Lenze ETC Motion Control - Manual (Page 398)

PLC programming
Library
CANopen functions
8
8.8
8.8.5
l
398 EDSTCXN EN 2.0
8.8.5 CANopen functions
8.8.5.1 CopDefineDS403
FUNCTION CopDefineDS403: BOOL
VAR_INPUT (* Defines the global database for a CanOpen control element in
accordance with DS403 *)
NodeID : BYTE;
DataBase : DINT;
DataSize : WORD;
Datatypes : STRING(255);
ReadDataObject : WORD;
WriteDataObject : WORD;
END_VAR
NodeID Node number of the control element
DataBase Address of the global database with the input/output data of the
control element
DataSize Size of the global database in Byte, max. 1020 Byte
Datatypes Descriptor string for defining the data types in the global database
ReadDataObject Object number for reading the "Local database"
WriteDataObject Object number for describing the "Local database"
This function supplies the runtime system with a data range of the PLC for
the data exchange with a CANopen control element. This data range is best
created in the PLC as a data structure or an array and initialised with the data
to be displayed. After calling this function this global database is copied once
completely into the local database of the corresponding node. Afterwards
only the modifications of the display data will be transferred by the control
system.
ReadDataObject and WriteDataObject are the object numbers of the object
directory of the CANopen display which must be used by the runtime system
to read from and write to the local database.
The descriptor string has the following format:
<number><type><number><type>...
Number is a decimal number and defines the data quantity for the following
type.
Declaration
Parameters
Description