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utils.cobid

CanOpenObject Objects​

class CanOpenObject()

CANopen function codes.

This class provides constants representing the function codes in the CANopen protocol. The function codes are used to construct the CAN identifier (CAN ID) by adding them to the node ID for most functions.

For more information about the CANopen protocol, see: https://www.csselectronics.com/pages/canopen-tutorial-simple-intro

NMT​

Network management

SYNC​

Synchronization message, send with node id == 0

EMCY​

Emergency message, non-zero node id

TPDO1​

Transmit PDO 1

RPDO1​

Receive PDO 1

TPDO2​

Transmit PDO 2

RPDO2​

Receive PDO 2

TPDO3​

Transmit PDO 3

RPDO3​

Receive PDO 3

TPDO4​

Transmit PDO 4

RPDO4​

Receive PDO 4

SDO_REPLY​

SDO reply (server to client)

SDO_CMD​

SDO command (client to server)

HEARTBEAT​

Node heartbeat message

create_nmt_cobid​

def create_nmt_cobid()

Creates a COB-ID for NMT message.

create_sync_cobid​

def create_sync_cobid()

Creates a COB-ID for SYNC message.

create_emcy_cobid​

def create_emcy_cobid(nodeId)

Creates a COB-ID for EMCY message.

create_rpdo1_cobid​

def create_rpdo1_cobid(nodeId)

Creates a COB-ID for RPDO1 message.

create_tpdo1_cobid​

def create_tpdo1_cobid(nodeId)

Creates a COB-ID for TPDO1 message.

create_sdo_expedited_rw_xmit_cobid​

def create_sdo_expedited_rw_xmit_cobid(nodeId)

Creates a COB-ID for SDO command message.

create_sdo_expedited_rw_resp_cobid​

def create_sdo_expedited_rw_resp_cobid(nodeId)

Creates a COB-ID for SDO reply message.

create_heartbeat_cobid​

def create_heartbeat_cobid(nodeId)

Creates a COB-ID for heartbeat message.