CANopen Manager / Slave Manual - esd electronics, Inc.

CANopen-Slave
The following example shows some pseudo code how to setup the object dictionary and PDOs using
the definition in the previous example. Please refer to example1.c, which comes with your CANopen
library distribution, for a fully working example.
HNODE Node; /* Node handle */
/* Create slave node */
canOpenCreateNodeEx(...., &Node);
.
.
.
/* Initialize object default data and create application specific */
udtDefaultData.uint32.defval = 0;
udtDefaultData.uint32.val = 0;
/* Create the dictionary */
DECLARE_DICTIONARY(Node, AsyncIo);
/* Declare PDOs */
DECLARE_PDO(Node, AsyncIo);
.
.
.
/* Activate slave and enter state state Pre-Operational */
Page 56 of 65
Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Slave