GET_STATE (FB)¶

FUNCTION_BLOCK GET_STATE EXTENDS CiA405Base

Function block returns the CANopen state of device with NodeID DEVICE. The ourput STATE is defined as follows:

• If guarding/heartbeat is not active for the selected DEVICE:

  • DEVICE_STATE.NOT_AVAIL is returned if DEVICE doesn’t respond in configuration phase.

  • DEVICE_STATE.UNKNOWN is returned in all other cases even if a boot-up message was received.

• If guarding/heartbeat is not active but at least one cyclic synchronous TPDO is configured for the selected DEVICE:

  • DEVICE_STATE.NOT_AVAIL is returned if DEVICE doesn’t respond in configuration phase.

  • DEVICE_STATE.OPERATIONAL is returned if cyclic synchronous TPDOs are received correctly

  • DEVICE_STATE.UNKNOWN is returned in all other cases.

• If guarding/heartbeat is active:

  • If there is no guarding/heartbeat error (due to timeout) received NMT state is returned.

  • DEVICE_STATE.NOT_AVAIL is returned if device is not responding or in case of huarding/heartbeat error.

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 device; 0 means local device (= CANopenManager)
Output	STATE	DEVICE_STATE	0	contains current NMT state