Required:

• S Series / E Series control unit, e.g. SC52

• CODESYS 3.5 device description

• SSeriesCanExt library

• SSeriesSystemExt library

• SSeriesHardware library

Limitations:

• Maximum number of the send messages is 10

• Accuracy of the time is +-2 ms

• Minimum time interval for sending is 1 ms, but it is recommended to use intervals > 10 ms.

• Used CAN channel must be initialized before initializing the time triggered messages (done automatically with MultiTool Creator code template)

• 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_HWD.CanApiTimeTriggeredMsg;

Init:

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

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

timeTrgSending.i_Enable := FALSE;

timeTrgSending.i_Dlc := 8;

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

Code:

(*Update message data*)

timeTrgSending.i_Data[0] : = 1;

timeTrgSending.i_Data[1] : = 2;

timeTrgSending.i_Data[2] : = 3;

timeTrgSending.i_Data[3] : = 4;

timeTrgSending.i_Data[4] : = 5;

timeTrgSending.i_Data[5] : = 6;

timeTrgSending.i_Data[6] : = 7;

timeTrgSending.i_Data[7] : = 8;

(*Update data for message handler*)

timeTrgSending.UpdateData();

(*Call handler periodically*)

timeTrgSending(i_Enable := TRUE);