Required:

• CODESYS 3.5 programmable 5050 control unit

• Firmware 1.1.0.0 or newer

• 5000types.library 3.5.7.0 or newer

• 5000int.library 3.5.7.0 or newer

Limitations:

• Maximum number of the send messages is 10

• Accuracy of the time is +-2 ms

• Minimum time interval for sending is 2 ms, but it is recommended to use intervals > 10 ms

• Used CAN channel must be initalized before initializating the time triggered messages.

• Function block instance must be called at least every 100 ms, otherwise message sending is stopped

Definitions:

canChannel:EPEC_CANL2.Channel; (*not required with MT code template*)

timeTrgSending:EPEC_5050INT.CanApiTimeTriggeredMsg;

sendData:ARRAY [0..7] OF BYTE;

Init:

(*If using MultiTool Creator, CAN channel init is already included in code template*)

canChannel.InitCAN(0,250,0); (* Init channel 0 for 250 kbit/s*)

timeTrgSending.InitCobId(0,16#100,T#10MS); (* Init sending 10ms interval , COB-ID 100h *)

Code:

timeTrgSending(i_Enable := TRUE, i_Dlc := 8, i_Data := sendData); (* Enable sending and update data *)