Lenze DDS System bus CAN for PLC - Manual (Page 150)

10.7 L_CanPdoTransmit − transmitting a CAN object
System bus (CAN) for Lenze PLC devices
LenzeCanDrv.lib function library
10−8
L
PLC−Systembus EN 2.0
10.7 L_CanPdoTransmit − transmitting a CAN object
Function block
This FB serves to transmit data via the system bus interface according to CANopen.
·
The data transmission is carried out simultaneously to the process of the PLC program by the
operating system of the controller, whereby an object can be max. sent every 250
ms.
L_CanPdoTransmit
wDrvNr
byLen
dwCobId
pIOAdress
tRepeatTime
byTransmitMode nState
wNrOfCallsToSend
Identifier Data type Variable type Possible settings Information
wDrvNr Word VAR_INPUT 10 System bus
byLen Byte VAR_INPUT 0...8 Telegram length (in bytes)
dwCobID Double Word VAR_INPUT 0...2047 CAN identifier
pIOAdress Pointer to Byte VAR_INPUT Pointer to the address in the
memory from which the data
bytes to be transmitted are
stored. The address of a variable can be determined via
the address function ADR.
tRepeatTime Time VAR_INPUT
T#0s
T#xms
Parameter for the time−controlled transmission
(byTransmitMode = 1/2)
·
Transmission takes place at each call of the
FB.
·
TRansmission takes place after the set cycle
time x (in ms) has expired.
byTransmitMode Byte VAR_INPUT 0 Event−controlled transmission
·
Transmission takes place if the input data
have changed.
·
If the bus state changes from
Pre−operational
to Operational, the telegram
on principle is transmitted once.
1 Time−controlled transmission
·
Transmission takes place after the cycle time
set via
tRepeatTime
has expired.
2 Time−controlled transmission with superimposed
event control
·
Transmission takes place after the cycle time
set via
tRepeatTime
has expired, and if the
transmitted data have changed.
3 Forced transmission
·
Transmission takes place if the action
.
SendData is
called, irrespective of the cycle time set.