Lenze Drive PLC - Function Blocks (LenzeCanDrv.lib); Transmit CAN Object (L_CanPdoTransmit)

System bus (CAN) with Ser vo PLC & Drive PLC
LenzeCanDrv.lib - Function blocks
9.1 Transmit CAN object (L_CanPdoTransmit)
9-1
L PLC-Systembus EN 1.1
9 Function blocks
9.1 Transmit CAN object (L_CanPdoTransmit)
This function block is used to transmit data via the system bus interface according to CANopen.
• The operating system of the controller sends data and executes the PLC program at the
same time, this is why an object can be transmitted only every 250 µs.
L_CanPdoTransmit
wDrvNr
byLen
dwCobId
pIOAdress
tRepeatTime
byTransmitMode
nState
wNrOfCallsToSend
Fig. 9-1 Transmit CAN object (L_CanPdoTransmit)
Identifier Data type Type of variable Possible settings Info
wDrvNr Word VAR_INPUT 10
11
System bus
FIF CAN
byLen Byte VAR_INPUT 0 ... 8 Telegram length (in bytes)
dwCobID Double word VAR_INPUT 0 ... 2047 CAN identifier
pIOAdress Pointer to byte VAR_INPUT Pointer positioned over the
memory address from which
data bytes are to be sent.
Use the ADR address function to ascertain the
address of a variable.
tRepeatTime Time VAR_INPUT
T#0s
T#xms
Parameter for time-controlled transmission
(byTransmitMode =1/2)
• Data is transmitted whenever the FB is called.
• Data is transmitted after expiry of the set
cycle time x (in ms).
byTransmitMode Byte VAR_INPUT 0 Event-controlled transmission
• Data is transmitted when input data has
changed.
• When the bus status changes from
pre-operational to operational the telegram is
always transmitted once.
1 Time-controlled transmission
• Data is transmitted after expiry of the cycle
time set under tRepeatTime.
2 Time-controlled transmission
with an overlapping event control
• Data is transmitted after expiry of the cycle
time set under tRepeatTime and whenever
transmission data has changed.
3 Forced transmission
• Data is transmitted whenever the command
<instance name>. SendData is
called, independent of the set cyc le time.
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