Lenze Function library CANopenSdoDrv - Manual (Page 19)

DMS 1.0 EN - 07/2011 - TD05
L
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Function library "CANopenSdoDrv"
Function blocks
BlockWrite - write CAN index per segmented data transfer
4.4 BlockWrite - write CAN index per segmented data transfer
This FB serves to write parameters (CAN indexes) of other devices via system bus (CAN).
The block uses the segmented SDO download.
 nAddress serves to select the corresponding node where the SDO access is to take place.
A the same time, the parameter channel to be used (SDO1 or SDO2) is selected at the
node via nAddress.
Call possible in: ; Cyclic task
Interrupt task
; Time-controlled task (INTERVAL)
Event-controlled task (EVENT)

Note!
• The FB must be called cyclically in order that the response to the write request
("write response") is detected. Typically, the response arrives only some
program cycles later.
• Make sure that several nodes do not execute an SDO access a node at the
same time via the same parameter channel, since this "collision" would cause
the system bus (CAN) to change to the "bus off" status.
• Do not start several SDO accesses to the same node at the same time. This
causes an incorrect evaluation of the node response.
• Do not use the FBs from the "CANopenSdoDrv.lib" library and the FBs
L_ParWrite and L_ParRead from the "LenzeDrive.lib" library at the same time.
IndexWrite
⎯ bExecute bDone ⎯
⎯ nAddress bBusy ⎯
⎯ nIndex bError ⎯
⎯ nSubIndex dnErrorNo ⎯
⎯ tRxTimeout
⎯ nIndexSize
⎯ pData