Moxa IA262-I-T-LX Инструкция по эксплуатации онлайн [71/74] 170916

IA261/262 WinCE User’s Manual CANopen Library

/* wait until slave’s mode will switch to operational state*/

/* if return 0, mean this node entry operational state */

if (GetChangeStateResults(node_id, Operational, 20000) != 0xFF)

{

/*modify Client SDO 1 Parameter, mapping to dictionary

index:1280 ,client:0x600,server:0x580 */

UNS32 COB_ID_Client_to_Server_Transmit_SDO = 0x600 + node_id;

UNS32 COB_ID_Server_to_Client_Receive_SDO = 0x580 + node_id;

UNS32 Node_ID_of_the_SDO_Server = node_id;

UNS8 ExpectedSize = sizeof (UNS32);

if (OD_SUCCESSFUL == moxa_setODentry(&master_Data, 0x1280, 1,

&COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, RW)

&& OD_SUCCESSFUL == moxa_setODentry(&maste _Data, 0x1280, 2,

&COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, RW)

&& OD_SUCCESSFUL == moxa_setODentry(&master_Data, 0x1280, 3,

&Node_ID_of_the_SDO_Server, &ExpectedSize, RW))

{

UNS32 dev_type = 0;

char device_name[64]=““;

char hw_ver[64]=““;

char sw_ver[64]=““;

UNS32 vendor_id = 0;

UNS32 prod_code = 0;

UNS32 ser_num = 0;

UNS8 size;

UNS8 res;

//get information from slave node.

size = sizeof (dev_type);

B-36