NORD Drivesystems BU0550 - Manual (Page 72)

PLC logic for NORD SK 54xE frequency inverters
72 BU 0550 GB-0813
3.5.7.4 FB_PDOSend
With this FB, PDOs can be transmitted on a previously configured channel. This is possible either as a one-
off or cyclical transmission. The data to be transmitted is entered in WORD1 to WORD4. Transmission of
the PDO is possible regardless of the CANopen status of the frequency inverter.
The previously configured PDO channel is selected via NUMBER. The data to be transmitted is entered in
WORD1 to WORD4. Selection between one-off transmission (setting = 0) or cyclical transmission can be
made via CYCLE. The PDO is transmitted via a positive flank on EXECUTE.
If DONE = 1 all entries were correct and the PDO is transmitted. If ERROR = 1 there was a problem. The
precise cause is saved in ERRORID. All outputs are reset with a negative flank on EXECUTE.
The time base of the PLC is 5ms. This also applies for the CYCLE input. Only transmission cycles with a
multiple of 5ms can be implemented.
Table 98 FB_PDOSend
If DONE changes to 1, the message to be transmitted was accepted by the CAN module, but has not yet
been transmitted. The actual transmission runs in parallel in the background. If several messages are to be
sent consecutively via an FB it is possible that the previous message has not been sent when the new call-
up is made. This can be detected by the fact that neither the DONE nor the ERROR signal have been set to
1 after the CAL call-up. The CAl call-up can be repeated until one of the two signals changes to 1.
If several different CAN IDs are to be written via a single FB, this is possible via a reconfiguration of the FB.
However, this must not be carried out in the same PLC cycle as the transmision, as otherwise there is a
danger that the message which is to be sent will be deleted on configuration via FB_PDOConfig.
VAR_INPUT VAR_OUTPUT
Input Explanation Type Output Explanation Type
EXECUTE Execute BOOL DONE PDO transmitted = 1 BOOL
NUMBER Message box number
Value range = 0 to 19
BYTE ERROR Error in FB BOOL
CYCLE Transmission cycle
Value range = 0 to 255
0 = disabledd
1 to 255 = Transmission cycle
in ms
BYTE ERRORID Error code INT
WORD1 Transmission data Word 1 INT
WORD2 Transmission data Word 2 INT
WORD3 Transmission data Word 3 INT
WORD4 Transmission data Word 4 INT
ERRORID Explanation
0 No error
1800h Number value range exceeded
1804h Selected box is not configured correctly
1805h No 24V for bus driver or bus driver is in "Bus off" status