Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 354 of 909
CANCTL(function,value)
CANControl
APPLICATION: Communications control
DESCRIPTION: Sets the CANattributes for industrial network protocols
(CANopen, DeviceNet, etc.)
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: Input: CANCTL(function,value)
function:>= 0
value: -2147483648 to 2147483647
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later, model dependent
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The CANCTLcommand is used to control CAN network features. Commands execute based on
the function argument to control CAN functions. For example:
l
function = 1: Reset the CAN MAC and all errors. Resets the CANopen stack, PROFIBUS
stack or DeviceNet stack depending on firmware type. Value is ignored.
l
function = 5: Set timeout for Combitronic. Value is in milliseconds; the default is 30.
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
EXAMPLE:
EIGN(W,0) 'Make all onboard I/O inputs
ZS 'Clear errors
CANCTL(5,100) 'Set Combitronic timeout to 100ms
END
RELATED COMMANDS:
R
CADDR=formula CAN Address (see page 350)
R
CAN, CAN(arg) CAN Bus Status (see page 352)
R
CBAUD=formula CAN Baud Rate (see page 358)
Part 2: Commands: CANCTL(function,value)
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