Lenze ETC Motion Control - Manual (Page 413)

PLC programming
Library
CAN functions (only ETCxM)
8
8.8
8.8.6
l
413 EDSTCXN EN 2.0
handle_pr : DINT;
received_bit : BOOL;
msg_st : CAN_MSG_TR;
handle_pr = DefineCanMsg(1, 1014, 1114, 32);
handle_pr = DefineCanMsg(1, 1014, 1114, 32);
8.8.6.7 WriteCanMsg (only ETCxM)
FUNCTION WriteCanMsg: INT
VAR_INPUT
handle_pr : DINT; (* Handle on the management structure *)
dest_pr : DINT; (* Address to the data structure *)
END_VAR
This function allows for a CAN message to be written into the send buffer.
The send buffer is implemented as FIFO. The data structure is as follows:
TYPE CAN_MSG_TR
STRUCT
cobid_w : WORD;
size_b : BYTE;
rtr_bit : BOOL;
data_from : ARRAY [0..7] OF BYTE;
END_STRUCT
END_TYPE
The variables source_pr must always be given the address of a variable of
type CAN_MSG_TR (see example). This function will provide an immediate
return in any case, even if the FIFO is full. The meaning of the return values
can be found in the following table.
Return value Meaning
−3 Undefined CobId in data structure
−2 Invalid handle or no memory location available for message
−1 FIFO full
0 Message entered into FIFO
handle_pr : DINT;
ret_bit : BOOL;
src_st : CAN_MSG_TR;
handle_pr = DefineCanMsg(1, 1014, 1114, 32);
src_st.cobid_w := 1014;
src_st.size_b := 1;
src_st.rtr_bit := FALSE;
src_st.data_from[0] := 27;
ret_bit = WriteCanMsg(handle_pr, ADR(src_st));
Example
Declaration
Description
Example