3.2. CANOPEN_SLAVE

3.2.1. Overview

The canopen_demo provides the following features:

  • HeartBeat test

  • NMT test

  • SDO test

  • PDO test

3.2.2. Board Setting

Download master routines on one board, download slave routines on another board, connect two boards

3.2.3. Running Steps

After the program is successfully downloaded, it will actively send pre optional information and wait for the master to issue instructions

3.2.4. Running the example

When the example runs successfully, the board shows the following:

----------------------------------------------------------------------
$$\   $$\ $$$$$$$\  $$\      $$\ $$\
$$ |  $$ |$$  __$$\ $$$\    $$$ |\__|
$$ |  $$ |$$ |  $$ |$$$$\  $$$$ |$$\  $$$$$$$\  $$$$$$\   $$$$$$\
$$$$$$$$ |$$$$$$$  |$$\$$\$$ $$ |$$ |$$  _____|$$  __$$\ $$  __$$\
$$  __$$ |$$  ____/ $$ \$$$  $$ |$$ |$$ /      $$ |  \__|$$ /  $$ |
$$ |  $$ |$$ |      $$ |\$  /$$ |$$ |$$ |      $$ |      $$ |  $$ |
$$ |  $$ |$$ |      $$ | \_/ $$ |$$ |\$$$$$$$\ $$ |      \$$$$$$  |
\__|  \__|\__|      \__|     \__|\__| \_______|\__|       \______/
----------------------------------------------------------------------
Allocated 4712 bytes for CANopen objects
CANopenNode - Reset communication...
rxSize = 17, txSize = 9
CANopenNode - Slave Mode Running...

3.2.4.1. Test steps

The current routine is a canopen slave role. The board runs the current routine and connects to the board running the master role.

Slave board show as:

Allocated 4712 bytes for CANopen objects
CANopenNode - Reset communication...
rxSize = 17, txSize = 9
CANopenNode - Slave Mode Running...

There will be no special printing on the slave side, and the test results will be judged based on the master side printing.