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BasicController CR0403
5.2.2 Function elements: RAW-CAN (Layer 2)
Content
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Here we describe the RAW-CAN function blocks (CAN Layer 2) of ifm electronic to be used in the application program.
Function elements: RAW-CAN status
Content
35750
63
BasicController CR0403
CAN_ENABLE
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35432
>
>
Description
>
With CAN_ENABLE the CAN hardware is initialised. Without this call no other calls are possible in
RAW-CAN or they return an error.
In order to change the baud rate the following procedure is required:
► Maintain the function block on ENABLE=FALSE for the duration of one cycle.
> All protocols are reset.
>
Re-initialisation of the CAN interface and the CAN protocols running on it. Any information available for cyclical transmission is lost as well and must be newly created.
> At renewed ENABLE=TRUE, the new baud rate is adopted.
35407
Parameters of the inputs
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Parameter
ENABLE
CHANNEL
BAUDRATE
Data type
BOOL := FALSE
BYTE
WORD := 250
Description
TRUE: enable CAN interface
FALSE: disable CAN interface
CAN interface (1...n) depending on the device
Baudrate [kbits/s] permissible = 20, 50, 100, 125, 250, 500, 1000
Parameters of the outputs
35103
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
8
9
242
00
01
08
09
F2
FB is inactive
FB execution completed without error
– data is valid function block is active
CAN is not active
Error: setting is not possible
64
BasicController CR0403
CAN_RECOVER
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35435
>
Description
35366
CAN_RECOVER has the following tasks:
to activate / deactivate the automatic bus off handling
to restart the CAN interface in case of bus off
> In case of bus off: CAN Controller deletes all buffers (including the buffers of the other protocols).
>
If CAN_RECOVER is not used (ENABLE=FALSE):
> in case of a bus off a recovery attempt is automatically made after 1 s.
> after 4 failed recovery attempts in a row the affected CAN interface is deactivated.
Parameters of the inputs
35241
Parameter
ENABLE
CHANNEL
RECOVER_EXECUTE
InhibitTime
(optional use of the parameter)
Data type
BOOL := FALSE
BYTE
BOOL
TIME := T#1s
Description
TRUE: No automatic recovery after CAN bus off
FALSE: Automatic recovery after CAN bus off
CAN interface (1...n) depending on the device
TRUE (only for 1 cycle): restart of CAN interface remedy bus off condition
FALSE: function element is not executed
Waiting time between bus off and restart of the CAN interface
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BasicController CR0403
CAN_SETDOWNLOADID
= Set download ID
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35077
>
Description
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The download ID is required for data exchange when connecting the runtime system and the
CODESYS development environment. When the device is started the download ID is set with the default value from the hardware configuration.
>
With CAN_SETDOWNLOADID this value can be set in the PLC program (e.g. using certain inputs).
The changed ID is also written into the hardware configuration.
Parameters of the inputs
35242
Parameter
EXECUTE
CHANNEL
DOWNLOAD_ID
Data type
BOOL := FALSE
BYTE
BYTE
Description
FALSE TRUE (edge): execute function element once otherwise: function element is not active
A function element already started is processed.
CAN interface (1...n) depending on the device
1...127 = set download ID
0 = read download ID
>
Parameters of the outputs
35090
Parameter
RESULT
Data type
BYTE
Description feedback of the function block
(possible messages → following table)
Possible results for RESULT:
0
Value dec | hex
00
Description
FB is inactive
1
8
242
01
08
F2 function block execution completed without error function block is active
Error: setting is not possible
66
BasicController CR0403
CAN_STATUS
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35064
>
Description
>
CAN_STATUS provides information on the chosen CAN bus.
Without hardware initialisation the following flags can be reset to FALSE:
- BUSOFF
- WARNING_RX
- WARNING_TX
Parameters of the inputs
Parameter
ENABLE
CHANNEL
CLEAR
Data type
BOOL := FALSE
BYTE
BOOL := FALSE
Description
TRUE: execute this function element
FALSE: unit is not executed
> Function block inputs are not active
> Function block outputs are not specified
CAN interface (1...n) depending on the device
TRUE: Reset the following flags:
• WARNING_RX
• WARNING_TX
• BUSOFF
FALSE: function element is not executed
>
Parameters of the outputs
Parameter
BAUDRATE
DOWNLOAD_ID
BUSOFF
WARNING_RX
WARNING_TX
VERSION
BUSLOAD
RESULT
Data type
WORD
BYTE
BOOL
BOOL
BOOL
DWORD
BYTE
BYTE
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Description current baudrate of the CANopen node in [kBaud] current download ID
Error CAN BUS OFF at the interface
Warning threshold for receiving is exceeded at the interface
Warning threshold for transmitting is exceeded at the interface
Version of the ifm CAN stack library
Current bus load in [%] feedback of the function block
(possible messages → following table)
35094
67
BasicController CR0403
Possible results for RESULT:
Value dec | hex
Description
0
1
8
9
242
00
01
08
09
F2
FB is inactive function block execution completed without error function block is active
CAN is not active
Error: setting is not possible
68
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