IFM CR711S, Original Programming Manual

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ifm Programming Manual ecomatController/60-1 (CR711S) Operating System V2.5.0.n 2017-12-19
Programming Use RawCAN (CAN Layer 2)
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8.5 Use RawCAN (CAN Layer 2)
RawCAN: Control CAN network nodes ............................................................................................... 87
RawCAN: Send and receive CAN messages ..................................................................................... 87
RawCAN: Request and send remote CAN messages ........................................................................ 88
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► Observe the notes on task configuration! (→ Configure task processing
(
→ p.
80 ))
In order to access one of the CAN interfaces configured for CANopen operation, the following POUs
are available.
Requirements:

The CAN interface is configured for operation as RawCAN (CAN Layer 2)
(
→ Configure CAN interfaces
(
→ p.
70 )).
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8.5.1 RawCAN: Control CAN network nodes
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The following POUs are available to control a node in a CAN network:
Function element Short description
CAN_Enable (→ p. 162 ) initialises the specified CAN interface
configures the CAN baud rate
CAN_Recover (→ p. 164 ) controls the processing of a failure of the specified CAN channel
If the CAN channel fails, reset the CAN interface and reboot
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8.5.2 RawCAN: Send and receive CAN messages
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The following POUs are available to send or receive messages in a CAN network:
Function element Short description
CAN_Rx (→ p. 170 ) configures a data receive object and reads the receive buffer of the data object
CAN_RxMask (→ p. 172 ) receives CAN messages of a non-coherent area
The area is defined via a bit pattern and a bit mask
CAN_RxRange (→ p. 174 ) receives CAN messages of a coherent area
The area is defined via an upper and lower limit
CAN_Tx (→ p. 176 ) asynchronous transmission of CAN messages