Beckhoff FC5101, Documentation

Page: 60 / 100

CANopen Communication
FC5101 and FC5102 60 Version: 2.0
ADSWrite(
NETID:= ADSNetID,
PORT:= PortNr,
IDXGRP:= CO_Index,
IDXOFFS:= CO_SubIndex,
LEN:= DataLength,
SRCADDR:= ADR(WriteData),
WRITE:= TRUE,
TMOUT := T#1s
);
IF ADSWrite.err THEN
state := 2;
WriteDataFinished := TRUE;
Error := ADSWrite.ErrId;
ELSE
state := 1;
END_IF
ELSE
ADSWrite(
NETID:= '',
PORT:= PortNr,
IDXGRP:= CO_Index,
IDXOFFS:= CO_SubIndex,
LEN:= DataLength,
SRCADDR:= ADR(WriteData),
WRITE:= FALSE,
TMOUT := T#1s
);
END_IF
1:
ADSWrite(WRITE:=FALSE);
IF ADSWrite.err THEN
state := 2;
WriteDataFinished := TRUE;
Error := ADSWrite.ErrId;
ELSE
IF NOT ADSWrite.busy THEN
state := 2;
WriteDataFinished := TRUE;
END_IF
END_IF
2:
ADSWrite(WRITE:=FALSE);
state := 0;
END_CASE
5.7 Baud rate and bit timing
The following baud rates and entries in the bit-timing register are supported by the CANopen devices:
Baud rate [kbaud] BTR0 BTR1 Sampling Point
1000 0x00 0x14 75%
800 0x00 0x16 80%
500 0x00 0x1C 87%
250 0x01 0x1C 87%
125 0x03 0x1C 87%
100 0x04 0x1C 87%
50 0x09 0x1C 87%
20 0x18 0x1C 87%
10 0x31 0x1C 87%
The bit-timing register settings given (BTR0, BTR1) apply, for example, for the Philips 82C200, SJA1000,
Intel 80C527, Siemens 80C167 and other CAN controllers. They are optimized for the maximum bus length.