CANopen A CAN-based communication system. It comprises higher-layer protocols and profile specifications. CANopen has been developed as a standardized embedded network with highly flexible configuration capabilities. Operations for IEC

SDO Write

This element is used to change given object dictionary entry or to change the OCS register contents. If node is Master then using this block an object dictionary entry of any slave node in the network can be modified. In case of Slave only own object dictionary entries can be modified.

Inputs

EN – (Type: BOOL Boolean- [Data Type BOOL] - A single bit, binary value, or register/variable. Boolean points have only two possible values, 'TRUE' or 'FALSE'.) - The "EN" input is a condition. If EN is TRUE State then block is executed.

CB[] - (Type: INT Integer - [Data Type INT] - A 16-bit signed value. Integers are used where the value of the data is expected to be in the range of -32,768 to +32,767.[]) - This input is specified as register type and offset reference. This register is the first of five (5) registers that contain the information for the SDO write CAN message.

Word 1 Node ID Usually refers to the ID of the device on a supported CAN, such as CsCAN, CANopen, etc. Each device must have a unique network ID. Also called Node ID. – Node ID of the device (1 to 127) in case of Master only. For accessing the object dictionary / OCS register contents for self node, value 0 needs to be used.

Word 2 Index Value – Any valid 16-bit address to access the CANopen dictionary supported by the node; for array and records the address is extended by an 8-bit sub-index.

Word 3 Sub-Index Value – Any valid 8-bit sub-address to access the sub-objects of arrays and records supported by the node.

Word 4 Data Length - Amount of data to write (Max data length can be 4 bytes).

Word 5 Start of Data - Any valid Register address.

Outputs

CBO[] - (Type: INT[])

Output is specified as a Register Type and Offset reference. This register is the first of three (3) registers that contain the information of output data.

Word 1 Kernel Error – Gives value of Kernel Error. NOTE: For Kernel Error and SDO Error tables, see Error Details.

Word 2 SDO Error – SDO Error (Higher 16 bits)

Word 3 SDO Error – SDO Error (Lower 16 bits)

ST Language

(*Inst_CANopenSDOWRITE is a declared instance of SDO Write Block*)

Inst_CANopenSDOWRITE(EN1, CB, CBO);

FBD Language

LD Language

IL Language

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SDO Read

This element reads the given object dictionary entry or the OCS register contents. If node is Master then using this block an object dictionary entry of any slave node in the network can be read. In case of Slave only own object dictionary entries can be read.

Inputs

CB[] - (Type: INT Integer - [Data Type INT] - A 16-bit signed value. Integers are used where the value of the data is expected to be in the range of -32,768 to +32,767.[]) - This input is specified as register type and offset reference. This register is the first of three (3) registers that contain the information for the SDO read CAN message.

Word 2 Index Value - Any valid 16-bit address to access the CANopen dictionary supported by the node; for array and records the address is extended by an 8-bit sub-index.

Word 3 Sub-Index Value - Any valid 8-bit sub-address to access the sub-objects of arrays and records supported by the node.

Outputs

CBO[] - (Type: INT Integer - [Data Type INT] - A 16-bit signed value. Integers are used where the value of the data is expected to be in the range of -32,768 to +32,767.[]) - Output is specified as a Register Type and Offset reference. This register is the first of five (5) registers that contain the information of output data.

Word 1 Kernel Error – Gives value of Kernel Error. NOTE: For Kernel Error and SDO Error tables, see Error Details.

Word 2 SDO Error – SDO Error (Higher 16 bits)

Word 3 SDO Error – SDO Error (Lower 16 bits)

Word 4 Data Length – Amount of data to read (Max data length can be 4 bytes)

Word 5 Start of Data – Any valid Register address