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© Epec Oy

Epec Mini Display Module Programming Manual

Document: PM2029.doc Updated: 12.9.2006

Epec CAN Module Family

Mini Display Module Programming Manual

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Epec Oy reserves all rights for modifications without prior notice Epec Oy Postiosoite/Postal address Puhelin/Phone Fax Internet Matinkatu 6 PL/P.O.Box 194 +358-(0)6-2170 111 +358-(0)6-2170 110 www.epec.fi FIN-60100 Seinäjoki FIN-60101 Seinäjoki, Finland +358-(0)6-2170 120

DOCUMENT VERSION HISTORY Date Notes

4.5.2006 First released version

12.9.2006 Updated LCD_PRINT_UINT and LCD_PRINT_INT



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TABLE OF CONTENTS

1 PURPOSE OF THIS DOCUMENT...................................................................................5

2 MINI DISPLAY MODULE GENERAL DESCRIPTION...............................................5 2.1 Memory Allocation Table............................................................................................. 5 2.2 Comparing Byte, Word and Double-Word Access to same Address............................ 6 2.3 Comparing Bit and Word Access to same Address ...................................................... 6

3 INTERNAL FUNCTIONS..................................................................................................7 3.1 PWM Output Configuration ......................................................................................... 7 3.2 Configuration information ........................................................................................... 7

4 FUNCTION SPECIFICATIONS .......................................................................................8 4.1 CAN LIBRARY.............................................................................................................. 8

4.1.1 CAN_INIT......................................................................................................... 8 4.1.2 CAN_OBJ_RX ................................................................................................ 10 4.1.3 CAN_OBJ_RX_INIT....................................................................................... 12 4.1.4 CAN_OBJ_TX................................................................................................. 13 4.1.5 CAN_OBJ_TX_INIT ....................................................................................... 15 4.1.6 CAN_RTR ....................................................................................................... 16 4.1.7 CAN_TX.......................................................................................................... 17

4.2 EEPROM LIBRARY ................................................................................................... 19 4.2.1 EEPROM_READ............................................................................................ 19 4.2.2 EEPROM_WRITE .......................................................................................... 20

4.3 ANALOG I/O LIBRARY.............................................................................................. 22 4.3.1 AI_CONF_FB................................................................................................. 22

4.4 SERIAL LIBRARY....................................................................................................... 23 4.4.1 INIT_COM...................................................................................................... 23 4.4.2 WRITE_COM ................................................................................................. 25 4.4.3 READ_COM ................................................................................................... 26 4.4.4 CLOSE_COM ................................................................................................. 27

4.5 PLCopen Graphics Interface...................................................................................... 28 4.5.1 Graphic Function Usage in OpenPLC Application ....................................... 28 4.5.2 LCD_DRAWBITMAP ..................................................................................... 28 4.5.3 LCD_PRINT ................................................................................................... 29 4.5.4 LCD_PRINT_UINT ........................................................................................ 30 4.5.5 LCD_PRINT_INT ........................................................................................... 31 4.5.6 LCD_RECTANGLE........................................................................................ 32 4.5.7 LCD_FILLRECTANGLE................................................................................ 33 4.5.8 LCD_CLRSCR................................................................................................ 34 4.5.9 LCD_INIT....................................................................................................... 35 4.5.10 LCD_DRAWBYID .......................................................................................... 36 4.5.11 LCD_SETPIXEL............................................................................................. 37 4.5.12 LCD_CLEARPIXEL ....................................................................................... 38



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4.5.13 LCD_PUTPIXEL............................................................................................ 39 4.5.14 LCD_LINE...................................................................................................... 40 4.5.15 LCD_CIRCLE................................................................................................. 41 4.5.16 LCD_FILLCIRCLE ........................................................................................ 42

APPENDIX A Example of CAN library usage (3 pages)



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1 PURPOSE OF THIS DOCUMENT This document works as a programming manual for programmers who work with Epec PLCopen programmable modules. This document describes the basic function library features used in Mini Display Module. In Mini Display Module, the CAN bus protocol is not considered as a “higher level” protocol. However, CAN is suitable for smaller CAN implementations and special features (for example engine control and transmission).

2 MINI DISPLAY MODULE GENERAL DESCRIPTION The Mini Display Module is part of the Epec CAN Module Family. The display module is equipped with some input and output pins such as PWM outputs for proportional controls and feedback input for better accuracy of proportional controls. Versatile analog inputs can be used for example for joystick connection. In addition, the display module has some digital inputs and outputs for digital controlling. There are digital inputs which can be used as analog inputs and counterwise by the means of user application program. The display module is used in CAN bus based control systems as a multifunction controller with different kinds of sensors and actuators. It can be used also as an independent controller due to the digital and analog I/O capabilities. Furthermore, it is possible to connect control buttons to the display module. The display module has also a serial interface available. The Mini Display Module can be used in some lighter control applications in which some I/Os and visual information are both required at the same time. The I/O capabilities are moderate compared to the original Mini PLC Module as the LCD display requires some capacity too. The display module can be nicely used e.g. controlling secondary joystick functions and visually presenting the engine speed and other parameters on the graphical LCD. In addition, there are possibilities to include some buttons, switches and on/off sensors. For more information about the hardware part of the Mini Display Module, please consult the distinct Mini Display Module data sheet.

2.1 Memory Allocation Table Description Memory size Program memory (FLASH) Code 24 kB Global data 256 B Flag memory 128 B Graphics library 8 kB Reserved for fonts and bitmaps 12 kB Nonvolatile memory (EEPROM) Internal data for runtime 16 B User data 2032 B



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2.2 Comparing Byte, Word and Double-Word Access to same Address MSB LSBMB8 7 MB8 0

Most significant byte Least significant byte MSB LSB MW4 15 MB8 8 7 MB9 0

MSB LSBMD2 31 MB8 24 23 MB9 16 15 MB10 8 7 MB11 0

MSB = most significant bit LSB = least significant bit

2.3 Comparing Bit and Word Access to same Address Most significant byte Least significant byte MSB LSB MW4 15 MB8 8 7 MB9 0

MX4.0

MX4.15 MSB = most significant bit LSB = least significant bit



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3 INTERNAL FUNCTIONS

3.1 PWM Output Configuration Pin number / Function Address XM1.3 MX63.9 XM1.4 MX63.10 LCD Contrast Control MX63.8 LCD Back Light Control MX63.11

When address is set as “1”, the pin in question is used as PWM output. If address is set as “0”, pin is used as digital output.

3.2 Configuration information With IB6 you can read factory configuration information. Input byte Comment IB6.0 0 = No display

1 = LCD display is installed IB6.1 0 = X1/20 function is input

1 = X1/20 function is output In Mini Display, configuration is fixed as “0”

IB6.2 0 = Codesys interface is serial port 1 = Codesys interface is CAN bus

IB6.3 Reserved for future use IB6.4 Reserved for future use IB6.5 Reserved for future use IB6.6 Reserved for future use IB6.7 Reserved for future use



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4 FUNCTION SPECIFICATIONS

4.1 CAN LIBRARY For closer description of CAN, please refer to ISO standard 11898-2: “Road vehicles - Controller area network (CAN) - Part 2: High-speed medium access unit“.

4.1.1 CAN_INIT Description: This is the first function to use to get CAN system up and running. This initializes CAN buffers and prepares CAN network, thus enabling the first steps for successful CAN operation. CAN_INIT function initializes CAN bus and creates foundation for CAN message transmission. When Codesys is connected by CAN:

• Do not use CAN_INIT function block, use only when connected via RS port. • Baud rate is 250 kbit/s • Do not uses object number 0...1, they are reserved for runtime.

Library: CAN.LIB Symbol:

Inputs: Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function BRP BYTE 0…63 Baud rate prescaler SJW BYTE 0...3 Re-synchronization Jump Width PRS BYTE 0...7 Programming Time Segment PHS1 BYTE 0...7 Phase Segment 1 PHS2 BYTE 0...7 Phase Segment 2 CANX2 BYTE 0, 1 CAN clock

Outputs:

Name Data type Description ERROR BYTE 0 if configuration is ok



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Example: A Simple CAN initialization. INIT function is called in main program. Baud rate kbit/s

BRP SJW PRS PHS1 PHS2 CANX2

10 49 0 7 7 2 1 20 49 0 7 7 2 0 50 24 0 5 6 1 0 125 9 0 5 6 1 0 250 4 0 5 6 1 0 500 1 0 7 7 2 0 800 4 0 1 0 0 0 1000 0 0 5 7 4 0



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4.1.2 CAN_OBJ_RX Description: This function is used to receive CAN bus message objects. Function input OBJN specifies which message object identifier is received. DATA lines out will present message data which is received. OBJ input is an object defined in CAN_OBJ_RX_INIT initializations. Library: CAN.LIB Symbol:

Inputs:

Name Data type Data range Description OBJN BYTE 0…14 Receive object number



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Outputs:

Name Data type Data range Description ID DWORD 11 or 29 bit Message ID EXTENDED BOOL 0, 1 (FALSE, TRUE) If TRUE, message has extended id-

frame DLC BYTE 1…8 Data Length Code DATA1 BYTE 0…255 Message Data DATA2 BYTE 0…255 Message Data DATA3 BYTE 0…255 Message Data DATA4 BYTE 0…255 Message Data DATA5 BYTE 0…255 Message Data DATA6 BYTE 0…255 Message Data DATA7 BYTE 0…255 Message Data DATA8 BYTE 0…255 Message Data NEW_DATA BOOL 0, 1 (FALSE, TRUE) TRUE indicates that there is new

data in buffer. Output will return FALSE if data is read from buffer, and the buffer is empty.

ERROR BYTE 0… Returns >0 if function fails Example:



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4.1.3 CAN_OBJ_RX_INIT Description: This function is used to initialize CAN receive object. Function block CAN_INIT must be called before trying to initialize CAN receive object. Message masks can be defined with ID_TAG and ID_MASK inputs. See also CAN_OBJ_RX. Library: CAN.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE 0…14 Receive object number EXTENDED BOOL 0, 1 (TRUE/FALSE) If TRUE, message has

extended id-frame (29 bit) ID_TAG DWORD 11 or 29 bit ID_MASK DWORD 11 or 29 bit

Outputs:

Name Data type Description ERROR BYTE Function returns 0 if configuration is ok



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Example:

4.1.4 CAN_OBJ_TX Description: This function is used to send CAN object via CAN. Function is enabled with Boolean ENABLE input and OBJ input. OBJ input is an object defined in CAN_OBJ_TX_INIT initializations. Library: CAN.LIB Symbol:



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Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE 0…14 Transmit object number DLC BYTE 0…8 Data Length Code DATA1 BYTE 0…255 Message Data DATA2 BYTE 0…255 Message Data DATA3 BYTE 0…255 Message Data DATA4 BYTE 0…255 Message Data DATA5 BYTE 0…255 Message Data DATA6 BYTE 0…255 Message Data DATA7 BYTE 0…255 Message Data DATA8 BYTE 0…255 Message Data

Outputs:

Name Data type Description ERROR BYTE Returns 0 if function configuration is ok

Example:



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4.1.5 CAN_OBJ_TX_INIT Description: This function is used to initialize a CAN object to be sent. See also CAN_OBJ_TX. Library: CAN.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE 0…14 Transmit object number EXTENDED BOOL 0, 1 (TRUE/FALSE) If TRUE, message has extended

id-frame ID DWORD 11 or 29 bit Message ID

Outputs:

Name Data type Description ERROR BYTE Returns >0 if function fails

Example:



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4.1.6 CAN_RTR Description: This function is used to send remote transmission request via CAN. Library: CAN.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BYTE 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE 0...14 Receive object number

Outputs:

Name Data type Description ERROR BYTE Returns >0 if function fails

Example:



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4.1.7 CAN_TX Description: This function is used to transmit certain CAN message. Function starts to send data which is defined in inputs DATA1...DATA8, when input ENABLE is set TRUE. EXTENDED input defines if message identifier frame is 11bit or extended 29bit. Message is identified with ID input. Library: CAN.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function OBJN BYTE 0...14 Object number ID DWORD 11 or 29 bit Message ID EXTENDED BOOL 0, 1 (TRUE/FALSE) If TRUE, message ID is extended 29 bit DLC BYTE 0…8 Data Length Code DATA1 BYTE 0…255 Message Data DATA2 BYTE 0…255 Message Data DATA3 BYTE 0…255 Message Data DATA4 BYTE 0…255 Message Data DATA5 BYTE 0…255 Message Data DATA6 BYTE 0…255 Message Data DATA7 BYTE 0…255 Message Data DATA8 BYTE 0…255 Message Data

Outputs:

Name Data type Description ERROR BOOL Returns >0 if function fails



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Example:

NOTE! In appendix A is presented an example of CAN library usage.



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4.2 EEPROM LIBRARY

4.2.1 EEPROM_READ Description: This function is used to read data from EEPROM. The 2-kbyte on-chip EEPROM memory block is located at offset 0 to 2047. Library: EEPROM.LIB Symbol:

Inputs:

Name Data type Data range Description OFFSET WORD 0…2047 Offset within EEPROM to read ADDRESS WORD Valid memory address Destination memory address SIZE BYTE Size of destination data type Byte count to read

Outputs:

Name Data type Data range Description ERROR BYTE 0 = No error

1 = Offset/Size error (Offset + Size > memory size)

Example:



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4.2.2 EEPROM_WRITE Description: This function is used to write data to EEPROM. The 2-kbyte on-chip EEPROM memory block is located at offset 0 to 2047. Function must be called with Enable = True until Written = Size or Error > 0. NOTE! Write Cycle count max. 100000. Possible EEPROM wearing is indicated by Retry output. Library: EEPROM.LIB Symbol:

Inputs:

Name Data type Data range Description Enable BOOL 0, 1 (TRUE/FALSE) TRUE enables function Offset WORD 16…2047 Offset within EEPROM to write

(0..15 is reserved for runtime) Address WORD Valid memory address Source memory address Size BYTE Size of source data

type Byte count to write

Outputs:

Name Data type Data range Description Error BYTE 0 … 2 0 = No error

1 = Address/Offset error (Offset + Size > memory size) 2 = Write error

Written BYTE 0 … Size Byte count actually written Retry BYTE 0 … 6 0 = Data was same in EEPROM

1 = Data written to EEPROM >1 = Retry in write (max. 5 times)



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Example:



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4.3 ANALOG I/O LIBRARY

4.3.1 AI_CONF_FB Description: This function is used to configure analog I/O pin type for those modules where it’s possible. NOTE! Check module data sheet if the configuration is possible. If not, don’t use this library. Library: CONF.LIB Symbol:

Inputs:

Name Data type Data range Description X1_10_17 BYTE 0, 1 Select X1.10 and X1.17 pin type

0 = Current 1 = Voltage

X1_20_21 BYTE 0, 1 Select X1.20 and X1.21 pin type 0 = Current 1 = Voltage

X1_22_23 BYTE 0, 1 Select X1.22 and X1.23 pin type 0 = Current 1 = Voltage

Outputs:

Name Data type Data range Description - - - -



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Example:

4.4 SERIAL LIBRARY

4.4.1 INIT_COM Description: This function is used to initialize serial communication port. Library: SERINT.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function BAUDRATE WORD 0…FFFF Baud rate constant BYTESIZE BYTE 0, 1 Byte size

0 = 7 1 = 8

PARITY BYTE 0, 2 Parity 0 = none 2 = even

STOPBITS BYTE 0 (0 = 1) Stop bits



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Outputs:

Name Data type Data range Description ERROR BYTE 0 ... 2 0 = No error

1 = Initializing not allowed 2 = Incompatible runtime version

Baud rate bits/s Baud rate constant 110 0xE9CE 300 0xF7DD 600 0xFBEE 1200 0xFDF7 2400 0xFFFC 4800 0xFF7E 9600 0xFFC0 14400 0xFFD5 19200 0xFFDF 38400 0xFFF0 56000 0xFFF5 57600 0xFFF5

Example:



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4.4.2 WRITE_COM Description: This function is used to transmit serial messages. Library: SERINT.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function BUFF WORD Valid memory address Address of buffer NUMBERBYTES BYTE 1… Byte count to write

Outputs:

Name Data type Data range Description BYTESSEND BYTE 0…NUMBERBYTES Actual bytes send ERROR BYTE 0...2 0 = No error

1 = Write not allowed 2 = Incompatible runtime version

Example:



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4.4.3 READ_COM Description: This function is used to read serial messages. Library: SERINT.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function BUFF WORD Valid memory address Address of buffer NUMBEROFBYTES BYTE 1… Number of bytes to receive

Outputs:

Name Data type Data range Description BYTESREAD BYTE 0 … NUMBEROFBYTES Receive count ERROR BYTE 0 … 2 0 = No error

1 = Read not allowed 2 = Incompatible runtime version

Example:



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4.4.4 CLOSE_COM Description: This function is used to close serial communication port. Library: SERINT.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 (TRUE/FALSE) TRUE enables function

Outputs:

Name Data type Data range Description ERROR BYTE 0, 1 0 = No error

1 = Close not allowed



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4.5 PLCopen Graphics Interface PLCopen application and graphics library communicate through library functions. Graphics library and resource file can be loaded by ETools.

4.5.1 Graphic Function Usage in OpenPLC Application LCD library is included to CoDeSys with Library Manager. After this, eleven function blocks are available.

4.5.2 LCD_DRAWBITMAP Description: Prints image in resource based on image ID. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate Y BYTE 0…63 Y coordinate ID BYTE 0… Image ID number MODE BYTE 0, 1 0 = not reversed, 1 = reversed ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

NOTE! Maximum image id number depends on resource file. Resource file must be loaded.



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4.5.3 LCD_PRINT Description: Prints string. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate Y BYTE 0…63 Y coordinate FONT BYTE 0 … Font type MODE BYTE 0, 1 0 = not reversed, 1 = reversed STR WORD Valid memory address Pointer to string ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

NOTE! Maximum font type depends on resource file. If resource file not loaded then font type is default (same as type 0, Helvetica 10).



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4.5.4 LCD_PRINT_UINT Description: Prints 16bit unsigned number. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate Y BYTE 0…63 Y coordinate FONT BYTE 0 … Font type MODE BYTE 0, 1 0 = not reversed, 1 = reversed IN UINT 0…65535 Printed number LENGTH BYTE 1…6 Length of the value area ALIGN BYTE 0, 1 0 = right align, 1 = left align ENABLE BOOL 0, 1 1 = execute, 0 = do not execute




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4.5.5 LCD_PRINT_INT Description: Prints 16bit signed number. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate Y BYTE 0…63 Y coordinate FONT BYTE 0 … Font type MODE BYTE 0, 1 0 = not reversed, 1 = reversed IN INT -32768…+32767 Printed number LENGTH BYTE 2…6 Length of the value area ALIGN BYTE 0, 1 0 = right align, 1 = left align ENABLE BOOL 0, 1 1 = execute, 0 = do not execute




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4.5.6 LCD_RECTANGLE Description: Draws rectangle. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X1 BYTE 0…127 X coordinate, left up Y1 BYTE 0…63 Y coordinate, left up X2 BYTE 0…127 X coordinate, right down Y2 BYTE 0…63 Y coordinate, right down MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute



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4.5.7 LCD_FILLRECTANGLE Description: Draws filled rectangle. The left up values must be smaller than the right down values. Library: LCD.lib Symbol:

Inputs:

Name Data type Data range Description X1 BYTE 0…127 X coordinate, left up Y1 BYTE 0…63 Y coordinate, left up X2 BYTE 0…127 X coordinate, right down Y2 BYTE 0…63 Y coordinate, right down MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute



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4.5.8 LCD_CLRSCR Description: Clears display. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description ENABLE BOOL 0, 1 1 = execute, 0 = do not execute



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4.5.9 LCD_INIT Description: Initializes display. Library: LCD.LIB Symbol:

Example:



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4.5.10 LCD_DRAWBYID Description: Draws object defined in resources. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description ID BYTE 0… Resource ID number ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

NOTE! Maximum resource number depends on resource file. Resource file must be loaded.



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4.5.11 LCD_SETPIXEL Description: Sets pixel. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate Y BYTE 0…63 Y coordinate ENABLE BOOL 0, 1 1 = execute, 0 = do not execute



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4.5.12 LCD_CLEARPIXEL Description: Clears pixel. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate Y BYTE 0…63 Y coordinate ENABLE BOOL 0, 1 1 = execute, 0 = do not execute



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4.5.13 LCD_PUTPIXEL Description Put pixel. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate Y BYTE 0…63 Y coordinate MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute



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4.5.14 LCD_LINE Description: Draws line. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X1 BYTE 0…127 X coordinate origin Y1 BYTE 0…63 Y coordinate origin X2 BYTE 0…127 X coordinate end point Y2 BYTE 0…63 Y coordinate end point MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute



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4.5.15 LCD_CIRCLE Description: Draws circle. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate origin Y BYTE 0…63 Y coordinate origin RADIUS BYTE 0… Radius MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute



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4.5.16 LCD_FILLCIRCLE Description: Draws filled circle. Library: LCD.LIB Symbol:

Inputs:

Name Data type Data range Description X BYTE 0…127 X coordinate origin Y BYTE 0…63 Y coordinate origin RADIUS BYTE 0… Radius MODE BYTE 0, 1, 2 0 = not reversed, 1 = reversed, 2 = XOR ENABLE BOOL 0, 1 1 = execute, 0 = do not execute

0001 PROGRAM PLC_PRG0002 VAR0003 start: BOOL:=TRUE;0004 RPDO1_init: CAN_OBJ_RX_INIT;0005 RPDO2_init: CAN_OBJ_RX_INIT;0006 TPDO1_init: CAN_OBJ_TX_INIT;0007 TPDO2_init: CAN_OBJ_TX_INIT;0008 RPDO1: CAN_OBJ_RX;0009 RPDO2: CAN_OBJ_RX;0010 TPDO1: CAN_OBJ_TX;0011 TPDO2: CAN_OBJ_TX;0012 EpecBeat_init: CAN_OBJ_TX_INIT;0013 epecbeat: BOOL;0014 t1: TON;0015 trg: W_TRIG;0016 t2: TON;0017 btrg1: B_TRIG;0018 btrg2: B_TRIG;0019 btrg3: B_TRIG;0020 END_VAR0001

CAN_OBJ_RX_INIT

RPDO1_init

ENABLEOBJNEXTENDEDID_TAGID_MASK

ERRORstart3

FALSE16#18116#7FF

Initializing Receive PDO 1

0002

CAN_OBJ_RX_INIT

RPDO2_init

ENABLEOBJNEXTENDEDID_TAGID_MASK

ERRORstart4

FALSE16#28116#7FF

Initializing Receive PDO 2

0003

CAN_OBJ_TX_INIT

TPDO1_init

ENABLEOBJNEXTENDEDID

ERRORstart5

FALSE16#201

Initializing Transmit PDO 1

0004

CAN_OBJ_TX_INIT

TPDO2_init

ENABLEOBJNEXTENDEDID

ERRORstart6

FALSE16#301

Initializing Transmit PDO 2

Marko

Mini Module Programming Manual

Marko

Example of CAN library usage

Marko

Page 1 / 3 19.2.2004 Appendix A

0005

startFALSE

Initializing done

0006

CAN_OBJ_TX

TPDO1

ENABLEOBJNDLCDATA1DATA2DATA3DATA4DATA5DATA6DATA7DATA8

ERROR58

%IB0%IB1%IB2

0000

OR

t1.Q

B_TRIG

btrg1

CLK Q%IB0

B_TRIG

btrg2

CLK Q%IB1

B_TRIG

btrg3

CLK Q%IB2

BOOL_TO_BYTEepecbeat

Send Transmit PDO 1

0007

CAN_OBJ_TX

TPDO2

ENABLEOBJNDLCDATA1DATA2DATA3DATA4DATA5DATA6DATA7DATA8

ERROR62

000000

OR

t2.Q

W_TRIG

trg

CLK QAI_X1_22

WORD_TO_BYTEAI_X1_22

WORD_TO_BYTESHRAI_X1_22

8

Send Transmit PDO 2 when AI_X1_22 change or minium once per second

0008

CAN_OBJ_RX

RPDO1

OBJN IDEXTENDED

DLCDATA1DATA2DATA3DATA4DATA5DATA6DATA7DATA8

NEW_DATAERROR

%QB0

3

Read Receive PDO 1

Marko


Marko


Marko


0009

CAN_OBJ_RX

RPDO2

OBJN IDEXTENDED

DLCDATA1DATA2DATA3DATA4DATA5DATA6DATA7DATA8

NEW_DATAERROR

PWM_X1_01PWM_X1_03PWM_X1_04PWM_X1_07PWM_X1_08

4

Read Receive PDO 2

0010

TON

t1

INPT

QET

t1.QT#300ms

0011

epecbeatXOR

t1.Qepecbeat

When time has run out complement "epecbeat" variable

0012

TON

t2

INPT

QET

t2.QT#1s

Marko


Marko


Marko


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