Amphenol Temposonics R V Analog RH5, Operation Manual, Page: 46 / 64

Temposonics
®
R-Series
V
POWERLINK
Operation Manual
I 46 I
/********************************************************************
* COPYRIGHT --
********************************************************************
* Program: SdoAccess
* File: SdoAccessCyclic.c
* Author: SSchumacher
* Created: November 18, 2014
********************************************************************
* Implementation of program SdoAccess
********************************************************************/
#include <bur/plctypes.h>
#ifdef _DEFAULT_INCLUDES
#include <AsDefault.h>
#endif
void _CYCLIC SdoAccessCyclic( void )
{
if (fbSdoRead.status != ERR_FUB_BUSY && fbSdoWrite.status != ERR_FUB_BUSY)
{
//currently there is no SDO operation in progress
//initiate SDO operation
switch (iState)
{
case STATE_SEARCH_FOR_NODE:
if (u32VendorId == 0x40)
{
//go to next step
u8NodeFoundAt = u8NodeId;
+;
break ;
}
else
{
//search at next ID
u+;
if (u8NodeId > 239)
u8NodeId = 1;
}
fbSdoRead.pDevice = “SS1.IF1”; //interface sensor is connected to
fbSdoRead.node = u8NodeId; //node id of sensor
fbSdoRead.index = 0x1018; //index of vendor ID
fbSdoRead.subindex = 1; //subindex of vendor ID
fbSdoRead.pData = &u32VendorId; //variable to store value to
fbSdoRead.datalen = sizeof(u32VendorId); //size of the variable to store value to
fbSdoRead.enable = 1; //enable the read operation
fbSdoWrite.enable = 0; //disable write operation
break ;
case STATE_SET_NODE_ID:
fbSdoWrite.pDevice = “SS1.IF1”; //interface sensor is connected to
fbSdoWrite.node = u8NodeFoundAt; //node id of sensor
fbSdoWrite.index = 0x1f93; //index of node ID
fbSdoWrite.subindex = 3; //subindex of node ID
fbSdoWrite.pData = &u8NodeIdToSet; //variable containing value to set
fbSdoWrite.datalen = sizeof(u8NodeIdToSet); //size of the variable containing value to set
fbSdoWrite.enable = 1; //enable write operation
fbSdoRead.enable = 0; //disable read operation
//go to next step
+;
break ;
case STATE_RESET_NODE:
fbSdoWrite.pDevice = “SS1.IF1”; //interface sensor is connected to
fbSdoWrite.node = u8NodeFoundAt; //node id of sensor
fbSdoWrite.index = 0x1f9e; //index of nmt reset
fbSdoWrite.subindex = 0; //subindex of nmt reset
fbSdoWrite.pData = &u8NmtResetNodeCmd; //variable containing value to set
fbSdoWrite.datalen = sizeof(u8NmtResetNodeCmd); //size of the variable containing value to set
fbSdoWrite.enable = 1; //enable write operation
fbSdoRead.enable = 0; //disable read operation
//go to next step
+;
break ;
case STATE_CHECK_NODE_ID:
fbSdoRead.pDevice = “SS1.IF1”; //interface sensor is connected to
fbSdoRead.node = u8NodeIdToSet; //node id of sensor
fbSdoRead.index = 0x1f93; //index of node ID
fbSdoRead.subindex = 3; //subindex of node ID
fbSdoRead.pData = &u8NodeId; //variable to store value to
fbSdoRead.datalen = sizeof(u8NodeId); //size of the variable to store value to
fbSdoRead.enable = 1; //enable the read operation
fbSdoWrite.enable = 0; //disable write operation
//go to next step
+;
break ;
default :
fbSdoRead.enable = 0; //disable read operation
fbSdoWrite.enable = 0; //disable write operation
break ;
}
}
//execute SDO read if enabled
EplSDORead(&fbSdoRead);
//execute SDO write if enabled
EplSDOWrite(&fbSdoWrite);
}
Source Code “SdoAccessCyclic.c”