IFM Electronic Ecomat Mobile Series System Manual page 126

CAN in the ecomatmobile controller
Parameters of the function outputs
Name
NODE_ID
BAUDRATE
NODE_STATE
SYNC
RX_OVERFLOW
TX_OVERFLOW
OD_CHANGED
ERROR_CONTROL
GET_EMERGENCY
Parameters of internal structures
Below are the structures of the arrays used in this function.
Name
CANx_EMERGENY_MESSAGE
CANx_NODE_STATE
126
ifm System Manual ecomatmobile
Data type
BYTE
WORD
INT
BOOL
BOOL
BOOL
BOOL
ARRAY [0...7] OF BYTE
STRUCT
EMERGENY_MESSAGE
Data type
STRUCT
STRUCT
SmartController (CR2500) V05
Description
Node ID of the master
Baud rate of the master
Current status of the master
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].
Error flag "receive buffer overflow"
Error flag "transmit buffer overflow"
Flag "object directory master was changed"
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)
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.
Description
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.
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.
ifm CANopen library