CANopenDevice.SwitchToPreop (METH)ΒΆ

METHOD SwitchToPreop : BOOL

Switches the slave to CANOPEN_STATE.PREOPERATIONAL. As defined by CiA-301 following services will be performed in this state:

  • SDO

  • SYNC

  • TIME

  • EMCY

  • NMT

State transition is only possible in CANOPEN_STATE.STOPPED or CANOPEN_STATE.OPERATIONAL.

InOut:

Scope

Name

Type

Comment

Return

SwitchToPreop

BOOL

TRUE if state transition was possible