SrdoCommunicationParameter Struct¶

The SRDO communication parameter record, data type 26h (CiA DSP 304 V1.0 §8.4.1.1 Table 5): direction (sub1), refresh time for a producer or SCT for a consumer (sub2), SRVT (sub3, consumer only), and the two COB-IDs (sub5, sub6). Sub4, the transmission type, is the constant 254 and is not part of this record.

public readonly record struct SrdoCommunicationParameter : System.IEquatable<CanKit.Pro.CANopen.Safety.SrdoCommunicationParameter>

Implements IEquatable<SrdoCommunicationParameter >

Constructors¶

SrdoCommunicationParameter(SrdoDirection, TimeSpan, TimeSpan, uint, uint) Constructor¶

The SRDO communication parameter record, data type 26h (CiA DSP 304 V1.0 §8.4.1.1 Table 5): direction (sub1), refresh time for a producer or SCT for a consumer (sub2), SRVT (sub3, consumer only), and the two COB-IDs (sub5, sub6). Sub4, the transmission type, is the constant 254 and is not part of this record.

public SrdoCommunicationParameter(CanKit.Pro.CANopen.Safety.SrdoDirection Direction, System.TimeSpan RefreshOrSafeguardCycleTime, System.TimeSpan ValidationTime, uint CobId1, uint CobId2);

Parameters¶

Direction SrdoDirection

Sub-index 1.

RefreshOrSafeguardCycleTime TimeSpan

Sub-index 2, whole milliseconds 1..65535.

ValidationTime TimeSpan

Sub-index 3, whole milliseconds 1..255. Written and part of the checksum for every direction; a producer does not act on it (§8.4.2.2 "tx: not used").

CobId1 UInt32

Sub-index 5, the odd CAN-ID of the plain-data frame (257, 259..383).

CobId2 UInt32

Sub-index 6, the even CAN-ID of the inverted frame (258, 260..384).

Properties¶

SrdoCommunicationParameter.CobId1 Property¶

Sub-index 5, the odd CAN-ID of the plain-data frame (257, 259..383).

public uint CobId1 { get; init; }

Property Value¶

UInt32

SrdoCommunicationParameter.CobId2 Property¶

Sub-index 6, the even CAN-ID of the inverted frame (258, 260..384).

public uint CobId2 { get; init; }

Property Value¶

UInt32

SrdoCommunicationParameter.Direction Property¶

Sub-index 1.

public CanKit.Pro.CANopen.Safety.SrdoDirection Direction { get; init; }

Property Value¶

SrdoDirection

SrdoCommunicationParameter.RefreshOrSafeguardCycleTime Property¶

Sub-index 2, whole milliseconds 1..65535.

public System.TimeSpan RefreshOrSafeguardCycleTime { get; init; }

Property Value¶

TimeSpan

SrdoCommunicationParameter.ValidationTime Property¶

Sub-index 3, whole milliseconds 1..255. Written and part of the checksum for every direction; a producer does not act on it (§8.4.2.2 "tx: not used").

public System.TimeSpan ValidationTime { get; init; }

Property Value¶

TimeSpan