Code: |
AS + 759 |
Symbolic: |
bccCanC402Info |
This command will query CANopen C402 information. Request has the following parameters:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U32 |
FLAGS |
Request flags: |
4 |
U16 |
WSID |
Workstation ID (0=all)(#1) |
6 |
U16 |
N |
No. of workstation (max 41) |
(#1) Workstation ID is also know (or defined) as Robox ID.
On success, a bccAck is received with the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
0 |
U16 |
N |
No. of WSDAT structures (max 23) |
2 |
WSDAT |
DATA1 |
Information for 1st workstation |
8 |
WSDAT |
DATA2 |
Information for 2nd workstation |
... |
... |
... |
... |
.. |
WPDAT |
DATA{N} |
PDO data for Nth workstation |
Each WPDAT structure have the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+0 |
U16 |
WSID |
Workstation ID |
+2 |
U16 |
STSW |
Status word |
+4 |
U16 |
CTLW |
Control word |
On failure, a bccNack is received. Specific errors:
NACK code |
Description |
Extra data |
|---|---|---|
nackIllegalArgs |
Illegal parameters |
U16 Param ID 1=Bad flags 2=Bad workstation ID 3=Bad no. of workstation |
