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CANopenDownload

Valid for: CANoe DE • CANoe:lite DE • CANoe4SW DE

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Function Syntax

  • void CANopenDownload( dword nodeId, dword index, dword subIndex, qword data, dword dataSize, dword blockMode, dword errCode[] ); // form 1
  • void CANopenDownload( dword nodeId, dword index, dword subIndex, char[] data, dword dataSize, dword blockMode, dword errCode[] ); // form 2
  • void CANopenDownload( dword nodeId, dword index, dword subIndex, byte[] data, dword dataSize, dword blockMode, dword errCode[] ); // form 3
  • void CANopenDownload( dword nodeId, dword index, dword subIndex, float data, dword 64bit, dword blockMode, dword errCode[] ); // form 4
  • void CANopenDownload( dword clientCOBID, dword serverCOBID, dword index, dword subIndex, qword data, dword dataSize, dword blockMode, dword errCode[] ); // form 5
  • void CANopenDownload( dword clientCOBID, dword serverCOBID, dword index, dword subIndex, char[] data, dword dataSize, dword blockMode, dword errCode[] ); // form 6
  • void CANopenDownload( dword clientCOBID, dword serverCOBID, dword index, dword subIndex, byte[] data, dword dataSize, dword blockMode, dword errCode[] ); // form 7
  • void CANopenDownload( dword clientCOBID, dword serverCOBID, dword index, dword subIndex, float data, dword 64bit, dword blockMode, dword errCode[] ); // form 8
  • void CANopenDownload( char[] namespace, char[] variable, qword data, dword dataSize, dword blockMode, dword errCode[] ); // form 9
  • void CANopenDownload( char[] namespace, char[] variable, char[] data, dword dataSize, dword blockMode, dword errCode[] ); // form 10
  • void CANopenDownload( char[] namespace, char[] variable, byte[] data, dword dataSize, dword blockMode, dword errCode[] ); // form 11
  • void CANopenDownload( char[] namespace, char[] variable, float data, dword is64bit, dword blockMode, dword errCode[] ); // form 12
  • void CANopenDownload( SysVarName, qword data, dword dataSize, dword blockMode, dword errCode[] ); // form 13
  • void CANopenDownload( SysVarName, char[] data, dword dataSize, dword blockMode, dword errCode[] ); // form 14
  • void CANopenDownload( SysVarName, byte[] data, dword dataSize, dword blockMode, dword errCode[] ); // form 15
  • void CANopenDownload( SysVarName, float data, dword is64bit, dword blockMode, dword errCode[] ); // form 16

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Callback

  • void OnCANopenDownloadResponse(dword id, dword index, dword subIndex, dword size)
  • void OnCANopenAbort(dword id, dword index, dword subIndex, dword abortCode)

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Description

Writes an entry in the object dictionary of another node using the SDO protocol. If the data transfer is aborted, the callback OnCANopenAbort is called.

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Parameters

  • nodeID: CANopen node ID of the SDO server, i.e. the node that contains the object dictionary with the entry to be changed. Value range 1..127
  • clientCOBID: CAN ID of the SDO client
  • serverCOBID: CAN ID of the SDO server
  • index: Index of the object, value range 1..65,535
  • subIndex: Subindex of the object, value range 0..255
  • data: Data to be written
  • dataSize: Size of the data in bytes
  • blockMode:
    • 0: Use expedited or segmented data transfer
    • 1: Use block data transfer
  • errCode: Error code buffer (is entered in index 0 of the field)
    • 0: Operation can be started
    • 1: Operation already running
    • 3: Invalid Client-COBID
    • 4: Invalid Server-COBID
    • 5: No CANopen license
    • 6: No CAN channel
  • id: nodeId for form 1-4, serverCOBID for form 5-8
  • abortCode: SDO abort code.
  • namespace: Name of the namespace.
  • variable: Name of the CANopen system variable.
  • SysVarName: Name of the fully qualified name of the CANopen system variable, including all namespaces, separated by ”::”. The name must be preceded by “sysVar::”.
  • Is64bit:
    • 0: data is a 32bit float, i.e. 4 bytes will be downloaded
    • 1: data is a 64bit float, i.e. 8 bytes will be downloaded

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Return Values

—

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Example

dword errCode[1];
char data[256] = "DownloadData";

CANopenDownload( 1, 0x2000, 0x00, data, strlen(data), 0, errCode );
if (errCode[0] == 0)
{
  write( "SDO Download successfully initiated" );
}