System bus (CAN) with Servo PLC & Drive PLC
LenzeCanDrv.lib - Function blocks
9.2
Receive CAN object (L_CanPdoReceive)
9-6
L
PLC-Systembus EN 1.1
Receive state (nState)
Data type
Value
Meaning
Priority
Integer
-150
CAN bus is not in operating state
operational
.
1 (high)
g
-121
Wrong driver number (
wDrvNr
)
2
-120
Driver has not been initialised
3
-12
The set message identifier (COB-ID) is beyond the permissible area (0 ... 2047).
4
-11
pIOAdress
pointer is not positioned over PLC RAM.
5 (low)
* If errors are due to more than one error cause, the error cause with the highest priority sends back
the appropriate return value.
0
Data was received properly.
10
The value of the telegram length
byLen
is higher than 8. The telegram length was limited to 8 bytes.
200
Data was received without resetting
bNewMessage
. Valid data might have been overwritten in the
receive memory.
Resetting the “bNewMessage” variable
If data was received from the CAN bus the
bNewMessage output variable is set to
TRUE
and only
after calling the command
<instance name>.
ResetNewMessage
reset to
FALSE
:
(* FB Instance *)
ReceiveFromID678:
jL_CanPdoReceive
; (* receive data *)
(* from identifier 678 *)
...
(* reset NewMessage information at FB ReceiveFromID678 *)
ReceiveFromID678.
ResetNewMessage
; (* reset NewMessage *)
Example
Calling the function block in ST:
ReceiveFromID678(wDrvNr:=10,
byLen:=8,
dwCobID:=678,
pIOAdress:=
ADR
(abyReceiveData);
Note!
With the
L_CanPdoTransmit
and
L_CanPdoReceive
FBs you must not use an address which is
within the memory area of the operating system!
•
See also note for the
L_CanPdoTransmit
function.
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