Code: |
AS + 752 |
Symbolic: |
bccCanNmtRead |
This command will read one or more CANopen NMT. 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 63) |
(#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 NMT structures (max 63) |
2 |
NMT |
DATA1 |
NMT data for 1st workstation |
6 |
NMT |
DATA2 |
NMT data for 2nd workstation |
... |
... |
... |
... |
... |
NMT |
DATA{N} |
NMT data for Nth workstation |
Each NMT structure have the following data:
Offset |
Type |
Label |
Description |
|---|---|---|---|
+0 |
U16 |
WSID |
Workstation ID (#1) |
+2 |
U8 |
STSC |
Status code: 4=Stop 5=Operational 127=Preoperational |
+3 |
U8 |
STSF |
Status flags: 0x01 Not present ws 0x02 Not physically present ws (even if forced presence) 0x04 Last RTR for APDO failed 0x08 Ws forced presence 0x10 Configuration in progress 0x20 Configuration aborted 0x80 Ws sent PDO shorter than programmed |
(#1) Workstation ID is also know (or defined) as Robox ID.
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 |
