IFM Electronic Ecomat Mobile Series, System Manual

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ifm System Manual ecomat mobile SmartController (CR2500) V05
CAN in the ecomatmobile controller ifm CANopen library
Parameters of the function outputs
Name Data type Description
NODE_ID BYTE Node ID of the master
BAUDRATE WORD Baud rate of the master
NODE_STATE INT Current status of the master
SYNC BOOL SYNC signal of the master
This is set in the tab [CAN parameters] (
→
page 87 ) of
the master depending on the set time [Com. Cycle
Period].
RX_OVERFLOW BOOL Error flag "receive buffer overflow"
TX_OVERFLOW BOOL Error flag "transmit buffer overflow"
OD_CHANGED BOOL Flag "object directory master was changed"
ERROR_CONTROL ARRAY [0...7] OF BYTE The array contains a list (max. 8) of the missing
network nodes (guard or heartbeat error).
Further information
→
chapter Access to the structures
at runtime (
→
page 128 )
GET_EMERGENCY STRUCT
EMERGENY_MESSAGE
At the output the data for the structure
EMERGENCY_MESSAGE are available.
The most recent error message of a network node is
always displayed.
To obtain a list of all occurred errors, the array
"EMERGENCY_OBJECT_SLAVES" must be
evaluated.
Parameters of internal structures
Below are the structures of the arrays used in this function.
Name Data type Description
CANx_EMERGENY_MESSAGE STRUCT NODE_ID: BYTE
ERROR_CODE: WORD
ERROR_REGISTER: BYTE
MANUFACTURER_ERROR_FIELD: ARRAY[0..4] OF BYTE
The structure is defined by the global variables of the
library
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB
.
CANx_NODE_STATE STRUCT NODE_ID: BYTE
NODE_STATE: BYTE
LAST_STATE: BYTE
RESET_NODE: BOOL
START_NODE: BOOL
PREOP_NODE: BOOL
SET_TIMEOUT_STATE: BOOL
SET_NODE_STATE: BOOL
The structure is defined by the global variables of the
library
ifm_CRnnnn_CANopenMaster_Vxxyyzz.LIB
.