Jetter JVM-407B-HMI, User Manual

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Jetter AG 121
JVM-407B CANopen® STX API
In the following example, the heartbeat time is entered in the CANopen®
object directory of the device with the addressed node ID.
Const
CANNo = 0 ; // Number of the bus line
NodeID_Node_0 = 10 ; // Node ID of node 1
NodeID_Node_0 = 68 ; // Node ID of node 2
End_Const ;
Var
busy: Int;
Heartbeat_time: Int;
Objectindex: Word;
Subindex: Byte;
Result: Int;
End_Var ;
Task Example_DownloadSDO autorun
Var
SW_Version: String;
End_Var ;
SW_Version :=
'v4.3.0.2004' ;
// Initializing CAN 0
CanOpenInit(CANNo, // Number of the bus line
NodeID_Node_0, // Device ID of the node
SW_Version); // Manufacturer's software version
// Setting the node with ID NodeID_Node_1 on the CAN bus to
// PREOPERATIONAL state
CanOpenSetCommand(CANNo, CAN_CMD_NMT_Value(NodeID_Node_1,
CAN_CMD_NMT), CAN_NMT_PREOPERATIONAL);
// Changing the heartbeat time of the addressed device via SDO
Objectindex := 0x1017 ;
Subindex := 0 ;
Result:= CanOpenDownloadSDO(CANNo, // Number of the bus line
NodeID_Node_1, // Node ID
Objectindex, // wIndex
Subindex, // SubIndex
CANOPEN_WORD, // DataType
sizeof (Heartbeat_time), // DataLength
Heartbeat_time, // DataAddr
busy); // Busy
// Checking the command for successful execution
If (Result == 0) Then
JetSym STX program