Trio Motion Coordinator Euro 205, Техническое справочное руководство

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Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-81
System Parameters and Commands
Notes:
register#
is the 81C91 register number.
Baudrate: 0=1Mhz, 1=500kHz, 2=250kHz etc.
The 81C91 has 16 message buffers(0..15). The
message#
is which message buffer is
required to be used.
“
Identifier
” is the CAN identifier.
variable
# is the number of the global variable to start loading the data into. The
function will load a sequence of n+1 variables. The first variable holds the identi-
fier. The subsequent values hold the data bytes from the can packet.
Functions 8 and 9 are only available on the MC206 and MC224.
CANIO_ADDRESS
Type:
System Parameter (Stored in FLASH Eprom)
Description: The
CANIO_ADDRESS
holds the address used to identify the Motion Coordinator
when using the Trio CAN I/O networking. The value is held in flash eprom in the con-
troller and for most systems does not need to be set from the default value of 32.
The value may be changed to a different value in the range 33..47 but in this case
the Motion Coordinator will not connect to CAN-I/O modules following reset. The
value of CANIO_ADDRESS should be changed from 32 if it is required to use the
built-in CAN channel for functions other than controlling Trio I/O modules.
8 Read CanOpen Object
CAN(channel#,8,transbuf,recbuf,object,
subindex,variable#)
9 Write CanOpen Object
CAN(channel#,9,transbuf,recbuf,format,
object,subindex,value,{valuems})