CAN open Node SDO read

Block to send a CAN open SDO read message


Description

This CAN open SDO read block sends the message to read the data of the set index and sub-index, and then put this data on the data output port. When no error occurs the done port becomes 1.


Remarks


Declaration

Use the CAN config block:


Input

Node ID (port1)
The node ID input should be connected to the node control node ID output.UINT8
start (port 2)
When the start input is 1, the message is send and the block waits the waiting time for a
response message with the right data.
When start is made 0 again, all the outputs becomes 0.
After start has been 0 and it is made 1 the message will be send again, and the block will
again wait for the response. INT8


Output
Done (port1)
The done port becomes 1 when the data message is received.
When the waiting time is passed and no respond message is received done will
become -1. INT8
Data (port2)
The received data from the CAN open node is put on this port.UINT32
Error(port3)
When an error occurs the error message will be put on this output.
When the waiting time is passed the error code is 0x11111111 the other error codes are CAN open or node specific and can be found in the data sheet of the specific node.UINT32

Parameters
CAN channel
Select the used channel: 1, 2, 3 or 4.
Index
The CAN open index of the object to read, this is normally specified in the node data sheet in a Hex value.
Sub-index
The CAN open sub-index of the object to read, this is also specified in the node data sheet.
Response waiting time
The maximum time the block has to wait for a response message in milliseconds.
Sample time
Sample time of the block. The Sample time (in seconds) defines the rate at which the block is visited by the real-time scheduler of the target. The value of the Sample time has to be an integer multiple of the base sample time of the model.