This keyword allows a variable of type STRU_CO_OBJ to be defined.
This variable is used by the co_robj() and co_wobj() functions to read/write fieldbus objects.
It consists of the following information:
Field |
Type |
Description |
|---|---|---|
rid |
I32 |
Robox ID associated with the device |
objCode |
I32 |
Object number |
subIndex |
I32 |
Subindex number |
type |
I32 |
Data type according to the encoding used for co_send_sdo()/co_asw_sdo(): •0, No object •1, Unsigned 8 bits •2, Unsigned 16 bits •3, Unsigned 24 bits •4, Unsigned 32 bits •5, Real 32 bit •-1, Signed 8 bits •-2, Signed 16 bits •-3, Signed 24 bits •-4, Signed 32 bits |
data |
REAL |
Data received/sent |
phase |
I32 |
Working phase/execution mode: •1, passing execution initialization (**) •-1, blocking execution initialization (**) •2, reserved RTE •3, reserved RTE •4, operation executed successfully •0, not initialized or error •other, illegal value NOTE: Values marked with (**) are the only ones that can be written to this variable by the user. |
res_1 |
I32 |
Reserved |
Example declaration:
|
