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54 HREF="node1.html">Contents</A></B> |
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55 <BR> |
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56 <BR></DIV> |
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57 <!--End of Navigation Panel--> |
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58 |
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59 <H2><A NAME="SECTION00091000000000000000"> |
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60 TestMasterSlave</A> |
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61 </H2> |
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62 <TT>**************************************************************</TT> |
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63 |
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64 <P> |
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65 <TT>* |
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66 |
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67 <BR> |
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68 <BR> |
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69 <BR> |
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84 <BR> |
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85 <BR> |
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86 <BR> |
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87 <BR>*</TT> |
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88 |
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89 <P> |
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90 <TT>* |
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91 |
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92 <BR> |
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94 <BR> |
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114 <BR> |
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115 <BR> |
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116 <BR> |
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117 <BR> |
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118 <BR> |
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119 <BR> |
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120 <BR>&sstarf#star;</TT> |
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121 |
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122 <P> |
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123 <TT>* simple example for PC. It does implement 2 CanOpen |
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124 <BR> |
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125 <BR>&sstarf#star;</TT> |
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126 |
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127 <P> |
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128 <TT>* in the same process. A master and a slave. Both |
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129 <BR> |
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130 <BR>*</TT> |
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131 |
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132 <P> |
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133 <TT>* together, exchanging periodically NMT, SYNC, &sstarf#star;</TT> |
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134 |
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135 <P> |
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136 <TT>* and PDO. Master configure heartbeat producer time |
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137 <BR> |
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138 <BR>*</TT> |
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139 |
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140 <P> |
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141 <TT>* @1000 ms for slave node-id 0x02 by concise DCF. |
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142 |
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143 <BR> |
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144 <BR> |
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145 <BR> |
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146 <BR>*</TT> |
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147 |
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148 <P> |
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149 <TT>* |
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150 |
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151 <BR> |
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173 <BR> |
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174 <BR> |
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175 <BR> |
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176 <BR> |
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177 <BR> |
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178 <BR> |
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179 <BR>&sstarf#star;</TT> |
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180 |
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181 <P> |
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182 <TT>* |
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183 <BR> |
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184 Usage: |
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185 |
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186 <BR> |
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207 <BR> |
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208 <BR> |
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209 <BR> |
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210 <BR>*</TT> |
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211 |
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212 <P> |
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213 <TT>* |
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214 <BR>./TestMasterSlave OPTIONS] |
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215 |
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216 <BR> |
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217 <BR> |
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228 <BR> |
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229 <BR>*</TT> |
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230 |
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231 <P> |
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232 <TT>* |
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233 |
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257 <BR> |
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259 <BR> |
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260 <BR> |
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261 <BR> |
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262 <BR>&sstarf#star;</TT> |
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263 |
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264 <P> |
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265 <TT>* |
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266 <BR> |
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267 OPTIONS: |
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268 |
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269 <BR> |
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270 <BR> |
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271 <BR> |
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272 <BR> |
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291 <BR> |
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292 <BR>*</TT> |
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293 |
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294 <P> |
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295 <TT>* |
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296 <BR> |
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297 <BR>-l : Can library |
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298 [libcanfestival_can_virtual.so] |
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299 |
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300 <BR> |
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301 <BR>*</TT> |
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302 |
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303 <P> |
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304 <TT>* |
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331 <BR> |
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332 <BR> |
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333 <BR> |
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334 <BR>&sstarf#star;</TT> |
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335 |
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336 <P> |
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337 <TT>* |
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338 <BR>: |
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339 |
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361 <BR> |
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362 <BR> |
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363 <BR>&sstarf#star;</TT> |
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364 |
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365 <P> |
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366 <TT>* |
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367 <BR> |
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368 <BR>-s : bus name [0] |
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369 |
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385 <BR> |
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386 <BR>&sstarf#star;</TT> |
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387 |
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388 <P> |
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389 <TT>* |
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390 <BR> |
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391 <BR>-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT> |
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392 |
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393 <P> |
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394 <TT>* |
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395 |
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396 <BR> |
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423 <BR> |
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424 <BR>&sstarf#star;</TT> |
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425 |
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426 <P> |
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427 <TT>* |
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428 <BR>: |
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429 |
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450 <BR> |
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451 <BR> |
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452 <BR> |
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453 <BR>*</TT> |
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454 |
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455 <P> |
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456 <TT>* |
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457 <BR> |
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458 <BR>-m : bus name [1] |
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459 |
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460 <BR> |
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473 <BR> |
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474 <BR> |
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475 <BR> |
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476 <BR>&sstarf#star;</TT> |
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477 |
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478 <P> |
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479 <TT>* |
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480 <BR> |
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481 <BR>-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT> |
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482 |
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483 <P> |
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484 <TT>* |
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485 |
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486 <BR> |
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487 <BR> |
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509 <BR> |
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510 <BR> |
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511 <BR> |
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512 <BR> |
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513 <BR> |
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514 <BR>&sstarf#star;</TT> |
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515 |
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516 <P> |
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517 <TT>**************************************************************</TT> |
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518 |
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519 <P> |
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520 |
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521 <P><P> |
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522 <BR> |
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523 |
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524 <P> |
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525 <I CLASS="sans">Notes for Concise DCF :</I> |
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526 |
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527 <P> |
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528 |
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529 <P><P> |
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530 <BR> |
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531 |
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532 <P> |
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533 <I CLASS="sans"> In this example, Master configure producer time at 1000 ms |
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534 for slave node-id 0x02 by concise DCF according DS-302 profile. </I> |
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535 |
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536 <P> |
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537 |
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538 |
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539 <P> |
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540 <I CLASS="sans"> Index 0x1F22 , sub-index 0x00 of the master OD, correspond to the |
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541 number of entries. This equal to the maximum possible nodeId (127). |
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542 Each sub-index points to the Node-ID of the device, to which the |
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543 configuration belongs. </I> |
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544 |
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545 <P> |
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546 |
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547 <P><P> |
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548 <BR> |
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549 |
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550 <P> |
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551 <I CLASS="sans"> To add more parameters configurations to the slave, the value at |
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552 sub-index 0x02 must be a binary stream (little-endian) following |
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553 this structure :</I> |
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554 |
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555 <P> |
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556 |
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557 |
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558 <P> |
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559 <I CLASS="sans">[ nb of entries / index parameter 1 / sub-index parameter 1 size |
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560 data parameter 1 data parameter 1 / index parameter n / ...]</I> |
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561 |
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562 <P> |
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563 <I CLASS="sans"> |
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564 <BR> |
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565 <BR> |
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566 <BR>(UNS32) |
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567 <BR> |
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568 <BR> |
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569 <BR> |
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570 <BR> |
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571 <BR> |
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572 <BR>(UNS16) (UNS8) |
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573 |
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574 <BR> |
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575 <BR> |
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576 <BR> |
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577 <BR> |
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578 <BR> |
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579 UNS32) |
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580 <BR> |
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581 DOMAIN)</I> |
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582 |
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583 <P> |
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584 |
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585 |
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586 <P> |
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587 <I CLASS="sans"> So the binary value stream to configure heartbeat producer time must be |
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588 : </I> |
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589 |
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590 <P> |
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591 |
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592 <P><P> |
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593 <BR> |
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594 |
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595 <P> |
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596 <I CLASS="sans"> 0100000017100002000000e803</I> |
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597 |
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598 <P> |
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599 |
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600 <P><P> |
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601 <BR> |
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602 |
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603 <P> |
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604 <I CLASS="sans">The slave node is configured just before the Master entering in |
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605 Pre_operational state.</I> |
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606 |
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607 <P> |
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608 |
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609 <DIV CLASS="navigation"><HR> |
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633 HREF="node52.html">Example and test program:</A> |
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635 HREF="node1.html">Contents</A></B> </DIV> |
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637 <ADDRESS> |
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638 epimerde |
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639 2007-06-08 |
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