Lenze ETC Motion Control - Manual (Page 409)

PLC programming
Library
CANopen functions
8
8.8
8.8.5
l
409 EDSTCXN EN 2.0
8.8.5.15 Global constants for CANopen functions
These constants are intended as transfer parameters "DataType" for the
functions CopReadObject() and CopWriteObject(). The values of the
constants comply with CiA DS301 "Application Layer and Communication
Profile".
Constant Value Meaning
COP_BOOLEAN_KW 16#1
COP_INTEGER8_KW 16#2
COP_INTEGER16_KW 16#3
COP_INTEGER32_KW 16#4
COP_UNSIGNED8_KW 16#5
COP_UNSIGNED16_KW 16#6
COP_UNSIGNED32_KW 16#7
COP_REAL32_KW 16#8
COP_VISIBLE_STRING_KW 16#9
COP_OCTET_STRING_KW 16#A
COP_UNICODE_STRING_KW 16#B
COP_BIT_STRING_KW 16#E
COP_REAL64_KW 16#11
Definitions for system variable db0_can_errorstatus_adw
CAN_TXOVERRUN_KDW 16#20000 Send queue is full
CAN_OVERRUN_KDW 16#10000 Overrun during reception
CAN_BITERR_KDW 16#C000 Transmit bit error
CAN_ACKERR_KDW 16#2000 Acknowledge error
CAN_CRCERR_KDW 16#1000 CRC error
CAN_FORMERR_KDW 16#0800 Message format error
CAN_STUFERR_KDW 16#0200 Transmit error counter >= 96
CAN_RXWARN_KDW 16#0100 Receive error counter >= 96
CAN_IDLE_KDW 16#0040 No error
CAN_FCS_KDW 16#0030 Fault confinement state
CAN_BOFFINT_KDW 16#0004 Bus Off
CAN_ERRINT_KDW 16#0002 Error interrupt
CAN_WAKEINT_KDW 16#0001 No error