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BasicController CR0403
Function elements: receive RAW-CAN data
Content
35705
69
BasicController CR0403
CAN_RX
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35412
>
Description
35369
>
CAN_RX is used for receiving a message.
The FB limits itself to a few functions and the required memory space is low.
CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in one cycle, only the last / latest message is available.
Parameters of the inputs
35221
Parameter
ENABLE
CHANNEL
ID
Data type
BOOL
BYTE
DWORD
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
Number of the data object identifier: normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
>
Parameters of the outputs
35096
Parameter
DATA
RESULT
Data type
ARRAY [0..7] OF BYTE
BYTE
Description received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
Possible results for RESULT:
Value dec | hex
Description
0
1
5
9
242
00
01
05
09
F2
FB is inactive function block execution completed without error
FB is being processed – still receiving
CAN is not active
Error: setting is not possible
70
BasicController CR0403
CAN_RX_ENH
= CAN RX enhanced
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35415
>
>
Description
In addition, CAN_RX_ENH provides the following possibilities (as opposed to CAN_RX
• select the frame type (11 or 29 bits),
• define a mask for the evaluation of the CAN ID.
35364
Bit comparison of
ID and mask:
If ID_MASK-Bit = 0, then CAN-ID-Bit may be = 0 or 1.
If ID_MASK-Bit = 1, then CAN-ID-Bit must be = ID-Bit.
>
With the mask several identifiers can be defined as filters.
Example:
ID = 0x100 = 0b0001 0000 0000
Result
ID_MASK = 0x1F1 = 0b0001 1111 0001
The CAN IDs with the following bit pattern are evaluated:
0bxxx1 0000 xxx0 (x = any), i.e. for this example (all in [hex]):
100, 102, 104, 106, 108, 10A, 10C, 10E,
300, 302, 304, 306, 308, 30A, 30C, 30E,
500, 502, 504, 506, 508, 50A, 50C, 50E,
700, 702, 704, 706, 708, 70A, 70C, 70E
Parameters of the inputs
35227
Parameter
ENABLE
CHANNEL
ID
Extended
(optional use of the parameter)
ID_Mask
(optional use of the parameter)
Data type
BOOL
BYTE
DWORD
BOOL := FALSE
DWORD := 0
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
Number of the data object identifier: normal frame (2 11 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (2 29 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1) filter mask for the identifier: if ID_MASK bit = 0, CAN ID bit may be = 0 or 1 if ID_MASK bit = 1, CAN ID bit must be = ID bit
71
BasicController CR0403
Parameters of the outputs
Parameter
MATCHED_ID
DATALENGTHCOUNT
DATA
RESULT
Data type
DWORD
BYTE
ARRAY [0..7] OF BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
0
1
5
9
242
00
01
05
09
F2
FB is inactive function block execution completed without error
FB is being processed – still receiving
CAN is not active
Error: setting is not possible
Description number of the data object identifier
= Data Length Count number of the data bytes received received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
34987
72
BasicController CR0403
CAN_RX_ENH_FIFO
= CAN RX enhanced with FiFo
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35434
>
Description
35359
In addition, CAN_RX_ENH_FIFO provides a FiFo for the received data (as opposed to CAN_RX_ENH
(→ p. 71 )). Thus several CAN messages can be received in one cycle.
No overwriting takes place when the FiFo is full. Inbound messages will be lost.
>
In this event:
► Deactivate and reactive the FB via ENABLE.
> The FiFo is deleted and can be newly filled.
Description to the filter mask: → CAN_RX_ENH
Description
Parameters of the inputs
35227
Parameter
ENABLE
CHANNEL
ID
Extended
(optional use of the parameter)
ID_Mask
(optional use of the parameter)
Data type
BOOL
BYTE
DWORD
BOOL := FALSE
DWORD := 0
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
Number of the data object identifier: normal frame (2 11 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (2 29 IDs):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1) filter mask for the identifier: if ID_MASK bit = 0, CAN ID bit may be = 0 or 1 if ID_MASK bit = 1, CAN ID bit must be = ID bit
73
BasicController CR0403
>
Parameters of the outputs
Parameter
MATCHED_ID
DATALENGTHCOUNT
DATA
MORE_DATA_AVAILABLE
RESULT
Data type
DWORD
BYTE
ARRAY [0..7] OF BYTE
BOOL
BYTE
Possible results for RESULT:
Value dec | hex
Description
5
9
0
1
242
250
00
01
05
09
F2
FA
FB is inactive function block execution completed without error
FB is being processed
– still receiving
CAN is not active
Error: setting is not possible
Error: FiFo is full – data was lost
Description number of the data object identifier
= Data Length Count number of the data bytes received received data, (1...8 bytes)
TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo feedback of the function block
(possible messages → following table)
34990
74
BasicController CR0403
CAN_RX_RANGE
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35413
>
Description
35368
CAN_RX_RANGE provides the following settings:
select the message type (11 or 29 bits),
define an identifier range.
>
CAN_RX filters for the set identifier. If several CAN messages with the same identifier are received in one cycle, only the last / latest message is available.
Parameters of the inputs
35226
Parameter
ENABLE
CHANNEL
ID_START
ID_STOP
Extended
(optional use of the parameter)
Data type
BOOL
BYTE
DWORD
DWORD
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 start number of the data object identifier range: normal frame (2 11 ):
0...2 047 = 0x0000 0000...0x0000 07FF extended frame (2 29 ):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF end number of the data object identifier range: normal frame (2 11 ):
0...2 047 = 0x0000 0000...0x0000 07FF extended frame (2 29 ):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1)
75
BasicController CR0403
>
Parameters of the outputs
Parameter
ID
DATALENGTHCOUNT
DATA
RESULT
Data type
DWORD
BYTE
ARRAY [0..7] OF BYTE
BYTE
Possible results for RESULT:
Value dec | hex
Description
5
9
0
1
242
00
01
05
09
F2
FB is inactive function block execution completed without error
FB is being processed – still receiving
CAN is not active
Error: setting is not possible
Description
Number of the data object identifier: normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
= Data Length Count number of the data bytes received received data, (1...8 bytes) feedback of the function block
(possible messages → following table)
34989
76
BasicController CR0403
CAN_RX_RANGE_FIFO
= CAN RX range with FiFo
Unit type = function block (FB)
Unit is contained in the library ifm_RawCAN_NT_Vxxyyzz.LIB
Symbol in CODESYS:
35066
>
Description
CAN_RX_RANGE_FIFO basically works like CAN_RX_RANGE
In addition, CAN_RX_RANGE_FIFO provides a FiFo for the received data. Thus several CAN messages can be received in one cycle.
No overwriting takes place when the FiFo is full. Inbound messages will be lost.
>
In this event:
► Use ENABLE to deactivate and reactivate the function.
> The FiFo is deleted and can be newly filled.
Parameters of the inputs
Parameter
ENABLE
CHANNEL
ID_START
ID_STOP
Extended
(optional use of the parameter)
Data type
BOOL
BYTE
DWORD
DWORD
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 start number of the data object identifier range: normal frame (2 11 ):
0...2 047 = 0x0000 0000...0x0000 07FF extended frame (2 29 ):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF end number of the data object identifier range: normal frame (2 11 ):
0...2 047 = 0x0000 0000...0x0000 07FF extended frame (2 29 ):
0...536 870 911 = 0x0000 0000...0x1FFF FFFF
TRUE: extended Frame (ID = 0...2
29 -1)
FALSE: normal Frame (ID = 0...2
11 -1)
35370
35226
77
BasicController CR0403
>
Parameters of the outputs
Parameter
ID
DATALENGTHCOUNT
DATA
MORE_DATA_AVAILABLE
RESULT
Data type
DWORD
BYTE
ARRAY [0..7] OF BYTE
BOOL
BYTE
Possible results for RESULT:
Value dec | hex
Description
5
9
0
1
242
250
00
01
05
09
F2
FA
FB is inactive function block execution completed without error
FB is being processed – still receiving
CAN is not active
Error: setting is not possible
Error: FiFo is full – data was lost
Description
Number of the data object identifier: normal frame (2 048 IDs):
0...2 047 = 0x0000 0000...0x0000 07FF extended Frame (536 868 864 IDs):
2 048...536 870 911 = 0x0000 0800...0x1FFF FFFF
= Data Length Count number of the data bytes received received data, (1...8 bytes)
TRUE: further received data available in the FiFo
FALSE: no further data available in the FiFo feedback of the function block
(possible messages → following table)
34984
78
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