System bus (CAN) with Ser vo PLC & Drive PLC
LenzeCanDrv.lib - Function blocks
9.1 Transmit CAN object (L_CanPdoTransmit)
9-2
L
PLC-Systembus EN 1.1
Identifier InfoPossible settingsType of variableData typ e
nState Integer VAR_OUTPUT - Indicates the current transmission state.
• See below table “Transmission state (nState)”
wNrOfCallsToS e nd Word V AR_OUTPUT - Shows how many FB calls were required to send
the object.
• ”Time measurement” starts when the
transmission request is entered in the
transmission request memory and ends when
the object is transmitted.
Note!
When selecting the CAN identifier (dwCobId), please make sure that the identifier is not yet used
by another CAN object CAN1_IO ... CAN3_IO to prevent bus errors/bus overloading!
Transmission state (nState)
Data typ e Value Meaning Priority
Integer -150 CAN bus is not in operating state operational. 1 (high)
-121 Wrong driver number (wDrvNr) 2
-120 Driver has not been initialised 3
-119 The transmission request memory is full. The transmission request could not be entered.
Remedy:
• Reduce the number of transmission objects.
• Increase the cycle time of the transmission objects.
• Increas e the baud rate.
Basically, an object is transmitted every 250
µs.
4
-118 There is no free CAN channel available.
Remedy:
• Do not use one of the CAN objects CAN1_IN ... CAN3_IN or CAN1_OUT ... CAN3_OUT.
• Se t C2118 to “1” (parameters write over SDO2).
IMPORTANT: If C2118 = “1”, the SDO2 channel is no longer available!
• Deactivate the Sync object generation (C0369 = “0”).
5
-12 The set message identifier (COB-ID) is beyond the permissible area (0 ... 2047). 6
-11 pIOAdress pointer is not positioned over PLC RAM. 7(low)
* If errors are due to more than one e rror cause, the error cause with the highest priority sends back
the appropriate return value.
0 The transmission request has been executed and data has been transmitted.
1 The transmission request has not yet been completed and is still in the transmission request memory.
10 The value of the telegram length byLen is higher than 8. The telegram length was limited to 8 bytes.
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