22.3 CSDO CAN-SDO function
Function CSDO permits access to the CAN bus by means of SDOs (Service Data Objects). SDOs are used for asynchron
-
ous data exchange without real-time inquiry.
Transmission started by the trigger input is always confirmed by the receiver, possibly during data inquiry along with
value transmission. Reception of the confirmation is indicated by a logic 1 at the “ready” output. A new command can
be generated via the positive flank at trig only with “1” indicated by the “ready” output.-
Data required for command generation can be adjusted as parameters or connected as values to the inputs. As soon as
a connection at an input was made, the relevant parameter looses its function. In this case, the value applied to the in
-
put is valid. Data (command) addressing in the connected instrument is done via indexes (index / sub-index), which is
described in the CAN instrument documentation.
A value to be transmitted is connected to X1writ (or parameter “value”). A received value is output at Y1read. Y1read is
set to 0 after power-on, after an error ( “err”=1)andafter a data output.
With RM modules provided in the KS98 engineering, and for addressing the same nodes also via a CSDO block , the
trigger should be interlocked with the valid bit of the RM-200 block. During access to RM nodes which are handled al-
ready by KS98 in the background, there may be start-up collisions the consequences of which are removed only by re-
starting KS98.
a
Important note: The heart beat protocol is not supported. If an instrument can be operated only via “heart beat”,
the guarding function must be switched off.
Digitale Eingänge:
r/w Zugriffsart: 0 = lesen, 1 = schreiben
Analoge Eingänge:
Node dezimale CAN-Knotenadresse,1..42
(KS98+ bildet den CAN Object Identifier gemäß CiA DS301, Knoten ID + 600H)
D-Type Datentyp des angeschlossenen Wertes, 0..6. Folgende Datentypen stehen zur Verfügung
0: Uint8
1: Int8
2: Uint16
3: Int16
4: Uint32
5: Int32
6: Float
SubInd Adressierung in Objektverzeichnis 1..255
Index Adressierung in Objektverzeichnis 1..65535
X1writ Datenwert –29999 ... 999999)
9499 040 50611 Description of KS98 CAN bus extension
143 CSDO CAN-SDO function
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