Parker Compax3 Fluid T40

Parker EME
Communication
192-121102 N04 June 2008 373
6.5.2.4 C3_CANopen_ConfigNode
FB name C3_CANopen_ConfigNode
This module establishes a PDO connection between two CANopen nodes.
To do this, the module changes the COB-Ids of the 2nd node (RemoteDevice) to the COB-
Ids of the 1st node (ReferenceDevice).
VAR_INPUT
Execute
BOOL Activating the module
ReferenceDevice
INT Node ID of the 1st node (1 ... 127)
RemoteDevice
INT Node ID of the 2nd node (1 ... 127)
ReferenceTxPDO
INT TxPDO number of the 1st node (1 ... 4)
RemoteRxPDO
INT TxPDO number of the 2nd node (1 ... 4)
ReferenceRxPDO
INT RxPDO number of the 1st node (1 ... 4)
RemoteTxPDO
INT
TxPDO number of the 2nd node (1 ... 4)
"0" do not establish connection
VAR_OUTPUT
Done
BOOL Function executed without error
Error
BOOL Error occurred
ErrorCode
WORD You will find the error code in the Compax3 error list.
AbortCode
DWORD CANopen SDO abort code (see page 383) upon error
653
77
C3 CANopen stack error (see page 374) no. upon
error 65
376
Note: Compax3 must be CANopen master.
Execute : BOOL Done : BOOL
C3_CANopen_ConfigNode
Error : BOOL
ErrorCode : WORD
AbortCode : DWORD
ReferenceDevice : INT
RemoteDevice : INT
ReferenceTxPDO : INT
RemoteRxPDO : INT
ReferenceRxPDO: INT
RemoteTxPDO : INT