Delta DVP-15MC Series, Operation Manual

Page: 420 / 972

Chapter 8 Logic Instructions
8-333
8_
8.19.2.2 CANopen_NodeDiag
FB/FC Explanation Applicable model
FB
CANopen_NodeDiag is used for the diagnosis of the state of the specified
slave connected to CANopen port. DVP15MC11T
DVP15MC11T-06
CANopen_NodeDiag
Enab le
CANopen_NodeDiag_ins tanc e
Slav eNode
Done
Error
ErrorI D
InitSuc ces s
InitF ailure
DeviceNotRight
AutoSDOF ailure
ReceiveEmc y
Hearbeat Timeout
NodeNumSame
EMCY_Num
EMCY_Data

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.
SlaveNode USINT
1~32
（
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
InitSuccess TRUE when the slave initializing succeeds. BOOL TRUE / FALSE
InitFailure TRUE when the slave initializing fails. BOOL TRUE / FALSE
DeviceNotRight TRUE when the slave register is incorrect. BOOL TRUE / FALSE
AutoSDOFailure
TRUE when the setting for Auto SDO of the
slave fails.
BOOL TRUE / FALSE
ReceiveEmcy
TRUE when the slave receives the Emergency
message.
BOOL TRUE / FALSE
HeartbeatTimeout
TRUE when the heartbeat message timeout
occurs.
BOOL TRUE / FALSE
NodeNumSame
TRUE when the station addresses of the
master and slaves are duplicated.
BOOL TRUE / FALSE
EMCY_Num
Recods the number of Emergency message
the controller receives.
USINT 0~5
EMCY_Data
Recods the Emergency message that the
controller receives from the slave. ARRAY [1..5] OF
CANopen_EMCY_Type