CO_RPDOCommPar_t Struct Reference

RPDO communication parameter. More...

#include <CO_PDO.h>

Data Fields
uint8_t	maxSubIndex
	Equal to 2.
uint32_t	COB_IDUsedByRPDO
	Communication object identifier for message received. More...
uint8_t	transmissionType
	Transmission type. More...

Detailed Description

RPDO communication parameter.

The same as record from Object dictionary (index 0x1400+).

Field Documentation

COB_IDUsedByRPDO

uint32_t CO_RPDOCommPar_t::COB_IDUsedByRPDO

Communication object identifier for message received.

Meaning of the specific bits:

• Bit 0-10: COB-ID for PDO, to change it bit 31 must be set.
• Bit 11-29: set to 0 for 11 bit COB-ID.
• Bit 30: If true, rtr are NOT allowed for PDO.
• Bit 31: If true, node does NOT use the PDO.

transmissionType

uint8_t CO_RPDOCommPar_t::transmissionType

Transmission type.

Values:

• 0-240: Reciving is synchronous, process after next reception of the SYNC object.
• 241-253: Not used.
• 254: Manufacturer specific.
• 255: Asynchronous.

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The documentation for this struct was generated from the following file:

• 301/CO_PDO.h