List of CANopen Library's Data Types

Epec Programming and Libraries Manual

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Supported platforms: CODESYS 2.3, CODESYS 3.5

List of CANopen Library's Data Types

CANopenDataUnion (UNION)

Name of the Member	Data Type	Description
pData	POINTER TO ANY	Pointer to data, used when data length is over 4 bytes.
Data	DWORD	Data, used when data length is 4 bytes or less.

CANopenDefPDO (STRUCT)

Name of the Member	Data Type	Description
Count	WORD	The amount of the PDOs.
pPDO	POINTER TO CANopenPDO	Pointer to the CANopenPDO struct array.

CANopenDev (STRUCT)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
NodeID	BYTE	The device's identification number in the CAN bus.
DrvNbr	BYTE	CAN channel number (0=CAN1, 1=CAN2...)
Protocols	POINTER TO CANopenProtocolEntry	Pointer to first used protocol
Next	DWORD	Pointer to next CANopen device

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
NodeID	BYTE	The device's identification number in the CAN bus.
itfCanChannel	CANVXD_API.ICANVXD	CAN channel interface
pProtocols	POINTER TO CANopenProtocolEntry	Pointer to first used protocol
pNext	POINTER TO CANopenDev	Pointer to next CANopen device

CANopenDomain (STRUCT)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
data	DWORD	Pointer to data buffer.
FileSize	DWORD	The reserved buffer size.
DataSize	DWORD	The used buffer size.
pFileName	DWORD	Pointer to the file name.

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
pData	POINTER TO ANY	Pointer to data buffer.
FileSize	DWORD	Reserved buffer size.
DataSize	DWORD	Used buffer size.
pFileName	POINTER TO ANY	Pointer to the file name.

CANopenEMCYObject (STRUCT)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
ErrorCode	WORD	EMCY Error-code by DS301. Message bytes 0,1 [0..7]
Details	WORD	EMCY Manufacturer specific error field. Message bytes 3,4 [0..7]
Details2	DWORD	EMCY Manufacturer specific error field. Message bytes 5,6,7 [0..7]
ErrorRegisterMask	BYTE	Active bits for 1001h index. Byte 2 in EMCYmessage
Prev	DWORD	Pointer to previous CANopenEMCYObject for internal use
Next	DWORD	Pointer to next CANopenEMCYObject for internal use
StateChangeTime	TIME	Time when EMCY state has changed. After sending this is zero
Active	BOOL	EMCY object activity status

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
ErrorCode	WORD	EMCY Error-code by DS301. Message bytes 0,1 [0..7]
Details	WORD	EMCY Manufacturer specific error field. Message bytes 3,4 [0..7]
Details2	DWORD	EMCY Manufacturer specific error field. Message bytes 5,6,7 [0..7]
ErrorRegisterMask	BYTE	Active bits for 1001h index. Byte 2 in EMCYmessage
pPrev	POINTER TO CANopenEMCYObject	Pointer to previous CANopenEMCYObject for internal use
pNext	POINTER TO CANopenEMCYObject	Pointer to next CANopenEMCYObject for internal use
StateChangeTime	TIME	Time when EMCY state has changed. After sending this is zero
Active	BOOL	EMCY object activity status

CANopenEMCYProtocol (STRUCT)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
ErrorRegister	BYTE	Error register: OD index 1001h
ActiveEmcyCodes	POINTER TO CANopenEMCYObject	A list of active EMCY codes: OD index 1003h
PassiveEmcyCodes	POINTER TO CANopenEMCYObject	The latest cleared but not sent Clear EMCY
COBID	DWORD	COB-ID of the EMCY object: OD index 1014h
InhibitTime	TIME	Inhibit time from OD index 1015h in milliseconds
InhibitTimeValue	WORD	OD index 1015h: EMCY inhibit time in *100us
LastTransmission	TIME	Last EMCY transmission time

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
ErrorRegister	BYTE	Error register: OD index 1001h
pActiveEmcyCodes	POINTER TO CANopenEMCYObject	A list of active EMCY codes: OD index 1003h
pPassiveEmcyCodes	POINTER TO CANopenEMCYObject	The latest cleared but not sent Clear EMCY
COBID	DWORD	COB-ID of the EMCY object: OD index 1014h
InhibitTime	TIME	Inhibit time from OD index 1015h in milliseconds
InhibitTimeValue	WORD	OD index 1015h: EMCY inhibit time in *100us
LastTransmission	TIME	Last EMCY transmission time

CANopenErrors (ENUM)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Value
CANopenNoError	INT	0
CANopenErrorODFull	INT	-1400
CANopenErrorODTooShortToOrder	INT	-1399
CANopenErrorSubIndexNotExist	INT	-1398
CANopenErrorTypedefMissing	INT	-1397
CANopenErrorIndexZero	INT	-1396
CANopenErrorIndexNotExist	INT	-1395
CANopenErrorTypedefIsNotTypedef	INT	-1394
CANopenErrorDefstructMissing	INT	-1393
CANopenErrorTypedefIsNotDefstruct	INT	-1392
CANopenErrorNoOdLineFound	INT	-1391
CANopenErrorSuccess	INT	1
CANopenErrorFailure	INT	2

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Value
CANopenNoError	INT	0
CANopenErrorODFull	INT	-1400
CANopenErrorODTooShortToOrder	INT	-1399
CANopenErrorSubIndexNotExist	INT	-1398
CANopenErrorTypedefMissing	INT	-1397
CANopenErrorIndexZero	INT	-1396
CANopenErrorIndexNotExist	INT	-1395
CANopenErrorTypedefIsNotTypedef	INT	-1394
CANopenErrorDefstructMissing	INT	-1393
CANopenErrorTypedefIsNotDefstruct	INT	-1392
CANopenErrorNoOdLineFound	INT	-1391
CANopenErrorInputError	INT	-1390
CANopenErrorInterfaceError	INT	-1389
CANopenErrorProtocolDataMissing	INT	-1388
CANopenErrorRPDOTimeout	INT	-1387

CANopenHeartBeatConsumer (STRUCT)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
Data	POINTER TO CANopenHeartBeat	Pointer to the first heartbeat producer

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
pHeartbeatProducer	POINTER TO CANopenHeartBeatProducer	Pointer to the first heartbeat producer

CANopenNMT (STRUCT)

Name of the Member	Data Type	Description
NmtState	BYTE	Current NMT state of the device: 0 = initializing 4 = stopped 5 = operational 127 = pre-operational
HeartBeat	TON	Heartbeat timer that defines the time interval between the heartbeats.
StateChanged	BOOL	CANopen device state has changed according to an NMT command from CAN bus. This flag is TRUE one program cycle.
ResetStateChangedFlag	BOOL	Reset StateChanged flag in next program cycle.
OldState	BYTE	NMT state before the NMT command
LastNmtCommand	BYTE	Latest NMT command value. If multiple NMT commands are received on one program cycle, latest is seen in this variable.

CANopenObjectCode (ENUM)

Name of the Member	Data Type	Value	Description
OD_NULL	INT	0	A dictionary entry with no data fields
OD_CANopenDomain	INT	2	Large variable amount of data e.g. executable program code
OD_DEFTYPE	INT	5	Denotes a type definition such as a Boolean, UNSIGNED16, float and so on
OD_DEFSTRUCT	INT	6	Defines a new record type e.g. the PDOMapping structure at 21h
OD_VAR	INT	7	A single value such as an UNSIGNED8, Boolean, float, Integer16, visible string etc.
OD_ARRAY	INT	8	A multiple data field object where each data field is a simple variable of the SAME basic data type e.g. array of UNSIGNED16 etc. Sub-index 0 is of UNSIGNED8 and therefore not part of the ARRAY data
OD_RECORD	INT	9	A multiple data field object where the data fields may be any combination of simple variables. Sub-index 0 is of UNSIGNED8 and therefore not part of the RECORD data
OD_EPEC	INT	10	Sub-index 0 is part of the OD_EPEC data.

The table above is according to DS-301. For more information refer to CiA standard DS-301 (Version 4.02).

CANopenOD (STRUCT)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
InOrder	BOOL	Indicates if the OD is organized by index numbers.
NextFree	BYTE	The line number of the next free OD line.
EntryCount	WORD	The amount of the OD lines.
OD	POINTER TO CANopenOD_ENTRY	The pointer to OD.
AdditionalData	DWORD	Reserved

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
InOrder	BOOL	Indicates if the OD is organized by index numbers.
NextFree	BYTE	The line number of the next free OD line.
EntryCount	WORD	The amount of the OD lines.
pODEntry	POINTER TO CANopenOD_ENTRY	The pointer to OD entry array
pAdditionalData	POINTER TO ANY	Pointer to any additional data.

CANopenOD_ENTRY (STRUCT)

The index information in OD.

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
index	WORD	The index number.
ObjectCode	CANopenObjectCode	The index type.
NumOfSubids	BYTE	The amount of sub-indexes.
TypeSpec	WORD	Index where the type is specified ie. 0005h=U8 Used if ObjectCode is VAR, ARRAY or RECORD. (complete list of the types can be found in CiA standard DS-301 (Version 4.02))
ObjectAccess	BYTE	See global constant variables.
sub0data	BYTE	The data of object's subindex 0 when the data type is ARRAY, RECORD or DEFSTRUCT.
pIndexData	DWORD	If the data type is VAR, ARRAY or RECORD, the value is pointer to data DEFTYPE, the value defines the bit amount DOMAIN, the value is pointer to data in CANopenDomain (STRUCT) DEFSTRUCT, the value is pointer to an array that defines for example the PDO Communication Parameter Record according to CiA DS-301 (table 41.).
CallBackPOU	WORD	POU index of callback POU.

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
Index	WORD	OD index number.
ObjectCode	CANopenObjectCode	The index type.
NumOfSubids	BYTE	The amount of sub-indexes.
TypeSpec	WORD	Index where the type is specified ie. 0005h=U8 Used if ObjectCode is VAR, ARRAY or RECORD. (complete list of the types can be found in CiA standard DS-301 (Version 4.02))
ObjectAccess	BYTE	Object access flags. See global constant variables.
Sub0data	BYTE	The data of object's subindex 0 when the data type is ARRAY, RECORD or DEFSTRUCT.
IndexData	CANopenDataUnion	Index data
itfSDOHandler	ICANopenSDOHandler	Interface to additional SDO handler

CANopenODSubServices (ENUM)

Defines possible additional services for OD.

Name of the Member	Value	Description
NoSubServices	0	No subservices
Save	1	OD save functionality

CANopenPDOType (ENUM)

Name of the Member	Value	Description
ReceivePDO	0	PDO type is receive PDO
TransmitPDO	1	PDO type is transmit PDO

CANopenProtocolEntry (STRUCT)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
Data	DWORD	Pointer to protocol data
pDevice	DWORD	Pointer to the device that owns the protocol
Update	WORD	Index of the update POU
Init	WORD	Index of the init POU
ProtocolType	CANopenProtocolType	See the following table (CANopenProtocolType (ENUM)).
Next	DWORD	Pointer to next protocol entry

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
pData	POINTER TO ANY	Pointer to protocol data
pDevice	POINTER TO CANopenDev	Pointer to the device that owns the protocol
itfProtocol	ICANopenProtocol	Interface for protocol initialization and update
ProtocolType	CANopenProtocolType	See the following table (CANopenProtocolType (ENUM)).
pNext	POINTER TO CANopenProtocolEntry	Pointer to next protocol entry

CANopenProtocolType (ENUM)

Name of the Member	Value
NoProtocol	0
OD	1
NMT	2
SSDO	3
CSDO	4
RPDO	5
TPDO	6
SYNC	7
EMCY	8
HBCons	9
DevErrors	10
IndexSave	11
NodeGuard	12

CANopenSSDO (STRUCT)

CODESYS 2.3CODESYS 2.3

Name of the Member	Data Type	Description
SDO_DL_IN_PRG	BOOL	SDO transfer in progress
Toggle	BYTE	Normal transfer toggle mask
MUXinfo	DWORD	MUX = index*100h + subindex, for example 100900h
post	CANopenSDOTransferPhase	Transfer phase, see CANopenSDOTransferPhase
pData	DWORD	Pointer to the data to be transferred
unitsize	DWORD	(Sub)index size in bits
SDO_Parameters	ARRAY [0..1] OF DWORD	Receive and transmit COB-IDs. Data of index 1200h, for example 16#601,16#581 when node-ID is 1
timeout	TON	SDO timeout timer
SDOCallbackReturn	DWORD	Abort code

CODESYS 3.5CODESYS 3.5

Name of the Member	Data Type	Description
SDOTransmissionActive	BOOL	SDO transmission in progress
Toggle	BYTE	Normal transfer toggle mask
MUXinfo	DWORD	MUX = index*100h + subindex, for example 100900h
Post	CANopenSDOTransferPhase	SDO transfer phase 0 = SDO Download indication. Beginning of SDO data transfer to OD index, data is unchanged. 1 = SDO Download end. Data is transferred to index. Data content is the new data. 2 = SDO Upload indication. Beginning of SDO data upload from OD index, the requested data is not sent yet. 3 = SDO Upload end. Data is transferred from index to the CAN bus See the following table CANopenSDOTransferPhase (ENUM).
pData	POINTER TO ANY	Pointer to the data to be transferred
Unitsize	DWORD	(Sub)index size in bits
SDO_Parameters	ARRAY [0..1] OF DWORD	Receive and transmit COB-IDs. Data of index 1200h, for example 16#601,16#581 when node-ID is 1
Timeout	TON	SDO timeout timer
SDOCallbackReturn	DWORD	Return value from additional SDO handler

CANopenSDOTransferPhase (ENUM)

Name of the Member	Value	Description
SDO_DL_Ind	0	Beginning of SDO data transfer to OD index, data is unchanged.
SDO_DL_End	1	Data is transferred to index. Data content is the new data.
SDO_UPL_Ind	2	Beginning of SDO data upload from OD index, the requested data is not sent yet.
SDO_UPL_End	3	Data is transferred from index to the CAN bus.

CANopenSYNC (STRUCT)

Name of the Member	Data Type	Description
COBID	DWORD	Message ID
Count	BYTE	The amount of received SYNC messages

Source file Topic000214.htm

Last updated 21-Feb-2025