CANopen302_SDOManager program must be initialized properly before using CANopenCSDOTransfer. In MultiTool Creator code template initializations are done automatically.
Supported platforms: CODESYS 2.3, CODESYS 3.5
This function block is implemented to handle access to CSDO channels.
It is possible to make several instances from this function block.
Functionality of the function block is as follows:
The user starts the transfer by setting input parameters and enabling input i_Enable.
The function block checks if there is a free CSDO channel to be used for the transfer. If there is a free channel, the state is moved to CSDOReqTransferOn, otherwise the state is moved to CSDOReqWaitChn.
The function block stays in the state CSDOReqTransferOn until the transfer is executed, time out occurs or the execution is stopped by setting flag i_Stop to TRUE.
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CANopen302_SDOManager program must be initialized properly before using CANopenCSDOTransfer. In MultiTool Creator code template initializations are done automatically. |
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Do not make a SDO request to index 0h. |
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Input variable name |
Data type |
Range |
Description |
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i_Enable |
BOOL |
TRUE/FALSE |
CSDO transfer is started when i_Enable changes from FALSE to TRUE. |
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i_Channel |
BYTE |
0,1,2,.. |
CAN bus number 0,1,2,.. |
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i_NodeID |
BYTE |
1 - 127 |
Unique ID number of the control unit. Can be changed between requests. |
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i_Index |
WORD |
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CANopen OD main index. |
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i_SubIndex |
BYTE |
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CANopen OD sub-index. |
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i_Data |
DWORD |
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Pointer to data buffer for send/received data |
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i_Size |
DWORD |
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Size of the data buffer. |
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i_Write |
BOOL |
TRUE/FALSE |
TRUE - SDO download , FALSE - SDO upload |
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i_Stop |
BOOL |
TRUE/FALSE |
Stops the SDO request. |
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i_TimeOut |
TIME |
Time out for action. This includes also time which is waited to get free CSDO channel. Time out for whole transfer sequence. |
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i_DontChgByteOrd |
BOOL |
Flag can be used to prevent swapping of the byte order. This has meaning only in case when MOTOROLA byte order flag is set. |
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i_TimeOut_ReqResp |
TIME |
Time out for one SDO request-response pair |
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Input variable name |
Data type |
Range |
Description |
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i_Enable |
BOOL |
TRUE/FALSE |
CSDO transfer is started when i_Enable changes from FALSE to TRUE. |
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i_itfChannel |
CANVXD_API.ICANVXD |
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CAN interface. (From Code_Template_globals, for example, G_CAN1_Channel: EPEC_CANL2.Channel;) |
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i_NodeID |
BYTE |
1 - 127 |
Unique ID number of the control unit. Can be changed between requests. |
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i_Index |
WORD |
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CANopen OD main index. |
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i_SubIndex |
BYTE |
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CANopen OD sub-index. |
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i_pData |
DWORD |
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Pointer to data buffer for send/received data |
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i_Size |
DWORD |
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Size of the data buffer. |
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i_Write |
BOOL |
TRUE/FALSE |
TRUE - SDO download , FALSE - SDO upload |
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i_Stop |
BOOL |
TRUE/FALSE |
Stops the SDO request. |
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i_TimeOut |
TIME |
Time out for action. This includes also time which is waited to get free CSDO channel. Time out for whole transfer sequence. |
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i_DontChgByteOrd |
BOOL |
Flag can be used to prevent swapping of the byte order. This has meaning only in case when MOTOROLA byte order flag is set. |
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i_TimeOut_ReqResp |
TIME |
Time out for one SDO request-response pair |
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Output variable name |
Data type |
Range |
Description |
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o_State |
CANopenCSDOTransferStates |
0,1,2,3 |
Status of the function block instance. Not the status of the used CSDO channel. 0 - Default value 1 - Wait for CSDO channel 2 - Transfer going 3 - Idle |
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o_Ready |
BOOL |
TRUE/FALSE |
Set true when transfer is ready. User must check out from o_Error if there has been problems in transfers. |
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o_AbortCode |
DWORD |
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Possible abort code |
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o_Size |
DWORD |
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Number of copied bytes |
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o_Error |
INT |
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Possible error code |
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Action name |
Description |
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CopyData |
Used internally to copy data to/from internal CSDO clients. Don't call directly. |
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StartTransfer |
Used internally to start transfer. Don't call directly. |
CanOpenCSDOErrorAddressFault
CANopenCSDOErrorTimeOut
CANopenCSDOErrorSucces
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CANopenSDOManager and CSDO instances array are initialized in MultiTool Creator code template. |
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Definitions (included in code template): |
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G_CAN1_CSDOinstances: ARRAY[1..4] OF CANopenCSDO := [ (* CSDO instances *) (i_NodeID := 2, i_Enable := FALSE, i_Channel:=0), (i_NodeID := 3, i_Enable := FALSE, i_Channel:=0), (i_NodeID := 4, i_Enable := FALSE, i_Channel:=0), (i_NodeID := 5, i_Enable := FALSE, i_Channel:=0)];
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Definitions: |
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CSDO:CANopenCSDOTransfer; index1000hData:DWORD; csdo_error: CANopenCSDOErrors; csdo_ready: BOOL := FALSE;
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Init (included in code template) |
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(* Init CANopen302 manager*) CANopen302_SDOManager.Init( i_CanBusNbr:=0, i_NodeId:=1, i_CsdoArrayStart:= ADR(G_CAN1_CSDOinstances), i_CsdoArraySize:= 4 );
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Code:
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CSDO( i_Enable := TRUE, i_Channel := 0, i_NodeID := BYTE#2, i_Index := WORD#16#1000, i_SubIndex := BYTE#0, i_Data := ADR(index1000hData), i_Size := UDINT#4, i_Write := FALSE, i_Stop := FALSE, i_TimeOut := T#1S, i_DontChgByteOrd := FALSE, i_TimeOut_ReqResp := T#100MS, o_State => , o_Ready => csdo_ready, o_AbortCode => , o_Size => , o_Error => csdo_error );
IF csdo_ready THEN
(* Errors and abort codes can be handled here *)
CSDO(i_Enable:=FALSE); (* For rising edge of i_Enable *) END_IF
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Definitions (included in code template): |
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G_CAN1_Channel: EPEC_CANL2.Channel;
G_CAN1_CSDOinstances: ARRAY[1..4] OF EPEC_CSDO.CANopenCSDO := [ (* CSDO instances *) (i_NodeID := 2, i_Enable := FALSE, i_itfChannel := G_CAN1_Channel), (i_NodeID := 3, i_Enable := FALSE, i_itfChannel := G_CAN1_Channel), (i_NodeID := 4, i_Enable := FALSE, i_itfChannel := G_CAN1_Channel), (i_NodeID := 5, i_Enable := FALSE, i_itfChannel := G_CAN1_Channel)];
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Definitions: |
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CSDO:EPEC_CSDO.CANopenCSDOTransfer; index1000hData:DWORD; csdo_error: EPEC_CSDO.CANopenCSDOErrors; csdo_ready: BOOL := FALSE;
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Init (included in code template) |
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(* Init CANopen302 manager*) CANopen302_SDOManager.Init( i_itfChannel:=G_CAN1_Channel, i_NodeId:=1, i_CsdoArrayStart:= ADR(G_CAN1_CSDOinstances), i_CsdoArraySize:= 4 );
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Code:
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CSDO( i_Enable := TRUE, i_itfChannel:=G_CAN1_Channel, i_NodeID := BYTE#2, i_Index := WORD#16#1000, i_SubIndex := BYTE#0, i_pData := ADR(index1000hData), i_Size := UDINT#4, i_Write := FALSE, i_Stop := FALSE, i_TimeOut := T#1S, i_DontChgByteOrd := FALSE, i_TimeOut_ReqResp := T#100MS, o_State => , o_Ready => csdo_ready, o_AbortCode => , o_Size => , o_Error => csdo_error );
IF csdo_ready THEN
(* Errors and abort codes can be handled here *)
CSDO(i_Enable:=FALSE); (* For rising edge of i_Enable *) END_IF
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CANopen initialization and transfer code examples for CODESYS 2.3 or CODESYS 3.5.
Source file Topic000420.htm
Last updated 13-Jun-2024