1. Schutzvermerk nach DIN 34 beachten CAN-Direct Access

2. Schutzvermerk nach DIN 34 beachten What to do when there is no EDS file? COP EDS-Datei ? EDS file missing!

3. Schutzvermerk nach DIN 34 beachten Direct access to the CAN bus Node-ID:1 0x1838 Byte Data Start node 0x183 Configure/inquire input filter 3 4 5 Node sending Node-ID:3 0 Preparation: - Importing the CanUser.lib and the CanUserMaster.lib - Inserting a CAN master module in the PLC configuration - Setting the node ID of the CAN master 2 1 Node Reset Configure (e.g. NodeGuarding) 6 NodeGuarding

4. Schutzvermerk nach DIN 34 beachten CAN direct access: Just two libraries for all PLC types (I) CANUser.lib 0x183 On Off Parametrize input filter TPDO Start node

5. Schutzvermerk nach DIN 34 beachten CAN direct access: Just two libraries for all PLC types (II) CanUserMaster.lib Configure node Diagnosis (only with EDS and node in the PLC configuration)

6. Schutzvermerk nach DIN 34 beachten Node Reset Always = 0! 0 for NMT! 2 Bytes No remote request Standard Prio = 0! Node reset Node address 3

7. Schutzvermerk nach DIN 34 beachten Start node For the starting of a node use the function „CanUser_Write“! Always = 0! 0 for NMT! 2 Bytes No remote request Standard Prio = 0! Start node = 1 ! Node address 3 Return value Blocks

8. Schutzvermerk nach DIN 34 beachten Read PDOs For each PDO another instance of the function block „CanUser_ReadImage“ has to be created ! Always 0! Desired COB-ID in Hex Blocks 16#183 3

9. Schutzvermerk nach DIN 34 beachten The main program for „Start Node“ and „Read PDO“! VAR CANImage_0x183: CanUser_ReadImage; State: INT; PressureValue: WORD; END_VAR (*StartNode*) PLC_PRG.Akt_StartNode; (*Read PDO 0x183*) PLC_PRG.Akt_ReadImage_PDO0x183; IF CANImage_0x183.xReady THEN IF CANImage_0x183.iStatus = 1 THEN PressureValue := WORD_TO_INT(SHL(BYTE_TO_WORD(CANImage_0x183.bByte1),8) OR BYTE_TO_WORD(CANImage_0x183.bByte0)); END_IF; Refer to slide: „Start node“ Refer to slide: Read PDOs with the function block „CanUser_ReadImage“ Blocks

10. Schutzvermerk nach DIN 34 beachten Diagnosis via Emergency Telegram Blocks Always 0 ! Identifier for emergency telegram: 80hex + Node-ID=0x82 =1 then new data has arrived Number of emergency bytes Low byte of the CAN error code High byte of the CAN error code Error register

11. Schutzvermerk nach DIN 34 beachten The main program for emergency VAR... ErrorCode_Node2: WORD; Errorregister_Node2: BYTE; END_VAR (*StartNode*)... (*Read PDO 0x182*)... (*Emergency*) PLC_PRG.Akt_Emergency IF CANImage_Emergency_Node2.xReady THEN IF CANImage_Emergency_Node2.iStatus = 1 THEN ErrorCode_Node2:=SHL(BYTE_TO_WORD(CANImage_Emergency_Node2.bByte1),8) OR BYTE_TO_WORD(CANImage_Emergency_Node2.bByte0); Errorregister_Node2:=CANImage_Emergency_Node2.bByte2 END_IF; Blocks