87
ifm
Programming Manual
ecomatmobile
CabinetController (CR0301) Runtime System V05
2016-04-21
ifm function elements
ifm function elements for the device CR0301
>
CANx_SLAVE_EMCY_HANDLER
13199
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_CANopenSlave_Vxxyyzz.LIB
Symbol in CODESYS:
>
Description
2053
CANx_SLAVE_EMCY_HANDLER handles the device-specific error status of the CANopen slave:
• error register (index 0x1001) and
• error field (index 0x1003) of the CANopen object directory.
► Call the function block in the following cases:
• the error status is to be transmitted to the CAN network and
• the error messages of the application program are to be stored in the object directory.
Do you want to store the error messages in the object directory?
►
After
(repeated) handling of
CANx_SLAVE_SEND_EMERGENCY
(
) call
CANx_SLAVE_EMCY_HANDLER once!
>
Parameters of the inputs
2054
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
>
Parameters of the outputs
2055
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]
Summary of Contents for Ecomat 100 Mobile CR0301
Page 212: ......
