Delta C2000 Series User Manual page 607

Chapter 16 PLC Functions Applications
API
CANRX
261
Bit device
X Y M
S1
S2
S3
D
Notes on operand usage: none
C2000 Series
S1 S2 S3
P
Word device
K H KnX KnY KnM
S1
: Slave station number.
D
: Preset address.
The CANRX command can read the index of the corresponding slave station.
When it is executed, it will send the SDO message format to the slave station.
M1066 and M1067 will both be 0 at that time, and M1066 will be set as 1 after
reading. If the slave station gives the correct response, it will write the value to the
preset register, and set M1067 as 1. If the slave station has a response error,
M1067 will be set as 0, and an error message will be recorded to D1076 to
D1079.
M1002: When the PLC runs, the command will be triggered once and will set
K4M400 = K1
Afterwards, each time M1066 is 1, it will switch to a different message.
Read CANopen slave station data
D
16-bit command (9 STEP)
CANRX
T C D
32-bit command
Flag signal
S2
: Main index..
16-116
Continuous CANRXP
execution type execution type
S3
: Subindex+bit length.
Pulse