IFM Electronic Ecomat Mobile Series System Manual page 125

CAN in the ecomatmobile controller
Name
NODE_STATE_SLAVE
EMERGENCY_OBJECT_SLAVES ARRAY
ifm System Manual ecomatmobile
Data type
ARRAY
[0...MAX_NODEI
NDEX] STRUCT
NODE_STATE
[0...MAX_NODEI
NDEX] STRUCT
EMERGENCY_M
ESSAGE
SmartController (CR2500) V05
Description
To determine the status of a single network node the
global array "NodeStateList" can be used. The array
then contains the following elements:
•
NodeStateList[n].NODE_ID:
node number of the slave
•
NodeStateList[n].NODE_STATE:
current status from the master's point of view
•
NodeStateList[n].LAST_STATE:
the CANopen status of the node
•
NodeStateList[n].RESET_NODE:
TRUE: reset slave
•
NodeStateList[n].START_NODE:
TRUE: start slave
•
NodeStateList[n].PREOP_NODE:
TRUE: set slave to preoperation mode
•
NodeStateList[n].SET_TIMEOUT_STATE:
TRUE: set timeout for cancelling the configuration
•
NodeStateList[n].SET_NODE_STATE:
TRUE: set new node status
Example code → chapter Example with function
CANx_MASTER_STATUS (→ page 127)
Further information → chapter Master at runtime
(→ page 91)
To obtain a list of the most recent occurred error
messages of all network nodes the global array
"NodeEmergencyList" can be used. The array then
contains the following elements:
•
NodeEmergencyList[n].NODE_ID:
node number of the slave
•
NodeEmergencyList[n].ERROR_CODE:
error code
•
NodeEmergencyList[n].ERROR_REGISTER:
error register
•
NodeEmergencyList[n].MANUFACTURER_ERRO
R_FIELD[0..4]:
manufacturer-specific error field
Further information → chapter Access to the structures
at runtime of the application (→ page 128)
ifm CANopen library
125