CANBus Networking Manual
25
RoboCAN via MicroBasic Scripting
Checking the presence of a Node
No error is reported in MicroBasic if an exchange is initiated with a node that does not ex-
ist. A command or configuration sent to a non-existent node will simply not be executed.
A query sent to a non existing or dead node will return the value 0. A function is therefore
provided for verifying the presence of a live node. A live node is one that sends the dis-
tinct RoboCAN heartbeat frame every 128ms. The function syntax is:
IsCANNodeAlive(id)
Where:
id is the remote Node Id in decimal
The function returns a Boolean true/false value.
Self Addressed Commands and Queries
Functions addressed to the local node have no effect. The following function
will not
work
if executed on node 4
SetCANCommand(04, _G, 1, 500)
The regular function must be used instead
SetCommand(_G, 1, 500)
Broadcast Command
Node address 00 is used to broadcast a command, or a configuration write simultaneous-
ly to all the nodes in the network.
The local node, however, will not be reached by the broadcast command.
Remote MicroBasic Script Download
RoboCAN includes a mechanism for loading MicroBasic scripts into any node in the net-
work. Use the “To Remote” button in the Scripting Tab of the Roborun PC utility. A win-
dow will pop-up asking for the destination node Id. Details of the command used to enter
the download mode and transferring scripts is outside the scope of this manual.
