|
Input
|
NETWORK
|
USINT
|
1
|
CAN network number the function block should operate on. Note: It is not the same like the network number in CANBus configurator. The CiA405 NETWORK is calculated by NetID + 1. Example: 1 = CAN0, 2 = CAN1, 3 = CAN2, ...
|
CiA405Base
|
|
ENABLE
|
BOOL
|
FALSE
|
Enables the function block on rising edge. Aborts operation on falling edge.
|
CiA405Base
|
|
TIMEOUT
|
UDINT
|
0
|
Timeout in ms; 0 means no timeout
|
CiA405Base
|
|
Output
|
CONFIRM
|
BOOL
|
FALSE
|
TRUE: function block finished without error
|
CiA405Base
|
|
ERROR
|
CANOPEN_KERNEL_ERROR
|
CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR
|
Error code: see CANOPEN_KERNEL_ERROR for further details
|
CiA405Base
|
|
Input
|
DEVICE
|
DEVICE
|
|
NodeID of destination device; 0 means local device (= CANopenManager)
|
|
|
CHANNEL
|
USINT
|
1
|
SDO channel: 0: use any free channel; 1..n: specific channel
|
|
|
INDEX
|
WORD
|
|
Index of object
|
|
|
SUBINDEX
|
BYTE
|
|
SubIndex of object
|
|
|
MODE
|
SDO_MODE
|
|
specifies the SDO Mode to be used
|
|
|
DATA
|
POINTER TO BYTE
|
|
pointer to data which should be written (data has to be in little endian byte order)
|
|
|
DATALENGTH
|
UINT
|
|
length of data in bytes
|
|
|
Output
|
ERRORINFO
|
SDO_ERROR
|
|
contains abort code in little endian in case of ERROR is CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_OTHER_ERROR
|
|