Delta C2000 Series User Manual page 887

Chapter 16 PLC Function ApplicationsC2000
API
CANRX
261
Bit device
X Y M
S1
S2
S3
D
Notes on operand usage: none

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.
S1 S2 S3
P
Word device
K H KnX KnY KnM
* *
* *
* *
S1
: Slave station number.
D
: Preset address.
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
execution type
32-bit command
－
* * *
Flag signal
S2
: Main index..
16-126
Continuous CANRX
P execution type
－ －
S3
: Subindex+bit length.
Pulse
－