IFM Electronic Ecomat 100 ecomatmobile SmartController CR2500, System Manual

Page: 65 / 300

ifm System Manual ecomat mobile SmartController (CR2500, CR2502) V05
CAN in the ecomatmobile controller Description of the CAN functions
65
8.6.4 Function CAN1_EXT_TRANSMIT
Contained in the library:
ifm_CAN1_EXT_Vxxyyzz.LIB
Available for:
•
CabinetController: CR0301, CR0302, CR0303
•
ClassicController: CR0020, CR0505
•
ExtendedController: CR0200
•
PCB controller: CS0015
•
SafetyController: CR7020, CR7021, CR7200, CR7201, CR7505, CR7506
•
SmartController: CR2500, CR2501, CR2502
•
PDM360 smart: CR1070, CR1071
Function symbol:
CAN1_EXT_TRANSMIT
ID
RESULT
DLC
DATA
ENABLE
Description
CAN1_EXT_TRANSMIT transfers a CAN data object (message) to the CAN controller for
transmission.
The function is called for each data object in the program cycle; this is done several times in case of
long program cycles. The programmer must ensure by evaluating the function block output RESULT
that his transmit order was accepted. To put it simply, at 125 kbits/s one transmit order can be
executed per 1 ms.
The execution of the function can be temporarily blocked via the input ENABLE (ENABLE = FALSE).
This can, for example, prevent a bus overload.
Several data objects can be transmitted virtually at the same time if a flag is assigned to each data
object and controls the execution of the function via the ENABLE input.
NOTE
If this function is to be used, the 1st CAN interface must first be initialised for the extended ID with the
function CAN1_EXT (
→
page 63 ).