IFM Electronic CR0403 Programming Manual page 128

ifm Programming Manual ecomatmobile
ifm function elements
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CANOPEN_GETGUARDHBERRLIST
= Get guard and heartbeat error list
Unit type = function block (FB)
Unit is contained in the library ifm_CANopen_NT_Vxxyyzz.LIB
Symbol in CODESYS:
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Description
CANOPEN_GETGUARDHBERRLIST lists all nodes in an array for which the master has detected an
error:
• guarding error
• heartbeat error
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Parameters of the inputs
Parameter
EXECUTE
CHANNEL
ResetList
(optional use of the parameter)
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Parameters of the outputs
Parameter
N_NODES
NODEID
RESULT
Possible results for RESULT:
Value
Description
dec | hex
0 00 FB is inactive
1 01 function block execution completed without error
8 08 FB is active – not yet processed
242 F2 Error: setting is not possible
BasicController (CR0403) Runtime System V03.02
Data type
BOOL := FALSE
BYTE
BOOL := FALSE
Data type
WORD
ARRAY
[0..MAXGUARDERROR] OF
BYTE
BYTE
128
ifm function elements for the device CR0403
Description
FALSE  TRUE (edge):
execute function element once
otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
Reset error list
TRUE: Provide the error list as well as number of faulty
nodes at the output and then reset.
FALSE: function element is not executed
Description
Number of nodes with heartbeat or guarding error
0 = none of the nodes has a guarding or heartbeat error
List of node IDs with heartbeat or guarding error.
The most recent entry is in index 0.
MAXGUARDERROR depends on device
→ chapter Limitations for CANopen in this device
feedback of the function block
(possible messages → following table)
2015-04-01
7896
7898
7899
7900
(→ page 38)