Delta C200 Series User Manual page 351

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API
CANTX
264
Bit Devices
X Y M
S
1
S
2
S
3
S
4
Operands: None
1.
E xplanation
2.
API
CANFLS
265
Bit Devices
X Y M
D
Operands: None
1.
E xplanation
2.
3.
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S1 S2 S3
P
Word Devices
K H KnX KnY KnM T
＊ ＊
＊ ＊
＊ ＊
＊ ＊
: slave station number, S
S
1
bit length.
Command CANTX can read the corresponding index of the slave. When
executing this command, it will send SDO message to the slave. At this time,
M1066 and M1067 are 0 but when reading is complete M1066 will set to 1. If the
slave replied an accurate response, the value will be written to the designated
register and M1067 is now set to 1. However, if the slave replied an inaccurate
response, this error message will be recorded in D1076~D1079.
D
P
Word Devices
K H KnX KnY KnM T
＊ ＊
D: the special D for update.
CANFLS can update the Special D command. When it executes in read only
mode, it sends equivalent message as CANRX to the slave and saves the slave
response to this particular Special D. When it executes in read/write mode, it
sends equivalent message as CANTX to the slave and saves this special D
value to the corresponding slave.
M1066 and M1067 are both 0. When reading is complete, M1066 will be 1 and
this value will write to the designated register if the slave replies an accurate
response. When slave replies a fault response then M1067 will be 0 and this
error message will be recorded to D1076~D1079.
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Chapter 14 PLC Function |C200 Series
S4 Write CANopen slave data
16-bit command (7 STEPS)
C D
FREQ
＊ ＊ ＊
32-bit command
－
Flag signal: M1028
: the address to write, S
2
Update the mapping special D of CANopen
16-bit command (7 STEPS)
FREQ
C D
32-bit command
－
Flag signal: M1028
14-66
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FREQP
－ － －
: main index, S : sub-index+
3 4
FREQP
－ － －
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