CANopen VIs
- Updated2023-02-21
- 3 minute(s) read
Use the CANopen VIs to control and configure CANopen devices on a CANopen network. You can use 11-bit or 29-bit COB-IDs for the CANopen VIs.
| Palette Object | Description |
|---|---|
| CANopen Create | Creates an interface, a transmit-process data object (TPDO), a receive-process data object (RPDO), a heartbeat object, a node guarding object, a synchronization (SYNC) object, an emergency (EMCY) object, or a CAN frame read object. You must manually select the polymorphic instance to use.
When you create objects on a CANopen network, ensure each object that receives data, such as RPDOs, SDOs, heartbeat objects, node guarding objects, and emergency object, has a unique COB-ID. Otherwise, this VI returns an error. This VI is not optimized for real-time performance. |
| CANopen Error Control Read | Controls errors of CANopen devices. Use this VI to read received messages of an emergency (EMCY) object, the current state of a heartbeat object, or the current state of a node guarding object. You must manually select the polymorphic instance to use.
This VI is optimized for real-time performance. This VI executes with low cost and avoids access to shared resources that can induce jitter. |
| CANopen NMT Write | Transmits a network management (NMT) command over a CANopen network. This command controls NMT states of one or all devices on the network.
This VI is optimized for real-time performance. This VI executes with low cost and avoids access to shared resources that can induce jitter. |
| CANopen RPDO Write | Writes data to a specified receive-process data object (RPDO).
This VI is optimized for real-time performance. This VI executes with low cost and avoids access to shared resources that can induce jitter. |
| CANopen SDO Batch Write | Sends out a list of service data object (SDO) write requests. You can define the list in a batch SDO. You must create and deploy a batch SDO in the Project Explorer window before using this VI.
This VI is not optimized for real-time performance. |
| CANopen SDO Read | Reads the value of an object dictionary entry by using a service data object (SDO). If an error occurs, this VI returns an empty value. You must manually select the polymorphic instance to use.
This VI is not optimized for real-time performance. |
| CANopen SDO Write | Writes the value of an object dictionary entry by using a service data object (SDO). You can write different types of data by selecting the corresponding polymorphic VI instances. Wire data to the data type data input to determine the polymorphic instance to use or manually select the instance.
This VI is not optimized for real-time performance. |
| CANopen SYNC Reset | Resets the synchronization (SYNC) counter value of the next SYNC message. Use this VI to start a new SYNC cycle before the counter value reaches the value of the synchronous counter overflow object.
This VI is optimized for real-time performance. This VI executes with low cost and avoids access to shared resources that can induce jitter. |
| CANopen SYNC Send | Sends out a synchronization (SYNC) message through a specified SYNC object.
This VI is optimized for real-time performance. This VI executes with low cost and avoids access to shared resources that can induce jitter. |
| CANopen TPDO Read | Reads data from the receive buffer of a specified transmit-process data object (TPDO). This VI also returns the device firmware time when the data arrives at the TPDO.
This VI is optimized for real-time performance. This VI executes with low cost and avoids access to shared resources that can induce jitter. |
| CANopen TPDO RTR Request Send | Sends a remote transmission request (RTR) to a transmit-process data object (TPDO) producer. When the TPDO producer receives the RTR, the producer sends out a PDO to the CANopen network. The COB-ID of the TPDO corresponds to the COB-ID in TPDO object in.
This VI is optimized for real-time performance. This VI executes with low cost and avoids access to shared resources that can induce jitter. |
| Subpalette | Description |
|---|---|
| Advanced VIs | Use Advanced VIs to interact with CANopen objects, frames, and data arrays. |