IFM Electronic Ecomat Mobile Series System Manual page 127

CAN in the ecomatmobile controller
Detailed description of the functionalities of the CANopen master and the mechanisms → chapter
CANopen master (→ page 85).
Using the controller CR0020 as an example the following code fragments show the use of the function
CANx_MASTER_STATUS (→ page 123).
Example with function CANx_MASTER_STATUS
Slave information
To be able to access the information of the individual CANopen nodes, an array for the corresponding
structure must be generated. The structures are contained in the library. You can see them under
"Data types" in the library manager.
The number of the array elements is determined by the global variable MAX_NODEINDEX which is
automatically generated by the CANopen stack. It contains the number of the slaves minus 1 indicated
in the network configurator.
NOTE
The numbers of the array elements do not correspond to the node ID. The identifier can be read from
the corresponding structure under NODE_ID.
Structure node status
ifm System Manual ecomatmobile SmartController (CR2500) V05
ifm CANopen library
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