PARAMETERS_Edit (FB)

The function block reads and adjusts the given parameter value and writes it to control unit. The function block can be used with the parameter CSV file (see also PARAMETERS_ReadCSV).

When the function block is called for the first time, the parameter value is read from the control unit. This is also done when i_NodeID, i_Index, i_SubIndex or i_StartBit changes. When the rising edge of the input i_Update is noticed, the parameter value is updated from the control unit.

When a parameter value is changed, it will be written to the control unit. If the changed parameter value exceeds i_Min or i_Max, the value is limited to minimum or maximum value.

Inputs

Input variable name	Data type	Description
i_Channel	BYTE	Number of CAN interface. CAN1 = 0, CAN2 = 1
i_pValue	DWORD	Pointer to parameter value
i_NodeID	BYTE	Module bus identification
i_Index	WORD	SDO object
i_SubIndex	INT	SDO object sub index
i_StartBit	BYTE	Bit number
i_DataType	PARAMETERS_CSVType	Parameter data type enumeration
i_Min	DINT	Minimum limit for parameter value
i_Max	DINT	Maximum limit for parameter value
i_Update	BOOL	Rising edge of i_Update forces reading of current value

Input variable name	Data type	Description
i_itfChannel	CANVXD_API.ICANVXD	CAN interface. (From Code_Template_globals, for example, G_CAN1_Channel: EPEC_CANL2.Channel;)
i_pValue	DWORD	Pointer to parameter value
i_NodeID	BYTE	Module bus identification
i_Index	WORD	SDO object
i_SubIndex	INT	SDO object sub index
i_StartBit	BYTE	Bit number
i_DataType	PARAMETERS_CSVType	Parameter data type enumeration
i_Min	DINT	Minimum limit for parameter value
i_Max	DINT	Maximum limit for parameter value
i_Update	BOOL	Rising edge of i_Update forces reading of current value
i_WriteEnable	BOOL	Enable status for writing. FUNCTIONALITY NOT IMPLEMENTED YET.
i_Timeout	TIME	Time out for the SDO request-response pair. Transfer is aborted if the response is not received during the time out time.
i_OwnNodeID	BYTE	Unit's own node ID. Needed when unit own parameters are adjusted.
i_pOD	POINTER TO CANopenOD	Pointer to unit's own OD. Needed when unit own parameters are adjusted. Set input to 0 if there is no need to adjust own parameters.

Outputs

Actions

Example code

Global variables

VAR_GLOBAL

(*One CSDO channel instance is needed to define for every CANopen device on the same network*)

G_CAN1_CSDOinstances:ARRAY [1..1] OF CANopenCSDO:= (i_NodeID:=2,i_Enable:=FALSE,i_Channel:=0);

END_VAR

Definitions

VAR

Init: BOOL;

Enable: BOOL;

File: STRING := 'parameters.csv'; (* File name, file is located in the same directory with the

CODESYS application *)

CSVParams: ARRAY[0..20] OF PARAMETERS_CSVData; (* A data array for data read from the CSV file *)

Count: INT; (* The amount of the parameter rows in the CSV file *)

(*Button variables*)

PrevButton: BOOL;

NextButton: BOOL;

PrevTrigger: R_TRIG;

NextTrigger: R_TRIG;

MaxIndex: INT;

CurrentIndex: INT;

EditParameters: PARAMETERS_Edit;

Value: DINT;

END_VAR

Init:

(* Initialize CANopen302_SDOManager and

if CSV file is used, read the file first with PARAMETERS_ReadCSV *)

IF NOT Init THEN

Enable := TRUE;

Count := PARAMETERS_ReadCSV(Enable, File, ADR(CSVParams));

IF Count > 0 THEN

MaxIndex := Count - 1;

END_IF

(* Init CSDO instance array for bus *)

CANopen302_SDOManager.Init(

i_CanBusNbr:=0,

i_NodeId:=1,

i_CsdoArrayStart:=ADR(G_CAN1_CSDOinstances),

i_CsdoArraySize:=1);

Init := TRUE;

END_IF

Code:

(*When parameter is not written or read, next/previous buttons can be used*)

IF EditParameters.State = EditStateIdle THEN

(* Handle buttons *)

(* PREVIOUS *)

PrevTrigger(CLK:=PrevButton);

IF PrevTrigger.Q = TRUE THEN

IF CurrentIndex > 0 THEN

CurrentIndex := CurrentIndex - 1;

END_IF

NextTrigger(CLK:=NextButton);

IF NextTrigger.Q = TRUE THEN

IF CurrentIndex < Count - 1 THEN

CurrentIndex := CurrentIndex + 1;

END_IF

IF Count > 0 THEN

EditParameters(

i_Channel:= 0, (*0 = CAN1, 1 = CAN2*)

i_pValue:= ADR(Value),

i_NodeID:= CSVParams[CurrentIndex].NodeID,

i_Index:= CSVParams[CurrentIndex].Index,

i_SubIndex:= CSVParams[CurrentIndex].SubIndex,

i_StartBit:= CSVParams[CurrentIndex].StartBit,

i_DataType:= CSVParams[CurrentIndex].ParameterType,

i_Min:= CSVParams[CurrentIndex].MinValue,

i_Max:= CSVParams[CurrentIndex].MaxValue,

i_Update:= FALSE, (*When this is true, the value is read again from control unit*)

o_State=> ,

o_Error=> ,

o_AbortCode=> );

END_IF

(*Update CAN data*)

CANVXDCheckMessages(); (*This needs to be called once in every program cycle, but it is automatically added when MultiTool Creator code template is used*)

Definitions

VAR

Init: BOOL;

Enable: BOOL;

File: STRING := 'parameters.csv'; (* File name, file is located in the same directory with the

CODESYS application *)

CSVParams: ARRAY[0..20] OF PARAMETERS_CSVData; (* A data array for data read from the CSV file *)

Count: INT; (* The amount of the parameter rows in the CSV file *)

(*Button variables*)

PrevButton: BOOL;

NextButton: BOOL;

PrevTrigger: R_TRIG;

NextTrigger: R_TRIG;

MaxIndex: INT;

CurrentIndex: INT;

EditParameters: PARAMETERS_Edit;

Value: DINT;

END_VAR

Init:

(* Initialize CANopen302_SDOManager and

if CSV file is used, read the file first with PARAMETERS_ReadCSV *)

Code:
(When parameter is not written or read, next/previous buttons can be used) IF EditParameters.State = EditStateIdle THEN (* Handle buttons ) ( PREVIOUS ) PrevTrigger(CLK:=PrevButton); IF PrevTrigger.Q = TRUE THEN IF CurrentIndex > 0 THEN CurrentIndex := CurrentIndex - 1; END_IF END_IF NextTrigger(CLK:=NextButton); IF NextTrigger.Q = TRUE THEN IF CurrentIndex < Count - 1 THEN CurrentIndex := CurrentIndex + 1; END_IF END_IF END_IF IF Count > 0 THEN EditParameters( i_itfChannel:= G_CAN1_CANopenDevice.itfCanChannel, i_pValue:= ADR(Value), i_NodeID:= CSVParams[CurrentIndex].NodeID, i_Index:= CSVParams[CurrentIndex].Index, i_SubIndex:= CSVParams[CurrentIndex].SubIndex, i_StartBit:= CSVParams[CurrentIndex].StartBit, i_DataType:= CSVParams[CurrentIndex].ParameterType, i_Min:= CSVParams[CurrentIndex].MinValue, i_Max:= CSVParams[CurrentIndex].MaxValue, i_Update:= FALSE, (When this is true, the value is read again from control unit), i_Timeout:= T#1s, ( Timeout for SDO transfer*) i_OwnNodeID:= G_CAN1_CANopenDevice.NodeID, i_pOD:= ADR(G_CAN1_CANopenDevice_OD), o_State=> , o_Error=> , o_AbortCode=> ); END_IF

Actions name	Description
CheckLimits	Limits written variable between i_Min and i_Max.
SetNextState	Handles parameter edit state.