Equipments (Devices) > PLC300 > Ladder > Communication Network > CANopen > CO

Block that allows monitoring various statuses of the CANopen network master.

Ladder Representation

CO_SLAVESTATUS_block

Block Structure

Variable Type	Name	Data Type	Description
VAR_INPUT	Execute	BOOL	Block enabling
VAR_INPUT	NodeID	BYTE USINT	Slave address for monitoring
VAR_OUTPUT	Done	BOOL	Output enabling
	ErrorCtrlFailure	BOOL	Flag indicating error of nodeguarding or heartbeat in a slave network
	InitFailure	BOOL	Flag indicating error in the initialization of the slavee network
	InitFinished	BOOL	Flag indicating the initialization of the slaves was completed
	ErrorCtrlStarted	BOOL	Flag of start of the error control service
	ConfigDownloaded	BOOL	Flag of success in the download of SDO settings in the slave
	SlaveDetected	BOOL	Flag of success in reading slave ID via SDO

Operation

This block remains active while Execute is at TRUE level, updating its outputs according to the monitoring of the slave. When Execute receives FALSE level, the inputs are ignored and the outputs are zeroed. The Done output receives TRUE level when Execute has TRUE level and block finished its execution.

Outputs receive TRUE level when the status of the CANopen slave indicated by address NodeID matches description (boot error, download success, etc.).

Block Flowchart

CO_SLAVESTATUS_flowchart

Example in Ladder

CO_SLAVESTATUS_example01

The example above requests data from the slave 20 of the CANopen network. The block ends successfully, Done output is activated.

Example in ST

The example below displays the instructions for applying the example above in the ST language.

VAR

STATUS_ERROR, STATUS_FAILURE, STATUS_FINISHED, STATUS_STARTED,

STATUS_CONFIG, STATUS_DETECTED : BOOL;

END_VAR

DO1 := FB_CO_SlaveStatus(

Execute:=DI1,

NodeID:=20,

ErrorCtrlFailure=>STATUS_ERROR,

InitFailure=>STATUS_FAILURE,

InitFinished=>STATUS_FINISHED,

ErrorCtrlStarted=>STATUS_STARTED,

ConfigDownloaded=>STATUS_CONFIG,

SlaveDetected=>STATUS_DETECTED);