Chapter 16 PLC Function ApplicationsC2000 Plus
16-129
API
CANTX
S1 S2 S3 S4
Write CANopen slave station data
264
P
Bit device Word device
16-bit command (9 STEP)
CANTX Continuous
execution type
CANTXP Pulse
execution type
32-bit command
－ － － －
Flag signal
X Y M K H KnX KnY KnM T C D
S1 * *
S2 * * * * *
S3 * *
S4 * *
Notes on operand usage: none
S1
: Slave station number.
S2
: Address to be written.
S3
: Main index.
S4
:
Subindex+bit length.
The CANTX command can write a value to the index of the corresponding slave
station. When it is executed, it will send the SDO message format to the slave
station. M1066 and M1067 will both be 0 at that time, and M1066 will be set as 1
after reading. If the slave station gives the correct response, it will write the value
to the preset register, and set M1067 as 1. If the slave station has a response
error, M1067 will be set as 0, and an error message will be recorded to D1076 to
D1079.
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