List of Library's Data Types and Globals

Epec Programming and Libraries Manual

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Supported platforms: CODESYS 2.3, CODESYS 3.5

List of Library's Data Types and Globals

Data Types CODESYS 2.3Data Types CODESYS 2.3

NM_Node (STRUCT)

Name of the Member	Data Type	Default value	Description
NodeID	BYTE	1	Node ID of device to monitor/manage.
KeepAlive	BOOL	TRUE	When set, the node is started when it enters pre-operational state.
Reset	BOOL	TRUE	When set, the node is reset when it is missing from CAN bus.
Mandatory	BOOL	TRUE	When set, the node state affects o_BusOk output of NetworkManager FB.
ConsumerTime	UINT	600	Maximum heartbeat interval before node is considered missing.
State	SINT	-1	Current state of the node. -1 means node is missing, others are NMT states.
TimeSinceLastHeartbeat	UINT	0	Number of milliseconds since last heartbeat message from the node.
SlaveConfiguration	POINTER TO NM_ConfigureSlave		Pointer to function block instance to configure slave OD, TPDOs and RPDOs

NM_SlaveODConfiguration (STRUCT)

Name of the Member	Data Type	Default value	Description
Index	WORD	0	OD index
SubIndex	BYTE	0	OD subindex
NewValue	DWORD	0	Value to be written to the index/subindex, or pointer to the value, if larger than 4 bytes
Size	BYTE	0	Size of the value to write (number of bytes) .
State	BYTE	0	State of the index/subindex: 0 = Not written, 1 = Written, 2 = Fault

NM_SlavePDOConfiguration (STRUCT)

Name of the Member	Data Type	Default value	Description
COBID	DWORD	0	COBID of the PDO
TransmissionType	BYTE	0	Transmission type of the PDO
InhibitTime	WORD	0	Inhibit time of the PDO
EventTime	WORD	0	Event time of the PDO
State	BYTE	0	State of the PDO configuration: 0 = Not written, 1 = Written, 2 = Fault
ConfigureInhibitTime	BOOL	TRUE	TRUE = TPDO inhibit time is configured. FALSE = TPDO inhibit time is not configured.
ConfigureEventTime	BOOL	TRUE	TRUE = TPDO event time is configured. FALSE = TPDO event time is not configured.
ConfigureMappings	BOOL	TRUE	If TRUE PDO mappings are configured to slave unit
PDONumber	WORD	1..512	Communication and mapping indexes are determined by PDO number

Data Types CODESYS 3.5Data Types CODESYS 3.5

NM_Node (STRUCT)

Name of the Member	Data Type	Default value	Description
NodeID	BYTE	1	Node ID of device to monitor/manage.
KeepAlive	BOOL	TRUE	When set, the node is started when it enters pre-operational state.
Reset	BOOL	TRUE	When set, the node is reset when it is missing from CAN bus.
Mandatory	BOOL	TRUE	When set, the node state affects o_BusOk output of NetworkManager FB.
ConsumerTime	UINT	600	Maximum heartbeat interval before node is considered missing.
State	SINT	-1	Current state of the node. -1 means node is missing, others are NMT states.
TimeSinceLastHeartbeat	UINT	0	Number of milliseconds since last heartbeat message from the node.
SlaveConfiguration	POINTER TO NM_ConfigureSlave		Pointer to function block instance to configure slave OD, TPDOs and RPDOs

NM_SDOArg (UNION)

Name of the Member	Data Type	Default value	Description
NewValue	DWORD		Value to be written to the index/subindex; Used when size of value is 4 bytes or less.
pNewValue	POINTER TO ANY		Pointer to the value, if larger than 4 bytes.

NM_SlaveODConfiguration (STRUCT)

Name of the Member	Data Type	Default value	Description
Index	WORD	0	OD index
SubIndex	BYTE	0	OD subindex
NewValue	NM_SDOArg	0	Value to be written to the index/subindex, or pointer to the value, if larger than 4 bytes
Size	BYTE	0	Size of the value to write (number of bytes) .
State	BYTE	0	State of the index/subindex: 0 = Not written, 1 = Written, 2 = Fault

NM_SlavePDOConfiguration (STRUCT)

Name of the Member	Data Type	Default value	Description
COBID	DWORD	0	COBID of the PDO
TransmissionType	BYTE	0	Transmission type of the PDO
InhibitTime	WORD	0	Inhibit time of the PDO
EventTime	WORD	0	Event time of the PDO
State	BYTE	0	State of the PDO configuration: 0 = Not written, 1 = Written, 2 = Fault
ConfigureInhibitTime	BOOL	TRUE	TRUE = TPDO inhibit time is configured. FALSE = TPDO inhibit time is not configured.
ConfigureEventTime	BOOL	TRUE	TRUE = TPDO event time is configured. FALSE = TPDO event time is not configured.
ConfigureMappings	BOOL	TRUE	If TRUE PDO mappings are configured to slave unit
PDONumber	WORD	1..512	Communication and mapping indexes are determined by PDO number

Global constants

Name of the Member	Data Type	Default value	Description
G_NM_ST_BOOTUP	BYTE	0	Node state is bootup.
G_NM_ST_STOPPED	BYTE	4	Node state is stopped.
G_NM_ST_OPERATIONAL	BYTE	5	Node state is operational.
G_NM_ST_PREOPERATIONAL	BYTE	127	Node state is preoperational.
G_NM_CMD_START	BYTE	1	NMT command start node.
G_NM_CMD_STOP	BYTE	2	NMT command stop node.
G_NM_CMD_ENTERPREOPERATIONAL	BYTE	128	NMT command enter to preoperational.
G_NM_CMD_RESET	BYTE	129	NMT command rese node.
G_NM_CMD_RESETCOMMUNICATION	BYTE	130	NMT command reset communication.
G_NM_SlaveConfigForceTimeDelay	DWORD	200	Delay (ms) of forced slave configuration when slave is not preoperational.
G_NM_SlaveConfigFast	BOOL	FALSE	When TRUE, two configurations are made in one program cycle. Otherwise only one configuration per program cycle.
G_NM_SlaveConfigRestartDelay	DWORD	50	Inhibit time of slave re-configuration (ms).

Global variables

Name of the Member	Data Type	Default value	Description
G_NM_Counter	WORD	0	Number of configurations done.

Source file Topic000236.htm

Last updated 13-Jun-2024