SDO communication from the PLC
ADS blocks are used for SDO communication from the PLC. These blocks can be used for sending SDO telegrams and receiving the response of the slave (ADSWRITE / ADSREAD).
|
Input parameters |
Description |
|---|---|
|
NETID |
ADS NetID of the CAN interface |
|
Port number |
0x1000hex + NodeId (slave number) |
|
IDXGRP |
SDO Index |
|
IDXOFFS |
SDO Subindex |
|
LEN |
Length of SDO data (1...4) |
Setting individual CANopen nodes to pre-operational or operational state
The ADSWRTCTL block can be used to set individual CANopen nodes to pre-operational or operational state.
|
Input parameters |
Description |
|---|---|
|
NETID |
ADS NetID of the CAN interface |
|
Port number |
0x1000hex + NodeId (slave number) |
|
ADSSTATE |
ADSSTATE_RUN |
|
DEVSTATE |
0 - Pre / 1 - Operational |
|
LEN |
0 |
|
SRCADDR |
0 |
Restarting the CAN interface
The ADSWRTCTL block can be used to stop and restart the SSB. It should be stopped first before restarting it.
|
Input parameters |
Description |
|---|---|
|
NETID |
ADS NetID of the CAN interface |
|
Port number |
200dec |
|
ADSSTATE |
ADSSTATE_STOP, ADSSTATE_RUN |
|
DEVSTATE |
0 |
|
LEN |
0 |
|
SRCADDR |
0 |