CAN ESD
CAN ESD | This
function block connects IO modules of type ESD (CANopen) via the
CAN bus. Two module types are supported: IO56 (4 analog inputs and
56 digital inputs/outputs) and IO8 (8 digital inputs/outputs). The modules are assigned via the "Serial numbers" parameter: for each module the serial number and the node ID (1-16) are stored. Generating variables creates the addresses automatically. The main group is taken from the parameter "Main group IO56" resp. "Main group IO8", the middle group corresponds to the node ID of the module. The following addresses are created:
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Inputs |
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Outputs |
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| TE |
Received |
Number of received telegrams |
| TG | Sent | Number of sent telegrams |
Parameters |
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| Main group IO56 | Main group under
which the addresses of the IO56 modules are created and addressed. |
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| Main group IO8 | Main group under
which the addresses of the IO8 modules are created and addressed. |
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| Baud rate | CAN bus baud rate in
bit/s (default 1000000 for 1 Mbit/s). Applied automatically to
the CAN interface (can0) at start-up and after a recovery. |
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| USB reset command | Shell command used to
reset (re-enumerate) a USB-CAN adapter. Leave the field empty to
disable the function. If the adapter does not recover over several
recovery cycles (e.g. a stuck driver, send error ENOBUFS), this
command is executed automatically to avoid a power-cycle of the
controller. Example for a canable.io adapter (USB ID 1d50:606f): usbreset 1d50:606f |
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| Serial numbers | Assignment of the ESD
modules via their serial numbers and node IDs. |
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| Debug | Enables debug output
in the program log (incl. incoming and outgoing CAN frames). Enable
for troubleshooting only. |
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