Communication
C3F_T40
374 192-121102 N04 June 2008
6.5.2.5 C3_CANopen_NMT
FB name C3_CANopen_NMT
This module allows to send NMT messages.
VAR_INPUT
Execute
BOOL Activating the module
Device
INT Node ID (0 ... 127)
0 = NMT-message is valid for all nodes
State
INT State which the node must take on:
START_REMOTE_NODE
STOP_REMOTE_NODE
ENTER_PRE_OPERATIONAL
RESET_NODE
RESET_COMMUNICATION
(these are no constants; please enter therefore
directly)
VAR_OUTPUT
Done
BOOL Function executed without error
Error
BOOL Error occurred
ErrorCode
WORD CANopen-Stack error no.
1 = not sufficient memory
2 = node is not in the management list
3 = node is already in the management list
4 = nodes are in the wrong state
11 = network object not available
12 = node 0 was selected
65378 = C3 has no master functionality
Note: Compax3 must be CANopen master.
Execute : BOOL Done : BOOL
C3_CANopen_NMT
Error : BOOL
ErrorCode : WORD
Device : INT
State : INT
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