PISO-CPM100(U) / PCM-CPM100 user manual (ver. 2.02) Dec/03/2012 ----------------- 112
4.5.77. CPM100_ResponseMasterPDO
Description:
Using this function can reply the Remote PDO messages to the
sender. For example, the CPM100 has used CPM100_InstallPDO_List
to install a TxPDO object with the COB-ID 0x444. If someone sends a
Remote PDO message with the COB-ID 0x444 to the CPM100, and the
CPM100 needs to reply a TxPDO message, users can use this function
to do it. When users implement the function
CPM100_ResponseMasterPDO, the CPM100 will send a TxPDO
message to the CANopen network. This function is usually used with
the CPM100_InstallRemotePDOISR function .About the demo please
refer to the section 4.1.6 SDO_PDO_ISR.
Note: The function is valid while the Node parameter of the
function CPM100_InitMaster is > 0.
Syntax:
WORD
CPM100_ResponseMasterPDO (
BYTE
BoardNo,
WORD
CobId,
BYTE
Len,
BYTE
*Data)
Parameter:
BoardNo:
[input] CPM100 board number (0~7).
CobId:
[input] TxPDO COB-ID for replying the PDO message.
Len:
[input] The data length of the response data.
*Data:
[input] Return the COB-ID of the TxPDO PDO message.
