CANopenPDO (FB)

Output variable name	Data type	Description
o_RpdoCount	DWORD	Number of received PDOs. Added only if device in operational mode.
o_RpdoTimeStamp	DWORD	Time stamp for latest received PDO. Updated only if device operational mode. Value is set by usage of the CODESYS TIME() function.
o_TpdoCount	DWORD	Number of sent TPDOs. Added only if device in operational mode.
o_TpdoTimeStamp	DWORD	Time stamp for lates sent TPDO. Updated only if device operational mode. Value is set by usage of the CODESYS TIME() function.
o_LastReceivedLength	BYTE	Length of the latest received PDO
o_TimeoutActive	BOOL	RPDO mappings set to zero due to timeout

Output variable name	Data type	Description
o_RpdoCount	DWORD	Number of received PDOs. Added only if device in operational mode.
o_RpdoTimeStamp	DWORD	Time stamp for latest received PDO. Updated only if device operational mode. Value is set by usage of the CODESYS TIME() function.
o_TpdoCount	DWORD	Number of sent TPDOs. Added only if device in operational mode.
o_TpdoTimeStamp	DWORD	Time stamp for lates sent TPDO. Updated only if device operational mode. Value is set by usage of the CODESYS TIME() function.
o_LastReceivedLength	BYTE	Length of the latest received PDO
o_Error	CANopenErrors	CANopenErrors

Actions

Action name	Description
Init	Set function block's default data. Function adds PDO of given type to device. Mapping must be given in advance to CANopenPDO.Mapping array. The init will add subindexes according to the given number of mappings. The function adds the following indexes: (16#1400 or 16#1800)+PDONumber (PDO communication) (16#1600 or 16#1A00)+PDONumber (PDO mapping) Before calling the action, PDO must be connected to device.
ReceiveCAN_MSG	PDO receive handler for COB-ID. Copies the received PDO for the CANopenPDO FB's internal use.
SetComms	Sets PDO's communication parameters. Called from Init and POU CANopenPDOChangeCommunication
SetMapping	Sets PDO's mapping parameters and an internal datapointer to mapped data. Called from Init and POU CANopenPDOChangeMap.
TxRx	Handles data which is stored in MSG. Stores data to mapping indexes. In case of RPDO, the action reads received PDO's and copies data to indexes. If RPDO event time is <> 0 then timeout is monitored. Mapping data is set to zero when RPDO is in timeout. In case of TPDO, the action copies data from indexes and sends PDO if transmit conditions are met.

Action name

Description

Init

Set function block's default data.

Function adds PDO of given type to device. Mapping must be given in advance to CANopenPDO.Mapping array.

The init will add subindexes according to the given number of mappings.

The function adds the following indexes:

(16#1400 or 16#1800)+PDONumber (PDO communication)

(16#1600 or 16#1A00)+PDONumber (PDO mapping)

Before calling the action, PDO must be connected to device.

Input variable name	Data type	Description
i_pDevice	POINTER TO CANopenDev	Pointer to the device
i_PDONumber	WORD	PDO's order number
i_PDOType	CANopenPDOType	Type of PDO: ReceivePDO or TransmitPDO
i_COB_ID	DWORD	Bit 31 PDO does not exist Bit 30 no RTR allowed Bit 29 29-bit ID Bit 28-11 0 for 11-bit ID Bit 10-0 COB-ID
i_TransmissionType	BYTE	0 = Not supported 1..240 = Cyclic synchronous 254 = Triggered (with i_TriggerSend) 255 = Asynchronous i.e. event controlled
i_InhibitTime	WORD	Minimum time that has to elapse between transmitted messages. Unit:1=100 μs
i_Reserved	BYTE	Reserved in DS301
i_EventTime	WORD	Event time in ms
i_Mapping	ARRAY [0..G_CANOPEN_NUMBER_OF_LAST_PDO_MAP] OF DWORD	PDO's mapping parameters.
i_Mappings	BYTE	Number of mappings
i_TriggerSend	BOOL	If TRUE and transmission type is 254, PDO is sent even data is not changed. Input is set FALSE after sending.
i_RejectTooShortMessages	BOOL	If TRUE, messages with lower DLC than expected, are rejected. Note that when a message is rejected, the o_RpdoCount and o_RpdoTimeStamp are still affected.