Lenze Drive PLC - Polling the COB ID Area (L_Cangetreloccobid)

System bus (CAN) with Ser vo PLC & Drive PLC
LenzeCanDrv.lib – Functions
8.4 Polling the COB ID area (L_CanGetRelocCobId)
8-6
L
PLC-Systembus EN 1.1
8.4 Polling the COB ID area (L_CanGetRelocCobId)
INT. L_CanGetRelocCobId (wDrvNr)
This function is used to ascertain the first identifier of the 64-object identifier area (COB ID area) for
data receipt.
• This function is important to 9300 Servo PLC only!
L_CanGetRelocCobId
wDrvNr
Fig. 8-5 Polling the COB ID area (L_CanGetRelocCobId)
Transfer parameters
Identifier Data type Possible settings Info
wDrvNr Word 10
11
System bus
FIF CAN (in preparation)
• The setting wDrvNr = 11 (FIF CAN) is not useful, since the
relocatable area is only used with the 9300 Servo PLC a nd a F IF
CAN is not possible here.
Return value
Data typ e Value Meaning Priority
Double integer -121 Wrong driver number ( wDrvNr ) 1 (high)
g
-120 Driver has not been initialised 2(low)
* If errors are due to more than one error cause, the error cause
with the highest priority sends back the appropriate return value.
0 Return value for use in the Drive PLC, since this function is only relevant to 9300 Servo PLC!
192 ... 319 First identifier of free area 1
832 ... 1344 First identifier of free area 2
1664 ... 1728 Firs t identifier of free area 3
1856 ... 1984 Firs t identifier of free area 4
Example
Calling the function in ST:
g_nRelocCobIdLocation := L_CanGetRelocCobId (10);
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