Code: |
AS + 920 |
Symbolic: |
bccFbReadCanEntry |
This command will read an entry from the device CANopen Interface object dictionary. Request parameters are the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: 0x00000001 Request the ADDR field 0x00000002 Request the DEFVAL field 0x00000004 Request the MINVAL field 0x00000008 Request the MAXVAL field 0x00000010 Request the TEXT field 0x40000000 Request the ERRTEXT field |
4 |
U32 |
NODE |
Node address |
8 |
U32 |
IX |
Entry index |
12 |
U32 |
SUBIX |
Entry sub-index |
On success, a bccAck is received with following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Reply flags: 0x00000001 ADDR field present 0x00000002 DEFVAL field present 0x00000004 MINVAL field present 0x00000008 MAXVAL field present 0x00000010 TEXT field present 0x40000000 ERRTEXT field present 0x80000000 ERRCODE field present |
4 |
U32 |
NODE |
Node address (echo) |
8 |
U32 |
IX |
Entry index (echo) |
12 |
U32 |
SUBIX |
Entry sub-index (echo) |
16 |
... |
EXDATA |
Extra data |
The EXDATA structure is the following when the 0x80000000 flag is set in FLAGS:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+16 |
U32 |
ERRCODE |
Error code |
+20 |
STRZ |
ERRTEXT |
Error text (#1) |
(#1) Present only when 0x40000000 is set in FLAGS.
Otherwise, if the 0x80000000 flags is not set in FLAGS, the EXDATA structure is the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+16 |
U32 |
DTYPE |
|
+20 |
... |
EXDATA2 |
Extra data 2 |
If the 0x100000 is set in DTYPE, the EXDATA2 structure is the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+20 |
STRZ |
VALUE |
Entry actual value |
In all other cases, the EXDATA2 structure is the following:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+20 |
<T> |
VALUE |
Entry actual value |
+28 |
U32 |
ADDR |
Entry address (#1) |
... |
<T> |
DEFVAL |
Entry default value (#2) |
... |
<T> |
MINVAL |
Entry minimum value (#3) |
... |
<T> |
MAXVAL |
Entry maximum value (#4) |
... |
STRZ |
TEXT |
Entry description (#5) |
(#1) Present only when 0x00000001 is set in FLAGS.
(#2) Present only when 0x00000002 is set in FLAGS (offset depends of previous fields presence).
(#3) Present only when 0x00000004 is set in FLAGS (offset depends of previous fields presence).
(#4) Present only when 0x00000008 is set in FLAGS (offset depends of previous fields presence).
(#5) Present only when 0x00000010 is set in FLAGS (offset depends of previous fields presence).
Data type <T> is determined as following:
•If the (DTYPE & 0x3F) value is 0x18, the type T is I64
•If the (DTYPE & 0x3F) value is 0x8, the type T is U64
•In all other cases T is DBL
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackMissingArgs |
Missing arguments |
|
nackIllegalArgs |
Illegal arguments |
U16 What illegal: 1=Flags 2=Node address 3=Index/sub-index |
nackInterfaceNotFound |
CANopen interface not present |
|
nackInterfaceNotReady |
CANopen interface not running |
|
