CANopenNode
Data Fields
CO_RPDOCommPar_t Struct Reference
CANopen_301 » PDO

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