• SwitchToOp

• SwitchToPreop

• SwitchToStopped