RETVAL Description
8006h The DP master specified by LADR is not configured for access via handling block. Activate in the prop-
erties of the DP master "IO-Mode HTB".
8008h There are gap(s) in the input area.
8009h There are gap(s) in the output area.
8010h Error while accessing the input area (e.g. DP master is not reachable)
8011h Error while accessing the output area (e.g. DP master is not reachable)
8Fxxh
Error at DATA (xx)
Ä
Chap. 4.2 ‘General and Specific Error Information RET_VAL’ page 66
16.4.4 FC/SFC 219 - CAN_TLGR - CANopen communication
Every SPEED7-CPU provides the integrated FC/SFC 219. This allows you to initialize a
SDO read or write access from the PLC program to the CAN master. For this you address
the master via the slot number and the destination slave via its CAN address. The
process data is defined by the setting of INDEX and SUBINDEX. Via SDO per each
access a max. of one data word process data can be transferred.
Parameters
Parameter Declaration Data type Description
REQUEST IN BOOL Activate function
SLOT_MASTER IN BYTE SPEED-Bus slot (101 ... 116)
NODEID IN BYTE CAN address (1 ... 127)
TRANSFERTYP IN BYTE Type of transfer
INDEX IN DWORD CANopen Index
SUBINDEX IN DWORD CANopen sub index
CANOPENERROR OUT DWORD CANopen error
RETVAL OUT WORD Return value (0 = OK)
BUSY OUT BOOL Function is busy
DATABUFFER INOUT ANY Data Buffer for FC/SFC communication
Control parameter: 1: Initialization of the order
101...116: slot 1 ... 16 from master at SPEED-Bus
Address of the CANopen node (1...127)
40h: Read SDO 23h: Write SDO (1 DWORD)
2Bh: Write SDO (1 WORD)
2Fh: Write SDO (1 BYTE)
FC/SFC 219 CAN_TLGR
SDO request to CAN
master
REQUEST
SLOT_MASTER
NODELD
TRANSFERTYPE
VIPA SPEED7
System Blocks
System Functions > FC/SFC 219 - CAN_TLGR - CANopen communication
HB00 | OPL_SP7 | Operation list | en | 18-30 927
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