Lenze PLC Designer PLC Designer (R2-x) CANopen for Runtime Systems - Manual (Page 39)

L-force | PLC Designer - CANopen for Runtime Systems
CanDevice
38 DMS 2.0 EN 05/2009 TD29
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3.6 Working with the CanDevice in the application program
3.6.1 Module CanopenDevice
The module is instanced once for each configured CanDevice. The components of the function block
are used as follows:
bAutoStart : BOOL; Setting of option “Automatic startup”
ucNodeId : BYTE; Node-ID of the CanDevice.
wDrvNr : WORD; Index of the CAN controller in the configuration.
wODStart : WORD; Index of the first object dictionary entry of the
CanDevice.
wODEnd : WORD; Index of the last object dictionary entry of the
CanDevice.
wPDOStartRx : WORD; Index of the first Rx-PDOs of the CanDevice within the
array of RxPDOs (pCanDevPDO_Rx).
wPDOCountRx : WORD; Number of RxPDOs of the CanDevice.
wPDOCountRxCurMap : WORD; Running variable for the configuration of the PDO
Mappings of the object dictionary.
wPDOStartTx : WORD; Index of the first Tx-PDOs of the CanDevice within the
array of TxPDOs (pCanDevPDO_Tx).
wPDOCountTx : WORD; Number of TxPDOs of the CanDevice.
wPDOCountTxCurMap : WORD; Running variable for the configuration of the PDO
Mappings of the object dictionary.
ucNodeIdNew : BYTE; This variable is set by init-code as follows: After calling
the CAN driver function CanInit, in which the driver can
set a new NodeID, e.g. from a rotary switch, this
variable gets assigned the value:
WORD_TO_BYTE(gCanInterface[1].pArray[1]) . Thus
CAN drivers must write a new NodeID in pArray[1].
ErrorCode : WORD; If the application wants to send an emergency
message, here the input parameter ErrorCode
(according to CANopen) of function block
SEND_EMERGENCY is entered.
ErrorRegister : BYTE; Like ErrorCode.
ManufacturerErrorField : ARRAY[0..4] OF BYTE; Analogue to ErrorCode.
bEmergencySent : BOOL;
Always when an emergency message has been sent,
this variable is set TRUE.bClearResetFlags : BOOL;
The application can set this flag to reset the flags that
show the reception of reset-NMT-messages.
bClearODEntryWritten : BOOL; The application can set this flag to reset the flags that
show write access to the object dictionary.
bInit: BOOL; Used to detect the first cycle.
bMsgUsed : BOOL; Internal variable, always set when a device message
was used by the device.
bUseOldBootupToo : BOOL; Flag, which can be set by the application in the first
cycle in order to cause the device to send also the old
bootup message (emergency with 0 bytes data length).
bGuardError: BOOL; Set by the library if no guard message has arrived
within a time span of GuardTime * LifeTimeFactor.
ucState: BYTE := 127; Current status of the device, according to CANopen.