IODSubObject (ITF) ¶ INTERFACE IODSubObject EXTENDS __SYSTEM.IQueryInterface Defines an subobject Properties: AccessType DataType Formula RefuseSDOAccess Size SubIndex pData pDefault Structure: AccessType (Property) DataType (Property) Formula (Property) RefuseSDOAccess (Property) Size (Property) SubIndex (Property) pData (Property) pDefault (Property)
IODSubObject.AccessType (PROP) ¶ PROPERTY AccessType : ACCESSTYPES Returns the access type of an object as a bitfield.
IODSubObject.DataType (PROP) ¶ PROPERTY DataType : DATA_TYPE Returns the CANopen datatype of the object
IODSubObject.Formula (PROP) ¶ PROPERTY Formula : BOOL TRUE if value is calculated via a formula $NODEID + value . Values of such objects change when changing the NodeID.
IODSubObject.RefuseSDOAccess (PROP) ¶ PROPERTY RefuseSDOAccess : BOOL If FALSE object cannot be read by SDO.
IODSubObject.Size (PROP) ¶ PROPERTY Size : CAA.SIZE Size of object value in bytes
IODSubObject.SubIndex (PROP) ¶ PROPERTY SubIndex : BYTE SubIndex of object
IODSubObject.pData (PROP) ¶ PROPERTY pData : POINTER TO BYTE Gets the pointer to the object value. Data is saved in Host Byte Order and can be directly accessed and modified. Note When changing an object manually, don’t forget to call IObjectDictionary.RaiseWriteObject before and IObjectDictionary.RaiseObjectChanged after modifiying the object. This is important to notify the stack and all other instances implementing IODCallback that an object change has happened. Otherwise there could be a stack missbehaviour regarding this object. But you can also call IObjectDictionary.WriteObject or IObjectDictionary.WriteObjectByAddress to modify an object’s value. In this case events are raised automatically.
IODSubObject.pDefault (PROP) ¶ PROPERTY pDefault : POINTER TO BYTE Gets the pointer to the object’s default value. Data is saved in Host Byte Order and should not be changed.
IObjectDictionary (ITF) ¶ INTERFACE IObjectDictionary EXTENDS __SYSTEM.IQueryInterface Defines the interface of a CANopen Object Dictionary. Note The ObjectDictionary of a slave instance can be retrieved by CANopenDevice.ObjectDictionary . Methods: GetObject GetObjectToWrite RaiseObjectChanged RaiseReadObject RaiseWriteObject ReadObject ReadObjectByAddress RegisterCallback UnregisterCallback WriteObject WriteObjectByAddress Structure: Callback RegisterCallback (Method) UnregisterCallback (Method) Events RaiseObjectChanged (Method) RaiseReadObject (Method) RaiseWriteObject (Method) Read ReadObject (Method) ReadObjectByAddress (Method) Search GetObject (Method) GetObjectToWrite (Method) Write WriteObject (Method) WriteObjectByAddress (Method)
