Description
This function sets the requested CANopen Node-ID within the NMT module.
Prototype
void CONmtSetNodeId(CO_NMT *nmt, CPU_INT08U nodeId);
| Parameter | Description |
|---|---|
nmt | reference to NMT structure |
nodeId | the requested NMT node ID |
Returned Value
none
Additional Information
The following errors are detected within this function:
| Value | Description |
|---|---|
| CO_ERR_NMT_MODE | the CANopen device is not in INIT mode |
| CO_ERR_BAD_ARG | the given nodeId is invalid (e.g. zero) |
If one of these errors is detected, this function call will change nothing.
Important: After successful operation, the function CONmtReset() must be called to re-initialize the internal SDO and PDO tables.
Example
The following example shows how to set a dynamically determined node-ID for the CANopen node AppNode: