Chapter 16 PLC Function Applications│CP2000
16-127
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.
API
CANFLS
D
Refresh special D corresponding to CANopen
265
P
Bit device Word device
16-bit command (3 STEP)
CANFLS Continuous
execution type
CANFLSP Pulse
execution type
32-bit command
－ － － －
Flag signal
X Y M K H KnX KnY KnM T C D
D
＊ ＊
Notes on operand usage: none
D
: Special D to be refreshed.
The CANFLS command can refresh special D commands. When is a read only
attribute, executing this command will send a message equivalent to that of CANRX
to the slave station, and the number of the slave station will be transmitted back and
refreshed to this special D. When there is a read/write attribute, executing this
command will send a message equivalent to that of CANTX to the slave station, and
the value of this special D will be written to the corresponding slave station.
When M1066 and M1067 are both 0, and M1066 is set as 1 after reading, if the slave
station gives a correct response, the value will be written to the designated register,
and M1067 will be set as 1. If the slave station's response contains an error, then
M1067 will be set as 0, and an error message will be recorded to D1076-D1079.
API
ICOMR
D
Internal communications read
320
D P
Bit device Word device
16-bit command (9 STEP)
ICOMR Continuous
execution type
ICOMRP Pulse
execution type
32-bit command (17 STEP)
DICOMR Continuous
execution type
DICOMRP Pulse
execution
type
Flag signal: M1077 M1078 M1079
X Y M K H KnX KnY KnM T C D
S1
＊ ＊
＊
S2
＊ ＊
＊
S3
＊ ＊
＊
D
＊ ＊
＊
Notes on operand usage: none
S1
: Selection of slave device.
S2
: Device selection (0: converter, 1: internal
PLC).
S3
: Read address.
D
: Saving target.
The ICOMR command can obtain the slave station's converter and the internal
PLC's register value.
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