dre99gsx
2008-01-14 21:40:09 UTC
I am running 5 nodes, and have each node simultaneously move a motor. When all motors complete, my CAN receive buffer should have 5 PDOs each indicating a move completion. When I read a PDO, it is removed from the CAN buffer, correct?
Now, If Node 1 is set up to begin reading PDOs (waiting for the right PDO), will it read all PDOs or only the ones with the correct COB-ID? I would like to be certain that anytime a PDO is read with the CANOpen Library, it does not read (and remove from the buffer) PDOs meant for other nodes. I assume since I create a PDO object specifing a Node ID, that this PDO-Read will only pull PDOs with matching NODE ID from the central can receive buffer.
Now, If Node 1 is set up to begin reading PDOs (waiting for the right PDO), will it read all PDOs or only the ones with the correct COB-ID? I would like to be certain that anytime a PDO is read with the CANOpen Library, it does not read (and remove from the buffer) PDOs meant for other nodes. I assume since I create a PDO object specifing a Node ID, that this PDO-Read will only pull PDOs with matching NODE ID from the central can receive buffer.