User guide

14
VTB USER GUIDE
function open_cancfgerr(nodes as char) as void
nodes = Total number of nodes in the CanOpen configuration.
This function is called by the system before starting the CanOpen configuration. The
total number of the nodes in the configuration is written in the parameter nodes.
function cancfgerr(nodo as int, err as uchar) as void
nodo=Number of configured node.
err=Result of configuration.
0 = Node correctly configured.
<>0 = Error code. See relative chapter of CanOpen functions.
This is called at the end of configuration of each node writing the result in the
parameter err.
function close_cancfgerr() as void
This function is called after the end of the last node configured.
Slow Px
By default this option is set to one but for compatibility with all systems we recommend to keep it always at ZERO. It
will be used for future expansions.
Ethercat Protocol
It enables the the Ethercat protocol in system which can manage it.
Ethercat can work also with CanOpen protocol enabled.