Jetter JVM-407 Betriebsanleitung Seite 119

JVM-407
Jetter AG
// Initialisierung CAN 0
CanOpenInit(CAN_CONTROLLER_0, NodeID_Node_0, SW_Version);
// Daten per PDO senden
CanOpenAddPDOTx(CAN_CONTROLLER_0,
CANOPEN_PDO2_TX(NodeID_Node_1), 0, CANOPEN_DWORD,
sizeof(Data_1_of_Node_1), Data_1_of_Node_1 Event_Time,
Inhibit_Time, CANOPEN_ASYNCPDORTRONLY | CANOPEN_NORTR);
CanOpenAddPDOTx(CAN_CONTROLLER_0,
CANOPEN_PDO2_TX(NodeID_Node_1), 4, CANOPEN_DWORD,
sizeof(Data_2_of_Node_1), Data_2_of_Node_1, Event_Time,
Inhibit_Time, CANOPEN_ASYNCPDORTRONLY | CANOPEN_NORTR);
CanOpenAddPDOTx(CAN_CONTROLLER_0,
CANOPEN_PDO3_TX(NodeID_Node_2), 0, CANOPEN_BYTE,
sizeof(Data_1_of_Node_2), Data_1_of_Node_2, Event_Time,
Inhibit_Time, CANOPEN_ASYNCPDO | CANOPEN_NORTR);
// Alle Geräte am CAN-Bus sind im Status PREOPERATIONAL
// Alle Geräte am CAN-Bus in den Status OPERATIONAL setzen
CanOpenSetCommand(CAN_CONTROLLER_0,
CAN_CMD_NMT_Value(CAN_CMD_NMT_ALLNODES, CAN_CMD_NMT),
CAN_NMT_START);
//Ab jetzt werden PDO-Telegramme übertragen.
// ...
// ...
// ...
End_Task;
CANopen®-STX-API
119