PISO-CPM100(U) / PCM-CPM100 user manual (ver. 2.02) Dec/03/2012 ----------------- 91
4.5.56. CPM100_SetEMCY_List
Description:
If the user uses CPM100_AddNode function to add the slave with
manual mode, the function CPM100_SetEMCY_List must be called
while the EMCY ID of the slave needs to be changed or be set.
CPM100_SetEMCY_List only can change the EMCY COB-ID in the
COB-ID list of the CPM100. Afterwards, the CPM100 process the EMCY
messages with the specific EMCY COB-ID which is configured by the
function CPM100_SetEMCY_List.
Syntax:
WORD
CPM100_SetEMCY_List (
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”.
