Pdo

Constructor

new Pdo(eds)

Source:

protocol/pdo.js, line 23

Implements:

Protocol

See:

CiA301 "Process data objects (PDO)" (§7.2.2)

Parameters:

Name	Type	Description
`eds`	Eds	Eds object.

Methods

addReceive(cobId, entries, args)

Description:

Create a new RPDO communication/mapping parameter entry.

Source:

protocol/pdo.js, line 412

Deprecated:

Use Eds#addReceivePdo instead.

Parameters:

Name Type Description

cobId

number

COB-ID used by the RPDO.

entries

Array.<DataObject>

entries to map.

args

object

optional arguments.

Properties

Name	Type	Attributes	Default	Description
`type`	number	<optional>	`254`	transmission type.
`inhibitTime`	number	<optional>	`0`	minimum time between writes.
`eventTime`	number	<optional>	`0`	how often to send timer based PDOs.
`syncStart`	number	<optional>	`0`	initial counter value for sync based PDOs.

addTransmit(cobId, entries, args)

Description:

Create a new TPDO communication/mapping parameter entry.

Source:

protocol/pdo.js, line 466

Deprecated:

Use Eds#addTransmitPdo instead.

Parameters:

Name Type Description

cobId

number

COB-ID used by the TPDO.

entries

Array.<DataObject>

entries to map.

args

object

optional arguments.

Properties

Name	Type	Attributes	Default	Description
`type`	number	<optional>	`254`	transmission type.
`inhibitTime`	number	<optional>	`0`	minimum time between writes.
`eventTime`	number	<optional>	`0`	how often to send timer based PDOs.
`syncStart`	number	<optional>	`0`	initial counter value for sync based PDOs.

getReceive(cobId) → {DataObject|null}

Description:

Get a RPDO communication parameter entry.

Source:

protocol/pdo.js, line 385

Deprecated:

Use Eds#getReceivePdos instead.

Parameters:

Name	Type	Description
`cobId`	number	COB-ID used by the RPDO.

Returns:

the matching entry.

Type: DataObject | null

getTransmit(cobId) → {DataObject|null}

Description:

Get a TPDO communication parameter entry.

Source:

protocol/pdo.js, line 439

Deprecated:

Use Eds#getTransmitPdos instead.

Parameters:

Name	Type	Description
`cobId`	number	COB-ID used by the TPDO.

Returns:

the matching entry.

Type: DataObject | null

init()

Description:

Initialize the device and audit the object dictionary.

Source:

protocol/pdo.js, line 372

Deprecated:

Use Pdo#start instead.

receive(message)

Description:

Call when a new CAN message is received.

Source:

protocol/pdo.js, line 129

Implements:

Protocol#receive

Parameters:

Name Type Description

message

object

CAN frame.

Properties

Name	Type	Description
`id`	number	CAN message identifier.
`data`	Buffer	CAN message data;

Fires:

Pdo#event:pdo

removeReceive(cobId)

Description:

Remove a RPDO communication/mapping parameter entry.

Source:

protocol/pdo.js, line 426

Deprecated:

Use Eds#removeReceivePdo instead.

Parameters:

Name	Type	Description
`cobId`	number	COB-ID used by the RPDO.

removeTransmit(cobId)

Description:

Remove a TPDO communication/mapping parameter entry.

Source:

protocol/pdo.js, line 480

Deprecated:

Use Eds#removeTransmitPdo instead.

Parameters:

Name	Type	Description
`cobId`	number	COB-ID used by the TPDO.

start()

Description:

Start the module.

Source:

protocol/pdo.js, line 63

Implements:

Protocol#start

Fires:

Protocol#event:start

stop()

Description:

Stop the module.

Source:

protocol/pdo.js, line 95

Implements:

Protocol#stop

Fires:

Protocol#event:stop

write(cobId)

Description:

Service: PDO write

Source:

protocol/pdo.js, line 42

Parameters:

Name	Type	Description
`cobId`	number	mapped TPDO to send.

Fires:

Protocol#event:message

Events

Description:

New Pdo data is available.

Source:

protocol/pdo.js, line 350

Properties:

Name	Type	Description
`cobId`	number	object identifier.
`transmissionType`	number	transmission type.
`inhibitTime`	number	minimum time between updates.
`dataObjects`	Array.<DataObject>	mapped objects.

Type:

object