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Table 3: CanBus interface functions (BusNumber 400) for DeviceNumber not equal to 8000 0000hex:
Device
Name
Number
600h PP_FC_SDO_
RX
200h PP_FC_PDO1_
RX
300h PP_FC_PDO2_
RX
400h PP_FC_PDO3_
RX
500h PP_FC_PDO4_
RX
The DeviceNumber represents the CAN identifier. The node number (Node-Id) of the device to be
addressed must be additionally specified in the least significant 7 bits of the DeviceNumber. If Node-Id
is 0, all nodes are addressed.
This list can be extended for the specific user. The driver level remains unaffected by customised
extensions. Only the RWMOS.ELF operating system file must be updated.
2.3 Using the CAN Interface
•
Run CanBus Clean at program start so that any existing access objects are deleted.
•
Request CanBusOpen; if not "true", then assign 1 to each of the variables "CanBusOpen",
"CanBusInit" and "CanBusStart"
•
Enable CanBus function in RWMOS by calling the "CanBusEnable" function with the
parameter 1; only then are accesses via the CanBus possible
•
Reset one or all of the CAN subscribers with the command "ResetNode".
The NodeID is specified in the parameter. A value of 0 means all CAN subscribers are
addressed. Each subscriber sends a message: 700hex + NodeID and a data byte with the
value 0.
•
Start nodes with the command "CanNodeStart".
Note: After a ResetNode, a node must first be registered with RWMOS.ELF before it can
be started. Where this is not the case, accessing "CanNodeStart" returns the value 1. This
may involve a waiting time (possibly of several seconds).
Type
Explanation
integer
Read and write access to the
r/w
service data objects of CAN
subscribers
integer
Describe process for
w
data channel 1
integer
Describe process for
w
data channel 2
integer
Describe process for
w
data channel 3
integer
Describe process for
w
data channel 4
Index
Subindex
Can
Can
Index
Subindex
Number of
bytes
Number of
bytes
Number of
bytes
Number of
bytes
5