Delta DVP-15MC Series, Operation Manual

Page: 418 / 972

Chapter 8 Logic Instructions
8-331
8_
8.19.2.1 CANopen_SysDiag
FB/FC Explanation Applicable model
FB
CANopen_SysDiag is used for the diagnosis of the states of all slaves
connected to CANopen port. DVP15MC11T
DVP15MC11T-06
CANopen_Sy sDiag
Enable Done
CANopen_Sy sDiag_ins tanc e
DiagType Error
E rrorID
Node

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation timing
Enable
The instruction is executed
when
Enable changes from
FALSE to TRUE.
BOOL
TRUE or FALSE
(FALSE)
When Enable
changes to TRUE.
DiagType
1: Whether slaves are
configured in the
software.
2: Whether slaves and
CANopen port are made
connection.
3: Whether slaves have
released Emergency
message.
USINT
1,2,3
（
The variable
value must be
set
）
When Enable
changes to TRUE.

Output Parameters
Parameter
name
Function Data type Valid range
Done TRUE when the instruction execution is completed. BOOL TRUE/FALSE
Error
TRUE when there is an error in the execution of the
instruction.
BOOL TRUE / FALSE
ErrorID
Contains the error code when an error occurs. Please
refer to section 12.2.
WORD
Node
Outputs corresponding states of all slaves based on
different values of
DiagType.
Array[1..32]of
BOOL

Output Update Timing
Name Timing for changing to TRUE Timing for changing to FALSE
Done

TRUE when the instruction
execution succeeds.

When Error changes to TRUE.

When Enable changes to FALSE.
Error

When an error occurs in the
instruction execution or the input
parameters for the instruction are
illegal.

When the error is cleared.

Functions
CANopen_SysDiag is used for the diagnosis of the states of all slaves connected to CANopen port.
(Only the CANopen port built in the motion controller can use the instruction.)
The output
Node is an array of BOOL for outputing the states of 1~32 axes. The value of Node has