CANopen Send

This Node has different versions depending on which Protocol is selected. This can be either PDO or SDO. Find in the tabs below the documentation for both versions.

PDO

Overview

The CANopen Send: PDO Node.

The CANopen Send Node is used to send a message once a CANopen connection has been selected from the Drop-down Menu. Here, the PDO protocol has been chosen.

Scope: Project, Scene.

Attributes

The CANopen Send: PDO Node Attributes.

Attribute	Type	Description
Configuration	Drop-down	The identifying connection name that will be used, which has already been set up in the Project Settings.
Protocol	Drop-down	The desired protocol to use when sending the message. Here, PDO has been chosen. After selecting this, Index and Subindex will provide values.
Is Custom Message	Bool	Can be toggled on or off depending on whether it is a custom message or not. Toggling it on changes the Index and Subindex into editable input fields allowing values from 0-FFFF for the former and 0-255 for the latter.
Index	Drop-down	The index of the signal. Values depend on which Protocol has been selected.
Subindex	Drop-down	The subindex of the signal. Values depend on which Index has been selected.
CANopen Type	Defined by previous selections	The value type to be sent which is determined by index and subindex selection.
Message Name	String	A custom name which remains read-only.
Type	String	A message type which remains read-only, unless Is Custom Message is set to true.

Inputs

Input	Type	Description
Pulse Input (►)	Pulse	A standard Input Pulse, to trigger the execution of the Node.
Message	Any (Defined by previous selections)	The value to be sent.

Outputs

Output	Type	Description
Pulse Output (►)	Pulse	A standard Output Pulse, to move onto the next Node along the Logic Branch, once this Node has finished its execution.

SDO

Overview

The CANopen Send: SDO Node.

The CANopen Send Node is used to send a message once a CANopen connection has been selected from the Drop-down Menu. Here, the SDO Protocol has been chosen.

Scope: Project, Scene.

Attributes

The CANopen Send: SDO Node Attributes.

Attribute	Type	Description
Configuration	Drop-down	The identifying connection name that will be used, which has already been set up in the Project Settings.
Protocol	Drop-down	The desired protocol to use when sending the message. Here, SDO has been chosen. After selecting this, Index and Subindex will provide values.
Is Custom Message	Bool	Can be toggled on or off depending on whether it is a custom message or not. Toggling it on changes the Index and Subindex into editable input fields allowing values from 0-FFFF for the former and 0-255 for the latter.
Index	Drop-down	The index of the signal. Values depend on which Protocol has been selected.
Subindex	Drop-down	The subindex of the signal. Values depend on which Index has been selected.
CANopen Type	Defined by previous selections	The value type to be sent which is determined by index and subindex selection.
Message Name	String	A custom name which remains read-only.
Type	String	A message type which remains read-only.

Inputs

Input	Type	Description
Pulse Input (►)	Pulse	A standard Input Pulse, to trigger the execution of the Node.
Message	Any (Defined by previous selections)	The value to be sent.

Outputs

Output	Type	Description
Pulse Output (►)	Pulse	A standard Output Pulse, to move onto the next Node along the Logic Branch, once this Node has finished its execution.

See Also

• CANopen Start
• CANopen Stop

External Links

• Explanation of PDO and SDO.