I'm using SoMachine, which runs Codesys V3. I'm using a Schneider M258 connected to 3 Leeson SM2 drives via CANopen.

I have imported the EDS, but now I'm not sure what to do. Read through the SM2 manuals on CANopen, but still can't come up with a way to talk to it.

What I'm trying to do is tell the drive to start/stop and set a speed.

I'm pretty sure I need to use the SDO_WRITE function block to write to some SDO's, but not sure how I would send the values.

Hopefully someone has some insight on this because I've been searching for days and can't come up with a solution

thanks!

Hi,

use CAA CIA405 library:

Snippet:
Declare
ciaSDOWrite4 : CiA405.SDO_WRITE4;
usiNetwork : USINT := 1; // NetId = 0 <=> Network = NetId + 1 = 1
xEnable : BOOL;
udiTimeout : UDINT := 0;
Device : CIA405.DEVICE := 1; // Addressed device
// range 0 … 127
// 0 means local device

wIndex        : WORD          := 16#1020;
bySubIndex    : BYTE          := 16#02;
aData         : ARRAY[0..3] OF BYTE := [16#11,16#22,16#33,16#44];
usiDataLength  : USINT := 4;
xLastEnable   : BOOL;

Code:

(This example code writes a 4 byte object with a SDO Write Expedited Transfer)

ciaSDOWrite4(
NETWORK:= usiNetwork,
ENABLE:= xEnable,
TIMEOUT:= udiTimeout,
DEVICE:= Device,
CHANNEL:= 1,
INDEX:= wIndex,
SUBINDEX:= bySubIndex,
DATA:= aData,
DATALENGTH:= usiDataLength,
);

IF ciaSDOWrite4.CONFIRM THEN
xEnable := FALSE;
ciaSDOWrite4(Enable := xEnable);
ELSIF ciaSDOWrite4.ERROR <> CiA405.CANOPEN_KERNEL_ERROR.CANOPEN_KERNEL_NO_ERROR THEN
//Error occured
xEnable := FALSE;
ciaSDOWrite4(Enable := xEnable);
END_IF

xLastEnable := xEnable;

hope this snippet is useful...
BR
Edwin