CANopenSDOClient (FB)

Epec Programming and Libraries Manual

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Supported platforms: CODESYS 3.5, CODESYS 3.5 SAFETY

CANopenSDOClient (FB)

Description

SDO client reads or writes data from/to a SDO server.

User starts transfer by setting input parameters and enabling input i_Enable.

The function block checks if there is free CSDO channel to be used for transfer. If there is free channel, o_State is changed to CSDOReqTransferOn, otherwise o_State is changed to CSDOReqWaitChn. The function block stays in this state until it gets free CSDO channel, a timeout occurs, or user stops execution by setting input i_Stop TRUE.

If the function block gets a free channel, it starts the transfer, and o_State changes to CSDOReqTransferOn.

In case of timeout or stop o_State changes to CSDOReqIdle. A timeout is indicated with Timeout error.

A new transaction is possible to start only in idle mode, i.e. o_State is CSDOReqIdle.

Limitations

CANopenSDOManager program must be initialized properly before using CANopenSDOClient.

In MultiTool Creator code template initializations are done automatically.

The function block implements also SDO manager functionality to access SDO channels, so no predefined channels are required.

SDO block transfer is not supported.

Inputs

Input variable name	Data type	Range	Description
i_Enable	BOOL	TRUE/FALSE	CSDO transfer is started when i_Enable changes from FALSE to TRUE.
i_pDevice	POINTER TO Device	> 0	Pointer to device.
i_NodeID	BYTE	1 - 127	Node ID number of the SDO server control unit. Can be changed between requests.
i_Index	UINT	> 0	CANopen OD main index.
i_SubIndex	USINT		CANopen OD sub-index.
i_pData	POINTER TO INT	> 0	Pointer to data buffer for send/received data
i_Size	UDINT		Size of the data buffer.
i_Write	BOOL	TRUE/FALSE	TRUE = SDO download , FALSE = SDO upload
i_Stop	BOOL	TRUE/FALSE	Stops the SDO request.
i_TransferTimeOut	TIME		Time out for the whole transfer sequence. This includes also time waited to get free CSDO channel.
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. For example, STRING data is in same order despite of the endianness of the system.
i_MessageTimeOut	TIME		Time out for one SDO request-response pair.

Outputs

Output variable name	Data type	Range	Description
o_State	ENUM	CANopenCSDOTransferStates	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
o_Ready	BOOL	TRUE/FALSE	Set true when transfer is ready.
o_AbortCode	DWORD		Possible SDO abort code.
o_Size	DWORD		Number of copied bytes.
o_Error	ENUM	Errors	Possible error code.

Error diagnostic

Error code	Description
COBIDAlreadyRegistered	COB-ID is already registered.
CallbackBufferFull	Number of callback FBs exceeded G_MAX_NUMBER_OF_COBIDS.
InternalError	Low level library returned error.
InputError	Device pointer or data buffer pointer NULL, or OD index 0.
Timeout	CSDO aborted to timeout.
SDOAbortReceived	Abort received from SDO server.
NotInitialized	SDO manager not initialized, or could not reserve a channel.
NoError	No errors.

Example code

CANopenSDOManager and CSDO instances array are initialized in MultiTool Creator code template.

Code template:

Definitions (included in code template):

Device: EPEC_CANopen.Device;

CSDOS: ARRAY[1..127] OF EPEC_CANopen.CANopenCSDO := [ (* CSDO instances *)

(i_NodeID := 2, i_Enable := FALSE, i_pDevice := ADR(Device)),

(i_NodeID := 3, i_Enable := FALSE, i_pDevice := ADR(Device)),

(i_NodeID := 4, i_Enable := FALSE, i_pDevice := ADR(Device)),

(i_NodeID := 5, i_Enable := FALSE, i_pDevice := ADR(Device))];

CSDO_Error: EPEC_CANopen.Errors := EPEC_CANopen.Errors.NotInitialized;

Init (included in code template):

EPEC_CANopen.CANopenSDOManager.Init(

i_pDevice:=ADR(G_CANopen_CAN1.Device),

i_NodeId:=G_CANopen_CAN1.Device.NodeID,

i_pCsdoArrayStart:=ADR(G_CANopen_CAN1.CSDOS),

i_CsdoArraySize:=127,

o_Error=>G_CANopen_CAN1_VAR.CSDO_Error

);

Application:

Definitions:

CSDO:EPEC_CANopen.CANopenSDOClient;

deviceTypeData: DWORD;

csdo_ready: BOOL := FALSE;

csdo_error: EPEC_CANopen.Errors;

Code:

CSDO(

i_Enable := TRUE,

i_pDevice := ADR(G_CANopen_CAN1.Device),

i_NodeID := BYTE#2,

i_Index := UINT#16#1000,

i_SubIndex := USINT#0,

i_pData := ADR(deviceTypeData),

i_Size := UDINT#4,

i_Write := FALSE,

i_Stop := FALSE,

i_TransferTimeOut := T#1S,

i_DontChgByteOrd := FALSE,

i_MessageTimeOut := 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