CANopen SDO Client Request Processed Trigger
CANopen heartbeat consumer status reads NMT status of the referenced heartbeat consumer instance.
Block ID
CANopen SDO Client Request Processed Trigger
Library
motohawk_canopen_lib
Description
This block creates a trigger that will execute a connected subsystem when the referenced SDO client upload or download block has completed its specified action of uploading from a server or downloading to a server. The trigger condition drop down selects whether the trigger will execute when an upload or download request has successfully completed, or if the request has not completed successfully.
There are two possible conditions:
- SDO Processed without Error - triggers when a message is successfully processed.
- SDO Processed with Error - triggers when a message is not processed successfully.
Possible values of abort code include CANopen SDO abort codes and following manufacturer specific codes :
| Manufacturer Specific Abort Code | Description |
| 0x00000000 | No error while processing the request |
| 0x00000001 | CANopen SDO client queue is full, request couldn't be processed |
| 0x00000002 | Unable to send the SDO client request - CAN buffer queue request failed or LSS not enabling transmission |
| 0x00000003 | Segmented buffer is too small to handle the message |
| 0x00000004 | Segmented buffer busy - message not send |
| 0x00000005 | Unable to send request - not appropriate NMT state |
Block Parameters
| Parameter Field | Values | Comments/Description |
|---|---|---|
| SDO Upload/Download Reference | String | Name of associated CANopen download or CANopen upload block. |
| Trigger Name | String | Name of created trigger function. Parameter is optional, if no trigger name is provided in the function name will be generated automatically. |
| Trigger Condition | Drop down | Condition on which trigger is called :
|
| Execution Order within Task | Numeric (Integer) | More than one trigger may be placed in a model that is driven by the same event. Use the execution order within task attribute to define the execution order of these triggers relative to one another. The triggers will execute from the lowest execution order within Task value to the highest. |
| This Trigger is inside another triggered subsystem | Checkbox | If the trigger is inside another triggered subsystem, this must be checked. |
| Trigger even when containing subsystem is disabled | Checkbox | If the trigger is inside another enabled subsystem, then execute this subsystem if that subsystem is enabled. |