Lenze ETC Motion Control - Manual (Page 401)

PLC programming
Library
CANopen functions
8
8.8
8.8.5
l
401 EDSTCXN EN 2.0
8.8.5.4 CopReadObjekt (ETCxC and ETCxM at CAN1), DrvReadObject (ETCxC at CAN2)
FUNCTION CopReadObject: BOOL (ETCxC and ETCxM at CAN1)
(* Read−out of objects in the object directory of CANopen devices at CAN1 *)
VAR_INPUT
NodeID : BYTE;
ObjectNum : WORD;
SubIndex : BYTE;
DataType : WORD;
Buffer : DINT;
BufSize : WORD;
Status : POINTER TO BYTE;
END_VAR
FUNCTION DrvReadObject: BOOL (ETCxC at CAN2)
(* Read−out of objects in the object directory of CANopen devices at CAN2 *)
VAR_INPUT
NodeID : BYTE;
ObjectNum : WORD;
SubIndex : BYTE;
DataType : WORD;
Buffer : DINT;
BufSize : WORD;
Status : POINTER TO BYTE;
END_VAR
NodeID Node number of the CANopen node
ObjectNum Number of the object to be read
SubIndex Index of the subobject to be read
DataType Data type according to CiA DS301
Buffer Address of the buffer in which the read data are stored
BufSize Size of the buffer in Byte
Status Address of a variable for filing the transfer status
This function allows the PLC to read individual objects of CANopen devices.
The reading process takes place in the background whilst the PLC continues
working. The transfer queue can buffer up to 15 read/write requests.
By requesting the transfer status the PLC can check whether the transfer is
still ongoing, has finished or whether an error has occurred during transfer.
If several transfer requests are to be carried out in parallel, a separate status
variable needs to be defined for each request.
Declaration
Parameters
Description