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ifm
System Manual
ecomat
mobile
PDM360NG (CR1080, CR1081, CR9042) Target V01
2011-07-28
CAN in the PDM360
CAN POUs to CANopen
281
CANOPEN_SDOREADMULTI
7806
= SDO Read Multi
Unit type = function block (FB)
Contained in the library:
ifm_CANopen_NT_Vxxyyzz.LIB
Available for the following devices:
- BasicController: CR040n
- BasicDisplay: CR0451
- PDM360NG: CR108n, CR9042
Symbol in CoDeSys:
Description
7808
CANOPEN_SDOREADMULTI reads the indicated entry in the object directory of a node in the
network. The COB ID for the SDO is calculated from the transmitted node ID according to CANopen
convention.
Parameters of the inputs
7809
Parameter
Data type
Description
EXECUTE BOOL
FALSE
TRUE (edge):
POU is executed once
otherwise: POU not active
A POU already started is processed.
CHANNEL
BYTE
CAN interface (1...n) depending on the device
NODE
BYTE
(Node ID) ID of the node (1...127)
INFO: The COB ID of the SDO is calculated from the
node ID + 600
16
according to CANopen
IDX
WORD
index in object directory
SUBIDX
BYTE
subindex in the object directory
Timeout
(optional use of the parameter)
TIME
waiting time of the FB for the response
when the time has elapsed, the FB stops waiting.
value = 0: use value from the configuration
preset = 10 ms