The CANopen stack handles the storage and order of timed actions internally. For the execution of the timed functions a service function is provided.
For processing the elapsed timer actions, the following line should be placed in a loop within the background function:
COTmrProcess(&demo); /* process timed action(s) */
The following diagram shows the internal behavior of this service:
Note: The CANopen stack uses the timed actions for standardized timed actions. In this case the shown ActionCallback function is an internal CANopen stack function.