(nur
für bestimmte Terminals mit geeignetem CAN-Transceiver)
(nur
für bestimmte Terminals mit geeignetem CAN-Transceiver)
Dieses Dokument beschreibt, wie einzelne Werte im "eigenen" Object-Dictionary
("OBD" per Interpreterkommando gelesen und geschrieben werden können.
Hinweis:
Siehe auch (Links zu anderen Dokumenten) :
Bei Geräten mit CANopen (seit 2004) können einzelne Werte im
eigenen Objekt-Dictionary Interpreterkommando gelesen oder
geschrieben werden.
Die folgende Beschreibung bezieht sich nur auf den Display-Interpreter.
Bei Geräten mit der neueren Script-Sprache (die nicht interpretiert, sondern compiliert wird)
sind seit Juli 2013 ähnliche Funktionen verfügbar. Diesen muss allerdings der Prefix 'cop.'
(für 'CANopen') vorangestellt werden, um den Namensraum des Compilers nicht zu 'verseuchen' (namespace pollution).
Im Gegensatz zur ähnlichen Funktion "sdo" braucht hier i.A. kein Datentyp angegeben werden, denn die Datentypen des eigenen Objekt-Dictionaries sind der Terminal-Firmware (bis auf wenige Sonderfälle) bekannt.
Wenn der Aufruf einer "obd"-Funktion fehlschlägt, wird der Wert von "obd.coperr" auf einen Fehlercode vom CANopen-Protokoll-Stack gesetzt. Details zu den Fehlercodes des CANopen-Protokoll-Stacks finden Sie im nächsten Kapitel.
Siehe auch: 'Variablen'-Objekte im OD des programmierbaren Terminals (Index 0x4001 bis 0x4009) .
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. |
... |
||
Datei: ..?..\uptwin1\help\obdcm_49.htm
Autor: W.Büscher, MKT Systemtechnik
Letzte Änderung: 2014-12-01 (ISO8601, YYYY-MM-DD)