Lenze PLC Designer PLC Designer (R2-x) CANopen for Runti Instrukcja Użytkownika Pobierz pdf (Strona 22)

L-force | PLC Designer - CANopen for Runtime Systems

CANopen-Master library

 DMS 2.0 EN 05/2009 TD29 21

dwDataOffset : DWORD; (* After the data transfer the number of actually read

resp. written bytes appears in this variable.*)

dwDataReadLength : DWORD; (* The estimated length of a SDO upload (from the

1. response message).*)

ucUploadRequest: BYTE;

bLastToggle: BOOL;

iCurSDODataLen : INT;

ucDownloadRequest: BYTE;

END_VAR

In order to be able to use this module, for each simultaneous transfer a static instance of the module

must be created (static means: not as a local variable of a function). It is not possible (per CANopen

definition) to open multiple SDO channels to the same slave at the same time.

Send SDO (expedited Mode):

The input parameters to be passed to the module: address (NodeID) of the target node, (0-based)

number of the CAN network on which the module should work, the 4 data bytes, index and subindex

of the target object. Further on the mode in which the module should work must be passed: For

sending of

- 4 Bytes: mode 16#23,

- 3 Bytes: mode 16#27,

- 2 Bytes: mode 16#2B,

- 1 Byte: mode 16#2F.

Example: If a 4-byte value should be written to a SDO server, the call of the module must look like

shown in the following:

sdo(

Enable:= TRUE,

wDrvNr:= 0,

ucNodeId:= 2,

wIndex:= 16#4002,

bySubIndex:= 0,

ucModus:= 16#23,

aAbortCode:=aAbort,

ucByte0 := DWORD_TO_BYTE(dwWrite),

ucByte1 := DWORD_TO_BYTE(SHR(dwWrite,8)),

ucByte2 := DWORD_TO_BYTE(SHR(dwWrite,16)),

ucByte3 := DWORD_TO_BYTE(SHR(dwWrite,24)));

Thereby sdo is an instance of CanOpenSendSDO.

To check whether the transfer has been terminated for example could be programmed like follows::

IF (sdo.bAnswerRec OR NOT sdo.bWaitForAnswer) then

….. (* Transfer is terminated. If bAnswerRec is not TRUE, an error has occurred.*)

END_IF

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