Supported platforms: CODESYS 3.5, CODESYS 3.5 SAFETY
CANopenEMCY (FB)
Description
This function block implements both the EMCY producer and consumer.
EMCY Producer
The EMCY producer sends an EMCY message when an EMCY is activated with method Activate.
In case that all active EMCYs are deactivated, a null EMCY message with error code 0 is sent.
EMCY Consumer
The EMCY consumer registers a callback function block for each listed EMCY producer.
The last received EMCY message from each producer is copied to the EMCYObject table given in the application.
Limitations
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CANopen OD protocol has to be initialized before initializing EMCY with the Init method. The required code is included in MultiTool Creator code template. |
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The mandatory Error Register OD index 16#1001 must be registered in the application code. The required code is included in MultiTool Creator code template. |
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The function block is included in CANopen library 4.0.2.4 or later. |
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ClearLog method is included in CANopen library 4.0.5.4 or later. |
Init (METHOD)
This method initializes EMCY protocol and adds the following OD indexes:
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1003h Pre-defined error field
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1014h EMCY COB-ID
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1015h EMCY inhibit time
This method also sets up the null EMCY message data.
Inputs
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Input variable name |
Data type |
Description |
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i_pDevice |
POINTER TO Device |
Pointer to device |
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i_pErrorRegister |
POINTER TO BYTE |
Pointer to error register data |
Outputs
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Output variable name |
Data type |
Range |
Description |
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o_Error |
Errors (ENUM) |
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Protocol error. |
Error diagnostic
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Error |
Reason |
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ODFull |
Object dictionary is full. Cannot add index. |
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COBIDAlreadyRegistered |
COB-ID is already registered. |
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CallbackBufferFull |
Number of registered COB-IDs exceeded G_MAX_NUMBER_OF_COBIDS when initializing callback. |
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InterfaceError |
Device channel interface missing, or low level (CL2) library returned error. |
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NotInitialized |
CAN channel not initialized, or not connected to given CANopen device. |
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InputError |
Given pointer NULL or protocol data missing. |
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NoError |
No errors. |
AddCallbackToList (METHOD)
This method registers a callback handler for the consumed EMCY message COB-ID.
Inputs
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Input variable name |
Data type |
Description |
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i_pDevice |
POINTER TO Device |
Pointer to device |
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i_pCallback |
POINTER TO CANopenEMCYCallback |
Pointer to EMCY consumer handler instance. |
Outputs
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Output variable name |
Data type |
Range |
Description |
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o_Error |
ENUM |
Errors |
Protocol error. |
Error diagnostic
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Error |
Reason |
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ProtocolDataMissing |
EMCY protocol not added to stack. |
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InputError |
Given device or instance pointer null. |
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InterfaceError |
Device channel interface missing, or low level (CL2) library returned error. |
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NoError |
No errors. |
Update (METHOD)
This method updates the error register status (1001h) and the list of active EMCYs (1003h). Also, this method sends EMCY messages.
The EMCY message is sent after the EMCY is activated with the method Activate.
A null EMCY message is sent after the last active EMCY has been deactivated with the method Deactivate.
Set the inhibit time and application cycle time limit for sending EMCY messages.
The Update method call sends the oldest unsent EMCY message.
Inputs
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Input variable name |
Data type |
Description |
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i_Enable |
BOOL |
Enable protocol operation. NOT IMPLEMENTED. |
Outputs
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Output variable name |
Data type |
Range |
Description |
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o_Error |
Errors (ENUM) |
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Protocol error. |
Error diagnostic
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Error |
Reason |
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ProtocolDataMissing |
NMT or HB protocol not added to stack. |
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InterfaceError |
Device channel interface missing, or low level (CL2) library returned error. |
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NotInitialized |
Protocol has not been initialized, or null device pointer given to init. |
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NoError |
No errors. |
Activate (METHOD)
This method adds the given EMCY object to the list of active EMCYs.
Inputs
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Input variable name |
Data type |
Description |
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i_pEMCYObject |
POINTER TO EMCYListObject |
Pointer to EMCY object to add. |
Return value
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Data type |
Range |
Description |
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BOOL |
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Return value is TRUE if EMCY added successfully, else FALSE. |
Deactivate (METHOD)
This method removes the given EMCY object from the list of active EMCYs.
Inputs
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Input variable name |
Data type |
Description |
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i_pEMCYObject |
POINTER TO EMCYListObject |
Pointer to EMCY object to remove. |
Return value
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Data type |
Range |
Description |
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BOOL |
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Return value is TRUE if EMCY removed successfully, else FALSE. |
ClearLog (METHOD)
This method clears the list of active EMCYs.
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This method is for application's disposal. However, the application does not need to handle the OD index 1003 sub 0 as specified in CiA DS301. The handler is included in the library. |
Inputs
-
Return value
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Data type |
Range |
Description |
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BOOL |
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Return value is TRUE if EMCY cleared successfully, else FALSE. |
Example code
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Definitions: |
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Device: EPEC_CANopen.Device; Protocols: ARRAY[1..n] OF EPEC_CANopen.ProtocolEntry; ProtocolAdded: ARRAY[1..n] OF BOOL := [n(0)];
(* Consumer data, add only if consumer *) MonitoredEMCYs: ARRAY [1..3] OF EMCYObject; EMCYCallbacks: ARRAY [1..3] OF EPEC_CANopen.CANopenEMCYCallback := [ (i_NodeID := 1, i_pEMCYObject := ADR(MonitoredEMCYs[1]), i_pNext := 0), (i_NodeID := 3, i_pEMCYObject := ADR(MonitoredEMCYs[2]), i_pNext := 0), (i_NodeID := 4, i_pEMCYObject := ADR(MonitoredEMCYs[3]), i_pNext := 0)];
(* Producer data, add only if producer *) EMCY_Objects: ARRAY [0..2] OF EPEC_CANopen.EMCYListObject := [ (Error := (Code := WORD#16#0001, Field := [16#00, 16#11, 16#12, 16#34, 16#56], RegisterMask := G_CANOPEN_ERR_REG_BITMASK_CURRENT)), (Error := (Code := WORD#16#0002, Field := [16#00, 16#22, 16#23, 16#45, 16#67], RegisterMask := G_CANOPEN_ERR_REG_BITMASK_VOLTAGE)), (Error := (Code := WORD#16#0003, Field := [16#00, 16#33, 16#34, 16#56, 16#78], RegisterMask := G_CANOPEN_ERR_REG_BITMASK_TEMPERATURE)) ];
EMCY: EPEC_CANopen.EMCYData; (* Protocol data *) EMCY_Handler: EPEC_CANopen.CANopenEMCY; (* Protocol handler *) EMCY_Error: EPEC_CANopen.Errors := EPEC_CANopen.Errors.NotInitialized; |
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Init: |
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Protocols[6].Protocol:=EPEC_CANopen.ProtocolType.EMCY; Protocols[6].pData:=ADR(G_CANopen_CAN1.EMCY); Protocols[6].itfProtocol:=G_CANopen_CAN1.EMCY_Handler; Protocols[6].pError:=ADR(G_CANopen_CAN1_VAR.EMCY_Error);
ProtocolAdded[6] := CANopenDeviceAddProtocol( (* Add to protocol stack *) i_pDevice:=ADR(Device), i_pProtocol:=ADR(Protocols[6]) ); IF ProtocolAdded[6] THEN EMCY_Handler.Init( i_pDevice := ADR(Device), o_Error => EMCY_Error );
(* Add consumed EMCYs only if consumer *) EMCY_Handler.AddCallbackToList( i_pDevice := ADR(Device), i_pCallback:=ADR(EMCYCallbacks[1]) ); EMCY_Handler.AddCallbackToList( i_pDevice := ADR(Device), i_pCallback:=ADR(EMCYCallbacks[2]) ); EMCY_Handler.AddCallbackToList( i_pDevice := ADR(Device), i_pCallback:=ADR(EMCYCallbacks[3]) );
ELSE EMCY_Error := EPEC_CANopen.Errors.ProtocolDataMissing; END_IF |
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Code: |
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(* NOTE! The Update method call is needed for producer only. *)
EMCY_Handler.Update( i_Enable := TRUE, o_Error => EMCY_Error );
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Activation code: |
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EMCY_Handler.Activate( i_pEMCYObject := ADR(G_CANopen_CAN1.EMCY_Objects[2]) );
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Deactivation code: |
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EMCY_Handler.Deactivate( i_pEMCYObject := ADR(G_CANopen_CAN1.EMCY_Objects[2]) ); |
See also