Communicating to drive using SoMachine

Engineering 🇬🇧
martino
2012-11-13
2012-11-16

  • martino - 2012-11-13

    I'm using SoMachine, which runs Codesys V3. I'm using a Schneider M258 connected to 3 Leeson SM2 drives via CANopen.

    I have imported the EDS, but now I'm not sure what to do. Read through the SM2 manuals on CANopen, but still can't come up with a way to talk to it.

    What I'm trying to do is tell the drive to start/stop and set a speed.

    I'm pretty sure I need to use the SDO_WRITE function block to write to some SDO's, but not sure how I would send the values.

    Hopefully someone has some insight on this because I've been searching for days and can't come up with a solution

    thanks!

     

  • eschwellinger

    eschwellinger - 2012-11-16

    Hi,

    use CAA CIA405 library:

    Snippet:
    Declare
    ciaSDOWrite4 : CiA405.SDO_WRITE4;
    usiNetwork : USINT := 1; // NetId = 0 <=> Network = NetId + 1 = 1
    xEnable : BOOL;
    udiTimeout : UDINT := 0;
    Device : CIA405.DEVICE := 1; // Addressed device
    // range 0 … 127
    // 0 means local device

    wIndex        : WORD          := 16#1020;
bySubIndex    : BYTE          := 16#02;
aData         : ARRAY[0..3] OF BYTE := [16#11,16#22,16#33,16#44];
usiDataLength  : USINT := 4;
xLastEnable   : BOOL;

    Code:

    (This example code writes a 4 byte object with a SDO Write Expedited Transfer)

    ciaSDOWrite4(
    NETWORK:= usiNetwork,
    ENABLE:= xEnable,
    TIMEOUT:= udiTimeout,
    DEVICE:= Device,
    CHANNEL:= 1,
    INDEX:= wIndex,
    SUBINDEX:= bySubIndex,
    DATA:= aData,
    DATALENGTH:= usiDataLength,
    );

    IF ciaSDOWrite4.CONFIRM THEN
    xEnable := FALSE;
    ciaSDOWrite4(Enable := xEnable);
    ELSIF ciaSDOWrite4.ERROR <> CiA405.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR THEN
    //Error occured
    xEnable := FALSE;
    ciaSDOWrite4(Enable := xEnable);
    END_IF

    xLastEnable := xEnable;

    hope this snippet is useful...
    BR
    Edwin

     

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