Lenze ETC Motion Control - Manual (Page 400)

PLC programming
Library
CANopen functions
8
8.8
8.8.5
l
400 EDSTCXN EN 2.0
8.8.5.2 CopXDefineDS403 (only ETCxM)
FUNCTION CopXDefineDS403: BOOL (* Defines the global database for a CANopen
control element in accordance with DS403 for
1/2 CAN Bus *)
VAR_INPUT
CanNum_b : BYTE
NodeID_b : BYTE
DataBase_p : DINT;
Len_w : WORD;
Datatypes_s : STRING(255);
ReadDataObject : WORD;
WriteDataObject : WORD;
END_VAR
CanNum_b: Number of the CAN Bus (1 or 2)
NodeID_b: Node number of the control element
DataBase_p: Address of the global database with the input/output data of the
control element
Len_w: Size of the global database in Byte, max. 1020 Byte
Datatypes_s: Descriptor string for defining the data types in the global database
ReadDataObject: Object number for reading the "Local database"
WriteDataObject: Object number for describing the "Local database"
The functionality of this function is identical to the function
CopDefineDS403(). It contains an additional parameter CanNum_b, which
defines the number of the respective CAN Bus.
8.8.5.3 CopGetNodeState (only ETCxM)
FUNCTION CopGetNodeState: BOOL
VAR_INPUT
NodeID_b : BYTE; * CANopen ID of the module *)
END_VAR
NodeID_b: Node number of the CANopen node
The return value TRUE signals that the corresponding CANopen module is
present at the 1st CAN Bus and in an "operational" state. Otherwise FALSE
will be returned. This detection only works if node guarding has been
enabled for the corresponding CANopen device.
Declaration
Parameters
Description
Declaration
Parameters
Description