CPB CANopen Technical Manual

2300h NanoJ Control


Controls the execution of a NanoJ program.

Object description

Index 2300h
Object name NanoJ Control
Object Code VARIABLE
Data type UNSIGNED32
Savable yes, category: application
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Firmware version FIR-v1426
Change history

Firmware version FIR-v1436: "Object Name" entry changed from "VMM Control" to "NanoJ Control".



Switches the NanoJ program on (value = "1") or off (value = "0").

With a rising edge in bit 0, the program is first reloaded and the variable range reset.

Note: Startup of the NanoJ program can take up to 200 ms.

When switching on, a check is performed to determine whether a NanoJ program is present. If present, "1" is entered in 2300 and the NanoJ program is started.

AYield (AutoYield)

If this feature is activated (bit set to "1"), the NanoJ program is no longer stopped if it runs longer than it is allowed to. The NanoJ program is, thus, no longer real-time capable and no longer runs every 1 ms (see Available computing time).

Note: Do not use the Debug output if AutoYield mode is activated.
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