CANOPEN Library

Library file name: CANopen_AC500_Vx.lib

The library CANopen_AC500_Vx.lib is intended to be used with the CANOPEN Master Communication Module.

Beside the cyclic IO communication, which is configured in the CANOPEN Master configuration and controlled by the PLC runtime system, additional features are implemented in the CANOPEN Master. This library provides the possibility to use these features within a PLC application. With the contained Function Blocks the following functionality can be realized:

• sending and receiving of raw CAN telegrams (11bit and 29bit identifiers)
• reading of diagnosis information
• controlling of the NMT state machine of a CANOPEN node
• reading and writing of service data objects (SDOs)
• resetting of internal error counters
• reading of handshake error counters of synchronous IO update

Additional system libraries are required by this library:

• CANopen_CME_AC500_V25.lib
• CANopen_CMN_AC500_V25.lib
• CMN_AC500_V24.lib
• SysExt_AC500_V10.lib

The CANOPEN library and the required system libraries will be automatically added to the PLC application when a CANOPEN Master Communication Module is configured in the PLC configuration.

Note

All function blocks of this library can only be executed in RUN mode of the Processor Module, not in simulation mode.

• Function Blocks
  • CAN2A_INFO
  • CAN2A_REC
  • CAN2A_SEND
  • CAN2B_INFO
  • CAN2B_REC
  • CAN2B_SEND
  • CANOM_NMT
  • CANOM_NODE_DIAG
  • CANOM_NODE_DIAG_EXT
  • CANOM_RES_ERR
  • CANOM_SDO_READ
  • CANOM_SDO_WRITE
  • CANOM_STATE
  • CANOM_SYS_DIAG
  • CANOM_SYNC
• Structures Group CAN
  • CAN2A_MESSAGE_TYPE
  • CAN2B_MESSAGE_TYPE
• Structures Group CANOPEN
  • CANOM_COM_ERR_TYPE
  • CANOM_EMCY_TYPE
  • CANOM_NODESTATUS_1_TYPE
  • CANOM_STATE_BITS_TYPE \
  • CANOM_NODE_FLAGS_TYPE