CANopen Communication
FC5101 and FC5102
59
Version: 2.0
TMOUT := T#1s
);
END_IF
1:
ADSRead(READ:=FALSE);
IF ADSRead.err THEN
state := 2;
ReadDataAvailable := TRUE;
Error := ADSRead.ErrId;
ELSE
IF NOT ADSRead.busy THEN
state := 2;
ReadDataAvailable := TRUE;
END_IF
END_IF
2:
ADSRead(READ:=FALSE);
state := 0;
END_CASE
Sample: SDO Write via ADS
In the following sample program (structured text) for the use of ADS services for SDO communication, object
0x6200, Subindex3, from the node with port number 0x1001 is written. It concerns digital outputs to an I/O
node.
(* Data to be written *)
WriteData[0] := 16#55;
(* write Object *)
SDO_WRITE(
StartWriting := WriteStart,
CO_Index := 16#6200,
CO_SubIndex := 3,
DataLength := 1,
PortNr := 16#1001,
WriteData := WriteData,
ADSNetID:='192.168.10.11.2.1'
);
IF SDO_WRITE.WriteDataFinished THEN
WriteStart := FALSE;
WriteError := SDO_WRITE.Error;
END_IF
The SDO_WRITE function block that has been called in turn calls the ADSWRITE function a number of
times. It looks like this (starting with the variable declaration):
FUNCTION_BLOCK SDO_WRITE
VAR_INPUT
ADSNetID:STRING(23); (* The AMSNetID addresses the FC5101 card. Can be empty if only one local
single
channel card is present*)
PortNr:WORD; (* The Port No. addresses the CANopen Node (see System Manager)*)
CO_Index:DWORD; (* This is the Index of the CANopen Object Dictionary Entry*)
CO_SubIndex:DWORD; (*This is the Sub-Index of the CANopen Object Dictionary Entry*)
DataLength:DWORD; (* This is the Length of the CANopen Object Dictionary Entry*)
StartWriting:BOOL; (*only reset to FALSE after WriteDataFinished=TRUE*)
WriteData:ARRAY[0..255] OF BYTE; (*This array contains the data to be written to the CANopen Obj
ect Dictionary*)
END_VAR
VAR_OUTPUT
WriteDataFinished:BOOL;
Error:DWORD;
END_VAR
VAR
state:BYTE := 0;
ADSWRITE:ADSWRITE;
END_VAR
CASE
state OF
0:
IF StartWriting THEN
WriteDataFinished := FALSE;
Error := 0;
