Quentin Mettraux
Working Maveric
Diff: MaxonEPOS4.cpp
- Revision:
- 10:36a2131f636c
- Parent:
- 6:ef95300898b2
--- a/MaxonEPOS4.cpp Sun Jun 11 17:14:19 2017 +0000
+++ b/MaxonEPOS4.cpp Tue Aug 22 10:49:39 2017 +0000
@@ -3,8 +3,8 @@
* Copyright (c) 2017, ZHAW
* All rights reserved.
*
- * Created on: 06.02.2017
- * Author: Marcel Honegger
+ * Created on: 06.06.2017
+ * Author: Quentin Mettraux
*/
#include "MaxonEPOS4.h"
@@ -54,6 +54,7 @@
canOpen.writeSDO(nodeID, 0x1600, 0x03, 0x60FF0020, 4); // target velocity, 4 bytes
canOpen.writeSDO(nodeID, 0x1600, 0x00, 0x03, 1); // enable RPDO1
*/
+
canOpen.writeSDO(nodeID, 0x1400, 0x01, CANopen::RPDO1+nodeID, 4); // reconfigure communication with RPDO1
canOpen.writeSDO(nodeID, 0x1A00, 0x00, 0x00, 1); // disable TPDO1