NORD Drivesystems BU0550 - Manual (Page 73)

3 AWL (Instruction List, IL)
BU 0550 GB-0813 73
3.5.7.5 FB_PDOReceive
This FB monitors a previously configured PDO channel for incoming messages. Monitoring starts when the
ENABLE input is 1. After the function has been called up, the NEW input must be checked. If it changes to
1, a new message has arived. The NEW output is deleted the next time that the function is called up.
The received data are contained in WORD1 to WORD4.
The PDO channel can be monitored for cyclic reception via TIME. If a value between 1 and 32767ms is
entered in TIME a message must be received within this period. Otherwise the FB goes into error status
(ERROR = 1). This function can be disabled with the value 0. The monitoring timer runs in 5ms steps.
In case of error, ERROR is set to 1. In this case, DONE is 0. The corresponding error code in the ERRORID
applies.
DONE, ERROR and ERRORID are reset with a negative flank on ENABLE.
Table 99 FB_PDOReceipt
NOTE
The PLC cycle is 5ms, i.e. with a single call-up of the function in the PLC program a
CAN message can only be read every 5ms. Messages may be overwritten if several
messages are sent in quick succession.
VAR_INPUT VAR_OUTPUT
Input Explanation Type Output Explanation Type
ENABLE Execute BOOL NEW New PDO received BOOL
NUMBER Message box number
Value range = 0 to 19
BYTE ERROR Error in FB BOOL
TIME Watchdog function
Value range = 0 to 32767
0 = Disabled
1 to 32767 = Monitoring time
INT ERRORID Error code INT
WORD1 Received data Word 1 INT
WORD2 Received data Word 2 INT
WORD3 Received data Word 3 INT
WORD4 Received 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
1807h Reception timeout (Watchdog function)