Command CO

Writing the value of the specified CANOpen/CoE/SoE object.

Syntax

CO_WOBJ nWs -r nn obj -r nn subIndex -r nn kind value

nWs

Robox station ID

obj

Object number

subIndex

Object subindex

If EtherCAT (SoE)

B0	Coded to value: 0 if single-device Index of the one concerned in case of multidevice
B1
B2
B3	reserved = 0
B4	reserved = 0
B5	In 1 abort request of the command associated with specified IDN. NOTE: End of command code is still sent.
B6	In 1 enable status notification management of command associated with specified IDN (if associated with start code) (value 3)
B7	In 1 enable automatic command handling (With command start send and on command end notification send end code). If the command lasts longer than the timeout time by a few seconds, the response wait routine will timeout. The Soe command will still remain active on read operation

-r

Number of repetitions for the preceding option (optional)

-kind

Data type. Possible values are: (optional)

•I8 = Integer 8 bit signed

•U8 = Integer 8 bit unsigned

•I16 = Integer 16 bit signed

•U16= Integer 16 bit unsigned

•I32 = integer 32 bit signed

•U32 = integer 32 bit unsigned

•F = Float, 32 bit real

value

Value to be imposed

Notes

I write 0 in object 0x1005 subindex 0 of workstation 1:

COBID of SYNC.

co_wobj

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