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100

101

PLC programming

Library

CANopen functions

8.8

8.8.5

402

EDSTCXN EN 2.0

The return value is TRUE if the read request could be passed to the transfer

queue, otherwise the transfer queue is already full.

Status Meaning

0 Inactive

1 Request in transfer queue

2 Transfer active

3 Transfer completed successfully

4 Transfer cancelled

5 Timeout

status_b

devicetype_dw

CopReadObject(1, 16#1000, 0, COP_UNSIGNED32_KW, ADR(devicetype_dw),

SIZEOF(devicetype_dw), ADR(status_b));

8.8.5.5 CopXReadObject (ETCxM at CAN2)

FUNCTION CopXReadObject: BOOL (* Reading of objects in the object directory of

CANopen devices at CAN2 *)

VAR_INPUT

CanNum_b : BYTE;

NodeID_b : BYTE;

ObjectNum_w : WORD;

SubIndex_b : BYTE;

DataType_w : WORD;

Buffer_p : DINT;

BufSize_w : WORD;

Status_pb : POINTER TO BYTE;

END_VAR

CanNum_b: Number of the CAN Bus (1 or 2)

NodeID_b: Node number of the CANopen node

ObjectNum_w: Number of the object to be read

SubIndex_b: Index of the subobject to be read

DataType_w: Data type according to CiA DS301

Buffer_p: Address of the buffer in which the read data are stored

BufSize_w: Size of the buffer in Byte

Status_pb:

Address of a variable for filing the transfer status

The functionality of this function is completely identical to the function

CopReadObjekt(). It contains an additional parameter CanNum_b, which

defines the number of the respective CAN Bus.

Example

Declaration

Parameters

Description

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ama 11 Jan 2025 | 19:35:39

rasha

Lenze ETC Motion Control Manual do Utilizador Página 402

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