IFM Ecomat 100 Mobile CR0301, Programming Manual

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ifm Programming Manual ecomatmobile CabinetController (CR0301) Runtime System V05 2016-04-21
ifm function elements ifm function elements for the device CR0301
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CANx_MASTER_EMCY_HANDLER
13192
x = 1...n = number of the CAN interface (depending on the device,
→ Data sheet)
Unit type = function block (FB)
Unit is contained in the library
ifm_CR0301_CANopenMaster_Vxxyyzz.LIB
Symbol in CODESYS:
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Description
2009
CANx_MASTER_EMCY_HANDLER manages the device-specific error status of the master. The FB
must be called in the following cases:
•
the error status is to be transmitted to the network and
•
the error messages of the application are to be stored in the object directory.
The current values from the error register (index 0x1001/01) and error field (index 0x1003/0-5) of the
CANopen object directory can be read via the FB.
If application-specific error messages are to be stored in the object directory,
CANx_MASTER_EMCY_HANDLER must be called after (repeatedly) calling
CANx_MASTER_SEND_EMERGENCY
(
→ page
78 ).
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Parameters of the inputs
2010
Parameter
Data type Description
CLEAR_ERROR_FIELD BOOL FALSE

TRUE (edge):
• transmit content of ERROR_FIELD to function block output
• delete content of ERROR_FIELD in object directory
else:
this function is not executed
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Parameters of the outputs
2011
Parameter
Data type Description
ERROR_REGISTER BYTE Shows content of OBV index 0x1001 (error register)
ERROR_FIELD ARRAY [0..5] OF WORD Shows the content of the OBV index 0x1003 (error field)
ERROR_FIELD[0]: number of stored errors
ERROR_FIELD[1...5]: Stored errors, the most recent error is shown on
index [1]