Lenze ETC Motion Control - Manual (Page 403)

PLC programming
Library
CANopen functions
8
8.8
8.8.5
l
403 EDSTCXN EN 2.0
8.8.5.6 CopWriteObject (ETCxC and ETCxM at CAN1), DrvWriteObject (ETCxC at CAN2)
FUNCTION CopWriteObject: BOOL (ETCxC and ETCxM at CAN1)
(* Description 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 DrvWriteObject: BOOL (ETCxC at CAN2)
(* Description 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 device
ObjectNum Number of the object to be written
SubIndex Index of the subobject to be written
DataType Data type according to CiA DS301
Buffer Address of the buffer in which the data to be written are stored
BufSize Number of bytes to be written
Status Address of a variable for filing the transfer status
This function allows the PLC to write to individual objects of CANopen
devices. The writing 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