Lenze ETC Motion Control - Manual (Page 402)

PLC programming
Library
CANopen functions
8
8.8
8.8.5
l
402 EDSTCXN EN 2.0
The return value is TRUE if the read request could be passed to the transfer
queue, otherwise the transfer queue is already full.
Status Meaning
0 Inactive
1 Request in transfer queue
2 Transfer active
3 Transfer completed successfully
4 Transfer cancelled
5 Timeout
status_b
devicetype_dw
CopReadObject(1, 16#1000, 0, COP_UNSIGNED32_KW, ADR(devicetype_dw),
SIZEOF(devicetype_dw), ADR(status_b));
8.8.5.5 CopXReadObject (ETCxM at CAN2)
FUNCTION CopXReadObject: BOOL (* Reading of objects in the object directory of
CANopen devices at CAN2 *)
VAR_INPUT
CanNum_b : BYTE;
NodeID_b : BYTE;
ObjectNum_w : WORD;
SubIndex_b : BYTE;
DataType_w : WORD;
Buffer_p : DINT;
BufSize_w : WORD;
Status_pb : POINTER TO BYTE;
END_VAR
CanNum_b: Number of the CAN Bus (1 or 2)
NodeID_b: Node number of the CANopen node
ObjectNum_w: Number of the object to be read
SubIndex_b: Index of the subobject to be read
DataType_w: Data type according to CiA DS301
Buffer_p: Address of the buffer in which the read data are stored
BufSize_w: Size of the buffer in Byte
Status_pb: Address of a variable for filing the transfer status
The functionality of this function is completely identical to the function
CopReadObjekt(). It contains an additional parameter CanNum_b, which
defines the number of the respective CAN Bus.
Example
Declaration
Parameters
Description