IOF_CAN_Layer2Command

IOF_CAN_Layer2Command 1:

The IOF_CAN_Layer2Command function block sends a 10-byte command to layer 2 of a CAN master.

Inputs

VAR_INPUT
    NETID     : T_AmsNetId;
    DEVICEID  : UDINT;
    BOXADDR   : WORD;
    START     : BOOL;
    TMOUT     : TIME := DEFAULT_ADS_TIMEOUT;
END_VAR

Name	Type	Description
NETID	T_AmsNetId	The network address of the TwinCAT computer on which the function is to be executed can be specified here. For the local computer an empty string may be specified.
DEVICEID	UDINT	DeviceId specifies the device (CAN master) on which the function is to be executed. The device IDs are specified by the TwinCAT system during the hardware configuration.
LEN	UDINT	The length of the layer 2 command in bytes.
SRCADDR	PVOID	The address of the first data word in the CAN layer 2 command.
START	BOOL	The function block is enabled by a positive edge at this input.
TMOUT	TIME	Specifies the time-out period that must not be exceeded when the command is executed.

Sample:

PROGRAM MAIN
VAR
    IOF_CAN_Layer2Command1 : IOF_CAN_Layer2Command;
    Layer2Data             : ARRAY[1..5] OF WORD;
    StartLayer2            : BOOL;
    Layer2_Busy            : BOOL;
    Layer2_Err             : BOOL;
    Layer2_ErrId           : UDINT;
END_VAR

Outputs

VAR_OUTPUT
    BUSY    : BOOL;
    ERR     : BOOL;
    ERRID   : UDINT;
END_VAR

Name	Type	Description
BUSY	BOOL	When the function block is enabled, this output is set and remains set until a feedback is received.
ERR	BOOL	If an error should occur during the transfer of the command, then this output is set once the BUSY output was reset.
ERRID	UDINT	Returns the ADS error number when the ERR output is set.

Requirements

Development environment	Target platform	IO hardware	PLC libraries to be integrated (category group)
TwinCAT v3.1.0	None. This functionality is not supported by TwinCAT 3 at present!	HILSCHER CIF3xx COM master card	Tc2_IoFunctions (IO)