MTS Sensors Temposonics Powerlink V2 R Series Operation Manual page 36

Temposonics R-Series Powerlink V2
®
Operation Manual
Source Code "SdoAccessCyclic.c"
/********************************************************************
* COPYRIGHT --
********************************************************************
* Program: SdoAccess
* File: SdoAccessCyclic.c
* Author: SSchumacher
* Created: November 18, 2014
********************************************************************
* Implementation of program SdoAccess
********************************************************************/
#include <bur/plctypes.h>
#ifdef _DEFAULT_INCLUDES
#include <AsDefault.h>
#endif
void _CYCLIC SdoAccessCyclic(void)
{
if (fbSdoRead.status != ERR_FUB_BUSY && fbSdoWrite.status != ERR_FUB_BUSY)
{
//currently there is no SDO operation in progress
//initiate SDO operation
switch (iState)
{
case STATE_SEARCH_FOR_NODE:
case STATE_SET_NODE_ID:
case STATE_RESET_NODE:
case STATE_CHECK_NODE_ID:
default:
}
}
//execute SDO read if enabled
EplSDORead(&fbSdoRead);
//execute SDO write if enabled
EplSDOWrite(&fbSdoWrite);
}
if (u32VendorId == 0x40)
{
//go to next step
u8NodeFoundAt = u8NodeId;
iState++;
break;
}
else
{
//search at next ID
u8NodeId++;
if (u8NodeId > 239)
u8NodeId = 1;
}
fbSdoRead.pDevice = "SS1.IF1";
fbSdoRead.node = u8NodeId;
fbSdoRead.index = 0x1018;
fbSdoRead.subindex = 1;
fbSdoRead.pData = &u32VendorId;
fbSdoRead.datalen = sizeof(u32VendorId);
fbSdoRead.enable = 1;
fbSdoWrite.enable = 0;
break;
fbSdoWrite.pDevice = "SS1.IF1";
fbSdoWrite.node = u8NodeFoundAt;
fbSdoWrite.index = 0x1f93;
fbSdoWrite.subindex = 3;
fbSdoWrite.pData = &u8NodeIdToSet;
fbSdoWrite.datalen = sizeof(u8NodeIdToSet);
fbSdoWrite.enable = 1;
fbSdoRead.enable = 0;
iState++;
break;
fbSdoWrite.pDevice = "SS1.IF1";
fbSdoWrite.node = u8NodeFoundAt;
fbSdoWrite.index = 0x1f9e;
fbSdoWrite.subindex = 0;
fbSdoWrite.pData = &u8NmtResetNodeCmd;
fbSdoWrite.datalen = sizeof(u8NmtResetNodeCmd);
fbSdoWrite.enable = 1;
fbSdoRead.enable = 0;
iState++;
break;
fbSdoRead.pDevice = "SS1.IF1";
fbSdoRead.node = u8NodeIdToSet;
fbSdoRead.index = 0x1f93;
fbSdoRead.subindex = 3;
fbSdoRead.pData = &u8NodeId;
fbSdoRead.datalen = sizeof(u8NodeId);
fbSdoRead.enable = 1;
fbSdoWrite.enable = 0;
iState++;
break;
fbSdoRead.enable = 0;
fbSdoWrite.enable = 0;
break;
//interface sensor is connected to
//node id of sensor
//index of vendor ID
//subindex of vendor ID
//variable to store value to
//size of the variable to store value to
//enable the read operation
//disable write operation
//interface sensor is connected to
//node id of sensor
//index of node ID
//subindex of node ID
//variable containing value to set
//size of the variable containing value to set
//enable write operation
//disable read operation
//go to next step
//interface sensor is connected to
//node id of sensor
//index of nmt reset
//subindex of nmt reset
//variable containing value to set
//size of the variable containing value to set
//enable write operation
//disable read operation
//go to next step
//interface sensor is connected to
//node id of sensor
//index of node ID
//subindex of node ID
//variable to store value to
//size of the variable to store value to
//enable the read operation
//disable write operation
//go to next step
//disable read operation
//disable write operation
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