72
ifm
System Manual
ecomat
mobile
SmartController (CR2500) V05
CAN in the ecomatmobile controller
Description of the CAN functions
8.6.8
Function CANx_TRANSMIT
x = number 1...n of the CAN interface (depending on the device,
→
data sheet)
Contained in the library:
ifm_CRnnnn_Vxxyyzz.LIB
Available for the following devices:
•
CabinetController: CR0301, CR0302, CR0303
•
ClassicController: CR0020, CR0032, CR0505
•
ExtendedController: CR0200, CR0232
•
PCB controller: CS0015
•
SafetyController: CR7020, CR7021, CR7032, CR7200, CR7201, CR7232, CR7505, CR7506
Function NOT for safety signals!
(For safety signals
→
function CAN_SAFETY_TRANSMIT)
•
SmartController:
CR2500
Function symbol:
CANx_TRANSMIT
ID
RESULT
DLC
DATA
ENABLE
Description
CANx_TRANSMIT transmits a CAN data object (message) to the CAN controller for transmission.
The function is called for each data object in the program cycle, also repeatedly in case of long
program cycles. The programmer must ensure by evaluating the function output RESULT that his
transmit order was accepted. Simplified it can be said that at 125 kbits/s one transmit order can be
executed per ms.
The execution of the function can be temporarily blocked (ENABLE = FALSE) via the input ENABLE.
So, for example a bus overload can be prevented.
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 the function CAN2_TRANSMIT is to be used, the second CAN interface must be initialised first using
the function CAN2 (
→
page
).
