PISO-CPM100(U) / PCM-CPM100 user manual (ver. 2.02) Dec/03/2012 ----------------- 90
4.5.55. CPM100_ChangeEMCYID
Description:
Use the function CPM100_ChangeEMCYID to change the EMCY
COB-ID of a specific slave device.
Syntax:
WORD
CPM100_ChangeEMCYID (
BYTE
BoardNo,
BYTE
Node,
WORD
Cobid,
BYTE
BlockMode)
Parameter:
BoardNo:
[input] CPM100 board number (0~7).
Node:
[input] Slave device Node-ID (1~127).
Cobid:
[input] COB-ID used by the EMCY object.
BlockMode:
[input] 0 means this function is non-block-function, and 1
means this function is block-function. If set this parameter to 1, the
running procedure of the users’ application will be held in the
function until return. If set to 0, this function will return “CPM_
Processing” directly. This function will return its process status
while users apply it with the same “BoardNo” and “Node” again. If
the procedure is still not complete, it will return “CPM_Wait”.
