Lenze ETC Motion Control Manual de usuario descargar pdf (Pagina 403)

100

101

PLC programming

Library

CANopen functions

8.8

8.8.5

403

EDSTCXN EN 2.0

8.8.5.6 CopWriteObject (ETCxC and ETCxM at CAN1), DrvWriteObject (ETCxC at CAN2)

FUNCTION CopWriteObject: BOOL (ETCxC and ETCxM at CAN1)

(* Description of objects in the object directory of CANopen devices at CAN1 *)

VAR_INPUT

NodeID : BYTE;

ObjectNum : WORD;

SubIndex : BYTE;

DataType : WORD;

Buffer : DINT;

BufSize : WORD;

Status : POINTER TO BYTE;

END_VAR

FUNCTION DrvWriteObject: BOOL (ETCxC at CAN2)

(* Description of objects in the object directory of CANopen devices at CAN2 *)

VAR_INPUT

NodeID : BYTE;

ObjectNum : WORD;

SubIndex : BYTE;

DataType : WORD;

Buffer : DINT;

BufSize : WORD;

Status : POINTER TO BYTE;

END_VAR

NodeID Node number of the CANopen device

ObjectNum Number of the object to be written

SubIndex Index of the subobject to be written

DataType Data type according to CiA DS301

Buffer Address of the buffer in which the data to be written are stored

BufSize Number of bytes to be written

Status

Address of a variable for filing the transfer status

This function allows the PLC to write to individual objects of CANopen

devices. The writing process takes place in the background whilst the PLC

continues working. The transfer queue can buffer up to 15 read/write

requests.

By requesting the transfer status the PLC can check whether the transfer is

still ongoing, has finished or whether an error has occurred during transfer.

If several transfer requests are to be carried out in parallel, a separate status

variable needs to be defined for each request.

Declaration

Parameters

Description

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ama 11 Jan 2025 | 19:35:39

rasha

Lenze ETC Motion Control Manual de usuario Pagina 403

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