CANopen Manager / Slave Manual - esd electronics, Inc.

CANopen-Slave
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A value of 0 describes a transfer PDO which is transmitted once at the reception
of the SYNC object or a receive PDO whose data is taken over by the
application at the reception of the SYNC object.
A value n between 1 and 240 describes a cyclical, synchronous transfer PDO
which is only transmitted at the reception of every nth SYNC object.
InhibitTime determines in ms how long after transmission of this PDO this isn’t
allowed to be transmitted again.
TxTout and RxTout are the timeout intervals at transmission or reception of data.
The parameter iEventTimer defines the time in ms after which an asynchron
TPDO is sent in either case even it’s data hasn’t changed.
The parameter Mapping describes the mapping of directory entries into the PDO
by specifying index and subindex. The list has to be terminated by a zero for
index and subindex. Dummy mapping according to /1/ is supported by
specifying a value between 0x01 and 0x07 as index and a 0 as subindex.
In Hpdo the handle for this PDO is stored.
Return: 0 or an error code described in the appendix.
canOpenWritePDO()
Name: canOpenWritePDO() - asynchronous transmission of a transmit PDO
Synopsis: int canOpenWritePDO
(
HPDO hpdo, /* handle of PDO */
void * buffer /* pointer to the data sink */
)
Description: Transmitting the asynchronous transfer PDO. This service is only possible in
node state Operational.
If buffer is NULL, the PDO is transmitted as is. Otherwise the specified data is
taken over and the updated PDO is transmitted. The corresponding mapping
entries of the Object Dictionary are also updated by doing this.
Return: 0 or an error code described in the appendix.
Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 CANopen Slave