CO_SRDOCommPar_t Struct Reference

SRDO communication parameter. More...

#include <CO_SRDO.h>

Data Fields
uint8_t	maxSubIndex
	Equal to 6.
uint8_t	informationDirection
	Direction of the SRDO. More...
uint16_t	safetyCycleTime
	Refresh-time / SCT. More...
uint8_t	safetyRelatedValidationTime
	SRVT. More...
uint8_t	transmissionType
	Transmission type. More...
uint32_t	COB_ID1_normal
	Communication object identifier for message received. More...
uint32_t	COB_ID2_inverted
	Communication object identifier for message received. More...

Detailed Description

SRDO communication parameter.

The same as record from Object dictionary (index 0x1301-0x1340).

Field Documentation

informationDirection

uint8_t CO_SRDOCommPar_t::informationDirection

Direction of the SRDO.

Values:

• 0: SRDO is invalid (deleted)
• 1: SRDO is transmiting data
• 2: SRDO is receive data

safetyCycleTime

uint16_t CO_SRDOCommPar_t::safetyCycleTime

Refresh-time / SCT.

• in tx mode (Refresh-time): transmission interval
• in rx mode (SCT): receive timeout between two SRDO

safetyRelatedValidationTime

uint8_t CO_SRDOCommPar_t::safetyRelatedValidationTime

SRVT.

• in tx mode: unsed
• in rx mode: receive timeout between first and second SRDO message

transmissionType

uint8_t CO_SRDOCommPar_t::transmissionType

Transmission type.

Values:

• 254: Manufacturer specific.

COB_ID1_normal

uint32_t CO_SRDOCommPar_t::COB_ID1_normal

Communication object identifier for message received.

Meaning of the specific bits:

• Bit 0-10: COB-ID for SRDO
• Bit 11-31: set to 0 for 11 bit COB-ID.

COB_ID2_inverted

uint32_t CO_SRDOCommPar_t::COB_ID2_inverted

Communication object identifier for message received.

Meaning of the specific bits:

• Bit 0-10: COB-ID for SRDO
• Bit 11-31: set to 0 for 11 bit COB-ID.

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

• 304/CO_SRDO.h