.. first line of object.rst template
.. first line of pou-object.rst template
.. first line of prg-object.rst template
.. <% set key = ".fld-Projektinformationen.ProjectInfo" %>
.. _`.fld-Projektinformationen.ProjectInfo`:
.. <% merge "object.Defines" %>
.. <% endmerge  %>


.. _`ProjectInfo`:

ProjectInfo (PRG)
-----------------

PROGRAM ProjectInfo



.. <% merge "object.Doc" %>

| Die Projektinfo ist eine Ansammlung zur Anwendung der Klasse im ProgrammCode.

.. note::
 Die Beschreibung ist Beispielhaft und an das Projekt CanOpenMaster angelehnt.


| ***************************************************************************************************************************************************************

+ **Einbinden des Bibliothek CanOpenCheck** -> Typische vorgehensweise:

| 1.) Einbinden der Bibliothek und Instanzierung des FB's
|
|          VAR:
|          ``_CanOpenCheck : ELA_CANOpenCheck.CanOpenCheck_FB;``
|
| 2.) Anlegen der Rückgabevariablen im Projekt
|
|          VAR:
|          ``pzaDeviceState     : POINTER TO ARRAY [0..3] OF CIA405.DEVICE_STATE;           // DEVICESTATE``
|          ``pzaLocalCanState   : POINTER TO ARRAY [0..3] OF CIA405.CANOPEN_KERNEL_ERROR;   // DEVICEERROR``
|
|          Der FB gibt die Informationen für Devices 0(Master)..127(Slaves) bekannt.
|          Da die Rückgabe über Pointer erfolgt, kann das Array der eigen Applikation kleiner ausfallen.
|
.. table:: Device

   +--------------+-------------------------------------------------+
   | 0            | Master                                          |
   +--------------+-------------------------------------------------+
   | 1..127       | Slaves                                          |
   |              |                                                 |
   +--------------+-------------------------------------------------+
|
| 3.) Versorgen der Bausteineingänge
|
|          Code:
|          ``_CanOpenCheck._wCANTimeout := wCANTimeout; (* Timoutzeit in ms. Default = 50; Abweichenden Wert hier einmalig angeben *)``
|          ``_CanOpenCheck._byNetzwerk  := 1 ; // CanController, 1:= CAN0, 2:= CAN1 ....``
|          ``_CanOpenCheck._MaxNodeID   := 3 ; // ``
|
|
| 4.) Aufruf der Methode
|
|     ``_CanOpenCheck();``
|
| 5.) Abfrage der eigenen Node ID
|
|          Code:
|          ``_CanOpenCheck._byLocalID;``
|
| 6.) Abfrage des Gerätestatus
|
|          Code:
|          ``pzaDeviceState^[0];   // Debugausgabe: Status MASTER"``
|          ``pzaDeviceState^[1];   // Debugausgabe: Status Slave ID 1``
|          ``pzaDeviceState^[2];   // Debugausgabe: Status Slave ID 2``
|
| 7.) Abfrage des CanStatus
|
|          Code:
|          ``pzaLocalCanState^[0]; // Debugausgabe: Kernel Status MASTER``
|          ``pzaLocalCanState^[1]; // Debugausgabe: Kernel Status Slave ID 1``
|          ``pzaLocalCanState^[2]; // Debugausgabe: Kernel Status Slave ID 2``
|
| ***************************************************************************************************************************************************************

+ **Beispiele**

|
| 1.) Aussprung wenn Slave ID1 nicht bereit
|
|          Code:
|          ``IF pzaDeviceState^[1] <>  CIA405.DEVICE_STATE.OPERATIONAL``
|          ``THEN``
|          ``RETURN``
|          ``END_IF``
|
|
| ***************************************************************************************************************************************************************
|
+ **Typische Device States**
|
|
.. table:: DEVICE_STATE (ENUM)¶

   +----------------------+------------------------------------------------------------------------+---------------+
   | ENUM                 | Bedeutung:                                                             | Wert          |
   +======================+========================================================================+===============+
   | INIT                 |                                                                        |  0            |
   +----------------------+------------------------------------------------------------------------+---------------+
   | RESET_COMM           |                                                                        |  1            |
   +----------------------+------------------------------------------------------------------------+---------------+
   | RESET_APP            |                                                                        |  2            |
   +----------------------+------------------------------------------------------------------------+---------------+
   | PRE_OPERATIONAL      |                                                                        |  3            |
   +----------------------+------------------------------------------------------------------------+---------------+
   | STOPPED              |                                                                        |  4            |
   +----------------------+------------------------------------------------------------------------+---------------+
   | OPERATIONAL          |                                                                        |  5            |
   +----------------------+------------------------------------------------------------------------+---------------+
   | UNKNOWN              |                                                                        |  6            |
   +----------------------+------------------------------------------------------------------------+---------------+
   | NOT_AVAIL            |                                                                        |  7            |
   +----------------------+------------------------------------------------------------------------+---------------+
|
+ **Typische Kernal Errors**
|
|
.. table:: CANOPEN_KERNEL_ERROR (ENUM)¶

   +---------------------------------+----------------------------------------------------------------+---------------+
   | ENUM                            | Bedeutung:                                                     | Wert          |
   +=================================+================================================================+===============+
   | CANOPEN_KERNEL_NO_ERROR         | There is no error                                              |  0            |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_KERNEL_OTHER_ERROR      | More information is provided by output ERRORINFO.              |  1            |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_KERNEL_DATA_OVERFLOW    | Lost counter or Tx/Rx error counter is above 0.                |  2            |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_KERNEL_TIMEOUT          | A timeout occurred.                                            |  3            |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_KERNEL_CANBUS_OFF       |  CAN Bus is in BUSOFF or busalarm state.                       |  4            |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_KERNEL_CAN_ERROR_PASSIVE| CAN Bus is in Error Passive state                              |  5            |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_INTERNAL_FB_ERROR       | internal error                                                 |  6            |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_NO_MORE_MEMORY          |  There is not enough memory.                                   |  7            |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_WRONG_PARAMETER         | Wrong parameter passed to the function                         |               |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_NODEID_UNKNOWN          | Unknown NodeID.                                                |               |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_NETID_UNKNOWN           | Unknown CAN Network ID (not part of I/O config                 |               |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_REQUEST_ERROR           | A request error happened.                                      |               |
   +---------------------------------+----------------------------------------------------------------+---------------+
   |CANOPEN_SDOCHANNEL_UNKNOWN       |  Unknown SDO channel.                                          |               |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_NO_DRIVER               | CAN Driver not found.                                          |               |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_CONFIGURATION_ERROR     | At least one SDO abort in configuration phase of a slave.      |               |
   +---------------------------------+----------------------------------------------------------------+---------------+
   | CANOPEN_GUARDING_ERROR          | A guarding error (Heartbeat or Nodeguarding)                   |               |
   +---------------------------------+----------------------------------------------------------------+---------------+

.. <% endmerge  %>

.. <% merge "object.iotbl" %>




.. <% endmerge  %>

.. last line of prg-object.rst template
.. last line of pou-object.rst template
.. last line of object.rst template