Lenze ETC Motion Control - Manual (Page 404)

PLC programming
Library
CANopen functions
8
8.8
8.8.5
l
404 EDSTCXN EN 2.0
The function returns TRUE if the write request has been 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 : BYTE;
wert_di : DINT := 1000;
CopWriteObject(5, 16#607A, 0, COP_INTEGER32_KW, ADR(value_di), SIZEOF(value_di),
ADR(status_b));
Entering the target position for a DS402 drive.
8.8.5.7 CopXWriteObject (ETCxM at CAN2)
FUNCTION CopXWriteObject: BOOL (* Description 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 device
ObjectNum_w: Number of the object to be written
SubIndex_b: Index of the subobject to be written
DataType_w: Data type according to CiA DS301
Buffer_p: Address of the buffer in which the data to be written are stored
BufSize_w: Number of bytes to be written
Status_pb: Address of a variable for filing the transfer status
The functionality of this function is identical to the function
CopWriteObject. It contains an additional parameter CanNum_b, which
defines the number of the respective CAN Bus.
Example
Declaration
Parameters
Description