PISO-CPM100(U) / PCM-CPM100 user manual (ver. 2.02) Dec/03/2012 ----------------- 95
4.5.60. CPM100_GetEMCYData
Description:
If users don’t know that which slave node occurred the EMCY
message and which CPM100 received it. Users can use the function
CPM100_GetEMCYData. This function can get not only the EMCY
message with the slave node ID but also the board number of the
CPM100. The parameter, BoardNo, indicates the number of the
CPM100 which receives the EMCY message. The parameter, Node, is
the ID of the slave node which produces the EMCY. The parameters,
*RData, is the 8-bytes EMCY message data. The function
CPM100_GetEMCYData is usually applied with the function
CPM100_InstallEMCYISR. About the demo please refer to the section
4.1.2 NMT_Protocol.
Syntax:
WORD
CPM100_GetEMCYData (
BYTE
*BoardNo,
BYTE
*Node,
BYTE
*RData)
Parameter:
*BoardNo:
[output] Get the board number of the CPM100 which
receives the EMCY message.
*Node:
[output] Get the slave node ID of the received EMCY message.
*RData:
[output] 8-byte EMCY message obtained from the EMCY
buffer.
