# On CANopen Receive

## Overview

![The On CANopen Receive Node.](https://1553081948-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU990HLHWA30dTfELtDUK%2Fuploads%2Fgit-blob-a47d65ed39587040bf0e973b3c74d4ef1817d10e%2Foncanopenreceive.png?alt=media)

**On CANopen Receive Node** is an **Event Listener Node** allowing the user to perform an action once a **CANopen** `Configuration` is selected from the **Drop-down Menu**.

[**Scope**](https://docs.incari.com/incari-studio/overview#scopes): **Project**, **Scene**.

## Attributes

![The On CANopen Receive Node Attributes.](https://1553081948-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU990HLHWA30dTfELtDUK%2Fuploads%2Fgit-blob-1226c013dc0277651ade579ccfc35ea087aaa1b4%2Foncanopenreceiveatts.png?alt=media)

| Attribute           | Type                               | Description                                                                                                                                                                                                                    |
| ------------------- | ---------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| `Configuration`     | **Drop-down**                      | The identifying connection name that will be used, which has already been set up in the [**Project Settings**](https://docs.incari.com/incari-studio/modules/project-settings/canopen).                                        |
| `Protocol`          | **Dropdown**                       | The desired protocol to use when sending the message. Presently, only `PDO` is possible.                                                                                                                                       |
| `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*.                                                                                                                                           |

## 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. |
| `Message`          | **Any**   | The received value.                                                                                                                    |

## See Also

* [**On CANopen Start**](https://docs.incari.com/incari-studio/toolbox/communication/canopen/events/oncanopenstart)
* [**On CANopen Stop**](https://docs.incari.com/incari-studio/toolbox/communication/canopen/events/oncanopenstop)