IF GetState.CONFIRM = TRUE THEN
   // GetState successful. Output STATE contains result.
   State := GetState.STATE;
   xEnable := FALSE;
ELSIF GetState.ERROR <> CIA405.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR THEN
   // an error occured while processing GetState e.g. wrong NodeID or NetworkID
   xEnable := FALSE;
END_IF
// GetState needs the CAN network and the device NodeID (input DEVICE). 
GetState(    ENABLE := xEnable,
           NETWORK := CANbus.NetId + 1, //CODESYS NetId starts by 0 (the number entered into the CANbus configurator); CiA405 NETWORK by 1; That is the reason why we have to increment it here.
           TIMEOUT := 0, // no timeout for GetState needed because it is processed locally.
         DEVICE := CANopenRemoteDevice.NodeID // Note: If you want to get the state of the CANopenManager, you can use the CANopenManager NodeID or NodeID 0.
                                     // A CANopenManager goes to OPERATIONAL if all mandatory (= not optional) slaves are operational.
);