ICanOpenPdo Interface¶
Additional PDO services on nodes created by this library.
Implements ICanOpenPdoMonitoring
Methods¶
ICanOpenPdo.ConfigureMultiplexedRpdo(int, MpdoAddressMode, uint) Method¶
Configures an MPDO consumer. Source addressing uses the object dispatching lists (1FD0h–1FFFh); destination addressing writes the addressed local object.
void ConfigureMultiplexedRpdo(int pdoIndex, CanKit.Pro.CANopen.Pdo.MpdoAddressMode mode, uint cobId);
Parameters¶
pdoIndex Int32
mode MpdoAddressMode
cobId UInt32
ICanOpenPdo.ConfigureMultiplexedTpdo(int, MpdoAddressMode, uint) Method¶
Configures an event-driven MPDO producer. At most one source-addressed producer is valid per node. MPDOs do not use RTR, SYNC or an event timer.
void ConfigureMultiplexedTpdo(int pdoIndex, CanKit.Pro.CANopen.Pdo.MpdoAddressMode mode, uint cobId);
Parameters¶
pdoIndex Int32
mode MpdoAddressMode
cobId UInt32
ICanOpenPdo.SendDestinationMpdoAsync(int, byte, ushort, byte, ReadOnlyMemory<byte>, CancellationToken) Method¶
Sends a destination-addressed MPDO. Node-id 0 addresses all DAM consumers. One to four data bytes are padded to the protocol's four-byte data field.
System.Threading.Tasks.Task SendDestinationMpdoAsync(int pdoIndex, byte destinationNodeId, ushort index, byte subindex, System.ReadOnlyMemory<byte> value, System.Threading.CancellationToken cancellationToken=default(System.Threading.CancellationToken));
Parameters¶
pdoIndex Int32
destinationNodeId Byte
index UInt16
subindex Byte
value ReadOnlyMemory<Byte>
cancellationToken CancellationToken
Returns¶
ICanOpenPdo.SendSourceMpdoAsync(int, ushort, byte, CancellationToken) Method¶
Sends one source-addressed MPDO with the value of the named local object. The object must be readable, PDO-mappable and at most four bytes wide.
System.Threading.Tasks.Task SendSourceMpdoAsync(int pdoIndex, ushort index, byte subindex, System.Threading.CancellationToken cancellationToken=default(System.Threading.CancellationToken));
Parameters¶
pdoIndex Int32
index UInt16
subindex Byte
cancellationToken CancellationToken