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PLC programming

Library

CAN functions (only ETCxM)

8.8

8.8.6

410

EDSTCXN EN 2.0

8.8.6 CAN functions (only ETCxM)

8.8.6.1 DefineCanMsg (only ETCxM)

FUNCTION DefineCanMsg: DINT

VAR_INPUT

CanNum_w : WORD; (* Number of the CAN interface − 1 or 2 *)

WriteCobId_w : WORD; (* CobId: ETCxM → CAN node *)

ReadCobId_w : WORD; (* CobId: CAN node → ETCxM *)

QueueSize_w : WORD; (* Number of messages being buffered *)

END_VAR

Creating and initialising a structure for managing CAN transfers. This allows

to receive or send any CAN messages. When the function is called it checks

whether the stated CobId are not still in use. It is also possible for the CobId

to be entered into the control configuration of CoDeSys at a CANopen

module. ReadCobId_w or WriteCobId_w equals 0 means that no Cobld is

required yet.

The function returns a handle on the administrative structure. If it returns 0

no administrative structure could be created using the stated parameters.

handle_pr : DINT;

handle_pr = DefineCanMsg(1, 1014, 1114, 32);

8.8.6.2 AddCobIdCanMsg (only ETCxM)

FUNCTION AddCobIdCanMsg: BOOL

VAR_INPUT

handle_pr : DINT; (* Handle on the management structure *)

CobId_w : WORD; (* CobId *)

Read_bit : BOOL; (* direction, TRUE for CAN nodes ETCxM *)

END_VAR

This function allows adding a CobId to the management structure (see

function DefineCanMsg()) for CAN transfers. The function returns TRUE if

the CobId has been entered successfully in the management structure. If the

Cobld is already in use or the maximum number (32) of possible Cobld has

been reached, it returns FALSE.

handle_pr : DINT;

FctReturn_bit : BOOL;

handle_pr = DefineCanMsg(1, 1014, 1114, 32);

FctReturn_bit = AddCobIdCanMsg(handle_pr, 1024, 1);

Declaration

Description

Example

Declaration

Description

Example

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ama 11 Jan 2025 | 19:35:39

rasha

Lenze ETC Motion Control Manual de usuario Pagina 410

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