private CanOpenStatus configureIoOutputs()
{
byte io_blocks;
uint canopenErrorCode;
CanOpenStatus ret;
// Read number of I/O-outputs.
ret = client_sdo.objectRead(0x2100, 0, out io_blocks, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
this.digital_outputs = io_blocks * 8;
// Disable all I/O outputs.
ret = client_sdo.objectWrite(0x1600, 0, 0, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
// Map output blocks. Signals are located on object index 6200 with subindex 1 -> n.
for (int i = 0; i < io_blocks; i++)
{
UInt32 val = (UInt32)(0x62000008 + 0x100 * io_blocks);
ret = client_sdo.objectWrite(0x1600, (byte)(1 + io_blocks), val, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
}
// Enable all I/O outputs.
ret = client_sdo.objectWrite(0x1600, 0, io_blocks, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
UInt32 cobid;
cobid = (UInt32)(0x00000200 + (node_id));
if (io_blocks == 0)
{
cobid = cobid | 0x80000000; // Disable PDO.
}
// Set COBID for RPDO.
ret = client_sdo.objectWrite(0x1400, 1, cobid, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
// Set transmission type to 254.
ret = client_sdo.objectWrite(0x1400, 2, (byte)(254), out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
// Start node.
ret = nmt_mlaster.nodeStart(node_id);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
return(CanOpenStatus.CANOPEN_OK);
}
protected void btnStartNode3_Click(object sender, EventArgs e)
{
nmt_Master.nodeStart(3);
}