NMT (FB)

FUNCTION_BLOCK NMT EXTENDS CiA405Base

This function block provides NMT services. The NMT request will be sent to the NodeID specified in input DEVICE. If NMT request should be addressed to all devices (including NMT master and sending device) set DEVICE to 0 . If all devices but not NMT master and sending device should be addressed use the additional flag TRANSITION_STATE.ALL_EXCEPT_NMT_AND_SENDER.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	NETWORK	USINT	1	CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 NETWORK is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, …	CiA405Base
	ENABLE	BOOL	FALSE	Enables the function block on rising edge. Aborts operation on falling edge.	CiA405Base
	TIMEOUT	UDINT	0	Timeout in ms; 0 means no timeout	CiA405Base
Output	CONFIRM	BOOL	FALSE	TRUE: function block finished without error	CiA405Base
	ERROR	CANOPEN_KERNEL_ERROR	CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR	Error code: see CANOPEN_KERNEL_ERROR for further details	CiA405Base
Input	DEVICE	DEVICE	0	NodeID of destination device (local or remote). 0 means all devices.
	STATE	TRANSITION_STATE	0	The NMT transition which should be performed.