Interpreter commands to access the "own" CANopen object dictionary

(only available for certain terminals with CANopen transfer protocols)

This document describes how to read and write values in the terminal's "own" object dictionary (OBD), using an interpreter command.
Note:

The interpreter's 'obd' functions have nothing in common with 'OBD = Onboard-Diagnostics' !
Not all devices offer these functions - only displays with CANopen (see Feature Matrix) !

Contents

Basic OBD read/write access with an interpreter function
CANopen "kernel" error codes (by SysTec)

Basic OBD read/write access using an interpreter function

Programmable terminals with CANopen protocol (since 2004) can access their "own" object dictionary with an interpreter command, similar as the access to a remote object dictionary (OBD) through a service data channel (SDO).
The following explanation applies only to the display interpreter.
For devices with the newer script language (which uses a compiler, not an interpreter), similar commands/function may be available, but they must be prefixed by 'cop.' (short for 'CANopen') to avoid namespace pollution.

Syntax:: obd( < index >.< subindex> [ , data type ] )
Examples:: @X = obd(0x6000.1, U8) : rem READ a value from the own OBD
obd(0x6200.1, U8)= X+1 : rem WRITE a value to the own OBD

In contrast to the similar "sdo"-access, you don't have to specify the data type (except for a few special cases), because the terminal firmware (usually) knows the data types in its own object dictionary.

If an obd-access function fails, the value of "obd.coperr" may be set to an error code which is specific to the CANopen-implementation used in the terminal. More on that in the next chapter.

See also: 'Variable' objects in the terminal's OD (Index 0x4001 to 0x4009) .

CANopen "kernel" error codes

If the CANopen protocol stack detects an error (while accessing the own -local- object dictionary), the interpreter saves the error code as "obd.coperr". It can be read like a variable. Some of these error codes are shown below. The full set of error codes can be found in the CANopen slave documentation by SysTec.

Error Symbol Hex value Meaning / Remarks

kCopSuccessful 0x0000 no error/successful run

kCopIllegalInstance 0x0001 the called instance does not exist

kCopInvalidInstanceParam 0x0002 ?

kCopNoFreeInstance 0x0003 AddInstance was called but no free instance is available

kCopWrongSignature 0x0004 wrong signature while writing to object 0x1010 or 0x1011

kCopUnsupportedBtrTable 0x0005 unsupported baudrate table was configured with LSS service

kCopUnsupportedBtrIndex 0x0006 unsupported baudrate index was configured with LSS service

kCopInvalidNodeId 0x0007 CANopen was initialized with an invalid NodeId

kCopNoResource 0x0008 resource could not be created (Windows, PxROS, ...)

kCopInvalidParam 0x0009 generic error code for an invalid param

kCopCdrvNoMsg 0x0010 no CAN message was received

kCopCdrvMsgHigh 0x0011 CAN message with high priority was received

kCopCdrvMsgLow 0x0012 CAN message with low priority was received

kCopCdrvInitError 0x0013

kCopCdrvNoFreeChannel 0x0014 CAN controller has not a free channel

...

kCopCobNoFreeEntry 0x0020 no free entry in RX- or TX-COB table

kCopCobAlreadyExist 0x0021 COB-ID already exists in RX- resp. TX-COB table

kCopCobIllegalHdl 0x0022 illegal handle for a COB was assigned

kCopCobIllegalCanId 0x0023 COB-ID is not allowed (like 0x000 is reserved for NMT, ...)

kCopCobInvalidCanId 0x0024 COB-ID is switched off

kCopCobCdrvStateSet 0x0025 at least one bit of CAN driver state is set

kCopCobNoFreeEntryHighBuf 0x0026 no free entry in high priotity RX- or TX-COB table

kCopCobOwnId 0x0027 COB-ID already exists in own module which calls CobDefine() or CobCheck()

kCopCobWrongCobType 0x0028 e.g. a COB which was definded as Rx-Message should be sent

kCopObdIllegalPart 0x0030 unknown OD part

kCopObdIndexNotExist 0x0031 object index does not exist in OD

kCopObdSubindexNotExist 0x0032 subindex does not exist in object index

kCopObdReadViolation 0x0033 read access to a write-only object

kCopObdWriteViolation 0x0034 write access to a read-only object

kCopObdAccessViolation 0x0035 access not allowed

kCopObdUnknownObjectType 0x0036 object type not defined/known

kCopObdVarEntryNotExist 0x0037 object does not contain VarEntry structure

kCopObdValueToLow 0x0038 value to write to an object is to low

kCopObdValueToHigh 0x0039 value to write to an object is to high

kCopObdValueLengthError 0x003A value to write is to long or to short

kCopObdIllegalFloat 0x003B illegal float variable

kCopObdWrongOdBuilderKey 0x003F OD was generated with demo version of tool ODBuilder

kCopNmtUnknownCommand 0x0040 unknown NMT command

kCopNmtLifeguardVsHeartbeat 0x0041 one of life guarding or heartbeat was configured
but the other one is already configured

kCopNmtBootupNotPossible 0x0042 bootup message can not be sent in this NMT state

kCopNmtHbcWrongCfg 0x0043 configuration of Heartbeat Consumer was wrong

kCopNmtmSlaveNodeExist 0x0044 NMT slave node can not be added because it does already exist

kCopNmtmNoFreeSlaveEntry 0x0045 no free entry to add a new NMT slave node

kCopNmtmSlaveEntryNotExist 0x0046 NMT slave node was never added

kCopNmtStateError 0x0047 error has occured during NMT state machine

kCopNmtmInvalidSlaveNodeId 0x0048

kCopSdocInitError 0x0050 initialising or changing parameter not successful

kCopSdocInvalidParam 0x0051 one of the function parameters is invalid

kCopSdocClientNotExist 0x0052 selected SDO client does not exist

kCopSdocBusy 0x0053 SDO client is already busy

kCopSdocTransferError 0x0054 an error occured during SDO transfer

kCopSdocWrongMultiplexor 0x0055 an SDO response was received with wrong multiplexor

kCopSdocEntryAlreadyDefined 0x0056 client entry is already defined

kCopSdocNoFreeEntry 0x0057 no free client entry found in SDO server table

kCopSdocConfigOrder 0x0058

kCopSdosInitError 0x0060 initialising or changing parameter not successful

kCopSdosServerNotExist 0x0061 selected SDO server does not exist

kCopSdosBusy 0x0062 SDO server is already busy

kCopSdosSizeMismatch 0x0063

kCopSdosNoFreeEntry 0x0064 no free server entry found in SDO server table

kCopSdosEntryAlreadyDefined 0x0065 server entry is already defined

kCopSdosConfigOrder 0x0066

kCopSdosWrongDlc 0x0067

kCopSdosWrongCcs 0x0068

kCopPdoNotExist 0x0070 selected PDO does not exist

kCopPdoLengthExceeded 0x0071 length of PDO mapping exceedes 64 bis

kCopPdoGranularityMismatch

0x0072 configured PDO granularity is not equal to supported granularity

kCopPdoInitError 0x0073 error during initialisation of PDO module

kCopPdoErrorPdoEncode 0x0074 error during encoding a PDO

kCopPdoErrorPdoDecode 0x0075 error during decoding a PDO

kCopPdoErrorSend 0x0076 error during sending a PDO

kCopPdoErrorSyncWin

0x0077 the SYNC window runs out
during sending SYNC-PDOs

kCopPdoErrorMapp 0x0078 invalid PDO mapping

kCopPdoVarNotFound 0x0079 variable was not found in function PdoSignalVar()

kCopPdoErrorEmcyPdoLen 0x007A the length of a received PDO is unequal to the expected value

kCopPdoWriteConstObject 0x007B constant object can not be written

kCopPdoErrorRxEventTimer 0x007C If an RPDO is configured with Event Timer,
but PDO is not received after this time,
CcmCbError() will be called with this error code.

...

File: ..?..\uptwin1\help\obdcm_01.htm
Author: W.Büscher, MKT Systemtechnik
Last modified: 2007-08-24 (ISO8601, YYYY-MM-DD)

Error Symbol	Hex value	Meaning / Remarks
kCopSuccessful	0x0000	no error/successful run
kCopIllegalInstance	0x0001	the called instance does not exist
kCopInvalidInstanceParam	0x0002	?
kCopNoFreeInstance	0x0003	AddInstance was called but no free instance is available
kCopWrongSignature	0x0004	wrong signature while writing to object 0x1010 or 0x1011
kCopUnsupportedBtrTable	0x0005	unsupported baudrate table was configured with LSS service
kCopUnsupportedBtrIndex	0x0006	unsupported baudrate index was configured with LSS service
kCopInvalidNodeId	0x0007	CANopen was initialized with an invalid NodeId
kCopNoResource	0x0008	resource could not be created (Windows, PxROS, ...)
kCopInvalidParam	0x0009	generic error code for an invalid param
kCopCdrvNoMsg	0x0010	no CAN message was received
kCopCdrvMsgHigh	0x0011	CAN message with high priority was received
kCopCdrvMsgLow	0x0012	CAN message with low priority was received
kCopCdrvInitError	0x0013
kCopCdrvNoFreeChannel	0x0014	CAN controller has not a free channel
...
kCopCobNoFreeEntry	0x0020	no free entry in RX- or TX-COB table
kCopCobAlreadyExist	0x0021	COB-ID already exists in RX- resp. TX-COB table
kCopCobIllegalHdl	0x0022	illegal handle for a COB was assigned
kCopCobIllegalCanId	0x0023	COB-ID is not allowed (like 0x000 is reserved for NMT, ...)
kCopCobInvalidCanId	0x0024	COB-ID is switched off
kCopCobCdrvStateSet	0x0025	at least one bit of CAN driver state is set
kCopCobNoFreeEntryHighBuf	0x0026	no free entry in high priotity RX- or TX-COB table
kCopCobOwnId	0x0027	COB-ID already exists in own module which calls CobDefine() or CobCheck()
kCopCobWrongCobType	0x0028	e.g. a COB which was definded as Rx-Message should be sent

kCopObdIllegalPart	0x0030	unknown OD part
kCopObdIndexNotExist	0x0031	object index does not exist in OD
kCopObdSubindexNotExist	0x0032	subindex does not exist in object index
kCopObdReadViolation	0x0033	read access to a write-only object
kCopObdWriteViolation	0x0034	write access to a read-only object
kCopObdAccessViolation	0x0035	access not allowed
kCopObdUnknownObjectType	0x0036	object type not defined/known
kCopObdVarEntryNotExist	0x0037	object does not contain VarEntry structure
kCopObdValueToLow	0x0038	value to write to an object is to low
kCopObdValueToHigh	0x0039	value to write to an object is to high
kCopObdValueLengthError	0x003A	value to write is to long or to short
kCopObdIllegalFloat	0x003B	illegal float variable
kCopObdWrongOdBuilderKey	0x003F	OD was generated with demo version of tool ODBuilder

kCopNmtUnknownCommand	0x0040	unknown NMT command
kCopNmtLifeguardVsHeartbeat	0x0041	one of life guarding or heartbeat was configured but the other one is already configured
kCopNmtBootupNotPossible	0x0042	bootup message can not be sent in this NMT state
kCopNmtHbcWrongCfg	0x0043	configuration of Heartbeat Consumer was wrong
kCopNmtmSlaveNodeExist	0x0044	NMT slave node can not be added because it does already exist
kCopNmtmNoFreeSlaveEntry	0x0045	no free entry to add a new NMT slave node
kCopNmtmSlaveEntryNotExist	0x0046	NMT slave node was never added
kCopNmtStateError	0x0047	error has occured during NMT state machine
kCopNmtmInvalidSlaveNodeId	0x0048

kCopSdocInitError	0x0050	initialising or changing parameter not successful
kCopSdocInvalidParam	0x0051	one of the function parameters is invalid
kCopSdocClientNotExist	0x0052	selected SDO client does not exist
kCopSdocBusy	0x0053	SDO client is already busy
kCopSdocTransferError	0x0054	an error occured during SDO transfer
kCopSdocWrongMultiplexor	0x0055	an SDO response was received with wrong multiplexor
kCopSdocEntryAlreadyDefined	0x0056	client entry is already defined
kCopSdocNoFreeEntry	0x0057	no free client entry found in SDO server table
kCopSdocConfigOrder	0x0058

kCopSdosInitError	0x0060	initialising or changing parameter not successful
kCopSdosServerNotExist	0x0061	selected SDO server does not exist
kCopSdosBusy	0x0062	SDO server is already busy
kCopSdosSizeMismatch	0x0063
kCopSdosNoFreeEntry	0x0064	no free server entry found in SDO server table
kCopSdosEntryAlreadyDefined	0x0065	server entry is already defined
kCopSdosConfigOrder	0x0066
kCopSdosWrongDlc	0x0067
kCopSdosWrongCcs	0x0068

kCopPdoNotExist	0x0070	selected PDO does not exist
kCopPdoLengthExceeded	0x0071	length of PDO mapping exceedes 64 bis
kCopPdoGranularityMismatch	0x0072	configured PDO granularity is not equal to supported granularity
kCopPdoInitError	0x0073	error during initialisation of PDO module
kCopPdoErrorPdoEncode	0x0074	error during encoding a PDO
kCopPdoErrorPdoDecode	0x0075	error during decoding a PDO
kCopPdoErrorSend	0x0076	error during sending a PDO
kCopPdoErrorSyncWin	0x0077	the SYNC window runs out during sending SYNC-PDOs
kCopPdoErrorMapp	0x0078	invalid PDO mapping
kCopPdoVarNotFound	0x0079	variable was not found in function PdoSignalVar()
kCopPdoErrorEmcyPdoLen	0x007A	the length of a received PDO is unequal to the expected value
kCopPdoWriteConstObject	0x007B	constant object can not be written
kCopPdoErrorRxEventTimer	0x007C	If an RPDO is configured with Event Timer, but PDO is not received after this time, CcmCbError() will be called with this error code.

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