Cm598CanopenSdoRead (FB)

FUNCTION_BLOCK PUBLIC FINAL Cm598CanopenSdoRead EXTENDS Cm598Base

The Function Block used to read object data with SDO protocol Its behavior is implemented according to the ETrig Function Block.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	Execute	BOOL	FALSE	A rising edge starts the operation, the output Busy goes to TRUE. In the first cycle all other inputs are read and stored, afterwards they are ignored. A falling edge does not stop the operation. After Done = TRUE or Error = TRUE and Execute = FALSE all outputs will be reset.	AbbETrig
Output	Done	BOOL	FALSE	Operation is completed without error (while outputs Busy and Error are FALSE). This output is TRUE for at least one cycle or until Execute is set to FALSE	AbbETrig
	Busy	BOOL	FALSE	Operation is running (while outputs Done and Error are FALSE)	AbbETrig
	Error	BOOL	FALSE	Operation is stopped with error (while outputs Busy and Done are FALSE). This output is TRUE for at least one cycle or until Execute is set to FALSE. The output ErrorID gives more details about the error.	AbbETrig
Input	Device	IDeviceCM598Can	0	Instance of CM598Can device	Cm598Base
Output	ErrorID	ERROR_ID	ERROR_ID.NO_ERROR	Error code that describes the occured error	Cm598Base
Input	NodeId	UDINT	0	Node ID (1..127)
	ObjIndex	UDINT	0	Object index (0..65535)
	ObjSubIndex	UDINT	0	Object SubIndex (0..255)
	ObjData	POINTER TO BYTE	0	Pointer to Object data
	ObjLength	UDINT	0	Length of Object data to be read (1..512)
Output	AddErrorID	UDINT	CM598Defines.CM598_ADD_ERROR_NONE	Additional description of error, when ErrorID is “REQUEST_FAILED”
	SdoError	UDINT	0	SDO tranfer error
	DataLength	UDINT	0	Length of received Object data (1..512)