IFM PDM360NG Series, System Manual

Page: 198 / 463

ifm System Manual ecomat mobile PDM360NG (CR1080, CR1081, CR9042) Target V01 2011-07-28
CAN in the PDM360 CAN-FBs on layer 2 (RAW-CAN)
198
CAN_RX_ENH
7606
= CAN RX enhanced
Unit type = function block (FB)
Contained in the library:
ifm_RawCAN_NT_Vxxyyzz.LIB
Available for the following devices:
- BasicController: CR040n
- BasicDisplay: CR0451
- PDM360NG: CR108n, CR9042
Symbol in CoDeSys:
Description
7508
In addition, CAN_RX_ENH provides the following possibilities (as opposed to CAN_RX
(
→ page 192 )):

select the frame type (11 or 29 bits),

define a mask for the evaluation of the CAN ID.
With the mask several identifiers can be defined as filters. Example:
ID = 100
16
= 0001 0000 0000
2
ID_MASK = 1F1
16
= 0001 1111 0001
2
Bit comparison of
ID and mask: If ID_MASK-Bit = 0, then CAN-ID-Bit may be = 0 or 1.
If ID_MASK-Bit = 1, then CAN-ID-Bit must be = ID-Bit.
Result The CAN IDs with the following bit pattern are evaluated:
xxx1 0000 xxx0
2
(x = any), i.e. for this example:
100
16
, 102
16
, 104
16
, 106
16
, 108
16
, 10A
16
, 10C
16
, 10E
16
,
300
16
, 302
16
, 304
16
, 306
16
, 308
16
, 30A
16
, 30C
16
, 30E
16
,
500
16
, 502
16
, 504
16
, 506
16
, 508
16
, 50A
16
, 50C
16
, 50E
16
,
700
16
, 702
16
, 704
16
, 706
16
, 708
16
, 70A
16
, 70C
16
, 70E
16